Suction nozzle

Abstract

Provided is a suction nozzle (11) for holding poultry thigh meat by applying suction to the poultry thigh meat using a suction air device, said suction nozzle (11) comprising a nozzle holder (14) and a nozzle body (16) which is supported so that a tip part thereof protrudes from the nozzle holder (14), which is swingably supported with respect to the nozzle holder (14), and which contacts the poultry thigh meat.

Description

Suction nozzle

[0001] The present invention relates to a suction nozzle. This application claims priority based on Japanese Patent Application No. 2024-221643 filed in Japan on December 18, 2024, and incorporates its content herein by reference.

[0002] Conventionally, a poultry deboning machine that automatically debones boned poultry leg meat (hereinafter simply defined as poultry leg meat) cut from the thigh bone of a poultry carcass has been known. The poultry deboning machine grips the ankle of the poultry leg meat with a clamp and suspends the poultry leg meat by this clamp. In the poultry deboning machine, the suspended poultry leg meat is moved to a plurality of work stations, and the meat part is gradually peeled off from the thigh bone. Finally, the meat part is completely peeled off from the thigh bone and deboned. The supply of poultry leg meat to the poultry deboning machine is performed, for example, by conveying the poultry leg meat by a conveyor or the like from a previous process and putting the poultry leg meat on a workbench or the like. The operator lifts the poultry leg meat put on the workbench or the like and suspends the poultry leg meat on the clamp of the poultry deboning machine.

[0003] By the way, in recent years, further reduction of the work burden of operators has been desired. For this reason, for example, an input system for reducing the burden of the transfer work (suspension work) of poultry leg meat by an operator has been proposed (see, for example, Patent Document 1). This device includes an imaging unit that images poultry leg meat that is conveyed in a complicated arrangement on a conveyor, and an arm that is driven and controlled based on the imaging result of the imaging unit and grips the ankle of the poultry leg meat. A clamp for gripping the ankle of the poultry leg meat is provided at the tip of the arm. After gripping the ankle of the poultry leg meat with the clamp, the ankle of the poultry leg meat is switched to a transfer hanger by the arm. The poultry leg meat switched to the hanger is transferred to the poultry deboning machine. Thereby, the transfer work (suspension work) of the poultry leg meat by the operator to the poultry deboning machine can be reduced.

[0004] Japanese Patent No. 6689458

[0005] In the above conventional technology, the ankle gripped by the clamp of the arm is further switched to a hanger. For this reason, there is a problem that it is difficult to accurately hang the ankle of the poultry leg meat on the hanger because the clamp gets in the way.

[0006] Therefore, the present invention provides a suction nozzle that can accurately transfer irregularly shaped and flexible workpieces, such as poultry leg meat, without having to grip them.

[0007] To solve the above problems, according to a first aspect of the present invention, the suction nozzle is a suction nozzle that uses a suction device to suck onto a workpiece and holds the workpiece, and comprises a nozzle holder and a nozzle body which is supported such that its tip protrudes from the nozzle holder and is pivotably supported relative to the nozzle holder and contacts the workpiece.

[0008] With this configuration, the suction nozzle can suction and lift workpieces such as poultry thigh meat. Therefore, for example, workpieces can be accurately transferred from a conveyor to the next process equipment without having to grip them. Moreover, the suction nozzle's body oscillates relative to the nozzle holder. Therefore, when the nozzle body is pressed against a workpiece, the nozzle body oscillates in accordance with the shape of the workpiece, and the nozzle body adheres tightly to the workpiece. Thus, even irregularly shaped and soft workpieces such as poultry thigh meat can be reliably suctioned by the suction nozzle.

[0009] According to a second aspect of the present invention, in the suction nozzle according to the first aspect, the nozzle body is supported by the nozzle holder via an elastic member.

[0010] This configuration allows the nozzle body to be easily supported in a swingable manner relative to the nozzle holder.

[0011] According to a third aspect of the present invention, in the suction nozzle according to the first or second aspect, the tip of the nozzle body protrudes from the nozzle holder through an opening formed in the nozzle holder, and a certain gap is formed between the nozzle body and the opening.

[0012] This configuration allows the nozzle holder to support the nozzle body while maintaining a constant posture and allowing it to swing within a certain range. This prevents the nozzle body from swinging unnecessarily, which would make it difficult for the nozzle body to make close contact with the workpiece.

[0013] According to a fourth aspect of the present invention, in an adsorption nozzle according to any one of the first to third aspects, the nozzle body is formed of a hard resin or metal.

[0014] For example, to ensure the nozzle body adheres tightly to an irregularly shaped, soft workpiece, the tip of the nozzle body could be made of an elastically deformable material such as rubber. In such a case, the nozzle body would elastically deform when lifting the workpiece, making it difficult to lift the workpiece while it is being held by the suction nozzle. In contrast, by supporting the nozzle body so that it can swing relative to the nozzle holder, the nozzle body can adhere tightly to the workpiece even if it is made of a hard resin or metal. Therefore, the nozzle body will not deform when lifting the workpiece. Thus, the workpiece can be reliably lifted while being held by the suction nozzle.

[0015] According to a fifth aspect of the present invention, in an adsorption nozzle according to any one of the first to fourth aspects, the workpiece includes meat, the nozzle body has a suction passage through which air passes along its entire axial direction, and a meat pull-in section for pulling in the workpiece is formed on the tip side of the nozzle body of the suction passage, the volume of the meat pull-in section is 6 cm³ ３ ~10cm ３ That is the case.

[0016] This configuration allows the meat to be sufficiently drawn into the meat-drawing section of the nozzle body. This significantly increases the suction force on the meat by the suction nozzle. As a result, the workpiece can be reliably lifted while being held by the suction nozzle.

[0017] According to a sixth aspect of the present invention, in an adsorption nozzle according to any one of the first to fifth aspects, the workpiece includes meat, the nozzle body has a suction passage through which air passes along its entire axial direction, and the suction passage is provided with a filter that blocks the suction passage.

[0018] This configuration prevents the filter from sucking up meat fragments when the suction nozzle adsorbs the meat. It also prevents damage to the vacuum generator and other equipment to which the suction nozzle is attached, which could result from the suction of meat fragments.

[0019] According to a seventh aspect of the present invention, in the adsorption nozzle according to the sixth aspect, the filter is positioned to avoid contact with the workpiece that has been drawn into the nozzle body.

[0020] This configuration prevents the workpiece being adsorbed by the adsorption nozzle from coming into contact with the filter, which could lead to damage to the workpiece or insufficient adsorption.

[0021] According to the eighth aspect of the present invention, in the suction nozzle according to the third aspect, the elastic member biases either the nozzle holder or the nozzle body toward the other.

[0022] This configuration makes it possible to securely support the nozzle body in the nozzle holder so that it can swing freely.

[0023] According to the ninth aspect of the present invention, in an adsorption nozzle according to any one of the first to eighth aspects, the nozzle holder and the nozzle body are provided with a rotation-preventing portion that suppresses rotation of the nozzle body about the axis of the nozzle holder.

[0024] This configuration prevents the nozzle body from rotating, which would alter the workpiece's orientation. As a result, the workpiece can be accurately transferred, for example, from a conveyor to the next processing device, without needing to grip it, while maintaining the desired orientation.

[0025] According to a tenth aspect of the present invention, in the suction nozzle according to the ninth aspect, the anti-rotation portion comprises a protrusion provided on one of the nozzle holder or the nozzle body, and a recess provided on the other of the nozzle holder or the nozzle body into which the protrusion fits.

[0026] This configuration ensures that the nozzle body does not rotate relative to the nozzle holder.

[0027] According to the eleventh aspect of the present invention, in an adsorption nozzle according to any one of the first to tenth aspects, the workpiece includes poultry leg meat, the nozzle body has a suction passage formed therein through which air passes along its entire axial direction, and the nozzle body is provided with a nozzle block at its tip, the nozzle block having a contact surface that contacts the poultry leg meat, a base portion on which the portion of the poultry leg meat containing bone is arranged, and an adsorption portion arranged alongside the base portion and protruding from the contact surface side of the base portion, the adsorption portion having an adsorption port that leads to the suction passage.

[0028] This configuration allows the base to hold down the poultry thigh meat while the suction part protruding from the base firmly presses against the meat. This improves the suction force of the suction nozzle onto the poultry thigh meat.

[0029] According to a twelfth aspect of the present invention, in the suction nozzle according to the eleventh aspect, a chamfered portion is formed on the corner of the side surface of the suction portion on the contact surface side.

[0030] Normally, bones are slightly curved. Therefore, by creating a chamfered section, the bone can be aligned with this chamfered section, making it easier to maintain the desired posture of the poultry leg. As a result, it becomes possible to press the suction opening precisely against the desired location on the poultry leg.

[0031] According to a thirteenth aspect of the present invention, in the suction nozzle according to the eleventh or twelfth aspect, the suction port is formed in an oval shape when the contact surface is viewed from the front, and the longitudinal direction of the suction port is aligned with the direction in which the bone arranged in the base portion extends.

[0032] This configuration allows the adsorption port to adsorb poultry thigh meat over as wide an area as possible. Therefore, the adsorption force of the adsorption nozzle to poultry thigh meat can be further enhanced.

[0033] The aforementioned suction nozzle allows for the accurate transfer of irregularly shaped and flexible workpieces, such as poultry leg meat, without the need for gripping.

[0034] This is a schematic diagram of a poultry leg meat processing system in an embodiment of the present invention, viewed from above. This is a perspective view of the transfer device and the conveying section around the transfer device in an embodiment of the present invention. This is a cross-sectional view of the suction nozzle in an embodiment of the present invention. This is a perspective view of the nozzle holder in an embodiment of the present invention. This is a perspective view of the nozzle body in an embodiment of the present invention. This is a perspective view of the moving section in an embodiment of the present invention. This is a block diagram of the suction air equipment in an embodiment of the present invention. This is a perspective view of the transfer device in an embodiment of the present invention, illustrating the state when the transfer device is started. This is an explanatory diagram of the state when poultry leg meat is adsorbed onto the nozzle body in an embodiment of the present invention. This is a perspective view of the transfer device in an embodiment of the present invention, illustrating the state in which poultry leg meat is being transferred by the transfer device. This is a perspective view of the transfer device in an embodiment of the present invention, illustrating the state in which the ankle of the poultry leg meat is hooked onto the rail section by the transfer device. This is a perspective view of the transfer device in an embodiment of the present invention, illustrating the state in which the arm section of the transfer device has returned to the standby position. This is a perspective view showing the state in which poultry leg meat M is adsorbed using a suction nozzle in a modified embodiment of the present invention. This is a view taken along arrow XIV in Figure 13. This is a perspective view of the nozzle block in a modified embodiment of the present invention, viewed from the side opposite to the suction nozzle. This is a perspective view of the nozzle block in a modified embodiment of the present invention, viewed from the suction nozzle side.

[0035] Next, embodiments of the present invention will be described with reference to the drawings.

[0036] <Poultry Thigh Meat Processing System> Figure 1 is a schematic configuration diagram of a poultry thigh meat processing system 1 equipped with a transfer device 60 according to the present invention, viewed from above. As shown in Figure 1, the poultry thigh meat processing system 1 is a system that automatically debones poultry thigh meat (not shown). The poultry thigh meat processing system 1 is laid out in a long, one-way direction and includes a transport section 2 for transporting poultry thigh meat. In the transport section 2, the input section 3, X-ray imaging device 4, sinewing device 5, transfer device 60, and automatic deboning device 6 are arranged in this order from the upstream side in the transport direction Y1 (see arrow Y1 in Figure 1).

[0037] In the following description, the upstream side of the conveying direction Y1 is simply defined as the upstream side, and the downstream side of the conveying direction Y1 is simply defined as the downstream side. In the following description, when referring to the vertical direction, it refers to the vertical direction with the poultry leg meat processing system 1 installed. The direction perpendicular to the conveying direction Y1 and the vertical direction is defined as the left-right direction.

[0038] <Conveying Section> The conveying section 2 includes a belt conveyor 7 and a chain conveyor 8. These belt conveyor 7 and chain conveyor 8 are arranged parallel to each other in the left-right direction. The belt conveyor 7 and chain conveyor 8 are driven synchronously. The chain conveyor 8 is provided with clamps 9 (see Figure 2, etc.) at equal intervals. The clamps 9 hold the ankle of the poultry leg meat M (see Figure 2, etc.) by hooking it. The poultry leg meat M held by the clamps 9 is placed on the belt 7a of the belt conveyor 7 in a lying position. The lying position of the poultry leg meat M refers to the position in which the poultry leg meat M is laid down with the inner thigh facing upwards. In this embodiment, the left poultry leg meat M will be used as an example.

[0039] <Input Section> The input section 3 is equipped with a work table 10 positioned parallel to the conveying section 2. The work table 10 is positioned on the opposite side of the chain conveyor 8, with the belt conveyor 7 in between. Numerous pieces of poultry leg meat M (not shown in Figure 1) are fed onto the work table 10. The worker picks up the poultry leg meat M from the work table 10 and lays it on the belt 7a of the belt conveyor 7, hooking the ankle of the poultry leg meat M onto the clamper 9. In this way, the poultry leg meat M is fed into the poultry leg meat processing system 1 via the input section 3.

[0040] <X-ray imaging device> The X-ray imaging device 4 irradiates the poultry leg meat being transported by the transport unit 2 with X-rays from above, and acquires information on the posture of the poultry leg meat M, the shape of the bones of the poultry leg meat M, and the position and orientation of the bones relative to the entire poultry leg meat M.

[0041] <Meat Insertion Device> The meat insertion device 5 performs meat insertion along the bone of the chicken leg meat M based on the information on the shape of the bone of the chicken leg meat M obtained by the X-ray imaging device 4 and the position and orientation of the bone with respect to the entire chicken leg meat M. Since the chicken leg meat M is placed on the belt 7a, it is difficult for the posture of the chicken leg meat M in the X-ray imaging device 4 and the posture of the chicken leg meat M in the meat insertion device 5 to change. Therefore, the meat insertion device 5 can perform stable meat insertion.

[0042] <Automatic Boning Device> The automatic boning device 6 automatically peels off and discharges the meat from the chicken leg meat into which meat has been inserted by the meat insertion device 5.

[0043] A transfer device 60 is provided between the automatic boning device 6 and the conveying unit 2. After the chicken leg meat M into which meat has been inserted is conveyed in front of the automatic boning device 6 by the conveying unit 2, the chicken leg meat M is transferred from the conveying unit 2 to the automatic boning device 6 by this transfer device 60.

[0044] <Transfer Device> Fig. 2 is a perspective view of the transfer device 60 and the conveying unit 2 around the transfer device 60. As shown in Fig. 2, the transfer device 60 includes a suction nozzle 11 that sucks the chicken leg meat M, a suction air device 12 (not shown) that applies a suction force to the suction nozzle 11 and releases the suction of the chicken leg meat M by the suction nozzle 11, and a moving part 13 that supports the suction nozzle 11.

[0045] <Suction Part> Fig. 3 is a cross-sectional view of the suction nozzle 11. As shown in Fig. 3, the suction nozzle 11 includes a nozzle holder 14, an elastic support part 15 attached to the nozzle holder 14, and a nozzle body 16 supported by the nozzle holder 14 via the elastic support part 15.

[0046] Figure 4 is a perspective view of the nozzle holder 14. As shown in Figures 2 to 4, the nozzle holder 14 is formed in the shape of a rectangular block. An opening 17 is formed in most of the center of the nozzle holder 14, penetrating in the thickness direction. Hereinafter, the central axis of the opening 17 is defined as the first axis A1. Of the two end faces 14a and 14b (first end face 14a, second end face 14b) of the nozzle holder 14 in the direction of the first axis A1, a beveled edge 18 is formed on the first end face 14a around the entire circumference of the periphery of the opening 17. The beveled edge 18 is formed such that its diameter gradually increases as it moves outward in the direction of the first axis A1.

[0047] Each of the four sides 14c perpendicular to the end faces 14a and 14b of the nozzle holder 14 has a beveled edge 14d at each corner. Of the four sides 14c, two sides 14c facing each other around the opening 17 have receiving recesses 19 for receiving the support plate 59b, which will be described later. The receiving recesses 19 extend in a direction perpendicular to the first axis A1 and are formed over the entire surface of the side 14c. A mounting hole 20 is formed in the center of the receiving recess 19 so as to connect the receiving recess 19 and the opening 17. The mounting hole 20 is used for attaching the support plate 59b, which will be described later.

[0048] The nozzle holder 14 has a storage hole 21 formed on the radially outer side of the opening 17 and at a position corresponding to the flat surface portion 14d, which houses a part of the elastic support portion 15. The storage hole 21 is formed to penetrate the nozzle holder 14 in the direction of the first axis A1. The storage hole 21 includes a first storage hole 22 formed on the first end face 14a side of the nozzle holder 14, and a second storage hole 23 which is formed to be larger in diameter than the first storage hole 22 via a stepped portion 22a. The second storage hole 23 communicates with the first storage hole 22 and opens on the second end face 14b side of the nozzle holder 14, opposite to the first end face 14a. The second storage hole 23 is formed along the direction of the first axis A1 in the nozzle holder 14.

[0049] The elastic support portion 15 includes a retaining plate 24 positioned on the first end face 14a of the nozzle holder 14, bolts 25 and nuts 26 for attaching the retaining plate 24 to the nozzle holder 14, and a coil spring 28. Four retaining plates 24 are provided so as to close each of the first storage holes 22 of the nozzle holder 14. The retaining plate 24 is formed in a stepped disc shape. That is, the retaining plate 24 is integrally molded with a disc-shaped base plate 31 and a disc-shaped protrusion 32 that projects toward the nozzle holder 14 from most of the radial center of the base plate 31.

[0050] Each protrusion 32 blocks the corresponding first storage hole 22. A bolt insertion hole 24a is formed in the radial center of the retaining plate 24, penetrating the retaining plate 24 in the thickness direction. A bolt 25 is inserted into this bolt insertion hole 24a from the second storage hole 23 side. The tip of the bolt 25 protrudes through the bolt insertion hole 24a to the side of the base plate 31 opposite to the protrusion 32. A nut 26 is screwed onto the tip of this protruding bolt 25. In this way, the nozzle holder 14 and the retaining plate 24 are integrated via the bolt 25 and nut 26. In other words, the retaining plate 24 can be considered a part of the nozzle holder 14.

[0051] The coil spring 28, which is inserted through the bolt 25, is housed in the second storage hole 23 along with most of the bolt 25. The end of the bolt 25 on the head 25a side abuts against the head 25a of the bolt 25 via a flat washer 33. This positions the retaining plate 24 and the bolt 25.

[0052] The coil spring 28 is housed in a slightly compressed state between the flat washer 33 and the stepped portion 22a. As a result, the retaining plate 24 is constantly biased with an elastic pressing force toward the first end face 14a.

[0053] Figure 5 is a perspective view of the nozzle body 16. As shown in Figures 3 and 5, the nozzle body 16 is formed in a cylindrical shape. Hereinafter, the central axis of the nozzle body 16 will be defined as the second axis A2. The nozzle body 16 is made of a hard resin or metal. Because it is made of a hard resin or metal, the nozzle body 16 does not elastically deform. More specifically, the nozzle body 16 is made of, for example, POM (polyacetal) resin. However, it is not limited to this, and the nozzle body 16 only needs to be made of a hard resin or metal that does not elastically deform.

[0054] The length of the nozzle body 16 in the direction of the second axis A2 is sufficiently longer than the length of the nozzle holder 14 in the direction of the first axis A1. The outer diameter of the nozzle body 16 is smaller than the inner diameter of the opening 17 formed in the nozzle holder 14.

[0055] An outer flange portion 37 is integrally molded to the base end 16b of the nozzle body 16, opposite to the tip 16a, and protrudes radially outward. An inclined surface 37a is formed on the surface of the outer flange portion 37 on the tip 16a side. Due to the inclined surface 37a, the thickness of the outer flange portion 37 gradually decreases as it extends radially outward.

[0056] Four recesses 38 are formed on the outer circumference of the outer flange portion 37. The recesses 38 are arranged at equal intervals in the circumferential direction. The recesses 38 are formed so that they are open on both sides in the thickness direction and on the outer side in the radial direction of the outer flange portion 37. The recesses 38 are formed in an arc shape when viewed from the direction of the second axis A2. The radius of curvature of the recesses 38 is larger than the diameter of the protrusion 32 on the retaining plate 24.

[0057] The inner circumferential surface of the nozzle body 16 is configured as a suction passage 43.

[0058] A joint 46 for connecting an air hose 74 (see Figure 7) extending from the suction air device 12 is fastened and fixed to the female thread portion 41. A filter 44 is provided in the center of the suction passage 43 in the direction of the second axis A2, so as to block the suction passage 43. The filter 44 is a so-called perforated metal, a disc-shaped metal plate with multiple holes formed in it. Retaining ring grooves 43a are formed on both sides of the suction passage 43 in the direction of the second axis A2 where the filter 44 is located. Retaining rings 45 are attached to each of these retaining ring grooves 43a. The filter 44 is held in place by these retaining rings 45.

[0059] In this configuration, the nozzle body 16 is inserted into the opening 17 from the first end face 14a side of the nozzle holder 14. At this time, the tip 16a of the nozzle body 16 is inserted toward the nozzle holder 14. When the nozzle body 16 is inserted all the way into the nozzle holder 14, the inclined surface 37a of the outer flange portion 37 comes into contact with the flat portion 18 of the nozzle holder 14. That is, the inclined surface 37a functions as a contact surface 37b that comes into contact with the flat portion 18 of the nozzle holder 14.

[0060] The nozzle body 16, inserted into the nozzle holder 14, has its tip 16a protruding from the nozzle holder 14 through the opening 17 of the nozzle holder 14. The nozzle body 16 is elastically pressed against the base plate 31 of the retaining plate 24 on the side of the outer flange portion 37 opposite to the nozzle holder 14. As a result, the nozzle body 16 is supported by the nozzle holder 14 via the elastic support portion 15 (coil spring 28).

[0061] In this state, the recess 38 of the outer flange portion 37 fits into the protrusion 32 of the retaining plate 24. Since the radius of curvature of the recess 38 is larger than the diameter of the protrusion 32, the recess 38 is loosely fitted into the protrusion 32. In other words, the recess 38 fits into the protrusion 32 with a small gap. The protrusion 32 and recess 38 restrict the rotation of the nozzle body 16 around the respective axes A1 and A2 relative to the nozzle holder 14. That is, the protrusion 32 and recess 38 function as a rotation-retaining portion 39 that restricts the rotation of the nozzle body 16 around the respective axes A1 and A2 relative to the nozzle holder 14.

[0062] When the outer flange portion 37 is elastically pressed by the retaining plate 24, the inclined surface 37a (contact surface 37b) of the outer flange portion 37 is elastically pressed against the flat-cut portion 18 of the nozzle holder 14. The flat-cut portion 18 and the inclined surface 37a are formed to be inclined in the same direction. As a result, the nozzle body 16 is automatically aligned with respect to the nozzle holder 14, and the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 coincide.

[0063] In this state, the outer diameter of the nozzle body 16 is smaller than the inner diameter of the opening 17, so a constant gap G is formed around the entire circumference between the opening 17 and the nozzle body 16. This gap G allows the nozzle body 16 to swing relative to the nozzle holder 14. Since the recess 38 of the outer flange portion 37 is loosely fitted into the convex portion 32 of the retaining plate 24, the anti-rotation portion 39 does not hinder the swinging of the nozzle body 16. Because the flat surface portion 18 and the inclined surface 37a are inclined in the same direction, the nozzle body 16 swings smoothly relative to the nozzle holder 14.

[0064] The outer flange portion 37 of the nozzle body 16 is constantly biased by an elastic pressing force directed toward the flat surface portion 18 of the nozzle holder 14 by the elastic support portion 15. Therefore, for example, when the nozzle body 16, which has been oscillated under load, becomes unloaded, a restoring force is applied so that the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 coincide again.

[0065] <Moving Section> Figure 6 is a perspective view of the moving section 13. As shown in Figures 2 and 6, the moving section 13 that supports the suction nozzle 11 comprises a frame 51, a drive unit 52 provided on the frame 51, and an arm section 53 that is rotatably supported on the frame 51 and connected to the drive unit 52. The frame 51 is provided with a guide 56 that extends onto the belt 7a.

[0066] More specifically, the guide 56 is integrally molded with a fixed portion 56a fixed to the frame 51, a first extension portion 56b that bends and extends diagonally from the fixed portion 56a toward the belt 7a and toward the downstream side in the conveying direction Y1, and a second extension portion 56c that bends and extends diagonally from the end of the first extension portion 56b opposite to the fixed portion 56a toward the upstream side in the conveying direction Y1. The poultry leg meat M conveyed by the conveying unit 2 is prevented from moving by the guide 56. The poultry leg meat M then abuts against the first extension portion 56b and the second extension portion 56c of the guide 56, and its posture is restricted so that it follows along these extension portions 56b and 56c. Specifically, the posture of the poultry leg meat M is restricted so that the patella side of the poultry leg meat M follows along the respective extension portions 56b and 56c.

[0067] The drive unit 52 includes an electric motor (not shown) and a reduction unit that reduces the rotation of the electric motor and outputs the result. A servo motor is an example of the electric motor. The output shaft 55 of the reduction unit protrudes along the transport direction Y1. An arm portion 53 is connected to the output shaft 55.

[0068] The arm portion 53 includes a support shaft 57 connected to the output shaft 55, a cylinder actuator 58 supported by the support shaft 57, and a connecting portion 59 that connects the cylinder actuator 58 to the suction nozzle 11. The support shaft 57 is arranged coaxially with the output shaft 55. Both axial ends of the support shaft 57 are rotatably supported by a pair of pillow block bearings 61 provided on the frame 51.

[0069] The cylinder actuator 58 is, for example, an air cylinder. The cylinder actuator 58 comprises a rectangular parallelepiped tube 62 and a rod 64 protruding from the tube 62. A support shaft 57 is attached to one end of the tube 62 in the longitudinal direction. The tube 62 swings together with the support shaft 57 around the support shaft 57. The rod 64 protrudes from the end of the tube 62 opposite to the support shaft 57. The rod 64 rotates around its axis A3.

[0070] The connecting portion 59 is attached to the tip of the rod 64 and is formed in a C-shape. Specifically, the connecting portion 59 is attached to the tip of the rod 64 and comprises a base plate 59a that is long in one direction, and a pair of support plates 59b that are bent and extended from both ends of the base plate 59a in the longitudinal direction toward the opposite side from the rod 64. The base plate 59a extends in a direction perpendicular to the axis A3 of the rod 64. The rod 64 is attached to the longitudinal center of the base plate 59a.

[0071] The width between the pair of support plates 59b is approximately equal to or slightly greater than the width between the bottom surfaces 19a of the two receiving recesses 19 formed in the nozzle holder 14. The width of the support plates 59b in the short-side direction is approximately equal to or slightly smaller than the width of the receiving recesses 19 in the short-side direction (first axis A1 direction). This pair of support plates 59b is inserted into the receiving recesses 19 of the nozzle holder 14.

[0072] <Adsorption Air Equipment> Figure 7 is a block diagram of the adsorption air equipment 12. The adsorption air equipment 12 includes a vacuum generator 71, an air supply device 73 that supplies air to the vacuum generator 71 via a first flow path 72, a first switching valve 75 provided in the first flow path 72, a second flow path 76 that connects the vacuum generator 71 and an air hose 74 connected to the adsorption nozzle 11, a second switching valve 77 provided in the second flow path 76, a third flow path 78 that branches off from between the air supply device 73 and the first switching valve 75 in the first flow path 72 and is connected to the air hose 74, a third switching valve 79 provided in the third flow path 78, and a pressure reducing unit 80 provided between the first flow path 72 and the third switching valve 79 in the third flow path 78.

[0073] The first switching valve 75 switches the opening and closing of the first passage 72. The second switching valve 77 switches the opening and closing of the second passage 76. The third switching valve 79 switches the opening and closing of the third passage 78. The pressure reducing unit 80 is equipped with a pressure reducing sensor 70 that detects the pressure inside the pressure reducing unit 80. In addition, the second passage 76 is equipped with a suction pressure sensor 69 that detects the pressure inside the second passage 76.

[0074] Such an adsorption air device 12 is connected to the adsorption nozzle 11 via an air hose 74, and thus has both the function of a suction unit 81 that applies suction force to the adsorption nozzle 11 and the function of a release unit 82 that releases the suction by the adsorption nozzle 11. In other words, the adsorption air device 12 switches between the function of the suction unit 81 and the function of the release unit 82 by switching the respective switching valves 75, 77, and 79. This will be described in detail below.

[0075] <Operation of the Adsorption Air Device> Next, the operation of the adsorption air device 12 will be explained. First, its function as a suction unit 81 that applies suction force to the adsorption nozzle 11 will be explained. When the adsorption air device 12 is to perform its function as a suction unit 81, the first switching valve 75 opens the first flow path 72 and the second switching valve 77 opens the second flow path 76. On the other hand, the third flow path 78 is blocked by the third switching valve 79.

[0076] In this state, when air is supplied to the vacuum generator 71 via the first flow path 72 by the air supply device 73, a suction pressure is generated according to Bernoulli's theorem in accordance with the air flow rate (flow velocity). This suction pressure acts on the suction passage 43 of the nozzle body 16 in the adsorption nozzle 11 via the second flow path 76. In other words, the vacuum generator 71, air supply device 73, and each of the switching valves 75, 77, and 79 mainly function as a suction section 81. Details of the role of the suction pressure sensor 69 provided in the third flow path 78 will be described later.

[0077] Next, the function of the release unit 82 for releasing suction by the suction nozzle 11 will be described. When the release unit 82 of the suction air device 12 is activated, the first flow path 72 is blocked by the first switching valve 75. The second flow path 76 is blocked by the second switching valve 77. On the other hand, the third flow path 78 is opened by the third switching valve 79.

[0078] In this state, when air is supplied to the first channel 72 by the air supply device 73, this air is blown out to the nozzle body 16 of the suction nozzle 11 via the third channel 78, which is branched from the first channel 72. At this time, the air is depressurized by the depressurization unit 80 before being blown out to the nozzle body 16 of the suction nozzle 11. This releases the suction by the suction nozzle 11. In other words, the air supply device 73 and the switching valves 75, 77, and 79 mainly function as release units 82.

[0079] Returning to Figure 2, the transfer device 60 includes a rail section 91 provided above the arm section 53, a pusher 92 provided on the upper part of the rail section 91, and a hanger 93 provided on the opposite side of the rail section 91 from the conveying section 2. The transfer device 60 transfers the poultry leg meat M, which is placed on the belt conveyor 7 of the conveying section 2, to the rail section 91 (details will be described later).

[0080] The rail section 91 is equipped with a pair of guide bars 94 on which the ankles of the poultry thigh meat M can be hooked. The pair of guide bars 94 extend in the left-right direction and are arranged parallel to each other. Of the width between the pair of guide bars 94, the width on the hanger 93 side is wide enough to hook the ankles of the poultry thigh meat M. The pair of guide bars 94 are curved so that they widen towards the transport section 2 side. This makes it easier to insert the ankles of the poultry thigh meat M between the pair of guide bars 94 from the transport section 2 side. The pusher 92 pushes the poultry thigh meat M, which has been transferred to the rail section 91, into the hanger 93. The poultry thigh meat M is transferred to the automatic deboning device 6 via the hanger 93.

[0081] <Operation of the Transfer Device> Next, the operation of the transfer device 60 will be explained based on Figures 6 and 8 to 12. As shown in Figure 6, the arm portion 53 of the transfer device 60 swings around the support shaft 57, causing the suction nozzle 11 to reciprocate between the belt conveyor 7 and the rail portion 91 (see arrow Y2 in Figure 6). Until the poultry leg meat M is transported in front of the transfer device 60 by the transport unit 2, the arm portion 53 is in a standby position slightly above the belt 7a. At this time, the tip 16a of the nozzle body 16 of the suction nozzle 11 is facing upwards on the belt 7a. Hereinafter, this orientation of the suction nozzle 11 will be defined as the standby orientation. Whether or not the poultry leg meat M has been transported in front of the transfer device 60 is determined by a sensor (not shown).

[0082] Figure 8 is a perspective view of the transfer device 60 and is an explanatory diagram showing the state of the transfer device 60 when it is started. As shown in Figure 8, the poultry leg meat M is transported in front of the transfer device 60 by the transport unit 2, and when the posture of the poultry leg meat M is restricted by the guide 56, the arm unit 53 is swung. Then, with the suction nozzle 11 in the standby position, the nozzle body 16 is pressed against the vicinity of the patella of the poultry leg meat M (see arrow Y3 in Figure 8). Because the posture of the poultry leg meat M is restricted by the guide 56, the nozzle body 16 can be pressed accurately against the desired location (near the patella) of the poultry leg meat M.

[0083] Here, the nozzle body 16 is pivotably supported on the nozzle holder 14 via an elastic support portion 15. Therefore, the nozzle body 16, when pressed against the poultry thigh meat M, pivots to conform to the shape of the poultry thigh meat M. Since the nozzle body 16 is made of a hard resin or metal that does not elastically deform, it is pressed against the poultry thigh meat M while maintaining a constant pressing force. As a result, the tip 16a of the nozzle body 16 is in close contact with the poultry thigh meat M. In this state, the suction air device 12 is driven, and the poultry thigh meat M is adsorbed by the nozzle body 16.

[0084] Figure 9 is an explanatory diagram showing the state in which poultry leg meat M is adsorbed onto the nozzle body 16. As shown in Figure 9, the poultry leg meat M is drawn into the suction passage 43 of the nozzle body 16. It is preferable that the inner circumferential edge on the tip side 16a of the suction passage 43 be as angular as possible. By forming it in this way, the adhesion force between the tip 16a of the nozzle body 16 and the poultry leg meat M is increased, and the suction force of the nozzle body 16 can be made as large as possible.

[0085] A filter 44 is provided in the suction passage 43, preventing meat pieces and the like from being sucked into the adsorption air device 12. The filter 44 is positioned to avoid contact with the poultry leg meat M drawn into the suction passage 43. Therefore, the filter 44 does not obstruct the drawing of the poultry leg meat M into the suction passage 43. In other words, the space in the suction passage 43 on the tip 16a side of the filter 44 becomes the meat drawing-in section R that draws in the poultry leg meat M. The volume of this meat drawing-in section R is 6 cm³. ３ ~10cm ３ Therefore, the poultry leg meat M can be sufficiently drawn into the meat entry section R, and the suction force of the nozzle body 16 can be made as large as possible.

[0086] Whether or not the poultry thigh meat M has been reliably sucked up by the nozzle body 16 is determined, for example, based on the detection result by the suction pressure sensor 69. That is, if the poultry thigh meat M is reliably adsorbed by the nozzle body 16, the second flow path 76 of the adsorption air device 12 is sufficiently depressurized. Therefore, it can be determined that the poultry thigh meat M has been reliably sucked up by the nozzle body 16. In this case, the suction of the nozzle body 16 by the adsorption air device 12 is continued.

[0087] In contrast, if the nozzle body 16 fails to adsorb the poultry thigh meat M, the second flow path 76 of the adsorption air device 12 will not be sufficiently depressurized due to air entering between the nozzle body 16 and the poultry thigh meat M. Therefore, it can be determined that the nozzle body 16 has failed to adsorb the poultry thigh meat M. In this case, the adsorption air device 12 releases the suction from the adsorption nozzle 11. That is, air is blown out from the nozzle body 16 to separate the poultry thigh meat M from the adsorption nozzle 11. This prevents the poultry thigh meat M from moving to an unintended location. When the nozzle body 16 fails to adsorb the poultry thigh meat M, air is blown out from the nozzle body 16, so if there are pieces of meat attached to the filter 44, for example, these pieces of meat will also be blown out.

[0088] Figure 10 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state in the process of transferring the poultry leg meat M by the transfer device 60. Figure 10 corresponds to the aforementioned Figure 8. Next, as shown in Figure 10, the transfer device 60 swings the arm portion 53 while maintaining the suction state on the poultry leg meat M by the suction nozzle 11, raising the suction nozzle 11 around the support shaft 57. Then, the arm portion 53 lifts the poultry leg meat M (see arrow Y4 in Figure 10). At this time, the rod 64 is rotated around the axis A3 simultaneously with the swing of the arm portion 53. As a result, the posture of the poultry leg meat M rises from a lying position, and furthermore, the patella side of the poultry leg meat M faces the automatic deboning device 6. In this way, the transfer device 60 changes the posture of the poultry leg meat M while lifting it.

[0089] Figure 11 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state in which the ankle of the poultry leg meat M is hooked onto the rail section 91 by the transfer device 60. Figure 11 corresponds to the aforementioned Figure 8. As shown in Figure 11, when the suction nozzle 11 is further raised around the support shaft 57 (see arrow Y5 in Figure 11), the ankle of the poultry leg meat M is hooked onto the rail section 91. Since the suction nozzle 11 is adsorbing the vicinity of the patella of the poultry leg meat M, there are no parts around the ankle of the poultry leg meat M to lift it. For this reason, the position of the ankle of the poultry leg meat M can be easily aligned with the position of the rail section 91.

[0090] After the ankle of the poultry leg meat M is hooked onto the rail section 91, the suction by the suction nozzle 11 is released by the suction air device 12. This allows the poultry leg meat M to be easily separated from the suction nozzle 11. When the suction by the suction nozzle 11 is released, air is blown out from the nozzle body 16, so any meat pieces attached to the filter 44, for example, are also blown out from the nozzle body 16. Therefore, the filter 44 does not become clogged with meat pieces. After the suction by the suction nozzle 11 is released, the poultry leg meat M transferred to the rail section 91 is pushed into the hanger 93 by the pusher 92.

[0091] Figure 12 is a perspective view of the transfer device 60, and is an explanatory diagram showing the state in which the arm portion 53 of the transfer device 60 has returned to the standby position. Figure 12 corresponds to the aforementioned Figure 8. As shown in Figure 12, after the transfer of the poultry leg meat M to the rail portion 91 by the transfer device 60 is completed, the arm portion 53 is swung to lower the suction nozzle 11 around the support shaft 57 (see arrow Y6 in Figure 12). Then, the arm portion 53 is returned to the standby position. At this time, the orientation of the suction nozzle 11 is returned to the standby orientation. With this, the transfer of the poultry leg meat M to the rail portion 91 by the transfer device 60 is completed.

[0092] As described above, the suction nozzle 11 comprises a nozzle holder 14 and a nozzle body 16 that is pivotably supported by the nozzle holder 14 and has its tip 16a protruding from the nozzle holder 14. Therefore, the suction nozzle 11 can suction and lift the poultry leg meat M. Thus, the poultry leg meat M can be accurately transferred from the conveying section 2 (belt conveyor 7) to the automatic deboning device 6 without having to grasp the ankle or other parts of the leg.

[0093] Furthermore, the suction nozzle 11 has a nozzle body 16 that swings relative to the nozzle holder 14. Therefore, when the nozzle body 16 is pressed against the poultry leg meat M, the nozzle body 16 swings in accordance with the shape of the poultry leg meat M, allowing the nozzle body 16 to make close contact with the poultry leg meat M. Thus, even if the poultry leg meat M is irregularly shaped and soft, the suction nozzle 11 can reliably adsorb the poultry leg meat M.

[0094] The nozzle body 16 is supported by the nozzle holder 14 via a coil spring 28 (elastic support part 15). As a result, the nozzle body 16 swings against the elastic force of the coil spring 28. This allows the nozzle body 16 to be easily supported and swing relative to the nozzle holder 14 while restricting its displacement within a certain range.

[0095] In addition, the outer flange portion 37 of the nozzle body 16 is constantly biased by a coil spring 28 with an elastic pressing force toward the flattened portion 18 of the nozzle holder 14. Therefore, for example, when the nozzle body 16 is detached from the poultry leg meat M and the nozzle body 16 is unloaded, a restoring force is applied, allowing the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 to be aligned again. Thus, the position of the nozzle body 16 when the arm portion 53 is in the standby position can always be maintained in the desired position, making it easier to bring the nozzle body 16 into even closer contact with the poultry leg meat M.

[0096] A constant gap G is formed around the entire circumference between the opening 17 of the nozzle holder 14 and the nozzle body 16. This gap G allows the nozzle body 16 to swing relative to the nozzle holder 14. In other words, the nozzle holder 14 can support the nozzle body 16 while maintaining a constant posture and allowing it to swing within a certain range. This prevents the nozzle body 16 from swinging unnecessarily, which would make it difficult for the nozzle body 16 to make close contact with the poultry leg meat M.

[0097] The nozzle body 16 is made of a hard resin or metal. Here, for example, in order to make the nozzle body 16 adhere closely to an irregularly shaped, soft poultry leg meat M, it is conceivable to form the tip of the nozzle body 16 with an elastically deformable material such as rubber. In such a case, when lifting the poultry leg meat M, the nozzle body 16 will elastically deform, making it difficult to lift the poultry leg meat M while it is being sucked in by the suction nozzle 11.

[0098] In contrast, by supporting the nozzle body 16 so as to be swingable with respect to the nozzle holder 14, the nozzle body 16 can be made to adhere tightly to the poultry leg meat M even if the nozzle body 16 is made of hard resin or metal. Therefore, the nozzle body 16 will not deform when lifting the poultry leg meat M. Thus, the poultry leg meat M can be reliably lifted while being held by the suction nozzle 11.

[0099] In the nozzle body 16, the volume of the material recess R is 6 cm³. ３ ~10cm ３ Therefore, the poultry thigh meat M can be sufficiently drawn into the meat entry section R. This allows the suction force on the poultry thigh meat M by the suction nozzle 11 to be sufficiently increased. As a result, the poultry thigh meat M can be reliably lifted by the suction nozzle 11 while it is being suctioned.

[0100] A suction passage 43 is formed in the nozzle body 16. A filter 44 is provided on the tip 16a side of the nozzle body 16 of the suction passage 43. Therefore, when the suction nozzle 11 adsorbs the poultry leg meat M, the filter 44 prevents the meat pieces from being sucked in. Damage to the vacuum generator 71 and other components caused by the sucking in of meat pieces can also be prevented.

[0101] The filter 44 is positioned to avoid contact with the poultry leg meat M drawn into the nozzle body 16. This prevents the poultry leg meat M from coming into contact with the filter 44, which could result in damage to the poultry leg meat M or insufficient adsorption of the poultry leg meat M.

[0102] A flat surface 18 is formed on the first end face 14a of the nozzle holder 14, extending around the entire periphery of the opening 17. An inclined surface 37a is formed on the outer flange portion 37 of the nozzle body 16, serving as a contact surface 37b with the flat surface 18. The outer flange portion 37 of the nozzle body 16 is constantly biased by an elastic support portion 15 towards the flat surface 18 of the nozzle holder 14 with an elastic pressing force.

[0103] Therefore, the nozzle holder 14 can reliably support the nozzle body 16 so that it can swing. For example, when the nozzle body 16 is detached from the poultry leg meat M and the nozzle body 16 is unloaded, a restoring force is applied, allowing the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 to be aligned again. Thus, the position of the nozzle body 16 when the arm portion 53 is in the standby position can always be maintained in the desired position, making it easier to bring the nozzle body 16 into even closer contact with the poultry leg meat M.

[0104] A protrusion 32 is formed on the retaining plate 24, which constitutes the elastic support portion 15 and can also be considered part of the nozzle holder 14. A recess 38 is formed on the outer flange portion 37 of the nozzle body 16 that fits into the protrusion 32. These protrusion 32 and recess 38 function as anti-rotation portions 39 that restrict the rotation of the nozzle body 16 around the respective axes A1 and A2 relative to the nozzle holder 14. This prevents the posture of the poultry leg meat M from changing due to the rotation of the nozzle body 16. Therefore, the poultry leg meat M can be accurately transferred from the conveying portion 2 to the automatic deboning device 6 without gripping the ankle or other parts of the poultry leg meat M, while maintaining the desired posture of the poultry leg meat M. Because the protrusion 32 and recess 38 function as anti-rotation portions 39, the rotation of the nozzle body 16 relative to the nozzle holder 14 can be reliably prevented with a simple structure.

[0105] [Modified Version] <Adsorption Nozzle> Next, modified versions of the adsorption nozzle 11 will be described based on Figures 13 to 16. Figure 13 is a perspective view showing the state in which poultry thigh meat M is adsorbed using the adsorption nozzle 11 in the modified version. Figure 14 is a view taken along arrow XIV in Figure 13, showing the poultry thigh meat M as seen through it.

[0106] In the following explanation, for the sake of clarity, each part of the poultry leg meat M will be denoted by a reference numeral. In the following explanation, when the suction nozzle 11 has adsorbed the poultry leg meat M, the direction in which the ankle Ba of the poultry leg meat M is located relative to the first axis A1 of the nozzle holder 14 and the second axis A2 of the nozzle body 16 will be referred to as the X direction, and the direction perpendicular to each axis A1, A2 and the X direction will be defined as the Y direction. Therefore, at the time when the poultry leg meat M is adsorbed by the suction nozzle 11 (see Figure 8), the Y direction is along the conveying direction Y1 of the conveying unit 2.

[0107] In the following description, when the suction nozzle 11 has adsorbed the poultry thigh meat M, the direction may be specified by pointing to a part of the poultry thigh meat M. More specifically, in the X direction, the ankle Ba side of the poultry thigh meat M is defined as the ankle Ba side in the X direction. In the X direction, the femoral head Bfh side of the poultry thigh meat M is defined as the femoral head Bfh side in the X direction.

[0108] As shown in Figures 13 and 14, the modified suction nozzle 11 includes a nozzle block 110 provided at the tip 16a of the nozzle body 16. When the suction nozzle 11 is used to adsorb the poultry leg meat M, the nozzle block 110 is pressed against the poultry leg meat M.

[0109] <Nozzle Block> Figure 15 is a perspective view of the nozzle block 110 from the side opposite to the suction nozzle 11. Figure 16 is a perspective view of the nozzle block 110 from the side of the suction nozzle 11. As shown in Figures 13 to 16, the nozzle block 110 comprises a plate-shaped base portion 111 and a suction portion 112 that protrudes from the base portion 111 on the side opposite to the suction nozzle 11.

[0110] The thickness direction of the base portion 111 coincides with the direction of the second axis A2 in the nozzle body 16. The base portion 111 is formed in a rectangular shape when viewed from the direction of the second axis A2 of the nozzle body 16. The base portion 111 has a contact surface 111a in which the poultry leg meat M comes into contact. On the back surface 111b of the base portion 111, opposite to the contact surface 111a, there is a fitting recess 113 into which the tip 16a of the nozzle body 16 is fitted. The fitting recess 113 is in communication with the suction passage 43 of the nozzle body 16.

[0111] A positioning projection 114 is formed on one side of the contact surface 111a of the base portion 111 in the Y direction. The positioning projection 114 is positioned closer to the upper end 111c, which is on the ankle Ba side, than the center of the base portion 111 in the X direction. On the base portion 111, the suction portion 112 is positioned on the side opposite to the positioning projection 114 in the Y direction. In other words, the suction portion 112 is positioned on the opposite side of the contact surface 111a of the base portion 111 from the positioning projection 114.

[0112] The suction portion 112 is formed in a rectangular shape that is long in the X direction. The suction portion 112 extends from the lower end 111d, which is on the femoral head Bfh side, to the upper end 111c, which is closer to the center in the X direction, on the base portion 111. The position of the upper end 112a of the suction portion 112, which is on the ankle Ba side in the X direction, is on the same plane as the position of the upper end 114a of the positioning projection 114, which is on the ankle Ba side in the X direction.

[0113] On the side surface 112c of the contact surface 111a of the suction portion 112, that is, on the side surface 112c on the positioning projection 114 side in the Y direction, chamfered portions 115 and 116 (first chamfered portion 115 and second chamfered portion 116) are formed at both corners in the X direction. Of the two chamfered portions 115 and 116, the size of the second chamfered portion 116 formed on the lower end 112b of the suction portion 112, which is on the femoral head Bfh side, is larger than the size of the first chamfered portion 115 formed on the upper end 112a side of the suction portion 112.

[0114] A pressing projection 117 is integrally molded at the upper end 112a of the suction portion 112, where the first chamfered portion 115 is formed. The pressing projection 117 protrudes on the side opposite to the base portion 111. The pressing projection 117 is formed over the entire Y-direction of the upper end 112a of the suction portion 112. The height of the tip surface 117a of the pressing projection 117 in the protruding direction is the same as the protrusion height from the contact surface 111a of the positioning projection 114.

[0115] A suction port 118 is formed in the suction portion 112. The suction port 118 penetrates the suction portion 112 in the direction of the second axis A2. When viewed from the direction of the second axis A2, that is, when the contact surface 111a is viewed from the front, the suction port 118 is formed to be oval-shaped between the two chamfered portions 115 and 116. The longitudinal direction of the suction port 118 when viewed from the front of the contact surface 111a is oblique to the X and Y directions.

[0116] More specifically, the suction port 118 extends diagonally, gradually moving away from the positioning projection 114 as it moves from the first chamfered portion 115 toward the second chamfered portion 116. The inclination direction of the suction port 118 is similar to the inclination direction of the second chamfered portion 116. A portion of the suction port 118 overlaps with the fitting recess 113 in the direction of the second axis A2. As a result, the suction port 118 and the fitting recess 113 are in communication. Therefore, the suction port 118 is in communication with the suction passage 43 of the nozzle body 16 via the fitting recess 113.

[0117] <Operation of the Nozzle Block> Next, the operation of the nozzle block 110 will be explained. As shown in Figure 14, when the nozzle block 110 is pressed against the poultry leg meat M, the poultry leg meat M comes into contact with the contact surface 111a of the base portion 111. Here, the nozzle block 110 has a recessed contact surface 111a due to the positioning projection 114 and the suction portion 112. On the other hand, the part of the poultry leg meat M where the bone B is present is harder than the part where only meat is present. Therefore, the part of the poultry leg meat M where the bone B is present naturally fits into the contact surface 111a.

[0118] Since a second chamfered portion 116 is formed on the suction portion 112, the femur Bf can easily conform to this second chamfered portion 116. As a result, the posture of the poultry thigh meat M is maintained in the desired position. In addition, the positioning projection 114 and the first chamfered portion 115 of the suction portion 112 suppress the wobbling of the poultry thigh meat M on the tibia Tk side. As a result, the posture of the poultry thigh meat M is even easier to maintain in the desired position.

[0119] In this position of the poultry thigh meat M, the suction part 112 presses against the meat portion of the poultry thigh meat M opposite to the patella Bp. This area has a large meaty surface area within the poultry thigh meat M. By pressing the suction part 112 against this area, the suction part 112 is firmly pressed against the poultry thigh meat M. Moreover, since the suction part 112 protrudes from the base part 111, the base part 111 can hold down the poultry thigh meat M while the suction part 112 can sufficiently press against the poultry thigh meat M.

[0120] The suction portion 112 has a pressing projection 117. Here, the thickness of the poultry thigh meat M tends to gradually decrease as it moves from the femur Bf towards the tibia Bk. Therefore, by forming the pressing projection 117, it becomes possible to uniformly press the entire suction portion 112 against the desired portion of the poultry thigh meat M.

[0121] The suction opening 118 formed on the suction portion 112 is oval-shaped when viewed from the front of the contact surface 111a. The suction opening 118 extends diagonally, gradually moving away from the positioning projection 114 as it moves from the first chamfered portion 115 toward the second chamfered portion 116. As a result, the suction opening 118 extends over a wide area of ​​the meat portion of the poultry thigh meat M in accordance with the posture of the poultry thigh meat M. In other words, because the suction opening 118 extends diagonally in a direction similar to the inclination direction of the second chamfered portion 116, the longitudinal direction of the suction opening 118 is aligned with the femur Bf.

[0122] With this configuration, when the suction air device 12 is driven, the poultry leg meat M is adsorbed by the nozzle block 110. The suction part 112 is pressed firmly against the poultry leg meat M and is in close contact with it. As a result, a gap is less likely to form between the suction part 112 and the poultry leg meat M, and the suction force of the suction nozzle 11 on the poultry leg meat M can be increased.

[0123] Incidentally, the area of ​​the meat on the patella Bp side of the poultry thigh meat M is relatively small. If the suction part 112 is pressed against this part, there is a high possibility that the suction part 112 will ride up over the bone B. In such a case, a gap will be formed between the suction part 112 and the poultry thigh meat M, and the suction force of the suction nozzle 11 on the poultry thigh meat M will decrease.

[0124] As described above, the modified configuration includes a nozzle block 110 provided at the tip 16a of the nozzle body 16. The nozzle block 110 comprises a base portion 111 having a contact surface 111a and a suction portion 112 protruding from the contact surface 111a. Therefore, the base portion 111 can hold down the poultry leg meat M, while the suction portion 112 protruding from the base portion 111 can firmly press against the poultry leg meat M. This improves the suction force of the suction nozzle 11 onto the poultry leg meat M.

[0125] A second chamfered portion 116 is formed on the suction portion 112. By aligning the bone B with the second chamfered portion 116, it becomes easier to maintain the position of the poultry leg meat M in the desired position. As a result, it becomes possible to press the suction opening 118 precisely against the desired location on the poultry leg meat M.

[0126] The suction port 118 is formed in an oval shape when viewed from the front of the contact surface 111a. The longitudinal direction of the suction port 118 is aligned with the femur Bf. Therefore, the suction port 118 can adsorb the poultry thigh meat M over as wide an area as possible. Thus, the suction force of the suction nozzle 11 on the poultry thigh meat M can be further increased.

[0127] The present invention is not limited to the embodiments described above, but includes various modifications to the embodiments described above, without departing from the spirit of the invention.

[0128] For example, in the above embodiment, poultry leg meat M was described as an example of a workpiece that is adsorbed and transferred by the adsorption nozzle 11. However, it is not limited to this, and the workpiece is not limited to poultry leg meat M. The adsorption nozzle 11 can be used for various kinds of meat. The adsorption nozzle 11 can also be used for various other workpieces besides meat.

[0129] In the above-described embodiment, the case in which air is used as the power source to generate suction force in the adsorption nozzle 11 and to release this suction force was explained. However, the invention is not limited to this, and fluids other than air may be used. Any fluid that can generate suction force on the poultry leg meat M and release the adsorption to the poultry leg meat M is acceptable as the power source.

[0130] In the above-described embodiment, the case in which the anti-rotation portion 39 of the nozzle body 16 relative to the nozzle holder 14 in the suction nozzle 11 is configured by a convex portion 32 of the retaining plate 24 and a concave portion 38 of the nozzle body 16 was explained. However, it is not limited to this, and the nozzle body 16 may be provided with a convex portion 32 and the retaining plate 24 may be provided with a concave portion 38. Alternatively, the nozzle holder 14 itself may be provided with a convex portion 32 and a concave portion 38 instead of the retaining plate 24.

[0131] In the above-described embodiment, the mobile unit 13 was described as comprising a drive unit 52 and an arm unit 53. However, it is not limited to this, and the mobile unit 13 only needs to be able to move the suction nozzle 11 up and down (reciprocate) between the transport unit 2 and the automatic bone removal device 6. For example, the mobile unit 13 can also be made up of a multi-axis robot or a SCARA robot.

[0132] In the above-described embodiment, the suction air device 12 was described in a case where it has both the function of a suction unit 81 that applies suction force to the suction nozzle 11 and the function of a release unit 82 that releases suction by the suction nozzle 11. That is, the suction air device 12 was described in a case where it switches between the function of the suction unit 81 and the function of the release unit 82 by switching the respective switching valves 75, 77, and 79. However, it is not limited to this, and the suction unit 81 and the release unit 82 may be provided separately.

[0133] In the above-described embodiment, the case in which the nozzle body 16 is supported by the nozzle holder 14 via an elastic support portion 15 was explained. The case in which the elastic support portion 15 is provided with a coil spring 28 as the elastic member was explained. However, it is not limited to this, and various members can be used as the elastic member. It is sufficient that the nozzle body 16 is supported by the nozzle holder 14 via an elastic member. In this case, the elastic member only needs to be able to bias either the flat surface portion 18 of the nozzle holder 14 or the inclined surface 37a of the nozzle body 16 toward the other.

[0134] In the above-described embodiment, the detection of poor suction of the poultry leg meat M by the suction nozzle 11 was described based on the detection result of the suction pressure sensor 69. However, it is not limited to this, and various sensors (detection units) can be used instead of the suction pressure sensor 69. The sensor only needs to be able to detect poor suction of the poultry leg meat M by the suction nozzle 11. For example, the sensor may be a device that images the posture of the poultry leg meat M adsorbed by the suction nozzle 11. Based on this imaging result, poor suction of the poultry leg meat M by the suction nozzle 11 may be detected.

[0135] The embodiments and modifications described above describe the case where the poultry leg meat M is from the left leg. However, the invention is not limited to this, and the poultry leg meat processing system 1 described above can also be used for poultry leg meat M from the right leg. Depending on whether the poultry leg meat M is from the right or left leg, predetermined parts of each device should be formed symmetrically. In particular, the nozzle block 110 in the modified example should be formed symmetrically on both sides, that is, symmetrically in the Y direction, according to the poultry leg meat M.

[0136] The aforementioned suction nozzle allows for the accurate transfer of irregularly shaped and flexible workpieces, such as poultry leg meat, without the need for gripping.

[0137] 11... Suction nozzle 12... Suction air device (suction device) 14... Nozzle holder 16... Nozzle body 16a... Tip 16b... Base 17... Opening 18... Chamfered part 28... Coil spring (elastic member) 32... Protrusion 37... Outer flange part (flange part) 37a... Inclined surface 37b... Contact surface 38... Recess 39... Anti-rotation part 43... Suction passage 44... Filter G... Gap M... Poultry leg meat (workpiece, meat) R... Meat pull-in part

Claims

A suction nozzle that uses a suction device to apply suction to a workpiece and holds the workpiece, Nozzle holder and, A nozzle body is supported such that its tip protrudes from the nozzle holder and is pivotably supported relative to the nozzle holder, and contacts the workpiece. Equipped with, Suction nozzle. 　 The nozzle body is supported by the nozzle holder via an elastic member. The suction nozzle according to claim 1. 　 The tip of the nozzle body protrudes from the nozzle holder through an opening formed in the nozzle holder. A certain gap is formed between the nozzle body and the opening. The suction nozzle according to claim 2. 　 The nozzle body is formed of a hard resin or metal. The adsorption nozzle according to any one of claims 1 to 3. 　 The aforementioned work includes meat, The nozzle body has a suction passage formed therein through which air passes along its entire axial direction. Of the aforementioned suction passages, the tip end of the nozzle body has a material pull-in portion for pulling in the workpiece. The volume of the aforementioned meat recess is 6 cm ３ ~10cm ３ That is, The adsorption nozzle according to any one of claims 1 to 3. 　 The aforementioned work includes meat, The nozzle body has a suction passage formed therein through which air passes along its entire axial direction. The aforementioned suction passage is provided with a filter that blocks the suction passage. The adsorption nozzle according to any one of claims 1 to 3. 　 The filter is positioned to avoid contact with the workpiece that is drawn into the nozzle body. The suction nozzle according to claim 6. 　 The elastic member biases either the nozzle holder or the nozzle body toward the other. The suction nozzle according to claim 3. 　 The nozzle holder and the nozzle body are provided with a rotation-preventing part that suppresses rotation of the nozzle body around its axis relative to the nozzle holder. The adsorption nozzle according to any one of claims 1 to 3. 　 The aforementioned anti-rotation part is, A protrusion provided on either the nozzle holder or the nozzle body, The nozzle holder or the nozzle body is provided with a recess into which the protrusion fits, Equipped with, The suction nozzle according to claim 9. 　 The aforementioned work includes poultry leg meat, The nozzle body has a suction passage formed therein through which air passes along its entire axial direction. The nozzle body is provided with a nozzle block located at the tip, The nozzle block described above is A base portion having a contact surface that contacts the aforementioned poultry leg meat, and on which the portion of the poultry leg meat containing bone is positioned, A suction portion is arranged alongside the base portion and protrudes from the contact surface side of the base portion, Equipped with, The adsorption portion has an adsorption port that leads to the suction passage. The adsorption nozzle according to any one of claims 1 to 3. 　 A chamfered portion is formed at the corner of the side surface of the adsorption portion on the contact surface side. The suction nozzle according to claim 11. 　 The adsorption port is formed in an oval shape when the contact surface is viewed from the front. The longitudinal direction of the suction port is aligned with the direction in which the bone positioned in the base portion extends. The suction nozzle according to claim 11.

Images