JP2007254123A - Product sorting device and program for computing sorting condition - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a product sorting device for automatically storing all products worked from plate materials to a jointless state while separating the products from edge materials and for also automatically storing the edge materials separately, and a program for computing sorting conditions to sort products from worked plate materials. <P>SOLUTION: This product sorting device 1 is provided with a sorting table 12 on which worked plate materials 11 including products are placed; a conveying device 21 which opposes to the worked plate materials 11 when moved above the sorting table 12 and has a plurality of product drawing-up members moved to the biaxial direction orthogonal to inside of a plane parallel with the worked plate materials 11 so as to make one end parts of the product drawing-up members abut on the opposing worked plate materials 11; a product storing truck 13 for storing products; and a control device 24 for moving the product drawing-up members only for a predetermined distance inside the plane, drawing up the products by the predetermined at least three product drawing-up members and then, conveying the products to the product storing truck 13. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a product sorting apparatus that transports a large number of products taken from a raw material plate in a micro jointless state, and a program that calculates sorting conditions for controlling the product sorting apparatus.

Conventionally, in a transporting apparatus that picks up products of various sizes that have been picked up and transports them without damaging the products, each adsorber is attached to a plurality of grouped lifting frames, and these grouped lifting frames are individually It is moved up and down by the grouped lifting frame lifting device. Each grouped lifting frame is detachably connected to each other by a grouped lifting frame coupling device and can be lifted and lowered integrally (see, for example, Patent Document 1).
In addition, it has a group management function that controls vacuum pads and electromagnetic magnets on-off in groups according to the size of the separated product, and only the separated product is attracted from the table of the plate processing machine and carried out. Then, the product is placed at a predetermined position on the rear conveyor belt (see, for example, Patent Document 2).

JP-A-8-187532 Japanese Patent Laid-Open No. 10-316235

However, if only a plurality of suction tools are controlled on-off as in the past, the attachment position of the suction tools is limited, and all products cannot be picked up, relying on human hands, There is a problem that automatic driving cannot be performed.
In addition, since the person determines the conditions for turning on and off the adsorber while viewing the screen, there is a problem that the work becomes complicated and takes time, and further, the conditions for picking all products cannot be found.
In addition, if all the products cannot be picked, the remaining scraps cannot be carried out in a batch, and a series of operations are interrupted because a person collects the scraps. is there.

  An object of the present invention is to provide a product sorting apparatus that automatically stores all products processed from a material plate material into a micro jointless state separately from the end materials, and also automatically stores the end materials separately. It is to provide a program for calculating sorting conditions for sorting products from plate materials.

  A product sorting apparatus according to the present invention is a product sorting apparatus that sorts a product processed from a raw material plate material into a micro jointless state and separates the end material, and a sorting table on which the processed plate material including the product is placed; When moved above the sorting table, one end of the processed plate material is opposed to the processed plate material that is opposed to the processed plate material and is moved in a biaxial direction orthogonal to the processed plate material. A conveying device having a plurality of product lifting members moved so as to contact, a product storage carriage in which the product is stored, and the product lifting member is moved within the plane by a predetermined distance, And a control device that lifts the product with at least three predetermined product lifting members and then transports the product to the product storage cart.

  The effect of the product sorting apparatus according to the present invention is that a plurality of product pulling members are arranged on the X-axis drive table, the X-axis drive table is supported by the Y-axis drive table, and the product pulling member is moved in the plane. Therefore, even if the product shape is different or the nesting is different, all products can be transferred from the processed plate material to the product storage cart by moving the product lifting member a required number of times.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a product sorting apparatus according to Embodiment 1 of the present invention. FIG. 2 is a configuration diagram of the transfer apparatus according to the first embodiment. FIG. 3 is a side view of the product lifting member according to the first embodiment. FIG. 4 is a layout diagram of the suction pads arranged on the X-axis drive table. FIG. 5 is a side view of the end material pressing member according to the first embodiment. FIG. 6 is a side view of the table end material pressing member according to the first embodiment. FIG. 7 is a layout view of the table end material pressing members arranged on the sorting table. FIG. 8 is a configuration diagram of the fork device according to the first embodiment.

A product sorting apparatus 1 according to the first embodiment of the present invention is added to a laser processing machine 4 and a punch press machine that process a product 3 from a raw material plate material 2, and as shown in FIG. The material plate material 2 is transported and placed on the processing table 10 from the pallet 7 of the shelf 6 of the stocker device 5, and the processed plate material 11 in a laser-processed micro-johnless state is transported on the sorting table 12 to obtain a product. 3 is conveyed to the product storage cart 13 and the end material 14 to the end material storage cart 15.
The product sorting apparatus 1 includes a shelf 6 in which a pallet 7 in which a material plate 2 is stored is stored, and a stocker apparatus 5 including a preparation table 16 on which the pallet 7 is taken out from the shelf 6 and placed. A processing table 10 on which the material plate material 2 to be loaded into the laser processing machine 4 is placed, a sorting table 12 on which the processed plate material 11 is conveyed from the processing table 10, a product storage carriage 13 in which the product 3 is stored, and an end material 14 are provided. An end material storage cart 15 is provided.

  Further, the product sorting apparatus 1 includes a transport device 21 that transports the product plate 3 from the preparation table 16 to the processing table 10 and the product 3 from the sorting table 12 to the product storage carriage 13, and a processed plate material 11 from the processing table 10 to the sorting table 12. The fork device 22 that transports the end material 14 from the sorting table 12 to the end material storage carriage 15, the transport device 21, the platform 23 that guides the travel of the fork device 22, the control device 24 that controls the entire product sorting device 1, and the sorting conditions The sorting condition calculation device 25 is calculated.

On the shelf 6 of the stocker device 5, the material plate material 2 is manually loaded into a pallet 7 for storing the material plate material 2, and an arbitrary pallet 7 is pushed out from the shelf 6 to the preparation table 16. Then, the pallet 7 that has been emptied after the material plate 2 is conveyed to the processing table 10 is returned to the original shelf 6.
The preparation table 16, the processing table 10, the sorting table 12, the product storage cart 13 or the end material storage cart 15 are arranged on a straight line in that order, and the stand 23 is suspended above the straight line.
The processing table 10 reciprocates between the laser processing machine 4 and the base 23 on a rail (not shown) arranged at right angles to the base 23.
And the process table 10, the sorting table 12, and the upper surface of the end material storage cart 15 are provided with a groove (not shown) into which the fork 27 of the fork device 22 is inserted.

The product storage carriage 13 and the end material storage carriage 15 are connected to each other, move on a rail (not shown) arranged at right angles to the gantry 23, and transport the product 3 from the sorting table 12. When transporting the end material 14, the end material storage carriage 15 is disposed under the frame 23. The product storage cart 13 and the end material storage cart 15 can be replaced by a pallet of a stocker device.
The transport device 21 is placed on the mount 23 on the stocker device 5 side of the fork device 22.
In the following description, the Y axis is set in the direction in which the pedestal 23 extends, the direction orthogonal to the Y axis on the horizontal plane is taken as the X axis, and the vertical direction is taken as the Z axis.

  As shown in FIG. 2, the transport device 21 includes an X-axis drive table 34 in which the product lifting member 31 and the end material pressing member 32 are disposed, a Y-axis drive table 35 disposed above the X-axis drive table 34, The Y-axis drive table 35 is rotated by rotating the Z-axis drive rack 37 and the Z-axis drive pinion 36 that mesh with the Z-axis drive pinion 36 disposed at the four corners of the Y-axis drive table 35. 35, a Z-axis drive motor 38 fixed to 35, a Y-axis drive rack 39 fixed to the mount 23, a Y-axis drive pinion 40 meshing with the Y-axis drive rack 39, and a Y-axis drive pinion 40 are rotated. , A Y-axis drive motor 41 fixed to the Y-axis drive table 35, a Z-axis drive table 42 supported at one end of the Z-axis drive rack 37, and fixed to the side surface of the Z-axis drive table 42, and the X-axis drive table 34 The The X-axis drive ball screw 44 and the X-axis drive ball screw 44 that are fixed to the side surfaces of the X-axis drive linear guide 43 and the X-axis drive table 34 and transmit the force for driving the X-axis drive table 34 are rotated. A shaft driving motor 45 is provided.

As shown in FIG. 3, the product lifting member 31 includes an individual lifting cylinder 50 fixed to the X-axis drive table 34, a suction pad 51 supported at the tip of the individual lifting cylinder 50, and suction air from the suction pad 51. A valve 52 that opens and closes is provided. As shown in FIG. 4, the suction pads 51 are arranged in a staggered manner in the X-axis direction on the X-axis drive table 34, and 200 rows and 10 rows are alternately arranged in the Y-axis direction. Has been.
The product lifting member 31 attracts and lifts the product by the suction pad 51, but may be pulled by an electromagnet.

As shown in FIG. 5, the end material pressing member 32 includes an end material press 54 and an individual elevating cylinder 55 that elevates and lowers the end material press 54. And the end material pressing member 32 is arrange | positioned three between the suction pads 51, as shown in FIG.
As shown in FIG. 6, the table end member pressing member 33 is fixed to the sorting table 12 and rotates between the retracted position (FIG. 6A) and the operating position (FIG. 6B). 57, and a rotation holding portion 58 that rotates the holding member 57 and moves up and down. Then, ten table edge member pressing members 33 are arranged on the outer periphery of the sorting table 12 as shown in FIG. The table end member pressing member 33 may be provided on the X-axis drive table 34.
The numbers and positions of the product lifting member 31, the end member pressing member 32, and the table end member pressing member 33 are not limited to this example, and may be set as appropriate.

  As shown in FIG. 8, the fork device 22 supports a fork 27 in which a plurality of ribs 60 extending in the Y-axis direction are fixed in a comb shape, and supports one end of the fork 27, and is spaced apart above the fork 27. The Z-axis drive table 61, the Y-axis drive table 62 disposed above the Z-axis drive table 61, the Z-axis drive rack 63 that supports the Z-axis drive table 61 at one end, and the Z-axis drive rack 63 with teeth. The Z-axis driving pinion 64, the Y-axis driving rack 65 fixed to the mount 23, the Y-axis driving pinion 66 meshing with the Y-axis driving rack 65, and the Y-axis driving pinion 66 are rotated. A Y-axis drive motor 67 fixed to the axis drive table 62 and a Z-axis drive pinion 64 are rotated, and a Z-axis drive motor 68 fixed to the Y-axis drive table 62 is provided.

  As shown in FIG. 9, the sorting condition calculation device 25 sets the suction pads to a predetermined pitch from the data of the positions of the suction pads arranged as shown in FIG. 4 (hereinafter referred to as original suction pad position data). Product lifting member position data generating means 71 for calculating a plurality of superposition suction pad position data when translated one by one, processing nesting data (hereinafter referred to as the original) in which the products are nested as shown in FIG. Is called processing nesting data.) When superimposition processing nesting data is selected and a product is selected as the pulling target product, the position data of the pulling target product is deleted from the superimposition processing nesting data and a new superposition processing is performed. Processing nesting data generating means 72 for generating nesting data, superposition suction pad position data and superimposition processing nesting data Product pull-up member selection means 73 for selecting a suction pad as an effective suction pad when at least three suction pads come into contact with each product using the data, and for all superimposing for each superimposing processing nesting data Sorting condition judgment means 74 that uses the suction pad movement distance and the effective suction pad when the number of pull-up target products obtained by superimposing the suction pad position data is the sorting condition, and the sorting in which the sorting condition is stored The condition table 75 includes transmission means 76 for transmitting the sorting condition table 75 to the control device when selection of all products is completed.

As shown in FIG. 4, the original suction pad position data H 2 _O has the same lower left corner of the same rectangle as the raw material plate as the origin, the X direction is the horizontal direction, and the Y axis is the vertical direction. The location data is summarized. The original suction pad position data _HO includes the position data of the end material pressing member, and the end material pressing member is also numbered.
Then, the product lifting member position data generation means 71 processes the original suction pad position data _HO and translates the suction pad at a predetermined pitch Δx in the X-axis direction and at a predetermined pitch Δy in the Y-axis direction. The superposition suction pad position data H _{i + 1, j + 1} is generated. The parallel movement distance is iΔx (i = 0 to P) in the X-axis direction and jΔy (j = 0 to Q) in the Y-axis direction. P and Q are values obtained by dividing the distances p and q when the suction pad is moved maximum in the X-axis direction and the Y-axis direction by Δx and Δy, respectively. Then, (P + 1) × (Q + 1) pieces of superposition suction pad position data H _{i + 1, j + 1} are generated.

Original machining nesting data G _O, as shown in FIG. 10, the lower left corner of the outline of the material sheet is the origin, the horizontal direction X axis, when the longitudinal direction is Y axis, data summary of the position of each product It has been.
Then, the process nesting data generation means 72 first sets the original process nesting data as superimposition process nesting data to be superimposed on the superposition suction pad position data for the first time, and the sorting condition determination means 74 performs the f-th (f = 1). -N, n is the superimposition of the number of superpositions performed until the selection of all products is completed), and the data of the pull-up target product determined as the f-th upper condition is deleted from the superimposition process nesting data It is assumed that the (f + 1) -th superimposing process nesting data.

The product lifting member selecting means 73 selects a suction pad when at least three suction pads come into contact with each product as an effective suction pad using the superposition suction pad position data and the superimposition processing nesting data.
The sorting condition determining unit 74 is configured to calculate the suction pad moving distance when the number of pull-up target products obtained by superimposing all the superposition suction pad position data on the f-th superposition processing nesting data is the maximum. The effective suction pad is stored in the sorting condition table 75 as the f-th sorting condition.
The sorting condition calculation device 25 is constituted by a computer having a CPU, a ROM, a RAM, and an interface circuit, and a program including a sorting condition calculation routine to be executed by the computer is stored in the ROM.

Next, a sorting condition calculation routine for obtaining sorting condition data will be described with reference to FIG. FIG. 11 is a flowchart showing the procedure of the sorting condition calculation routine.
In step S1, the input product shape, the original working nesting data G _O and the original suction pad position data H _O obtained by nesting on the basis of such processing quantity. Each suction pad 51 is given a number.
In step S2, the product-related data is deleted from the sorting condition table and initialized, and the order f = 1.
In step S3, the original process nesting data is used as the first superimposition process nesting data.
In step S4, the movement distances x and y of the suction pad 51 are set to zero, and the original suction pad position data is set as the superposition suction pad position data.

In step S5, the superimposition processing nesting data and the superposition suction pad position data are superposed, and the suction pad 51 when at least three suction pads 51 come into contact with each product 3 is selected as an effective suction pad 51; The product 3 with which the effective suction pad 51 abuts is identified as the pulling target product, and pulling target product data is generated.
In step S6, the end material pressing member 32 that abuts only in the end material 14 or in the product 3 other than the pulling target product is selected as an effective end material pressing member 32 and stored in the pulling target product data.
In step S7, the number of pulling target products is calculated from the pulling target product data _, and stored in the product number table as the pulling target product number mx, y corresponding to the movement distance x, y.

In step S8, it is determined whether or not the moving distance y exceeds 100. If it exceeds 100, the process proceeds to step S13. If it is 100 or less, the process proceeds to step S9.
In step S9, it is determined whether or not the moving distance x exceeds 100. If it exceeds 100, the process proceeds to step S11. If it is 100 or less, the process proceeds to step S10.
In step S10, a predetermined pitch Δx is added to the movement distance x, and the process proceeds to step S12.
In step S11, the movement distance x is set to zero, a predetermined pitch Δy is added to the movement distance y, and the process proceeds to step S12.
In step S12, the suction pad position data for superposition when the suction pad position is moved by the movement distance x, y is generated, and the process returns to step S5.

In step S13, the movement distance x, y when the number of products is the largest is taken as the f-th movement distance from the product number table, and an effective suction pad 51 at the movement distance x, y is obtained, and the suction is obtained. The number of the pad 51 is the f-th effective suction pad 51, the pull-up target product pulled up by the effective suction pad 51 is the f-th pull-up target product, the moving distance, the effective suction pad, and the pull-up target The product is stored in the sorting condition table as the f-th sorting condition.
For example, when the suction pad 51 is moved as shown in FIG. 12, the filled suction pad 51 becomes the effective suction pad 51, and the 23 products 3 hatched with hatching can be sucked and transported. Next, when the suction pad 51 is moved as shown in FIG. 13, the filled suction pad 51 becomes an effective suction pad 51, and the twelve products 3 hatched with diagonal lines can be sucked and transported, The conveyance of all products 3 is completed when the conveyance number N is two.
In step S14, the pull-up target product included in the f-th sorting condition is deleted from the superimposition processing nesting data, and the number of remaining products is obtained.
In step S15, it is determined whether or not the number of products is zero. When the number of products is 1 or more, the process proceeds to step S16, and when the number of products is zero, the process proceeds to step S17.
In step S16, 1 is added to the order f, and the process returns to step S4.
In step S17, the order f at this time is sent to the control device 24 together with the sorting condition table as the number of times of conveyance N, and the sorting condition calculation routine is terminated.

As described above, the plurality of suction pads 51 are arranged on the X-axis drive table 34, the X-axis drive table 34 is supported by the Y-axis drive table 35, and the suction pads 51 can be moved in the plane. Even if the nesting is different, all the products 3 can be transferred from the processed plate material 11 to the product storage cart 13 by moving the suction pad 51.
Further, since the product 3 is sucked and transported by at least three suction pads 51 located in the product 3 respectively, the product 3 can be pulled up horizontally, and the catching with the end material 14 can be reduced. The fall of the product 3 on the way can be reduced.
Further, even if the inner end material 14 is lifted due to thermal deformation after processing, the end material pressing member 32 presses the end material 14 to prevent the end material 14 and the product 3 from being caught. No longer stops 1 and continuous automatic operation becomes possible.

The control device 24 moves the product pulling member 31 in two axial directions by a predetermined moving distance, and at least three predetermined products 3 from the processed plate material 11 placed on the sorting table 12 are determined. After being pulled up by the product lifting member 31, the product is transported to the product storage cart 13.
Further, the control device 24 controls the fork device 22 to convey the processed plate material 11 placed on the processing table 10 onto the sorting table 12, and the end material 14 left after the product 3 is conveyed. Are collectively transported to the end material storage cart 15.

Next, the operation of the product sorting apparatus 1 will be described with reference to FIG. FIG. 14 is a flowchart showing a procedure of product sorting and scrap collection by the product sorting apparatus 1.
The control device 24 receives the number N of conveyances and the sorting condition table from the sorting condition calculation device 25.
In step S <b> 101, the material plate material 2 is carried into each pallet 7 of the shelf 6 of the stocker device 5.
In step S <b> 102, the pallet 7 on which the material plate 2 to be processed is loaded is taken out from the shelf 6 of the stocker device 5 and placed on the preparation table 16.
In step S <b> 103, the transport device 21 is moved to above the preparation table 16, the Z-axis drive table 42 of the transport device 21 is lowered, the air is sucked from the suction pad 51, and the material plate material 2 is sucked.
In step S <b> 104, the Z-axis drive table 42 of the transport device 21 is raised while adsorbing the material plate 2.
In step S105, when the raising of the Z-axis drive table 42 of the conveying device 21 is completed, the conveying device 21 is moved to above the machining table 10, the Z-axis driving table 42 is lowered, and the material plate 2 is placed on the machining table 10. When it reaches, the suction of the suction pad 51 is stopped and the material plate 2 is placed on the processing table 10. Then, the transfer device 21 is retracted above the preparation table 16.

In step S106, the processing table 10 is moved into the laser processing machine 4, laser processing is performed, and after the processing is completed, the processing table 10 is returned to the original position.
In step S107, the fork 27 of the fork device 22 is lowered to the height of the groove of the machining table 10, and the fork 27 is moved on the machining table 10 in the Y-axis direction as it is. During this time, the processed plate material 11 is placed on the fork 27.
In step S108, the fork 27 is slightly raised, the fork device 22 is moved to above the sorting table 12 with the processed plate material 11 placed thereon, and then the fork 27 is lowered to place the processed plate material 11 on the sorting table 12. Then, the fork 27 is pulled out while moving to the place where it comes off from the sorting table 12 in the Y-axis direction.
In step S <b> 109, the product storage cart 13 is placed at a predetermined position below the gantry 23.

In step S110, the order f is set to 1.
In step S111, the transport device 21 is moved above the sorting table 12, and the X-axis drive table 34 and the Y-axis drive table 35 are moved according to the f-th sorting condition. Then, the f-th effective suction pad 51 is lowered. Next, the Z-axis drive table 42 of the transport device 21 is lowered until the effective suction pad 51 comes into contact with the processed plate material 11.
In step S <b> 112, the end material 14 around the processed plate material 11 is pressed by the table end material pressing member 33.
In step S113, the effective suction pad 51 is lifted while releasing the suction of the f-th effective suction pad 51 and lowering the end material presser 54 of the corresponding end material pressing member 32 to press the end material 14. To do. Then, the Z-axis drive table 42 is raised.

In step S114, the transport device 21 is moved above the product storage carriage 13, the Z-axis drive table 42 is lowered, and when the product 3 is placed on the product storage carriage 13 or the product 3, the suction of the effective suction pad 51 is stopped. Thereafter, the Z-axis drive table 42 is raised.
In step S115, it is determined whether or not the order f is the number of conveyance times N. If they are different, the process proceeds to step S116, and if the order f is the number of conveyance times N, the process proceeds to step S117.
In step S116, 1 is added to the order f to return to step S111 as the order f.
In step S117, the conveying device 21 is retracted to above the preparation table 16, and the end material storage carriage 15 is disposed at a predetermined position below the gantry 23.
In step S118, the fork 27 of the fork device 22 is lowered to the height of the groove of the sorting table 12, and the fork 27 is moved to the sorting table 12 in the Y-axis direction. The end material 14 remaining during this time is placed on the fork 27.
In step S119, the Z-axis drive table 61 of the fork device 22 is lifted, and when the lift is completed, the fork device 22 is moved to above the end material storage carriage 15, and when moved, the fork 27 stores the Z-axis drive table 61 in the end material. The fork device 22 is moved in the Y-axis direction and the fork 27 is pulled out from the end material storage cart 15 when the descent is completed. By doing so, only the end material 14 is collectively stored on the end material storage carriage 15.

  Since the comb-like fork 27, the processing table 10, the sorting table 12, and the end material storage carriage 15 are provided with comb-like grooves corresponding to the fork 27 in this way, the processed plate material 11 is sorted as it is. It can be placed on the table 12, and the end material 14 remaining after the transport of the product 3 can be collectively stored in the end material storage cart 15 by the fork 27, and continuous automatic operation can be performed.

Further, since the outer peripheral end of the processed plate material 11 is pressed by the table end material pressing member 33, it can be reliably pressed even if the width of the end material 14 at the outer peripheral end is reduced, and can be prevented from being caught with the product 3, and the material plate material The yield of the product 3 that can be processed from 2 is improved.
Moreover, since the suction pad 51 that sucks the product 3 is raised while pressing the end material 14 by the end material pressing member 32, the product 3 and the end material 14 to be pulled up can be reliably separated. .

In the first embodiment, the suction pad 51 is arranged on the X-axis drive table 34 similar to the outer shape of the material plate 2. However, the X-axis drive table 34 is divided into a plurality of pieces and each is independently X-axis. The same effect can be obtained by moving in the direction and the Y-axis direction.
In the first embodiment, the individual elevating cylinder 50 that individually raises and lowers the suction pad 51 of the product lifting member 31 is used, but the individual elevating cylinder 50 is omitted and the suction pad 51 is moved up and down collectively. However, the same effect can be obtained.

Embodiment 2. FIG.
The product sorting apparatus according to the second embodiment of the present invention differs from the product sorting apparatus 1 according to the first embodiment only in the sorting condition calculation routine executed by the sorting condition calculation apparatus 25, and is otherwise the same. The same parts are denoted by the same reference numerals and the description thereof is omitted.
In the sorting condition calculation routine according to the first embodiment, when at least three suction pads 51 are in contact with each product 3, the suction pads 51 are selected as effective suction pads 51. However, the sorting according to the second embodiment is selected. In the condition calculation routine, as shown in FIG. 15, the center of gravity 81 of the product 3 is positioned inside the triangle 80 formed by the three suction pads 51 out of the three or more suction pads 51 that contact each product 3. In this case, the three suction pads 51 are selected as effective suction pads 51, and the rest is the same as the sorting condition calculation routine according to the first embodiment.

Next, a sorting condition calculation routine according to the second embodiment will be described with reference to FIG. FIG. 16 is a flowchart showing a procedure of a sorting condition calculation routine according to the second embodiment.
In step S201, the input product shape, the original working nesting data G _O and the original suction pad position data H _O obtained by nesting on the basis of such processing quantity.
In step S202, data relating to the product 3 is deleted from the sorting condition table and initialized, and the order f = 1 is set.
In step S203, the movement distances x and y of the suction pad 51 are set to zero, and the original suction pad position data is set as superposition suction pad position data.

In step S204, the position of the center of gravity 81 of each product 3 is calculated from the superimposition processing nesting data to generate product center of gravity position data. For example, in FIG. 15, x is drawn at the position of the center of gravity of each product 3.
In step S205, the superimposition process nesting data and the superposition suction pad position data are superposed to select a suction pad 51 that is in contact with the inside of the product 3, and two adjacent suction pads 51 are selected. The selected suction pad 51 and the triangle 80 formed by the suction pad 51 are obtained, and triangle data having the positions of the three suction pads 51 as the vertex positions of the triangle 80 is generated.
For example, the center of gravity 81 of the lower product 3 in FIG. 15 is located inside the triangle 80, so that the effective suction pad 51 is filled. On the other hand, since the center of gravity 81 of the upper product 3 is located outside the triangle 80, the suction pad 51 forming the triangle 80 is not an effective suction pad.

In step S206, when the center of gravity 81 of the product 3 is located within the triangle 80 defined by the triangle data, the triangle 80 is selected as the valid triangle 80, and valid triangle data is generated.
In step S207, the product 3 corresponding to the valid triangle 80 is identified as the pulling target product, and pulling target product data is generated.
In step S208, the end material pressing member 32 that is in a position that contacts only the end material 14 or in the pull-up target product is selected as an effective end material pressing member 32 and stored as pull-up target product data.
In step S209, the number of pulling target products is calculated from the pulling target product data _, and stored in the product number table as the pulling target product number mx, y corresponding to the movement distance x, y.

In step S210, it is determined whether or not the movement distance y exceeds 100. If it exceeds 100, the process proceeds to step S215. If it is 100 or less, the process proceeds to step S211.
In step S211, it is determined whether or not the movement distance x exceeds 100. If it exceeds 100, the process proceeds to step S213. If it is 100 or less, the process proceeds to step S212.
In step S212, a predetermined pitch Δx is added to the moving distance x, and the process proceeds to step S214.
In step S213, the movement distance x is set to zero, the predetermined pitch Δy is added to the movement distance y, and the process proceeds to step S214.
In step S214, the suction pad position data for superposition when the suction pad position is moved by the movement distance x, y is generated, and the process returns to step S205.

In step S215, the movement distance x, y when the number of products is the largest from the product number table is set as the f-th movement distance, and the product 3 corresponding to the effective triangle data corresponding to the movement distance x, y is selected. The suction pad 51 corresponding to the apex of the effective triangle is obtained as the f-th pulling target product, the suction pad 51 is the f-th effective suction pad, and the moving distance, the pulling target product and the effective suction pad are determined. Are stored in the sorting condition table as the f-th sorting condition.
In step S216, the pull-up target product included in the f-th sorting condition is deleted from the superimposition processing nesting data, and the number of remaining products is obtained.
In step S217, it is determined whether or not the number of products is zero. If the number of products is 1 or more, the process proceeds to step S218. If the number of products is zero, the process proceeds to step S219.
In step S218, 1 is added to the order f, and the process returns to step S203.
In step S219, the order f at this time is sent to the control device 24 together with the sorting condition table as the number of times of conveyance N, and the sorting condition calculation routine is terminated.

  In this way, the product 3 having the center of gravity 81 inside the triangle 80 formed by the three suction pads 51 is pulled up by the suction pad 51, so that a product load is evenly applied to the three suction pads 51, and the end material 14 and Even if there is a catch, it can be pulled up, and the product 3 can be automatically conveyed continuously.

It is a block diagram of the product sorting apparatus concerning Embodiment 1 of this invention. It is a block diagram of the conveying apparatus concerning this Embodiment 1. It is a side view of the product pulling-up member concerning this Embodiment 1. It is an arrangement view of the suction pad arranged on the X-axis drive table. It is a side view of the end material pressing member concerning this Embodiment 1. FIG. It is a side view of the table end material pressing member concerning this Embodiment 1. FIG. It is an arrangement view of a table end material pressing member arranged on a sorting table. It is a block diagram of the fork device concerning this Embodiment 1. FIG. It is a functional block diagram of the sorting condition calculation apparatus concerning this Embodiment 1. It is the figure which represented the process nesting data used by description of this Embodiment 1 as drawing. It is a flowchart which shows the procedure of the sorting condition calculation routine concerning this Embodiment 1. FIG. It is a figure which shows the mode of selection of an effective suction pad when there are most pulling up target products by the 1st superimposition. It is a figure which shows the mode of selection of the effective suction pad when there are most pulling up target products by the 2nd superimposition. It is a flowchart which shows operation | movement of the product sorting apparatus concerning this Embodiment 1. FIG. It is a figure which shows a mode that the gravity center of arbitrary products is located inside the triangle formed of three suction pads. It is a flowchart which shows the procedure of the sorting condition calculation routine concerning this Embodiment 2. FIG.

Explanation of symbols

  1 Product Sorting Device, 2 Material Plate Material, 3 Product, 4 Laser Processing Machine, 5 Stocker Device, 6 Shelf, 7 Pallet, 10 Processing Table, 11 Processed Plate Material, 12 Sorting Table, 13 Product Storage Cart, 14 End Material, 15 End material storage cart, 16 preparation table, 21 transport device, 22 fork device, 23 mount, 24 control device, 25 sorting condition calculation device, 27 fork, 31 product lifting member, 32 end material pressing member, 33 table end material pressing Member, 34 X-axis drive table, 35 Y-axis drive table, 36 Z-axis drive pinion, 37 Z-axis drive rack, 38 Z-axis drive motor, 39 Y-axis drive rack, 40 Y-axis drive pinion, 41 Y Axis drive motor, 42 Z axis drive table, 43 X axis drive linear guide, 44 X axis drive ball screw, 45 X axis drive Motor, 50 individual lifting cylinder, 51 suction pad, 52 valve, 54 end material presser, 55 individual lifting cylinder, 57 holding member, 58 rotation holding portion, 60 rib, 61 Z-axis drive table, 62 Y-axis drive Table, 63 Z-axis drive rack, 64 Z-axis drive pinion, 65 Y-axis drive rack, 66 Y-axis drive pinion, 67 Y-axis drive motor, 68 Z-axis drive motor, 71 Product pulling member position data generation Means, 72 processing nesting data generating means, 73 product lifting member selecting means, 74 sorting condition judging means, 75 sorting condition table, 76 sending means, 80 triangle, 81 center of gravity.

Claims (8)

In the product sorting equipment that sorts products processed from raw material plate material into micro jointless state separately from mill ends,
A sorting table on which processed plates including the above products are placed;
When moved above the sorting table, one end of the processed plate material is opposed to the processed plate material that is opposed to the processed plate material and is moved in a biaxial direction orthogonal to the processed plate material. A transport device comprising a plurality of product pull-up members moved so as to contact;
A product storage cart for storing the product,
A control device that moves the product lifting member within the plane by a predetermined distance, lifts the product with at least three predetermined product lifting members, and then conveys the product to the product storage cart;
A product sorting apparatus comprising:   2. The product sorting according to claim 1, wherein the center of gravity of each product to be pulled up is located inside a triangle whose apex is a position where three predetermined product lifting members abut against the product. apparatus.   3. The product sorting apparatus according to claim 1, wherein an area in which the product lifting member is disposed is the same as an outer shape of the material plate.   The said conveying apparatus is equipped with the end material press member which presses the position of the said end material defined beforehand, when the one end part of the said product pulling-up member contact | abuts to the said processed board material. The product sorting apparatus as described in any one of thru | or 3. An end material storage cart for storing the end material;
A fork device that unloads the scraps left after the product has been transported and transports them to the scrap storage cart;
The product sorting apparatus according to claim 1, comprising: Product pulling member position data for calculating a plurality of superimposing product pulling member position data when the product pulling member is translated a plurality of predetermined movement distances from predetermined position data of the product pulling member. Generating means;
Initially, processing nesting data composed of predetermined nesting product position data is used as superimposition processing nesting data, and when a product is selected as the pulling target product, the position of the pulling target product is determined. Processing nesting data generating means for deleting the data from the superimposition processing nesting data and generating the superimposition processing nesting data used for new superposition;
By superimposing the superimposing product pulling member position data and the superimposing process nesting data, when the at least three product pulling members contact each product, the product pulling member is used as the effective product pulling. Product pulling member selection means for selecting as an upper member;
For each superimposing process nesting data, when the number of the product with which the effective product lifting member obtained by superimposing all the product lifting member position data for superposition is the largest, the product is lifted. Sorting condition determining means that selects a target product and uses the product pulling member that is in contact with the pulling target product and the moving distance of the product pulling member as sorting conditions;
A sorting condition table in which the sorting conditions are stored for each superimposing process nesting data;
A transmission means for transmitting the sorting condition table to the control device when the selection of all the products as the withdrawal target products is completed;
The product sorting apparatus according to claim 1, further comprising a sorting condition calculation device having In a program to be executed by a sorting condition calculation device that calculates and determines a sorting condition used by a control device that controls the conveying device of the product sorting device,
A procedure for calculating a plurality of product pulling member position data for superposition when the product pulling member is translated a plurality of predetermined moving distances from data of a predetermined product pulling member position;
Initially, processing nesting data composed of predetermined nesting product position data is used as superimposition processing nesting data, and when a product is selected as the pulling target product, the position of the pulling target product is determined. Deleting the data from the superimposing process nesting data and generating the superimposing process nesting data to be used for new superposition;
By superimposing the superimposing product pulling member position data and the superimposing process nesting data, when the at least three product pulling members contact each product, the product pulling member is used as the effective product pulling. Product lifting member selection procedure to select as the upper member;
For each superimposing process nesting data, when the number of the product with which the effective product lifting member obtained by superimposing all the product lifting member position data for superposition is the largest, the product is lifted. Selecting a target product, and using the product pulling member that is effective in contact with the pulling target product and the moving distance of the product pulling member as a sorting condition;
A procedure for storing the sorting conditions in the sorting condition table for each of the superimposing process nesting data;
A procedure for transmitting the sorting condition table to the control device when the selection of all the products as the withdrawal target products is completed;
The program characterized by having. A procedure for calculating the position of the center of gravity for each product from the processing nesting data,
The product pulling member selection procedure superimposes the superimposing process nesting data and the superimposing product pulling member position data, and selects and selects the product pulling member that is in contact with the inside of the product. The product lifting member forming the triangle abuts on the inner side of the triangle whose apex is the position of the selected product lifting member and the two selected product lifting members adjacent to the product lifting member. 8. The program according to claim 7, wherein when the center of gravity of the product is located, the product lifting member that contacts the product is selected as the effective product lifting member.

Images