JP2000254744A - Plate carrying out device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To permit interference prevention for a plate feed device of a plate working machine without prolonging a cycle time. SOLUTION: A feed position detection means 27 to detect a travel position of a plate feed device 7 of a plate working machine is arranged to a carrying out controller 4. A zone setting means 28 to set an interference zone A based on the detected position is arranged. A route change means 29 to change a command so as to carry out a plate by the route not advancing into the interference zone A is arranged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a plate material unloading device for unloading a processed plate material from a plate material processing machine such as a punch press.

[0002]

2. Description of the Related Art Conventionally, as a sheet material unloading device for unloading a sheet material from a sheet material processing machine such as a punch press, an unloading device for unloading in only one direction is generally used. However, in the case of unloading in only one direction, a separate device for sorting the unloaded plate materials is required. In response to such a request for sorting or the like, as shown in an example in FIG. 7, the plate material holding body 52 is arranged in two axes (X, Y axes) orthogonal to the plate material processing machine 51.
Has been developed to move a sheet material (not shown) into a carry-out area Ea and carry it out in a separated state. The sheet material processing machine 51 is provided with a sheet material feeding device 53 that sends the sheet material to the processing point P. The plate feeding device 53 includes, for example, a carriage 54 that moves in the Y-axis direction, and a work holder 55 that is provided on the carriage 54 and grips the plate. In the case of such a plate material unloading device movable in two axial directions, a product plate material (not shown) separated from the material plate material near the processing point P is gripped by the plate material gripping body 52 and is unloaded to the unloading area Ea. In this case, moving the plate material gripping body 52 from the plate material gripping position shown by the solid line to the target position Q shown by the dashed line along the straight-line path c in FIG.

[0003]

However, when the plate material holding body 52 is to be moved along the diagonal path c, as shown in FIG. The plate material (not shown) gripped by 52
It may interfere with the plate feeding device 53 such as the carriage 54 and the work holder 55 in the plate processing machine 51. As a countermeasure for such interference, a method of once retreating the carriage 55 and thereafter carrying out by the plate material gripper 52, or a method of moving the movement path of the plate material gripper 52 to the target position Q in the X-axis direction. , A method of making a right-angle path for moving in the Y-axis direction, or the like. However, after the carriage 55 is moved backward and the plate material holding body 52 is moved, the carriage 5
If the carriage 5 is moved forward again, the next processing is delayed by the reciprocating time of the carriage 55, and the cycle time of the processing becomes longer. In addition, if the plate material holding body 52 is set as a right-angle path, the unloading time becomes longer, and in the state where the processing of the next product plate material is completed, a waiting time may be generated in the plate material processing machine 51, and the cycle time is also longer. Become. Note that, depending on the processing, a method of creating a transport program of the plate material unloading device can be considered so that the unloading path of the plate material gripping body 52 is an optimal path that does not cause interference, but it is possible to process plate materials having various shapes and sizes. In doing so, it is difficult to create a transport program for the optimum route, and it takes time to create the program.

It is an object of the present invention to provide a sheet unloading device capable of preventing interference with a sheet feeding device of a sheet processing machine without lengthening a cycle time. Another object of the present invention is to make it possible to avoid interference with a simple transport program that does not need to consider interference avoidance.

[0005]

The structure of the present invention will be described with reference to FIG. 1 corresponding to an embodiment. This plate material unloading device is a plate material feeding device (7) for feeding the plate material to the processing section (P).
A sheet feeder provided with an unloader (3) for unloading a plate from a plate processing machine (1) having a feeder, and a feeder position detector (2) for detecting a moving position of the plate feeder (7).
7), zone setting means (28) for setting an interference zone (A) based on the position detected by the feeder position detection means (27), and Transport control means (22) for discharging the plate material to the unloader (3). The plate processed by the plate processing machine (1) is carried out of the machine by the unloader (3). At this time, the position of the plate feeder (7) in the plate processing machine (3) is detected by the feeder position detector (27), and the interference zone (A) is detected by the zone setting unit (28) based on the detection result. Is set. The transport control means (22) causes the unloader (3) to unload the plate material along a route that does not enter the interference zone (A). For this reason, it is not necessary to move the sheet feeding device (7) to avoid interference, and the unloading machine (3) can select the shortest unloading path without interference. Therefore, it is possible to prevent interference of the plate processing machine (1) with the plate feeder (7) without increasing the cycle time. These effects are particularly effective when the unloader (3) can move the plate material in two orthogonal directions in a horizontal plane.

In the present invention, the feeder position detecting means (27) detects a current moving position of the plate feeder (7) based on a processing program (20) for operating the plate processing machine (7). It may be. Since the machining program (20) has a command of the feed position of the plate feeder (7), the current movement position of the plate feeder (7) can be easily detected from this command, and a dedicated position detector is provided. It is possible to detect the position of the plate feeding device (7) without providing it. In addition, the position can be detected in real time.

In the present invention, the transport control means (2
2) may include an axis feed command executing means (25) for moving the unloader (3) according to the transfer program (21), and a path changing means (29). When the command (S1) of the transport program (21) is executed by the axis feed command executing means (25), the path changing means (29) interferes with the interference zone (A). This is a means for causing the axis feed command executing means (25) to execute the command (S1) of the transport program (21) in a modified form so that the path does not enter the axis feed command. As described above, when the route changing unit (29) is provided, even if the command of the transport program (21) is a carry-out route that interferes with the plate material feeding device (7), the route does not enter the interference zone (A). The unloader (3) is moved. Therefore, a simple transfer program (2
In 1), interference can be avoided. The command (S) of the transport program (21) is issued by the route changing means (29).
The above-mentioned axis feed command executing means (25) in a modified form of (1).
Means that the command (S1) itself may be changed and input to the axis feed command executing means (25). In addition, the operation of the axis that may cause interference may be locked or the speed may be reduced. May be executed. More specifically, processing such as applying an axis interlock to an axis having a possibility of interference, or setting the speed of the axis to zero or low by speed override is performed. However, the route changing means (29) outputs the command (S
In contrast to 1), the destination is the same even if the route is changed.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described with reference to FIGS. This sheet material unloading device is for unloading a sheet material from the sheet material processing machine 1 and includes an unloader 3 which is a mechanical part and an unloader control device 4 which is a control means thereof. The plate material processing 1 is controlled by the processing machine control device 2.

FIGS. 2 and 3 are a plan view and a front view of the sheet material processing machine 1 and the unloading machine 3, respectively. The plate processing machine 1
This is a machine that performs processing such as punching processing and cutting processing of a product M on a plate material W serving as a material on the table 6,
It consists of a punch press or a laser processing machine. In the illustrated example, the plate processing machine 1 is a turret type punch press. The plate processing machine 1 is provided with a plate feeder 7 that feeds the plate W on the table 6 with respect to the processing portion P in two orthogonal axial directions (X and Y directions). The plate material feeding device 7 is configured such that a cross slide 9 that moves left and right (X direction) is installed on a carriage 8 that moves forward and backward (Y direction), and a work holder 10 that grips the plate material W is attached to the cross slide 9.

[0010] The unloading machine 3 is configured to transfer the product sheet material M from the sheet material processing machine 1.
In this example, the means for carrying in the plate material processing machine 1 into the plate material processing machine 1 is also used. The unloader 3
It is provided with a plate material holding body 11 that can move in two orthogonal axes directions (X and Y directions) in a horizontal plane. In this example, the plate material holding body 11 is also movable in the vertical direction (Z direction). That is, the unloader 3 installs the rail-shaped movable table 14 on a pair of parallel fixed rails 13 so as to be movable in a direction (Y direction) orthogonal to the longitudinal direction (X direction). A traveling body 15 is installed along the traveling body 15 so as to be freely movable, and the plate material gripping body 11 is moved up and down (Z
Direction) It is installed movably. The right and left traveling of the traveling body 15, the forward and backward movement of the rail-shaped movable base 14, and the up and down movement of the plate-shaped gripping body 11 are transmitted by servomotors 16 to 18 of axes X to Z, respectively, by a transmission mechanism such as a rack and pinion. Zu). Plate gripper 11
Is provided with a plurality of suction pads 12 for sucking the plate materials M and W, which are arranged in a plane on the holding body frame 11a.
The suction pad 12 comprises a vacuum suction pad or the like.

A plate material loading section E is provided between the two fixed rails 13 for guiding the rail-shaped movable table 14, and the plate material loading section E is arranged in the moving direction (Y direction) of the rail-shaped movable table 14. A plurality of loading areas E1 to E3 are provided. In each of the loading areas E1 to E3, a product plate material M, a material plate material W,
And a skeleton-like scrap (not shown) is loaded via a loading table such as a truck or a pallet. The rail-shaped movable base 14 cantileverly extends from these plate material loading sections E onto the table 6 of the plate material processing machine 1. An auxiliary table 19 is provided between the plate material loading section E and the plate material processing machine 1.

The control system will be described with reference to FIG. The processing machine control means 2 is a means for controlling the plate material feeding device 7 and a processing mechanism (not shown) of the plate material processing machine 1 according to the processing program 20, and includes a numerical control device (NC device), a sequencer, and the like. The transporter control device 4 is a computer-based program control unit that controls the unloader 3 according to the transport program 21.
Is provided with an axis feed command executing means 22 for controlling the movement in each axis direction. The transporter controller 4 has a main controller 23, a zone controller 27, an axis feed controller 25, a servo controller 26, and a sequencer (not shown). The zone control means 24 includes a feeder position detecting means 27, a zone setting means 28, and a path changing means 29.
The transport control means 22 is constituted by the path changing means 29 and the axis feed command executing means 25.

The main control main end 23 recognizes the transport program 21 and transfers a sequence command to the sequencer unit, and sends a command relating to the X and Y axes among the axis feed commands to the zone control means 24. The command in the Z-axis direction of the transport program 21 is sent to the axis feed command executing means 25 as it is. The axis feed command executing means 25 is a means for sending a movement command to the servo control means 26 of each axis (X-Z axis) in accordance with the feed command of each axis (X-Z axis) of the transport program 21. The servo control means 26 is means for controlling the servo motors 16 to 18 of each axis according to the movement command.

The zone control means 24 includes a transport program 2
When the feed command in the X and Y directions is conformed to a predetermined condition, the feed command is changed in accordance with a predetermined rule and the axis feed control means 25 is changed.
To the zone control means 2.
The processing of the feeder position detecting means 27, the zone setting means 28, and the route changing means 29, which constitute the apparatus 4, is performed. The feeder position detecting means 27 is a means for detecting the current movement position of the plate feeder 7 in the plate processing machine 1 and detects a position in the Y-axis direction, which is the movement position of the carriage 8 of the plate feeder 7. The position detection by the feeder position detecting means 27 is performed based on the machining program 20. Specifically, as the execution result of the axis feed command of the processing program 20, the coordinate position in the Y-axis direction (the coordinate position of the carriage 8) of the plate material feed device 7 recognized by the processing machine control device 2 is the feed device position. It is detected by the detecting means 27.

The zone setting means 28 sets an interference zone A according to a setting rule (not shown) based on the position detected by the feeder position detecting means 27. This setting rule is, for example, as shown in FIG. 1 in a hatched area indicating the interference zone A, on the front side of the front end of the work holder 10 at the current position of the carriage 8 and on the center side of the side end of the carriage 8. The range is set as interference zone A.
When the axis feed command of the transport program 21 is directly executed by the axis feed command executing means 25, the path changing means 29 determines whether or not the path interferes with the interference zone A. This is a means for causing the axis feed command executing means 25 to execute the axis feed command of the transport program 21 in a modified form. The change of the axis feed command is performed according to a setting rule (not shown).
In this setting rule, for example, after the plate material holding body 11 is moved in the lateral direction by a predetermined distance L, the board material holding body 11 is moved to a target position by an axis feed command of the transport program 21. The predetermined distance L is set to be shortest according to the interference zone A. To cause the axis feed command executing means 25 to execute the command S1 of the transport program 21 in a changed form by the path changing means 29, the command S1 itself may be changed and input to the axis feed command executing means 25. In this embodiment, the operation of the axis that may cause interference is locked, and the path changing unit 29 is an interference axis operation restricting unit. The path changing means 29, which is the interference axis operation restricting means, is capable of interfering when any of the axes (for example, the Y axis) moves even if there is a simultaneous feed command for a plurality of axes (for example, a command of "X-, Y-"). If it is predicted that the interference will occur, the axis of which interference is predicted (the Y axis in this example) is interlocked, or the speed of the interference axis is set to zero or low by speed override. When the interference with the interference zone A is stopped along with the axis movement, the axis interlock or the speed override is released.
However, even if the route is changed in response to the command S1, the route changing unit 29 sets the destination position as the destination to be the same.

An operation example of the above configuration will be described. Now, FIG.
As shown in (A), it is assumed that the plate material gripping body 11 is located near the processing portion P, and an axial feed command S1 for obliquely moving from this position to a target unloading position Q is given from the transport program 21. At this time, if the axis feed command S1 of the machining program 21 is executed as it is, the movement of the Y-axis causes the plate gripper 11 to move to the carriage 8 of the plate feeder 7 with the interference portion k.
Interfere with. However, the feeder position detecting means 27 grasps the coordinate data of the carriage 8, and the zone setting means 28 sets the interference zone A according to the position of the carriage 8, as shown in FIG. The path changing unit 29 restricts the operation of the Y-axis serving as the interference axis with respect to the axis feed execution unit 25 so as not to interfere with the interference zone A. This constraint can be caused by axis interlock or speed override.
This is performed by setting the speed of the Y axis to zero or low. The route changing unit 29 releases the constraint on the Y axis when the possibility of interference with the interference zone A disappears. In this way, by restricting the movement of the Y-axis only during the time when there is a possibility of interference, the plate material holding body 11 actually escapes by the distance L in the X-axis direction as shown in FIG. After that, it moves to the target position Q, and the interference between the plate material holding body 11 and the carriage 8 can be avoided. Note that the path changing means 29 is provided for the machining program 2
1 is a command S2 for moving the axis feed command S1 to the safe side.
(FIG. 6) and a command S3 for moving to the target position Q after this movement, and input to the axis feed command executing means 25. Also in this case, as shown in FIG. 4B, the plate material gripping body 11 moves to the target position Q after escaping by the distance L in the X-axis direction.
And the carriage 8 can be avoided.

As described above, even if the transport program 21 is a linear command, the transport controller 4 knows the coordinate position of the plate feeder 7 and the relative distance between the plate gripper 11 and the plate feeder 7. Is controlled, the vehicle actually goes to the target position after the operation of escaping to the safe side, and the interference between the plate material gripping body 11 and the plate material feeding device 7 can be avoided.

Although the interference between the plate gripper 11 and the plate feeder 7 has been described, the zone setting means 28 and the path changing means 29 are provided for controlling the interference between the plate gripped by the plate gripper 11 and the plate feeder 7. If there is a possibility that the product sheet material M may be gripped by the sheet material gripper 11 during unloading,
It is assumed that the interference zone A is set and the route is changed according to the maximum shape and size. In the above-described embodiment, the case of feeding two axes (X and Y axes) has been described.
The present invention can also be applied to the case of feeding three axes (the X and Y axes and the vertical axis). In this case, the zone setting unit 28 sets a three-dimensional three-axis interference zone, and the transport control unit 22 causes the unloader 3 to unload the plate material along a path that does not interfere with the three-axis interference zone. .

[0019]

According to the present invention, there is provided a plate material unloading device, comprising: a feeding device position detecting means for detecting a moving position of the plate material feeding device; and a zone setting means for setting an interference zone based on the position detected by the feeding device position detecting device. And a transport control means for transporting the plate material to the unloader on a path that does not enter the set interference zone. Therefore, it is possible to prevent interference with the plate material feeding device of the plate material processing machine without lengthening the cycle time. In the case where the feeder position detecting means detects the current moving position of the plate feeder based on a processing program for operating the plate feeder, the plate feeder can be provided without providing a dedicated position detector. Can be detected. When the transfer control means is operated in accordance with the transfer program, and a path changing means for executing the axis feed command execution means in a form in which the transfer program command is changed so that the path does not enter the interference zone is provided. Is a simple transport program that does not need to consider interference avoidance, and can avoid interference.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a conceptual configuration of a plate material unloading device according to an embodiment of the present invention.

FIG. 2 is a plan view showing an unloader and a plate processing machine of the plate unloader.

FIG. 3 is a front view showing an unloader and a plate material processing machine of the plate material unloading device.

FIG. 4 is an explanatory diagram of an interference avoiding operation.

FIG. 5 is an explanatory diagram showing a route of an interference avoiding operation.

FIG. 6 is a block diagram showing a conceptual configuration of a plate material unloading device according to another embodiment of the present invention.

FIG. 7 is a plan view of a conventional example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Plate processing machine 21 ... Conveying program 2 ... Processing machine control device 22 ... Conveyance control means 3 ... Unloader 24 ... Zone control means 4 ... Unloader control device 25 ... Axis feed command execution means 6 ... Table 27 ... Feed position detection Means 7 ... Sheet feeding device 28 ... Zone setting means 8 ... Carriage 29 ... Route changing means 10 ... Work holder A ... Interference zone 11 ... Sheet holding member M ... Product plate material 14 ... Rail movable base P ... Working part 15 ... Traveling body Q: Target position 16-18: Servo motor S1-S3: Command 20: Machining program W: Material plate

Claims (3)

[Claims] 1. A sheet unloading device comprising an unloader for unloading a plate from a plate processing machine having a plate feeding device for feeding the plate into a processing unit, wherein a feed device position detecting means for detecting a movement position of the plate material feeding device. A sheet material comprising: zone setting means for setting an interference zone based on the position detected by the feeder position detection means; and conveyance control means for unloading the sheet material to the unloader on a path that does not enter the set interference zone. Unloading device. 2. The sheet unloading device according to claim 1, wherein the feed device position detecting means detects a current moving position of the sheet material feeding device based on a processing program for operating the plate material processing machine. 3. An axial feed command executing means for moving the unloader according to a transfer program, the transfer control means comprising:
When the command of the transport program is executed by the axis feed command executing means, when the robot interferes with the interference zone, the command of the transport program is changed so that the path does not enter the interference zone. 3. The sheet carrying-out device according to claim 1, further comprising: a path changing unit configured to execute the operation.