JP2000190171A - Parts sorting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate necessity for a teaching process and shorten the time for working and sorting operations. SOLUTION: A component sorting device 15 gives image displaying of a component 70 and a palletizing robot 20, calculates the sucking position for the image displayed component 70 as the component and robot information BRJ in conformity to the instruction from the operator, and prepares the motion and positioning command FRn for the robot 20 on the basis of the component and robot information BRJ, sheet nesting information SNJ, and pallet nesting information PNJ.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component sorting apparatus which can sort a workpiece formed by cutting a work sheet by sucking and transporting it from a sorting table to a pallet in a laser processing facility or the like.

[0002]

2. Description of the Related Art In conventional laser processing equipment and the like, a suction transfer device that suctions and transfers a part formed by cutting a work sheet using a vacuum pad is used.
Many parts are conveyed to a predetermined pallet and sorted using such a suction conveyance device. Further, in such a suction conveyance device, information for controlling the operation is input and set by performing teaching with the actually cut parts.

[0003]

However, since it is necessary to perform teaching with parts made by actual cutting,
The time required for processing and sorting the parts is increased by the time required for the teaching.

In view of the above circumstances, it is an object of the present invention to provide a component sorting apparatus which does not need to perform teaching, thereby shortening the processing / sorting time as much as possible.

[0005]

That is, according to a first aspect of the present invention, a part (70) formed by cutting a work sheet (70A) is sucked by suction means (550, 55).
In the component sorting apparatus (15) for performing suction conveyance and sorting from the first position (5) to the second position (10) via (0, 550, 550) via the component shape information (70) of the component (70) to be sorted. BZ) and the adsorption means (550,..., 5)
50) a shape information storage unit (110) for storing the suction unit shape information (RZ);
0) based on the component shape information (BZ) and the suction means shape information (RZ) stored in the component (70).
And an image display section (105, 106) for displaying an image of the suction means (550,..., 550), and a component (7) image-displayed on the shape image display section (105, 106).
., 550), which can be operated by an operator, and which is capable of instructing a suction position of the suction means (550,..., 550) with respect to the suction position indicating means (103a, 103b). The suction position calculation unit (11) that calculates the suction position of the suction unit (550,..., 550) with respect to the component (70) specified by 103b) as suction unit position information (BRJ).
5) is provided, and a suction means position information storage section (122) for storing suction means position information (BRJ) calculated by the suction position calculation section (115) is provided, and the first means for the component (70) is provided. Location information (SN) at position (5)
J), a component arrangement information storage unit (111a) for storing the second position (1) of the component (70) is provided.
0), a sorting information storage unit (137) for storing the sorting information (PNJ) is provided, and the suction unit position information (BRJ) stored by the suction unit position information storage unit (122); (550), based on the arrangement information (SNJ) stored in (111a) and the sorting information (PNJ) stored in the sorting information storage unit (137). A program creating unit (146) for creating and outputting a suction transfer program (SPR) for the component (70) in a form for creating a movement / positioning command (FRn) from the position (5) to the second position (10). ) Is provided.

According to a second aspect of the present invention, in the parts sorting apparatus according to the first aspect, the suction means (55) is provided.
0,... 550), a reference position (CT1) is set, and the image display units (105, 106)
The center position (G) of the component (70) and the reference position (CT) of the suction means (550,..., 550)
The component (70) and the suction means (550,..., 550) are displayed as images in a form that matches 1).

According to a third aspect of the present invention, in the component sorting apparatus according to the first aspect, the image display unit (1
05, 106) connects the component (70) and the suction means (550,..., 550) to the suction means (550,
.., 550) on the two-dimensional coordinates (PRZ) corresponding to the horizontal movement direction.

According to a fourth aspect of the present invention, in the component sorting apparatus according to the first aspect, the suction means (55) is provided.
0,... 550) for detecting the attraction force, the attraction force detection units (116, 119) are provided.
6, 119) and the weight (Bw) of the part (70) to be sorted,
The suction force determination output unit (1) that determines and outputs the excess or deficiency of the suction force (Hw) by the suction means (550,..., 550).
20, 121).

According to a fifth aspect of the present invention, in the component sorting apparatus according to the fourth aspect, the suction means (55) is provided.
, 550) has a suction head assembly (550) composed of a plurality of suction heads (55), and the component (70) displayed as an image on the image display unit (105, 106). ,.., 5
50) a suction head positional relationship determination unit (116) for determining a positional relationship of each of the suction heads (55); ), The suction force (Hw) of the suction means (550,..., 550) is detected based on the determination result of each suction head (55).

According to a sixth aspect of the present invention, in the component sorting apparatus according to the first aspect, the suction means (55) is provided.
, 550) has a suction head assembly (550) composed of a plurality of suction heads (55), and the component (70) displayed as an image on the image display unit (105, 106). ,.., 5
50) a suction head positional relationship determining unit (116) for determining a positional relationship of each of the suction heads (55) is provided, and the program creating unit (146) is configured to execute the suction head positional relationship determining unit (116). Each of the suction heads (55) of the suction means (550,..., 550) is based on a determination result for each of the suction heads (55).
The suction transfer program (SPR) is generated and output in the form of generating a control command (FRn) relating to the above.

According to a seventh aspect of the present invention, in the parts sorting apparatus according to the first aspect, the arrangement information (SN) at the first position (5) for the part (70) is provided.
J) is replaced with the suction means (550,...) For the component (70) calculated by the suction position calculation unit (115).
, 550) based on the suction position.
, 550) in the form of positioning information at the first position (5).
1) was provided.

According to an eighth aspect of the present invention, in the component sorting apparatus according to the first aspect, the sorting information (PNJ) at the second position (10) for the component (70) is stored in the suction position. The suction unit (55) for the component (70) calculated by the calculation unit (115)
0,... 550), the second position (10) of the suction means (550,... 550).
And a sorting information calculation unit (130) for calculating in the form of positioning information.

According to a ninth aspect of the present invention, in the component sorting apparatus according to the first aspect, the first position (5) is provided with a laser-cut worksheet (70).
B), which is a sorter (5) used in the laser processing equipment (1) for arranging the second position (10).
Is a pallet (10) for parts sorting used in the laser processing equipment (1).

It should be noted that the numbers in parentheses and the like are for convenience of indicating corresponding elements in the drawings, and therefore, the present description is not limited to the description on the drawings.

[0015]

According to the first aspect of the present invention, the parts and the suction means are displayed as images, and the operator who has viewed the image displays the suction position of the suction means with respect to the parts through the suction position indicating means. An instruction is given, and the indicated suction position is calculated as suction means position information. That is, the positioning information of the suction means with respect to the component during the actual suction conveyance is calculated based on an instruction executed by an operation performed by an operator in accordance with the image display, and based on the positioning information and the like thus generated. Since the movement / positioning command is generated, there is no need to perform teaching using actual parts as in the related art, and the working / sorting time can be shortened as much as possible. Also,
Since teaching is not required, there is no work interruption for performing teaching during the sorting operation, so that a smooth sorting operation is realized.

In the second aspect of the present invention, a reference position is set in the suction means. The reference position is, for example, in the present embodiment, the suspension frame 3 that suspends the four suction head assemblies 550 via the arms 47 and the like.
5 is the rotation axis CT1 at the center of the machine, and the balance position on the machine side such as the suction means (the center of gravity or a position close to the center of gravity)
It has become. The image display unit displays images of these components and the suction means in such a manner that the position of the center of gravity of the parts and the reference position of the suction means (such as the C axis in the present embodiment) coincide with each other. If the suction position is specified in the state where the image is displayed as described above, the suction means is suitably arranged on the component. That is, the actual arrangement of the suction means corresponding to this state is such that the corresponding parts can be supported in a well-balanced manner via the suction means. As described above, in the second invention, the first
In addition to the effects of the invention, in a state where an image is displayed by the image display unit, a suitable suction position can be easily specified, so that the time and labor required for specifying the suction position can be advantageously saved.

According to a third aspect of the present invention, the parts and the suction means are displayed as images on two-dimensional coordinates corresponding to the horizontal movement direction of the suction means. Then, in the movement pattern corresponding to the actual horizontal movement direction of the suction means, the suction position of the suction means with respect to the component can be moved and specified, so that the operator can accurately and easily grasp the relative position of the component and the suction means, As a result, the suction position can be specified accurately, and as a result, the mistake in specifying the suction position is reduced.

According to a fourth aspect of the present invention, a determination is made as to whether the suction force of the suction means is excessive or insufficient when the parts to be sorted are suctioned. Since it is possible to check in advance whether the force is appropriate for sucking the components to be sorted, it is possible to prevent trouble during actual suction conveyance. In other words, if the suction force is too small to pick up and lift a component, or if the suction force is too large, for example, if the component to be conveyed is stuck on a worksheet, the component Can be lifted together with the worksheet without being detached immediately, and troubles such as damage to parts can be prevented.

In the fifth aspect of the present invention, the suction force by the suction means is detected based on the determination result of the positional relationship of each suction head with respect to the component displayed as an image. In addition to the fourth aspect, it is convenient because an accurate suction force can be detected only by the suction head arranged at a position capable of exerting an appropriate suction force on the component.

According to a sixth aspect of the present invention, based on the determination result of the positional relationship of each suction head with respect to the component displayed as an image, the position is determined so that an appropriate suction force can be exerted on the actual component. Each suction head is turned on at the time of suction, and is turned off at the time of suction if the suction head is placed at a position where it cannot exert the appropriate suction force on the actual parts. Since the control command relating to the first invention is created, in addition to the effect of the first invention, at the time of actual suction, the suction head arranged to be displaced from the component is turned on, and a component other than the component to be suctioned by the suction head, for example, This is advantageous because troubles such as suction or suction of a worksheet or dust can be prevented.

According to the seventh aspect of the present invention, the arrangement information of the component at the first position is calculated in the form of the positioning information of the suction means at the first position.
In addition to the effect of the first invention, this arrangement information
The arithmetic processing in creating the movement / positioning command of the suction means at the time of creating the suction conveyance program is simplified, so that the program creation time is advantageously shortened.

According to the eighth aspect of the present invention, the sorting information of the component at the second position is calculated in the form of the positioning information of the suction means with respect to the second position. In addition to this, the sorting information simplifies the arithmetic processing in creating the movement / positioning command of the suction means at the time of creating the suction conveyance program, so that the program creation time is advantageously shortened.

According to the ninth aspect of the present invention, in addition to the effects of the first aspect, the present invention is conveniently applied to a laser processing facility.

[0024]

Embodiments of the present invention will be described below with reference to the drawings. 1 is a perspective view schematically showing the entire laser processing equipment, FIG. 2 is a side sectional view showing a palletizing robot, FIG. 3 is a view as seen from an arrow I in FIG. 2, and FIG. 4 is a view as seen from an arrow II in FIG. 5 is a perspective view showing a suspension frame and a head unit, etc., FIG. 6 is a side view (partially sectional view) showing one of the head units in detail, and FIG. 7 is FIG. of
III view (partial sectional view), FIG. 8 is a top view of the head unit (partial sectional view), FIG. 9 is a plan view showing only the head supporting portion of the head frame, and FIG. 10 is a suction head. FIG. 11 is a perspective view showing a state in which components are sucked by a suction head assembly, and FIG. 12 is a perspective view showing a state in which conveyed components are transferred to a pallet. FIG. 13 is a side view showing a state in which a component is to be sucked by a suction head assembly, FIG. 14 is a side view showing a state in which a conveyed component is delivered to a pallet, and FIG. 15 is a machining / sorting program. FIG. 16 is a block diagram showing a laser processing equipment control device, FIG. 17 is a flowchart showing a program creation program, and FIG. 18 is a flowchart showing a first subprogram. FIG. 19 is a view showing the display contents on the display in the part information input mode, FIG. 20 is a view showing the display contents on the display on which the part information and the robot figure are displayed, and FIG. 21 is a material / density table. FIG. 22, FIG. 22 shows part / robot information, FIG. 23 shows a nesting schedule file,
FIG. 24 is a flowchart showing a third subprogram,
FIG. 25 is a diagram showing the contents displayed on the display when the pallet nesting is set, FIG. 26 is a diagram showing the pallet nesting information, and FIG. 27 is a diagram showing the contents displayed on the display when the sheet nesting is set. FIG. 28 shows sheet nesting information, FIG.
9 is a diagram showing a sorting program, and FIG. 30 is a diagram showing equipment coordinates set in the laser processing equipment.

The laser processing equipment 1 is, as shown in FIG.
A large number of worksheets 70A, which are a large number of plate-shaped workpieces, are stacked and stored.
A is provided with a known material stocker 2 from which a worksheet 70A to be processed can be appropriately taken out of the material stocker A, and a laser light is provided on the side of the material stocker 2 (right side in FIG. 1). A plurality of laser processing machines 3 (two in the present embodiment) capable of cutting the processed work sheet 70A are provided. Two laser machines 3, 3
Further on the side (right side in FIG. 1), there are a plurality of known sorting tables 5 (2 in this embodiment) on which a processed worksheet 70B cut by the laser processing machine 3 can be placed.
Table) is provided. The material stocker 2, the laser processing machines 3, 3, and the sorting tables 5, 5 are arranged in a row in a predetermined horizontal transport direction (directions of arrows A and B in the figure).

These material stocker 2, laser processing machine 3,
3. A guide rail 6 extending in the transport direction (the direction of arrows A and B in the drawing) is installed above the sorters 5 and 5 so as to communicate with each other. A known transfer robot 7 is provided so as to be movable along the guide rail 6 in the transfer direction, and is capable of transferring a worksheet 70A from the material stocker 2 to each laser processing machine 3 via a vacuum pad or the like. Further, the processed worksheet 70B can be freely conveyed from each laser beam machine 3 to each sorting table 5 via a fork or the like.

On the other hand, on the side of the two sorting tables 5 and 5 (on the right side of the sheet of FIG. 1 (arrow B side)), a well-known work stocker 9 is arranged along the transport direction. A plurality (four in this embodiment) is provided. On each work stocker 9, the above-described processed work sheet 70B
A plurality of parts 70 taken out of the stack are stacked and placed, and a work pile 700 formed by stacking a number of parts 70 is formed.
A pallet 10 in the form of a plate, on which the pallets can be placed side by side, is detachably installed. Above the sorting tables 5, 5 and the plurality of work stockers 9, a pair of parallel guide rails 11, 11 extending in the transport direction as shown in FIG. 1 are provided with appropriate support members 11a, 11a. Is installed in such a manner that the above-mentioned sorting tables 5, 5 and the plurality of work stockers 9 are connected to each other. A palletizing robot 20 is provided on these guide rails 11 and 11.
Is provided.

The palletizing robot 20 is movable in the transport direction along the guide rails 11, 11 as shown in FIGS. 2 to 4 (however, the guide rails 11, 11, etc. are omitted in FIG. 4). In the form of a suspension frame 21 suspended in The suspension frame 21 is provided with a traveling driving device 22 including a motor 22a and gears 22b, 22b, etc., which are driven to rotate by the motor 22a.
Racks 11b and 11b are provided along the shapes 1 and 11. Each gear 22b of the traveling drive device 22 is connected to each rack 1
1b.

The suspension frame 21 is provided with a pair of parallel moving rails 23, 23 in the transport direction (the directions of arrows A and B).
Are extended in a horizontal direction (directions of arrows C and D) at right angles. A first frame 25 is suspended from and provided on these moving rails 23, 23, and the first frame 25 is movable in the directions of arrows C and D along the moving rails 23, 23. . In the first frame 25, FIG.
As shown in the figure, a moving driving device 26 including a motor 26a and a gear 26b rotationally driven by the motor 26a
The suspension frame 21 is provided with a rack 23 a along the moving rail 23, and meshes with a gear 26 a of the moving driving device 26.

As shown in FIGS. 2 and 3, a plurality of (four in this embodiment, four as shown in FIG. 3) guide holes 25a are formed in the first frame 25 as shown in FIGS. Each guide hole 25a has a rod 27 extending vertically.
Are slidably inserted. A second frame 29 is connected to the lower ends of these rods 27, and the first frame 25
Are movable in the vertical direction (the directions of arrows E and F in the figure). The first frame 25 and the second frame 29
As shown in FIGS. 2 to 4, a balancer 28 (two in this embodiment), which is a pneumatic cylinder device, is provided between the second frame 29 and the second frame 29.
The side load is supported by the first frame 25.
As shown in FIG. 2 or FIG. 3, a bar-shaped screw member 30 (in this embodiment,
This is provided so as to penetrate the first frame 25, and the nut member 31 (two in this embodiment) is fixed to the first frame 25 only in the vertical direction with respect to the first frame 25. It is provided in the form. These nut members 31
Are screwed into the respective screw members 30 so as to form a ball screw device.

Further, the first frame 25 includes a motor 32a.
, And a nut drive device 32 is provided which is capable of rotating and driving each of the nut members 31 by the power from the motor 32a. Further, the second frame 29 is provided with a shaft 33 extending in the vertical direction so as to protrude downward (in the direction of arrow F) from the second frame 29 in the directions of arrows R1 and R2 (about the rotation axis CT1 extending in the vertical direction). This direction is referred to as the C-axis direction), and the shaft 33 is rotatably provided. At the lower end of the shaft 33, a suspension frame 35 is suspended and provided. Note that a rotation drive device 36 is provided between the second frame 29 and the shaft 33. As shown in FIG. 2, the rotation driving device 36 includes a motor 36a provided on the second frame 29 side and a pulley 36b which is rotationally driven by a belt or the like by the motor 36a. 33. The shaft 33 is moved to C by the rotation of the pulley 36b.
It can be driven to rotate in the axial direction.

As shown in FIGS. 2 and 5, the suspension frame 35 of this embodiment is basically a substantially horizontal plate.
Its planar shape is substantially cross-shaped. Hanging frame 35
Each end 3 corresponding to the vicinity of the tip of the four cross-shaped arms
5a is provided with a head unit 45 (the shape of the suspension frame 35 is arbitrary, and the number of head units 45 may be any number as long as it is one or more). As shown in FIGS. 5, 6, and 8, each head unit 45 has a bracket 46 fixed below the end portion 35a, and the bracket 46 has a horizontal and substantially straight arm 47. Is the rotation axis CT extending in the vertical direction (arrows E and F directions)
2 is pivotally mounted in the directions of arrows S and T (this direction is the B-axis direction) around the figure. Bracket 4
A drive motor 49 is provided in the six portions, and the output shaft 49a side of the drive motor 49 is arranged concentrically with the rotation axis CT2 and connected to the arm 47.

The arm 47 has sliding rails 50, 5
0 is provided along the arm 47 so as to extend in the directions indicated by arrows P and Q in the drawing, which is the direction in which the arm 47 extends (the horizontal direction, which is referred to as the A-axis direction). A head frame 51 is provided slidably in the A-axis direction along the slide rails 50, 50 (note that the slide rail 50 is omitted in FIG. 5 for simplicity,
The head frame 51 and the like are also shown in a simplified rectangular parallelepiped form). The head frame 51 is provided with a slide drive device 52 including a motor 52a and a gear 52b rotated by the motor 52a.
7, a rack 47a is provided along the arm 47. The gear 52b of the slide drive device 52 meshes with the rack 47a.

6 and FIG.
As shown in FIG. 9, a horizontal plate-shaped head support portion 53 is formed, and the head support portion 53 is provided with a plurality of suction heads 55 through bushes 53a extending vertically.
(19 in this embodiment) are supported. The plurality of suction heads 5 supported by one head support 53
Reference numeral 5 constitutes a suction head assembly 550 as one unit. Each of the suction heads 55 has a bar-shaped tube 56 extending vertically, and this tube 56 is penetrated by the head support 53 via the bush 53a as described above. That is, the tube 56 is movable in the directions of the arrows E and F with respect to the head support 53. A stopper 56a of a size that cannot pass through the bush 53a or the like is provided near the upper end of the tube 56, and the tube 56 is supported by the head support 53 while being locked on the head support 53. .

The lower end of the tube 56 is shown in FIGS.
As shown in FIG. 11, a pad 57, which is a shade-shaped vacuum pad, is provided facing downward (in the direction of arrow F). A pad protection member 59 (for simplicity, the pad protection member 59 is shown by a two-dot chain line only for a part of the suction head 55 for simplicity) is provided to cover and protect the side periphery of the pad 57. I have. Pad protection member 59
The upper part of the tapered portion 59 is tapered upward.
a. The inside of the pad 57 is connected and connected to the inside of the tube 56 via the lower end of the tube 56.
At the upper end side of the tube 6, a tube 60 made of a spiral tube or the like that can be extended and retracted via a joint 56b (shown by a straight line such as a dashed line in each drawing for simplicity) communicates these tubes 56 and the inside of the tube 60. Connected in shape.

As shown in FIGS. 6 to 8, the head frame 51 has a plate-shaped tube support 61 which is a horizontal plate and is vertically opposed to the head support 53. The end of the tube 60 of each suction head 55 is connected to and supported by the tube support 61 via an appropriate joint 61a (omitted in FIG. 7). Thereby, the entanglement of many tubes 60 is prevented. Each tube 60 has the joint 61 described above.
a pressure transmitting member 6 composed of another tube or the like via a
2 are connected to each other.
Is connected to a vacuum pump 63. As shown in FIG. 6, valves 65 that can open and close the inside of the air pressure transmitting members 62 are provided in the middle of each of the air pressure transmitting members 62. It is provided in. The suction head assembly 550 composed of the plurality of suction heads 55 configured as described above,
As shown in FIG. 10, these pads 57 are closely arranged in a circular outline.

Further, as shown in FIG. 1, the laser processing equipment 1 has a processing / sorting program creating device 101 and a laser processing equipment control device 150. That is, the processing / sorting program creating apparatus 101 has a main control unit 102 as shown in FIG. 15, and the main control unit 102 has a keyboard 103a, a mouse 103b, a display 105, an image control unit via a bus line. 106, program memory 107, nesting schedule creation unit 109, input / display memory 110, sheet nesting setting unit 11
1. Graphic control unit 112, communication control unit 113, part / robot information registration control unit 115, pallet nesting setting unit 130, machining program creating unit 145, sorting program creating unit 146, machining / sorting program organizing unit 14.
7 is connected. Furthermore, the nesting schedule creation unit 109 has a nesting schedule memory 10
9a, a sheet nesting information memory 111a in the sheet nesting setting section 111, a machining program memory 145a in the machining program creating section 145, and a sorting program memory 1 in the sorting program creating section 146.
A machining / sorting program memory 147a is connected to the machining / sorting program organization unit 147. The part / robot information registration control unit 115 is connected to an effective pad detection unit 116, a component weight calculation unit 117, a transportable weight calculation unit 119, a weight determination unit 120, a determination result output unit 121, and a component / robot information memory 122. The component / weight calculator 117 is connected to a material / density table memory 117a. Further, the pallet nesting setting unit 130 is connected with a figure arranging unit 131, a non-arrangeable component memory 132, a stacking height calculating unit 133, a stacking height determining unit 135, a component type temporary setting unit 136, and a pallet nesting information memory 137. I have. The communication control unit 113 includes a laser processing equipment control device 1 described later.
The cable 113a connected to the 50 side is connected.

On the other hand, the laser processing equipment control device 150
As shown in FIG. 16, the main control unit 149 includes a keyboard 151, a program memory 152, a communication control unit 153, a program execution unit 154, a transfer robot control unit 155 via a bus line. The laser processing machine control unit 156 and the palletizing robot control unit 157 are connected. The transfer robot control unit 155 is connected to the transfer robot 7 (specifically, each driving device that drives each movable unit of the transfer robot 7), and the transfer robot 7 is driven by an instruction from the transfer robot control unit 155. It is supposed to be. Also, the laser processing machine control unit 156
Is connected to each laser processing machine 3 (specifically, each laser oscillator of the laser processing machine 3 and each driving device for driving each movable section). Each laser processing machine 3 is controlled by a command from the laser processing machine control unit 156. The machine 3 is driven to perform processing. And the palletizing robot control unit 157
Includes a traveling drive control unit 159, a movement drive control unit 160, a nut drive control unit 161, a C-axis drive control unit 162, a B-axis drive control unit 163, and an A-axis drive control unit 16.
5, the suction control unit 166 is connected, and the traveling drive device control unit 159 includes the motor 22a of the traveling drive device 22;
The motor drive unit control unit 160 includes the motor 26a of the movement drive unit 26, the nut drive unit control unit 161 includes the motor 32a of the nut drive unit 32, and the C-axis drive control unit 162 includes the motor 36a of the rotation drive unit 36. , The B-axis drive control unit 163 includes a drive motor 49 of each head unit 45,
The A-axis drive control unit 165 includes a motor 52a of the slide drive device 52 of each head unit 45, and the suction control unit 166 includes a valve drive device 66 that drives a valve 65 provided on the pressure transmitting member 62 for each pad 57. It is connected. The communication control unit 153 includes the cable 11 from the processing / sorting program creation device 101 side.
3a is connected. In addition, the above-described guide rail 11, the palletizing robot 20, a part of the processing / sorting program creating device 101, and a part of the laser processing equipment control device 150 constitute a component sorting device 15 capable of sucking, conveying and sorting the components 70. Have been.

The laser processing equipment 1 configured as described above
In order to process the work sheet 70A and sort the processed parts 70 by the component sorting device 15, first, a machining / sorting program KSP for controlling such machining and sorting is processed by the machining / sorting program creating device 101.
Need to be created by Hereinafter, a procedure of creating the machining / sorting program KSP by the machining / sorting program creating apparatus 101 will be described.

First, the operator inputs a command for creating a processing / sorting program via the keyboard 103a. Upon receiving this command, the main control unit 102 proceeds with the reading process from the program memory 107 based on the program creation program PRO1 as shown in FIG.

First, as the first step SP1, part / robot information is registered. (The part / robot information BRJ registered here is part information BJ (material, shape, dimensions, etc.) relating to each type of part 70 formed by cutting.
And information including the position information of the palletizing robot 20 with respect to the component 70 when the component 70 is sucked and conveyed. The component / robot information BRJ is registered one by one for each type of component 70 ( Therefore, for example, when a plurality of parts 70 of the same type are processed, only one part / robot information BRJ relating to the part 70 of the same type needs to be registered.)) That is, first, the main control unit 102 calls the first subprogram SPR1 stored in the program memory 107, and the part / robot information registration control unit 1
15 is executed. Specifically, the part / robot information registration control unit 115 is set to a part information input mode in which the part information BJ can be input. For example, in the present embodiment, the image control unit 10
An input screen as shown in FIG. 19 (however, component names, component shapes, and the like have not been input at this time) is displayed on the display 105 via 6.

Looking at the display on the display 105, the operator, for example, as shown in FIG. 19, receives the first type of component information BJ (ie, “component name Bm (for example,“ sort3 ”)” via the keyboard 103a, “Material Zs (for example,“ SPCC ”)”, “Sheet thickness Ia (for example,“ 2.3 (m
m) Enter the data of ")"). The input value Bm,
Zs and Ia are input to the input / display memory 110 and displayed on the display 105 via the image control unit 106 as shown in FIG. On the other hand, a predetermined program coordinate PRZ in the input / display memory 110 is linked to a mouse operation by a known drawing program in CAD or the like.
The graphic control unit 11 constructs graphic information on the (xy coordinates) and sequentially displays the constructed graphic information on the display 105.
2 is operated, and the operator operates the mouse 103b or the like to construct the part graphic BZ including the processing shape and the size of the part 70 through the graphic control unit 112 in the input / display memory 110. input. The constructed part figure BZ is displayed on the display 105 as shown in FIG.
(Each number attached to the part graphic BZ in the figure indicates the unit (mm) of the corresponding side). The graphic control unit 112 calculates the x and y coordinate positions on the program coordinates PRZ of the center of gravity G of the part graphic BZ from the graphic information of the part graphic BZ that is constructed and input, and calculates the center of gravity G together with the part graphic BZ in the program coordinates PRZ. Display 10 placed on top
5 is displayed.

As described above, when the input of the component information BJ including the values Bm, Zs, Ia and the component graphic BZ is completed, and the operator inputs a component information input completion signal via the keyboard 103a or the like, the input is performed based on the signals. The part / robot information registration control unit 115 recognizes the completion of the input of the part information (step STP2 in FIG. 18), and instructs the figure control unit 112 to arrange a robot figure RZ which is a figure representing the palletizing robot 20 (step STP3). . In response to this, the graphic control unit 112 transmits the palletizing robot 20 (however, the suspension frame 35, the four arms 47, and the suction head assembly 550 of each arm 47)
The robot figure RZ of FIG.
As shown in FIG. 20, the component graphic BZ is arranged at the same magnification on the program coordinates PRZ of the input / display memory 110 and displayed on the display 105 (for simplicity, FIG. 20 shows the dimensions of each side of the component graphic BZ). Is omitted). The arrangement of the robot figure RZ on the program coordinates PRZ is as follows.
C axis of the robot figure RZ (palletizing robot 2
0 corresponds to the rotation axis CT1 and is indicated by the symbol “C” in FIG. 20) so as to coincide with the center of gravity G of the component graphic BZ.

The robot figure RZ can be freely moved on the program coordinates PRZ by the figure movement control by the figure control unit 112 in conjunction with the mouse operation, similarly to the actual operation pattern of the palletizing robot 20. For example, the whole robot figure RZ has the program coordinates P
It is movable on the RZ in the x-axis direction and the y-axis direction, and is a hanging frame graphic Z35 (corresponding to the hanging frame 35 of the machine).
Are the directions of the arrows r1 and r2 in FIG.
The arm figure Z47 (corresponding to the arm 47 of the machine) is a B axis (rotation of the machine) which is a turning center set in the hanging frame figure Z35. It corresponds to the axis CT2, and can be turned around the arrow s and t in FIG. 20 (the b-axis direction corresponding to the machine B-axis direction) around the symbol "B" in FIG. The head assembly figure Z550 (corresponding to the suction head assembly 550 of the machine) corresponds to each arm figure Z47.
20 in the directions of arrows p and q (a-axis direction corresponding to the A-axis direction of the machine) along FIG.
Therefore, the operator moves the entire robot graphic RZ on the program coordinates PRZ by operating the mouse while looking at the display 105 in FIG. 20, or rotates and moves the hanging frame graphic Z35 in the c-axis direction in FIG. 20 is pivoted in the direction of the b-axis in FIG. 20, and each suction head assembly figure Z550 is slid in the direction of the a-axis in FIG. 20 to position the robot figure RZ with respect to the part figure BZ. As shown in FIG. 20, this positioning is performed so that each suction head assembly figure Z550 is appropriately arranged on the part figure BZ. In other words, the positioning determines the position of the palletizing robot 20 relative to the part 70 when the part 70 is sucked and conveyed by the palletizing robot 20. In this positioning, as described above, the robot figure RZ
Although the whole can be moved in the x-axis and y-axis directions on the program coordinates PRZ, the position of the robot figure RZ with respect to the part figure BZ is actually in a state where the C axis coincides with the center of gravity G of the part figure BZ ( It is better not to change from the initial value of the arrangement of the robot figure RZ on the program coordinates PRZ).
In other words, when the C axis and the center of gravity G of the component graphic BZ coincide with each other, the center of gravity of the component 70 is located at the position of the rotation axis CT1 which is the center axis of the suspension frame 35 in actual suction conveyance, and the balance is very stable. Because it is. Therefore, as in this embodiment, the initial position of the robot graphic RZ at the program coordinates PRZ is set to the C axis and the center of gravity G of the part graphic BZ.
And the robot figure RZ
It is not necessary to move the entire robot figure RZ in the x-axis and y-axis directions of the program coordinates PRZ at the time of positioning, which is convenient and saves labor.

When the positioning of the robot figure RZ is completed and the operator inputs a positioning completion signal through the keyboard 103a, the part / robot information registration control unit 115 recognizes the completion of the positioning of the robot figure RZ based on the signal (FIG. 18). Step STP4), valid pad detector 11
Instructs the detection of the valid pad figure Z57 among the pad figures Z57 (corresponding to the machine pad 57) of the suction head aggregate figure Z550 in the robot figure RZ (step STP5). This is the robot figure RZ described above.
Is assumed between the actual palletizing robot 20 and the component 70, and in this state, the effective pad 57 (adjusting the suction force to the component 70) in each suction head assembly 550 is assumed. This means that the pad 57) located on the component 70 is detected so as to be able to exhibit the same. This valid pad figure Z57
First, the valid pad detection unit 116 first determines the figure internal area (the part corresponding to the surface of the actual part 70) in the part figure BZ on the program coordinates PRZ.
Is detected, and for all the pad figures Z57 of the four suction head aggregate figures Z550, respective pad figures Z
57 is completely within the figure internal area or is shifted from the figure internal area (pad figure Z57
Is completely deviated from the figure inside area, and also includes a case where a part of the pad figure Z57 is out of the figure inside area. When the pad graphic Z57 is completely contained in the graphic internal area, when the actual palletizing robot 20 is positioned on the component 70, the corresponding pad 57 is suitably arranged on the surface of the component 70, Due to the reduced pressure in the pad 57, the suction force can be appropriately exerted on the component 70. When the pad graphic Z57 is displaced from the graphic internal area, when the actual palletizing robot 20 is positioned on the component 70,
The corresponding pad 57 is displaced from the surface of the component 70, and the attraction force of the pad 57 on the component 70 cannot be properly exerted. As shown in FIG. 20, as a result of the determination, the valid pad detecting unit 116 detects the pad graphic Z57 completely contained in the graphic internal area as an “effective pad”, and sets the value of the pad information PJ to “1 ( Valid) ”is stored. The pad information PJ having the value “0” is stored for the other (and thus invalid) pad graphic Z57. Further, in FIG. 20 of the present embodiment, in order to display the information more clearly on the display 105, the pad information PJ is indicated by the symbol "●" when the pad information PJ is "1", and the symbol "O" when the pad information PJ is "0".

As described above, in the present embodiment, in the machining / sorting program creating apparatus 101, it is assumed that the actual palletizing robot 20 is positioned on the component 70, and is appropriately positioned on the surface of the component 70 at the time of this positioning. The pad 57 is detected, and pad information PJ as the information is detected.
Can be obtained. At the time of actual suction conveyance, a processing / sorting program KSP using the pad information PJ is used.
Thus, a large number of pads 57 can be selectively turned on / off in such a manner that suction force is appropriately generated for the component 70. This eliminates the need for a complicated work such as a conventional operation in which a worker performs on / off setting of a pad while checking the actual parts and the position of the pad at a transport site. In particular, there is no mistake that a pad shifted from a component is mistakenly turned on, and the reliability is high.

Next, the part / robot information registration control unit 11
5 is a component weight calculation unit 117 and a transportable weight calculation unit 1
19 is instructed to obtain the component weight Bw and the transportable weight Hw (step STP6 in FIG. 18). In response to this, first, the component weight calculation unit 117 calculates the component weight Bw, which is the weight of the component 70. That is, the component weight calculation unit 117
Is the shape of the part 70 (graphic information of the part graphic BZ) and the thickness Ia input to the input / display memory 110.
Then, the volume Va of the part 70 is obtained, and based on the material / density table ZMF (FIG. 21) previously stored in the material / density table memory 117a, the volume Va of the part 70 input to the input / display memory 110 is obtained. The density of the component 70 is detected from the material Zs, and the component weight Bw of the component 70 is calculated from the volume and the density. For example, in the example shown in FIG. 20, the volume Va (mm ³ ) of the component 70 is as follows: Va = surface area (mm ³ ) × plate thickness Ia (mm) = 52,043.5 × 2.3 = 119,700 = 1. 197 × 10 ⁻⁴ (m ³ ), and the material Zs of the component 70 is “SPCC”, so from the above numerical values and FIG. 21, the component weight Bw (kg) is: Bw = volume Va (m ³ ) × density (Kg / m ³ ) = 1.197 × 10 ⁻⁴ × 6500 = 0.778 (kg).

On the other hand, the transportable weight calculating section 119 calculates the pad information PJ input to the input / display memory 110.
Among them, the number (62 in this embodiment) of which the value is “1” is detected, the weight that can be adsorbed by one pad 57 (known value, for example, 1.3 kg) is integrated, and the result is obtained. Is the transportable weight Hw, Hw = 1.3 (kg) × 62 (number) = 80.6 (kg). That is, assuming that actual suction is performed according to the pad information PJ input to the current input / display memory 110, the limit of the weight that can be sucked and conveyed is 80.6 kg.
That is. The component weight Bw and the transportable weight Hw calculated in this way are transmitted to the weight determination unit 120, and the weight determination is performed. That is, the weight determination unit 120 calculates the value of (component weight Bw) / (transportable weight Hw) = α, and determines whether 0.1 <α <1 (FIG. 1).
8 step STP7). That is, α <1 means that the component weight Bw is smaller than the transportable weight Hw and the component 70 can be transported by suction, and α> 0.1 means that the component weight Bw is This means that the transportable weight Hw is not too large compared to the component weight Bw which is larger than 10% of the transportable weight Hw (this value can be set to any value if it is greater than 0 and less than 1). The reason for checking whether the transportable weight Hw is not too large compared to the component weight Bw is, for example, when the component 70 to be sucked and transported is caught on a worksheet or the like before a strong force is applied to the component 70. If the part 70 comes off the pad 57 immediately, the part can be prevented from being displaced or damaged. However, if the transportable weight Hw is too large compared to the part weight Bw, the part 70 is hard to come off the pad 57, and the part is displaced. This is because there is a high risk of being damaged or damaged. Thus, if 0.1 <α <1 and there is no problem with the weight, the determination result output unit 121 does not particularly display on the display 105 or the like, and proceeds to the next step STP8 as shown in FIG. In addition, only when there is a problem, for example, “w
The content of "arning" is displayed (not shown).

In the case shown in FIG. 20, since the component weight Bw = 0.778 (kg) and the transportable weight Hw = 80.6 (kg) as described above, α = 0.77
8 / 80.6 = 0.0096. . . In step STP7 of FIG. 18, it is determined that 0.1 <α <1 is not satisfied, and the process proceeds to step STP71. This step STP7
In 1, the weight determination unit 120 determines whether α ≦ 0.1. That is, when α ≦ 0.1, it means that the component weight Bw is smaller than 10% of the transportable weight Hw and the transportable weight Hw needs to be reduced.
In the case shown in FIG. . . ≦ 0.
1, the determination result output unit 121
6, the content (not shown) of "reduce the transportable weight" is output and displayed on the display 105. The operator who sees this display performs an operation to invalidate the pad for which the pad information PJ is currently valid “1” in order to reduce the transportable weight Hw. That is, the operator specifies and inputs the pad graphic Z57 for which the pad information PJ is to be invalidated to “0” by operating the mouse. Figure control unit 11
2 receives the signal by the designated input, and changes the pad information PJ of the corresponding pad graphic Z57 from valid "1" to invalid "0" in the input / display memory 110 (FIG. 1).
8 step STP72). In the case shown in FIG. 20, of the pad information PJ of the pad graphic Z57 for the 62 pads 57 that were valid “1”, for example, the pad information PJ of the pad graphic Z57 for the 57 pads 57
Is set to invalid “0” (not shown). Step S
When TP72 is completed, as shown in FIG. 18, the process again proceeds to step STP6, and further to step STP7, where the weight determination unit 120 determines whether 0.1 <α <1. In the above example, 57 pad figures Z57
Since the pad information PJ of the pad was invalid “0”, the
Only the pad information PJ of the pad figures Z57 is valid “1”, and the transportable weight Hw is 1.3 (k).
g) × 5 (number) = 6.5 (kg), and α is
0.778 / 6.5 = 0.1197. . . Therefore, in step STP7, it is determined that 0.1 <α <1, and the process proceeds to step STP8 (for example, the pad that has been invalidated “0” by mouse input in step STP72 in FIG. 18 described above) If the number of pad information PJs for 57 is small and the value of α is not sufficiently large, and it is determined in step STP7 that 0.1 <α <1 is not satisfied again, steps STP71 and STP are executed again.
TP72, STP6,. . . To.) However, since the display 105 displays the appropriate number of pads together with the alarm, it is not necessary to repeat this loop many times according to this numerical value.

In step STP7 of FIG. 18, it is determined that 0.1 <α <1 is not satisfied, and
If it is determined in step STP71 that α> 1 instead of α <0.1, the determination result output unit 12
1 is displayed on the display 105 via the image control unit 106,
"Increase the transportable weight" with the appropriate number of pads
(Not shown) is output and the process returns to step STP6 via step STP73. That is, in this case, the component weight Bw is larger than the transportable weight Hw,
Since the component 70 cannot be sucked and transported as it is,
This means that the transportable weight Hw needs to be increased. The operator who has watched the display on the display 105 operates the mouse so that more pad figures Z57 become effective on the part figure BZ (step S).
TP73). When the re-determination of the pad information in the robot figure RZ is completed in this manner, the process proceeds from step STP6 to step STP7 in the same manner as the procedure described above. As described above, since more pad graphics Z57 are valid on the part graphic BZ and the number of pad graphics Z57 for which the pad information PJ is valid “1” is increasing, α is calculated in step STP7.
Is smaller, it is determined that 0.1 <α <1, and the process proceeds to the next step STP8 (if the value of α has not become sufficiently small, the process returns to step STP71, STP73, STP6, ...).

As described above, in this embodiment, it is assumed that the actual palletizing robot 20 sucks the component 70 via the machining / sorting program creating apparatus 101, and the component weight Bw and the transportable weight at the time of performing the suction. Hw is calculated, and it is determined whether or not the magnitude relationship between the component weight Bw and the transportable weight Hw is suitable for suction transport of the component 70, that is, whether 0.1 <α <1 in the above-described example. The determination and check are performed in the unit 120. Thereby, at the time of actual suction conveyance, the component weight B of the component 70 is obtained.
There is a danger that w is too large to be able to be suctioned and conveyed, or the component weight Bw is too small than the transportable weight Hw (as described above, there is a danger when the component 70 to be suctioned and conveyed is caught on a worksheet or the like). This is advantageous because it is possible to prevent a problem such as an increase in the temperature.

When step STP8 is entered after step STP7, the part / robot information registration control unit 11
5 is the input / display memory 110 shown in FIG.
The part information BJ and the position information of the robot figure RZ with respect to the part figure BZ having the same contents as those shown in FIG. 0 are stored and registered in the part / robot information memory 122 as part / robot information BRJ. The storage style of the part / robot information BRJ is, for example, as shown in FIG.
That is, the part / robot information BRJ stored and registered includes a part name Bm, a material Zs, and a plate thickness I, as shown in FIG.
a, component weight Bw, component shape information Bk indicating the size and shape of the component by numerical values (the storage style of these materials, plate thickness, component weight, component shape information, etc. is the same as that according to the prior art, so illustration is omitted. (The part corresponding to the part information BJ up to this point). Although the part graphic BZ and the robot graphic RZ input to the input / display memory 110 are information on the above-mentioned program coordinates PRZ, the part / robot information registration control unit 115 When storing and registering the robot information BRJ, a part coordinate BHZ (x-y coordinate shown in FIG. 20) having the origin at the center of gravity G of the part graphic BZ is newly set and converted into graphic information on the part coordinate BHZ. And perform storage registration. (However, the center of gravity G of the component graphic BZ need not always be the origin.) Therefore, in the storage style shown in FIG. 22, the component shape information Bk is information on the component coordinates BHZ set for the component 70. I have. Further, the part / robot information BRJ shown in FIG. 22 has position information of the robot figure RZ, etc.
The x-coordinate position (symbol x in FIG. 22) and the y-coordinate position (symbol y in FIG. 22) of the C axis of the robot graphic RZ on Z, and the rotation angle of the hanging frame graphic Z35 in the c-axis direction (FIG.
The symbol c in FIG. 2 indicates that the direction of the arrow r2 shown in FIG. 20 is the positive direction. The rotation angles of the four arm figures Z47 in the b-axis direction (the symbols b1, b2, b3,
b4, the arrow s direction shown in FIG. 20 is defined as a positive direction), and the respective positions (indicated by a1, a2, a3,
a4, the direction of arrow q is positive in FIG. 20), pad information PJ in each suction head assembly graphic Z550 (the symbols j1, j2, j3, j4 in FIG. 22 for each group relating to each suction head assembly graphic Z550). ). Hereinafter, symbols b1, b2,..., A1, a in FIG.
2,..., J1, j2,.
In FIG. 20, in order to distinguish the respective arm figures Z47 from each other, numbers (1), (2),
(3), (4) (that is, Z47 (1), Z47 (2),
Z47 (3) and Z47 (4)) are written in the clockwise order from the arm figure on the upper side of the paper (note that each arm figure Z
47 corresponds to the arm 47 of the actual palletizing robot 20 shown in FIG.
(1), 47 (2), 47 (3), 47 (4)). That is, the symbols b1, b2, b in FIG.
The rotation angles indicated by 3, b4 are sequentially changed to the arm figure Z47.
The rotation angles are (1), Z47 (2), Z47 (3), and Z47 (4). Also, in FIG. 20, in order to distinguish the suction head assembly figures Z550 from each other, the numbers (1), (2), (3), and (3) of the arm figures Z47 provided with the suction head assembly figures Z550 are provided.
Similarly to (4), the suction head aggregate figure Z550
(1), Z550 (2), Z550 (3), Z550
(4) (note that each suction head assembly figure Z5
50 corresponds one-to-one with the suction head assembly 550 of the mechanical palletizing robot 20, so that the suction head assemblies 550 (1), 550 (2), 550 (3), 5
50 (4)). That is, the positions indicated by the symbols a1, a2, a3, and a4 in FIG. 22 correspond to the suction head assembly figures Z550 (1), Z550 (2), and Z5 in that order.
50 (3) and Z550 (4). Also, as shown in FIG. 20, each suction head assembly figure Z550 has 19 pad figures PZ, and these pad figures Z57 are distinguished from each other.
(1), Z57 (2), Z57 (3), ..., Z57
(19) (notation in the drawings in FIG. 20 and the like is omitted). Since each pad 57 in the mechanical palletizing robot 20 has a one-to-one correspondence with each pad graphic Z57, when the respective pads 57 are distinguished from each other in each suction head assembly 550, the pads 57 are used.
(1), 57 (2),..., 57 (19). That is, the symbols j1, j2, j3, j in FIG.
4 is a suction head assembly figure Z550 in order.
(1), Z550 (2), Z550 (3), Z550
It is a group of pad information PJ corresponding to (4), and the nineteen numerical values in each group are in order of pad figures Z57 (1), Z57 (2),..., Z57 (1).
This is the pad information PJ regarding 9). The numerical value of the pad information PJ for each pad graphic Z57 is “1 (valid)” or “0 (invalid)”.

Next, the part / robot information registration control section 11
5 is a display 105 via the image control unit 106.
, Part / robot information B relating to another type of part 70
A message (not shown) as to whether or not to register the RJ is displayed, and it is necessary to further register the part / robot information BRJ.
If the part / robot information registration control unit 115 determines that registration of another part / robot information is to be performed by inputting the information via a or the like (step STP9 in FIG. 18), the process returns to the first step STP1 described above. By performing steps STP1 to STP9 in the same procedure as described above, the component information BJ of another type of component 70 is obtained.
22 is entered, the robot figure RZ is positioned with respect to the input part figure BZ, and the pad information PJ is set.
The part / robot information BRJ is registered as shown in FIG. Subsequently, the registration of the part / robot information BRJ is sequentially performed in such a manner that steps STP1 to STP9 are sequentially performed for still another type of part 70, and as shown in FIG.
Part name Bm (for example, “sort3”, “sort
4 ",..., Etc.), registration of all types of components 70 is completed. In step STP9, the part / robot information registration control unit 115 determines that the other part / robot information BRJ is not to be registered in step STP9 with respect to the part 70 that has been finally registered, as shown in FIG. The subprogram SPR1 ends, and all the processing in step SP1 is completed.

In this embodiment, in step SP1, the registration of the part / robot information BRJ is continuously performed for the part name Bm, which is the part 70 in the same worksheet 70A. By doing so, when inputting the component information BJ such as "Material" and "Thickness", the same value as the previously input value may be input, and the input operation can be quickly performed and is convenient. As described above, in this embodiment,
When creating the processing / sorting program KSP, each part 70
Is registered in the form of part / robot information BRJ in the form of parts / robot information BRJ, which is convenient because actual teaching / transfer does not require teaching, etc.
Since the registration of the RJ may be performed not for each part 70 but for each type (the part / robot information BRJ for each type is used to register 1 in step SP6 and the like described later).
A sorting program SPR for each individual component 70 is created), and registration of these component / robot information BRJ can be performed easily and in a short time. As a result, the work time is greatly reduced and the work is simplified as compared with the conventional teaching or the like.

Thereafter, the main control unit 102 proceeds to step SP2 as shown in FIG. 17, and causes the nesting schedule creation unit 109 to create a nesting schedule. The nesting schedule is created in such a manner that the nesting schedule creation unit 109 creates a nesting schedule file NF based on the input by the operator and saves the nesting schedule file NF in the nesting schedule memory 109a, in the same manner as the conventional nesting schedule creation method. . For example, in this embodiment, FIG.
A nesting schedule file NF shown in FIG. 3 is created, and has a plurality of nesting data Nd created for each worksheet 70A to be processed. As shown in FIG. 23, each nesting data Nd is a “sheet N” which is a sheet number Sn for identifying the worksheet 70A.
o. (“1” in the nesting data Nd shown in FIG. 23), “part name” which is the type of the part 70 to be picked up in the worksheet 70A (corresponding to the part name Bm of the part / robot information BRJ described above, "Sort
, “Sort2”,..., “Sort4”, etc.)
“Sort3”, “sort2”,..., “So”
rt4 ”is 5), a pallet 1 for starting nesting when nesting these various parts 70.
“Pallet No.” which is a pallet number Pn of 0 (in this embodiment, there are eight pallets 10 and “Pallet No.”
Are from 1 to 8, “sort3” shown in FIG. 23,
.., “Sort4” are all “1”, so nesting is performed from the pallet 10 of “palette No. 1”, and the nesting of the parts 70 on the pallet 10 of “pallet No. 1” becomes impossible. And "Pallet No. 2, 3, 4,...," Which means that nesting is performed by sequentially moving to the next palette 10). Step SP2
Complete.

Thereafter, the main controller 102 proceeds to step SP3 as shown in FIG. 17 (pallet nesting setting). In SP3, first, the main control unit 102 executes the third subprogram SPR stored in the program memory 107.
And pallet nesting setting unit 13
0 is executed. In response to this, the pallet nesting setting unit 130 sets the third subprogram SP shown in FIG.
The process enters step STP351 based on R3. In step STP351, the stacking height Th for each type of component graphic BZ is calculated. That is, parts 70 of the same type
Basically, sorting is performed by stacking upward on the pallet 10, and the stacking height at that time is the stacking height Th. That is, the stacking height calculator 133 detects the thickness Ia of each type of component 70 from the component / robot information BRJ stored in the component / robot information memory 122, and stores the thickness Ia in the nesting schedule memory 109a. Nesting schedule file NF (Fig. 2
From 3), the number of each type of component 70 is detected. Next, the stacking height calculator 133 calculates the stacking height Th for each type of component 70 based on the product of the plate thickness Ia and the number detected as described above. For example, if the part name Bm is "sor
In the case of the component 70 of “t3”, the plate thickness Ia is 2.
Since the number is 3 (mm) and the number is 5 from FIG. 23, the stacking height Th is 2.3 × 5 = 11.5 (mm). Thereafter, the stacking height determination unit 135 compares the stacking height Th calculated for each type of component 70 with a predetermined stacking limit height h on the pallet 10 (FIG. 2).
4 Step STP352). As a result, which part 70
However, if Th ≦ h, the next step STP353
Proceed to. For example, assuming that the limit height h is 300 mm, the stacking height Th for “sort3” described above.
Was 11.5 mm, so that Th ≦ h. Also T
If h> h, the flow advances to step STP3521 to divide the type of the component 70 into two types for convenience. That is, the component type temporary setting unit 136 sets the component 70 of the type Th> h
Approximately half of the number is provisionally set as a different type of part 70 (however, the provisional setting regarding this type is effective only in steps STP351 to STP353 of step SP3). For example, part 7 of "sort4"
Assuming that Th> h for 0 (the number is 5 in FIG. 23), “sort4” (three) and “sort4.2” for “sort4” are set by the component type provisional setting unit 136.
(2 pieces). Thus, step ST
Upon completion of P3521, the process returns to step STP351 as shown in FIG.
In step STP352, the stacking height Th and the stacking limit height h are compared for each type of component 70. Th> in the previous step STP352
h for the part 70,
In FIG. 1, the types are divided into two for the sake of convenience. Therefore, the types are calculated as being stacked at different positions on the pallet 10, and the stacking heights Th are approximately half of the previously calculated values. In this time, in step STP352, Th ≦ h, and the step ST
Proceed to P353 (part 7 where Th> h still holds)
If there is 0, steps STP3521, STP351, and STP352 are performed again in the same manner as the procedure described above.)

As described above, when the process proceeds from step STP352 to step STP353, the process proceeds to step STP35 in FIG.
In step 3, placement of each type of component graphic on the pallet graphic and checking of components that cannot be allocated are performed. First, the pallet nesting setting unit 130 instructs the graphic control unit 112 to set the pallet coordinates QRZ.
2 is a predetermined palette coordinate QRZ (xy coordinate) as shown in FIG. 25 (this display content on the display 105 is the same as the information content in the input / display memory 110). ) Input / display memory 11
The pallet figure Z10 corresponding to the component sorting area of the actual pallet 10 is arranged on the pallet coordinates QRZ. In the present embodiment, since the pallets 10 are “palette Nos. 1 to 8”, eight pallet coordinates Q are stored in the input / display memory 110 as shown in FIG.
A total of eight pallet figures Z10 corresponding to the RZ and the pallet coordinates QRZ are arranged. The palette figure Z10
The pallet coordinates QRZ (and a part graphic BZ described later on the pallet coordinates QRZ) are displayed on the display 105. Each pallet figure Z10 is accompanied by information on the pallet number Pn of the actual pallet 10 corresponding to the pallet figure Z10. As shown in FIG. "
“2”, “3”,... Next, the graphic arranging unit 131 calls up all the registered part / robot information BRJ from the part / robot information memory 122, and is a part of the called part / robot information BRJ. Parts that are classified as different types for convenience are treated as different types) 7
As shown in FIG. 25, the part figure BZ related to the pallet figure Z10 of each pallet coordinate QRZ is
It is arranged on the same scale as 10. At the time of this arrangement, the graphic arrangement unit 131 stores the nesting schedule memory 1
The pallet number Pn of the pallet 10 for nesting the part graphic BZ is detected for each part graphic BZ based on the nesting schedule file NF (FIG. 23) stored in the storage area 09a (for example, “sort3”, “so”).
rt2 ",..., is" palette No. 1 "), whereby the layout of the part graphic BZ in the pallet graphic Z10 is changed to the pallet graphic Z1
0. For example, “so
rt3 "," sort2 ",...
Nesting was performed on the pallet graphic Z10 of “palette No. 1” (in FIG. 25, the component name Bm is changed to (sor
t3), (sort2),...). Although the graphic arrangement by the graphic arrangement unit 131 is a known graphic processing, specifically, each type of component graphic BZ
Are appropriately moved (parallel movement and rotational movement) on a predetermined pallet figure Z10 so that the part figures BZ do not overlap each other or the part figure BZ does not protrude outside the pallet figure Z10. With this graphic arrangement, the arrangement of each type of component 70 on the pallet 10 when actually sorting the pallet 10 is set. The pallet number P of the sorting destination
n part figure B that cannot be arranged on pallet figure Z10
If there is a Z, this type of component graphic BZ is arranged with respect to a pallet graphic Z10 having a pallet number Pn next to the pallet number Pn (for example, "palette No. 2" next to "palette No. 1"). (Nesting).

When arranging the component graphic BZ by the graphic arranging unit 131, the size of the component graphic BZ is larger than that of the pallet graphic Z10, and it is impossible to arrange the component graphic BZ without protruding into the pallet graphic Z10. Part figure BZ
(Part graphic BZ of a non-arrangeable part) may appear. The figure arranging unit 131 includes a part figure BZ and a palette figure Z.
It is also determined whether or not the corresponding part 70 can be arranged on the pallet 10 based on the number 10. For example, if the arrangement is not possible as described above, the graphic arrangement unit 131 does not arrange the part graphic BZ. The component name Bm of the non-placeable component is stored in the non-placeable component memory 132 (check of the non-placeable component). Thus, "sort3", "sort2", ...
..,..., All pallet figures BZ in the form of “palette No. 1”, “pallet No. 2”,. Check is completed), then step S
Enter TP 354 and set the pallet nesting setting unit 130
The information on each pallet figure Z10 (information on the pallet figure Z10 on the pallet coordinates QRZ and the part figure BZ arranged on the pallet figure Z10) input to the input / display memory 110 is stored in the pallet nesting information. The PNJ is stored and set in the pallet nesting information memory 137. By the way, as shown in FIG. 25, each pallet nesting information PNJ is input to the input / display memory 110 in the form of position information of each part graphic BZ at each pallet coordinate QRZ. When the pallet nesting information PNJ is stored and set in the pallet nesting information memory 137, the pallet nesting information PNJ is converted into the form of the position information of the robot figure RZ at each pallet coordinate QRZ, which is convenient for creating a sorting program later. What are you doing? That is, in this conversion, as described above, in each part / robot information BRJ, the positional relationship between the component graphic BZ and the component coordinate BHZ and the positional relationship between the component coordinate BHZ and the robot graphic RZ correspond one-to-one. Easy to do. The converted pallet nesting information PNJ is stored and set in a style as shown in FIG. 26, for example. FIG.
As shown in FIG. 6, each pallet nesting information PNJ is represented as “P1”, “P2”, “P3” in the form of corresponding “palette No. 1”, “pallet No. 2”,.
26, and the information on “palette No. 1” shown in FIG. 26 will be described as an example. “Sort3”, “sort2”,
.., Are component names Bm, and information on the type of component 70 having the component name Bm is described in the row of each component name Bm. For example, right 2 of “sort3”
The first numerical value “304.5” (symbol x in FIG. 26) indicates the x coordinate position of the robot figure RZ (C axis) on the pallet coordinates QRZ, and the numerical value “290” (FIG. Symbol y) is pallet coordinate Q of robot figure RZ (C axis).
The y coordinate position on the RZ is shown. The numerical values “304.5” and “290” indicating the x and y coordinate positions are shown in FIG.
In FIG. 25, “G (C)” is the position of the center of gravity G of the part graphic BZ (“sort3”) at the lower left corner of the drawing (centered on the C axis and may not be the center of gravity), and Robot figure RZ positioned with respect to the part figure BZ
The center of gravity G is the origin in the component coordinates BHZ with respect to the component graphic BZ. Further, a numerical value (symbol c in FIG. 26) on the right side of the numerical value indicating the y coordinate position of the robot graphic RZ on the right side of the component name Bm such as “sort3”, “sort2”,.
At “t3”, “189.75” is the C of the robot figure RZ.
The rotation angle on the pallet coordinates QRZ about the axis. As shown in FIGS. 20 and 25, the part figure BZ of “sort3” is replaced with the palette figure Z10 of the palette coordinates QRZ.
In the state of being placed on the pallet coordinate QRZ, the part coordinate BHZ is 180 degrees as shown by a two-dot chain line in FIG.
It is in a state rotated by degrees. Therefore, "sort
Rotation angle of robot figure RZ on pallet coordinates QRZ with respect to part figure BZ of "3" (symbol c in FIG. 26)
Is the rotation angle “9.75” on the part coordinates BHZ (FIG. 2).
2. The value obtained by adding 180 to the symbol c) is “189.75”. The numerical value “0.77817” on the right of “sort3” in FIG. 26 indicates the component weight Bw of the component 70, and the component weight Bw is the component / robot information memory 1
Imported from 22 parts / robot information BRJ. By writing the component weight Bw for each type of component 70 in this way, it is also possible to obtain the total total weight of a large number of multiple types of components 70 sorted on each pallet 10 (the procedure is omitted). Based on the gross weight, it is checked that the parts 70 do not exceed the maximum weight that can be handled on each pallet 10. If the maximum weight that can be handled is exceeded, the pallet nesting information PNJ is displayed. Actions such as resetting can be taken.

As described above, the third subprogram SPR3
Is completed and step SP3 is completed, then step SP4
Proceeding to (sheet nesting setting), the sheet nesting setting unit 111 executes the sheet nesting setting. In response, the sheet nesting setting unit 111
Is a nesting schedule file NF (FIG. 2) stored in the nesting schedule memory 109a.
From 3), the worksheet 70A of each sheet number Sn is
Detects how many parts 70 with which part name Bm are to be removed, and detects a part graphic B included in each part / robot information BRJ stored in the part / robot information memory 122.
By calling Z, as shown in FIG. 27, a form in which all the part graphics BZ to be processed are arranged in each sheet graphic SZ (corresponding to the actual worksheet 70A) which the sheet nesting setting unit 111 has in advance. Then, in substantially the same manner as the known sheet nesting setting method, each worksheet 7
Sheet nesting information SNJ, which is arrangement information of the component 70 for each 0A, is created in the input / display memory 110. For example, the sheet nesting information SNJ illustrated in FIG. 27 is component picking information regarding the worksheet 70A having the sheet numbers Sn of “1”, “2”, “3”,. Each sheet nesting information SNJ includes the sheet figure SZ and the sheet coordinates SRZ set for the sheet figure SZ.
The arrangement of the component graphic BZ with respect to each sheet graphic SZ is performed in such a manner as to be arranged on the sheet coordinates SRZ with respect to the sheet graphic SZ. For example, in the sheet figure SZ relating to the worksheet 70A of “Sheet No. 1” shown on the front surface of FIG. 27, the part figure BZ of “sort3” or “sort2” is the number of parts to be actually picked up in the worksheet 70A. 27. In FIG. 27, the component name Bm of each component graphic BZ is changed to (s
ort3), (sort2),...). By the way, in the conventional sheet nesting, as shown in FIG. 27 described above, the component fetching information which is the arrangement information of each component graphic BZ on each sheet coordinate SRZ in the state input into the input / display memory 110 is used as it is. In the present embodiment, the sheet nesting setting unit 111 stores each sheet nesting information SN stored in the input / display memory 110.
J is converted into the form of position information of the robot figure RZ at each sheet coordinate SRZ, and is stored and set in the sheet nesting information memory 111a. This is convenient for creating a sorting program later. That is, as described above, this conversion is performed for each part / robot information BRJ.
, The positional relationship between the component graphic BZ and the component coordinate BHZ has a one-to-one correspondence, and the positional relationship between the component coordinate BHZ and the robot graphic RZ has a one-to-one correspondence. The sheet nesting information S thus converted
NJ is stored and set in a style as shown in FIG. 28, for example. As shown in FIG. 28, each sheet nesting information SNJ is “P1 sample”, “P2 sample”.
e "and" P3 sample ", and have sheet numbers Sn indicating corresponding" sheet No. 1 "," sheet No. 2 ",..., and are shown in FIG. To explain using information on “Sheet No. 1” as an example, “sort3”, “sort3”,.
.., Are part names Bm, and sheet nesting information on the part 70 is described in three lines from the line of the part name Bm. For example, as shown at the top of the sheet of FIG. 28, the numerical value “319” (symbol x in FIG. 28) on the right of “sort3” (corresponding to the part figure BZ at the lower left corner of the sheet in FIG. 27) is the robot figure RZ
Indicates the x coordinate position on the sheet coordinate SRZ of (C axis),
The numerical value “275.5” (the symbol y in FIG. 28) on the right is
Y on the sheet coordinates SRZ of the robot figure RZ (C axis)
This shows the coordinate position. The numerical values “319” and “275.5” indicating the x and y coordinate positions are also shown in FIG. 27, and “G (C)” in FIG. 27 is the part figure BZ in the lower left corner of the drawing.
(“Sort3”), the position of the center of gravity G, and C of the robot figure RZ positioned with respect to the part figure BZ.
It shows the position of the axis, and the center of gravity G is the origin in the part coordinates BHZ for the part figure BZ. FIG. 26
The numerical value “189.75” on the right of the numerical value indicating the y coordinate position
(Symbol c in FIG. 28) is the rotation angle on the sheet coordinates SRZ about the C axis of the robot figure RZ. FIG.
27, as shown in FIG. 27, the part graphic BZ of “sort3”
In the corner of the sheet coordinate QRZ on the sheet figure SZ, the part coordinate BHZ on the sheet coordinate SRZ.
Are in a state of being rotated by 180 degrees as shown by a two-dot chain line in FIG. Therefore, “s” in the lower left corner of the page of FIG.
The rotation angle (symbol c in FIG. 28) of the robot graphic RZ on the sheet coordinate SRZ with respect to the part graphic BZ of “ort3” is the rotation angle “9.75” on the part coordinate BHZ.
(189.7) of a value obtained by adding 180 to (symbol c in FIG. 22).
5 ". The rotation angle (symbol c in FIG. 28)
Are the same as the numerical values in the part / robot information BRJ shown in FIG. 22 and include four arm figures Z47 (1), Z47 (2), and Z
The rotation angles of the 47 (3) and Z47 (4) in the b-axis direction (symbols b1, b2, b3, and b4 in FIG. 28), the suction head aggregate figures Z550 (1), Z550 (2), and Z55
0 (3), positions on the a-axis of Z550 (4) (symbols a1, a2, a3, a4 in FIG. 28), each suction head aggregate figure Z550 (1), Z550 (2), Z550 (3), Z
The group of pad information PJ in 550 (4) (FIG. 2)
8 symbols j1, j2, j3, j4). The rotation angle of each arm figure Z47 in the b-axis direction, the position of each suction head assembly figure Z550 on the a-axis, and the group of pad information PJ in each suction head assembly figure Z550 are numerical values based on the robot figure RZ. (Or a numerical value that does not depend on the coordinates), it does not change when converting from the component coordinates BHZ to the sheet coordinates SRZ. As described above, the sheet nesting information SNJ relating to all the worksheets 70A to be processed is stored and set in the sheet nesting information memory 111a.
Step SP4 shown in FIG. 7 is completed.

Then, from step SP4 to step SP
Proceed to 5 to instruct the machining program creation section 145 to create a machining program. In response to this, the machining program creating unit 145 calls up the sheet nesting information SNJ (FIG. 28) for each worksheet 70A stored in the sheet nesting information memory 111a, and relates to the component name Bm in the sheet nesting information SNJ. parts·
In a form in which the robot information BRJ (FIG. 22) is called from the part / robot information memory 122, the part graphic BZ of the part 70 to be picked up in the sheet graphic SZ of each sheet coordinate SRZ as shown in FIG. (Not the C-axis center position of the robot figure RZ, but the part figure BZ
Sheet nesting information (consisting of data indicating the specific shape of the sheet). In this embodiment, the sheet nesting information SNJ is the robot figure R at the sheet coordinates SRZ.
Sheet nesting information memory 11 in the form of Z arrangement
1a, the part / robot information memory 1
Since the positional relationship between each part figure BZ and the robot figure RZ is determined in the part / robot information BRJ stored in the storage unit 22, the part figure BZ at the sheet coordinates SRZ is obtained based on the sheet nesting information SNJ and the part / robot information BRJ. Sheet nesting information in the form of an arrangement, and thus in a style similar to conventional sheet nesting information, was easily created. Alternatively,
The sheet nesting information, which is created by the machining program creation unit 145 and includes data specifically indicating the shape of the part graphic BZ at the sheet coordinates SRZ, is stored in the sheet nesting information memory 111 in step SP4 described above.
a, which is the same as the sheet nesting information SNJ before saving (and thus before conversion) (FIG. 27), the information in the input / display memory 110 (the part figure BZ at the sheet coordinates SRZ) at the time when the processing 4 is completed. (The sheet nesting information including the data specifically indicating the shape of the sheet) may not be cleared, and the processing program creating unit 145 may use the content as it is. Thus, the sheet coordinates SRZ
The processing program creation unit 145 that has created the sheet nesting information including the data that specifically indicates the shape of the part graphic BZ in the processing program KPR that controls the laser beam machine 3 to perform a predetermined processing based on the sheet nesting information. Create The creation procedure and format of this machining program KPR are the same as the machining program creation procedure in the prior art, so that detailed description will be omitted. The machining program KPR thus created is stored in the machining program memory 145a, and step SP5 in FIG. 17 is completed.

Then, from step SP5 to step SP5
Then, the flow advances to step 6 to instruct the sorting program creation section 146 to create a sorting program SPR. In response to this, the sorting program creation unit 146 sends the nesting schedule file NF (FIG. 23) stored in the nesting schedule memory 109a, the pallet nesting information PNJ (FIG. 26) stored in the pallet nesting information memory 137, and Information corresponding to each component 70 is detected from the sheet nesting information SNJ (FIG. 28) stored in the sheet nesting information memory 111a, and the operation of the palletizing robot 20 is specified based on the detected information. Create a program SPR. The sorting program SPR is shown in FIG.
As shown in FIG.
n (n = 1, 2, 3,...) in the transport order, and each command FRn is determined by the positioning and suction of the palletizing robot 20 with respect to the part 70 in the work sheet 70B arranged on the sorting table 5. "P
ICn "(n = 1, 2, 3,...) And the sucked part 7
“ULD”, which is a part for instructing the positioning of the pallet 10 when the pallet 10 is transported to the pallet 10 of the sorting destination.
n "(n = 1, 2, 3,...). The “PICn” portion is the palletizing robot 20 for the part 70 processed and arranged on the worksheet 70B based on the sheet nesting information SNJ.
, And is composed of information having the same content as the sheet nesting information SNJ.
Indicates the pallet nesting information PN
When the pallet 10 is sorted on the basis of the J, the palletizing robot 20 determines the position of the palletizing robot 20 with respect to the pallet 10.
It is composed of the same information as J. However, this sorting program SPR is created based on the equipment coordinates SVZ (FIG. 30) set for the laser processing equipment 1, and includes the sheet coordinates SRZ and the pallet coordinates among the contents of the sheet nesting information SNJ and the pallet nesting information PNJ. The value recorded in PRZ is converted to a value on the equipment coordinates SVZ. As shown in FIG. 30, the x-axis in the equipment coordinates SVZ is parallel to the directions of arrows C and D that are the directions in which the first frame 25 moves with respect to the suspension frame 21 in the palletizing robot 20 (the direction of arrow D is the x-axis). 30), the y-axis in the equipment coordinates SVZ is parallel to the directions of the arrows A and B, which are the traveling directions along the guide rail 11 of the palletizing robot 20 (the direction of the arrow B is the positive direction of the y-axis). Although not shown in the figure, the z-axis in the equipment coordinates SVZ corresponds to the second frame 29 with respect to the first frame 25 side of the palletizing robot 20.
Are parallel to the directions of arrows E and F, which are the directions of vertical movement of the side.
The origin O of the equipment coordinates SVZ is set at a predetermined position in the laser processing equipment 1 as shown in FIG. Since the sheet coordinates SRZ of the work sheet 70B in a state where the work sheet 70B is placed on the sorting table 5 from each of the laser processing machines 3, the sheet coordinates SRZ of the work sheet 70B in this state are placed at predetermined positions with respect to the sorting table 5. Coordinate SRZ is equipment coordinate SVZ
Has a fixed positional relationship with respect to. For example, FIG.
The sheet coordinate SRZ of the worksheet 70 placed on the sorting table 5 below the sheet of FIG.
, The y-axis direction is opposite to the equipment coordinate SVZ, and the origin of the sheet coordinate SRZ is the equipment coordinate SVZ.
The coordinate position on Z is (-89, 763). In this embodiment, the pallet coordinates PRZ of the eight pallets 10 are positioned in a manner having a fixed positional relationship with the equipment coordinates SVZ. No. 1 "), the pallet coordinate PRZ is the equipment coordinate SVZ in the x-axis direction.
And the y-axis direction is opposite to the equipment coordinate SVZ in the positive and negative directions, and the origin of the pallet coordinate PRZ is the equipment coordinate S
It is the coordinate position (5381, 135) on VZ.
Therefore, for example, in FIG.
In the sheet nesting information SNJ of No. 8, “−8” is added to the x coordinate value “319” of “sort3” at the top of the page.
9 ”in the form of adding the x coordinate value“ X
230.0 ”, and the y coordinate value“ 27
Multiplying “5.5” by “−1” and adding “763” to the value, the y coordinate value “Y48” in the equipment coordinate SVZ is obtained.
7.5 ". In FIG. 29, “ULD
In “1”, the x coordinate value “304.5” for “sort3” in the pallet nesting information PNJ in FIG.
26 is added to the x coordinate value “X439.5” in the equipment coordinate SVZ, and the y coordinate value “290” in FIG. 26 is multiplied by “−1”, and the value is multiplied by “538”.
In addition, the y coordinate value “Y” in the equipment coordinates SVZ is added by adding “1”.
5091.0 ". In addition, "PIC-7" of the sorting program SPR contains "Z-70.0" and "UL
Dn "indicates" Z-350.0 ", which is a z-coordinate value for positioning the pad 57 of the palletizing robot 20 in the z-axis direction at the equipment coordinate SVZ (in this embodiment," PICn "is used). Are all "Z
-70.0 "and" ULDn "are all" Z-35
0.0 "). Also, "PIC
n ”and“ ULDn ”,“ W189.75 ”,
“G-345.2”, “H-348.3”, “I-42”
0.6 "," J-344.1 "," K0.0 "," L-
The values such as “15.32”, “M-24.05”, and “N0.0” are respectively the rotation angle of the suspension frame 35 in the C-axis direction, the four suction head aggregates 550 (1), 55
0 (2), 550 (3), and 550 (4) positions in the A-axis direction, and four arms 47 (1), 47 (2), and 47
(3), 47 (4) are rotation angles in the B-axis direction, are not affected by the conversion into the equipment coordinates SVZ, and are values in the pallet nesting information PNJ in FIG. 26 and the sheet nesting information SNJ in FIG. 28 (FIG. 26). 28, numerical values c, a1, a2, a3, a4, b1, b2, b3, b
Same as 4). Also, "PICn" and "ULD
n "," P00c00 "," Q00000 ",
The values of “R00c08”, “S00000”, etc. are four suction head aggregates 550 (1), 550 (2), 550
(3) Each pad 57 (1), 550 (4) in 550 (4)
Pad information P for 7 (2),..., 57 (19)
J, which has the same value as the value in the sheet nesting information SNJ in FIG. 28, but in FIG. 29, the value shown in FIG. 28 (for example, “000000000001100”)
00000 ") are converted to hexadecimal values. Note that the end of “PICn” of each command FRn in FIG.
"T0" at the end of "ULDn" is the command FR
n indicates that the target component 70 can be conveyed by suction and can be sorted into the pallet 10. For example, like the component 70 having the component name Bm stored in the non-arrangeable component memory 132 in the above-described pallet nesting setting, In the case of a part 70 that cannot be suctioned and conveyed or cannot be sorted on the pallet 10, the end of “PICn” and “UL
The value at the end of “Dn” is, for example, “T1” (not shown), and the palletizing robot 20 is not driven in “PICn” or “ULDn” with “T1” when the processing / sorting program KSP is executed. To do.
The sorting program SPR created in this way is stored in the sorting program memory 146a, and step SP6 is completed.

As described above, in the present embodiment, in steps SP3 to SP6 of FIG. 17, the pallet nesting information P
NJ and sheet nesting information SNJ were set, and a sorting program SPR was created from these. In particular,
The pallet nesting information PNJ is created by automatically arranging figures by the pallet nesting setting unit 130 or the like. Is not required at all. This is advantageous in that not only can the working time be significantly reduced, but also mistakes due to manual work can be eliminated.

Thereafter, the main control unit 102 proceeds to step SP7 as shown in FIG. 17, and instructs the machining / sorting program knitting unit 147 to organize the machining / sorting program KSP. In response, the processing / sorting program knitting unit 14
7 is a machining program KPR and a sorting program memory 14 stored in the machining program memory 145a.
By organizing the sorting programs SPR and the like stored in 6a, a series of machining / sorting programs KSP to be executed at an appropriate timing is created and stored in the machining / sorting program memory 147a. Thus, step SP7 is completed, and the program creation program P
All processing in RO1 has been completed.

With the machining / sorting program KSP created as described above, the machining and sorting of the parts 70 in the laser machining equipment 1 described above will be described. First, as preparation, the processing and sorting of the processing and
The processing / sorting program KSP stored in the sorting program memory 147a is transmitted to the laser processing equipment control device 150 by the communication control unit 113 via the cable 113a.
Side, and in the laser processing equipment control device 150,
The processing / sorting program KSP is received via the communication control unit 153 connected to the cable 113a, and is stored in the program memory 152. After the above preparation is completed, the operator operates the laser processing equipment control device 1
At 50, a command to start machining is input via the keyboard 151. Upon receiving this command, the main control unit 149 reads the machining / sorting program KS from the program memory 152.
P is called, and this is executed by the program execution unit 154. The program execution unit 154 sequentially reads the control contents for each of the devices 3, 7, and 20 described in the processing / sorting program KSP, and reads the read control contents.
Each control unit 15 for controlling each device 3, 7, 20 respectively
5, 156, and 157 for execution.

For example, the program execution unit 154
When the control contents for the transfer robot 7 (contents corresponding to the above-described not-shown transfer program) in the sorting program KSP are read out, the control contents are transmitted to the transfer robot control unit 155, and the transfer robot control unit 155 is transmitted. It interprets the control contents and controls the transfer robot 7 according to the contents. Also, for example, the program execution unit 1
Reference numeral 54 denotes the control content for the laser processing machine 3 in the processing / sorting program KSP (the processing program KPR described above).
Is read out, the control contents are transmitted to the laser processing machine control unit 156, and the laser processing machine control unit 1
56 interprets the transmitted control content and controls the laser beam machines 3 according to the content. (The control contents interpreted by the above-described transfer robot control unit 155 and laser processing machine control unit 156 and the specific control method according to the control contents are well-known techniques, and thus detailed description is omitted.) In the stocker 2, unprocessed worksheets 70A that have been stacked and stored are sequentially taken out, and the worksheets 70A that have been taken out are taken out by the transfer robot 7 that is driven under the control of the transfer robot control unit 155 described above. It is sequentially conveyed to the laser beam machine 3. Each of the laser processing machines 3 is driven in a form controlled by the laser processing machine control unit 156, so that the sequentially conveyed worksheet 70A is sequentially cut and processed based on the control contents interpreted by the laser processing machine control unit 156. I do. The control contents interpreted by the laser processing machine control unit 156 are based on the above-mentioned processing program KPR, and since this processing program KPR is based on the sheet nesting information shown in FIG.
A plurality of types of components 70 were formed on the processed worksheet 70B formed by processing A as shown in FIG. Worksheet 7 processed by each laser processing machine 3
OB is sequentially conveyed to each sorting table 5 from each laser processing machine 3 by the conveying robot 7 driven under the control of the above-mentioned conveying robot control unit 155. On the other hand, each part 70 formed on the worksheet 70B conveyed to each sorting table 5 is provided with the machining / sorting program KS.
On the basis of the control contents for the palletizing robot 20 described in P, the palletizing robot 20 sequentially conveys the palletizing robot 20 onto each pallet 10 of each work stocker 9 in a procedure described in detail below.

That is, the palletizing robot control unit 157
Interprets the control contents transmitted from the program execution unit 154 sequentially. This control content is based on the sorting program SPR which organizes the machining / sorting program KSP.
Since the contents correspond to (FIG. 29), it can be considered that the palletizing robot control unit 157 interprets the sorting program SPR of FIG. Hereinafter, description will be given along the sorting program SPR of FIG. That is, the palletizing robot control unit 157 interprets the “PIC1” part of the command FR1 in FIG. "X23
0.0 Y487.5 ”is the palletizing robot 20
Of the rotation axis CT1 (C-axis) of the palletizing robot control unit 157 on the equipment coordinate SVZ at the x, y coordinate position (230.0, 487.5).
The motor 22a is operated by the traveling drive device 22 provided on the suspension frame 21 of the palletizing robot 20 via the traveling drive device control unit 159 to operate the gear 22.
b and 22b are driven to rotate these gears 2
2b, 22b and racks 11b, 11 meshed therewith
b, the suspension frame 21 is connected to the guide rails 11, 11
Along the arrow A (the y-axis direction in the equipment coordinates SVZ), and the braking function of the traveling drive device 22 changes the y-coordinate position of the rotation axis CT1 on the equipment coordinates SVZ to "487.5". Position).

Next, the palletizing robot controller 15
7 is a motor drive unit 26 provided on the first frame 25 via the mobile drive device control unit 160.
The first frame 25 is moved with respect to the suspension frame 21 along the moving rail 23 in the directions indicated by arrows C and D (equipment Coordinate SVZ
In the x-axis direction).
Is positioned at a desired position (the position where the x coordinate position on the equipment coordinate SVZ of the rotation axis CT1 is "230.0").

Further, a palletizing robot control unit 157
Interprets “W189.75” in the “PIC1” part of the command FR1 in FIG. 29 and instructs the C-axis drive control unit 162 to rotate and position the suspension frame 35. In response to this, the C-axis drive control unit 162
The rotation of the pulley 36b by rotating the motor 36a in the rotation driving device 36 during rotation of the shaft 33 causes the shaft 33 to move relative to the second frame 29 about the rotation axis CT1 in the directions of arrows R1 and R2 (C in FIG. 2). (Axial direction). Thus, the rotation of the shaft 33 causes the suspension frame 35 side to move in the direction indicated by the arrow R in the drawing with respect to the second frame 29 side.
1, driven to rotate in the R2 direction. And the hanging frame 3
When the fifth side rotates to a desired position (a position rotated by 189.75 degrees in the direction of arrow R2, which is a positive direction from the predetermined orientation position about the rotation axis CT1 in the palletizing robot 20, the suspension frame 35 is rotated. The stop position is determined by the brake function on the driving device 36 side.

Further, a palletizing robot control section 157
Are "K0.0", "L-15.32", and "M-24.0" in the "PIC1" portion of the command FR1 in FIG.
It interprets “5” and “N0.0” and instructs the B-axis drive control unit 163 to turn and position the four arms 47. In response to this, the B-axis drive control unit 163 operates the drive motors 49 provided on the brackets 46 in the respective head units 45 to move the arm 47 via the output shaft 49a around the rotation axis CT2 as indicated by an arrow S in FIG. , In the T direction (B-axis direction). In this way, each arm 47 is moved to a desired position (each arm 47 with respect to the suspension frame 35 side).
(1), 47 (2), 47 (3), and 47 (4), respectively, at 0.0 degrees, -15. 32
(At the position where the arm 47 has been turned by −24.05 ° and 0.0 °), the arm 47 is stopped and positioned by the brake function of each drive motor 49.

Further, a palletizing robot controller 157
Are "G-345.2", "H-348.3", and "I-42" in the "PIC1" portion of the command FR1 in FIG.
It interprets “0.6” and “J-344.1” and instructs the A-axis drive control unit 165 to slide and move the four suction head assemblies 550. In response, the A-axis drive control unit 1
65 is a motor 52a of the slide driving device 52 provided on the head frame 51 in each head unit 45.
Is operated to rotate the gear 52b, and the head frame 51 is moved along the slide rails 50, 50 by arrows P, 50 through the rack 47a meshed with the gear 52b.
Slide in the Q direction (A-axis direction). Thus, the suction head assembly 55 mounted on each head frame 51
0 to a desired position (each suction head assembly 550 (1), 5
50 (2), 550 (3) and 550 (4) are each arm 4
7 (1), 47 (2), 47 (3), and 47 (4), from a predetermined origin position in the direction of the arrow Q that is the A-axis direction, -345.2, -348.3, and -420. 6,
(At the position moved by -344.1), the respective suction head assemblies 550 are stopped and positioned by the brake function of each drive device 52 at the time of sliding movement to the position moved by -344.1.

The palletizing robot controller 157
Interprets "Z-70.0" in the "PIC1" part of the command FR1 in FIG.
1 is the vertical direction of the suction head assembly 550 (the equipment coordinates SV
Movement / positioning in the z-axis direction on Z). In response to this, the nut driving device control unit 161 controls the first frame 25
By driving the motor 32a in the nut driving device 32 and rotating the nut members 31 by the motor 32a, the screw members 30 into which the nut members 31 are screwed are driven downward. Thereby, the second frame 29 side is guided downward through the plurality of rods 27 and the guide holes 25a into which the rods 27 are inserted, and is directed downward (in the direction of arrow F in the drawing) with respect to the first frame 25 side. It is moved and driven in the equipment coordinate SVZ (in the z-axis direction). First
The movement drive of the second frame 29 side with respect to the frame 25 side is further continued, so that the four suction head aggregates 550 are lowered, and the components 7 shown in FIG.
0 is different from the shape of the component 70 corresponding to “PIC1” in FIG. 29). As shown in FIG. 29, each pad 57 of the suction head assembly 550 is in the worksheet 70B on the sorting table 5. The operation of the nut driving device 32 is stopped at the position where it comes into contact with the target component 70 (that is, the position where the suction head assembly 550 has the z coordinate position of “−70.0” in the facility coordinates SVZ), and the first frame 25 side Is stopped on the second frame 29 side. In this case, each pad 57 of the suction head assembly 550 is
The control in the z-axis direction may be performed in such a way that the descent of the second frame 29 side with respect to the first frame 25 side is continued slightly after the contact with the first frame 25. For example, when the lowering of the second frame 29 side with respect to the first frame 25 side after each pad 57 contacts the component 70, as shown in FIG. 13 (the pad protection member 59 and the like are omitted in FIG. 13). Then, the head supporting portion 53 supporting the plurality of suction heads 55 descends. However, each suction head 55 is movable upward relative to the head support 53 so that the tube 56 slides.
Is movable downward relative to each suction head 55. As a result, even if the plurality of suction heads 55 abut against the component 70, and the suction heads 55 stay with respect to the component 70 in this state, the head supporting portion 53 side exerts an inadvertent force on these suction heads 55. It descends smoothly without giving. As described above, even if the movement amount of the second frame 29 side with respect to the first frame 25 side is not particularly accurate, each pad 57 of the suction head assembly 550 is attached to the component 7.
The operation of making contact with zero can be performed accurately and safely.

As described above, the four suction head assemblies 550
Are on the equipment coordinates SVZ and therefore on the sorter 5
With respect to 0, it was moved and positioned in a horizontal two-dimensional direction and a vertical direction. Palletizing robot 20 in this state
The positional relationship between the part and the part 70 in the worksheet 70B is as displayed on the display 105 shown in FIG. Therefore, many pads 5 of the suction head assembly 550
7 is in a state of suitably contacting the component 70 as shown in FIG. On the other hand, the palletizing robot control unit 15
7 is “P00c00 Q00000 R00c08 S0” in the “PIC1” portion of the command FR1 in FIG.
0000 ", and instructs the suction control unit 166 to perform suction by the pad 57. This "P00c00 Q00000
R00c08 S00000 "has the same contents as the pad information PJ in the seat nesting information SNJ and the part / robot information BRJ in FIG. 28, and thus the suction control unit 166 receiving the command drives the valve driving device 66 to generate the pad information PJ. Is valid (the value of the pad information PJ in the sheet nesting information SNJ and the part / robot information BRJ is “1”), and the valve 65 of the air pressure transmitting member 62 of the pad 57 is opened. In addition,
The vacuum pump 63 is operated in advance, and all the valves 65 are closed before the valve driving device 66 operates (therefore, as described above, the valve driving device 66 is closed).
Are not closed, and the pads 57 corresponding to these valves 65 are "invalid" as indicated by the pad information PJ). Thereby, the air pressure transmitting member 62 and the tube 6
0, the pressure inside each pad 57 connected to the vacuum pump 63 via the tube 56 is reduced, and a suction force is generated. As shown in FIG. 13, each pad 57 that generates a suction force is in contact with the target component 70, so that a suction force is generated between the pad 57 and the component 70, and the component 70 is suctioned. Note that the component 70
When the suction is performed, the pad 57 protruding from the component 70 is set to “invalid” in the registration of the component / robot information BRJ, so that an effective suction force with the component 70 cannot be generated. Energy can be saved without giving unnecessary suction force to the pad 57. Part 7 especially
The pad 57 that protrudes from zero sucks a component other than the target component 70 and a component other than the component of the worksheet 70B other than the suction target component 70, or sucks dust. This is convenient because inconvenience can be avoided. After sucking the component 70 as described above, the nut driving device control unit 161 sets the nut driving device 3
2, the second frame 29 is moved upward (in the direction of the arrow E in the drawing) with respect to the first frame 25 to return the suction head assembly 550 to its original standby position, and
0 is raised to a predetermined height. As already explained,
At the time of registration of part / robot information BRJ, this part 7
Since the pad 57 to be effective is determined so as to exert an appropriate suction force with respect to the component weight Bw of 0, the component 70 described above is surely and safely sucked and raised.

Subsequently, the palletizing robot controller 15
7 is “ULD” next to “PIC1” of the command FR1 in FIG.
Interpret the "1" part. First of all, "X43" of "ULD1"
9.5 Y5091.0 ”is palletizing robot 2
Since the rotation axis CT1 (C axis) of 0 is positioned at the x, y coordinate position (439.5, 5091.0) on the equipment coordinate SVZ, the palletizing robot control unit 15
7 drives the traveling drive unit 22 via the traveling drive unit control unit 159 to move the suspension frame 21 along the guide rails 11 and 11 in the arrow B direction (equipment coordinates SVZ).
The palletizing robot 20 is moved and driven to a desired position (a position where the y coordinate position of the rotation axis CT1 on the equipment coordinate SVZ is "5091.0") and stopped. The palletizing robot control unit 157 drives the moving drive unit 26 via the moving drive unit control unit 160 to move the first frame 25 side to the suspension frame 21 along the moving rail 23 in the directions of arrows C and D ( The palletizing robot 20 is moved and driven in the x-axis direction of the equipment coordinate SVZ to move the palletizing robot 20 to a desired position (the x-coordinate position of the rotation axis CT1 on the equipment coordinate SVZ is “4”).
39.5 ") to stop and position the first frame 25 side. Further, the palletizing robot control unit 157 determines “W189.75 G-345.2... S000” in the “ULD1” part of the command FR1.
00T0 ”, these values are exactly the same as the values in“ PIC1 ”.
Rotation / positioning of the four arms 47, rotation and positioning of the four arms 47, and sliding movement / positioning of the four suction pad assemblies 550 are not performed (therefore, the palletizing robot 2).
(0) remains in a state of sucking the component 70 based on the instruction of “PIC1”).

Next, the palletizing robot control unit 1
57 is “ZLD” in the “ULD1” part of the command FR1.
−350.0 ”, and the nut driving device controller 161
To move and position in the z-axis direction. In response to this, the nut driving device control unit 161 drives the nut driving device 32 to move the second frame 29 side downward (in the direction of arrow F in the figure, which is the z-axis direction) with respect to the first frame 25 side. The driven and sucked component 70 is lowered onto the target pallet 10 (in this case, “pallet No. 1”). Further, the second frame 29 side is driven to move downward with respect to the first frame 25 side to further lower the sucked component 70, and FIG. 12 (in FIG. 12, for simplicity, the palletizing robot 20 side holds the sucking part 70). FIG. 12 shows only the head assembly 550 and the simplified head frame 51.
Is different from the shape of the component 70 handled in “ULD1” for convenience of explanation.
As shown in FIG. 14 (the pad protection member 59 and the like are omitted), the component 70 is placed at a predetermined position on the pallet 10 (in FIG. In the case of "ULD1", it is the first and thus becomes the surface of the pallet 10). After placing,
The suction control unit 166 closes all the valves 65 by the valve driving device 66, releases the suction force between each pad 57 and the component 70, and releases the suction of the component 70. As a result, the component 70 sucked and conveyed is delivered while being placed on the pallet 10. (After that, the second frame 29 side is driven to move upward with respect to the first frame 25 side to return the suction head assembly 550 to the original standby position.)
By the way, as described above, "U" in the command FR1 for instructing the positioning of the palletizing robot 20 with respect to the target pallet 10 (here, "pallet No. 1").
Since the contents in “LD1” are made based on the pallet nesting information PNJ as shown in FIG. 25, the actual pallets of the parts 70 are arranged by the palletizing robot 20 being positioned according to the contents of “ULD1”. The arrangement position at 10 is the same as the arrangement position of the component graphic BZ shown in FIG. 25 with respect to the palette graphic Z10.

In this embodiment, the suction head assembly 55
0 is positioned downward with respect to the pallet 10 (ie, “Z-3” of each “ULDn” in FIG. 29).
50.0 ”). Actually pallet 10
When arranging the parts 70 on the pallet 10, the parts 70 of the same type are arranged one above the other. Work Mountain 7
The height position (z coordinate position) at which the component 70 is delivered to the upper surface of the component 70 is often different for each component 70. In other words, since the z-coordinate position when the suction head assembly 550 is positioned downward with respect to the pallet 10 is fixed, the suction head assembly 550 can be maintained even after the component 70 that has been sucked and conveyed is placed on the pallet 10 side. In some cases, the drive for moving downward is continued. In such a case, FIG. 14 (the suction head 5 that was
5 is two in the center of the drawing), the head supporting portion 53 supporting the plurality of suction heads 55 is further lowered. However, as described above, since the head supporting portion 53 is movable downward relative to each suction head 55, each suction head 55
And the like, the head supporting portion 53 stops moving without moving downward any more.
5, the suction head 55
This also eliminates the need for careless force due to the head support 53 and the like. That is, even if the moving amount of the suction head assembly 550 in the z-axis direction is not set for each component 70, the placement and delivery of the suctioned component 70 can be appropriately performed, so that there is no need for complicated programming, which is convenient. is there.

When the component 70 is placed and delivered,
Similar to the display contents shown in FIG. 25, it is necessary to efficiently sort the limited space on the pallet 10 to sort a large number of components 70. For example, as shown in FIG. 12 and FIG. The parts 70 conveyed in such a manner as to form a work mountain 700 are placed and delivered. In this example,
Immediately below the suction head 55 that does not suck the component 70 (the two suction heads 55 on the left side of the paper surface in FIG. 14), another work mountain 700 that already exists places the component 70 on which the sucked component 70 is to be mounted. It exists higher than the position (height level). Therefore, when lowering the sucked component 70, first, the suction head 55 that does not suck the component 70 (the two suction heads 55 on the left side of the paper in FIG. 14) is placed on the upper surface of the another work mountain 700. Abut However, if the component 70 continues to descend, the suction head 55 that has come into contact with the workpiece mountain 700 stays in a state in which it comes into contact, and slides upward relative to the head support 53. This is because each suction head 5
5 is independently movable up and down relative to the head support 53. Therefore, the work mountain 7
The suction heads 55 that have come into contact with 00 do not prevent the head support unit 53 from descending, and conversely, these suction heads 55 do not receive an inadvertent force from the head support unit 53 side. And part 7
The suction head 55 sucking 0 is lowered without any trouble, and the component 70 can be placed and delivered at a predetermined placement position. The delivery of the component 70 can be suitably performed even in such a narrow place.

Incidentally, the pad protecting member 59 of each suction head 55 prevents the plurality of pads 57 from hitting each other in the suction head assembly 550 to be damaged, and generates a suction force on the pads 57. This function prevents inadvertent suction of external dust and the like during the operation. Further, as shown in FIG. 14, after the position of each suction head 55 in the suction head assembly 550 is shifted in the vertical direction, the head support portion 53 is moved upward with respect to the head support portion 53 by raising the head support portion 53 side. The suction heads 55 are lowered by their own weight (a structure in which the suction heads 55 are forcibly lowered using a spring or the like), and all the suction heads 55 are aligned at the same height as shown in FIG. Here, the pad protection members 59 of the plurality of pads 57 adjacent to each other have the tapered portion 59a on the upper side, so that the adjacent pad protection members 59 are shifted to the same height again after being shifted vertically. When returning, the lower end side of the pad protection member 59 descending from above hits the tapered portion 59a of the adjacent pad protection member 59 below, and slides down along this tapered shape. Thereby, the pad protection member 59,
59 is advantageous because the snagging between them is prevented.

Next, the palletizing robot control unit 15
7 shifts to the interpretation of the command FR2 in FIG.
Palletizing robot 20 based on the content and value of
Is moved and positioned in the direction of arrow A (y-axis direction) to the sorting table 5 on which the component 70 to be transported next is placed, and the first frame 2 is moved relative to the suspension frame 21.
5 is moved and positioned in the directions of arrows C and D (x-axis direction), and the rotation axis CT1 (C-axis) of the palletizing robot 20 is arranged at predetermined x and y coordinate positions indicated by "PIC2" of the command FR in FIG. Then, the hanging frame 35 is moved in the C-axis direction as shown in FIG.
29, is rotated and positioned by a predetermined rotation angle indicated by “PIC2”, and each arm 47 is turned and positioned in the B-axis direction by a predetermined rotation angle indicated by “PIC2” in FIG.
Each suction head assembly 550 is slid and moved in the A-axis direction to the position indicated by "PIC2" in FIG. 29, and the suction head assembly 550 is further moved to the "PIC2" in FIG.
By lowering and positioning to the z-coordinate position indicated by “2”, the four suction head assemblies 550 are positioned according to the target component 70 on the work sheet 70B on the sorting table 5. In this way, the plurality of pads 57 are used to
0, the valve driving device 66 is driven based on the content indicated by “PIC2” to
Is released, the component 70 is sucked by the pad 57 which is "effective". Next, after raising the second frame 29 side with respect to the first frame 25, the palletizing robot control unit 157 sets the command F in FIG.
Based on the content and value of “ULD2” of R2, the palletizing robot 20 is moved and positioned in the direction of arrow B (y-axis direction) to the pallet 10 of the sorting destination, and the first frame 25 is moved relative to the suspension frame 21. Are moved and positioned in the directions of arrows C and D (x-axis direction), and the rotation axis CT1 (C-axis) of the palletizing robot 20 is arranged at a predetermined coordinate position indicated by “ULD2” of the command FR in FIG. In the case of this command FR2, "PIC2" and "U
“W...” Which is the rotation angle in the C-axis direction is different from “LD2”. This is the sorting table 5 on the equipment coordinates SVZ.
Of the part 70 on the pallet 10
(In the case of the command FR2, the direction is different by 180 degrees). Therefore, in the case of this command FR2, the suspension frame 35 is moved in the C-axis direction by “U” in FIG.
The component 70 is rotated and positioned to a predetermined rotation angle position indicated by “LD2” (an angle position rotated from the predetermined orientation position by “W...”), And the direction of the component 70 is adjusted. Then
By lowering the suction head assembly 550 to a predetermined z-coordinate position indicated by “ULD2” in FIG. 29, the suctioned component 70 is mounted at the mounting position, the suction by the pad 57 is released, and the delivery is completed. .

Thereafter, in the same procedure as described above, palletizing robot control section 157 executes commands FR3 and F3 shown in FIG.
By the interpretation of R4, FR5,... And the command based on this interpretation, the rotation axis CT1 of the palletizing robot 20 is obtained.
(C axis) is positioned at a desired x, y coordinate position on the sorting table 5 side, the suspension frame 35 is rotated and positioned by a desired rotation angle in the C axis direction, and each arm 47 is desired in the B axis direction. By rotating and positioning by the rotation angle, sliding and positioning each suction head assembly 550 to a desired position in the A-axis direction, and further lowering and positioning the suction head assembly 550 by a predetermined movement amount, four The suction head assembly 550 is attached to the worksheet 70 on the sorting table 5.
B, the part 70 is sucked by the “effective” pad 57 by driving the valve driving device 66 to open the predetermined valve 65, and to position the first part 25 with respect to the first frame 25. After raising the 2 frame 29 side, subsequently, the rotation axis CT1 (C axis) of the palletizing robot 20 is positioned at a desired x, y coordinate position on the sorting pallet 10 side, and the suspension frame 35 is set.
Is rotated and positioned in the C-axis direction by a desired rotation angle,
The suction head assembly 550 is lowered to a predetermined z-coordinate position.
By positioning, the parts 70 sucked and conveyed
Is transferred to the pallet 10 of the sorting destination. As a result, the components 70 of the worksheet 70B sequentially placed on the sorting tables 5 are sequentially sucked and conveyed, transferred to the predetermined pallets 10 in the work stockers 9, and sorted. This series of operations is performed according to the processing / sorting program KSP created based on the above-described nesting schedule file NF. Therefore, each component 70 of each worksheet 70B is sequentially conveyed to the predetermined pallet 10 and sorted.

As described above, in the palletizing robot 20 of this embodiment, the rotation / positioning of the suspension frame 35 in the C-axis direction, the turning / positioning of the four arms 47 in the B-axis direction, and the four suction head assemblies 550 Since the plurality of suction head assemblies 550 are provided so as to be movable and positioned in a horizontal two-dimensional direction by sliding and positioning in the A-axis direction, each suction head assembly 550 can be used even for a work having a complicated shape. 550 can be appropriately positioned, and the work can be suction-conveyed without any problem. Further, in each suction head assembly 550, the pads 57 are composed of a plurality of suction heads 55 provided adjacent to each other, and the suction force is generated independently by the pads 57 of each suction head 55. Even if some of the pads 57 of the assembly 550 protrude from the work, the remaining pads 57 can appropriately suck the work, so that, for example, even a fine and complicated work having a smaller width than the suction head assembly 550 can be freely used. It is convenient because it can be adsorbed. Further, in the above-described embodiment, only one component 70 is suctioned and conveyed in one suction conveyance. However, in the case where suction conveyance for one component 70 can be performed via three or less suction head assemblies 550. , The remaining suction head assembly 550
It is also possible to adsorb other components 70 via the, and to adsorb and convey a plurality of components 70 in one suction conveyance. Thereby, the number of times the palletizing robot 20 reciprocates between the sorting table 5 and the pallet 10 can be reduced, and the sorting operation time can be greatly reduced.

In the above-described example, in the suction head 55, the tube 56 and the pad 57 are fixedly connected. However, as another example, a universal joint (not shown) between the tube 56 and the pad 57 is provided. The pad 57 may be rotatable with respect to the tube 56 in all directions (for example, the directions of arrows M1, M2, M3, and M4 shown in the right corner of FIG. 11). Thereby, for example, even a work (not shown) having irregularities formed by press working or the like,
By rotating each pad 57 appropriately with respect to the uneven surface, an effective suction force can be generated between the pad 57 and the work, and the work having the unevenness can be generated. Can be conveyed by suction.

In the above-described embodiment, the suction head assembly 550 is composed of the shaft 33, the suspension frame 35, the rotary drive 36, the arm 47, the drive motor 49, and the head frame 5.
1. It can be moved and positioned in a horizontal two-dimensional direction via a horizontal moving mechanism including a slide driving device 52 and the like, but the horizontal moving mechanism can have various other configurations. For example, it is also possible to provide an arm having a bendable joint at a plurality of locations on the second frame 29 or the like, and to install the suction head assembly 550 on the distal end side of this arm.

In the above-described embodiment, the tube 56 of the suction head 55 is a member for connecting and supporting the pad 57 in a manner movable vertically with respect to the head support 53, and the vacuum is applied to the pad 57. Although it was also a suction means for transmitting the reduced pressure from the pump 63 side, as another example, instead of the tube 56, a rod-shaped slide member not serving as the suction means was adopted, and a pad 57 connected to the slide member was provided. Alternatively, a suction means such as a tube connected to the vacuum pump 63 may be directly connected.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing the entire laser processing equipment.

FIG. 2 is a side sectional view showing a palletizing robot.

FIG. 3 is a view on arrow I of FIG. 2;

FIG. 4 is a view (partial cross-sectional view) taken along the arrow II in FIG. 2;

FIG. 5 is a perspective view showing a suspension frame, a head unit, and the like.

FIG. 6 is a side view (partially sectional view) showing one of the head units in detail.

FIG. 7 is a view (partial cross-sectional view) taken in the direction of arrow III in FIG. 6;

FIG. 8 is a view (partially sectional view) of the head unit as viewed from above.

FIG. 9 is a plan view showing only a head supporting portion of the head frame.

FIG. 10 is a diagram of the suction head assembly viewed from below.

FIG. 11 is a perspective view showing a state in which a component is sucked by a suction head assembly.

FIG. 12 is a perspective view showing a state where a conveyed component is delivered to a pallet.

FIG. 13 is a side view illustrating a state in which a component is to be suctioned by a suction head assembly.

FIG. 14 is a side view showing a state in which the conveyed parts are delivered to a pallet.

FIG. 15 is a block diagram showing a processing / sorting program creating device.

FIG. 16 is a block diagram showing a laser processing equipment control device.

FIG. 17 is a flowchart showing a program creation program.

FIG. 18 is a flowchart showing a first subprogram.

FIG. 19 is a diagram showing display contents on a display in a component information input mode.

FIG. 20 is a diagram showing display contents on a display on which component information and a robot graphic are displayed.

FIG. 21 is a diagram showing a material / density table.

FIG. 22 is a diagram showing part / robot information.

FIG. 23 is a diagram showing a nesting schedule file.

FIG. 24 is a flowchart showing a third subprogram.

FIG. 25 is a diagram showing display contents on a display when setting pallet nesting;

FIG. 26 is a diagram showing pallet nesting information.

FIG. 27 is a diagram showing display contents on a display when setting sheet nesting;

FIG. 28 is a diagram showing sheet nesting information.

FIG. 29 is a diagram showing a sorting program.

FIG. 30 is a diagram showing equipment coordinates set in the laser processing equipment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Laser processing equipment 5 ... 1st position (sorting table) 10 ... 2nd position (pallet) 15 ... Parts sorter 55 ... Suction head 70 ... Parts 70A, 70B ... Worksheet 103a ... suction position indicating means (keyboard) 103b ... suction position indicating means (mouse) 105 ... image display unit (display) 106 ... image display unit (image control unit) 110 ... shape information storage unit (input / display) Memory 111) Location information calculation unit (sheet nesting setting unit) 111a Component placement information storage unit (sheet nesting information memory) 115 Suction position calculation unit (component / robot information registration control unit) 116 Suction Force detection unit, suction head positional relationship determination unit (effective pad detection unit) 119 ... Suction force detection unit (transportable weight calculation unit) 120 ... Suction force determination Output unit (weight determination unit) 121: Attraction force determination output unit (determination result output unit) 122: Attraction unit position information storage unit (component / robot information memory) 130: Sorting information calculation unit (pallet nesting installation unit) 137: Sorting information storage unit (pallet nesting information memory) 146: Program creation unit (sorting program creation unit) 550: Suction unit (suction head assembly) BRJ: Suction unit position information (component / robot information) Bw ... weight (part weight) BZ ... part shape information (part figure) CT1 ... reference position (rotary axis) FRn ... movement / positioning command (command) G ... center of gravity position (center of gravity) Hw ... suction force ( PNJ: Sorting information (pallet nesting information) PRZ: Two-dimensional coordinates (program coordinates) RZ: Suction means type Information (robot figure) SNJ ...... arrangement information (sheet nesting information) SPR ...... suction transfer program (sorting program)

 ──────────────────────────────────────────────────の Continued on the front page F term (reference) 3C042 RB32 RK06 RK29 RL13 3F059 AA02 BA01 BA09 FA00 FA03 FC00 3F061 AA01 CA01 CB02 CB05 CB11 CC00 DB04 5H269 AB23 BB08 CC01 CC11 EE11 KK08 QA06 QB14 QB15 QC

Claims (9)

[Claims] 1. A part sorter for sucking and conveying / sorting a part formed by cutting a worksheet from a first position to a second position via a suction means, in a part shape of a part to be sorted. Providing a shape information storage unit for storing information and suction unit shape information of the suction unit; based on the component shape information and the suction unit shape information stored in the shape information storage unit, the part and the suction unit; An image display unit for displaying an image is provided, and an adsorption position instructing unit operable by an operator, which can instruct an adsorption position of the adsorption unit with respect to the component image-displayed on the image display unit, is provided. A suction means position calculating section for calculating, as suction means position information, a suction position of the suction means with respect to the component, which is instructed by the means; A suction unit position information storage unit for storing suction unit position information calculated by the unit position calculation unit; a component arrangement information storage unit for storing arrangement information of the component at the first position; A sorting information storage unit for storing sorting information at the second position of the suction unit position information stored by the suction unit position information storage unit; the placement information stored in the component placement information storage unit; Based on the sorting information stored in the sorting information storage unit, a suction conveyance program for the component is created by creating a movement / positioning command of the suction unit from the first position to the second position. A part sorting device provided with a program creation unit for output. 2. A reference position is set in the suction means, and the image display unit is configured to adjust the position of the center of gravity of the component and the reference position of the suction means so as to match the component and the component. 2. The parts sorting apparatus according to claim 1, wherein the suction means displays an image. 3. The component sorting apparatus according to claim 1, wherein said image display unit displays the image of the component and the suction means on two-dimensional coordinates corresponding to a horizontal movement direction of the suction means. . 4. An attraction force detecting section for detecting an attraction force by said attraction means, wherein the attraction force by said attraction means is based on the attraction force detected by said attraction force detection section and the weight of said component to be sorted. 2. The component sorting apparatus according to claim 1, further comprising: an attraction force determination output unit that determines and outputs the excess or shortage. 5. The suction means has a suction head assembly composed of a plurality of suction heads, and the position of the suction means with respect to each of the suction heads with respect to the component displayed on the image display unit. A suction head positional relationship determination unit that determines a relationship, wherein the suction force detection unit detects the suction force of the suction unit based on a determination result regarding the suction heads by the suction head positional relationship determination unit. 5. The parts sorting apparatus according to claim 4, wherein the parts are sorted. 6. The suction means has a suction head assembly composed of a plurality of suction heads, and a position of the suction means with respect to each of the suction heads with respect to the component displayed on the image display unit. A suction head positional relationship determination unit for determining a relationship; wherein the program creating unit sends a control command for the suction heads of the suction unit based on a determination result of the suction heads by the suction head positional relationship determination unit. 2. The parts sorting apparatus according to claim 1, wherein the suction conveyance program is generated and output in the form of generating. 7. The first position of the suction unit based on the placement information of the component at the first position based on the suction position of the suction unit with respect to the component calculated by the suction position calculation unit. 2. The parts sorting apparatus according to claim 1, further comprising an arrangement information calculation unit for calculating in the form of positioning information in the step (a). 8. The assortment information of the component at the second position is calculated based on a suction position of the suction unit with respect to the component calculated by the suction position calculation unit.
2. The component sorting apparatus according to claim 1, further comprising a sorting information calculation unit that calculates the position of the suction unit at the second position in the form of positioning information. 9. The laser processing equipment according to claim 9, wherein the first position is a sorting table used in a laser processing equipment for arranging a laser-cut worksheet, and the second position is used in the laser processing equipment. 2. A pallet for sorting parts.
Parts sorter as described.