JP2016203201A - Automatic programming device, loader device, and plate-material conveyance method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic programming device, a loader device, and a plate-material conveyance method which can stably and efficiently convey a workpiece.SOLUTION: An automatic programming device 1 creates control information D1 of a pad 33 which can be supplied to a loader device 100 which conveys a plate-like workpiece W by sucking with the pad 33. The automatic programming device includes a coefficient calculation part 2 which calculates a stabilization coefficient k relating to a conveyance state of the workpiece W on the basis of a sucking position of the pad 33 with respect to the workpiece W, and a setting part 3 which sets at least a conveyance speed of the workpiece W among the control information D1 on the basis of the stabilization coefficient k calculated by the coefficient calculation part 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic programming device, a loader device, and a plate material conveying method for conveying a plate-shaped workpiece.

  In a plate material processing system such as a punch press machine or a laser processing machine, a loader device is used to carry in or carry out a plate-like workpiece. As a loader device, one that sucks and conveys a plate-like workpiece with a pad is known, and it is required to stably convey the workpiece. For example, in Patent Document 1 below, a work is sucked and transported by a plurality of pads, and transported at a lower transport speed when it is detected that a front or rear pad in the transport direction is detached from the work. A loader device is described.

JP 2014-188547 A

  However, in Patent Document 1 described above, it is detected that the pad has moved away from the work and the transport speed is reduced. However, even when the pad is detached from the work, the work is transported at a preset speed. Has started. Therefore, there is a problem that the work cannot be stably conveyed because the pad is easily separated from the work due to wind pressure or large acceleration / deceleration on the work, and the work is dropped. Further, in Patent Document 1, since the transfer speed is set assuming that the pad is detached from the workpiece, even when the pad is strongly adsorbing the workpiece, the pad can be transferred only at a preset transfer speed, and the transfer efficiency is improved. There is a problem of being bad.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to provide an automatic programming device, a loader device, and a plate material conveying method capable of stably and efficiently conveying a workpiece.

  The present invention is an automatic programming device for creating pad control information that can be supplied to a loader device that sucks and conveys a plate-like workpiece with a pad, and the workpiece conveyance state based on the pad adsorption position with respect to the workpiece And a setting unit that sets at least the workpiece conveyance speed in the control information based on the stability coefficient calculated by the coefficient calculation unit.

  Further, the coefficient calculation unit may calculate the stability coefficient using the pad arrangement relationship with respect to the workpiece shape information. In addition, when the pad is configured by a plurality of small pads each capable of attracting a workpiece, the coefficient calculation unit may calculate the stability coefficient using the number of small pads that can be attracted to the workpiece. The coefficient calculation unit may correct the stability coefficient by using at least one of the plate thickness, material, and surface state of the workpiece. The coefficient calculation unit may calculate a correction value related to the posture of the work when the work is transported from the pad arrangement relationship with respect to the center of gravity position of the work, and correct the stability coefficient based on the correction value. In addition, when the loader device includes a plurality of pads, the coefficient calculation unit calculates a correction value by using the relationship between the positions of the pads with respect to the position of the center of gravity of the workpiece and the suction state predicted for each of the pads. May be.

  The setting unit may set acceleration as control information in addition to the workpiece conveyance speed. The setting unit may set the workpiece conveyance speed to a conveyance speed lower than the conveyance speed set when the stability coefficient exceeds the threshold when the stability coefficient does not reach the preset threshold. . Further, the setting unit may set the acceleration to an acceleration smaller than the acceleration set when the stability coefficient exceeds the threshold when the stability coefficient does not reach the preset threshold.

  Further, the present invention is a loader device comprising a pad that sucks and conveys a plate-like workpiece and a controller that controls the conveyance of the workpiece sucked by the pad, and the controller is a pad suction position with respect to the workpiece. And a setting unit for setting at least the workpiece conveyance speed based on the stability coefficient calculated by the coefficient calculation unit.

  The controller may calculate the stability coefficient by the coefficient calculation unit based on the suction state of the pad with respect to the workpiece. Further, when the setting unit determines that the stability coefficient is lower than a preset lower threshold value, the controller may instruct the conveyance of the workpiece to be stopped or the workpiece to be attracted by the pad again.

  In addition, the present invention is a plate material transport method for sucking and transporting a plate-like workpiece with a pad, and calculating a stability coefficient related to the workpiece conveyance state based on the suction position of the pad with respect to the workpiece, and a stability factor And setting at least the workpiece conveyance speed.

  According to the automatic programming device of the present invention, since at least the workpiece conveyance speed is set in the control information based on the stability coefficient, when the stability coefficient is high such that the pad is reliably attracted to the workpiece. The conveyance efficiency of the workpiece can be improved by increasing the conveyance speed. On the other hand, when the stability coefficient is low, the work speed can be reduced to prevent the work from falling and the work can be transported stably.

  Further, when the coefficient calculation unit calculates the stability coefficient using the pad arrangement relationship with respect to the workpiece shape information, the accurate stability coefficient can be calculated by grasping the suction state of the pad with respect to the workpiece. In addition, when the pad is composed of a plurality of small pads each capable of attracting a workpiece, the coefficient calculation unit calculates the stability coefficient using the number of small pads that can be attracted to the workpiece. It is possible to easily grasp the suction state of the pad according to the number of small pads to be sucked, and to calculate an accurate stability coefficient. In addition, when the coefficient calculation unit corrects the stability coefficient using at least one of the thickness, material, and surface state of the workpiece, the adsorption state of the pad on the workpiece can be confirmed, and an accurate stability coefficient can be obtained. it can. Further, when the coefficient calculation unit calculates a correction value related to the posture of the workpiece when transporting the workpiece from the pad arrangement relationship with respect to the gravity center position of the workpiece, and corrects the stability coefficient based on the correction value, the gravity center position of the workpiece It is possible to obtain an accurate stability coefficient from the posture at the time of transporting the workpiece by grasping the deviation between the pad and the pad. In addition, when the loader device includes a plurality of pads, the coefficient calculation unit calculates a correction value by using the arrangement relationship of the pads with respect to the center of gravity position of the workpiece and the suction state predicted by each of the pads. In the apparatus, an accurate correction value can be calculated by using one pad and the suction state with respect to the center of gravity position of the workpiece, and an accurate stability coefficient can be calculated by using this correction value.

  When the setting unit sets acceleration as control information in addition to the workpiece conveyance speed, the workpiece can be stably conveyed in consideration of the influence on the workpiece due to acceleration / deceleration. In addition, the setting unit sets the workpiece conveyance speed to a conveyance speed lower than the conveyance speed set when the stability coefficient exceeds the threshold when the stability coefficient does not reach the preset threshold. Since the stability coefficient is determined as the threshold value, the conveyance speed can be reliably set to a low speed when the stability coefficient is low, and the workpiece can be conveyed stably. In addition, the setting unit sets the acceleration to an acceleration smaller than the acceleration set when the stability coefficient exceeds the threshold when the stability coefficient does not reach the preset threshold, and the stability coefficient is low. The acceleration can be reliably set to a small value, and the workpiece can be conveyed stably.

  Further, according to the loader device of the present invention, since at least the workpiece conveyance speed is set based on the stability coefficient, the conveyance speed is set when the stability coefficient is high such that the pad is reliably adsorbed to the workpiece. The work transfer efficiency can be improved at high speed. On the other hand, when the stability coefficient is low, the work speed can be reduced to prevent the work from falling and the work can be transported stably.

  Further, when the controller calculates the stability coefficient by the coefficient calculation unit based on the suction state of the pad with respect to the work, the state where the pad is actually sucking the work is used, so that an accurate stability coefficient can be calculated. In addition, when the setting unit determines that the stability coefficient falls below a preset lower threshold value, the controller sets the stability coefficient as the lower threshold value when instructing the conveyance of the workpiece to be stopped or the suction of the workpiece by the pad again. By comparing, it can be easily determined that stable conveyance cannot be performed, and subsequent conveyance stop and retry can be performed at an early stage.

  Further, according to the plate material conveying method of the present invention, since at least the workpiece conveyance speed is set based on the stability coefficient, when the stability coefficient is high, the conveyance efficiency of the workpiece can be improved by increasing the conveyance speed. it can. On the other hand, when the stability coefficient is low, the work can be stably conveyed at a low conveyance speed.

It is a functional block diagram showing an example of an automatic programming device and a loader device concerning an embodiment. It is a front view which shows an example of a loader apparatus. (A) is a top view of the loader apparatus shown in FIG. 2, (B) is a figure which shows an example of a pad. It is a flowchart which shows an example of the procedure which produces control information with an automatic programming apparatus. It is a figure which shows an example of the arrangement | positioning relationship of the pad with respect to a workpiece | work. It is a figure which shows an example of the conveyance route of a workpiece | work. It is a flowchart which shows the other example of the procedure which produces control information with an automatic programming apparatus. It is a figure which shows the other example of the positional relationship of the pad with respect to a workpiece | work. It is a figure which shows an example of the board | plate material processing system provided with the loader apparatus which concerns on embodiment. It is a flowchart which shows an example of operation | movement of a loader apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to this. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed by partially enlarging or emphasizing the description. In the following drawings, directions in the drawings will be described using an XYZ coordinate system. In this XYZ coordinate system, a plane parallel to the horizontal plane is defined as an XY plane. An arbitrary direction parallel to the XY plane is expressed as an X direction, and a direction orthogonal to the X direction is expressed as a Y direction. In each of the X direction, the Y direction, and the Z direction, the direction of the arrow in the figure is the + direction, and the direction opposite to the arrow direction is the − direction.

<Automatic programming device>
FIG. 1 is a functional block diagram illustrating an example of an automatic programming device 1 and a loader device 100 according to the embodiment. As shown in FIG. 1, the automatic programming device 1 includes a coefficient calculation unit 2, a setting unit 3, and a storage unit 4. The automatic programming device 1 creates control information D1 relating to the conveyance of the workpiece W that can be supplied to the loader device 100. The coefficient calculation unit 2 calculates a stability coefficient k related to the conveyance state of the workpiece W. The stability coefficient k represents the stability of the workpiece W when the product is being conveyed by the loader device 100. The coefficient calculation unit 2 acquires the shape information D2 of the workpiece W and the arrangement information D3 of the pad 33, and calculates the stability coefficient k related to the conveyance state of the workpiece W based on these information.

  The shape information D2 of the workpiece W may be any shape before or after machining the workpiece W, and may be appropriately acquired from a machining apparatus (not shown). Further, the shape information D2 of the workpiece W may be obtained from processing data (processing recipe) supplied to the processing apparatus from a controller or the like that is higher than the processing apparatus. Alternatively, the shape information D2 of the plurality of workpieces W may be stored in the storage unit 4 in advance, and any of the shape information D2 may be acquired from the storage unit 4. The arrangement information D3 of the pad 33 may be acquired from the loader device 100 or may be selected and acquired from information stored in the storage unit 4 in advance. The automatic programming device 1 may include a communication unit (not shown). When the shape information D2 of the workpiece W and the arrangement information D3 of the pad 33 are acquired from the outside, the automatic programming device 1 may acquire the information by wire or wirelessly via the communication unit. Good. Further, the shape information D2 of the workpiece W and the arrangement information D3 of the pad 33 may be input by an operator using an input device such as a keyboard (not shown).

  The coefficient calculation unit 2 uses the acquired shape information D2 of the workpiece W and the arrangement information D3 of the pad 33, the number of pads 33 that can be attracted to the workpiece W, the suction state of the workpiece W by the pad 33, and the workpiece W A stability coefficient k is calculated based on the arrangement balance of the pads 33 and the like. The suction state of the work W by the pad 33 is determined by, for example, the degree of vacuum of each pad 33 or the suction ratio. The arrangement balance of the pads 33 is determined from the arrangement of the pads 33 with respect to the work W, the position of the center of gravity of the work W, and the like. In calculating the stability coefficient k, in addition to the shape information D2 of the work W and the arrangement information D3 of the pad 33, the stability coefficient k is used by using at least one or all of the plate thickness, material, and surface state of the work W. May be corrected. The load of the workpiece W is determined based on the thickness and material of the workpiece W. Further, it is possible to predict a leakage at the time of adsorption depending on the surface state of the workpiece W.

  The coefficient calculation unit 2 may include a correction value calculation unit 5. When the workpiece W is transported, the correction value calculation unit 5 calculates a correction value related to the posture of the workpiece W when the workpiece W is transported from the positional relationship of the pad 33 with respect to the center of gravity position of the workpiece W. The correction value calculation unit 5 may use the information on the thickness and material of the workpiece W described above when calculating the correction value. For example, when the work W is tilted by the pad 33 and lifted, the correction value increases. On the contrary, when the work W tilts small, the correction value decreases. The coefficient calculation unit 2 calculates the stability coefficient k based on the correction value calculated by the correction value calculation unit 5. Note that whether or not the correction value is used for calculating the stability coefficient k is arbitrary, and the coefficient calculation unit 2 may not include the correction value calculation unit 5.

  The setting unit 3 sets at least the conveyance speed of the workpiece W in the control information D1 based on the stability coefficient k calculated by the coefficient calculation unit 2. The setting unit 3 compares the threshold value stored in advance in the storage unit 4 with the stability coefficient k calculated by the coefficient calculation unit 2, and when the stability coefficient k exceeds the threshold value, the workpiece W is moved at high speed. On the other hand, when the stability coefficient k does not reach the threshold value, it is set to a conveyance speed for moving the workpiece W at a low speed. The moving speed at high speed and the moving speed at low speed are arbitrary, but at least the moving speed at low speed is lower than the moving speed at high speed and is set to a speed at which the workpiece W can be stably conveyed. The setting unit 3 may set acceleration as control information D1 in addition to the conveyance speed of the workpiece W. The setting unit 3 may set the acceleration to an acceleration smaller than the acceleration set when the stability coefficient k exceeds the threshold when the stability coefficient k does not reach the preset threshold.

  Note that the setting unit 3 is not limited to setting one of two types of conveyance speeds by one threshold value. For example, two or more threshold values may be set in the storage unit 4 in advance, and the setting unit 3 may set the conveyance speed corresponding to the threshold value when any threshold value is exceeded. Further, the setting unit 3 may set the conveyance impossible when the stability coefficient k is lower than the lower threshold stored in the storage unit 4.

  The automatic programming device 1 outputs control information D1 for executing the workpiece W conveyance speed set by the setting unit 3. The control information D1 is formed in a data format that can be read by the controller 40 of the loader device 100. The control information D1 may be transmitted to the controller 40 wirelessly or by wire, or may be stored in a recording medium such as a USB memory and the recording medium connected to the controller 40 to be transmitted. The control information D1 may include other information in addition to the conveyance speed and acceleration of the workpiece W.

  The automatic programming device 1 has an arithmetic processing device such as a CPU (Central Processing Unit). The coefficient calculation unit 2, the setting unit 3, and the correction value calculation unit 5 correspond to processing or control executed by the arithmetic device according to a program stored in the storage unit 4. The storage unit 4 stores a threshold value to be compared with the stability coefficient k and various information and programs necessary for controlling the automatic programming device 1. The storage unit 4 is configured by a memory or the like. The automatic programming device 1 may also include a display device that displays various input information, the stability coefficient k calculated by the coefficient calculation unit 2, the setting result by the setting unit 3, and the like. The operator may confirm the display result by the display device and execute the output of the control information D1. The operator may be able to correct the stability coefficient k calculated by the coefficient calculation unit 2 and the setting result by the setting unit 3 by an input device (not shown).

  The loader device 100 loads or unloads the workpiece W with respect to a processing device (not shown). Examples of the processing apparatus include a punch press machine and a laser processing machine. The loader device 100 includes a work holding unit 30 and a controller 40. The work holding unit 30 includes a plurality of pads 33 supported by the main body unit 10. Each pad 33 can be attracted to a plate-like workpiece W. The controller 40 of the loader device 100 controls the conveyance of the work W sucked by the pad 33 based on the control information D1.

  The pad 33 is vacuum-sucked to the surface of the workpiece W, and is connected to a suction mechanism such as a compressor (not shown), and a valve for suctioning or releasing in the middle of the connection path is provided for each pad 33. I have. This valve may be controlled by the controller 40, for example. The pad 33 may be magnetically attracted instead of vacuum attracted. When magnetically attracting, for example, an electromagnet may be formed in the pad 33, and the controller 40 may control the attraction to the workpiece W by controlling the energization of the electromagnet. In this specification, the adsorption by the pad 33 is used in the meaning including both vacuum adsorption and magnetic adsorption.

  FIG. 2 is a front view showing an example of the loader device 100. 3A is a plan view of the loader device 100 shown in FIG. 2, and FIG. As shown in FIGS. 2 and 3, the loader device 100 conveys a plate-like workpiece W. For example, the loader device 100 sucks the upper surface of the uppermost workpiece W among the unprocessed workpieces W stacked on the table TB and conveys it to a processing device (not shown). Is transferred from the processing apparatus onto a table TB for recovery. The processed workpiece W includes a product cut out from a part of the workpiece W and a remaining material (skeleton) in which a part of the workpiece W is cut out to have a hole.

  The loader device 100 includes a main body unit 10, a moving unit 20, and a work holding unit 30. The main body 10 is suspended from the rail Ra via the moving unit 20. The moving unit 20 includes a guide roller 21 and a roller driving unit (not shown). The guide roller 21 is rotatable along the rail Ra. The rail Ra is provided along the X direction. The roller driving unit is provided, for example, in the main body unit 10 and drives the guide roller 21. The main body 10 is provided to be movable in the X direction along the rail Ra by the moving unit 20.

  The work holding unit 30 is disposed on the −Z side of the main body unit 10, and includes a lifting frame 31 and an opening / closing frame 32. The elevating frame 31 is formed in a rectangular shape, for example, and is connected to the main body 10 via a plurality of cylinders 31a. The elevating frame 31 is provided so as to be movable up and down in the Z direction by a cylinder 31a. The open / close frame 32 includes a connection frame 32 </ b> A that extends to the lift frame 31. The open / close frame 32 is provided so as to be movable in the X direction with respect to the lift frame 31 by expanding and contracting the connection frame 32A by a drive source (not shown) such as a cylinder device.

  A plurality of pads 33 are provided on the surface (lower surface) on the −Z side of the elevating frame 31 and the opening / closing frame 32, respectively. Each pad 33 is formed via a pad support portion 34 a extending downward from the lower surfaces of the elevating frame 31 and the opening / closing frame 32. As each pad 33, as shown in FIG. 3B, a so-called multipad formed by bundling small pads 38 is used. Each of the small pads 38 is connected to a suction mechanism (not shown), but suction or release with respect to the workpiece W is performed for each pad 33. The number of small pads 38 in one pad 33 is arbitrary. In addition, whether or not the pad 33 in which such small pads 38 are bundled is used is arbitrary. For example, one pad corresponding to the size of the pad 33 may be used.

  The work holding unit 30 can change the arrangement of the pads 33 on the + X side and the −X side in the X direction by moving the open / close frame 32 in the X direction, so that the work W changes in length in the X direction. On the other hand, the pad 33 can be made to correspond to the workpiece W by opening the opening / closing frame 32. The loader device 100 is not limited to the one shown in FIGS. 2 and 3. For example, the pad 33 may be movable not only in the X direction but also in the Y direction. It may be fixed that does not move.

  A pad 36 is formed on the opening / closing frame 32 on the −X side via a connecting member 35. Pads 36 are formed on the elevating frame 31 via connecting members 37. The connecting members 35 and 37 are provided with a mechanism so that the moving directions of the two pads 36 are parallel to each other. The two pads 36 are connected to a suction mechanism (not shown) and can be attracted to the workpiece W. The two pads 36 are used when positioning the workpiece W at a predetermined position, but may be used for transporting the workpiece W.

  As shown in FIG. 3A, for example, the table TB includes an end locator 61 and work holders 62, 63, and 64. The end locator 61 holds the −W side Wa of the workpiece W, and positions the workpiece W in the X direction. A table TB shown in FIG. 3A corresponds to, for example, a loading / unloading unit for a workpiece W in a punch press machine or a laser processing machine. The end locator 61 includes a first sensor 61 a and detects whether or not the side Wa of the workpiece W is in contact with the end locator 61. The workpiece holders 62 to 64 hold the −W side Wb of the workpiece W. The work holders 62 to 64 are arranged at intervals from each other along the X direction. The work holders 62 to 64 are provided with second sensors 62a, 63a, and 64a, respectively, and detect whether or not the side Wb of the work W is in contact with the work holders 62 to 64.

  Thus, by holding the workpiece W by the end locator 61 and the workpiece holders 62 to 64, the workpiece W and the loader device 100 can be accurately positioned, and the positional relationship between the pads 33 and 36 with respect to the workpiece W becomes accurate. Further, by holding the work W by the above-described pad 36 and moving the pad 36, the work W can be appropriately held by the end locator 61 or the like. 3A shows a state where the workpiece W is positioned by the pad 36. FIG. Thereby, the workpiece | work W and the loader apparatus 100 can be positioned correctly.

  A procedure for creating control information D1 for conveying the workpiece W by the automatic programming device 1 shown in FIG. 1 will be described for the loader device 100 shown in FIGS. FIG. 4 is a flowchart showing an example of a procedure for creating the control information D1 by the automatic programming device 1 for the loader device 100. In the description of the flowchart of FIG. 4, FIG.

  As shown in FIG. 4, first, the coefficient calculation unit 2 confirms the shape of the workpiece W1 to be transferred based on the shape information D2 of the workpiece W1 (step S1). The workpiece W1 to be conveyed is an unprocessed workpiece W1, a product obtained by extracting a part of the workpiece W1, a remaining material from which a part of the workpiece W1 is extracted, and the like. As described above, the shape information D2 of the workpiece W1 is acquired from a processing apparatus, a controller higher than the processing apparatus, or the like.

  Next, the coefficient calculation unit 2 confirms the position of the pad 33 with respect to the workpiece W1 (step S2). FIG. 5 is a diagram illustrating an example of an arrangement relationship of the pads 33 with respect to the workpiece W1. In the example shown in FIG. 5, the shape of the workpiece W1 is a frame shape in which a rectangular hole W1a is opened in the inner portion, and four pads 33A to 33D correspond to the workpiece W1. In the work W1, the center position of the rectangular hole W1a is the gravity center position G1. The coefficient calculation unit 2 recognizes the shape of the workpiece W1 and the gravity center position G1, for example, as XY coordinate values.

  Next, the coefficient calculation unit 2 checks the position when the four pads 33A to 33D attract the work W1 (step S2). The pads 33A to 33D correspond to the four pads 33 among the plurality of pads 33 shown in FIGS. In the example shown in FIG. 5, each pad 33A to 33D includes 19 small pads 38A to 38D, respectively, as in FIG. In the example shown in FIG. 5, the distance between the center position of each of the pads 33A to 33D and the gravity center position G1 of the workpiece W1 is the same distance L. The coefficient calculation unit 2 recognizes the position (the center position of the pad 33A or the like) when the pads 33A to 33D attract the workpiece W1 as, for example, an XY coordinate value.

  Next, the coefficient calculation unit 2 confirms the number of the small pads 38A to 38D in the pads 33A to 33D that adsorb the work W1 based on the shape of the workpiece W1 after processing and the positions of the pads 33A to 33D. (Step S3). In the example shown in FIG. 5, among the small pads 38A to 38D in the pads 33A to 33d, each of the 16 small pads 38A and the like are located in the hole W1a portion of the workpiece W1, and thus are not involved in the adsorption of the workpiece W1. On the other hand, three small pads 38A among the small pads 38A to 38D are involved in the adsorption of the workpiece W1.

  Next, the coefficient calculation unit 2 calculates a stability coefficient k based on the number of sucked small pads 38A and the like confirmed in step S3 (step S4). For example, in the pads 33A to 33D, the coefficient calculation unit 2 calculates the ratio of the number of the small pads 38A to 38D involved in the suction as the stability coefficient k with respect to the number of all the small pads 38A to 38D. In the example shown in FIG. 5, the number of all the small pads 38A etc. is 76 (19 × 4), and the number of the small pads 38A involved in the suction is 12 (3 × 4). Therefore, the stability coefficient k is calculated to be about 15.8% (≈12 / 76). The larger the value of the stability coefficient k, the higher the stability.

  As described above, since the distance L from each of the pads 33A to 33D to the gravity center position G1 is the same, the coefficient calculation unit 2 does not calculate the correction value by the correction value calculation unit 5 (see FIG. 1). . However, the correction value calculation unit 5 may calculate the correction value as 0. In addition, the coefficient calculation unit 2 may correct the stability coefficient k using information on the thickness, material, and surface state of the workpiece W1. For example, the load of the workpiece W1 may be estimated from information on the thickness and material of the workpiece W1, and a predetermined coefficient may be applied to the stability coefficient k based on this load. Further, a predetermined coefficient may be applied to the stability coefficient k from information on the surface state (for example, surface roughness) of the workpiece W1. Information on the thickness, material, and surface state of the workpiece W1 can be obtained from, for example, a machine tool or a host controller as machining data of the workpiece W1.

  Next, the setting unit 3 determines whether or not the stability coefficient k calculated by the coefficient calculation unit 2 exceeds a preset threshold value (step S5). When the setting unit 3 determines that the stability coefficient k exceeds a predetermined threshold (YES in step S5), the loader device 100 is sufficiently held and the posture is stable when the loader device 100 conveys the workpiece W1. Judge. For example, when the threshold is set to 15%, the setting unit 3 determines that the workpiece W1 is sufficiently held and the posture is stable because the stability coefficient k is about 15.8%. .

  In this case, the setting unit 3 sets the conveyance speed of the workpiece W1 to the high conveyance speed H1 as the control information D1 (step S6). For example, the transport speed H1 may be set to a speed at which the workpiece W1 can be moved at the highest speed in consideration of a safety factor or the like. In step S6, the setting unit 3 may set a large acceleration A1 in addition to the transport speed H1. Since the work W1 is sufficiently held and the posture is stable when the work W1 is conveyed, it is determined that acceleration or deceleration can be performed with a large acceleration. Note that whether or not the setting unit 3 sets the acceleration is arbitrary.

  Further, when the setting unit 3 determines that the stability coefficient k does not reach the predetermined threshold (NO in Step S5), the setting unit 3 does not hold the workpiece W1 sufficiently when the loader device 100 conveys the workpiece W1, or the workpiece W1. Judge that the posture is not stable. For example, when the threshold is set to 12%, the setting unit 3 does not hold the workpiece W1 when the loader device 100 transports the workpiece W1 because the stability coefficient k is about 15.8%. It is determined that the posture of the workpiece W1 is not sufficient or stable. In this case, the setting unit 3 sets the conveyance speed of the workpiece W1 to the low conveyance speed H2 as the control information D1 (step S7).

  The conveyance speed H2 is set to a speed lower than the conveyance speed H1. The conveyance speed H2 may be set to 1/2 or 1/3 of the conveyance speed H1, for example. In Step S7, setting part 3 may set small acceleration A2 in addition to conveyance speed H2. Since the work W1 is not sufficiently held, the pad 33 may be unsucked when accelerated or decelerated by the large acceleration A1. The acceleration A2 is set smaller than the acceleration A1. For example, the acceleration A2 may be set to 1/2 or 1/3 of the acceleration A1.

  Control information D1 is created by the above steps S1 to S7. The control information D1 can be supplied to the controller 40 of the loader device 100 as described above. Note that the control information D1 may include various types of information in addition to the transport speed H1 and the acceleration A1 and the like. For example, the control information D1 may include a transport route for the workpiece W1. FIG. 6 is a diagram illustrating an example of the transport route of the workpiece W1. As shown in FIG. 6, the pads 33B and 33D (including the pads 33A and 33C) move in the R1 direction (+ Z direction) after adsorbing the work W1, and then move in the R2 direction (−X direction). Thus, there are a route for transporting the workpiece W1 and a route for transporting the workpiece W1 in the R3 direction (+ Z and -X directions) after the workpiece W1 is attracted.

  As described above, after the workpiece W1 is attracted, the route to be conveyed may be changed depending on whether the above-described stability coefficient k exceeds the threshold value. For example, when the stability coefficient k exceeds the threshold value, the holding of the workpiece W1 by the pad 33A or the like is stable, and therefore the transport route in the R3 direction may be selected, while the stability coefficient k does not reach the threshold value. Since the work W1 is not sufficiently held by the pad 33A or the like, or the posture of the work W1 is unstable, the transport route in the R1 direction and the R2 direction may be selected. In FIG. 6, the R3 direction indicates a curved conveyance route, but it may be a linear direction.

  Next, another example of the procedure for creating the control information D1 by the automatic programming device 1 will be described. FIG. 7 is a flowchart showing another example of a procedure for creating the control information D1 by the automatic programming device 1 for the loader device 100. 8 will be referred to as appropriate when the flowchart of FIG. 7 is described.

  In the flowchart of FIG. 4 described above, the stability coefficient k is calculated based on the ratio (percentage) of the number of small pads 38A and the like that are attracted to the workpiece W. However, the stability at the time of transporting the workpiece W varies depending on the distance between the gravity center position G of the workpiece W and each of the pads 33A to 33D. In this example, the coefficient calculation unit 2 calculates the stability coefficient ka in consideration of the distance between the gravity center position G2 of the workpiece W2 and the pads 33A to 33D.

  As shown in FIG. 7, first, the coefficient calculation unit 2 confirms the shape of the workpiece W2 to be transported based on the shape information D2 of the workpiece W2 as in FIG. 6 (step S1). As described above, the shape information D2 of the workpiece W2 to be transferred is acquired from the processing device, a controller higher than the processing device, or the like.

  Next, the coefficient calculation unit 2 confirms the position of the pad 33 with respect to the workpiece W2 (step S2). FIG. 8 is a diagram illustrating another example of the positional relationship of the pads 33A to 33D with respect to the workpiece W2. In the example shown in FIG. 8, the shape of the workpiece W2 is a shape in which a rectangular hole W2a is opened in the left region, and the upper right region has a notch W2b cut out in a rectangular shape. Yes. The center of gravity of the workpiece W2 is G2. The coefficient calculation unit 2 recognizes the shape of the workpiece W2 and the gravity center position G2 as, for example, XY coordinate information.

  Next, the coefficient calculation unit 2 confirms the position when the four pads 33A to 33D attract the workpiece W2 (step S2). In the example shown in FIG. 8, the distances between the center positions of the pads 33A to 33D and the gravity center position G2 of the workpiece W2 are distances L1, L2, L3, and L4, respectively. The coefficient calculation unit 2 recognizes the position (pad center position) when the pads 33A to 33D attract the workpiece W2 as, for example, XY coordinate information.

  Next, the coefficient calculation unit 2 confirms the number of small pads 38A to 38D in each of the pads 33A to 33D that attract the workpiece W2 based on the shape of the workpiece W2 after processing and the positions of the pads 33A to 33D. (Step S3). In the example shown in FIG. 8, since all the 16 small pads 38A in the pad 33A are located in the hole W2a of the workpiece W2, they are not involved in the adsorption of the workpiece W2. Further, a part of the small pad 38B in the pad 33B is located in the notch W2b of the workpiece W2, and the three small pads 38B are involved in the adsorption of the workpiece W2. A part of the small pad 38C in the pad 33C is located in the hole W2a of the workpiece W2, and the twelve small pads 38C are involved in the adsorption of the workpiece W2. Further, all 19 small pads 38D in the pad 33D are involved in the adsorption of the workpiece W2.

  Next, the coefficient calculation unit 2 calculates a stability coefficient k based on the number of sucked small pads 38A and the like confirmed in step S3 (step S4). For example, in the pads 33A to 33D, the coefficient calculation unit 2 calculates the ratio of the number of the small pads 38A to 38D involved in the suction as the stability coefficient k with respect to the number of all the small pads 38A to 38D. In the example shown in FIG. 8, the number of all the small pads 38A etc. is 76, and the number of the small pads 38A etc. involved in the suction is 34 (0 + 3 + 12 + 19). Therefore, the stability coefficient k is calculated to be 44.7% (≈34 / 76). The stability coefficient calculated at this stage is relatively large and appears to be highly stable. However, as shown in the left diagram of FIG. 8, there is a bias in the number of suctions such that the number of suctions of the small pads on the pads 33A and 33B is small and the number of suctions of the small pads on the pads 33C and 33D is large.

  Further, distances L1 to L4 between the gravity center position G2 of the workpiece W2 and the positions of the pads 33A to 33D are also different. In such a situation, as shown in the right diagram of FIG. 8, when the work W <b> 2 is attracted and lifted by the pads 33 </ b> A to 33 </ b> D, the work W <b> 2 is inclined. Further, the load of the workpiece W2 varies depending on the size and material of the plate thickness t of the workpiece W2 shown in the right diagram of FIG. For example, when the load of the workpiece W2 increases, the influence of the inclination on the pads 33A to 33D increases, and the burden on the small pad 38A and the like increases. In particular, on the + Y side from the center of gravity position G2, the work W2 is sucked by the three small pads 38B of the pad 33B, so that the burden on the small pad 38B becomes excessive.

  Therefore, the coefficient calculation unit 2 calculates the gravity center position G2 of the workpiece W2 based on the shape information D2, and calculates distances L1 to L4 between the gravity center position G2 and the positions of the pads 33A to 33D (step S11). Subsequently, the coefficient calculation unit 2 corrects the correction value based on values obtained by multiplying the distances L1 to L4 calculated in step S11 and the numbers of suction of the pads 33A to 33D in the correction value calculation unit 5 (see FIG. 1), respectively. c1 is calculated. Further, the correction value calculation unit 5 confirms the plate thickness t and material of the workpiece W2 from the shape information D2 and the like, and calculates a correction value c2 corresponding to the load of the workpiece W2 (step S12). The calculation of the correction value by the correction value calculation unit 5 may apply a corresponding numerical value from a previously prepared table, or may be a numerical value obtained by a predetermined calculation formula.

  The coefficient calculation unit 2 corrects the stability coefficient k calculated in step S4 based on the correction values c1 and c2, and calculates a new stability coefficient ka. For example, when the stability coefficient k is 44.7%, the correction value c1 is 0.5, and the correction value c2 is 0.7, when the stability coefficient k is multiplied by the correction values c1 and c2, A value of 15.645% is obtained as the new stability factor ka.

  Next, the setting unit 3 determines whether or not the corrected stability coefficient ka is equal to or greater than a preset threshold value (step S5A). When the setting unit 3 determines that the stability coefficient ka exceeds a predetermined threshold (YES in step S5A), the loader device 100 is sufficiently held and the posture is stable when the loader device 100 transports the workpiece W2. Judge. For example, when the threshold is set to 15%, the setting unit 3 determines that the workpiece W2 is sufficiently held and the posture is stable because the stability coefficient ka is approximately 15.645%. . In this case, similarly to the case shown in FIG. 4, the setting unit 3 sets the conveyance speed of the workpiece W2 to the high conveyance speed H1 as the control information D1 (step S6). In step S6, the setting unit 3 may set a large acceleration A1 in addition to the transport speed H1. Note that whether or not the setting unit 3 sets the acceleration is arbitrary.

  Further, when the setting unit 3 determines that the stability coefficient ka does not reach the predetermined threshold (NO in step S5A), the setting unit 3 does not hold the workpiece W1 sufficiently when the loader device 100 conveys the workpiece W1, or the workpiece W1. Judge that the posture is not stable. For example, when the threshold is set to 12%, the setting unit 3 has a stability coefficient ka of about 15.645%, and therefore the loader device 100 does not hold the workpiece W1 sufficiently when the loader device 100 transports the workpiece W1. Or, it is determined that the posture of the workpiece W1 is not stable. In this case, the setting unit 3 sets the conveyance speed of the workpiece W1 to the low conveyance speed H2 as the control information D1 (step S7). In Step S7, setting part 3 may set small acceleration A2 in addition to conveyance speed H2.

  Control information D1 is created by the above steps S1 to S7. The control information D1 can be supplied to the controller 40 of the loader device 100 as described above.

  Thus, according to the present embodiment, since at least the workpiece conveyance speed is set in the control information D1 based on the stability coefficients k and ka, the stability that the pad is reliably adsorbed to the workpiece. When the coefficient is high, it is possible to increase the conveyance speed and to convey the workpiece W and the like quickly, and to improve the conveyance efficiency of the workpiece W. On the other hand, when the stability coefficients k and ka are low, the workpiece W can be carefully conveyed in a stable state with a low conveyance speed.

<Loader device and plate material conveying method>
FIG. 9 is a diagram illustrating an example of a plate material processing system 200 including the loader device 100 according to the embodiment. As shown in FIG. 9, the plate material processing system 200 includes a loader device 100 and a processing device 210. Rail Ra of loader device 100 is arranged so that work W can be carried in or out of table TB of processing device 210. The loader device 100 loads an unprocessed workpiece W onto the table TB, and unloads the processed workpiece W (for example, a product or a remaining material) placed on the table TB. In addition, the structure which adsorb | sucks the workpiece | work W in the loader 100 is the same as that of FIG.2 and FIG.3.

  The processing apparatus 210 is, for example, a punch press machine or a laser processing machine. In the processing device 210, the unprocessed workpiece W is carried into the table TB by the loader device 100, and the workpiece W is processed by the processing unit 211. The processed workpiece W (for example, product) is carried out from the table TB to a predetermined storage shelf or the like by the loader device 100. Note that the remaining material after the product is extracted may be conveyed by, for example, the loader device 100 or may be discharged from the table TB by a gripper device (not shown) or the like.

  The processing apparatus 210 includes a control unit 212 that controls the processing unit 211 and the like. The control unit 212 exchanges various information with the controller 40 of the loader device 100. Note that the control unit 212 and the controller 40 may be configured to include the functions of the control unit 212 and the controller 40 in one control device instead of being configured separately. As shown in FIG. 9, the controller 40 includes a coefficient calculation unit 2 and a setting unit 3. The coefficient calculation unit 2 and the setting unit 3 are the same as those provided in the automatic programming apparatus 1 described above. Moreover, in the controller 40 shown in FIG. 9, description of the memory | storage part 4 (refer FIG. 1) is abbreviate | omitted.

  The controller 40 calculates the stability coefficients k and ka relating to the conveyance state of the workpiece W based on the suction position of the pad 33 (see FIGS. 2 and 3) with respect to the workpiece W by the coefficient calculation unit 2, and the setting unit 3 Based on the coefficients k and ka, at least the conveyance speed of the workpiece W is set. The controller 40 instructs the conveyance speed of the workpiece W at high speed or low speed based on the setting of the setting unit 3. The instruction of the conveyance speed of the workpiece W in the controller 40 is determined by the same procedure as the flowchart shown in FIG. 4 or FIG. That is, the controller 40 calculates the stability coefficients k and ka related to the transport state of the work W based on the suction position of the pad 33 with respect to the work W, and at least the transport speed of the work W based on the stability coefficients k and ka. Is set, and the board | plate material conveyance method including these is implemented.

  The conveyance speed of the workpiece W may be set in three stages or more, and the acceleration may be set in the same manner as the automatic programming device 1 described above. Further, the controller 40 may calculate the stability coefficient k based on data in a state where the pad 33 (see FIG. 2 and the like) has attracted the workpiece W. Further, the controller 40 may acquire the processing start timing or processing end timing of the workpiece W by the processing apparatus 210 from the control unit 212 or the like, and may control conveyance of the workpiece W. At this time, the controller 40 may change the conveyance speed or the like of the workpiece W according to the situation of the processing apparatus 210 with respect to the conveyance speed set by the setting unit 3. For example, when a product is picked up on the table TB, the conveyance speed may be switched from a high speed to a low speed when there is time until the machining of the next workpiece W is completed in the machining unit 211. In the plate material processing system 200, two or more loader devices 100 may be used. In this case, each loader device 100 may convey the workpiece W at high speed or low speed by the controller 40, or may be divided into a high speed loader device and a low speed loader device.

  FIG. 10 is a flowchart illustrating an example of the operation of the loader device 100. As shown in FIG. 10, when the stability coefficients k and ka do not reach the threshold values in steps S5 and S5A (NO in steps S5 and S5A), the setting unit 3 has the stability coefficients k and ka exceed the lower threshold value. It is determined whether or not (step S21). The lower threshold value is stored in advance in the storage unit 4 or the like, and is set to a value when it is difficult to transport the workpiece W by the pad 33. In step S21, when the stability coefficients k and ka exceed the lower threshold (YES in step S21), the process proceeds to step S7 in FIG. 4 or FIG.

  In step S21, when the stability factors k and ka have not reached the lower threshold value (NO in step S21), the controller 40 of the loader device 100 instructs the conveyance of the workpiece W to be disabled or a retry (step S22). When instructing that the workpiece W cannot be transported, the controller 40 may indicate that it cannot be transported on a display device (not shown) provided in the loader device 100, or may notify the host controller, sound, light, etc. May be notified to the operator or the like. Moreover, when retrying, the controller 40 once cancels the suction of the work W by the pad 33 and causes the pad 33 to be sucked to the same or different suction position. In the case of retry, for example, the stability coefficient k may be calculated again to determine whether or not the lower threshold value is exceeded.

  The embodiment has been described above, but the present invention is not limited to the above description, and various modifications can be made without departing from the gist of the present invention. For example, when the position of the pad 33 can be changed by the opening / closing frame 32 (see FIGS. 2 and 3) as in the loader device 100 described above, the automatic programming device 1 or the controller 40 disposes the pad 33 with respect to the workpiece W. May be calculated, and the stability coefficients k and ka may be calculated based on the optimal arrangement of the pads 33. When the stability coefficients k and ka are low, the stability coefficients k and ka may be calculated by changing the arrangement of the pads 33.

W, W1, W2... Work c1, c2... Correction value D1... Control information D2... Programming device 2 ... coefficient calculation unit 3 ... setting unit 5 ... correction value calculation unit 33, 33A to 33D ... pad 38, 38A to 38D ... small pad 40 ... controller 100 ... loader device

Claims (13)

An automatic programming device that creates control information that can be supplied to a loader device that sucks and conveys a plate-like workpiece with a pad,
A coefficient calculation unit that calculates a stability coefficient related to the conveyance state of the workpiece based on the suction position of the pad with respect to the workpiece;
An automatic programming device comprising: a setting unit that sets at least a conveyance speed of the workpiece in the control information based on the stability coefficient calculated by the coefficient calculation unit.   The automatic programming apparatus according to claim 1, wherein the coefficient calculation unit calculates the stability coefficient using an arrangement relationship of the pads with respect to shape information of the workpiece.   When the pad is composed of a plurality of small pads capable of attracting the workpiece, the coefficient calculation unit calculates the stability coefficient using the number of the small pads that can be attracted to the workpiece. The automatic programming device according to claim 2.   The automatic programming device according to claim 1, wherein the coefficient calculation unit corrects the stability coefficient using at least one of a plate thickness, a material, and a surface state of the workpiece. .   The coefficient calculation unit calculates a correction value related to the posture of the work when the work is transported from the arrangement relationship of the pad with respect to the center of gravity position of the work, and corrects the stability coefficient based on the correction value. The automatic programming apparatus of any one of Claims 1-4.   When the loader device includes a plurality of the pads, the coefficient calculation unit uses the respective placement relationship of the pads with respect to the center of gravity position of the workpiece and the suction state predicted by each of the pads. The automatic programming device according to claim 5, wherein the correction value is calculated.   The automatic programming device according to any one of claims 1 to 6, wherein the setting unit sets an acceleration as the control information in addition to a conveyance speed of the workpiece.   The setting unit sets the conveyance speed of the workpiece to a conveyance speed lower than a conveyance speed set when the stability coefficient exceeds the threshold value when the stability coefficient does not reach a preset threshold value. The automatic programming device according to any one of claims 1 to 7.   The said setting part sets acceleration to an acceleration smaller than the acceleration set when the said stability coefficient exceeds the said threshold value when the said stability coefficient does not reach the preset threshold value. Automatic programming device. A loader device comprising: a pad that sucks and conveys a plate-like workpiece; and a controller that controls conveyance of the workpiece sucked by the pad;
The controller calculates a stability coefficient related to the transport state of the work based on the suction position of the pad with respect to the work; and
A loader device comprising: a setting unit configured to set at least a conveyance speed of the workpiece based on the stability coefficient calculated by the coefficient calculation unit.   The loader device according to claim 10 with which said controller calculates said stability coefficient by said coefficient calculation part based on the adsorption state of said pad to said work.   The controller, when the setting unit determines that the stability coefficient falls below a preset lower threshold value, instructs to stop conveyance of the workpiece or to adsorb the workpiece by the pad again. The loader device according to claim 11. A plate material conveying method for adsorbing and conveying a plate-like workpiece with a pad,
Calculating a stability coefficient related to the transport state of the workpiece based on the suction position of the pad with respect to the workpiece;
The board | substrate material conveyance method including setting the conveyance speed of the said workpiece | work at least based on the said stability coefficient.

Images