JP2016203294A - Method and device for carrying out workpiece and adsorption pad device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying out method and device for carrying out a workpiece by cancelling overlapping when the cut and separated workpiece overlaps a work.SOLUTION: A carrying out method of a workpiece has: an (a) process of adsorbing the cut and separated workpiece WP by adsorption means 3 to be lifted; a (b) process of detecting contact of the lifted workpiece with a work W by work contact detection means 17; a (c) process of carrying out the workpiece to the next process in the case of non-contact; a (d) process of moving the work piece in X, Y directions to cancel the contact when the contact is detected; an (e) process of detecting the contact of the workpiece with the work again; an (f) process of carrying out the workpiece to the next process in the case of noncontact; a (g) process of cancelling adsorption of the workpiece when the contact is detected again; and an (h) process of moving the adsorption means to a position of a separate workpiece, repeating the (a) to (g) processes, and stopping carrying out of the workpiece when the separate workpiece to which the adsorption means should be moved does not exist.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unloading method and apparatus for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting, and a suction pad device used in the unloading method. The present invention relates to an unloading method and apparatus and a suction pad device that can reliably unload a workpiece even when it enters the lower side of the work.

  When a workpiece is cut by a laser processing head that is relatively movable in the X, Y, and Z axis directions with respect to a plate-like workpiece, the workpiece is horizontally supported on a table or pallet having a skid. It is common. A pallet or the like equipped with a skid (hereinafter referred to as a work table) is provided so as to freely enter and exit a laser processing area by the laser processing head. Further, in order to carry the workpiece from the work table to the next process, the work table carried out from the laser processing region is positioned at a sorting separation position for sorting and separating the workpiece and the skeleton. And in the position close | similar to this sorting separation position, the carrying-out apparatus which adsorb | sucks a workpiece | work from the said work table, lifts it, and carries it out to the following process is provided (for example, refer patent document 1, 2).

JP 2001-139146 A JP 2013-97651 A

  As described in Patent Documents 1 and 2, in a configuration in which a work table that supports a plate-shaped workpiece is moved in and out of the laser processing region, a part of the workpiece cut and separated from the workpiece by laser cutting processing is used. May enter and overlap on the underside. Thus, when a part of the workpiece and the workpiece overlap, for example, when the workpiece is sucked by the suction pad and is to be carried out to the next process, smooth carry-out may be hindered.

The present invention was made in view of the problems as described above, and is a workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) moving the sucked and lifted workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(C) A step of carrying out the workpiece whose contact has been released to the next step,
Each process is provided.

Also, a workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when contact between the workpiece and the workpiece is detected, the step of moving the workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(E) a step of unloading the workpiece that has been released from contact to the next step;
Each process is provided.

Also, a workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when the contact between the workpiece and the workpiece is detected, the step of moving the workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(E) After the step (d), detecting again whether or not the workpiece is in contact with the workpiece;
(F) In the step (e), when non-contact is detected, a step of unloading the workpiece to the next step,
(G) in the step (e), when contact is detected, a step of releasing the adsorption of the workpiece by the adsorption means;
(H) The suction means is moved to the position of a separate workpiece, and the steps (a) to (g) are repeated. When there is no separate workpiece to which the suction means is to be moved, the workpiece is carried out. Stopping the process,
Each process is provided.

Also, a workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when the contact between the workpiece and the workpiece is detected, the step of releasing the adsorption of the workpiece by the adsorption means;
(E) The suction means is moved to the position of a separate workpiece, and the steps (a) to (d) are repeated. When there is no separate workpiece to which the suction means should be moved, the workpiece is carried out. Stopping the process,
Each process is provided.

In addition, a workpiece unloading device that lifts the workpiece cut and separated from the plate-shaped workpiece by the suction means and unloads it to the next process,
A suction means that can move and position relative to the workpiece in the X, Y, and Z axis directions, a movement operation means that moves the suction means in the X, Y, and Z axis directions, and a movement operation means A control device for controlling the movement operation of the storage unit, wherein the control device stores an operation program for moving the suction means in the X and Y axis directions when the workpiece is lifted by the suction means. A memory is provided.

  The workpiece unloading device further includes a workpiece contact detection unit that detects contact between the workpiece and the workpiece when the workpiece is lifted by the suction unit.

  Further, in the workpiece unloading device, the suction means is a suction pad device, and when a workpiece is sucked by the suction pad device, a workpiece contact member that can freely contact the upper surface of the workpiece is placed in the suction pad of the suction pad device. It is characterized by having.

  Further, the suction pad device is used for sucking and conveying the workpiece, and includes a suction pad for sucking the workpiece, and can freely contact the upper surface of the workpiece when the workpiece is sucked into the suction pad. A workpiece contact member is provided.

  In the suction pad device, the work contact member is an elastic member that can be expanded and contracted.

  According to the present invention, even when a part of the workpiece enters and overlaps the lower side of the workpiece, the overlap is caused by attracting and lifting the workpiece and moving in the X and Y directions. It is to be canceled. Therefore, the workpiece can be smoothly conveyed to the next process.

It is explanatory drawing which showed notionally and schematically the whole structure of the conveying apparatus of the workpiece which concerns on embodiment of this invention. It is a configuration explanatory view schematically showing the configuration of the suction means (suction pad). It is the flowchart which showed operation | movement in case an adsorption | suction means adsorb | sucks a workpiece and carries it out to the following process. It is the flowchart which showed operation | movement in case an adsorption | suction means adsorb | sucks a workpiece and carries it out to the following process. It is the flowchart which showed operation | movement in case an adsorption | suction means adsorb | sucks a workpiece and carries it out to the following process. It is the flowchart which showed operation | movement in case an adsorption | suction means adsorb | sucks a workpiece and carries it out to the following process.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a workpiece carry-out device according to an embodiment of the present invention will be described with reference to the drawings. The structure for carrying in and out the work table with respect to the laser processing region in FIG. In addition, a configuration is also known in which a workpiece cut and separated from a work on a work table carried out from a laser processing machine is sucked and lifted by a suction means such as a suction pad and carried to the next process.

  Therefore, the detailed description about the whole structure of the carrying-out apparatus which carries out a laser beam machine and a workpiece will be abbreviate | omitted, and the structure of a carrying-out apparatus is demonstrated notionally and schematically.

  Referring to FIG. 1, a workpiece unloading apparatus 1 according to an embodiment of the present invention lifts a workpiece WP cut and separated from a workpiece W by a laser processing machine (not shown) and unloads (conveys) the workpiece. For example, a suction means 3 such as a magnet or a suction pad is provided. The work W is placed and supported horizontally on a work table 7 that is freely movable in and out of a laser processing area in a laser processing machine and includes a plurality of skids 5.

  The work table 7 can be positioned with respect to the origin position in the laser processing region while always maintaining the origin position of the work table 7 in a fixed relationship. The work table 7 can be unloaded from the laser processing machine and positioned at the product separation position. When the work table 7 is positioned at this product separation position, the origin position of the product separation position and the origin position of the work table always maintain a fixed relationship. It is in a state that has been. The origin position of the plate-like workpiece W placed and positioned on the work table 7 is always positioned while maintaining a certain positional relationship with the origin position of the work table 7.

  Therefore, the center position or the center of gravity position of each workpiece WP when the work table 7 is positioned at the product separation position is based on nesting data or laser cutting data when the workpiece W is laser cut. Can be calculated. Therefore, the suction means 3 can be easily positioned at a position corresponding to the workpiece WP in the workpiece W on the work table 7.

  The suction means 3 is provided so as to be movable and positionable relative to the workpiece W in the X, Y and Z axis directions. In order to relatively move and position the suction means 3 in the X, Y, and Z axis directions, a motor M such as a servo motor is provided as an example of a servo actuator. The motor M is individually provided with motors for the X, Y, and Z axes, but is schematically illustrated by one motor in FIG. Therefore, by controlling and rotating the motor M, the suction means 3 can be moved and positioned with respect to the workpiece W in the X, Y, and Z axis directions.

  In order to control the motor M, the carry-out device 1 is provided with a control device 9. The control device 9 is composed of a computer and includes a CPU 11. The control device 9 further includes a position data memory 13 that stores position data of each workpiece WP with respect to the workpiece W when the workpiece WP is cut and separated from the workpiece W. Further, the control device 9 has a motor operation control means 15 for controlling the operation of the motor M as a movement operation means for moving the suction means 3 relative to the workpiece W in the X, Y and Z axis directions. Is provided.

  Therefore, the position of each workpiece WP is read from the position data memory 13, and the operation of the motor M is controlled under the control of the motor operation control means 15, so that the suction means 3 corresponds to each workpiece WP. The workpiece WP can be adsorbed and lifted by positioning at the position.

  As described above, when the workpiece WP is sucked and lifted by the suction means 3, a part of the workpiece WP slightly enters the lower side of the workpiece W and is in contact with the workpiece WP. The unloading device 1 is provided with a workpiece contact detecting means 17 for detecting the above. More specifically, as shown in FIG. 2, in the suction pad 3 as the suction means, when the suction pad 3 sucks the workpiece WP and the vertical dimension is reduced, the workpiece WP A work contact member 19 that can freely contact the upper surface is provided. The workpiece contact member 19 is elastic, such as a metal coil spring, in order to maintain a contact state without strongly pressing the workpiece WP downward when the workpiece WP is sucked by the suction pad 3. It is comprised by the member.

  By the way, when the workpiece W and the workpiece WP are in contact with each other and the workpiece contact member 19 comes into contact with the workpiece WP, a closed circuit is formed and the workpiece contact member 19 is energized. By detecting the presence or absence of the contact, the contact between the workpiece W and the workpiece WP can be detected.

  When the workpiece WP is sucked by the suction pad 3, the suction pad 3 is moved up and down by the vertical movement actuator 21 such as a small fluid pressure cylinder in order to separate (lift) the workpiece WP from the workpiece W. It is provided in the vertically moving member 23 such as a piston rod provided movably. Therefore, when the workpiece WP is lifted to a predetermined height position set in advance, for example, a height position of about 10 mm to 30 mm from the workpiece W, the workpiece W and the workpiece WP are interposed via the workpiece contact member 19. The contact (overlap) between the workpiece W and the workpiece WP can be detected by detecting the presence or absence of energization between the workpiece W and the workpiece WP.

  In other words, when there is no contact (overlap) between the workpiece W and the workpiece WP, the workpiece contact member 19 is not energized. Therefore, when the work contact member 19 is not energized, non-contact is detected.

  After the workpiece WP is cut and separated from the workpiece W by laser processing, the workpiece table WP is moved from the laser processing area of the laser processing machine to the product separation position, whereby a part of the workpiece WP (the end of the workpiece WP). The edge WE) may enter the lower side of the workpiece W. In this case, the amount of entering is generally about 1 mm to 2 mm. Therefore, when a part of the workpiece WP enters the lower side of the workpiece W, one kerf width (width of the cutting groove) when the workpiece WP is laser-cut from the workpiece W disappears due to the overlap, and the other The kerf width is larger than the kerf width at the time of laser cutting.

  Accordingly, as a configuration of the workpiece contact detection unit 17 that detects a part of the workpiece WP overlapping (contacts) with the workpiece W, an imaging unit such as a CCD camera is provided at an appropriate position of the transport device 1. It is also possible to detect a part of the workpiece WP overlapping the workpiece W and its overlapping direction by detecting the kerf width around the workpiece WP imaged by the imaging means. . In this case, it is preferable that the overlapping portion between the workpiece W and the workpiece WP can be known.

  As described above, in the configuration in which the kerf width around the workpiece WP is detected by a CCD camera or the like, the overlap amount of the edge WE of the workpiece WP with respect to the workpiece W can be detected. Therefore, it is also possible to image the entire surface of the workpiece W with a CCD camera or the like, detect the overlapping amount of all the workpieces WP with respect to the workpiece W, and sequentially carry out the workpieces WP having a small overlapping amount. In addition, since the overlap amount of the edge WE in each workpiece WP with respect to the workpiece W can be detected, the relative amount of each workpiece WP with respect to the workpiece W in the X and Y directions corresponds to the detected overlap amount. It is also possible to perform simple movements. That is, it is also possible to perform an operation for releasing the overlap between the workpiece W and the workpiece WP.

  As described above, when the workpiece WP is sucked and lifted by the suction pad 3, in order to release the overlap between the workpiece WP and the workpiece W, the suction pad 3 in the state where the workpiece WP is sucked is set to X, Y. The control device 9 is provided with a program memory 25 that stores an operation program for slightly moving in the direction. In this program memory 25, for example, in the (1) + X direction, amm (about 2 mm to 4 mm) having a size larger than the maximum penetration amount (overlap amount) obtained empirically, (2) 2 amm in the −X direction (3) amm in the + X direction (return to the original position in the X direction), (4) amm in the + Y direction, (5) 2 amm in the Y direction, (6) amm in the + Y direction (original position in the Y direction) An operation program that sequentially performs a reciprocating operation such as an operation of (returning to (i)) is stored.

  Therefore, as described above, when the workpiece WP is attracted and lifted by the suction pad 3, if the workpiece W and the workpiece WP are in contact with each other, according to the operation program stored in the program memory 25, the suction pad 3 is reciprocated in the X and Y directions, and the overlap between the workpiece W and the workpiece WP is released. The reciprocating operation of the suction pad 3 is not limited to the ± X and ± Y directions, and can be reciprocated in an oblique direction intersecting the X and Y directions.

  In the configuration as described above, when the workpiece W on the work table 7 is cut by the laser processing machine, the work table 7 is carried to the product separation position and positioned. When the work table 7 is positioned at the product separation position, the operation of the motor M is controlled under the control of the motor operation control means 15 based on the position data of each workpiece WP stored in the position data memory 13. Then, the suction pad 3 is positioned above the corresponding workpiece WP.

  When the suction pad 3 is positioned above the workpiece WP, the operation of the flowchart shown in FIG. 3 is performed. That is, the suction pad 3 is lowered and the workpiece WP is sucked by the suction pad 3 (step S1). After that, the suction pad 3 is lifted to a predetermined height position by the operation of the vertical movement actuator 21 (step S2). When the workpiece WP is sucked by the suction pad 3, the workpiece contact member 19 provided in the suction pad 3 is in contact with the workpiece WP. Therefore, by detecting whether the workpiece W and the workpiece WP are in a conductive state in a state where the workpiece WP is lifted to a predetermined height position, the workpiece W and the workpiece W are detected. It is possible to determine whether or not a part of the workpiece WP is overlapped (contacted) (step S3).

  When the non-contact (no overlap) between the workpiece W and the workpiece WP is detected in step S3, the process moves to step S4, and the suction pad 3 in the state where the workpiece WP is sucked is raised to the highest position. . Then, the workpiece WP is carried out to the next process (step S5).

  In step S3, when contact (overlap) between the workpiece W and the workpiece WP is detected, the motor M is controlled under the control of the motor operation control means 15 according to the operation program stored in the program memory 25 in advance. The suction pad 3 is reciprocated in the X and Y directions (step S6). Thus, when the suction pad 3 with the workpiece WP sucked is reciprocated in the X and Y directions according to the operation program, the overlap between the workpiece W and a part of the workpiece WP is released (step S7).

  That is, in FIG. 1, it is assumed that the overlap amount in the X-axis direction between the workpiece W and the edge WE of the workpiece WP is bmm (b <a). Here, as described above, when the workpiece WP is sucked by the suction pad 3 and lifted to a predetermined height position, the side opposite to the edge WE of the workpiece WP becomes higher, and the workpiece WP has the edge WE side of the workpiece WP. It will be inclined to become lower. Therefore, as described above, when the workpiece WP is tilted, when the workpiece WP is moved by a dimension amm larger than the bmm in the X-axis direction opposite to the edge WE, the workpiece W, the workpiece WP, The overlap will be cancelled.

  In addition, when the workpiece W and the workpiece WP overlap each other as described above, the workpiece W and the workpiece WP overlap by (b + a) when the workpiece WP is moved by a dimension amm toward the edge WE. Become. Thereafter, when the workpiece WP is moved to the opposite side by a dimension of 2 mm, (2a> a + b) is obtained, and the overlap between the workpiece W and the workpiece WP is released. Therefore, after canceling the overlap between the workpiece W and a part of the workpiece WP, the process proceeds to steps S4 and S5, and the workpiece WP is carried out.

  By the way, in the above-mentioned case, the workpiece WP is lifted to a predetermined height position, and it is determined whether or not there is an overlap between the workpiece W and the workpiece WP. However, in order to improve the efficiency of unloading the workpiece WP, it is also possible to perform a separate operation such as the flowchart shown in FIG. That is, the flowchart shown in FIG. 4 performs an operation in which step S3 shown in FIG. 3 is omitted, and the other operations are the same as the operations of each step shown in FIG. Therefore, the same reference numerals are assigned to steps performing the same operation, and redundant description is omitted.

  That is, in the operation according to the flowchart shown in FIG. 4, when the workpiece WP is sucked and lifted by the suction pad 3 (steps S1 and S2), the presence / absence of overlap between the workpiece W and a part of the workpiece WP is detected. Without any condition, the suction pad 3 is reciprocated in the X and Y directions (step S6). When the overlap between the workpiece W and the workpiece WP is released by the reciprocating operation (step S7), the suction pad 3 is raised to the highest level (step S4) and carried out to the next process (step S5). .

  In the above operation, when the workpiece WP is sucked by the suction pad 3 and lifted to a predetermined height position, the suction pad 3 in the X and Y directions is detected without detecting the overlap between the workpiece W and the workpiece WP. The reciprocation is performed unconditionally, and the overlap between the workpiece W and the workpiece WP is released. Therefore, when there are a large number of workpieces WP to be carried out, the efficiency can be improved.

  FIG. 5 is a flowchart showing a further separate operation when the workpiece WP is sucked and lifted by the suction pad 3 and carried to the next process. The operation according to the flowchart shown in FIG. 5 includes steps for performing the same operation as the flowchart shown in FIG. Accordingly, the same reference numerals are assigned to steps performing the same operation.

  In the separate operation shown in FIG. 5, the workpiece WP is sucked by the suction pad 3 and lifted to a predetermined height position, and the overlap between the workpiece W and the workpiece WP is detected (steps S1, S2, S3). . When it is detected that there is no overlap between the workpiece W and the workpiece WP, the suction pad 3 is raised to the highest level and the workpiece WP is carried out (steps S4 and S5).

  When the overlap between the workpiece W and the workpiece WP is detected in step S3, the suction pad 3 is reciprocated in the X and Y directions to release the overlap (step S6). Then, after the reciprocating operation of the suction pad 3 is completed, it is determined (detected) whether or not the overlap between the workpiece W and the workpiece WP is released (step S8). That is, after the reciprocating operation of the suction pad 3 in the X and Y directions, as described above, it is detected again whether or not the workpiece W and the workpiece WP are in a conductive state.

  In step S8, when it is detected that the overlap between the workpiece W and the workpiece WP is released, the process proceeds to step S4, and the workpiece WP is carried out. If it is detected in step S8 that the release of the overlap between the workpiece W and the workpiece WP is not detected, the suction of the workpiece WP by the suction pad 3 is released (step S9). In step S10, the CPU 11 determines whether or not there is a separate workpiece WP to be carried out. Whether or not there is a separate workpiece WP can be easily determined depending on whether or not there is remaining position data in the position data memory 13.

  When it is determined in step S10 that there is no separate workpiece, the unloading operation of the workpiece WP ends (step S11). When it is determined in step S10 that there is a separate workpiece, the suction pad 3 is moved and positioned to a position corresponding to the separate workpiece WP (step S12).

  In the operation of the suction pad 3 described above, in order to release the overlap between the workpiece W and the workpiece WP, the suction pad 3 having sucked the workpiece WP is reciprocated in the X and Y directions, and then the workpiece W and It is detected whether or not the overlap with the workpiece WP is released. And when the said overlap is not cancelled | released, the adsorption | suction of the said workpiece WP is cancelled | released and it transfers to the carrying-out operation | movement of the separate workpiece WP.

  That is, in the above operation, when the workpiece WP is carried out, the suction pad 3 is reciprocated in the X and Y directions only when the workpiece W and a part of the workpiece WP overlap each other. . Therefore, when there is no overlap between the workpiece W and the workpiece WP, the reciprocating movement of the suction pad 3 in the X and Y directions is unnecessary. Then, after the suction pad 3 is reciprocated in the X and Y directions to perform the operation for releasing the overlap between the workpiece W and the workpiece WP, the presence or absence of the overlap between the workpiece W and the workpiece WP is detected again. To do. Therefore, the workpiece WP can be carried out more reliably and efficiently.

  FIG. 6 is a flowchart showing the operation of a separate suction pad 3 when the workpiece WP is sucked and lifted by the suction pad 3 and carried out to the next process. The operation according to the flowchart shown in FIG. 6 includes steps for performing the same operation as the flowchart shown in FIG. Accordingly, the same reference numerals are assigned to steps performing the same operation.

  The difference between the operation according to the flowchart shown in FIG. 6 and the operation according to the flowchart shown in FIG. 5 is as follows. That is, when the workpiece WP is sucked and lifted by the suction pad 3 and an overlap between the workpiece W and the workpiece WP is detected (step S3), the operation by the suction pad 3 is performed without performing the operation for releasing the overlap. The suction of the workpiece WP is released (step S9).

  In the operation of the suction pad 3 described above, when the overlap between the workpiece W and the workpiece WP is detected, the suction of the workpiece WP is released and the operation shifts to a separate workpiece WP unloading operation. In the case where there are a large number of pieces WP, it is possible to improve the efficiency of carrying out the work piece WP.

  In addition, when the overlap between the workpiece W and the workpiece WP is detected and the transfer to the separate workpiece WP is carried out, the position of each workpiece WP at which the overlap between the workpiece W and the workpiece WP is detected is controlled. 9 (not shown). Then, after completing the unloading of all the workpieces WP that do not overlap with the workpiece W, it is also possible to perform the overlap release operation shown in FIGS. 3 and 5 for each workpiece WP stored in the memory.

  As can be understood from the above description, according to the present embodiment, even when a part of the workpiece WP cut and separated from the plate-like workpiece W overlaps the workpiece W, the overlap is performed. It can be released and carried out to the next process.

  In addition, this invention is not restricted only to embodiment mentioned above, It can implement with another form by making an appropriate change. That is, when the workpiece WP partially overlapping with the workpiece W is sucked and lifted by the suction pad 3, the workpiece WP is inclined so that the portion overlapping the workpiece W is lowered. Therefore, the inclination of the workpiece WP is detected by an inclination detection means such as a CCD camera provided at an appropriate position of the carry-out device 1. And it is also possible to release the overlap of the workpiece W and the workpiece WP by moving the suction pad 3 in a state where the workpiece WP is sucked in the upward direction of the inclination.

1 Workpiece carry-out device 3 Adsorption means (adsorption pad)
5 Skid 7 Work table 9 Control device 11 CPU
13 Position data memory 15 Motor operation control means 17 Work contact detection means 19 Work contact member 21 Vertical movement actuator 23 Vertical movement member 25 Program memory

Claims (9)

A workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) moving the sucked and lifted workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(C) A step of carrying out the workpiece whose contact has been released to the next step,
A method for carrying out a workpiece, comprising the steps of: A workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when contact between the workpiece and the workpiece is detected, the step of moving the workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(E) a step of unloading the workpiece that has been released from contact to the next step;
A method for carrying out a workpiece, comprising the steps of: A workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when the contact between the workpiece and the workpiece is detected, the step of moving the workpiece in the X and Y directions to release the contact between the workpiece and the workpiece;
(E) After the step (d), detecting again whether or not the workpiece is in contact with the workpiece;
(F) In the step (e), when non-contact is detected, a step of unloading the workpiece to the next step,
(G) in the step (e), when contact is detected, a step of releasing the adsorption of the workpiece by the adsorption means;
(H) The suction means is moved to the position of a separate workpiece, and the steps (a) to (g) are repeated. When there is no separate workpiece to which the suction means is to be moved, the workpiece is carried out. Stopping the process,
A method for carrying out a workpiece, comprising the steps of: A workpiece unloading method for unloading a workpiece cut and separated from a plate-shaped workpiece by laser cutting,
(A) a step of sucking and lifting the workpiece cut and separated from the workpiece by a suction means;
(B) detecting whether the lifted workpiece is in contact with the workpiece;
(C) In the step (b), when non-contact is detected, a step of unloading the workpiece to the next step,
(D) In the step (b), when the contact between the workpiece and the workpiece is detected, the step of releasing the adsorption of the workpiece by the adsorption means;
(E) The suction means is moved to the position of a separate workpiece, and the steps (a) to (d) are repeated. When there is no separate workpiece to which the suction means should be moved, the workpiece is carried out. Stopping the process,
A method for carrying out a workpiece, comprising the steps of: A workpiece unloading device for lifting a workpiece cut and separated from a plate-shaped workpiece by a suction means and unloading it to the next process,
A suction means that can move and position relative to the workpiece in the X, Y, and Z axis directions, a movement operation means that moves the suction means in the X, Y, and Z axis directions, and a movement operation means A control device for controlling the movement operation of the storage unit, wherein the control device stores an operation program for moving the suction means in the X and Y axis directions when the workpiece is lifted by the suction means. A workpiece carry-out apparatus comprising a memory.   6. The workpiece unloading apparatus according to claim 5, further comprising workpiece contact detecting means for detecting contact between the workpiece and the workpiece when the workpiece is lifted by the suction means. Piece unloading device.   7. The workpiece carry-out apparatus according to claim 6, wherein the suction means is a suction pad device, and when the workpiece is sucked by the suction pad device, a workpiece contact member that can freely contact the upper surface of the workpiece is provided in the suction pad device. An apparatus for carrying out a workpiece, which is provided in a suction pad.   A suction pad device used for sucking and transporting a workpiece, comprising a suction pad for sucking the workpiece, and in this suction pad, when the workpiece is sucked, the workpiece can be contacted freely on the upper surface of the workpiece. A suction pad device comprising a member. 9. The suction pad device according to claim 8, wherein the work contact member is an elastic member that can be expanded and contracted.

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