JP2008229634A - Apparatus and method for carrying out plate material - Google Patents

Apparatus and method for carrying out plate material Download PDF

Info

Publication number
JP2008229634A
JP2008229634A JP2007068644A JP2007068644A JP2008229634A JP 2008229634 A JP2008229634 A JP 2008229634A JP 2007068644 A JP2007068644 A JP 2007068644A JP 2007068644 A JP2007068644 A JP 2007068644A JP 2008229634 A JP2008229634 A JP 2008229634A
Authority
JP
Japan
Prior art keywords
plate material
product
tray member
processing machine
holding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2007068644A
Other languages
Japanese (ja)
Other versions
JP4935442B2 (en
Inventor
Hideo Komuro
英夫 小室
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to JP2007068644A priority Critical patent/JP4935442B2/en
Publication of JP2008229634A publication Critical patent/JP2008229634A/en
Application granted granted Critical
Publication of JP4935442B2 publication Critical patent/JP4935442B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for carrying out a plate material with which a plurality of plate materials of products which are cut off from the plate materials of blanks with a plate material processing machine are efficiently carried out to a plate carrying-out part outside the plate material processing machine. <P>SOLUTION: This apparatus includes tracks 11, 12 which are installed between the upper parts of the plate material processing machine 1 and the plate material carrying-out part 3, a portable tray member 15 in which the plurality of the plate materials 2 of the products can be housed, and a holding members 20 which can selectively hold the plate materials W2 of the products and the tray member 15 respectively, and is provided with two traveling bodies 13, 14 which can be traveled independently to each other along the tracks 11, 12. One traveling body 13 on which the tray member 15 is made to hold with the holding member 20 and stand by in a prescribed product receiving position P2. The plate material W2 of the product which is cut off with the plate material processing machine 1 is housed in the tray member 15 in the standby state in the product receiving position P2 with the other traveling body 14. The tray member 15 in which the plate material W2 of the product is housed is carried out to the plate material carrying-out part 3 with the one traveling body 13. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

この発明は、板材加工機によって素材板材から切り取られた複数の製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する板材搬出装置および板材搬出方法に関する。   The present invention relates to a plate material unloading apparatus and a plate material unloading method for unloading a plurality of product plate materials cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading section outside the plate material processing machine.

パンチプレス等の板材加工機では、孔明けや成形等の加工の他に、素材板材から複数枚の製品板材を打ち抜き等によって切り取る加工を行う。切り取られた製品板材は、板材加工機から板材加工機外の板材搬出部に搬出される。   In a plate material processing machine such as a punch press, in addition to processing such as punching and forming, a plurality of product plate materials are cut from a material plate material by punching or the like. The cut product plate material is carried out from the plate material processing machine to a plate material carry-out portion outside the plate material processing machine.

板材加工機からの製品板材の搬出に用いる板材搬出装置として、板材加工機と板材搬出部の上方間に軌道を設置し、この軌道に沿って、製品板材の保持部材を有する走行体を走行させるようにしたものがある。前記保持部材は、例えば吸着パッド等からなり、製品板材の保持とその解除を行うことができるものである。
この種の板材搬出装置は、以下に示す一連の動作を行うことで製品板材を搬出する。すなわち、走行体が原点位置から板材加工機上の製品切り取り位置まで走行し、この製品切り取り位置で保持部材が板材加工機により切り取られた製品板材を保持し、保持部材により製品板材を保持した状態の走行体が軌道に沿って板材搬出部まで走行し、板材搬出部で保持部材が製品板材の保持を解除して製品板材を板材搬出部に設けられているパレット等の上に載置し、その後、走行体が原点位置へ戻る。これら動作を1サイクルとし、このサイクルを繰り返す。
As a plate material carry-out device used for carrying out a product plate material from a plate material processing machine, a track is installed between the plate material processing machine and the plate material carry-out portion, and a traveling body having a product plate material holding member is caused to travel along this track. There is something like that. The holding member is made of, for example, a suction pad and can hold and release the product plate.
This type of plate material carry-out device carries out a product plate material by performing a series of operations described below. That is, the traveling body travels from the origin position to the product cutting position on the plate processing machine, the holding member holds the product plate cut by the plate processing machine at this product cutting position, and the product plate is held by the holding member The traveling body of the vehicle travels along the track to the plate material unloading portion, the holding member releases the holding of the product plate material at the plate material unloading portion, and places the product plate material on a pallet or the like provided in the plate material unloading portion, Thereafter, the traveling body returns to the origin position. These operations are defined as one cycle, and this cycle is repeated.

上記板材搬出装置において、軌道上に複数の走行体を走行させることで、製品板材の搬出に遅れが生じないようにして、サイクルタイムの短縮を図ったものが提案されている。(例えば特許文献1,2)。また、板材加工機と板材搬出部の間に製品板材の仮置き場を設けることで、板材加工機からの製品板材をできるだけ早く搬出するようにしたものが提案されている(例えば特許文献3)。
特開2000−351032号公報 実開平7−26026号公報 特開2001−179373号公報
In the plate material carrying-out device, a device has been proposed in which a plurality of traveling bodies are run on a track so as to prevent a delay in carrying out the product plate material so as to shorten the cycle time. (For example, Patent Documents 1 and 2). In addition, a product plate material temporary storage place is provided between the plate material processing machine and the plate material unloading unit so that the product plate material from the plate material processing machine is carried out as soon as possible (for example, Patent Document 3).
JP 2000-351032 A Japanese Utility Model Publication No. 7-26026 JP 2001-179373 A

従来の板材搬出装置はいずれも、板材加工機上の製品切り取り位置で取り上げた製品板材を1個ずつ板材搬出部へ搬出するようにしていた。製品板材を1個ずつ搬出する構成であっても、1個の製品板材の加工に要する時間が長く、板材加工機で加工を行っている間に、走行体が製品板材の搬出および製品切り取り位置への復帰を行える場合は問題ない。しかし、例えば1枚の素材板材から小さな製品板材を複数枚切り取り加工する場合、1個の製品板材の切り取り加工に要する時間が非常に短い。そのため、板材加工機は1回の切り取り加工が終了する毎に、走行体が戻って来るのを待つことになり、板材加工機の加工能力が十分に生かされず、サイクルタイムが長くなってしまう。   In all of the conventional plate material unloading devices, the product plate materials picked up at the product cutting position on the plate material processing machine are unloaded one by one to the plate material unloading section. Even if it is configured to carry out product plate materials one by one, the time required for processing one product plate material is long, and while the plate material processing machine is processing the traveling body, the product plate material is taken out and the product cutting position is There is no problem if you can return to. However, for example, when a plurality of small product plate materials are cut out from one material plate material, the time required for cutting out one product plate material is very short. For this reason, the plate material processing machine waits for the traveling body to return every time one cutting process is completed, and the processing capacity of the plate material processing machine is not fully utilized, resulting in a long cycle time.

特許文献1、2のように、走行体を複数設けた構成としても、走行体の増台分だけ製品板材の搬出能力向上が図れるものの、1台の走行体で1個の製品板材を搬出することに変わりはなく、搬出の効率が悪い。また、特許文献3のように、製品板材の仮置き場を設ければ、板材加工機から製品板材を早く搬出して、板材加工機が早く次の加工を行うことができるが、仮置き場に搬出された製品板材をどのようにして正規の板材搬出部へ搬送するかという別の問題が生じる。   As in Patent Documents 1 and 2, even if a configuration in which a plurality of traveling bodies are provided is provided, the product plate material can be carried out by an amount corresponding to the additional number of traveling bodies, but one product plate material is carried out by one traveling body. There is no change in the efficiency of carrying out. Moreover, if a temporary storage place for product plate material is provided as in Patent Document 3, the product plate material can be quickly carried out from the plate material processing machine, and the plate material processing machine can quickly perform the next processing. Another problem arises as to how to transfer the finished product plate material to the regular plate material unloading section.

この発明の目的は、板材加工機によって素材板材から切り取られた複数の製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部へ効率良く搬出することができる板材搬出装置を提供することである。
この発明の他の目的は、板材搬出部に搬出された製品板材を回収ボックスに効率良く回収できるようにすることである。
この発明のさらに他の目的は、板材加工機によって素材板材から切り取られた複数の製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部へ効率良く搬出することができる板材搬出方法を提供することである。
An object of the present invention is to provide a plate material unloading apparatus that can efficiently carry out a plurality of product plate materials cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading section outside the plate material processing machine. Is to provide.
Another object of the present invention is to make it possible to efficiently collect the product plate material carried out to the plate material carrying-out portion in the collection box.
Still another object of the present invention is to efficiently carry out a plurality of product plate materials cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material carry-out portion outside the plate material processing machine. It is to provide a board material carrying-out method.

この発明にかかる板材搬出装置は、板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出するものである。
この発明にかかる第1の発明の板材搬出装置は、前記板材搬出装置において、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体と、前記各走行体を制御する搬送制御手段とを備える。この搬送制御手段は、一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機制御と、他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、この複数製品板材収納制御の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御とを行う。
The plate material carrying-out device according to the present invention is for carrying out a product plate material cut from a raw material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material carrying-out portion outside the plate material processing machine.
According to a first aspect of the present invention, there is provided a plate material carry-out device, wherein the plate material carry-out device includes a track installed between the plate material processing machine and the plate material carry-out portion, and a portable device capable of storing a plurality of the product plate materials. A tray member, two traveling bodies each having a holding member capable of selectively holding the product plate material and the tray member and capable of traveling independently from each other along the track, and conveyance for controlling each traveling body Control means. The conveyance control means includes a tray member standby control that causes one traveling body to hold the tray member by the holding member and waits at a predetermined product receiving position in the vicinity of the product cutting position, and the other traveling body. The product plate material at the product cutting position is held by the holding member and is stored in the tray member in a standby state at the product receiving position, and a plurality of products in which the operation from holding the product to storing in the tray member is repeated a plurality of times. After the plate material storage control and the multi-product plate material storage control, tray member unloading control is performed for causing the one traveling body to unload a tray member waiting at the product receiving position to the plate material unloading portion.

この構成によると、2台の走行体が以下の動作を行う。すなわち、一方の走行体は、保持部材によりトレイ部材を保持して製品受け位置で待機し、他方の走行体は、製品切り取り位置の製品板材を保持部材により保持して製品受け位置で待機状態のトレイ部材に収納する。この製品の保持からトレイ部材への収納までの動作を複数回繰り返す。この繰り返し動作は、製品切り取り位置とその近傍の製品受け位置との間で行うため、短時間で行える。その後、前記一方の走行体が、製品受け位置に待機するトレイ部材を板材搬出部へ搬出する。
2台の走行体が上記動作を行うことで、板材加工機により素材板材から切り取られた複数の製品板材を、トレイ部材に収納してまとめて板材搬出部に搬出することができる。そのため、製品板材の搬出を効率良く行え、板材加工機の加工能力を十分に生かすことができる。
According to this configuration, the two traveling bodies perform the following operations. That is, one traveling body holds the tray member by the holding member and stands by at the product receiving position, and the other traveling body holds the product plate at the product cutting position by the holding member and stands by at the product receiving position. Store in the tray member. The operation from holding the product to storing it in the tray member is repeated a plurality of times. Since this repeated operation is performed between the product cutting position and the product receiving position in the vicinity thereof, it can be performed in a short time. Thereafter, the one traveling body carries out the tray member waiting at the product receiving position to the plate material carrying-out portion.
When the two traveling bodies perform the above-described operation, a plurality of product plate materials cut from the material plate material by the plate material processing machine can be stored in the tray member and collectively carried out to the plate material carry-out portion. Therefore, the product plate material can be efficiently carried out, and the processing capability of the plate material processing machine can be fully utilized.

また、この発明にかかる第2の発明の板材搬出装置は、前記板材搬出装置において、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体と、前記走行体を制御する搬送制御手段とを備える。この搬送制御手段は、前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入制御と、このトレイ部材搬入制御の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、この複数製品板材収納制御の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御とを行う。   The plate material unloading device according to a second aspect of the present invention is the plate material unloading device, wherein a track installed between the plate material processing machine and the plate material unloading portion and a plurality of the product plate materials can be stored. A carrying tray member, a holding member capable of selectively holding the product plate member and the tray member, and a traveling body capable of traveling along the track, and a conveyance control means for controlling the traveling body. Prepare. The transport control means includes a tray member carry-in control that causes the traveling body to hold the tray member by the holding member and carry the tray member to a predetermined product receiving position that is in the vicinity of the product cutting position, and the tray member carry-in control. Thereafter, the product plate material at the product cutting position is held by the holding member and stored in the tray member at the product receiving position on the traveling body, and the operations from holding the product to storing it in the tray member are repeated a plurality of times. Multiple product plate material storage control to be performed, and after this multiple product plate material storage control, the traveling member performs tray member unloading control for unloading the tray member at the product receiving position to the plate material unloading portion.

この構成によると、1台の走行体が以下の動作を行う。すなわち、走行体が、保持部材によりトレイ部材を保持して製品受け位置に搬入する。次いで、走行体は、製品切り取り位置の製品板材を保持部材により保持して製品受け位置のトレイ部材に収納する。この製品の保持からトレイ部材への収納までの動作を複数回繰り返す。この繰り返し動作は、製品切り取り位置とその近傍の製品受け位置との間で行うため、短時間で行える。その後、走行体が、製品受け位置のトレイ部材を板材搬出部へ搬出する。
1台の走行体が上記動作を行うことで、前記同様に、板材加工機により素材板材から切り取られた複数の製品板材を、トレイ部材に収納してまとめて板材搬出部に搬出することができる。そのため、製品板材の搬出を効率良く行え、板材加工機の加工能力を十分に生かすことができる。
According to this configuration, one traveling body performs the following operations. That is, the traveling body holds the tray member by the holding member and carries it into the product receiving position. Next, the traveling body holds the product plate at the product cutting position by the holding member and stores it in the tray member at the product receiving position. The operation from holding the product to storing it in the tray member is repeated a plurality of times. Since this repeated operation is performed between the product cutting position and the product receiving position in the vicinity thereof, it can be performed in a short time. Thereafter, the traveling body carries out the tray member at the product receiving position to the plate material carrying-out portion.
As one traveling body performs the above-described operation, a plurality of product plate materials cut from the material plate material by the plate material processing machine can be stored in the tray member and can be unloaded to the plate material unloading portion in the same manner as described above. . Therefore, the product plate material can be efficiently carried out, and the processing capability of the plate material processing machine can be fully utilized.

この発明の板材搬出装置において、前記板材搬出部に回収ボックスが設けられ、前記走行体は、前記保持部材を、この保持部材で保持状態のトレイ部材が内部の製品板材が落下可能な角度になるよう傾ける保持部材傾け機構を有し、前記搬送制御装置は、前記トレイ部材搬出制御において、前記保持部材傾け機構により保持部材を傾けてトレイ部材内の製品板材を回収ボックスに移し替える動作を行わせものとすることができる。
保持部材傾け機構を設けることにより、この保持部材傾け機構により保持部材を傾けて、保持部材に保持されているトレイ部材内の製品部材を一度に回収ボックスに移し替えることができる。そのため、板材搬出部に搬出された製品板材を効率良く回収ボックスに回収させることができる
In the plate material unloading device according to the present invention, a recovery box is provided in the plate material unloading portion, and the traveling body has an angle at which the holding plate is held by the tray member held by the holding member so that the product plate material inside can be dropped. A holding member tilting mechanism that tilts the holding member and tilting the holding member by the holding member tilting mechanism to transfer the product plate material in the tray member to the collection box in the tray member unloading control. Can be.
By providing the holding member tilting mechanism, the holding member can be tilted by the holding member tilting mechanism, and the product members in the tray member held by the holding member can be transferred to the collection box at a time. Therefore, the product board material carried out to the board material carrying-out part can be efficiently collected in the collection box.

この発明にかかる板材搬出方法は、板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する方法である。
この発明における第1の発明にかかる板材搬出方法は、前記板材搬出方法において、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収容可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体とを備える板材搬出装置を用いる。この板材搬出方法は、一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機過程と、他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、この複数製品板材収納過程の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程とを含む。
The plate material carrying-out method according to the present invention is a method for carrying a product plate material cut from a raw material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material carrying-out portion outside the plate material processing machine.
According to a first aspect of the present invention, there is provided a plate material carry-out method, wherein the plate material carry-out method includes a track installed between the plate material processing machine and the plate material carry-out portion, and a portable that can accommodate a plurality of the product plate materials. A plate material carry-out device including a tray member and two traveling bodies each having a holding member capable of selectively holding the product plate material and the tray member and capable of traveling independently of each other along the track is used. This plate material carrying-out method includes a tray member standby process in which one traveling body holds the tray member by the holding member and waits at a predetermined product receiving position in the vicinity of the product cutting position, and the other traveling body. The product plate material at the product cutting position is held by the holding member and is stored in the tray member in a standby state at the product receiving position, and a plurality of products in which the operation from holding the product to storing in the tray member is repeated a plurality of times. After the plate material storage process and the multiple product plate material storage process, the one traveling body includes a tray member unloading process for unloading the tray member waiting at the product receiving position to the plate material unloading portion.

この方法によると、2台の走行体が以下の動作を行う。すなわち、一方の走行体が、保持部材によりトレイ部材を保持して製品受け位置で待機する。一方、他方の走行体は、製品切り取り位置の製品板材を保持部材により保持して製品受け位置で待機状態のトレイ部材に収納する。この製品の保持からトレイ部材への収納までの動作を複数回繰り返す。その後、前記一方の走行体が、製品受け位置に待機するトレイ部材を板材搬出部へ搬出する。
2台の走行体が上記動作を行うことで、板材加工機により素材板材から切り取られた複数の製品板材を、トレイ部材に収納してまとめて板材搬出部に搬出することができる。そのため、製品板材の搬出を効率良く行える。
According to this method, the two traveling bodies perform the following operations. That is, one traveling body holds the tray member by the holding member and stands by at the product receiving position. On the other hand, the other traveling body holds the product plate at the product cutting position by the holding member and stores it in the standby tray member at the product receiving position. The operation from holding the product to storing it in the tray member is repeated a plurality of times. Thereafter, the one traveling body carries out the tray member waiting at the product receiving position to the plate material carrying-out portion.
When the two traveling bodies perform the above-described operation, a plurality of product plate materials cut from the material plate material by the plate material processing machine can be stored in the tray member and collectively carried out to the plate material carry-out portion. Therefore, the product plate material can be carried out efficiently.

また、この発明における第2の発明にかかる板材搬出方法は、前記板材搬出方法において、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体とを備える板材搬出装置を用いる。この板材搬出方法は、前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入過程と、このトレイ部材搬入過程の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、この複数製品板材収納過程の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程とを含む。   Further, the plate material carrying-out method according to the second aspect of the present invention is the plate material carrying-out method, wherein a plurality of tracks that are installed between the plate material processing machine and the plate material carrying-out portion and the product plate material can be stored. A plate material carry-out device comprising a carrying tray member and a traveling body having a holding member capable of selectively holding the product plate material and the tray member and capable of traveling along the track is used. The plate material carrying-out method includes a tray member carrying-in process in which the traveling member holds the tray member by the holding member and carries the tray member into a predetermined product receiving position that is in the vicinity of the product cutting position, and the tray member carrying-in process. After that, the product plate material at the product cutting position is held by the holding member on the traveling body and is stored in the tray member at the product receiving position, and the operation from holding the product to storing in the tray member is repeated a plurality of times. A plurality of product plate material storing process, and a tray member unloading process for causing the traveling body to unload the tray member at the product receiving position to the plate material unloading portion after the multiple product plate material storing process.

この方法によると、1台の走行体が以下の動作を行う。すなわち、走行体が、保持部材によりトレイ部材を保持して製品受け位置に搬入する。次いで、走行体は、製品切り取り位置の製品板材を保持部材により保持して製品受け位置のトレイ部材に収納する。この製品の保持からトレイ部材への収納までの動作を複数回繰り返す。その後、走行体が、製品受け位置のトレイ部材を板材搬出部へ搬出する。
1台の走行体が上記動作を行うことで、前記同様に、板材加工機により素材板材から切り取られた複数の製品板材を、トレイ部材に収納してまとめて板材搬出部に搬出することができる。そのため、製品板材の搬出を効率良く行える。
According to this method, one traveling body performs the following operations. That is, the traveling body holds the tray member by the holding member and carries it into the product receiving position. Next, the traveling body holds the product plate at the product cutting position by the holding member and stores it in the tray member at the product receiving position. The operation from holding the product to storing it in the tray member is repeated a plurality of times. Thereafter, the traveling body carries out the tray member at the product receiving position to the plate material carrying-out portion.
As one traveling body performs the above-described operation, a plurality of product plate materials cut from the material plate material by the plate material processing machine can be stored in the tray member and can be unloaded to the plate material unloading portion in the same manner as described above. . Therefore, the product plate material can be carried out efficiently.

この発明にかかる板材搬出装置は、板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する装置であって、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体と、前記各走行体を制御する搬送制御手段とを備え、この搬送制御手段は、一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機制御と、他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、この複数製品板材収納制御の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御とを行うものとするか、または、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体と、前記走行体を制御する搬送制御手段とを備え、この搬送制御手段は、前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入制御と、このトレイ部材搬入制御の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、この複数製品板材収納制御の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御とを行うものとしたため、板材加工機によって素材板材から切り取られた複数の製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部へ効率良く搬出することができる。   The plate material unloading device according to the present invention is a device for unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading section outside the plate material processing machine, A track installed between the processing machine and the plate material unloading section, a portable tray member that can store a plurality of the product plate materials, and a holding member that can selectively hold the product plate material and tray members, respectively. And two transport bodies capable of traveling independently of each other along the track, and a transport control means for controlling the travel bodies. The transport control means is attached to one travel body by the holding member. A tray member standby control for holding the tray member and waiting at a predetermined product receiving position in the vicinity of the product cutting position, and a holding plate that holds the product plate material at the product cutting position on the other traveling body. And holding the product in the standby tray member at the product receiving position and repeating the operations from holding the product to storing in the tray member a plurality of times, and the multiple product plate storage control. Later, the one traveling body is subjected to tray member unloading control for unloading the tray member waiting at the product receiving position to the plate material unloading portion, or the plate material processing machine and the plate material unloading portion A track installed between the upper side, a portable tray member capable of storing a plurality of the product plate materials, and a holding member capable of selectively holding the product plate material and the tray members, and capable of traveling along the track. And a transport control unit that controls the travel body. The transport control unit causes the travel body to hold the tray member by the holding member, thereby cutting the product. A tray member carry-in control for carrying in a predetermined product receiving position in the vicinity of the position, and after the tray member carry-in control, the product plate material at the product cut-out position is held by the holding member by the holding member after the tray member carrying-in control. Multiple product plate material storage control for storing the product in the position of the tray member and repeating the operation from holding the product to storage in the tray member a plurality of times, and after the multiple product plate material storage control, Since the tray member unloading control for unloading the tray member at the position to the plate material unloading section is performed, a plurality of product plate materials cut from the material plate material by the plate material processing machine are processed from the product cutting position on the plate material processing machine. It can be efficiently carried out to the plate material carrying-out part outside the machine.

この発明の板材搬出装置において、前記板材搬出部に回収ボックスが設けられ、前記走行体は、前記保持部材を、この保持部材で保持状態のトレイ部材が内部の製品板材が落下可能な角度になるよう傾ける保持部材傾け機構を有し、前記搬送制御装置は、前記トレイ部材搬出制御において、前記保持部材傾け機構により保持部材を傾けてトレイ部材内の製品板材を回収ボックスに移し替える動作を行わせものとした場合は、板材搬出部に搬出された製品板材を回収ボックスに効率良く回収できる。   In the plate material unloading device according to the present invention, a recovery box is provided at the plate material unloading portion, and the traveling body has an angle at which the holding plate is held by the tray member held by the holding member so that the product plate can be dropped inside. A holding member tilting mechanism that tilts the holding member and tilting the holding member by the holding member tilting mechanism to transfer the product plate material in the tray member to the collection box in the tray member unloading control. When it is assumed, the product plate material carried out to the plate material carrying-out portion can be efficiently collected in the collection box.

この発明の板材搬出方法は、板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する方法であって、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収容可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体とを備える板材搬出装置を用い、一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機過程と、他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、この複数製品板材収納過程の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程とを含む方法とするか、または、前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体とを備える板材搬出装置を用い、前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入過程と、このトレイ部材搬入過程の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、この複数製品板材収納過程の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程とを含む方法としたため、板材加工機によって素材板材から切り取られた複数の製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部へ効率良く搬出することができる。   The plate material unloading method of the present invention is a method of unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading section outside the plate material processing machine, the plate material processing A track installed between the machine and the plate material unloading section, a portable tray member capable of accommodating a plurality of the product plate materials, and a holding member capable of selectively holding the product plate material and the tray members, respectively. A plate material carry-out device comprising two traveling bodies that can travel independently of each other along the track, and the traveling member is held in the vicinity of the product cutting position by holding the tray member by the holding member on one traveling body. The tray member standby process for waiting at a predetermined product receiving position, and the other traveling body holding the product plate material at the product cutting position by the holding member and waiting at the product receiving position A multi-product plate material storage process for storing the product in the tray member and repeating the operation from holding the product to the tray member a plurality of times, and after the multi-product plate material storage process, A tray member unloading process for unloading a tray member waiting at a position to the plate material unloading portion, or a track installed between the plate material processing machine and the plate material unloading portion, and the product plate material A plate material unloading apparatus comprising: a portable tray member capable of storing a plurality of sheets; and a single traveling body having a holding member capable of selectively holding the product plate material and the tray member and capable of traveling along the track. A tray member carrying-in process in which the traveling member is used to hold the tray member by the holding member and carry the tray member to a predetermined product receiving position in the vicinity of the product cutting position; After the material carrying-in process, the travel body holds the product plate material at the product cutting position by the holding member and stores it in the tray member at the product receiving position, and the operation from holding the product to storing it in the tray member A plurality of product plate material storage process that repeats a plurality of times, and a tray member unloading process for causing the traveling body to unload the tray member at the product receiving position to the plate material unloading portion after the multiple product plate material storage process. Therefore, a plurality of product plate materials cut from the material plate material by the plate material processing machine can be efficiently carried out from the product cutting position on the plate material processing machine to the plate material unloading portion outside the plate material processing machine.

この発明の第1の実施形態を図1〜図12と共に説明する。図1〜図6は、この板材搬出装置を備えた板材加工設備を示す。この板材加工設備は、板材加工機1と、板材搬出装置2と、板材搬出部3と、板材ストッカ4とを備える。この板材加工設備は、この他に板材加工機1に対して素材板材W0を搬入する板材搬入装置(図示せず)を備えるが、板材搬入装置については説明を省略する。   A first embodiment of the present invention will be described with reference to FIGS. 1-6 shows the board | plate material processing equipment provided with this board | plate material carrying-out apparatus. This plate material processing facility includes a plate material processing machine 1, a plate material carry-out device 2, a plate material carry-out unit 3, and a plate material stocker 4. In addition to this, the plate material processing facility includes a plate material carry-in device (not shown) for carrying the material plate material W0 into the plate material processing machine 1, but the description of the plate material carry-in device is omitted.

板材加工機1は、テーブル5面の素材板材W0から複数の製品板材W1,W2を打ち抜き等によって切り取る機能を備えたものであり、パンチプレスまたはレーザ加工機等からなる。この例では、板材加工機1はパンチプレスであり、ダイ工具(図示せず)に対してパンチ工具(図示せず)を昇降させて加工を行う加工部7と、素材板材W0をテーブル5面で前後(Y方向)および左右(X方向)に移動させる板材送り機構8とを備えている。   The plate material processing machine 1 has a function of cutting a plurality of product plate materials W1, W2 from the material plate material W0 on the surface of the table 5 by punching or the like, and includes a punch press or a laser processing machine. In this example, the plate material processing machine 1 is a punch press, and a processing unit 7 that performs processing by raising and lowering a punch tool (not shown) with respect to a die tool (not shown) and a material plate material W0 on a table 5 surface. And a plate material feed mechanism 8 that moves in the front-rear direction (Y direction) and the left-right direction (X direction).

板材搬出部3は、板材加工機1で加工されて板材搬出装置2により搬出された製品板材W1,W2を回収する場所であり、パレット9および回収ボックス10を備えている。回収ボックス10はキャスター付きで、移動自在である。比較的寸法の大きい製品板材W1は、パレット9の上に積層状態に積載する。また、素材板材W0から複数切り取られる寸法の小さい製品板材W2は、回収ボックス10に収容する。   The plate material unloading unit 3 is a place for collecting the product plate materials W1 and W2 processed by the plate material processing machine 1 and unloaded by the plate material unloading device 2, and includes a pallet 9 and a collection box 10. The collection box 10 has a caster and is movable. The product plate material W1 having a relatively large size is stacked on the pallet 9 in a stacked state. Further, the product plate material W2 having a small size cut out from the material plate material W0 is accommodated in the collection box 10.

板材ストッカ4は、板材搬出部3でパレット9上に積載された製品板材W1を、パレット9と共に貯蔵する装置であり、パレット9を載置する多段の棚4aを有する。板材ストッカ4は、任意の段の棚4aにおいて、パレット9が、図示した前側の貯蔵位置と、この貯蔵位置からY方向へ移動した製品搬入位置との間で進退可能とされている。   The plate material stocker 4 is a device for storing the product plate material W1 loaded on the pallet 9 in the plate material unloading unit 3 together with the pallet 9, and has a multistage shelf 4a on which the pallet 9 is placed. The plate stocker 4 can be moved back and forth between the illustrated storage position on the front side and the product loading position moved from the storage position in the Y direction in the shelf 4a at an arbitrary stage.

板材搬出装置2は、板材加工機1から、製品板材W1,W2を板材搬出部3に搬出する装置である。板材搬出装置2は、板材加工機1と板材搬出部3の間に平行に設置された左右方向を向く2本の軌道11,12と、これら軌道11,12に沿ってそれぞれ独立して走行自在な走行体13,14と、複数の小さい製品板材W2を収納可能なトレイ部材15とを備える。   The plate material unloading device 2 is a device for unloading the product plate materials W1 and W2 from the plate material processing machine 1 to the plate material unloading unit 3. The plate material unloading device 2 is capable of traveling independently along the tracks 11, 12, and two tracks 11, 12 that are installed in parallel between the plate material processing machine 1 and the plate material unloading unit 3 and that face in the left-right direction. Traveling bodies 13 and 14 and a tray member 15 capable of storing a plurality of small product plate materials W2.

2本の軌道11,12は、両端で互いに連結されて一体とされており、左右一対の前後移動フレーム16に支持されている。各前後移動フレーム16は、その上端が後側の軌道11に固定され、横フレーム17により互いに連結してある。左右一対の前後移動フレーム16はいずれも、前後移動用レール18に沿って移動自在で、図示しない前後移動駆動源により前後移動させることができる。前後移動駆動源は、例えばサーボモータとその回転を直線動作に変換するボールねじ等の変換機構等からなる。   The two tracks 11 and 12 are connected to each other at both ends to be integrated, and are supported by a pair of left and right moving frames 16. The front and rear moving frames 16 have their upper ends fixed to the rear track 11 and are connected to each other by a horizontal frame 17. Each of the pair of left and right front and rear moving frames 16 is movable along the front and rear moving rail 18 and can be moved back and forth by a front and rear moving drive source (not shown). The back-and-forth moving drive source includes, for example, a servo motor and a conversion mechanism such as a ball screw that converts the rotation thereof into a linear motion.

走行体13,14について説明する。図7は後側の軌道11を走行する第1の走行体13を簡略化して示す側面図、図8は前側の軌道12を走行する第2の走行体14を簡略化して示す側面図である。各走行体13,14は、それぞれ軌道11,12にガイド部材(図示せず)を介して走行自在に設けられ、サーボモータ等の走行駆動源19(図9)により自走するものとされている。ガイド部材は、例えば直線転がり軸受やガイドローラ等であり、走行体13,14の基部23と軌道11,12との間に介在させてある。   The traveling bodies 13 and 14 will be described. FIG. 7 is a side view schematically showing the first traveling body 13 traveling on the rear track 11, and FIG. 8 is a side view schematically illustrating the second traveling body 14 traveling on the front track 12. . Each traveling body 13, 14 is provided on each of the tracks 11, 12 via a guide member (not shown) so as to be able to travel, and is self-run by a traveling drive source 19 (FIG. 9) such as a servo motor. Yes. The guide member is, for example, a linear rolling bearing or a guide roller, and is interposed between the base portion 23 of the traveling bodies 13 and 14 and the tracks 11 and 12.

各走行体13,14は、製品板材W1,W2およびトレイ部材15のいずれかを選択的に保持できる保持部材20を有する。保持部材20は、パッド支持フレーム21と、このパッド支持フレーム21に支持された複数の吸着パッド22とからなる。この実施形態では、パッド支持フレーム21は、前後方向に延びるフレーム材が左右に2本設けられ、各フレーム材に吸着パッド22が4個ずつ支持されており、合計で8個の吸着パッド22を備えている。寸法の大きい製品板材W1の場合は、全ての吸着パッド22を用いて吸着保持し、寸法の小さい製品板材W2の場合は、例えば任意の1つの吸着パッド22を用いて吸着保持する。トレイ部材15の保持については、後で説明する。   Each traveling body 13, 14 has a holding member 20 that can selectively hold one of the product plate materials W 1, W 2 and the tray member 15. The holding member 20 includes a pad support frame 21 and a plurality of suction pads 22 supported by the pad support frame 21. In this embodiment, the pad support frame 21 is provided with two frame materials extending in the front-rear direction, and four suction pads 22 are supported on each frame material, and a total of eight suction pads 22 are provided. I have. In the case of the product plate material W1 having a large size, all the suction pads 22 are sucked and held, and in the case of the product plate material W2 having a small size, for example, any one suction pad 22 is sucked and held. The holding of the tray member 15 will be described later.

図7の部分拡大図に示すように、吸着パッド22は、この実施形態では、それぞれが個別に絞り経路を介して真空源に接続された複数の単位吸着パッド22aの束からなり、その一部が製品板材W1,W2等の吸着対象物から外れていても吸着可能とされている。吸着パッド22は、上記のような束とせずに、全体が1個の負圧部を構成するものとしてもよい。   As shown in the partial enlarged view of FIG. 7, in this embodiment, the suction pad 22 is composed of a bundle of a plurality of unit suction pads 22a each individually connected to a vacuum source via a throttle path. However, it is possible to adsorb even if it is out of the object to be adsorbed such as product plate materials W1, W2. The suction pad 22 may be a single negative pressure part as a whole without being bundled as described above.

保持部材20は、走行体13,14の基部23に対し昇降自在である。この実施形態では、基部23に上下に長い昇降体24が昇降自在に嵌合し、この昇降体24の下端にパッド支持フレーム21が取付けられて、昇降駆動源25(図9)により昇降体24を昇降させるようにしている。なお、第1の走行体13の昇降体24は、下端部が前方に屈曲させてある。昇降駆動源25は基部23と別に設けても良く、あるいは基部23自体を昇降駆動源としても良い。   The holding member 20 is movable up and down with respect to the base 23 of the traveling bodies 13 and 14. In this embodiment, an elevating body 24 that is long in the vertical direction is fitted to the base portion 23 so as to be movable up and down, and a pad support frame 21 is attached to the lower end of the elevating body 24, and the elevating body 24 is moved by an elevating drive source 25 (FIG. 9). Is going to be raised and lowered. In addition, as for the raising / lowering body 24 of the 1st traveling body 13, the lower end part is bent forward. The lifting drive source 25 may be provided separately from the base 23, or the base 23 itself may be used as the lifting drive source.

また、第1走行体13には、保持部材20を、この保持部材20により保持されたトレイ部材15が内部の製品板材W2が落下可能な角度になるよう傾ける保持部材傾け機構26が設けられている。この保持部材傾け機構26は、昇降体24の下端部とパッド支持フレーム21上面の突片21aとを回動支点軸27により回動自在に連結し、流体シリンダ等の傾け駆動源28により保持部材20を前側が下を向くように傾けるようになっている。   Further, the first traveling body 13 is provided with a holding member tilting mechanism 26 that tilts the holding member 20 so that the tray member 15 held by the holding member 20 has an angle at which the inner product plate W2 can drop. Yes. The holding member tilting mechanism 26 connects the lower end portion of the elevating body 24 and the projecting piece 21a on the upper surface of the pad support frame 21 so as to be rotatable by a rotation fulcrum shaft 27, and a holding member by an inclination drive source 28 such as a fluid cylinder. 20 is inclined so that the front side faces downward.

図1に示すように、トレイ部材15は、上面と前面が開口する塵取状の部材であり、複数個の製品板材W2を収納できる容積を有する。立縁の一部に外方に張り出す張出部15aが形成されていて、この張出部15aを保持部材20の吸着パッド22で吸着することにより、保持部材20に保持させることができる。   As shown in FIG. 1, the tray member 15 is a dust-like member having an upper surface and a front surface that are open, and has a volume that can accommodate a plurality of product plate materials W2. An overhanging portion 15 a projecting outward is formed on a part of the standing edge, and the overhanging portion 15 a can be held by the holding member 20 by being sucked by the suction pad 22 of the holding member 20.

この板材加工設備の制御系について、図9と共に説明する。板材加工設備の制御系は、板材加工機1を制御する板材加工機制御装置30と、板材搬出装置2を制御する搬送制御装置40とでなる。板材加工機制御装置30は、コンピュータ式の数値制御装置およびプログラマブルコントローラからなり、加工プログラム31と、この加工プログラム31を実行する演算制御部32とを備える。また、搬送制御装置40は、コンピュータ式の数値制御装置およびプログラマブルコントローラからなり、搬送制御プログラム41と、この搬送制御プログラム41を実行する演算制御部42とを備える。演算制御部32,42は、中央処理装置およびメモリ等に、プログラマブルコントローラを含めたものを示す。   The control system of this plate material processing facility will be described with reference to FIG. The control system of the plate material processing equipment includes a plate material processing machine control device 30 that controls the plate material processing machine 1 and a conveyance control device 40 that controls the plate material carry-out device 2. The plate material processing machine control device 30 includes a computer-type numerical control device and a programmable controller, and includes a processing program 31 and an arithmetic control unit 32 that executes the processing program 31. The conveyance control device 40 includes a computer-type numerical control device and a programmable controller, and includes a conveyance control program 41 and an arithmetic control unit 42 that executes the conveyance control program 41. The arithmetic control units 32 and 42 indicate a central processing unit, a memory, and the like including a programmable controller.

搬送制御装置40の演算制御部42は、板材搬出装置2の各駆動源に出力指令を出す。各駆動源は、第1の走行体13の走行駆動源19、保持部材20(の吸着用駆動源)、保持部材昇降駆動源25、および保持部材傾け機構26(の傾け駆動源28)と、第2の走行体14の走行駆動源19、保持部材20(の吸着用駆動源)、および保持部材昇降駆動源25と、前後移動フレーム16(の前後移動駆動源)とである。   The calculation control unit 42 of the transport control device 40 issues an output command to each drive source of the plate material carry-out device 2. Each drive source includes a travel drive source 19 of the first traveling body 13, a holding member 20 (adsorption drive source thereof), a holding member lifting drive source 25, and a holding member tilting mechanism 26 (inclination drive source 28), A travel drive source 19 of the second traveling body 14, a holding member 20 (adsorption drive source thereof), a holding member lifting / lowering drive source 25, and a front / rear moving frame 16 (front / rear movement drive source).

搬送制御装置40は、上記演算制御部42により、図10に示す機能達成手段を構成したものである。すなわち、この搬送制御装置40は、トレイ部材待機制御部43と、複数製品収納制御部44と、トレイ部材搬出制御部45とを有するものとされる。
トレイ部材待機制御部43は、第1の走行体13に対して、板材搬出位置P1(図1)に設置の回収ボックス10の上に載置されているトレイ部材15を保持部材20により保持して、板材加工機1と板材搬出部3の間で板材加工機1の近傍となる製品受け位置P2(図4)へ搬送して待機させるトレイ部材待機制御を行う。
具体的には、原点位置である板材搬出位置P1に位置する第1の走行体13に対し、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22でトレイ部材15を吸着保持させ、昇降駆動源25に出力指令を出して保持部材20を上昇させた後、走行駆動源19に出力指令を出してトレイ部材15を保持した第1の走行体13を製品受け位置P2の水平位置まで走行させ、さらに昇降駆動源25に出力指令を出してトレイ部材15が所定の待機高さとなるよう保持部材20を下降させる。
The transport control device 40 is configured by the arithmetic control unit 42 as a function achievement means shown in FIG. That is, the transport control device 40 includes a tray member standby control unit 43, a multiple product storage control unit 44, and a tray member carry-out control unit 45.
The tray member standby control unit 43 holds the tray member 15 placed on the collection box 10 installed at the plate material carry-out position P1 (FIG. 1) by the holding member 20 with respect to the first traveling body 13. Then, a tray member standby control is performed between the plate material processing machine 1 and the plate material carry-out unit 3 so as to convey and wait for the product receiving position P2 (FIG. 4) near the plate material processing machine 1.
Specifically, for the first traveling body 13 located at the plate material unloading position P1, which is the origin position, an output command is issued to the elevating drive source 25 to lower the holding member 20, and an output command is issued to the holding member 20. The tray member 15 is sucked and held by the suction pad 22, an output command is issued to the lifting drive source 25 to raise the holding member 20, and then an output command is issued to the travel drive source 19 to hold the tray member 15. The traveling body 13 is traveled to the horizontal position of the product receiving position P2, and an output command is issued to the lifting drive source 25 to lower the holding member 20 so that the tray member 15 has a predetermined standby height.

複数製品収納制御部44は、第2の走行体14に対して、板材加工機1上の切り取られた製品板材W2を保持部材20により保持させて前記製品受け位置P2で待機状態のトレイ部材15に収納させ、この製品板材W2の保持からトレイ部材15への収納までの動作を複数回繰り返させる複数製品収納制御を行う。
具体的には、走行駆動源19に出力指令を出して第2の走行体14を原点位置である製品受け位置P2から板材加工機1上の製品切り取り位置P3(図4)の水平位置まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22で製品切り取り位置P3の製品板材W2を吸着保持させ、昇降駆動源25に出力指令を出して保持部材20を上昇させ、走行駆動源19に出力指令を出して第2の走行体14を製品受け位置P2の水平位置まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22による製品板材W2の保持を解除させて製品板材W2をトレイ部材15に収納し、その後、昇降駆動源25に出力して空の保持部材20を上昇させて原点位置に復帰させる。これら一連の動作を、予め定めた所定の回数だけ繰り返し行わせる。
この複数製品収納制御の際、製品板材W2の吸着に用いる吸着パッド22が製品切り取り位置P3と同じ前後位置になるように、必要に応じて前後移動フレーム16の前後移動駆動源に出力指令を出して軌道11,12の前後位置を調整する。製品板材W2の吸着に使用する吸着パッド22はどれでも良いが、この実施形態では、板材加工機1側の列における一番前側の吸着パッド22で製品板材W2を吸着させるようにしている(図4)。
また、この複数製品収納制御において、各製品板材W2がトレイ部材15の各部に均等に収納されるように、製品板材W2をトレイ部材15に収納する各回の動作毎に、前後移動駆動源に出力指令を出して軌道11,12の前後位置を変更させたり、製品受け位置P2における第2の走行体14の停止位置を左右にずらしたりする。
The multiple product storage control unit 44 holds the product plate material W2 cut out on the plate material processing machine 1 by the holding member 20 with respect to the second traveling body 14 and holds the tray member 15 in the standby state at the product receiving position P2. Multiple product storage control is performed in which the operations from holding the product plate material W2 to storage in the tray member 15 are repeated a plurality of times.
Specifically, an output command is issued to the travel drive source 19 to travel the second traveling body 14 from the product receiving position P2 which is the origin position to the horizontal position of the product cutting position P3 (FIG. 4) on the plate material processing machine 1. Then, an output command is issued to the lifting drive source 25 to lower the holding member 20, and an output command is issued to the holding member 20 to suck and hold the product plate W 2 at the product cutting position P 3 by the suction pad 22. An output command is issued to raise the holding member 20, an output command is issued to the travel drive source 19, the second travel body 14 is traveled to the horizontal position of the product receiving position P 2, and an output command is issued to the lift drive source 25. The holding member 20 is lowered, an output command is issued to the holding member 20, the holding of the product plate material W2 by the suction pad 22 is released, the product plate material W2 is stored in the tray member 15, and then output to the lifting drive source 25. Raising the empty holding member 20 is returned to the original position. These series of operations are repeated for a predetermined number of times.
During this multi-product storage control, an output command is issued to the front-rear movement drive source of the front-rear movement frame 16 as necessary so that the suction pad 22 used for suction of the product plate W2 is in the same front-rear position as the product cutting position P3. The front and rear positions of the tracks 11 and 12 are adjusted. Any suction pad 22 may be used for suctioning the product plate W2, but in this embodiment, the product plate W2 is sucked by the frontmost suction pad 22 in the row on the plate processing machine 1 side (FIG. 4).
In this multi-product storage control, the product plate material W2 is output to the forward / backward drive source at each operation of storing the product plate material W2 in the tray member 15 so that each product plate material W2 is stored in each part of the tray member 15 evenly. A command is issued to change the front and rear positions of the tracks 11 and 12, or the stop position of the second traveling body 14 at the product receiving position P2 is shifted left and right.

トレイ部材搬出制御部45は、前記複数製品収納制御の後に、第1の走行体13に対して、製品受け位置P2で待機するトレイ部材15を板材搬出位置P1へ搬出させるトレイ部材搬出制御を行う。
具体的には、製品受け位置P2で待機するトレイ部材15に所定個数の製品板材W2が収納されると、第1の走行体13の昇降駆動源25に出力指令を出して保持部材20を上昇させ、走行駆動源19に出力指令を出して第1の走行体13を製品受け位置P2から板材搬出位置P1まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材傾け機構26の傾け駆動源に出力指令を出して保持部材20を傾けてトレイ部材15の製品板材W2を回収ボックス10の中に滑り落とし、保持部材傾け機構26の傾け駆動源に出力指令を出して保持部材20を水平に戻し、昇降駆動源25に出力指令を出してトレイ部材15の底面が回収ボックス10の上端に当たる程度まで保持部材20を下降させ、保持部材20の吸着駆動源に出力指令を出して吸着パッド22によるトレイ部材15の保持を解除して、トレイ部材15を回収ボックス10の上に載置し、昇降駆動源25に出力指令を出して保持部材20を上昇させて初期状態に復帰させる。
この実施形態では、上記トレイ部材搬出制御において、保持部材傾け機構26により保持部材20を傾けて、トレイ部材15の製品板材W2を回収ボックス10の中に滑り落とす際に、保持部材20を傾けるのと同時に、前後移動フレーム16の前後移動駆動源に出力指令を出して軌道11,12を後退させるようにしている。
The tray member carry-out control unit 45 performs tray member carry-out control for carrying out the tray member 15 waiting at the product receiving position P2 to the plate material carrying-out position P1 with respect to the first traveling body 13 after the multiple product storage control. .
Specifically, when a predetermined number of product plate materials W2 are stored in the tray member 15 waiting at the product receiving position P2, an output command is issued to the raising / lowering drive source 25 of the first traveling body 13 to raise the holding member 20 Then, an output command is issued to the traveling drive source 19 to cause the first traveling body 13 to travel from the product receiving position P2 to the plate material unloading position P1, and an output command is issued to the lifting drive source 25 to lower the holding member 20 and hold it. An output command is issued to the tilting drive source of the member tilting mechanism 26, the holding member 20 is tilted to slide the product plate W2 of the tray member 15 into the collection box 10, and an output command is sent to the tilting drive source of the holding member tilting mechanism 26. The holding member 20 is returned to the horizontal position, an output command is issued to the elevating drive source 25, the holding member 20 is lowered until the bottom surface of the tray member 15 hits the upper end of the collection box 10, and the holding member 20 is sucked. An output command is issued to the moving source to release the holding of the tray member 15 by the suction pad 22, the tray member 15 is placed on the collection box 10, and an output command is issued to the lifting drive source 25 to hold the holding member 20. Raise to return to the initial state.
In this embodiment, in the tray member carry-out control, the holding member 20 is tilted by the holding member tilting mechanism 26, and the holding member 20 is tilted when the product plate material W2 of the tray member 15 is slid down into the collection box 10. At the same time, an output command is issued to the longitudinal movement drive source of the longitudinal movement frame 16 so that the tracks 11 and 12 are moved backward.

上記搬送制御装置40の制御により、板材搬出装置2は図11の流れ図に示す動作を行う。図1は運転開始前の状態を示している。
この状態から、板材加工機1の運転を開始すると、トレイ部材待機過程S1が始まる。トレイ部材待機過程S1では、まず、板材搬出位置P1に位置する第1の走行体13の保持部材20が下降して、吸着パッド22でトレイ部材15を吸着保持する。トレイ部材15を保持した保持部材20は上昇し(図2)、トレイ部材15を保持したまま、第1の走行体13は製品受け位置P2の水平位置まで走行する(図3)。第1の走行体13が製品受け位置P2の水平位置に着くと、保持部材20が下降して、トレイ部材15を製品受け位置P2で待機させる(図4)。
Under the control of the conveyance control device 40, the plate material carry-out device 2 performs the operation shown in the flowchart of FIG. FIG. 1 shows a state before starting operation.
When the operation of the plate material processing machine 1 is started from this state, the tray member standby process S1 starts. In the tray member standby process S <b> 1, first, the holding member 20 of the first traveling body 13 located at the plate material unloading position P <b> 1 is lowered and the tray member 15 is sucked and held by the suction pad 22. The holding member 20 holding the tray member 15 rises (FIG. 2), and the first traveling body 13 travels to the horizontal position of the product receiving position P2 while holding the tray member 15 (FIG. 3). When the first traveling body 13 arrives at the horizontal position of the product receiving position P2, the holding member 20 is lowered to cause the tray member 15 to wait at the product receiving position P2 (FIG. 4).

第1の走行体13が走行中に、複数製品板材収納過程S2が始まる。複数製品板材収納過程S2では、第2の走行体14は、製品受け位置P2から製品切り取り位置P3の水平位置まで走行し、保持部材20が下降し、保持部材20により製品切り取り位置P3の製品板材W2を吸着保持する。製品板材W2を吸着保持した保持部材20が上昇し、第2の走行体14が製品受け位置P2の水平位置まで走行する(図4)。次いで、保持部材20が下降し、その位置で保持部材20による製品板材W2の保持を解除させることにより、保持していた製品板材W2をトレイ部材15に収納する(図5)。その後、保持部材20が上昇して、元の状態に戻る。これら一連の動作を、予め定めた所定の回数だけ行う。これにより、所定個数の製品板材W1がトレイ部材15に収納される。   While the first traveling body 13 is traveling, the multi-product plate material accommodation process S2 starts. In the multiple product plate material storage process S2, the second traveling body 14 travels from the product receiving position P2 to the horizontal position of the product cutout position P3, the holding member 20 is lowered, and the product plate material at the product cutout position P3 is moved by the holding member 20. Adsorb and hold W2. The holding member 20 holding the product plate material W2 by suction rises, and the second traveling body 14 travels to the horizontal position of the product receiving position P2 (FIG. 4). Next, the holding member 20 is lowered, and the holding of the product plate W2 by the holding member 20 is released at that position, whereby the held product plate W2 is stored in the tray member 15 (FIG. 5). Thereafter, the holding member 20 rises and returns to the original state. These series of operations are performed a predetermined number of times. Accordingly, a predetermined number of product plate materials W1 are stored in the tray member 15.

複数製品板材収納過程S2が終了すると、トレイ部材搬出過程S3に移行する。トレイ部材搬出過程S3では、トレイ部材15を保持した第1の走行体13の保持部材20が上昇し、第1の走行体13は製品受け位置P2から板材搬出位置P1まで移動する。次いで、保持部材20が回収ボックス10の上端よりも少し上の高さまで下降し、その位置で、軌道11,12ごと後退させながら保持部材20を傾ける。それにより、トレイ部材15の製品板材W2が回収ボックス10の中に滑り落ちる。その後、保持部材20を水平に戻し、保持部材20を若干下降させてトレイ部材15を回収ボックス10の上に載せ、トレイ部材15の保持を解除する。保持部材20を上昇させて、元の状態に戻る。   When the multi-product plate material storing process S2 is completed, the process proceeds to the tray member carrying-out process S3. In the tray member unloading process S3, the holding member 20 of the first traveling body 13 holding the tray member 15 is raised, and the first traveling body 13 moves from the product receiving position P2 to the plate material unloading position P1. Next, the holding member 20 is lowered to a height slightly above the upper end of the collection box 10, and the holding member 20 is tilted at the position while being retracted together with the tracks 11 and 12. As a result, the product plate W2 of the tray member 15 slides into the collection box 10. Thereafter, the holding member 20 is returned to the horizontal position, the holding member 20 is slightly lowered, the tray member 15 is placed on the collection box 10, and the holding of the tray member 15 is released. The holding member 20 is raised to return to the original state.

この板材搬出装置2によれば、板材加工機1により素材板材W0から切り取られた複数の製品板材W2を、トレイ部材15に収納してまとめて板材搬出部3に搬出するため、製品板材の搬出を効率良く行える。
また、第1の走行体13が移動中に、第2の走行体14が動作を開始するため、トレイ部材15が製品受け位置P2で待機状態となるのとほぼ同時に、第1の走行体13により1個目の製品板材W2をトレイ部材15に収納することができる。これにより、板材加工機1の待ち時間を短くして、板材加工機1の能力を最大限に発揮させることができる。
また、製品板材W2をトレイ部材15に収納する各回の動作毎に、前後移動駆動源に出力指令を出して軌道11,12の前後位置を変更させたり、製品受け位置P2における第2の走行体14の停止位置を左右にずらしたりするため、トレイ部材15の各部に製品板材W2を均等に収納することができる。
また、この実施形態では、板材加工機1側の列における一番前側の吸着パッド22で製品板材W2を吸着させるようにしているため、保持部材20と板材加工機1の加工部7との干渉の無理なく避けることができ、かつ上記軌道11,12の前後移動量を少なくできる。
According to this plate material unloading device 2, since a plurality of product plate materials W2 cut out from the material plate material W0 by the plate material processing machine 1 are stored in the tray member 15 and collectively unloaded to the plate material unloading section 3, the product plate material is unloaded. Can be performed efficiently.
In addition, since the second traveling body 14 starts operating while the first traveling body 13 is moving, the first traveling body 13 is almost simultaneously with the tray member 15 being in the standby state at the product receiving position P2. Thus, the first product plate W2 can be stored in the tray member 15. Thereby, the waiting time of the plate material processing machine 1 can be shortened, and the ability of the plate material processing machine 1 can be exhibited to the maximum.
Further, for each operation of storing the product plate W2 in the tray member 15, an output command is issued to the front and rear movement drive source to change the front and rear positions of the tracks 11 and 12, or the second traveling body at the product receiving position P2. Since the stop position of 14 is shifted to the left and right, the product plate W2 can be evenly stored in each part of the tray member 15.
Further, in this embodiment, since the product plate material W2 is sucked by the frontmost suction pad 22 in the row on the plate material processing machine 1 side, the interference between the holding member 20 and the processing portion 7 of the plate material processing machine 1 is achieved. Can be avoided without difficulty, and the amount of forward and backward movement of the tracks 11 and 12 can be reduced.

保持部材傾け機構26により保持部材20を傾けて、トレイ部材15の製品板材W2を回収ボックス10の中に滑り落とす際に、軌道11,12を後退させることにより、図12に示すように、トレイ部材15は、その前端が回収ボックス10の前端縁10a側から後端縁10b側へと移動しながら次第に傾いていく。そのため、トレイ部材15の製品板材W2が回収ボックス10の中に均等に分散されて収容される。また、製品板材W2がトレイ部材15から滑り落ちる速度を遅くすることができるため、製品板材W2に与える衝撃が小さくなり、製品板材W2を傷めない。さらに、製品板材W2の滑り落ちる速度が遅いと、製品板材W2が回収ボックス10の中に確実に落ちるため、回収ボックス10を開口の小さなものとすることができる。   When the holding member 20 is tilted by the holding member tilting mechanism 26 and the product plate material W2 of the tray member 15 is slid down into the collection box 10, the tracks 11 and 12 are retracted, as shown in FIG. The front end of the member 15 gradually tilts while moving from the front end edge 10a side of the collection box 10 to the rear end edge 10b side. Therefore, the product plate W2 of the tray member 15 is evenly distributed and accommodated in the collection box 10. Further, since the speed at which the product plate material W2 slides down from the tray member 15 can be reduced, the impact applied to the product plate material W2 is reduced, and the product plate material W2 is not damaged. Furthermore, when the product plate material W2 slides down slowly, the product plate material W2 reliably falls into the collection box 10, so that the collection box 10 can have a small opening.

この実施形態では、2台の走行体13,14がそれぞれ別の軌道11,12を走行するものとされているが、小さい製品板材W2の搬出だけに限れば、両走行体13,14の走行における左右行程が互いに重なることがないので、2台の走行体13,14が共に同じ軌道を走行するようにしてもよい。   In this embodiment, the two traveling bodies 13 and 14 are supposed to travel on different tracks 11 and 12, respectively. However, if only the small product plate material W2 is carried out, the traveling bodies 13 and 14 travel. Since the left and right strokes in the two do not overlap each other, the two traveling bodies 13 and 14 may both travel on the same track.

図13〜図18は、第2の実施形態にかかる板材搬出装置を備えた板材加工設備を示す。この板材搬出装置2が、前記第1の実施形態のものと異なる点は、軌道11を1本とし、この軌道11に沿って走行可能な走行体13を1台だけ設けた点である。板材搬出装置2以外は、前記第1の実施形態の板材加工設備と同様である。   FIGS. 13-18 shows the board | plate material processing equipment provided with the board | plate material carrying-out apparatus concerning 2nd Embodiment. The plate material unloading device 2 is different from that of the first embodiment in that one track 11 is provided and only one traveling body 13 that can travel along the track 11 is provided. Except for the plate material carrying-out device 2, the plate material processing equipment of the first embodiment is the same.

この板材搬出装置2は、軌道1を1本、走行体13を1台としたことで、搬送制御装置40の構成が第1の実施形態のものと若干異なる。すなわち、図19に示すように、この板材搬出装置40は、トレイ部材搬入制御部53と、複数製品収納制御部54と、トレイ部材搬出制御部55とでなる。なお、板材加工設備の制御系の概念構成を示す図は省略してある。第2の実施形態の板材加工設備の制御系は、図9において、第2の走行体14を除いたものと同じになる。   This plate material carrying-out device 2 has one track 1 and one traveling body 13, so that the configuration of the conveyance control device 40 is slightly different from that of the first embodiment. That is, as shown in FIG. 19, the plate material carry-out device 40 includes a tray member carry-in control unit 53, a multiple product storage control unit 54, and a tray member carry-out control unit 55. In addition, the figure which shows the conceptual structure of the control system of a board | plate material processing equipment is abbreviate | omitted. The control system of the plate material processing facility of the second embodiment is the same as that except for the second traveling body 14 in FIG.

トレイ部材搬入制御部53は、走行体13に対して、板材搬出位置P1(図13)に設置の回収ボックス10の上に載置されているトレイ部材15を保持部材20により保持して、板材加工機1と板材搬出部3の間で板材加工機の近傍となる製品受け位置P2(図16)へ搬入するトレイ部材搬入制御を行う。
具体的には、原点位置である板材搬出位置P1に位置する第1の走行体13に対し、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22でトレイ部材15を吸着保持させ、昇降駆動源25に出力指令を出して保持部材20を上昇させた後、走行駆動源19に出力指令を出してトレイ部材15を保持した第1の走行体13を製品受け位置P2の水平位置まで走行させ、さらに昇降駆動源25に出力指令を出してトレイ部材15の底面が板材加工機1のテーブル5面に接する程度の高さまで保持部材20を下降させ、保持部材20に出力指令を出してトレイ部材15の吸着保持を解除させ、トレイ部材15を前記テーブル5面に載置する。この製品受け位置P2のテーブル面は、トレイ部材15の仮置き場となる。
The tray member carry-in control unit 53 holds the tray member 15 placed on the collection box 10 installed at the plate material carry-out position P1 (FIG. 13) with respect to the traveling body 13 by the holding member 20. Tray member carry-in control is carried out between the processing machine 1 and the plate material carry-out section 3 for carrying into the product receiving position P2 (FIG. 16) in the vicinity of the plate material processing machine.
Specifically, for the first traveling body 13 located at the plate material unloading position P1, which is the origin position, an output command is issued to the elevating drive source 25 to lower the holding member 20, and an output command is issued to the holding member 20. The tray member 15 is sucked and held by the suction pad 22, an output command is issued to the lifting drive source 25 to raise the holding member 20, and then an output command is issued to the travel drive source 19 to hold the tray member 15. The travel member 13 is traveled to the horizontal position of the product receiving position P2, and an output command is issued to the elevating drive source 25 so that the bottom surface of the tray member 15 is in contact with the table 5 surface of the plate material processing machine 1. Is lowered, an output command is issued to the holding member 20, the suction holding of the tray member 15 is released, and the tray member 15 is placed on the surface of the table 5. The table surface at the product receiving position P2 serves as a temporary storage place for the tray member 15.

複数製品収納制御部54は、前記トレイ部材搬入制御の後、走行体13に対して、板材加工機1上の切り取られた製品板材W2を保持部材20により保持させて前記製品受け位置P2のトレイ部材15に収納させ、この製品板材W2の保持からトレイ部材15への収納までの動作を複数回繰り返させる複数製品収納制御を行う。
具体的には、トレイ部材15が前記仮置き場に載置された後、走行駆動源19に出力指令を出して走行体13を製品受け位置P2から板材加工機1上の製品切り取り位置P3(図17)の水平位置まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22で製品切り取り位置P3の製品板材W2を吸着保持させ、昇降駆動源25に出力指令を出して保持部材20を上昇させ、走行駆動源19に出力指令を出して走行体13を製品受け位置P2の水平位置まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材20に出力指令を出して吸着パッド22による製品板材W2の保持を解除させて製品板材W2をトレイ部材15に収納させる。これら一連の動作を、予め定めた所定の回数だけ繰り返し行わせる。
この複数製品収納制御の際、製品板材W2の吸着に用いる吸着パッド22が製品切り取り位置P3と同じ前後位置になるように、必要に応じて前後移動フレーム16の前後移動駆動源に出力指令を出して軌道11の前後位置を調整する。この実施形態でも、板材加工機1側の列における一番前側の吸着パッド22で製品板材W2を吸着させるようにしている。
また、この複数製品収納制御において、製品板材W2がトレイ部材15の各部に均等に収納されるように、製品板材W2をトレイ部材15に収納する各回の動作毎に、前後移動駆動源に出力指令を出して軌道11の前後位置を変更させたり、製品受け位置P2における走行体13の停止位置を左右にずらしたりする。
After the tray member carry-in control, the multiple product storage control unit 54 holds the product plate material W2 cut out on the plate material processing machine 1 by the holding member 20 with respect to the traveling body 13 and holds the tray at the product receiving position P2. Multiple product storage control is performed in which the operation from the holding of the product plate W2 to the storage in the tray member 15 is repeated a plurality of times.
Specifically, after the tray member 15 is placed in the temporary storage place, an output command is issued to the traveling drive source 19 to move the traveling body 13 from the product receiving position P2 to the product cutting position P3 (see FIG. 17) travels to the horizontal position, issues an output command to the lift drive source 25, lowers the holding member 20, and issues an output command to the holding member 20, and sucks and holds the product plate W2 at the product cutting position P3 by the suction pad 22. Then, an output command is issued to the lift drive source 25 to raise the holding member 20, and an output command is issued to the travel drive source 19 to travel the traveling body 13 to the horizontal position of the product receiving position P 2 and output to the lift drive source 25. A command is issued to lower the holding member 20, an output command is issued to the holding member 20 to release the holding of the product plate material W 2 by the suction pad 22, and the product plate material W 2 is stored in the tray member 15. These series of operations are repeated for a predetermined number of times.
During this multi-product storage control, an output command is issued to the front-rear movement drive source of the front-rear movement frame 16 as necessary so that the suction pad 22 used for suction of the product plate W2 is in the same front-rear position as the product cutting position P3. The front and rear positions of the track 11 are adjusted. Also in this embodiment, the product plate material W2 is sucked by the frontmost suction pad 22 in the row on the plate material processing machine 1 side.
Further, in this multiple product storage control, an output command is sent to the forward / backward movement drive source for each operation of storing the product plate material W2 in the tray member 15 so that the product plate material W2 is uniformly stored in each part of the tray member 15. The front and rear positions of the track 11 are changed, and the stop position of the traveling body 13 at the product receiving position P2 is shifted left and right.

トレイ部材搬出制御部55は、前記複数製品収納制御の後に、走行体13に対して、製品受け位置P2のテーブル5面のトレイ部材15を板材搬出位置P1へ搬出させるトレイ部材搬出制御を行う。
具体的には、製品受け位置P2のテーブル5面のトレイ部材15に所定個数の製品板材W2が収納されると、保持部材20に出力指令を出して吸着パッド22によりトレイ部材15を吸着保持し、昇降駆動源25に出力指令を出してトレイ部材15を保持した保持部材20を上昇させ、走行駆動源19に出力指令を出して走行体13を製品受け位置P2から板材搬出位置P1まで走行させ、昇降駆動源25に出力指令を出して保持部材20を下降させ、保持部材傾け機構26の傾け駆動源に出力指令を出して保持部材20を傾けてトレイ部材15の製品板材W2を回収ボックス10の中に滑り落とし、保持部材傾け機構26の傾け駆動源に出力指令を出して保持部材20を水平に戻し、昇降駆動源25に出力指令を出してトレイ部材15の底面が回収ボックス10の上端に当たる程度まで保持部材20を下降させ、保持部材20の吸着駆動源に出力指令を出して吸着パッド22によるトレイ部材15の保持を解除して、トレイ部材15を回収ボックス10の上に載置し、昇降駆動源25に出力指令を出して保持部材20を上昇させて初期状態に復帰させる。
上記トレイ部材搬出制御において、保持部材傾け機構26により保持部材20を傾けて、トレイ部材15の製品板材W2を回収ボックス10の中に滑り落とす際に、保持部材20を傾けるのと同時に、前後移動フレーム16の前後移動駆動源に出力指令を出して軌道11を後退させる。
The tray member carry-out control unit 55 performs tray member carry-out control for carrying out the tray member 15 on the table 5 surface at the product receiving position P2 to the plate material carrying-out position P1 with respect to the traveling body 13 after the multiple product storage control.
Specifically, when a predetermined number of product plate materials W2 are stored in the tray member 15 on the table 5 surface at the product receiving position P2, an output command is issued to the holding member 20 and the tray member 15 is sucked and held by the suction pad 22. Then, an output command is issued to the lift drive source 25 to raise the holding member 20 holding the tray member 15, and an output command is issued to the travel drive source 19 to cause the travel body 13 to travel from the product receiving position P2 to the plate material unloading position P1. Then, an output command is issued to the lifting drive source 25 to lower the holding member 20, and an output command is issued to the tilt drive source of the holding member tilting mechanism 26 to tilt the holding member 20 to collect the product plate material W 2 of the tray member 15. The holding member tilting mechanism 26 outputs an output command to the tilting drive source to return the holding member 20 to a horizontal position, and sends an output command to the lifting drive source 25 to output the bottom of the tray member 15. The holding member 20 is lowered until it reaches the upper end of the collection box 10, an output command is issued to the suction drive source of the holding member 20, the holding of the tray member 15 by the suction pad 22 is released, and the tray member 15 is removed from the collection box 10. , And an output command is issued to the lift drive source 25 to raise the holding member 20 and return to the initial state.
In the tray member carry-out control, when the holding member 20 is tilted by the holding member tilting mechanism 26 and the product plate material W2 of the tray member 15 is slid down into the collection box 10, the holding member 20 is tilted and moved back and forth at the same time. An output command is issued to the forward / backward moving drive source of the frame 16 to retract the track 11.

上記搬送制御装置50の制御により、板材搬出装置2は図20の流れ図に示す動作を行う。図13は運転開始前の状態を示している。
この状態から、板材加工機1の運転を開始すると、トレイ部材搬入過程R1が始まる。トレイ部材搬入過程R1では、まず、板材搬出位置P1に位置する走行体13の保持部材20が下降して、吸着パッド22でトレイ部材15を吸着保持する。トレイ部材15を保持した保持部材20は上昇し(図14)、トレイ部材15を保持したまま、走行体13は製品受け位置P2の水平位置まで移動する(図15)。走行体13が製品受け位置P2の水平位置に着くと、トレイ部材15の底面が板材加工機1のテーブル5面に接する程度の高さまで保持部材20が下降し、その位置でトレイ部材15の吸着保持を解除して、トレイ部材15をテーブル5面の仮置き場に載置する(図16)。
Under the control of the conveyance control device 50, the plate material carry-out device 2 performs the operation shown in the flowchart of FIG. FIG. 13 shows a state before the operation is started.
When the operation of the plate material processing machine 1 is started from this state, the tray member carry-in process R1 starts. In the tray member carry-in process R1, first, the holding member 20 of the traveling body 13 located at the plate material carry-out position P1 is lowered, and the tray member 15 is sucked and held by the suction pad 22. The holding member 20 holding the tray member 15 rises (FIG. 14), and the traveling body 13 moves to the horizontal position of the product receiving position P2 while holding the tray member 15 (FIG. 15). When the traveling body 13 arrives at the horizontal position of the product receiving position P2, the holding member 20 is lowered to such a height that the bottom surface of the tray member 15 is in contact with the table 5 surface of the plate material processing machine 1, and the tray member 15 is adsorbed at that position. The holding is released and the tray member 15 is placed on the temporary storage place on the table 5 (FIG. 16).

トレイ部材15が仮置き場に載置されると、複数製品板材収納過程R2が始まる。複数製品板材収納過程R2では、保持部材20が上昇し、走行体13が製品受け位置P2から製品切り取り位置P3の水平位置まで移動し、保持部材20が下降し、保持部材20により製品切り取り位置P3の製品板材W2を吸着保持する。製品板材W2を吸着保持した保持部材20は上昇し、走行体13が製品受け位置P2の水平位置まで移動する(図16)。次いで、保持部材20が下降し、その位置で保持部材20による製品板材W2の保持を解除させることにより、保持していた製品板材W2をトレイ部材15に収納する(図17)。これら一連の動作を、予め定めた所定の回数だけ行う。それにより、所定個数の製品板材W2が、製品受け位置P2のトレイ部材15に収納される。   When the tray member 15 is placed on the temporary storage place, the multi-product plate material storage process R2 starts. In the multiple product plate material storage process R2, the holding member 20 moves up, the traveling body 13 moves from the product receiving position P2 to the horizontal position of the product cutting position P3, the holding member 20 moves down, and the holding member 20 moves the product cutting position P3. The product plate material W2 is sucked and held. The holding member 20 holding the product plate W2 by suction rises and the traveling body 13 moves to the horizontal position of the product receiving position P2 (FIG. 16). Next, the holding member 20 is lowered, and the holding of the product plate W2 by the holding member 20 is released at that position, whereby the held product plate W2 is stored in the tray member 15 (FIG. 17). These series of operations are performed a predetermined number of times. Thereby, a predetermined number of product plate materials W2 are stored in the tray member 15 at the product receiving position P2.

複数製品板材収納過程R2が終了すると、トレイ部材搬出過程R3に移行する。トレイ部材搬出過程R3では、所定個数の製品板材W2が収納されたトレイ部材15を保持部材20で吸着保持し、この保持部材20が上昇してから、走行体13が製品受け位置P2から板材搬出位置P1まで走行する。次いで、保持部材20が回収ボックス10の上端よりも少し上の高さまで下降し、その位置で、軌道11ごと後退させながら保持部材20を傾ける。それにより、トレイ部材15の製品板材W2が回収ボックス10の中に滑り落ちる。その後、保持部材20を水平に戻し、保持部材20を若干下降させてトレイ部材15を回収ボックス10の上に載せ、トレイ部材15の保持を解除する。保持部材20を上昇させて、初期状態に復帰する。   When the multi-product plate material storing process R2 is completed, the process proceeds to the tray member carrying-out process R3. In the tray member unloading process R3, the tray member 15 in which a predetermined number of product plate materials W2 are stored is sucked and held by the holding member 20, and after the holding member 20 is lifted, the traveling body 13 unloads the plate material from the product receiving position P2. Travel to position P1. Next, the holding member 20 is lowered to a height slightly above the upper end of the collection box 10, and the holding member 20 is tilted while being retracted together with the track 11 at that position. As a result, the product plate W2 of the tray member 15 slides into the collection box 10. Thereafter, the holding member 20 is returned to the horizontal position, the holding member 20 is slightly lowered, the tray member 15 is placed on the collection box 10, and the holding of the tray member 15 is released. The holding member 20 is raised to return to the initial state.

この板材搬出装置2によっても、前記第1の実施形態とほぼ同様の作用効果が得られる。但し、この第2の実施形態では、走行体13が1台であるため、トレイ部材搬入過程R1が終了してから、複数製品板材収納過程R2が始まる。そのため、第1の実施形態のように、走行体13が板材搬出位置P1から製品受け位置P2へ移動中に、製品切り取り位置P3の製品板材W2の取り上げを開始することができないため、作業効率の点では第1の実施形態よりも多少劣る。しかし、軌道11および走行体13の数を少なくできるため、第1の実施形態よりも構成が簡略で安価に製作することができるという利点を有する。   The plate material carry-out device 2 can also provide substantially the same operational effects as those of the first embodiment. However, in this second embodiment, since there is one traveling body 13, the multiple product plate material storing process R2 starts after the tray member carrying-in process R1 is completed. Therefore, as in the first embodiment, since the traveling body 13 is moving from the plate material unloading position P1 to the product receiving position P2, it is not possible to start taking up the product plate material W2 at the product cutting position P3. In point, it is somewhat inferior to the first embodiment. However, since the number of tracks 11 and traveling bodies 13 can be reduced, the configuration is simpler than that of the first embodiment, and there is an advantage that it can be manufactured at low cost.

上記各実施形態では、素材板材W0から複数切り取られる小さな製品板材W2を、板材加工機1から板材搬出部3に搬出する場合について説明したが、第1、第2の実施形態の板材搬出装置2はいずれも、比較的大きな製品板材W1の搬出にも使用できる。その場合、保持部材20の複数(例えば全部)の吸着パッド22で製品板材W1を吸着保持する。搬出された製品板材W1はパレット9の上に積層状態に積載される。
さらに、第1の実施形態の板材搬出装置2では、2台の走行体13,14の各保持部材20で製品板材W1を保持した状態で搬出することも可能で、その場合、1台の走行体だけで製品板材W1を搬出するのに比べ、大きな製品板材W2を安定して搬出することができる。
Although each said embodiment demonstrated the case where the small product board | plate material W2 cut out from the raw material board | plate material W0 was carried out to the board | plate material carrying-out part 3 from the board | plate material processing machine 1, the board | plate material carrying-out apparatus 2 of 1st, 2nd embodiment was demonstrated. Both can be used to carry out a relatively large product plate W1. In that case, the product plate material W <b> 1 is sucked and held by a plurality (for example, all) of suction pads 22 of the holding member 20. The unloaded product plate W1 is stacked on the pallet 9 in a stacked state.
Furthermore, in the board | plate material carrying-out apparatus 2 of 1st Embodiment, it is also possible to carry out in the state which hold | maintained the product board | plate material W1 with each holding member 20 of the two traveling bodies 13 and 14, In that case, one traveling | running | working Compared with the case where the product plate material W1 is carried out only by the body, the large product plate material W2 can be carried out stably.

この発明の第1の実施形態にかかる板材搬出装置を装備した板材加工設備の斜視図である。It is a perspective view of the board | plate material processing equipment equipped with the board | plate material carrying-out apparatus concerning 1st Embodiment of this invention. 同板材加工設備の異なる状態を示す斜視図である。It is a perspective view which shows the different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 第1走行体の側面図である。It is a side view of the 1st run. 第2走行体の側面図である。It is a side view of a 2nd traveling body. 同板材加工設備の制御系の概念構成を示すブロック図である。It is a block diagram which shows the conceptual structure of the control system of the board material processing equipment. 同板材搬出装置の概念構成を示すブロック図である。It is a block diagram which shows the conceptual structure of the board material carrying-out apparatus. 同板材搬出装置の動作を示す流れ図である。It is a flowchart which shows operation | movement of the board material carrying-out apparatus. 同板材搬出装置のトレイ部材による製品板材移し替え動作の説明図である。It is explanatory drawing of the product board | plate material transfer operation | movement by the tray member of the board material carrying-out apparatus. この発明の第2の実施形態にかかる板材搬出装置を装備した板材加工設備の斜視図である。It is a perspective view of the board | plate material processing equipment equipped with the board | plate material carrying-out apparatus concerning 2nd Embodiment of this invention. 同板材加工設備の異なる状態を示す斜視図である。It is a perspective view which shows the different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材加工設備のさらに異なる状態を示す斜視図である。It is a perspective view which shows the further different state of the board material processing equipment. 同板材搬出装置の概念構成を示すブロック図である。It is a block diagram which shows the conceptual structure of the board material carrying-out apparatus. 同板材搬出装置の動作を示す流れ図である。It is a flowchart which shows operation | movement of the board material carrying-out apparatus.

符号の説明Explanation of symbols

1…板材加工機
2…板材搬送装置
3…板材搬出部
4…板材ストッカ
5…テーブル
7…加工部
8…板材送り装置
9…パレット
10…回収ボックス
11,12…軌道
13…第1の走行体
14…第2の走行体
15…トレイ部材
16…前後移動フレーム
19…走行駆動源
20…保持部材
22…吸着パッド
25…昇降駆動源
26…保持部材傾け機構
28…傾け駆動源
30…加工機制御装置
40…搬送制御装置
43…トレイ部材待機制御部
44,54…複数製品板材収納制御部
45,55…トレイ部材搬出制御部
53…トレイ部材搬入制御部
P1…板材搬出位置
P2…製品受け位置
P3…製品切り取り位置
W0…素材板材
W1,W2…製品板材
DESCRIPTION OF SYMBOLS 1 ... Plate material processing machine 2 ... Plate material conveyance apparatus 3 ... Plate material carrying-out part 4 ... Plate material stocker 5 ... Table 7 ... Processing part 8 ... Plate material feeding apparatus 9 ... Pallet 10 ... Collection boxes 11, 12 ... Track 13 ... First traveling body DESCRIPTION OF SYMBOLS 14 ... 2nd traveling body 15 ... Tray member 16 ... Back-and-forth movement frame 19 ... Traveling drive source 20 ... Holding member 22 ... Suction pad 25 ... Lifting drive source 26 ... Holding member tilting mechanism 28 ... Tilt drive source 30 ... Processing machine control Device 40 ... Conveyance control device 43 ... Tray member standby control unit 44, 54 ... Plural product plate material storage control unit 45, 55 ... Tray member carry-out control unit 53 ... Tray member carry-in control unit P1 ... Plate material carry-out position P2 ... Product receiving position P3 ... Product cutting position W0 ... Material plate material W1, W2 ... Product plate material

Claims (5)

板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する板材搬出装置であって、
前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体と、前記各走行体を制御する搬送制御手段とを備え、
この搬送制御手段は、
一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機制御と、
他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、
この複数製品板材収納制御の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御と、
を行うものとした板材搬出装置。
A plate material unloading device for unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading part outside the plate material processing machine,
A track installed between the plate material processing machine and the plate material carry-out section; a portable tray member capable of storing a plurality of the product plate materials; and a holding member capable of selectively holding the product plate material and the tray member. Each having two traveling bodies that can travel independently of each other along the track, and a transport control means for controlling each traveling body,
This transport control means
Tray member standby control in which one traveling body holds the tray member by the holding member and waits at a predetermined product receiving position in the vicinity of the product cutting position;
The other traveling body holds the product plate at the product cutting position by the holding member and stores it in the standby tray member at the product receiving position, and performs a plurality of operations from holding the product to storing it in the tray member. Multiple product plate storage control to be repeated once,
After this multi-product plate material storage control, a tray member carry-out control that causes the one traveling body to carry out a tray member waiting at the product receiving position to the plate material carry-out portion;
Board material unloading device.
板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する板材搬出装置であって、
前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体と、前記走行体を制御する搬送制御手段とを備え、
この搬送制御手段は、
前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入制御と、
このトレイ部材搬入制御の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納制御と、
この複数製品板材収納制御の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出制御と、
を行うものとした板材搬出装置。
A plate material unloading device for unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading part outside the plate material processing machine,
A track installed between the plate material processing machine and the plate material carry-out section; a portable tray member capable of storing a plurality of the product plate materials; and a holding member capable of selectively holding the product plate material and the tray member. Having one traveling body capable of traveling along the track, and a transport control means for controlling the traveling body,
This transport control means
A tray member carry-in control for causing the traveling body to hold the tray member by the holding member and carry the tray member to a predetermined product receiving position that is in the vicinity of the product cutting position;
After this tray member carry-in control, the product plate material at the product cut-out position is held by the holding member and stored in the tray member at the product receiving position after the tray member carrying-in control, and from this product holding to the tray member storing Multiple product plate storage control to repeat the operation of multiple times,
After this multi-product plate material storage control, the traveling member causes the tray member at the product receiving position to be carried out to the plate material carry-out portion, and the tray member carry-out control,
Board material unloading device.
前記板材搬出部に回収ボックスが設けられ、前記走行体は、前記保持部材を、この保持部材で保持状態のトレイ部材が内部の製品板材が落下可能な角度になるよう傾ける保持部材傾け機構を有し、前記搬送制御装置は、前記トレイ部材搬出制御において、前記保持部材傾け機構により保持部材を傾けてトレイ部材内の製品板材を回収ボックスに移し替える動作を行わせものとした請求項1または請求項2記載の板材搬出装置。   A recovery box is provided in the plate material unloading section, and the traveling body has a holding member tilting mechanism for tilting the holding member so that the tray member held by the holding member has an angle at which the product plate material inside can be dropped. In the tray member carry-out control, the transport control device is configured to perform an operation of tilting the holding member by the holding member tilting mechanism and transferring the product plate material in the tray member to the collection box. Item 3. A plate material carrying-out device according to item 2. 板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する板材搬出方法であって、
前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収容可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材をそれぞれ有し前記軌道に沿って互いに独立して走行可能な2台の走行体とを備える板材搬出装置を用い、
一方の走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に待機させるトレイ部材待機過程と、
他方の走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置で待機状態のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、
この複数製品板材収納過程の後に、前記一方の走行体に、前記製品受け位置に待機するトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程と、
を含む板材搬出方法。
A plate material unloading method for unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading part outside the plate material processing machine,
A track installed between the plate material processing machine and the plate material carry-out section; a portable tray member capable of accommodating a plurality of the product plate materials; and a holding member capable of selectively holding the product plate material and the tray member. Using a plate material carry-out device comprising two traveling bodies that can travel independently of each other along the track,
A tray member standby process in which one traveling body holds the tray member by the holding member and waits at a predetermined product receiving position in the vicinity of the product cutting position;
The other traveling body holds the product plate at the product cutting position by the holding member and stores it in the standby tray member at the product receiving position, and performs a plurality of operations from holding the product to storing it in the tray member. Multiple product plate storage process to be repeated,
After the plural product plate material storing process, the tray member carrying out process of carrying out the tray member waiting at the product receiving position to the plate material carrying out portion on the one traveling body,
A board material carrying-out method.
板材加工機によって素材板材から切り取られた製品板材を、板材加工機上の製品切り取り位置から板材加工機外の板材搬出部に搬出する板材搬出方法であって、
前記板材加工機と前記板材搬出部の上方間に設置された軌道と、前記製品板材を複数収納可能な可搬のトレイ部材と、前記製品板材およびトレイ部材を選択的に保持可能な保持部材を有し前記軌道に沿って走行可能な1台の走行体とを備える板材搬出装置を用い、
前記走行体に、前記保持部材により前記トレイ部材を保持させて前記製品切り取り位置の近傍となる所定の製品受け位置に搬入させるトレイ部材搬入過程と、
このトレイ部材搬入過程の後に、前記走行体に、前記製品切り取り位置の製品板材を前記保持部材により保持させて前記製品受け位置のトレイ部材に収納させ、この製品の保持からトレイ部材への収納までの動作を複数回繰り返させる複数製品板材収納過程と、
この複数製品板材収納過程の後に、前記走行体に、前記製品受け位置のトレイ部材を前記板材搬出部へ搬出させるトレイ部材搬出過程と、
を含む板材搬出方法。
A plate material unloading method for unloading a product plate material cut from a material plate material by a plate material processing machine from a product cutting position on the plate material processing machine to a plate material unloading part outside the plate material processing machine,
A track installed between the plate material processing machine and the plate material carry-out section; a portable tray member capable of storing a plurality of the product plate materials; and a holding member capable of selectively holding the product plate material and the tray member. Using a plate material carry-out device comprising one traveling body capable of traveling along the track,
A tray member carrying-in process in which the traveling member is caused to hold the tray member by the holding member and carry the tray member to a predetermined product receiving position in the vicinity of the product cutting position;
After the tray member carrying-in process, the product plate material at the product cut-out position is held by the holding member and stored in the tray member at the product receiving position after the tray member loading process, from the holding of the product to the storing in the tray member The multiple product plate storage process that repeats the operation of multiple times,
After the multiple product plate material storage process, a tray member unloading process for causing the traveling body to unload the tray member at the product receiving position to the plate material unloading portion;
A board material carrying-out method.
JP2007068644A 2007-03-16 2007-03-16 Plate material unloading apparatus and plate material unloading method Active JP4935442B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007068644A JP4935442B2 (en) 2007-03-16 2007-03-16 Plate material unloading apparatus and plate material unloading method

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007068644A JP4935442B2 (en) 2007-03-16 2007-03-16 Plate material unloading apparatus and plate material unloading method
US12/043,846 US20080273948A1 (en) 2007-03-16 2008-03-06 Plate Material Carry-Out Device and Plate Material Carry-Out Method
CN2008100821934A CN101264497B (en) 2007-03-16 2008-03-07 Plate moving out device and method
DE102008014050A DE102008014050A1 (en) 2007-03-16 2008-03-13 Conveying device for removing plate material from a plate material processing machine comprises rails, a mobile receiving element for plate materials, driving elements and a conveying control unit for controlling the driving elements

Publications (2)

Publication Number Publication Date
JP2008229634A true JP2008229634A (en) 2008-10-02
JP4935442B2 JP4935442B2 (en) 2012-05-23

Family

ID=39688478

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007068644A Active JP4935442B2 (en) 2007-03-16 2007-03-16 Plate material unloading apparatus and plate material unloading method

Country Status (4)

Country Link
US (1) US20080273948A1 (en)
JP (1) JP4935442B2 (en)
CN (1) CN101264497B (en)
DE (1) DE102008014050A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009181375A (en) * 2008-01-31 2009-08-13 Murata Mach Ltd Conveyance data production device and conveyance controller for plate material conveying device

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103372618B (en) * 2012-04-18 2015-08-12 珠海格力电器股份有限公司 Sheet metal component automatic stacking system
DE102017114727B3 (en) * 2017-06-30 2018-10-25 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Method for processing blanks from a plate-shaped material
CN107457321A (en) * 2017-09-06 2017-12-12 安徽海拓志永智能装备股份有限公司 A kind of automatic packing device suitable for stamped workpieces
JP6535066B2 (en) * 2017-11-09 2019-06-26 株式会社アマダホールディングス Product unloading device, product unloading device, and product unloading method
CN109290473A (en) * 2018-09-14 2019-02-01 重庆江北区长安产业有限公司 A kind of production of stamping parts of automobile manually assists material collecting device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0858957A (en) * 1994-08-23 1996-03-05 Kitagawa Elaborate Mach Co Ltd Conveying supply mechanism for pressed material
JPH09276959A (en) * 1996-04-17 1997-10-28 Amada Co Ltd Product taking out device of plate working machine
JP2000158301A (en) * 1998-11-30 2000-06-13 Murata Mach Ltd Plate handling system
JP2002126840A (en) * 2000-10-20 2002-05-08 Murata Mach Ltd Transfer device for board

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3522838A (en) * 1968-04-30 1970-08-04 Respond Inc Die casting extractor
US3888362A (en) * 1973-05-31 1975-06-10 Nasa Cooperative multiaxis sensor for teleoperation of article manipulating apparatus
US4032022A (en) * 1975-11-03 1977-06-28 Smith John S Apparatus for handling cartons and the like
JPS6227943B2 (en) * 1979-01-30 1987-06-17 Toyoda Machine Works Ltd
US4548536A (en) * 1981-11-27 1985-10-22 Toyoda Koki Kabushiki Kaisha Working apparatus with track following motion
JPH0150490B2 (en) * 1983-07-08 1989-10-30 Komatsu Mfg Co Ltd
AT388126B (en) * 1985-05-09 1989-05-10 Sticht Walter DEVICE FOR HANDLING COMPONENTS
US4971515A (en) * 1985-06-03 1990-11-20 Roberts Corporation Apparatus for moving individual sheets from a stack of sheets
US4775290A (en) * 1986-03-03 1988-10-04 Flow Systems, Inc. Flexible vacuum gripper
IT1205553B (en) * 1986-07-29 1989-03-23 Omera Spa SELECTION DEVICE FOR STACKED FLAT ELEMENTS
EP0316038A3 (en) * 1987-11-09 1990-05-16 Telmec S.P.A. Automatic loading unit for sheet units onto functional machines equipped with a conveyor
US4921387A (en) * 1988-09-16 1990-05-01 The Budd Company Combination transfer/turnover machine
US5372473A (en) * 1992-11-20 1994-12-13 Fleetwood Systems, Inc. Automatic tray loading, unloading and compensating system
JPH0726026A (en) 1993-07-08 1995-01-27 Idemitsu Petrochem Co Ltd Production of water-absorbing polymer with surface cross-linked
US6789310B1 (en) * 1995-11-06 2004-09-14 Matsushita Electric Industrial Co., Ltd. Component mounting apparatus
DE19716039C2 (en) * 1997-04-17 2001-03-08 Schuler Automation Gmbh & Co Device for transferring plate-like parts from a first position to a second position
US6579053B1 (en) * 1999-03-15 2003-06-17 Abb Flexible Automation, Inc. Robotic containerization and palletizing system
JP4482957B2 (en) 1999-06-11 2010-06-16 村田機械株式会社 Plate material transfer device
KR100345901B1 (en) * 1999-06-16 2002-07-27 미래산업 주식회사 Surface Mounting Device
SE515980C2 (en) * 1999-07-13 2001-11-05 Binar Ab A method for the rapid movement of a work object in both horizontal and vertical directions from one workstation to another
JP2001179373A (en) 1999-12-17 2001-07-03 Murata Mach Ltd Unloading system for plate material
US6835040B2 (en) * 2001-11-09 2004-12-28 Neil Quiring Laser cutting plate conveyor
AT306994T (en) * 2002-06-28 2005-11-15 Oscam Spa DEVICE AND METHOD FOR MACHINING METAL BARS WITH IMPROVED MEANS FOR CONVEYING BARS
US20040202531A1 (en) * 2003-01-29 2004-10-14 Amada America Inc. System for handling material and parts cut therefrom
JP4765536B2 (en) * 2005-10-14 2011-09-07 パナソニック株式会社 Chip pickup apparatus, chip pickup method, chip peeling apparatus and chip peeling method
NL1031944C2 (en) * 2006-06-02 2010-07-13 Visser S Gravendeel Holding METHOD AND DEVICE FOR BUFFERING HOLDER WITH PLANTS.
JP2008049356A (en) * 2006-08-23 2008-03-06 Murata Mach Ltd Device for carrying out metal plate
US8011058B2 (en) * 2006-10-31 2011-09-06 Asm Assembly Automation Ltd Singulation handler system for electronic packages
JP5034669B2 (en) * 2007-05-16 2012-09-26 村田機械株式会社 Plate material conveying and storing system and plate material conveying and storing method
JP5141347B2 (en) * 2008-04-14 2013-02-13 村田機械株式会社 Plate stocker equipment
JP5067250B2 (en) * 2008-04-18 2012-11-07 村田機械株式会社 Plate material transfer device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0858957A (en) * 1994-08-23 1996-03-05 Kitagawa Elaborate Mach Co Ltd Conveying supply mechanism for pressed material
JPH09276959A (en) * 1996-04-17 1997-10-28 Amada Co Ltd Product taking out device of plate working machine
JP2000158301A (en) * 1998-11-30 2000-06-13 Murata Mach Ltd Plate handling system
JP2002126840A (en) * 2000-10-20 2002-05-08 Murata Mach Ltd Transfer device for board

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009181375A (en) * 2008-01-31 2009-08-13 Murata Mach Ltd Conveyance data production device and conveyance controller for plate material conveying device

Also Published As

Publication number Publication date
US20080273948A1 (en) 2008-11-06
CN101264497B (en) 2011-10-26
DE102008014050A1 (en) 2008-09-18
CN101264497A (en) 2008-09-17
JP4935442B2 (en) 2012-05-23

Similar Documents

Publication Publication Date Title
JP5380785B2 (en) Board processing system
JP5034669B2 (en) Plate material conveying and storing system and plate material conveying and storing method
JP5309467B2 (en) Board processing system
JP4935442B2 (en) Plate material unloading apparatus and plate material unloading method
JP5850661B2 (en) Parts supply device
JP2008266005A (en) Plate material conveying system
TW200930648A (en) Container exchanging device and container exchanging method
JP4751026B2 (en) Plate material processing method and apparatus, and automatic warehouse
JP5094145B2 (en) Shelf device and work placement method on product pallet
KR102013447B1 (en) Apparatus for ejecting and transferring workpiece
JP5883359B2 (en) Work processing and conveyance system
JP5217601B2 (en) Plate stocker
JP2006124112A (en) Material shelf device and plate processing system
JP4380853B2 (en) Plate material loading / unloading device for thermal cutting machine
JP6025343B2 (en) Method for picking workpieces in a shelf device and the shelf device
JP2006176233A (en) Automated plate storage and its operating method
JP2000263290A (en) Plate material carrying in/out device of thermal cutting machine
JP5519227B2 (en) Shelf equipment
JP5130789B2 (en) Board processing system
JP7069565B2 (en) Work supply device and work processing system
JP4598215B2 (en) Plate material transfer device
JPH0751775A (en) Device for transporting work for plate working machine
KR20220012678A (en) Tray magazine device
JPH08108905A (en) Automatic warehouse for plate material
JP2007000911A (en) System for carrying-in and carrying-out metallic plate and system for carrying-in metallic plate

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20091218

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120119

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120124

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120206

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150302

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 4935442

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250