JP2020055100A - Plate-like component movement device, control device of plate-like component movement device, and plate-like component movement program - Google Patents

Abstract

To provide a plate-like component movement device, a control device of a plate-like component movement device, and a plate-like component movement program which can appropriately move a plate-like component.SOLUTION: The plate-like component movement device is configured to be able to perform control of moving processed components while identifying kinds and directions of the processed components on the basis of a plurality of kinds of direction identification information (common symbols 22) added to the processed components supported by processed-component support means (a component support part 40) in the case of controlling operation of loading means (a loading part 70) to move the processed components (a component 13a and the like).SELECTED DRAWING: Figure 3

Description

  The present invention relates to a plate-shaped component moving device, a control device of the plate-shaped component moving device, and a plate-shaped component moving program.

  Conventionally, in buildings such as houses, together with rod-shaped members such as pillars and beams, a roof member forming a roof or a base member serving as a base for laying down the roof member, a wall member forming an outer wall or an inner wall of a partitioned space, A plate-like member (part) is used as a floor member or the like that forms the floor of the partitioned space. Such a member is processed into various shapes by cutting or cutting in advance according to the place of use in the building, and then is subjected to so-called pre-cutting, and is then stacked in a plurality of layers, and the construction site (See, for example, Patent Document 1).

JP-A-8-19995

  Improve the structure of a device (plate-like component moving device) that can be used when moving plate-like members or stacking them when manufacturing plate-like members (parts) of various shapes. There could have been room.

  The present invention has been made in order to solve the above-described problems, and has a plate-shaped component moving device capable of suitably moving a plate-shaped component, a control device for the plate-shaped component moving device, and a plate-shaped component moving program. It is intended to provide.

In order to achieve this object, the plate-shaped component moving device according to claim 1 is
Moving means for moving a processed part processed by a processing device capable of dividing a plate-shaped material into a plurality,
In the processed part, at least one surface facing the thickness direction, identification information adding means for attaching identification information capable of identifying the direction of the processed part,
An information input device for inputting the identification information given by the identification information adding means,
Control means for controlling the operation of the moving means based on the identification information input by the information input device,
A plurality of types of identification information are set as the identification information,
The identification information adding unit attaches a part of a plurality of types of identification information set as the identification information to the processed part, for the processed part processed by the control of the processing apparatus. .

  According to the plate-shaped component moving device of the first aspect, when the processing part is moved by the moving means, a part (a plurality of types of identification information) of a plurality of types of identification information (direction identification information) attached to each processing component. The direction of the processed part is identified based on any one or a plurality of pieces of identification information, and the operation of the moving means is controlled in accordance with the identified direction of the processed part, so that the processed part is appropriately positioned at a preset position. Move in the right direction. In this case, the control unit identifies the identification information attached to the processed component, and controls the movement of the processed component according to the type of the identification information attached to the processed component.

  The platy component moving device according to claim 2 is the platy component moving device according to claim 1, wherein the identification information is kanji identification information constituted by one kanji capable of specifying one direction. It is included.

  The plate-shaped component moving device according to claim 3 is the plate-shaped component moving device according to claim 1 or 2, wherein the plurality of types of identification information is a first identification configured by one character or figure. The information includes information and second identification information having the same character or graphic as the first identification information and different in size from the first identification information.

  A control device for a plate-like component moving device according to a fourth aspect is a control device for controlling the operation of the plate-like component moving device according to any one of the first to third aspects, and includes the control means.

  According to a fifth aspect of the present invention, there is provided a program for moving a plate-shaped component, wherein the control device for the plate-shaped component moving device according to the fourth aspect executes an arithmetic process for controlling an operation of the moving means based on the identification information. It is configured to be possible.

  According to the plate-shaped component moving device of the first aspect, the control unit can control the movement of the processed component in accordance with the type of the identification information attached to the processed component. For this reason, identification information that can identify the orientation of the processing component, such as simplifying the input of the identification information by the information input device and shortening the time until the movement of the processing component is completed, or reducing the cost of the information input device, is used. Thus, the movement control can be suitably performed. Therefore, it is possible to provide a plate-shaped component moving device capable of suitably moving the plate-shaped component.

  According to the plate-shaped component moving device according to the second aspect, in addition to the effect of the plate-shaped component moving device according to the first aspect, the information that can be set as the identification information is diversified and information appropriate as the identification information is provided. Setting (selection) can be facilitated, and setting of identification information for the control means, setting of identification control, and the like can be facilitated.

  According to the plate-like component moving device of the third aspect, in addition to the effect of the plate-like component moving device of the first or second aspect, different identification information is set depending on the difference in the size of a character or a figure. Can be. Therefore, control using various kinds of identification information can be performed using limited characters and figures.

  According to the control device for a plate-shaped component moving device of the fourth aspect, there is provided a control device of the plate-shaped component moving device having the same effect as the plate-shaped component moving device according to any one of the first to third aspects. can do.

  According to the plate-shaped component moving program of the fifth aspect, it is possible to provide a plate-shaped component moving program capable of executing the arithmetic processing of the control device of the plate-shaped component moving device of the fourth aspect. .

Schematic diagram showing the configuration of a plate-shaped component manufacturing device (A) is a partial exploded perspective view of a part of a laminated body, (B) and (C) are top views showing the arrangement of components and cross members in a layer. (A) is a schematic diagram showing the operation of the imaging device, (B) and (C) are schematic diagrams showing the operation of the holding device (A) is a schematic diagram showing a beam member supporting portion, (B) is a schematic diagram showing an operation of supplying a single beam member, and (D) is a schematic diagram showing a plurality of beam members. Schematic diagram showing the operation of supplying simultaneously Diagram illustrating a case where characters and symbols are used as common symbols

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram illustrating an example of the configuration of the plate-shaped component manufacturing apparatus 1. FIG. 2A is a partially exploded perspective view showing an example of a laminate in which a predetermined number of components and a cross member are stacked on a plurality of layers, and FIG. It is a top view which shows an example of arrangement | positioning of a component and a crosspiece member in the upper layer of two layers which overlap vertically, and FIG.2 (C) is a top view which shows an example of arrangement | positioning of a component and a crosspiece member in the lower layer.

  The plate-shaped component manufacturing apparatus 1 can be in a state in which a predetermined number of plate-shaped components including a processing device that processes a plate-shaped material, a processed component processed by the processing device, and the like are stacked on a plurality of layers. The apparatus includes a plate-shaped component moving device, and can perform processing on a plate-shaped material and stacking of components cut out by the processing in an interlocked manner. Specifically, as shown in FIG. 1, the plate-shaped component manufacturing apparatus 1 includes a material supporting unit 10, an identification information adding unit 20, a processing unit 30, a component supporting unit 40, a lamination supporting unit 50, The crosspiece member support section 60, loading section 70, remaining material collecting section 80, and control section 90 are provided. The processing part 30 includes a functional part as a processing device and a functional part as a plate-like part moving device, and each part including a part of the processing part 30 constitutes a plate-like part moving device.

  The material supporting unit 10 supports the plate-like materials 12 before processing in a state of being stacked in multiple stages, and supplies the materials 12 to the processing unit 30 one by one via an identification information adding unit 20 described later. An operator supplies a plate-shaped material 12 having a material and a size suitable for a part to be manufactured.

  The identification information adding unit 20 is a unit that can identify a predetermined number of parts 13 to be manufactured (to be laminated) with respect to each material 12 in a transport path for transporting the material 12 from the material supporting unit 10 to the processing unit 30. An apparatus capable of attaching predetermined identification information including identification information and direction identification information capable of identifying the direction of each component 13. Specifically, a character (character) is provided on one surface (upper surface) of each material 12. A printing machine (printing machine) capable of printing identification information such as symbols, bar codes, and QR codes (registered trademark) is provided.

  The identification information adding unit 20 prints a barcode 21 as code information including use position information indicating the correspondence between the use position of each component in the building as individual identification information and the like. In addition, the identification information adding unit 20 sets a direction indicating the direction of each component 13 to be cut out from each material 12 at a predetermined position separated by a predetermined distance from the position of the barcode 21 in a predetermined direction. A common symbol 22 (see FIG. 3C) that can be used as identification information and is common to each component 13 is printed. The position to which the common symbol 22 is attached is preferably assigned to a position within a certain range (for example, 10 cm) closer to the center of gravity than to the edge part of each component 13 apart from the center of gravity. You may make it attach to the position which overlaps with the center of gravity of the component 13.

  Each of the components 13 to which the identification information is added by the identification information adding unit 20 includes components 13a to 13d (processed components: hereinafter, abbreviated as components 13a and the like) formed by processing by the processing unit 30, and Parts that do not require processing by the processing unit 30 (parts that do not require processing) are included. For the waste material (remaining material 15) which is a part separated by the processing by the processing unit 30 and cannot be used as the component 13, the identification information adding unit 20 is configured not to add the identification information.

  The barcode 21 includes, in addition to the individual identification information, layer information for specifying which of the plurality of layers constituting the laminated body 11 is to be arranged, and the position of the arrangement in the layer to be arranged. A configuration including the designated in-layer position information may be used. In the case of this configuration, in a later-described control unit 90, when a control device that stores the stacking state of the stacked body 11 and a control device that manages the loading by the loading unit 70 that is described later are different, the control device 90 Even if there is no information on the mode, the predetermined number of components 13 can be appropriately stacked based on the information on the barcode 21 and the common symbol 22. Further, it is not necessary to add the individual identification information by one barcode 21. Instead of or in addition to this, another code information such as a QR code may be added, and two or more pieces of code information may be added. May be added. Further, it is not always necessary to add the common symbol 22. Individual identification information may be added using only a form capable of identifying a specific direction, and the individual identification information may be used as direction identification information. Good.

  Further, the identification information adding unit 20 is not limited to the configuration in which the identification information is printed on the material 12, and instead, or in addition, a seal on which the identification information is printed or an IC chip storing the identification information may be used. 12 may be used. Further, the identification information adding unit 20 is not limited to a configuration in which the identification information is added to the material 12 before the processing by the processing unit 30, and is a configuration in which the identification information is added to each component 13 after the processing by the processing unit 30. You may. Further, at least a part of the identification information (for example, the common symbol 22) may not be added to at least a part of the parts 13. For example, a part that does not need to be processed is moved in a position where the part is moved because the part is not processed. It is easy to keep the displacement small, and for small parts with a certain size or less (for example, the longest side length is 30 cm or less), the amount of misalignment when loading is small even if there is misalignment of rotation. Alternatively, loading may be performed using only the barcode 21.

  The processing unit 30 includes a processing device that cuts the plate-shaped material 12 and a transport device that transports the material 12 and the component 13. For example, although not illustrated, a cutting device such as an electric saw or a cutter is provided. , A cutting mechanism, a moving mechanism for moving the material 12 and the component 13, and a driving device for driving the moving mechanism. The processing unit 30 processes the materials 12 sequentially supplied from the material support unit 10, manufactures one or a plurality of components 13 from each material 12, and transfers the manufactured one or a plurality of components 13 to the component support unit 40. Transport. The parts that do not need to be processed are moved to the part support part 40 while the material 12 remains unprocessed.

  The processing in the processing unit 30 is performed by allocating one or a plurality of components 13 to the material 12 under the control of the control unit 90 in consideration of the construction order, the yield, and the like. By this allocation, the remaining portion that cannot be used as the component 13 may be used as a waste material (remaining material 15), or a bar member 14 (hereinafter referred to as a processing bar member 14R) interposed between the components 13 when the components 13 are stacked. May also be used). The details of processing and use when the remaining portion of the material 12 is used as the processing bar member 14R will be described later.

  The component support portion 40 is configured to place the bar code 21 and the component 13a processed by the processing portion 30 in a component support region 40A that is set to a size that can place the plate-shaped material 12 and that can support the component 13a. In this configuration, the common symbol 22 can be supported in a state where the common symbol 22 faces at least one side in the vertical direction (the height direction or the vertical direction). In addition, the component support unit 40 also supports the unprocessed components with the barcode 21 and the common symbol 22 facing at least one side in the vertical direction.

  Here, in the present embodiment, a case where all the barcodes 21 and the common symbols 22 are read from above will be mainly described, and the barcodes 21 and the common symbols 22 are printed so as to face upward, and are printed in the component support area 40A. The case where the barcode 21 and the common symbol 22 face upward will be described. However, the barcode 21 and the common symbol 22 are printed so as to face downward, and the component support unit 40 uses, for example, a transparent support surface to print the component. The lower side of the component 13a or the like may be supported, and the barcode 21 and the common symbol 22 may be read from the lower side of the component 13a or the like.

  The component support unit 40 is configured to be able to transfer each component 13 received from the processing unit 30 in a predetermined direction (downward in FIG. 1), and to sequentially transfer the components 13 conveyed from the processing unit 30. receive. In this reception, after all of the parts 13 are cut from one material 12, the parts 13 may be collectively conveyed, or the parts 13 may be separated from each other and easily supported, for example, from one material 12. When a plurality of components 13 are cut in order, the cut components may be conveyed to the component support 40 at an early stage.

  Specifically, the component support portion 40 includes a plurality of drive rollers 41 driven by power, a plurality of idle rollers 42 disposed between the plurality of drive rollers 41 and capable of idling, a plurality of drive rollers 41 and a plurality of A supporting belt 43 wound in an annular shape so as to contact a part of the outer edge of the idle roller 42, and a driving motor 44 for supplying power to the plurality of driving rollers 41 and moving the supporting belt 43 around. Configuration. The component support portion 40 also supports the remaining material 15 remaining after manufacturing the component 13 a and the like from the material 12, and the remaining material 15 is conveyed to the later-described remaining material recovery portion 80 by the orbital movement of the support belt 43. .

  The laminated support portion 50 is a portion configured to be able to support the lower side of the laminated body 11 as shown in FIG. The components 13 supported by the component support unit 40 are sequentially stacked on the laminated support unit 50. When the stack 11 is stacked on the stack 11 having a certain height, the stack 11 is collectively transported to another position.

  The stacked body 11 stacked on the stacking support unit 50 includes parts 13a to 13d processed by the processing unit 30, may include processing-unnecessary parts, and may include the cross member 14. The plurality of layers constituting the laminate 11 include a layer constituted by one component 13, a layer constituted by a plurality of components 13, or at least one component 13 and at least one cross member 14. The configuration of the plurality of layers is determined by the control unit 90 according to the number and size of the components 13 that need to be manufactured.

  The crosspiece member support portion 60 is configured to be capable of supporting the crosspiece members 14 necessary for stably stacking the components 13 in the stacked support portion 50 in a multi-tiered state, and includes two types of crosspiece members 14 having different shapes. For example, a strip-shaped bar member 14 (hereinafter, long bar member 14L) whose long side is the same length as one shorter side of the stacked support region 50A and whose short side is shorter than the shorter side of the stacked support region 50A. ), And supports a square beam member 14 (hereinafter, also referred to as short beam member 14S) having one side shorter than the long side of the long bar member 14L and longer than the short side thereof.

  The loading unit 70 (loading means) has a configuration in which a predetermined number of plate-like components 13 including the processed components 13a and the like can be stacked in a plurality of layers. The contact portion is configured to include a contact portion for contacting with a processed component and lifting the component 13a and the like, and an operating portion for movably operating the contact portion with respect to the base portion 74. Specifically, the loading unit 70 includes a holding device 71 that holds the component 13 by a contact unit that sucks the component 13 or grips the component 13 in order to lift the component 13 or the bar member 14, and a holding device 71. An operating device 73 (operating unit) such as an articulated robot or a crane for moving is provided. When each component 13 is held by the holding device 71, the operating device 73 transfers the component 13 disposed on the component support portion 40 and the beam member 14 supported by the beam member support portion 60 to the stacking support portion 50. Move.

  The loading unit 70 includes an information input device for inputting identification information including the common symbol 22 (direction identification information) to the control unit 90 (control means). It is attached to the tip side where the (contact part) is located. Specifically, the information input device includes an imaging device 72 such as a CCD camera capable of reading identification information.

  The loading unit 70 detects one or a plurality of components 13 supported by the component support area 40A of the component support unit 40 by detecting the barcode 21 and the common symbol 22 with the imaging device 72, and detects the detected component. 13 is taken into account in consideration of the position of the center of gravity based on the common symbol 22, for example, the part 13 is lifted in contact with the range including the center of gravity, and the lifted component 13 is placed in the layered support area in the layered support portion 50 based on the information of the barcode 21. Move to the expected position within 50A. In the course of this movement, the loading unit 70 rotates the component 13 based on the orientation of the common symbol 22 so that the orientation of the component 13 matches the expected orientation, if necessary. The detailed operation of the loading unit 70 will be described later.

  The residual material collecting unit 80 is configured to collect and retain the remaining material 15 obtained by cutting out the component 13 from the material 12, and includes, for example, a belt conveyor and a movable collection tank having wheels. In addition, the remaining material collecting unit 80 may be configured to include other devices such as a device that breaks the remaining material 15 to a predetermined size or less, and further, only a space for disposing the remaining material 15 is secured. Configuration may be used.

  Here, the material supporting unit 10, the component supporting unit 40, the lamination supporting unit 50, and the residual material collecting unit 80 do not necessarily need to be part of the plate-shaped component manufacturing apparatus 1. It is sufficient that each part is provided with a space in which the material 12, the component 13, or the remaining material 15 can be arranged. For example, the remaining material 15 is discharged onto the floor surface and collected later, The plate-shaped component manufacturing apparatus 1 may be configured such that the plate 13a or the like is supported by a thin plate-shaped pallet or the material 12 is arranged on a movable carriage.

  The control unit 90 includes, for example, a personal computer, and stores a ROM (IC chip) or a RAM (magnetic disk or SSD) for storing various programs and various data as a storage device, and temporarily stores various data. A RAM, a CPU as an arithmetic processing unit, a communication device for obtaining from a recording medium or another control device as an input device, a keyboard and a mouse for inputting various operation instructions, and a display for outputting an operation status as an output device. It is configured with.

  The control unit 90 includes a stacking mode determining program (arrangement determining means) for determining a stacking mode (packing style) of a predetermined number of components 13 having various shapes and various beam members 14 for assisting stable support of the components 13. ), A material processing program for controlling the processing of the material 12 in the processing section 30, and a plate-shaped part moving program (part moving program) for stacking a predetermined number of parts 13 and crosspieces 14 on a plurality of layers. ing. The control unit 90 receives input of component data relating to the shape of each component 13 to be manufactured and the order of construction at the building site, and the control unit 90 executes the stacking mode determination program to refer to each of the components referred to by the material processing program. Processing data relating to the processing of the part and lamination data relating to the lamination mode referred to by the plate-shaped part moving program are generated.

  In determining the stacking mode by executing the stacking mode determination program, the control unit 90 determines, based on the component data, the layer to be arranged and the position and orientation in the layer based on the component data. The position and the direction of the crosspiece member 14 required in the above are determined. In this case, in determining the arrangement of the bar members 14, the short bar members 14S and the long bar members 14L as the bar members 14 set to a plurality of sizes are selected and set as necessary and used. It is possible to reduce the number of members. Note that the control unit 90 does not necessarily have to determine the stacking mode (packing style) of the component 13 and the crosspiece member 14. For example, the stacking mode determination program is omitted, and the control unit 90 sets the stacking mode (packing style). ) May be input, and the component 13 and the cross member 14 may be stacked based on the input data.

  Next, the configuration related to the component support portion 40 will be described in more detail.

  The component support portion 40 has a configuration in which at least a region where a processed component cut out of one material 12 can be arranged without overlapping vertically is secured as a component support region 40A.

  In addition, the component support portion 40 includes, as a component support region 40A, at least one material 12 that is cut out from one material 12 and that can be arranged at least in a processed component that is sequentially conveyed and that is subsequently processed. Alternatively, a configuration in which a region in which a work part cut out from the area can be arranged may be secured. In the case of this configuration, even if each component 13 based on the subsequent material 12 is transported before each component 13 based on the preceding material 12 is moved by the loading unit 70, They can be accepted, and it becomes possible to suppress that the operation of the processing unit 30 for processing the succeeding material 12 must be temporarily stopped due to the progress of loading of the parts 13 based on the preceding material 12. . In addition, it is possible to easily arrange the components 13 cut out from the material 12 that is continuously processed on the component support portion 40 in one layer.

  Further, the component support unit 40 maintains the state in which the various information (including the direction identification information) added by the identification information adding unit 20 faces at least one side (upward in FIG. 3) in the vertical direction. In the processing at 30, the transfer from the processing unit 30 to the component support unit 40, and the movement by the component support unit 40, even if their positions and directions are shifted from a predetermined reference position or a predetermined reference direction. In order to be able to read the various information from the upper side of the component support portion 40, the respective components 13 are not turned upside down in a predetermined direction (the right side in FIG. 3A and FIG. (C).

  Further, the control unit 90 (control means) identifies the direction of the processing component based on the direction identification information attached to the processing component supported by the component support unit (processing component support means), and controls the control unit 90 (arrangement storage). Means), the operation of the loading section (loading means) is controlled so as to be in the direction of the parts determined by the means, so that a predetermined number of plate-like parts can be stacked in a plurality of layers. ing.

  Specifically, the loading section 70 can freely move the holding device 71 (contact portion) and the imaging device 72 provided at the tip of the operating device 73 (operating portion) within the range indicated by the broken-line circle in FIG. It is configured to be movable, and has an axis in a vertical direction (a direction perpendicular to the surface of the component 13 or the cross member 14: a vertical direction) passing through a holding center (for example, a suction center by a suction pad) of the holding device 71. It is configured to be rotatable as a central axis.

  Note that a case will be described in which the holding device 71 and the imaging device 72 move and rotate integrally (without changing their relative positions and directions), but they are configured to move and rotate individually. There may be. In the following, for convenience of description, the control unit 90 is described as if it directly controls the movement and rotation of the holding device 71 and the imaging device 72. The movement and rotation of are performed indirectly by the operating device 73, and are realized by the control unit 90 controlling the operation of the operating device 73.

  As shown by the solid line in FIG. 3A, the control unit 90 moves the imaging device 72 near the position where the center of gravity of the component 13a to be moved is estimated to be located, and the upper surface of the component 13a ( (A surface to which a common symbol or bar code is added) by a predetermined distance. Thereafter, the control unit 90 searches for the common symbol 22 as the direction identification information based on the image captured by the imaging device 72.

  If the common symbol 22 can be detected in a recognition range in which the presence or absence of the common symbol 22 can be identified by searching from that position (hereinafter, also referred to as a wide-area recognition range 72H), the control unit 90 will display a broken line in FIG. As shown by, the imaging device 72 is moved so as to approach the common symbol 22.

  Specifically, the control unit 90 moves the imaging device 72 in a horizontal plane (a plane perpendicular to the vertical direction) so that the common symbol 22 is located near the center of the wide area recognition range 72H (FIG. C), the common symbol 22 is photographed again, and the orientation of the common symbol 22 is recognized based on the photographed image. As described above, the position of the common symbol 22 is photographed after performing the position adjustment by the movement again in the wide area recognition range 72H, so that the direction of the common symbol 22, that is, the state in which the common symbol 22 is supported by the component support area 40A. The direction of the component 13 can be detected with high accuracy. The control unit 90 detects a difference between the recognized orientation of the component 13a and the orientation to be arranged in the stacking support unit 50, and as shown in FIG. Rotate as

  Note that the control of the position adjustment by re-moving the imaging device 72 so as to approach the common symbol 22 is not limited to the movement in the horizontal plane, and in addition, the common symbol 22 is identified more than the wide area recognition range 72H. The narrow recognition range 72L in which the possible recognition range is narrowed may be used. More specifically, after moving also in the height direction so that the distance from the surface of the component 13a is shorter and lower than the high position indicated by the solid line, the common symbol 22 is photographed, and the orientation of the common symbol 22 is changed. You may make it recognize. Control for moving the imaging device 72 so as to approach the common symbol 22 is performed when the common symbol 22 is located within a certain range such as near the center in the first shooting in the wide area recognition range 72H. The re-shooting may be omitted.

  In addition, the control unit 90 reads information included in the barcode 21 that is the individual identification information from the image of the imaging device 72, and determines whether the component 13a is a movement target. In order to read out the information of the barcode 21, in order to display the barcode 21 in a small size or to include a large amount of information, it is preferable to use an image captured by bringing the imaging device 72 close to the barcode 21. Alternatively, the imaging may be performed separately from the imaging of the common symbol 22, or the imaging may be performed after the imaging device 72 is brought close to the barcode 21.

  When the detected barcode 21 is the barcode 21 of the component 13a to be moved, the control unit 90 moves the holding device 71 downward until it contacts the component 13a. The recognition of the barcode 21 and the recognition of the common symbol 22 may be performed based on an image obtained by one photographing.

  After that, the control unit 90 operates the holding device 71 so as to hold the component 13a in a liftable state. In this case, if the detected barcode 21 is for the component 13 to be moved, the control unit 90 cannot support the component 13 to be moved in a predetermined holding mode. Like the component 13b shown in FIG. 13C, the center of gravity (the tip of the arrow) is located in a predetermined area 40B near both ends of the support belt 43, and the center of gravity will be held at the center of the holding device 71. If the holding device 71 is supported at a position where the holding device 71 interferes with the fall prevention wall 45 for preventing the component 13 from falling from the support belt 43, the initial setting is performed as a standard (standard or optimal). From the orientation to be held, determine whether it can be held by rotating around the vertical axis passing through the center of gravity, and if it can be held, hold it in a different direction from the standard, if it can not be held still, Held from the standard position to be held at a position away in a predetermined direction. In this case, the control unit 90 stores information for specifying a change from the standard holding mode, for example, a rotation angle of a difference from the standard holding angle and a distance of the difference from the standard holding position, and stores the information. The displacement of the holding device 71 is controlled by subtracting the holding deviation.

  Note that the control unit 90 previously sets and stores a plurality of candidate holding positions and holding angles when the component 13 cannot be held at the predetermined holding position and holding angle, and selects from these candidates. You may.

  The control unit 90 raises the holding device 71 holding the component 13a to a predetermined height, and as shown in FIG. 3C, sets the orientation of the common symbol 22 (component 13a) in the reference direction (in the reference direction (FIG. 3C)). (Downward). After that, the control unit 90 moves the holding device 71 back and forth and left and right to move the component 13a from above the component support region 40A to above a planned loading position where arrangement is planned in the stacking support region 50A. After moving the component 13a above the planned loading position, the control unit 90 lowers the holding device 71 to contact the component 13d, the short bar member 14S, and the long bar member 14L arranged in the lower layer. The control unit 90 releases the holding state of the component 13a by the holding device 71. Thereby, the stacking at the predetermined position and the orientation with respect to the component 13a is completed. The control unit 90 repeats the same control for the other components 13b and 13c, and sequentially stacks them.

  The configuration in which the control unit 90 controls the movement of the imaging device 72 so as to search for the common symbol of the component 13 to be moved on a route corresponding to the position of the common symbol 22 of the component 13 to be moved will be described. However, a configuration in which the movement of the imaging device 72 is controlled along a path corresponding to the position of the component 13 to be moved may be employed. The imaging device 72 can be brought closer to the common symbol 22 along a route corresponding to the position of the symbol 22.

  Further, the control unit 90 may have a function of searching the common symbol 22 by moving the imaging device 72 along one predetermined route that does not correspond to the position of the common symbol 22. For example, a predetermined route that does not depend on the component 13 to be moved is set, and, for example, it moves from the rear side to the front side on the left end, then moves from the rear side to the front side at the center, and then moves to the right end. A zigzag path for moving from the rear side to the front side may be set, and the control unit 90 may control the movement of the imaging device 72 along a fixed path regardless of the component 13 to be moved. . In a special situation where the control unit 90 cannot detect the common symbol 22 from the image in the wide-area recognition range 72H, the component 13 that is searching is located within a range where the common symbol 22 can be recognized from above in the component support unit 40. Or where it is not.

  In addition, the control unit 90 moves the imaging device 72 along a fixed path without previously setting the component 13 to be moved, and sends the components 13 having the recognized common symbols to the stacking support unit 50 in the recognized order. They can also be moved.

  When a special situation in which the common symbol 22 cannot be detected from the image in the wide area recognition range 72H occurs, for example, the position of the component 13 to be moved is largely shifted in the component support unit 40 (the component support area 40A). If a situation occurs in which the control unit 90 enters under another component 13, the control unit 90 may perform another predetermined process. For example, the occurrence of an error may be notified to the worker by a sound or display of the control unit 90 so that the worker can check the part 13 to be moved. For example, the imaging device 72 may be moved by a predetermined distance along the component support portion 40 along a moving direction in which the component 13 or the cross member 14 can be moved, and the common symbol 22 may be searched again. Good. At this time, it is preferable that the control unit 90 moves the imaging device 72 such that a part of the recognition range in which the common symbol 22 can be recognized overlaps before and after the movement, and the common symbol 22 can be detected by this movement. If not, the control unit 90 may repeat the movement of the imaging device 72 in the same direction and the search for the common symbol 22. If the common symbol 22 cannot be detected by the movement in the same direction, the common symbol 22 is moved by a predetermined distance along a direction intersecting the movement direction, and then moved along the movement direction in the same manner as described above. The search for the common symbol 22 may be performed while changing the position.

  Further, for example, when the barcode 21 detected from the image in the wide area recognition range 72H is not a component (for example, the component 13a) to be moved but only another component (for example, the component 13b, 13c), Even if another part is moved, if it is possible to load all the parts on the layer where the planned loading position is set, another part corresponding to the detected barcode 21 is moved to the planned loading position. The control unit 90 may perform control to move, that is, control to change the moving target according to the detection result of the identification information. In addition, for another component (for example, the component 13b, 13c), another support table (temporary placement portion) that can be temporarily placed separately from the laminated support portion 50 is set in advance, and the other component is set. You may make it put temporarily.

  As described above, according to the plate-shaped component manufacturing apparatus 1, the operation of the loading unit 70 is controlled so that a predetermined number of plate-shaped components 13 including at least the component 13 a are stacked in a plurality of layers. The orientation of the component 13 is identified based on the common symbol 22 attached to the component 13a and the like supported by the component support unit 40, and the orientation of the component 13 is changed to the orientation determined by the stacking mode determination program of the control unit 90. The matching control is performed. Thereby, the orientation of the component 13 when processed from the material 12 is different from the orientation arranged when the components are stacked, or the orientation of the component 13 at the time of machining or before stacking by the loading unit 70. Even if a misalignment occurs, the direction can be adjusted based on the common symbol 22 (direction identification information), and the component 13 can be arranged at a desired position in a desired direction with high accuracy. it can. Therefore, the components 13 can be appropriately stacked, and the occurrence of load collapse due to the misalignment of the stacked components 13 can be suppressed. In addition, it is possible to prevent the components 13 from protruding from the lamination support area 50A where a predetermined number of components 13 are stacked, and it is also possible to prevent the protruding portion from being transported to the building site or being easily damaged at the building site. .

  In addition, in the case of the plate-shaped component manufacturing apparatus 1, since the orientation of each component 13 that is processed into various shapes by the processing unit 30 can be identified by recognizing the direction identification information, such various In comparison with the case where the external shape of each component 13 having a simple shape is individually recognized and its orientation is specified, the orientation of the component 13 can be specified at high speed based on a simple plate-shaped component moving program, and each component 13 can be located at a desired position. It can be simply and quickly arranged in a desired orientation.

  Further, according to the plate-shaped component manufacturing apparatus 1, different paths according to the estimated position where the component 13 to be moved or the common symbol 22 assigned thereto is likely to be located in the component support area 40A. The operation of the loading unit 70 is controlled such that the holding device 71 and the imaging device 72 approach the component support area 40A. Thus, the common symbol 22 of the part 13 to be moved can be searched for from the vicinity of the position where the common symbol 22 is likely to be located, and the common symbol 22 of the part 13 to be moved can be efficiently recognized. can do. Therefore, each component 13 can be efficiently arranged at a desired position in a desired direction.

  It should be noted that, under the control of the control unit 90, a device that identifies the direction of the component 13 based on the common symbol 22 assigned to the component 13a and the like and brings the plate-shaped component 13 into a state of being stacked on a plurality of layers includes processing The present invention is not limited to the plate-shaped component manufacturing apparatus 1 including the apparatus, but may be configured as a plate-shaped component moving apparatus that does not include a processing apparatus. May be omitted from the control section relating to the processing of.

  Next, the configuration of the plate-shaped component manufacturing apparatus 1 relating to processing and use when the remaining portion of the material 12 is used as the processing cross member 14R will be described in detail.

  The control unit 90 allocates the parts 13a and the like (processed parts) and the processing crosspieces 14R (crosspieces) to the plate-like material 12 processed by the processing unit 30 (processing apparatus), and ) Is capable of performing processing control for processing the parts 13a and the like and the processing bar member 14R. Specifically, the control unit 90 determines the position and orientation of the crosspiece member 14 required for each layer based on the execution of the above-described lamination state determination program. At this time, the control unit 90 determines the area to be allocated to all of one or more parts 13a and the like cut out from each material 12 and then processes the area to which no parts 13a and the like are allocated in each material 12. The crosspiece member 14R is allocated. Further, when allocating the processing bar member 14R smaller than the predetermined size to the material 12, the control unit 90 sets the outer shape to a specific shape such as the short bar member 14S so that the individual need not be identified. Determine the same shape. In addition, although the shape of the small processing bar member 14R is the same as that of the short bar member 14S so that they can be used or used together, they need not be the same shape.

  Based on the control of the control unit 90, the identification information adding unit 20 is the component 13 or the processing bar member 14R on at least one surface facing the thickness direction of the processing bar member 14R as in the case of the component 13a or the like. Or identification information that can be identified. Specifically, the identification information adding unit 20 applies a bar code corresponding to the bar member 14 similar to the bar code 21 as the individual identification information to the processed bar member 14R larger than a predetermined size, The same common symbol 22 as the component 13a or the like as information is printed, and only the same common symbol 22 as the component 13a or the like as the direction identification information is printed on the processing bar 14R smaller than a predetermined size. Note that the direction identification information given to the processing cross member 14R may not be the same common symbol as that of the component 13a or the like, and may be another form as described above that can be adopted for the component 13a or the like. For example, it may be a dedicated form not adopted.

  The component support part 40 also supports the processing bar member 14R in a state where the common symbol 22 (direction identification information) faces at least one side in the vertical direction, as in the case of the component 13a and the like. Further, as in the case of the component 13 and the like, the component support portion 40 supports the processing bar member 14R so as to be separated from each component 13 and the other processing bar member 14R.

  The control unit 90 recognizes the existence of the common symbol 22 in the search by the imaging device 72 for the component 13 a to be moved and the common symbol 22 attached thereto, but the barcode is located at a predetermined position with respect to the common symbol 22. If the presence of 21 cannot be recognized, it is determined that the small crosspiece 14R has been processed into a specific shape. In addition, the control unit 90 determines whether the recognized barcode 21 is not for the component 13a to be moved but is for the large processing bar member 14R or for the small processing bar member 14R in which the barcode 21 is not recognized. Even if there is, even if it is moved before the movement of the part 13a to be moved is completed, if any other part 13 or the cross member 14 cannot be normally arranged, the part 13a is recognized. The processed work member 14R is moved.

  As described above, according to the plate-shaped component manufacturing apparatus 1, the control unit 90 allocates the component 13 a and the like and the processing bar member 14 R to the material 12 and assigns the component 13 a and the like and the processing bar member 14 R to the processing unit 30. The bar code and the common symbol 22 as identification information capable of identifying the part 13a and the like and the processing bar member 14R by the identification information adding unit 20 are provided on at least one surface facing the thickness direction of the part 13a and the like and the processing bar member 14R. To be added. Thereby, it is possible to adjust the orientation of the part 13a or the like processed from the material 12 and the processing bar member 14R based on the identification information and load.

  In addition, since the common symbol 22 as direction identification information is added to the processing crosspiece member 14R, it is possible to arrange the processing crosspiece member 14R with high accuracy in the position and orientation determined by the control unit 90 (lamination mode determination program). Becomes Therefore, the components 13a and the like and the processing bar members 14R can be appropriately stacked, and the occurrence of load collapse due to a shift in the orientation of the stacked components 13a and the processing bar members 14R can be suppressed.

  Further, in the case of the plate-shaped component manufacturing apparatus 1, the processing bar member 14R used to assist in stably supporting the component 13a or the like is processed from the remaining portion of the material 12 after the processing of the component 13a or the like. Is possible, the yield of processing the component 13a or the like and the processing bar member 14R can be improved.

  In addition, in the case of the plate-shaped component manufacturing apparatus 1, since it is possible to adjust the direction of the component 13a and the like and the processing bar member 14R based on the common symbol 22 as described above, the component 13a When allocating a plurality of processing objects including the processing bar member 14R, the directions of the plurality of processing objects in the material 12 do not need to match the directions determined by the control unit 90 (the lamination mode determination program). The degree of freedom of the combination of a plurality of processing targets that can be assigned to the 12 is increased. As a result, compared with the case where the directions of the plurality of processing targets in the material 12 are adjusted to the directions determined by the control unit 90, the yield related to the processing of the component 13a and the processing bar member 14R can be improved.

  Further, as the plate-shaped component manufacturing apparatus 1, after the control unit 90 (lamination mode determination program) determines which of the plurality of layers the component 13a and the like and the processing bar member 14R are to be arranged, It is possible to adopt a configuration in which the parts 13a and the like and the processing bar members 14R are allocated and processed according to the determined layer positions. When this configuration is adopted, the parts 13a and the like and the processing cross member 14R arranged on each layer of the plurality of layers are processed from the same material 12, and the material 12 is processed into the parts 13a and the processing cross member 14R. Can be simplified, and the processing load can be reduced. Further, the components 13a and the like and the processing bar members 14R in each material 12 may be allocated so that the arrangement thereof is the same as the arrangement of the components 13a and the like and the processing bar members 14R constituting each layer.

  Next, the crosspiece support 60 will be described in detail. FIG. 4A is a schematic top view showing an example of the configuration of the beam member support 60, FIG. 4B is a schematic front view thereof, and FIG. 4C is a single beam member. 14D is a schematic side view illustrating an example of an operation mode of supplying the 14 (long bar member 14L), and FIG. 14D illustrates an example of an operation mode of simultaneously supplying a plurality of the bar members 14 (long bar member 14L). It is a side view.

  As shown in FIG. 1, FIG. 4 (A) and FIG. 4 (B), the bar member supporting portion 60 is configured such that the long bar member 14L (strip-shaped bar member) has an end portion in the longitudinal direction when viewed from above. Are shifted, and are supported in a side-by-side state arranged in a short direction crossing the long direction.

  Specifically, as shown in FIG. 4A and FIG. 4B, the cross member supporting portion 60 is a wall projecting upward from an intermediate wall 61 having openings 61a to 61c. Longitudinal-side regulating walls 62a and 63a that regulate the positions of both ends in the longitudinal direction of the long bar member 14L supported on the lower side in FIG. 4A and the front side in a direction perpendicular to the paper surface in FIG. 4B. And a short side regulating wall 64a for regulating the positions of both ends of the long bar member 14L in the short direction. Similarly, the long-side regulating walls 62b and 63b for regulating both longitudinal positions of the long bar member 14L supported on the back side, and the short-side regulating walls for regulating both lateral positions of the long bar member 14L in the short direction. A wall 64b is provided, and the longitudinal side regulating walls 62b, 63b are provided so as to be shifted from the longitudinal side regulating walls 62a, 63a along the longitudinal direction of the long bar member 14L. The crosspiece member support portion 60 supports the long crosspiece members 14L in a state of being stacked in a direction along various control walls.

  Further, as shown in FIGS. 4 (A) and 4 (B), the cross member supporting portion 60 is formed above the bottom wall 65, supports the intermediate wall 61, and is provided at the opening 61a (openings 61b, 61c). A support frame 66 having an opening 66a (openings 66b, 66c) communicating therewith, and a lower surface of the front (rear) long bar member 14L fixed to the bottom wall 65 and located in the lowermost layer in a stacked state. Driving the regulating plate 67a (regulating plate 67b) and the regulating plate 67a (regulating plate 67b), which are capable of integrally moving the stacked long side members 14L that are in contact with and stacked on the near side (rear side) in the vertical direction. And a cylinder 68a (cylinder 68b).

  The control unit 90 lifts the holding device 71 (contact portion) by bringing two or more cross members 14 into contact with each other, and at least part of the plurality of layers (layers constituting the laminate 11) This is a configuration capable of performing control to move the members 14 collectively. For example, a configuration for performing control to move two or more short rail members 14L collectively or a configuration for performing control to move two or more short rail members 14S collectively may be used. The structure which performs control which moves the long cross member 14L and one or more short cross members 14S collectively may be sufficient.

  In addition, the control unit 90 is configured to hold the holding device 71 (contact portion) with two or more long bar members 14L (band-plate-shaped bar members) supported side by side by the bar member supporting portions 60 (bar member supporting means). ) Is positioned on the upper side, and the operation of the loading section 70 (loading means) is controlled, and after the two or more long bar members 14L and the contact portions contact each other, the two or more long bar members 14L are lifted. In this configuration, a plurality of rail members are moved and moved to at least a part of the plurality of layers at a time. Furthermore, only one long bar member 14L (band-shaped bar member) is brought into contact with the holding device 71 (contact portion) and lifted, and one long bar member 14L is attached to at least a part of the plurality of layers. In this configuration, the movement of the single beam member to be moved is also controlled.

  More specifically, the control unit 90 controls the operation of the cylinders 68a and 68b to maintain the positions of the restriction plates 67a and 67b at the constant height H1 at the upper surface of the longest crosspiece member 14L. When the uppermost long rail member 14L is taken out, control is performed so that the remaining stacked long rail members 14L are integrally raised by the thickness of the long rail member 14L. When holding the uppermost long rail member 14L by the holding device 71, the control unit 90 sets the holding device 71 to a position where the front and rear long rail members 14L overlap along the longitudinal direction. Move to a position (hereinafter referred to as a holding standby position) in the center where the upper surface of the longest bar member 14L and the lower end of the holding device 71 are at a predetermined distance H2 (for example, the thickness of the long bar member 14L). Let it. Thereafter, the control unit 90 raises the regulating plates 67a, 67b by controlling the cylinders 68a, 68b until the upper surface of the longest bar member 14L and the lower end of the holding device 71 are in contact with each other. The control unit 90 has a configuration in which the cylinder 68a and the cylinder 68b can be individually controlled, and by operating the cylinder 68a or the cylinder 68b as shown in FIG. In this case, the front or rear long rail member 14L is raised, or the cylinder 68a and the cylinder 68b are simultaneously operated to move the front and rear long rail member 14L as shown in FIG. 4D. It can be raised at once. Thus, the control unit 90 can cause the holding device 71 to hold only the single long rail member 14L, or cause the holding device 71 to hold a plurality (two in the figure) of long rail members 14L. Although not shown, the control unit 90 may also cause the holding device 71 to hold only the single short rail member 14S with respect to the short rail member 14S, similarly to the case of the long rail member 14L, or a plurality ( (Two or four in the figure) short rail member 14S may be held by holding device 71.

  Here, the cross member support portions 60 are provided such that the long cross members 14L are arranged in a short direction crossing the long direction in a top view. For this reason, one of the long rail members 14L on the front side has a right end in the longitudinal direction (an end that does not face the long long bar member 14L on the rear side: hereinafter abbreviated as a right end). The other long side bar member 14L is supported so as to be aligned with the wall 62a, and the other long side bar member 14L is a left end in the longitudinal direction (an end portion not facing the rear side long bar member 14L: hereinafter, abbreviated as a left end portion). ) Can be supported so as to be aligned by the longitudinal-side regulating wall 62b. Thereby, even if the longitudinal length of the long side bar member 14L on the near side and the back side is not uniform, the right end of the long side bar member 14L on the near side and the left end of the long side bar member 14L on the far side are not changed. Can be kept constant. Further, in the cross member support portion 60, the total length of the shifted arrangement is set to a length corresponding to the long side of the laminated support region 50A (see FIGS. 1 and 2). If the two long rail members 14L are moved while maintaining the relative position supported by 60, they can be arranged without excess or shortage over the long side of the laminated support area 50A.

  The crosspiece member support portion 60 is configured to support the long crosspiece members 14L on the front side and the rear side so that the longitudinal direction thereof is substantially parallel to the long side of the lamination support area 50A. When arranging along the long side of the support area 50A, it is possible to move the long bar member 14L without a rotation in which the holding state by the holding device 71 is easily released as compared with a linear movement. Thus, the long rail member 14L can be moved at a higher speed than when the long bar member 14L is moved with rotation.

  Note that the cross member supporting portion 60 is not limited to the configuration in which the long cross members 14L on the near side and the back side are supported in a state of being close to each other in the short direction, but they are separated at predetermined intervals in the short direction. It may be configured to support in a state where it is held.

  When moving the two long rail members 14L, the control unit 90 does not necessarily need to hold the two long rail members 14L at the same time, and may hold them separately. That is, after holding the long bar member 14L on the front side and the back side by the holding device 71, the long bar member 14L is moved by the operating device 73 so as to approach the other long bar member 14L. Alternatively, the other long rail member 14L may be held by the holding device 71.

  In addition, the cross member supporting portion 60 is not limited to the case where a plurality of stacked layers in which the long cross members 14L are stacked are provided side by side, such as the front side and the back side, and may be a configuration in which only one stacked body is provided. In the case of adopting this configuration, the control unit 90 holds one long bar member 14L by the holding device 71, then moves the long bar member 14L by the operating device 73, and then controls the other long bar member 14L. 14L is configured to be held by the holding device 71 at a portion different from the portion holding the long rail member 14L held earlier. When the long bar member 14L is moved by the operating device 73, the displacement length of the two long bar members 14L held by the holding device 71 is adjusted by the moving amount along the longitudinal direction of the long bar member 14L, and The distance between the long rail members 14L is adjusted by the amount of movement of the long rail members 14L along the short direction. Further, the cross member support portion 60 is configured to support the long cross member 14L such that one end in the longitudinal direction thereof is aligned, and after the control portion 90 holds the long cross member 14L held first, the long cross member 14L is held. After rotating 180 degrees with the front and back directions of 14L as the central axis, the other long bar member 14L is held in the held long rail member 14L so that the other end does not face the next long bar member 14L to be held next. It is preferable to adopt a configuration in which the long bar member 14L is held. If this configuration is adopted, even if the lengths of the long bar member 14L in the longitudinal direction are not uniform, the two long bar members 14L to be held can be used. The entire length of the shifted arrangement can be kept constant.

  Further, the control unit 90 is not limited to the configuration in which the single beam member movement control and the plural beam member movement control are performed, and may be a configuration in which the single beam member movement control is not performed. In the case of employing this configuration, the rail member supporting portion 60 is configured such that the long rail member 14L on the front side and the rear side cannot be individually moved, for example, the cylinder 68a and the cylinder 68b operate only in conjunction with each other. A configuration or a configuration in which the long rail member 14L on the front side and the rear side is supported by one regulating plate may be used. When moving one long bar member 14L by the single bar member movement control, the control unit 90 controls the front side long bar member 14L and the rear long bar member 14L to be used evenly. It is preferable to select and move them alternately. When moving one long rail member 14L, the control unit 90 sets a position different from the case where a plurality of long rail members 14L are held, for example, the position of the center (center of gravity) of each long rail member 14L. It is preferable that the position to be held by the holding device 71 be changed so that the holding device 71 holds it.

  In addition, when holding one or more objects by the holding device 71, the control unit 90 is not limited to a configuration in which the holding device 71 holds the one or more objects by moving them toward the center side (holding center) of a holding area of the holding device 71. It may be configured to be held close to one end side. In this case, the control unit 90 causes the operating device 73 to move the object held by the holding device 71 to a range more distant from the base 74 (see FIG. 1) than when the object is held toward the center. be able to.

  As described above, in the case of the plate-shaped component manufacturing apparatus 1, at least the operation of the loading unit (the loading unit 70) is controlled, and the component 13 and the long bar member 14L or the short bar member 14S are stacked in a plurality of layers. In the state, two or more long bar members 14L and short bar members 14S are brought into contact with the contact portion (holding device 71) and lifted, and at least a part of the plurality of layers is connected to two or more long bar members. It is possible to perform control to move the 14L and the short rail member 14S collectively. Thereby, two or more crosspieces 14L can be lifted and moved to a desired position at one time, and the time efficiency of disposing the crosspieces on each layer can be improved. Thereby, it is possible to efficiently stack the plate-shaped or rod-shaped components including the plurality of cross members.

  Further, with the plate-shaped component manufacturing apparatus 1, two or more crosspieces 14L can be lifted at the same time, and the time efficiency of lifting the crosspieces 14L and 14S can be improved. Further, by shifting the plurality of bar members 14L in advance so as to have the same relative position as the relative position at the moving place, at least one of the bar members 14L is further moved after being moved on the layer. Without this, it is also possible to arrange two or more cross members 14L at desired positions at the same time.

  Further, in the case of the plate-shaped component manufacturing apparatus 1, since it is possible to select whether to move a single bar member or to move a plurality of bar members, even for a layer that requires only one bar member, A predetermined number of crosspieces can be easily moved with respect to a layer requiring a plurality of crosspieces.

  Under the control of the control unit 90, two or more crosspieces 14 are brought into contact with the contact portion (holding device 71) and lifted, and the two or more crosspieces 14 are collectively arranged on at least a part of the plurality of layers. The device for controlling the movement is not limited to the plate-shaped component manufacturing device 1 including the processing device, and the same effect can be obtained even if the device is configured as a plate-shaped component moving device not including the processing device. . In addition, as the plate-shaped component moving device, at least one of the identification information adding unit 20 and the processing unit 30 may be omitted, or a control unit for processing the material 12 in the control unit 90 may be omitted. .

  In addition, the device for controlling the movement of the two or more crosspiece members 14 by the control of the control unit 90 is not limited to the case where the component to be moved by the loading unit 70 is the plate-shaped component 13, and may be a rod-shaped component. May be configured as a component moving device for moving a part of the structure, for example, a cross member used as a structural material such as a pillar material or a horizontal member forming a skeleton of a building or an auxiliary member such as a feather material. 14 may be used. In this case, the long rail member 14L is used, the long rail member 14L is arranged in a part of a state in which a plurality of bar-shaped parts are arranged and stacked in a plurality of stages, and two long rails are arranged in accordance with the width of the truck bed. The length of overlap in the longitudinal direction may be adjusted by changing the amount of displacement of the end position of the member 14L, whereby the long bar member 14L is used as the bar member 14 that can be adjusted to the width of the bed of various trucks. be able to.

  Further, the control unit 90 is not limited to the configuration in which the single beam member movement control and the plural beam member movement control are performed, and may be configured to perform only the single beam member movement control without performing the multiple beam member movement control.

  Next, the configuration relating to the direction identification information added to the component 13 and the cross member 14 by the identification information adding unit 20 will be further described with reference to FIG. FIG. 5 is a diagram exemplifying a case where a character and a symbol are used as the common symbol 22 used as the direction identification information. Specifically, a bar code 21 and a common symbol 22 as identification information are added by the identification information adding unit 20 to a plurality of processed parts (the part 13 and the cross member 14) manufactured using one material 12. FIG.

  The common symbol 22 that can be used as the direction identification information may be added using characters or figures, as shown in FIG. As the common symbol 22, it is preferable to use characters, symbols, and graphics that can be used by a personal computer as the control unit 90. Examples of characters include hiragana, katakana, alphabets, numbers, and kanji, and examples of symbols include "@" and "&". As the direction identification information used for the common symbol 22, only the kanji character, only the symbol belonging to one type of classification, or the information belonging to two or more classifications may be used. .

  Further, any of the character and symbol information may be used as the direction identification information as the common symbol 22, but may be used to identify the component 13 such as the number of the component 13 and the arrangement position of the component 13. It is preferable to use information (hereinafter, also referred to as “non-use information”) different from the existing information (hereinafter, also referred to as “use information”). Thus, it is possible to avoid a situation in which the use information is erroneously recognized as the direction identification information.

  It is preferable to use kanji as non-use information that can be used as direction identification information. There are many types of kanji, and non-use information can be easily selected from among them, and there are many targets to be changed or added later, so it can be easily changed or added .

  Here, the common symbol 22 is printed by the control unit 90 controlling the identification information adding unit 20. For this reason, the control unit 90 stores (sets) one or more types of non-use information that can be used in advance as the common symbol 22, and controls the control unit 90 to control the identification information addition unit 20 based on the non-use information. By adding (adding) unset non-use information to the control unit 90, new non-use information usable as the common symbol 22 can be added. Is also good.

  As the kanji used as the direction identification information, a kanji having a form capable of identifying a specific direction can be used. For example, Chinese characters such as "earth", "yen", "mountain", and "de" can be used. In the setting of the kanji, if the kanji used as the direction identification information is too simple, there is a possibility that erroneous recognition may occur due to grain or dirt of the part 13 when manufacturing the part 13 by processing a wooden material. On the other hand, if it is too complicated, a high-resolution camera may be required to accurately identify the identification information, and the location where information can be input may be limited, such as if the distance is too long, accurate identification becomes difficult. There is. For this reason, as the kanji used as the direction identification information, for example, it is preferable that the number of strokes is not more than three strokes and not too simple, and it is preferable to use not too complicated kanji such as five strokes or less.

  In addition, it is preferable to use a kanji having a linear portion pointing in a plurality of directions as the kanji used as the direction identification information. Is more preferable. This makes it easier to avoid a situation in which a large number of wood grains that are likely to be aligned in a certain direction are erroneously recognized as direction identification information.

  Also, if the length of the straight line portion changes slightly, the direction can be limited to one direction even if the length of the straight line portion changes slightly from a kanji (for example, "ko") that can be recognized as a character in another direction. It is preferable to use a kanji having a simple shape (for example, "earth"). Thereby, it is possible to easily avoid a situation in which the direction is reversed due to a grain or dirt overlapping a part of the linear portion, and the erroneous recognition is performed.

  In addition, it is possible to use, as the direction identification information, a kanji (for example, “mountain”) in which two or more linear portions facing in at least one of the directions (for example, the vertical direction) are provided in parallel. This is preferable because erroneous recognition can be easily avoided. In addition, it is preferable to use kanji (for example, “circle”) in which two or more linear portions are provided in two parallel directions as direction identification information.

  Further, it is preferable that a plurality of types of the common symbols 22 added by the identification information adding unit 20 as the direction identification information are set. For example, a plurality of types of kanji as direction identification information are set in advance, and different characters are assigned to a plurality of parts 13 that are cut when a plate-shaped material is cut, and identification information is added. Preferably, it is added by the part 20. Thereby, when the common symbol 22 is detected by the control unit 90, it is possible to easily specify one component to be moved, and only the common symbol 22 is detected to determine the destination of the component 13 by the control unit 90. 90, the component 13 can be moved by controlling the loading unit 70.

  When a plurality of types of identification information are used as the direction identification information, characters or symbols added by the identification information adding unit 20 are printed in different sizes, and the direction identification information is different depending on the size of the characters or the like. This may be identified and controlled by the control unit 90. For example, the same kanji is added in a different size to the part 13 that is cut into a plurality when the plate-shaped material is cut, and the part 13 is specified based on the type and size of the kanji. You may do so. FIG. 5 illustrates a case where the direction identification information of “情報” and “mountain” are used as the common symbol 22 with different sizes.

  In addition, it is preferable that the number of types for which the direction identification information is set is set to the number required to be separated from one material and moved. For example, when a maximum of six parts 13 can be manufactured from one material 12, it is preferable to set six or more different direction identification information in advance. FIG. 5 illustrates a case where different direction identification information is added as the common symbol 22 to the three types of components 13a to 13c.

  When the same part 13 (the part 13 having the same shape and size) is manufactured from one material 12 as the direction identification information, the same direction identification is performed for the same part 13. Information may be added. FIG. 5 illustrates a case where a “mountain” that is the same direction identification information is added as a common symbol 22 to the crosspiece 14 that is a processed part having the same shape and size.

  Further, as the direction identification information, the same direction identification information may be added to a plurality of components 13 manufactured by cutting one material 12. In this case, it is preferable to add the same direction identification information only when the same direction identification information printed on the plurality of components 13 is separated by a predetermined distance or more. . For example, control may be performed to add the same direction identification information to positions separated by more than the distance where the same direction identification information is not arranged in the above-described wide area recognition range 72H.

  Further, direction identification information having different colors is added to the plurality of components 13 as direction identification information, and the type of the direction identification information including the color of the added identification information is identified by the control unit 90. May be determined.

  As the common symbol 22 added to one component 13, one character or symbol may be added as direction identification information, or a plurality of different identification information (for example, the type and size of the character or symbol may be different). Either or both of them may be different. FIG. 5 illustrates a case where two types of direction identification information are added to the three types of components 13a to 13c, respectively.

  When a plurality of types of different identification information are added to one component 13 as the common symbol 22, the same character or symbol (for example, a kanji) may be added at a plurality of places with different sizes, or different characters or symbols may be added. A symbol (for example, two types of Chinese characters) may be added. In this case, the control unit 90 stores the relative positional relationship between the position of the center of gravity of the component 13 and the printing position with respect to the plurality of types of identification information added to one component 13, and If the identification information can be detected, it is preferable to control the loading unit 70 to make the component 13 movable. FIG. 5 illustrates a case where direction identification information having different sizes is added to one component 13 as a common symbol 22.

  Here, a control example in a case where a plurality of characters or symbols are added to one component 13 as direction identification information will be described. First, an image of the component 13 to which a plurality of pieces of direction identification information are added is input to the control unit 90 via the information input device (imaging device 72), and one piece of direction identification information is detected in the image. , The control of the movement of the component 13 is executed based on the direction identification information. When a plurality of direction identification information can be detected, one of the identification information having a higher ratio (score) of a correct portion is compared with data of ideal direction identification information stored in advance to control movement. The control is executed as the direction identification information to be used. In this case, a plurality of types of direction identification information may be input to the control unit 90 by a plurality of shootings, but at a position close enough to allow information to be input by a single shooting by the imaging device 72, It is preferable to add a plurality of types of direction identification information. Thereby, a plurality of types of direction identification information can be input to the control unit 90 by a small number of information inputs (shooting), so that the control of the movement of the component 13 can be easily speeded up.

  As described above, the identification information adding unit 20 as the identification information adding unit is set as the identification information for the part 13 and the cross member 14 as the processing parts processed by the control of the processing unit 30 as the processing device. Some (one or more) of a plurality of types of kanji or symbols are configured as common symbols 22 to be attached to processed parts. For this reason, the control unit 90 identifies the type and size of the kanji or symbol attached to the processed part, and sets the direction identification information of the combination of the type and size of the kanji or symbol attached to the processed part. The control of the movement of the processed component according to the type can be performed by the control unit 90.

  That is, when a plurality of processed parts are manufactured from one material 12, different direction identification information can be added to the plurality of processed parts. In this case, individual identification information such as the barcode 21 is input to the information input device. Without inputting to the control unit 90 by the (imaging device 72), it is possible to specify which of the plurality of processed components is specified by the common symbol 22 and move the processed component. Therefore, the input of the identification information by the information input device can be simplified to shorten the time required to complete the movement of the processed part, and the low-resolution imaging device 72 can be used as the information input device for inputting the direction identification information. Thus, it is possible to suitably perform the movement control using identification information (direction identification information) capable of identifying the direction of the processed component, such as reducing the cost of the plate-shaped component manufacturing apparatus 1.

  The direction identification information set in the control unit 90 includes kanji information generally available on a personal computer or the like. This makes it easy to set (select) appropriate identification information by diversifying the objects that can be set as the identification information, and to set the identification information for the control unit 90 by using existing characters. In addition, it is possible to easily perform the setting of the identification control of the identification information based on the information input of the information input device (imaging device 72).

  The direction identification information set in the control unit 90 includes direction identification information of different types due to different character sizes. Therefore, control using various kinds of identification information can be performed using limited characters and figures.

  It should be noted that the present invention is not limited to the above-described embodiment, and it can be easily inferred that various improvements and modifications can be made without departing from the gist of the present invention. The present invention may be modified as follows.

  In the above embodiment, in the plate-shaped component manufacturing apparatus 1, even if the processing unit 30 does not require processing and uses the material 12 itself as the part 13, the identification information adding unit 20 and the processing unit 30 Although the configuration in which the component 12 is moved to the laminated support portion 50 through the component support portion 40 has been described, the configuration may be such that the material 12 that becomes a processing unnecessary component is directly moved from the material support portion 10 to the laminated support portion 50. .

  In the above embodiment, the plate-shaped component manufacturing apparatus 1 is configured to move the component 13 and the crosspiece 14 by the loading unit 70, but is configured to move the material 12 by the operation device 73, for example, the material support unit. A configuration in which the material 12 is moved from the identification information adding unit 20 to the processing unit 30 may be used. Furthermore, the plate-shaped component manufacturing apparatus 1 is configured to move the material 12 that does not need to be processed by the processing unit 30 by the loading unit 70 from the material supporting unit 10 or the identification information adding unit 20 to the stacking supporting unit 50. Is also good.

  Further, in the above embodiment, the loading unit 70 of the plate-shaped component manufacturing apparatus 1 is controlled by the control unit 90, and the component 13 or the cross member 14 as a processed component is determined based on the direction identification information (common symbol 22). Although it was configured to be in a state of being stacked on a plurality of layers, the direction identification information does not necessarily need to be used in the case of being stacked on a plurality of layers, and instead or in addition to this, The processing component may be moved using the direction identification information. For example, the direction identification information may be used in the control of the control unit 90 when the processing component is moved to a temporarily-placeable support table. .

  Further, as an invention that can be extracted from the above embodiment, a plate-shaped component moving device may be configured as follows.

A processed part processed by a processing apparatus capable of dividing a plate-shaped material into a plurality of pieces, wherein at least one surface facing the thickness direction is provided with identification information (direction identification information) capable of identifying the direction of the processed part. Means for moving the part;
Arrangement storage means for storing the position and orientation of the component when the component is moved by the moving means,
The processing component processed by the processing device is supported in a processing component support area set to a size where the plate-like material can be arranged, with the identification information facing at least one side in the vertical direction. Processing part support means to be
Identifying the orientation of the work component based on the identification information attached to the work component supported by the work component support means, and performing the movement so that the orientation of the work component is stored by the arrangement storage means. Control means for controlling the operation of the means.

  According to the plate-shaped component moving device, even if the direction of the processed component shifts or varies before the moving means moves, the direction of the processed component is determined based on the identification information (direction identification information). It can be adjusted, and the workpiece can be arranged at a preset position with high accuracy.

  In addition, since the orientation of each processing component having various shapes when processed by the processing device can be identified by recognizing identification information (direction identification information), the external shape of each processing component having various shapes is individually determined. Compared to the case of identifying the direction by recognizing the direction, the direction of the processed part can be specified at high speed based on simple direction recognition control, and each processed part can be easily and quickly arranged at a desired position in a desired direction. Can be.

  As described above, the present invention is suitable for a plate-shaped component moving device, a control device of the plate-shaped component moving device, and a plate-shaped component moving program.

DESCRIPTION OF SYMBOLS 1 ... Plate manufacturing apparatus, 11 ... Laminated body, 12 ... Material, 13, 13a-13d ... Parts, 14, 14L, 14R, 14S ... Bar member, 10 ... Material support part, 20 ... Identification information addition part (identification Information addition means, printing device), 21: bar code (identification information, individual identification information), 22: common symbol (identification information, direction identification information), 30: processing unit (processing device), 40: component support unit (processing) Component support means), 50: laminated support part, 60: cross member support part (cross member support means), 70: loading part (loading means, moving means), 71: holding device (contact part), 72: imaging Equipment (information input device), 80: remaining material collection unit, 90: control unit (control means)

Claims (5)

Moving means for moving a processed part processed by a processing device capable of dividing a plate-shaped material into a plurality,
In the processed part, at least one surface facing the thickness direction, identification information adding means for attaching identification information capable of identifying the direction of the processed part,
An information input device for inputting the identification information given by the identification information adding means,
Control means for controlling the operation of the moving means based on the identification information input by the information input device,
A plurality of types of identification information are set as the identification information,
The identification information adding means may attach a part of a plurality of types of identification information set as the identification information to the processed part, for the processed part processed by the control of the processing apparatus. Plate-like part moving device.   The plate-shaped component moving device according to claim 1, wherein the identification information includes kanji identification information composed of one kanji that can specify one direction. First identification information composed of one character or figure as the plurality of types of identification information;
3. The plate-like plate according to claim 1, wherein the first identification information includes the same character or graphic and second identification information having a size different from the first identification information. 4. Parts moving device.   A control device for controlling an operation of the plate-shaped component moving device according to any one of claims 1 to 3, wherein the control device includes the control unit.   5. A program for moving a plate-shaped component according to claim 4, wherein said control device controls the operation of said moving means on the basis of said identification information.