JP2008105089A - Carrier loader, and method for controlling the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrier loader where, even in the case the objects to be carried each having a projection or the like on the surface are accumulated, whether the accumulation operation is disturbed by the another object to be carried which have been beforehand loaded or not can be correctly judged. <P>SOLUTION: Regarding the adsorption control section 102 in the carrier loader 5, in the case where, directly after the object to be carried is adsorbed with a selected vacuum cup, a proximity switch for stock detection corresponding to the vacuum cup detects the rise of the vacuum cup, based on the detected signal from the proximity switch for stock detection, it is judged that the adsorption of the object to be carried is retained, and also, in the case an another proximity switch for stock detection different from the proximity switch for stock detection detecting the vacuum cup which has been risen detects the rise of a vacuum cup corresponding to the another proximity switch for stock detection during the carriage of the object to be carried, the object to be carried is released based on the detected signal from the another proximity switch for stock detection. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a transport loader and a control method thereof.

  Conventionally, in a plate material processing system that performs many so-called multi-piece picking-up of the same type of product from a single sheet of standard material, there is a technique in which products are sequentially accumulated in the next area when the product reaches a specified accumulation height. It was adopted. On the other hand, in a plate material processing system using a laser processing machine or NC punch press to realize a synchronous production system for demand, a plurality of different types of products are arranged (nested) on a single standard material, and the same type Even products are processed in a variety of ways, such as vertical and horizontal free placement, so products that are cut out from standard materials are individually transported and sorted according to the characteristics of the products at the time of transport. There is a demand to do.

  However, in such a synchronous production method, because the product placement prioritizes the yield of the material (stable material), the processing proceeds in a state where the same product is spread over several to tens of materials, For example, products having the same shape are not always carried out continuously, and many types of products having different shapes are carried out on the way. For this reason, when there are a large number of products carried out later and the accumulation height is high, when the product having the same shape as the previously carried shape is carried out again and loaded, the operation of the product carried out later is carried out. Accumulated masses can get in the way. In such a case, with a conventional carry-out loader or robot hand equipped with a sensor that only detects whether the product is correctly held (Patent Document 1), the accumulation work may be continued while breaking the accumulation mass.

  Therefore, it is desirable to provide a detection means that can detect that the product has collided with the accumulation mass during the conveyance of the product by the conveyance loader, and to take some measures at the detected stage.

JP 2000-167790 A

  However, it is difficult to provide detection means so as to detect only that the loading of the adsorbed product is hindered by another product accumulation mass. For example, the detection means reacts even when the product is adsorbed. It is possible. In such a case, it may be determined that the loading is hindered immediately after the product is adsorbed, and some measures are required, which is inefficient.

  In particular, in an unloading loader using a vacuum cup, in a configuration where it is determined that accumulation is inhibited by pushing back a vacuum cup that has collided with the accumulation mass, more erroneous determinations are made. In other words, in recent plate material processing machines, it is possible to perform three-dimensional processing with various moldings in addition to blanking processing, and when trying to adsorb products with many such three-dimensional molded parts with a vacuum cup, This is because it comes into contact with the three-dimensional molded part before it is completely lowered, and as it is, only the vacuum cup is relatively pushed back as the transport loader is lowered, and is thus detected by the detection means.

  An object of the present invention is to convey a loader capable of accurately determining whether or not the accumulation operation is obstructed by another previously loaded object even when the conveyed object having protrusions or the like on the surface is accumulated. It is in providing the control method.

  The transport loader of the present invention includes a plurality of vacuum cups that adsorb a transported object, a carrier provided with these vacuum cups, and the carrier as the carrier is lowered from the time when the vacuum cup contacts the transported object. A detection means for detecting a vacuum cup that has risen relative to the vacuum cup, and a detection means corresponding to the vacuum cup detects an increase in the vacuum cup immediately after adsorbing a conveyed object with the selected vacuum cup. Is different from the detection unit that determines to maintain the suction of the transported object based on the detection signal from the detection unit, and detects the raised vacuum cup during the transport of the transported object. If the detection means detects a rise in the vacuum cup corresponding to the other detection means, a detection signal from the other detection means Based characterized in that it comprises a suction control section that determines to release the transfer product.

  The method for controlling the transport loader according to the present invention includes a plurality of vacuum cups that adsorb a transported object, a carrier provided with these vacuum cups, and a descent of the carrier from the time when the vacuum cup contacts the transported object. Detecting means for detecting the vacuum cup that has risen relative to the carrier, and whether to maintain the suction of the transported object in the vacuum cup based on the detection signal from the detecting means or to release the transported object A control method of a transport loader comprising a suction control unit for determining, and immediately after sucking a transported object with a selected vacuum cup, the detection means corresponding to the vacuum cup detects an increase in the vacuum cup In this case, the adsorption control unit determines to maintain the adsorption of the product based on the detection signal from the detection means, and When another detection means different from the detection means detecting the raised vacuum cup during the conveyance of the object detects the rise of the vacuum cup corresponding to this other detection means, the adsorption control unit Is characterized in that it is determined to release the conveyed product based on a detection signal from the other detection means.

  In the above, according to the present invention, with respect to the movement of the vacuum cup detected immediately after the conveyance object is adsorbed, it is not determined that the movement is disturbed by the loading operation, and the vacuum cup is conveyed. Since it is determined that the object has moved in contact with the protrusion on the surface of the object, the loading operation can be continued as it is, and the countermeasure at this stage can be eliminated. When the movement of the vacuum cup is detected by the detection means during the conveyance process of the conveyed product, it can be determined that the movement is caused by the loading operation being interrupted, and whether or not the movement is actually disturbed can be accurately determined. Can be judged.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a plate material processing system 1 according to the present embodiment. FIG. 2 is a plan view showing each device constituting the plate material processing system 1 and its arrangement.

  1 and 2, a plate material processing system 1 is a system for processing a sheet metal material such as a steel plate, a stainless steel plate, or an aluminum plate, and a plurality of stockers 2 provided in a manner that materials can be taken in and out, and a stocker 2. Loading loader 3 for loading the material taken out from the next process, plate material processing machine 4 for processing the loaded material, and unloading loader (conveyance) for individually removing the product (conveyed material) cut out from the material by processing (Loader) 5 and a separator 6 that sorts, loads, and stores the unloaded products according to their characteristics, and these devices 2 to 6 are arranged in a series of flow processes. However, in FIG. 1, arrows indicate the flow of information.

  Furthermore, as shown in FIG. 1, the plate material processing system 1 is provided with a scheduler 7 and a cell controller 8. The scheduler 7 is composed of a personal computer or the like, and can select a program required for processing, and transmits the selected program to the cell controller 8, the plate material processing machine 4, and the carry-out loader 5. This program is assembled in units of a predetermined schedule group. In some cases, processing for a plurality of materials may be performed by a program of one schedule group.

  In practice, the cell controller 8 acquires the sequence program in the program as processing information. That is, the cell controller 8 is composed of a sequencer that controls the overall flow of the plate material processing system 1.

  Further, the plate material processing machine 4 acquires a processing program in the program, and the unloader loader 5 acquires product information in the program. The machining program is an NC program normally used for a CNC machining machine. The product information acquired by the unloader 5 includes the product number of the product to be processed, the pallet number (shelf number) for specifying the unloading pallet for loading the unloaded product, and the product at any position in the unloading pallet. X- and Y-coordinates of palette reference for specifying whether or not to be accumulated. Of these products, the same product number is assigned to products having the same characteristics, such as the same shape or the same post-process. The products having the same product number are accumulated at the same position on the same carry-out pallet.

  A machining command is transmitted from the cell controller 8 to the plate material processing machine 4, and machining according to a designated program is performed by this command. By this processing, a plurality of different types of products are cut out from one material. On the other hand, prior to actual machining, the plate material processing machine 4 outputs the carry-in information to the carry-in loader 3, and the carry-in loader 3 transmits the pallet number information in the carry-in information to the stocker 2. As a result, the stocker 2 takes out the material stored in the carry-in pallet of the designated pallet number, and the carry-in loader 3 carries it into the plate material processing machine 4.

  Further, the plate material processing machine 4 transmits unloading information and loading information to the unloading loader 5. The carry-out information includes final processing position coordinates (X coordinate, Y coordinate: final punch position, which is a processing machine reference coordinate) of each processed product, product suction position coordinates, the product number, and the like. The loading information includes a command to specify whether or not to apply a curing sheet after product loading, whether to release following the previous product when loading the product, or whether to release from the top of the previous product Contains the command to be specified.

  Here, as shown in FIG. 2, the loading loader 3 includes a carrier 32 having a plurality of vacuum cups 31 in the X-axis direction (the direction toward the plate material processing machine 4, the left-right direction in the figure) and the Z-axis direction. It is the structure which moves to (front and back direction in a figure). When moving in the X-axis direction, the carrier 32 moves on a guide frame 33 provided from a material suction position in the stocker 2 to a downstream release position. The material release position may be the material clamping position in the plate material processing machine 4, but may be in front of the clamping position. When releasing before the clamp position, a conveyor or the like for moving the released material to the clamp position is provided. The vacuum cup 31 is arranged so as to be able to adsorb large and small size materials.

  The plate material processing machine 4 is a press center equipped with a gatling mechanism that accommodates 300 to 500 types of dies in a replaceable manner. In addition to normal blanking processing, half piercing, cutting and bending, burring, drawing, projection, louvering , Reinforcement beads, and cutting and drawing can be performed. Therefore, in the cut out product, there are parts that are three-dimensionally processed by various molding processes.

  In the plate material processing machine 4, a carriage 42 having a plurality of clamps 41 is movable from the clamp position 4A in the X-axis direction (left-right direction in the figure) and Y-axis direction (up-down direction in the figure). The position where both have moved to the maximum is shown in the figure as the maximum moving position 4B. The upper position of the clamp position 4A in the figure is a processed product carry-out position 4C (carriage not shown).

  The carry-out loader 5 includes a carrier 52 provided with a number of vacuum cups 51. The carrier 52 moves in the Y-axis direction (vertical direction in the drawing) along the horizontal portion 54 of the inverted T-shaped lifting rack 53, and the lifting rack 53 itself is a carry-out position 4C of the plate material processing machine 4. Is supported so as to be movable in the Z-axis direction (front and back direction in the figure) with respect to the guide frame 55 installed over the separator 6 and in the X-axis direction (left and right direction in the figure) along the guide frame 55 It can be moved freely.

  The carrier 52 is provided with a pair of expansion portions 56 that are advanced and retracted by a pneumatic cylinder (not shown). By using the vacuum cup 51 provided in the expansion portion 56, various shapes can be obtained. The cut product can be reliably adsorbed. Details of the carry-out loader 5 will be described later.

  The separator 6 includes a frame 61 assembled in a substantially rectangular parallelepiped shape, and a mounting table 62 is provided in the frame 61 over a plurality of upper and lower stages (in this embodiment, five stages: only the uppermost stage is shown in FIG. 2). is set up. An unloading pallet 63 is installed at a predetermined position on the mounting table 62. Each mounting table 62 is configured to be movable in the front-rear direction (the same as the Y-axis direction of the unloading loader 5 in the vertical direction in the figure) by a geared motor 64 and appropriate power transmission means.

  Furthermore, the position indicated by the symbol A in FIG. 2 is the loading position of the mounting table 62, and the loading loader 5 loads the adsorbed product onto the loading pallet 63 at the loading position A. A position indicated by a symbol B in the drawing is a storage position, which is a position in which a product loaded at the loading position A is stored. In the storage position B, the carry-out pallet 63 is put in and out by a forklift. Of the plurality of mounting tables 62, the mounting tables 62 in a number of stages from the bottom are provided so as to be movable to an extraction position C in the figure, and this extraction set outside the frame 61 is provided. At the position C, the operator can take out the product on the carry-out pallet 63 directly.

  The exceptional carry-out pallet 63 is assigned the pallet number specified in the product information (for example, 1 to 5 if the upper and lower stages are five). For example, a pallet number (1) is assigned to the lowermost carry-out pallet 63, and a pallet number (5) is assigned to the carry-out pallet 63 installed at the uppermost stage. Based on the product number and pallet number included in the product information of the product, which mounting table 62 (unloading pallet 63) is moved to the loading position A according to the product is determined on the unloading loader 5 side. The controller determines and controls the geared motor 64 of the separator 6.

  That is, on the unloading loader 5 side, since the product numbers and pallet numbers of all products cut out by the plate material processing machine 4 are known in advance from the product information from the scheduler 7, the unloading loader 5 is on the plate material processing machine 4 side. The carry-out command is started from the carry-out information based on the carry-out information, and the carry-out pallet 63 for loading the product is judged from the product number and the pallet number and moved to the loading position A.

  Hereinafter, the unloader 5 will be described in detail with reference to FIGS. The carrier 52 of the carry-out loader 5 is structured to move with respect to the horizontal portion 54 of the lifting rack 53 by a drive mechanism using a ball screw. A screw shaft 57 is provided on the side of the horizontal portion 54, and the carrier 52 side is engaged with the screw shaft 57. A guide bar 58 for liner motion guide is attached to the lower surface of the horizontal portion 54, and a slider 59 on the carrier 52 side is slidably engaged with the guide bar 58. The screw shaft 57 is rotationally driven by a servo motor 70, and moves in the Y-axis direction (left-right direction in FIG. 3) while the carrier 52 is guided by the guide bar 58.

  On the other hand, a rack 72 along the vertical direction is attached to the vertical portion 71 of the lifting rack 53. On the other hand, a servo motor 75 is provided on the main carrier 73 that slides along the horizontal guide frame 55. A reduction gear and a pinion gear (not shown) are attached to the output shaft of the servo motor 75, and the pinion gear meshes with the rack 72. Therefore, by driving the servo motor 75, the elevating rack 53 to which the rack 72 is attached, and thus the carrier 52, moves in the Z-axis direction (vertical direction in FIG. 3).

  On the other hand, the main carrier 73 slides along the guide frame 55 by the linear motor 76. That is, the linear motor movable element 77 is provided on the main carrier 73 side, and the linear motor stator 78 is provided along the longitudinal direction on the guide frame 55 side. At this time, a pair of guide bars 79 is provided on the guide frame 55 side, and a slider 80 that engages and slides on the main carrier 73 side is provided.

  Further, as shown in FIG. 3, a vacuum cup 51 is provided at a predetermined position of the carrier 52 and the extended portion 56 provided so as to be movable forward and backward. The vacuum cup 51 has a small diameter. A vacuum cup 51A and a vacuum cup 51B having a diameter larger than this are used. The small-diameter vacuum cups 51A are provided as one vacuum unit 81, and are irregularly arranged so that the plurality of vacuum units 81 and the plurality of vacuum cups 51B can adsorb products having various shapes and sizes. It is arranged at a position (see FIG. 2).

  4 and 5, the vacuum unit 81 includes an attachment member 82 that is attached to the lower surface of the carrier 52 (or the extended portion 56). The attachment member 82 includes a cylindrical member 83 and a flat pentagonal horizontal attachment plate 84 fixed to the lower end side. A total of ten attachment portions 85 penetrating the front and back surfaces are radially provided on the attachment plate 84 from the center toward the outer corner. A rod 86 having a vacuum cup 51 </ b> A attached to the lower end is inserted into each attachment portion 85, and is fixed by a pair of nuts 87 that sandwich the attachment plate 84.

  The rod 86 has a hollow double cylinder structure, and a nut 87 is screwed into a threaded portion engraved in the outer cylinder member 88, and a vacuum cup 51A is attached to the lower end of the inner cylinder member 89 inserted into the outer cylinder member 88. Is attached. In the rod 86, a coil spring or the like (not shown) is accommodated in the outer cylinder member 88, and the inner cylinder member 89 is allowed to move upward by a predetermined stroke while urging the inner cylinder member 89 downward. is doing. An elbow union 90 is attached to the upper end of the inner cylinder member 89, and a tube for supplying negative pressure is inserted into the elbow union 90.

  The negative pressure from the negative pressure source is once drawn into the carrier 52 and supplied to each vacuum unit 81 and the vacuum cup 51B via a plurality of solenoid valves provided in the carrier 52. Which vacuum unit 81 and vacuum cup 51B are supplied with negative pressure is programmed in advance according to the product to be taken out by the unloader 5, so that the vacuum can be taken into consideration at the optimum suction position in consideration of the shape of the product. The unit 81 and the vacuum cup 51B are selected. The solenoid valve is provided in units of vacuum unit 81 and vacuum cup 51B. The reason why the small diameter vacuum cup 51A is not provided is to prevent the number of solenoid valves from becoming excessively large.

  A detection striker 91 is attached to an arbitrary one of the ten rods 86 of the vacuum unit 81. An L-shaped bracket 92 is attached to the mounting portion 85 for the single rod 86, and a load detection proximity switch (detection means) 93 is attached to the bracket 92. The detection striker 91 that has moved upward together with the inner cylinder member 89 is detected. This detection signal is output to the suction control unit 102 provided in the controller of the carry-out loader 5 shown in FIG.

  In the vacuum unit 81, a buffer rod 94 inserted through the cylindrical member 83 is provided at the center of the mounting plate 84. The buffer rod 94 is also fixed to a mounting portion 96 of a bracket 95 provided on the lower surface of the mounting plate 84 by a pair of nuts 87 that sandwich this. The buffer rod 94 also has a double cylinder structure including an outer cylinder member 97 and an inner cylinder member 98. The inner cylinder member 98 is biased downward by a coil spring and moves upward with a predetermined stroke. A nylon contact member 99 is attached to the lower end of the inner cylinder member 98.

  A detection striker 91 is also provided at the upper end of the outer cylindrical member 97, and a product detection proximity switch 100 for detecting the detection striker 91 moved upward together with the inner cylindrical member 98 is provided on the cylindrical member 83. Is attached through. This detection signal is also output to the adsorption control unit 102. Further, since the tip of the abutting member 99 is located further below the lower end position of the vacuum cup 51A, an ON signal is always output from the product detection proximity switch 100 when the product is adsorbed. Will be.

  Here, the suction control unit 102 provided in the controller of the carry-out loader 5 controls the product suction and product release by the vacuum cup 51 (51A, 51B) by turning on / off the solenoid valve, or the proximity for detecting the load. A function of determining the presence or absence of an accumulation block that hinders product loading based on the detection signal from the switch 93, or determining whether the product is correctly adsorbed based on the detection signal from the product detection proximity switch 100 Have The timing at which the suction control unit 102 turns on the solenoid valve or determines the state of product suction is based on various commands from the drive control unit 103 (FIG. 1) provided in the controller. These control units 102 and 103 include software (computer program) executed by the controller and appropriate hardware.

  The drive control unit 103 sets the product suction position (processing machine reference X coordinate, Y coordinate) included in the carry-out information, the product loading position (pallet reference X coordinate, Y coordinate) included in the product information, and the like. Based on this, the movement of the unloading loader 5 is controlled, and when the unloading loader 5 reaches a predetermined suction position, a suction command is output to the suction control unit 102 or the position where the suction of the product is confirmed. Outputs suction confirmation command when moving. The suction control unit 102 that has acquired this output functions as described above.

  When the suction control unit 102 confirms that the product is being suctioned correctly, the suction control unit 102 outputs a suction completion signal to the drive control unit 103, and the drive control unit 103 that has acquired this signal outputs the unloader 5. Causes the following operations to be performed. Thus, the adsorption control unit 102 also has a function of generating various signals (commands) and outputting them to an appropriate control unit.

  Incidentally, the suction control unit 102 basically determines whether or not the carry-out loader 5 has picked up the product based on the detection signal from the product detection proximity switch 100. It is detected by a detection signal from the load detection proximity switch 93 whether or not there is a load accumulated lump that interferes with the unused vacuum cup 51 or the like on the carry-out pallet 63. It is necessary to determine whether or not the accumulation is inhibited for the following reason.

  That is, in the case of individually carrying out processed individual products, for example, products with the same shape and the same product number are not always carried out continuously, so there are many products with different product numbers. After carrying out and collecting, it is possible to carry out the product of the previous product number again. In such a case, a product that has already been highly accumulated may interfere with the accumulation of the previous product, and it is extremely difficult to control the movement of the carry-out loader 5 to avoid this. Therefore, it is desirable to determine a case where a highly integrated product inhibits the accumulation of another product, and to perform necessary processing in such a case.

  And in this embodiment, when it judges that it inhibits, a product is released in that position and the accumulation operation of the next product is repeated. In this case, the products are not correctly collected and are likely to be loaded separately. However, the entire plate material processing system 1 is stopped by repeating the next product unloading operation without stopping the unloading loader 5. By avoiding this, it is possible to suppress the decrease in productivity.

  However, in the present embodiment, a height sensor is provided on the separator 6 side, and when the unloading pallet 63 is moved from the loading position A to the storage position B, the products stacked in pieces are specified heights. It is determined whether or not it exceeds. Only when the specified height is exceeded, it is determined that a good storage state cannot be expected, and the entire plate material processing system 1 is stopped. Of course, the present invention is not limited to this, and the productivity may decrease. However, when it is determined that the accumulation is inhibited, the entire plate material processing system 1 may be immediately stopped.

  Furthermore, in this embodiment, on the function of the plate material processing machine 4, it is possible to perform a three-dimensional molding process such as a louver process or a drawing process on the plate material. Therefore, in some cases, when such a product is carried out by the carry-out loader 5, one of the small-diameter vacuum cups 51A may come into contact with the three-dimensional molded part. When the rod 86 provided with the abutting vacuum cup 51A corresponds to the load detecting proximity switch 93, the vacuum cup 51A is moved upward due to the abutting against the three-dimensional molded portion. Therefore, the detection signal similar to the case where the accumulation is inhibited is outputted from the proximity switch 93 for detecting the presence of goods, and there is a situation where the product is released and cannot be adsorbed even though it is necessary to adsorb the product. .

  Therefore, in the present embodiment, control that does not release the product is required based on the detection signal from the in-stock detection proximity switch 93 that is output immediately after the product is sucked. Has been made. FIG. 6 is a flowchart showing such an idea and the operation of the carry-out loader 5 including the above-described product adsorption confirmation. Below, based on FIG. 6, especially adsorption | suction control in the unloading loader 5 is demonstrated as operation | movement of the adsorption | suction control part 102. FIG.

  In FIG. 6, when the processing by the plate material processing machine 4 is finished and the carry-out loader 5 reaches the product carry-out position 4 </ b> C (FIG. 1), the drive control unit 103 of the carry-out loader 5 sucks the suction control unit 102. Output a command. The suction control unit 102 monitors the input of the suction command (S1), acquires the suction command, turns on the solenoid valve, supplies negative pressure to the vacuum cup 51, and performs the suction operation (S2). .

  Next, the drive control unit 103 slightly raises the unloading loader 5 and outputs an adsorption confirmation command for confirming whether the product is reliably adsorbed to the adsorption control unit 102. The suction control unit 102 monitors the confirmation command after the suction operation (S3), and when the confirmation command is acquired, the suction control unit 102 checks the suction state based on the detection signal from the product detection proximity switch 100 (S4). When the detection signal is an off signal (actually no signal input), the suction control unit 102 generates a suction retry command and outputs it to the drive control unit 103 (S5), and returns the unloader 5 to the unloading position. Repeat the suction operation.

  If the suction of the product cannot be confirmed even after repeating the suction operation a predetermined number of times, the suction control unit 102 turns off the solenoid valve (S6), generates an abnormal signal, and outputs it to the drive control unit 103 (S7). The drive control unit 103 that has acquired the information performs a display notifying the abnormality or outputs a command to stop the plate material processing system 1 to the necessary control unit.

  In S4, when an ON signal is input from the product detection proximity switch 100 and it is confirmed that the product is reliably adsorbed, the state of the detection signal from the stock detection proximity switch 93 is determined. Specifically, since the load detection proximity switch 93 is provided in each of the plurality of vacuum units 81, the suction control unit 102 receives an ON signal from several load detection proximity switches 93 immediately after the product is sucked. It is determined whether it is output, and the number is stored in a storage means (not shown) (S8).

  Accordingly, even if several on-stock detection proximity switches 93 output an ON signal, it is not determined that the product is in a state of being hindered, and the product is not released. . That is, S8 is a step in which it is determined that the presence detection proximity switch 93 outputs the ON signal is a state in which the vacuum cup 51 is just on the three-dimensional molded portion formed on the product. Then, the adsorption control unit 102 outputs an adsorption completion signal to the drive control unit 103 (S9), and directs the carry-out loader 5 toward the loading position A on the separator 6 side.

  Subsequently, the suction control unit 102 monitors whether or not the number of signals of the presence detection proximity switch 93 has increased while the unloading loader 5 moves to a predetermined position when releasing the product (S10). When the carry-out loader 5 reaches a predetermined position, the drive control unit 103 outputs a suction confirmation command to the suction control unit 102 again. The suction control unit 102 having acquired the suction confirmation command (S11) determines whether or not the product detection proximity switch 100 outputs an ON signal (S12). If it is an off signal, it is determined that the product has not been adsorbed by dropping or the like in the middle of carrying out, and the process proceeds to S6.

  If it is an ON signal, the suction control unit 102 determines whether to release the product in the copying mode or from a predetermined height based on the loading information (S13). When loading in the copying mode, the suction control unit 102 outputs a loading command to the drive control unit 103 (S14), and the drive control unit 103 lowers the carry-out loader 5.

  During the lowering, when the product reaches the upper surface of the unloading pallet 63 or the upper surface of the load, the unloading loader 5 is lowered, but the rod 86 is stopped and relatively raised. For this reason, with the relative rise, the load detection proximity switch 93 outputs an ON signal. Then, the adsorption control unit 102 determines the increase of the ON signal (S15), determines that the carry-out loader 5 has surely reached the copying release position, and turns off the solenoid valve to release the product (S16). Finally, the suction control unit 102 outputs a release completion signal to the drive control unit 103 (S17), and the drive control unit 103 returns the carry-out loader 5 to the standby position for carrying out the next product.

  Note that the number of ON signals does not increase even when the copying lease position is reached in rare cases when the vacuum cup 51 comes into contact with the three-dimensional molded part and the load detection proximity switch 93 is in the ON state from the time of suction. This may cause a situation that cannot be released. In order to avoid such a situation, the suction position in the carry-out loader 5 is determined carefully so that the vacuum cup 51 corresponding to the load detection proximity switch 93 does not contact the three-dimensional molded part, Alternatively, the loading information may be determined in advance so that loading by release from a predetermined height position is performed instead of loading in the copying mode in S13.

  In such release from above, the ON signal from the proximity detection proximity switch 93 is canceled, and the process proceeds from S13 to S16 to release the product. In particular, when there are a large number of three-dimensional molded portions, positioning may be performed by overlapping the three-dimensional molded portions, and even when released from above, there is little accumulation due to a large displacement.

  In S10, when the number of ON signals of the load detection proximity switch 93 increases while the unloading loader 5 moves to a predetermined position, the suction control unit 102 determines whether the carrier loader 5 is being lowered. 52, or the currently adsorbed product may have collided with the accumulated mass, and it is determined that the accumulation of the product is obstructed. For this purpose, the suction control unit 102 proceeds to S16 to release the product and forcibly terminate the loading. By carrying out like this, the unloading loader 5 will be prepared for unloading of the next product, and it can suppress stopping the unloading loader 5 or the board | plate material processing system 1 whole, and can prevent that productivity falls.

The best configuration, method, and the like for carrying out the present invention have been disclosed above, but the present invention is not limited to this. That is, the invention has been illustrated and described with particular reference to certain specific embodiments, but without departing from the spirit and scope of the invention, Various modifications can be made by those skilled in the art in terms of quantity and other detailed configurations.
Therefore, the description limited to the shape, quantity and the like disclosed above is an example for easy understanding of the present invention, and does not limit the present invention. The description by the name of the member which remove | excluded the limitation of one part or all of such restrictions is included in this invention.

For example, in the said embodiment, although the unloading loader 5 used for the board | plate material processing system 1 was demonstrated as a conveyance loader of this invention, the conveyance loader of this invention is not limited to this, A conveyance thing is different from a predetermined place. It may be any transport loader that shifts in phase.
Further, the detection means according to the present invention is not limited to the proximity switch 93 as in the above embodiment, and any detection sensor can be applied.

  INDUSTRIAL APPLICABILITY The present invention can be effectively used when a picking method (takeout method) in which a plurality of different types of products are cut out from a single material and the processed products are individually carried out in a sheet metal processing system or the like.

The block diagram which shows the structure of the board | plate material processing system which concerns on one Embodiment of this invention. The top view which shows each apparatus which comprises a board | plate material processing system, and its arrangement | positioning. The side view for demonstrating the structure of a carrying-out loader. Sectional drawing which shows the principal part of a carrying-out loader. The top view which shows the principal part of a carrying-out loader. The flowchart for demonstrating operation | movement of a carry-out loader.

Explanation of symbols

  5: Unloading loader as a transfer loader, 51, 51A, 51B ... Vacuum cup, 52 ... Carrier, 93 ... Proximity switch for detecting presence as detecting means, 102 ... Adsorption control unit.

Claims (2)

A plurality of vacuum cups for adsorbing the conveyed product;
A carrier with these vacuum cups,
Detecting means for detecting a vacuum cup that has risen relative to the carrier as the carrier is lowered from the time when the vacuum cup comes into contact with the conveyed product;
Immediately after adsorbing the conveyed object with the selected vacuum cup, if the detection means corresponding to the vacuum cup detects the rise of the vacuum cup, the adsorbed object is adsorbed based on the detection signal from the detecting means. And a detection means different from the detection means for detecting the raised vacuum cup during the conveyance of the conveyed product, the rising of the vacuum cup corresponding to the other detection means And a suction control unit that determines to release the transported object based on a detection signal from the other detection means. A plurality of vacuum cups for adsorbing a conveyed product, a carrier provided with these vacuum cups, and a rise in the carrier relative to the carrier as the vacuum cup comes down from the point of contact with the conveyed product Transport provided with a detection means for detecting a vacuum cup, and a suction control unit for determining whether to maintain suction of the transported object in the vacuum cup or to release the transported object based on a detection signal from the detection means A loader control method,
If the detection means corresponding to the vacuum cup detects an increase in the vacuum cup immediately after adsorbing the conveyed object with the selected vacuum cup, the suction control unit is based on the detection signal from the detection means. To maintain product adsorption,
If another detection means different from the detection means for detecting the raised vacuum cup during the conveyance of the conveyed product detects the rise of the vacuum cup corresponding to the other detection means, the adsorption The control unit determines to release the conveyed product based on a detection signal from the other detection means.

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