JP2014218347A - Classification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a classification device which can easily perform an operation when products are separated from cut materials, on which objective cutting is completed, and are classified.SOLUTION: In a classification device, products 4a to 4f are separated from cut materials 2, 3 in a cut material installation area B provided along a rail 1 are classified to classification positions 5 to 7 in a classification area C. The classification device comprises: a travel carriage 10 having a transverse motion garter 10a in a direction crossing the rail; and a separation member 12 having a stand 12b provided on the transverse motion garter, an arm 12b so attached to the stand as to be rotatable in a horizontal place and a vertical plane, and an adsorption member 15 so attached to the arm as to be rotatable in a horizontal place and a vertical plane. The separation member 12 is driven and thus the adsorption member 15 attached to the arm approaches and adsorbs the products, then the adsorption member 15 is so lifted as to face the classification portion 5, and thereafter, the products are released from adsorption thereof and are classified.

Description

  The present invention relates to a sorting apparatus for taking out and separating a product from a material to be cut that has been subjected to a target cutting and sorting it into a preset position.

  Cutting a to-be-cut material including a steel plate, a stainless steel plate, or the like by selecting a torch such as a plasma cutting torch, a laser cutting torch, or a gas cutting torch is performed. Since the product to be cut and the remaining material exist on the same plane in the material to be cut that has been cut, the work is taken out from this plane and sorted for each character (for example, delivery destination, size, function, etc.). Is called. When this sorting operation is performed manually, a large number of man-hours are required. Therefore, an apparatus for mechanically sorting has been proposed.

  For example, the cutting processing apparatus described in Patent Document 1 includes a cutting apparatus placed on the inner rail, a sorting apparatus placed on the outer rail and having an inner peripheral dimension larger than the outer peripheral dimension of the cutting apparatus, and a cutting apparatus And a control device for controlling the sorting device. In this cutting processing device, the control device controls the cutting device and the sorting device based on the same cutting information, so that the product is separated from the material to be cut by the cutting device by the sorting device and placed in a predetermined storage position. Can be loaded and sorted. Further, the sorting device is provided with a suction head having a plurality of suction members, and the suction head is configured to be able to traverse along a traverse rail that extends across the outer rail to the storage position. . For this reason, the product cut | disconnected from the to-be-cut material arrange | positioned inside the inner rail can be conveyed to the storage position arrange | positioned outside the outer rail.

  In particular, in the above-described cutting processing apparatus, the cutting apparatus and the sorting apparatus can be controlled based on the layout set for one piece of material to be cut. For this reason, it is advantageous in that it is possible to simultaneously perform the cutting by the cutting device for the material to be cut arranged inside the inner rail and the separation and sorting of the products by the sorting device for the material to be cut after the target cutting has been completed.

  In addition, the picking device described in Patent Document 2 has a peristaltic device that swings up and down the attracting magnet that attracts the member. If the load is large when the member is attracted and lifted by the attracting magnet, The magnet is swinged up and down to be separated from the material to be cut. In this picking apparatus, when a member is separated from a workpiece to be cut, the separation can be reliably performed even when slag is attached to the back surface.

Japanese Patent No. 2824277 (Japanese Patent Laid-Open No. 03-008570) Japanese Patent No. 3148360 (Japanese Patent Laid-Open No. 05-337855)

  In the inventions described in Patent Documents 1 and 2, when the cut product is separated from the material to be cut and sorted into the sorting position, the product is simply translated without changing the posture of the product. For this reason, there is no problem when stacking and sorting products cut from one piece of material to be cut, but there is a deviation when trying to load products cut from two or more pieces of material to be cut. There is a possibility that the work such as correction may be complicated.

  An object of the present invention is to provide a sorting apparatus that can easily perform work when separating and sorting products from a material to be cut that has been cut.

  In order to solve the above-described problem, the sorting apparatus according to the present invention is provided with a cut material installation area and a sort area along the laid rail, and is installed in the cut material installation area so that the target cutting is performed. A sorting device for separating a product from a finished material to be cut and sorting to a sorting position in the sorting area, wherein the sorting device is configured to run along a laid rail and arranged in a direction intersecting the rail. A traveling carriage having a transverse garter, a stand disposed on the transverse garter of the traveling carriage, and provided in a direction perpendicular to a traveling surface of the traveling carriage, and swiveling in a horizontal plane and a vertical plane with respect to the stand An arm attached in such a way as to be capable of being attached, and an adsorbing member that is attached so as to be able to swivel in a horizontal plane and a vertical plane with respect to the arm and adsorbs a product from a material to be cut that has been cut. A separating member, and when the product is separated from the material to be cut that has been cut in a desired manner after the target cutting is completed, the traveling carriage is driven and the separation member is driven to the arm. The attached adsorbing member is brought close to a predetermined product, the product is adsorbed by the adsorbing member, the adsorbing member adsorbing the product is raised and separated from the material to be cut, and the separated product is preset in the sorting area. After facing the sorting position, the suction of the product by the suction member is canceled and the product is sorted.

  In the sorting apparatus, it is preferable that a traversing cart configured to traverse along the traversing garter is disposed on the traversing garter of the traveling cart, and the separating member is mounted on the traversing cart. .

  In any of the above sorting apparatuses, the adsorbing member is attached to the arm constituting the separating member so as to be able to swivel in a horizontal plane and a vertical plane, and the linear guide member It is preferable to have two carriages that are provided on the carriage and are configured to be able to reciprocate linearly with each other, and an adsorber provided on each of the carriages.

  In any of the above sorting apparatuses, the arm is provided with a CCD camera, and the CCD camera takes a picture of a product to be separated from the material to be cut installed in the material to be cut, or It is preferable that the sorting position can be photographed in the sorting area of the product attracted by the suction member.

  In the sorting apparatus according to the present invention, by driving the traveling carriage and the separating member, the arm and the adsorbing member can be turned in the horizontal plane and the vertical plane so that the adsorbing member faces the product. And after adsorb | sucking a product by an adsorption | suction member and isolate | separating from a to-be-cut material, it can sort into the sorting position in a sorting area | region.

  When separating the product from the material to be cut or when loading the adsorbed product at the sorting position set in the sorting area, the suction member is swung in the horizontal plane and the vertical plane so that the workpiece is railed. Even if it is arranged to be inclined with respect to this, this inclination can be corrected. Therefore, when products having the same shape cut from a plurality of materials to be cut are sorted, there is no deviation when products having the same shape are stacked at the same sorting position.

  In addition, when a traversing cart that can traverse is arranged in the traversing garter of the traveling cart and a separating member is mounted on the traversing cart, the arm that constitutes the separating member traverses in a direction intersecting the rail laying direction. Can do. For this reason, even if the distance between the laid rails becomes wide and the size of the material to be cut installed between the rails becomes large, the products cut from the material to be cut can be separated and sorted. .

  Further, the adsorption member has a linear guide member attached so as to be able to turn in a horizontal plane and a vertical plane with respect to the tip of the arm, two carriages, and an adsorber provided on each carriage. If configured, the adsorber can be moved according to the shape of the product. For this reason, it can be reliably adsorbed regardless of the shape of the product, and even when a plurality of products are loaded and sorted, they can be loaded without mutual displacement.

  In addition, when a CCD camera is provided on the arm so that the product can be photographed or the sorting position can be photographed, whether or not the product to be sucked by the suction member is the target product is determined. It is possible to check whether or not the target sorting position is correct and perform accurate sorting.

It is a front view explaining the structure of a sorting apparatus. It is a top view explaining the structure of a sorting apparatus. It is a side view explaining the structure of a sorting apparatus. It is a figure explaining the structure of the adsorption | suction member of a separation member. It is a figure explaining the control system of a sorting apparatus. It is a figure explaining the relationship between the product at the time of adsorb | sucking the product of a special shape, and an adsorption member. It is a schematic diagram explaining the relationship between the movable range of the arm which comprises a sorting apparatus, a to-be-cut material installation area | region, and a sorting area | region.

  Hereinafter, the sorting apparatus according to the present invention will be described. The sorting apparatus according to the present invention has already finished the intended cutting, separates the product from the material to be cut installed in the cut material installation area, and places the separated product at the sorting position set in the sorting area in advance. They are moved and sorted. In the present invention, the type and number of products to be cut from one piece of material to be cut are not limited, and various products having different planar shapes and planar dimensions may be used. In addition, the sorting conditions for sorting products are not limited. Optimum sorting is performed as necessary, such as by product shape, size, process to be supplied, factory, customer, etc. Is preferred.

  The cut material installation area is provided along a rail laid corresponding to the structure of the sorting apparatus. The interval between the installed rails is not limited. For example, when the traversing garter constituting the sorting device is a gate-type garter, the rails are laid in parallel according to the dimensions of the garter and covered between the rails. A cutting material installation area is configured. When the sorting device has a box-shaped carriage and a cantilevered transverse garter, the rails are laid in parallel according to the width of the box-shaped carriage, and the cut material installation area is the area of the laid rail. Constructed on both sides along the longitudinal direction.

  The sorting area is also provided along the laid rail. However, the sorting area only needs to be along the rail, and the position with respect to the rail is not limited. For example, when the sorting apparatus has a gate-type garter, it can be provided along the outside of the laid rail or between the rails. In particular, when providing a sorting area between the laid rails, both sides along the rail laying direction of the surface formed between the rail and the material to be cut or the material to be cut installed between the rails It is preferable to use the surface formed on the surface.

  When performing a cutting operation on a material to be cut, it is possible to perform the cutting operation in a region where the material to be cut is provided along the rail. That is, a cutting device equipped with a cutting torch selected from a gas cutting torch, a plasma cutting torch, a laser cutting torch and the like is placed on the rail on which the sorting device runs. And it is possible to cut | disconnect a to-be-cut material by controlling the movement and working condition in the plane of a cutting torch by a numerical control apparatus (NC apparatus). In this case, a cutting surface plate constituted by standing a plurality of flat plates or a plurality of pins standing up is arranged in the cut material installation region, and the material to be cut is placed on the cutting surface plate. Supported.

  In addition, the cutting work on the material to be cut can be performed at a place other than the material installation area. In this case, in order to transport the cut material after cutting to the cut material installation region, it is preferable to place the cut material on the pallet and support it, and perform the cutting operation with the cutting torch in this state. As described above, when the material to be cut is cut while being placed on the pallet, and the material to be cut is transported to the cut material setting area together with the pallet, the cut material setting area is flat. It may be a smooth surface, for example a concrete placement surface.

  Further, the number of materials to be cut that have been cut for the purpose of being installed in the material installation area is not limited, and it is preferable that a plurality of materials to be cut can be installed. In particular, the material to be cut is installed in consideration of the time required for separating and sorting the product from one piece of material to be cut by the sorting device and the time required for the purpose of cutting one piece of material to be cut by the cutting device. It is preferable to set the number. For example, assuming that the time required for separation and sorting for one piece of material to be cut is 1/4 of the time required for cutting one piece of material, one sorting device for four cutting devices. It would be good to have a facility. In this case, it is preferable that the cut material installation region is provided so that at least four cut materials can be installed.

  When the sorting conditions for sorting the products are for each process to be supplied with a plurality of types of products, for each factory, and for each customer, it is preferable to load products in order from the products with the largest areas. In particular, depending on the shape of the product, it may be preferable to alternately load even the same shape.

  The traveling carriage is configured to be able to travel along the laid rail, and has a transverse garter arranged in a direction intersecting the rail. As described above, the traveling cart only needs to be configured so as to be able to travel the traverse garter along the rail, and the structure is not limited. For example, when the interval between the laid rails is wide, a saddle having a traveling motor is arranged for each rail, and these saddles can be configured as a portal traveling cart connected by a transverse garter. In addition, when the interval between the laid rails is narrow, a box-shaped saddle having a traveling motor is arranged across the rails, and it can be configured as a cantilever type traveling carriage with a transverse garter attached to the saddle. is there.

  A separating member having an adsorbing member for separating the product from the material to be cut is disposed on the transverse garter of the traveling carriage. The separation member includes a stand provided in a direction perpendicular to the traveling surface of the traveling carriage, an arm attached to the stand so as to be able to swivel in a horizontal plane and a vertical plane, and in a horizontal plane and perpendicular to the arm. And a suction member attached so as to be able to turn in the plane.

  The separation member may be any member as long as the adsorption member can be set to a free position and posture in the three-dimensional space, and the structure thereof is not limited. In particular, as the separating member having such a function, it is preferable to employ a robot that performs an operation of loading a load on a pallet.

  The separating member can be configured with the stand fixed to the upper surface of the traversing garter. However, when the interval between the laid rails is larger than the length of the arm constituting the separating member and the sorting area is outside the rail, it may be difficult to sort the products into sorting positions. For this reason, it is preferable to arrange a traversing cart that can traverse along the traversing garter with respect to the traversing garter, and to mount a separating member on the traversing cart.

  By configuring as described above, the separation member travels along the rail and traverses along the traverse garter, and can move over the entire area of the material to be cut. For this reason, it becomes possible to reliably separate the product from the material to be cut regardless of the rail interval and regardless of the laying length of the rail.

  The adsorbing member is configured to be able to swivel in a horizontal plane and a vertical plane with respect to the arm constituting the separating member, and adsorbs and separates the product from the material to be cut. Since the shape of the product cut from the material to be cut is not limited, there is a product having a shape such as a ring or an L shape in which the center of gravity is a space. When adsorbing a product having such a shape, a position separated from the center of gravity is adsorbed.

  For this reason, as the adsorbing member, two carriages configured to be able to reciprocate linearly are provided on a linear guide member attached so as to be able to swivel in a horizontal plane and a vertical plane with respect to an arm constituting the separating member. Preferably, each carriage is provided with an adsorber. Then, according to the relationship between the shape and size of the product to be separated and the position of the center of gravity, the center of the linear guide member is opposed to the position of the center of gravity and the carriage is moved to move the suction device to the position where the product should be sucked. It is possible to move.

  The adsorber that adsorbs the product includes a magnet, a vacuum cup for vacuum suction, and the like, and is preferably selected according to conditions such as the material of the material to be cut and the weight of the product to be separated. In particular, when the material to be cut is a steel plate, the adsorber is preferably a magnet, and when the material to be cut is a stainless steel plate, the adsorber is preferably a vacuum cup.

  The adsorber is preferably attached to the carriage via a load sensor such as a load cell. By detecting the load acting on the adsorber with such a load sensor, reliable separation can be smoothly advanced. For example, when the material to be cut and the product are connected via the metal or oxide (slag) discharged to the lower surface, when separating the product by the adsorber, in addition to the weight of the product The force required to break the slag will act as a load. For this reason, when the force required for breaking the slag is large, a problem that the adsorbing member including the adsorber is subjected to a large load, and the material to be cut is lifted together with the product, and the material to be cut is installed. There arises a problem that the position in the region is changed.

  Therefore, the load acting on the suction device is detected by the load sensor, and if the load is larger than the set value, whether or not the load has decreased by repeating the product suction work and the suction work stoppage several times. It is preferable to configure so that it can be detected. When the load is reduced, the product separation and sorting operation is continued, and when the load is not reduced, it is determined that the product cannot be separated and the process proceeds to the next product separation. It is preferable to do so.

  Next, an example of the sorting apparatus will be described with reference to the drawings. First, the positional relationship between the sorting apparatus A and the material to be cut installation area B and the sorting area C in this embodiment will be described with reference to FIG. The sorting apparatus A is placed on a pair of rails 1 laid in parallel, and is configured to travel along the rails 1. A cut material installation area B is provided on a plane formed between the pair of rails 1, and a sorting area C is provided on a plane outside the rail 1 and along the rail 1.

  In the present embodiment, only the sorting device A is placed on the rail 1 so as to be able to travel, and a plurality of products 4a to 4f having various shapes are cut in the cut material installation region B. Cutting materials 2 and 3 are installed, and a plurality of sorting positions 5 to 7 are set in the sorting area C. Since the cut materials 2 and 3 that have already been cut are placed in the cut material setting area B, the cut material setting area B is placed on a flat surface or individual cut materials 2 and 3. A platform is arranged to support the pallet. Further, at the sorting positions 5 to 7 set in the sorting area C, pallets for placing products to be sorted according to sorting conditions such as by shape or by next process are arranged. For this reason, the sorting area C is provided with a flat surface on which a pallet can be placed or a table that can support the pallet.

  Next, the configuration of the sorting apparatus A will be described with reference to FIGS. The sorting apparatus A according to the present embodiment is configured to be able to travel along the rail 1 and has a portal traveling cart 10 having a transverse garter 10a arranged in a direction perpendicular to the laying direction of the rail 1, and a transverse garter 10a. The traverse cart 11 is configured to be traversable along the traverse cart and the separating member 12 mounted on the traverse cart 11.

  The traveling carriage 10 has a saddle 10b that supports the transverse garter 10a and is mounted on the rail 1, and a traveling motor 10c is disposed on the saddle 10b. An operation panel 13 is provided on the saddle 10b on one side, and a control panel 14 containing a control system to be described later is provided on the transverse garter 10a. Therefore, by rotating the traveling motor 10c in a desired direction at a desired speed, the traveling carriage 10 can travel along the rail 1 in a desired direction at a desired speed.

  The traversing carriage 11 is placed on a traversing rail 11a provided on the upper surface of the traversing garter 10a, and the traversing carriage 11 is provided with a traversing motor 11b. Therefore, by rotating the traverse motor 11b in a desired direction at a desired speed, the traverse carriage 11 can traverse along the traverse rail 11a in a desired direction at a desired speed.

  The separating member 12 is provided in a direction perpendicular to the surface of the cut material installation region B, which is a traveling surface of the traveling carriage 10, and is installed in the traversing carriage 11, and in a horizontal plane and perpendicular to the stand 12a. The arm 12b is attached so as to be able to turn in a plane, and the suction member 15 is attached so as to be able to turn in a horizontal plane and a vertical plane with respect to the arm 12b and sucks a product.

  The stand 12a of the separating member 12 has a turning member 12c that can turn around a vertical axis (an axis perpendicular to the traversing carriage 11, S axis), and a horizontal axis ( A second arm 12d capable of turning about the L axis) is attached. An arm 12b is turnably attached to a horizontal axis (U axis) provided at the tip of the second arm 12d, and the arm 12b is configured to be rotatable about its own axis (R axis). Further, a joint 12e that can turn about a horizontal axis (B axis) and can rotate about its own axis (T axis) is provided at the tip of the arm 12b. 15 is attached.

  As the stand 12a, the arm 12b, the turning member 12c, the second arm 12d, and the joint 12e configured as described above, an articulated robot can be used.

  As shown in FIG. 4, the adsorbing member 15 constituting the separating member 12 and a linear guide member 15a attached to a joint 12e provided at the distal end of the arm 12b and a linear guide member 15a provided in the linear guide member 15a can be linearly reciprocated. Two carriages 15b, and an adsorber 15c provided on each of the carriages 15b.

  The two carriages 15b are independently driven by a motor 15d, and are configured to move to a desired position of the linear guide member 15a. Each of the two adsorbers 15c is provided with a load cell 15e so that a load acting on the adsorber 15c can be detected.

  In this embodiment, a magnet is adopted as the adsorber 15c. As described above, when the material to be cut is a stainless steel plate, it can be configured to be adsorbed by a vacuum cup.

  In the separation member 12 configured as described above, the suction member 15 attached to the joint 12e provided at the tip of the arm 12b is brought to a desired position by turning the arm 12b and the second arm 12d around the horizontal axis. It is possible to move. Further, the suction member 15 can be moved to a desired position within the range of the arrow shown in FIG. 7 by turning the arm 12b about the S axis which is the vertical axis of the stand 12a.

  For example, as shown in FIG. 6, a case will be described in which a suction member 15 sucks a product 16 that has an L-shape composed of two pieces 16 a and 16 b having different areas and has no product surface at the center of gravity G. First, the center of the linear guide member 15a is made to oppose the center of gravity G, and the two motors 15d are independently driven, so that the two adsorbers 15c are made to oppose the pieces 16a and 16b, respectively. Then, the adsorber 15c can be opposed to the pieces 16a and 16b of the product 16 and adsorbed by turning the arm 12b and the second arm 12d.

  Next, the control of the sorting apparatus A configured as described above will be briefly described with reference to FIG. In the present embodiment, the control system of the sorting apparatus A includes a control apparatus 20 that is housed in the control panel 14 and controls the entire sorting apparatus A, an adsorption control apparatus 21 that controls the adsorption member 15, an arm 12b, and a swivel. And an arm control device 22 that controls the turning of the member 12c, the second arm 12d, and the joint 12e.

  Based on the cutting information and sorting information preset for the workpieces 2 and 3, the control device 20 rotates the traveling motor 10 c of the traveling carriage 10, the rotation of the transverse motor 11 b of the traveling carriage 11, and the suction member. The controller 21 and the arm controller 22 are controlled to separate and sort the cut products 4a to 4f.

  The suction control device 21 drives the motor 15d on the surface of the product 4a to 4f on the surface of the product 4a to 4f by driving the motor 15d based on the information on the shape and center of gravity of the product 4a to 4f transmitted from the control device 20. Make them face each other. Further, when the adsorber 15c approaches or comes into contact with any of the products 4a to 4f, the adsorber 15c is controlled to exhibit the adsorbing function. Further, after any of the products 4a to 4f is adsorbed by the adsorber 15c, the load detected by the load cell 15e is monitored.

  The arm control device 22 controls the rotation of the motors 22a to 22f, and based on the position information of the products 4a to 4f with respect to the workpieces 2 and 3 and the information of the sorting positions with respect to the products 4a to 4f, the arm 12b. The turning of the turning member 12c, the second arm 12d, and the joint 12e is controlled. Further, for example, when the product 4a is set in the same direction when cutting, but is instructed to face each other when sorting, the joint 12e is moved along the T-axis in accordance with this instruction. Control to turn to the center.

  In this embodiment, the position information of the products 4a to 4f with respect to the workpieces 2 and 3 is set in advance as cutting information for the cutting device, NC data is created based on this cutting information, and the upper control device. To the control device 20 of the cutting device and sorting device A (not shown).

  The controller 20 drives the travel motor 10c and the traverse motor 11b based on the shape information and position information of the products 4a to 4f in the workpieces 2 and 3 transmitted from the host controller. Thus, the separation member 12 is moved to an optimal position for performing the separation work of the products 4a to 4f. Thereafter, the product to be separated first from the control device 20 to the suction control device 21 and the arm control device 22, for example, the shape information and position information of the product 4a cut from the material 2 to be cut, and the sorting to sort the product 4a. Sorting information indicating the position of position 5 is transmitted.

  When the separation device 12 moves to a predetermined position, the arm control device 22 moves the arm 12b, the second arm 12d, and the swivel member 12c to the respective axes so that the suction member 15 faces the product 4a according to the position information of the product 4a. Rotate around. Further, the adsorption control device 21 drives the motor 15d according to the shape information of the product 4a, and moves the adsorber 15c to a position where the product 4a can be stably adsorbed and separated.

  After the adsorber 15c moves, the arm 12b and the second arm 12d are turned to lower the adsorbing member 15, and the adsorber 15c is brought into contact with the product 4a to adsorb. After the adsorber 15c adsorbs the product 4a, the arm 12b and the second arm 12d are turned to raise the adsorbing member 15, and the product 4a is separated from the workpiece 2 along with this. As the adsorbing member 15 rises, a load acting on the adsorber 15c is detected by the load cell 15e.

  For example, as a result of monitoring the load acting on the adsorber 15c by the load cell 15e, when the overload is detected, the arm control device 22 moves the adsorbing member 15 up and down for a preset number of times. 12b, the turning of the second arm 12d is controlled. When the overload state is detected by the load cell 15e after moving up and down a preset number of times, the suction control device 21 separates the target product 4a from the control device 20 because the target product 4a cannot be separated. Tell the impossible signal.

  Further, when the overload state is not detected by the load cell 15e, the arm control device 22 causes the arm 12b, the second arm 12d, and the swiveling member to move the suction member 15 that has sucked the product 4a to a preset sorting position 5. 12c is controlled, and a signal indicating that it has moved to the sorting position 5 is transmitted to the control device 20 and the suction control device 21.

  The suction control device 21 releases the suction of the product by the suction device 15c when the arm control device 22 receives a signal indicating that the product cannot be separated. Further, the control device 20 stores that the target product 4a cannot be separated, and transmits the shape information, position information, and sorting position information for the product 4b to be separated next to the suction control device 21 and the arm control device 22. .

  Further, when a signal indicating that the adsorbing member 15 adsorbing the product 4a has moved to the preset sorting position 5 is transmitted from the arm control device 22 to the adsorbing control device 21, the adsorbing control device 21 uses the adsorber 15c. Control is performed so as to release the adsorption of the product 4a, and as a result, the product 4a is sorted to a preset sorting position 5.

  By sequentially performing the above-described operations on the products 4a to 4f, the products 4a to 4f cut from the workpieces 2 and 3 can be sorted into any of the preset sorting positions 5 to 7, respectively. Is possible.

  The sorting apparatus of the present invention is particularly advantageous in the industry for cutting products having various shapes from steel plates.

A Sorting device B Cut material installation area C Sort area 1 Rail 2, 3 Cut material 4a-4f Product 5-7 Sorting position 10 Traveling carriage 10a Traverse garter 10b Saddle 10c Traveling motor 11 Traversing carriage 11a Traverse rail 11b Traversing motor 12 Separating member 12a Stand 12b Arm 12c Revolving member 12d Second arm 12e Joint 13 Operation panel 14 Control panel 15 Adsorption member 15a Linear guide member 15b Carriage 15c Adsorber 15d Motor 15e Load cell 16 Product 16a, 16b Piece 20 Control device 21 Adsorption control Device 22 Arm control device 22a-22f Motor

Claims (4)

A cut material installation area and a sorting area are provided along the laid rail, and the product is separated from the cut material that is installed in the cut material installation area and has finished the target cutting, and A sorting device for sorting into sorting positions,
A traveling carriage configured to travel along a laid rail and having a transverse garter arranged in a direction intersecting the rail;
A stand disposed on a transverse garter of the traveling carriage, provided in a direction perpendicular to a traveling surface of the traveling carriage, and an arm attached to the stand so as to be able to turn in a horizontal plane and a vertical plane; A separating member having an adsorbing member that adsorbs a product from a material to be cut that is attached to the arm so as to be able to swivel in a horizontal plane and a vertical plane and that has finished the intended cutting.
When the target cutting is finished and the product is sorted from the material to be cut installed in the cut material setting area, the traveling carriage is run and the separation member is driven to attach the suction member attached to the arm to a predetermined product. After adsorbing the product by the adsorbing member, raising the adsorbing member adsorbing the product to separate it from the material to be cut, and facing the separated product to a preset sorting position in the sorting area, A sorting apparatus, wherein the product is sorted by releasing the suction of the product by the suction member.   2. The traversing garter of the traveling cart is provided with a traversing cart configured to traverse along the traversing garter, and the separating member is mounted on the traversing cart. Sorting equipment.   The adsorbing member is configured to be able to reciprocate linearly with respect to an arm constituting the separating member and to be mounted on the linear guide member so as to be able to turn in a horizontal plane and a vertical plane. The sorting apparatus according to claim 1 or 2, wherein the sorting apparatus includes two carriages and an adsorber provided on each of the carriages.   The arm is provided with a CCD camera, and the CCD camera takes a picture of the product to be separated from the material to be cut installed in the material to be cut, or the product is picked up by the suction member. 4. The sorting apparatus according to claim 1, wherein the sorting position is photographed.

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