JP6456543B1 - Work material moving device, control device for work material moving device, and work material moving program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece moving device capable of efficiently moving a workpiece in a limited space, a control device for the workpiece moving device, and a workpiece moving program.
SOLUTION: A workpiece 99 stopped at a lifting position 3a is lifted in an accumulation area 10 where a workpiece 99 can be placed on a first support moving device 4 by operations of a loading device 6 and a suction unit 2. With respect to the loading region 10a close to the position 3a, a plurality of the workpieces 99 arranged at the lifting position 3a are arranged in a row along a direction orthogonal to the longitudinal direction, and then stacked in a plurality of stages, The one support moving device 4 is configured to be able to move collectively to the shipping standby area 10b that is farther from the lifting position 3a than the loading area 10a.
[Selection] Figure 1

Description

  The present invention relates to a workpiece moving device, a control device for the workpiece moving device, and a workpiece moving program.

  2. Description of the Related Art Conventionally, a technique has been proposed in which a structural member such as a horizontal member, a pillar member, and a feather pattern member used in a house is cut and manufactured by precut processing. According to the structure member manufacturing technology using pre-cut processing, a large number of structure members corresponding to processing data generated by drawing with CAD can be efficiently manufactured (see Patent Document 1).

Japanese Patent No. 5362443

  However, when a large number of structural members are manufactured, it becomes necessary to efficiently move the workpiece after cutting, and the configuration for efficiently moving the workpiece in a limited space is improved. There might be room.

  The present invention has been made to solve the above-described problems, and a workpiece moving device capable of efficiently moving a workpiece in a limited space, a control device for the workpiece moving device, and The purpose is to provide a workpiece transfer program.

In order to achieve this object, the workpiece moving device according to claim 1 is capable of bringing the workpiece into a state of being lifted by contacting a part of the workpiece subjected to the cutting process. A contact portion that contacts the workpiece, and a workpiece transfer means that constitutes at least a part of a transfer path for transferring the workpiece, and supports the lower side of the workpiece at a lifting position where the contact portion can contact; , In a top view, a plurality of workpieces are disposed at a predetermined accumulation region provided on a side in a predetermined first direction that is separated from the lifting position and intersects the longitudinal direction of the workpiece at the lifting position. An accumulation support moving means that can support the lower side and move the plurality of workpieces together, and the contact portion can be moved from the lifting position to the predetermined accumulation area. Before Loading means for setting the plurality of workpieces in a state aligned in the first direction in a predetermined first region close to the lifting position and stacking the workpieces in a plurality of stages in the vertical direction; The support moving means is a predetermined part which is a part of the predetermined accumulation area and is separated from the lifting position than the predetermined first area by a plurality of the workpieces stacked side by side by the loading means. The second region is configured to be movable together, and the predetermined accumulation region is provided at a plurality of locations, and the same first direction side in the predetermined first region in the predetermined accumulation region provided at the plurality of locations. When the loading means performs loading on one of the predetermined first areas, the other predetermined first area is used as a temporary temporary storage area. Use The predetermined said to change the order in which the workpiece is loaded into the first area and performs loading of.

  According to the workpiece moving device of the first aspect, a plurality of workpieces are stacked side by side in the first region near the lifting position by the movement of the contact portion moved by the loading means. The workpieces stacked in a row by the loading means are collectively moved by the accumulation support moving means to a second area which is a part of the accumulation area and is farther from the lifting position than the first area. .

  When the workpieces are moved together in the second region, the workpieces are no longer in the first region. Then, the workpiece is moved again to the first region by the loading means, and the workpieces are arranged and stacked.

The workpiece moving device according to claim 2 is the workpiece moving device according to claim 1, wherein the lifting position, the predetermined first region provided at the plurality of locations, and the predetermined first region In addition, a temporary placement area provided separately is provided side by side in a circumferential direction centered on a part of the loading means in a top view .

A control device for a workpiece moving device according to a third aspect controls the operation of the workpiece moving device according to the first or second aspect .

According to a fourth aspect of the present invention, there is provided a workpiece movement program that is capable of executing the arithmetic processing of a control device that controls the operation of the workpiece movement device according to the first or second aspect .

  According to the workpiece moving device according to claim 1, a state in which a plurality of workpieces are stacked along the first direction in a first region close to the lifting position in the accumulation region and stacked in a plurality of stages. Is done. For this reason, it is possible to easily shorten the moving distance of the work material required until a plurality of the work materials are stacked side by side, and to easily bring the work materials together in a short time.

  Further, the plurality of workpieces stacked in a line by the loading means are configured to be collectively moved to a second area farther from the lifting position than the first area by the accumulation support moving means. For this reason, after moving the work material from the first region close to the lifting position to the second region, the work material is moved again to the first region where no work material remains, and the work materials are arranged. Or you can start with a stacked state. Therefore, in the second region that is a part of the accumulation region, it is possible to easily start the movement of the work material from the lifting position to the accumulation region while maintaining a state in which a plurality of work materials are stacked side by side.

  In addition, since the second region is separated from the lifting position compared to the first region, post-processing on a plurality of workpieces that are stacked side by side is performed between the lifting position and the first region. It can be executed at a position separated from the loading means for moving the contact portion. For this reason, the work space for packing before shipment and the space for the fork-type lift to approach the second region do not need to be set at a position close to the lifting position, and it is easy to improve work safety. It is possible to provide a workpiece transfer device that can be easily prepared before shipment.

  Further, the loading means may be configured such that the workpiece can be moved only to the first area in the accumulation area, and the workpiece cannot be moved to the second area. In this case, the loading means Can be easily configured in a small size, and can be managed in a state in which a large number of workpieces are stacked in a more limited area.

According to the workpiece moving device according to claim 2, the movement between the lifting position, the predetermined first area provided in the plurality of places, and the temporary placement area can be performed in a short time by moving the short distance. I can do it. Therefore, it is possible to efficiently combine a plurality of workpieces in a short time in a stacked manner, and if necessary, temporarily put the workpieces in a temporary storage area in a different order from the processing sequence. The processed materials can be stacked .

According to the control device for a workpiece moving device described in claim 3 , it is possible to provide a control device for the workpiece moving device that exhibits the same effect as the workpiece moving device described in claim 1 or 2 .

According to the workpiece moving program according to claim 4 , the arithmetic processing of the control device that controls the operation of the workpiece moving device having the same effect as the workpiece moving device according to claim 1 or 2 is executed. Can be provided.

The schematic diagram for demonstrating an example of the workpiece moving apparatus which concerns on this invention Side view showing loading device with suction pad attached Schematic diagram for explaining the movement control of the suction part (A) is a front view showing an adsorption part and a transmission part, (B) is a side view showing the adsorption part and the transmission part, (C) is a schematic diagram showing a case where the deformation part is in an easily deformable state, ( D) is a schematic diagram showing a case where the deforming portion is in a state where deformation is difficult (A) is a schematic diagram for explaining the loading operation of the workpiece, (B) is a timing chart showing the control in the loading operation of the workpiece (A) is a schematic diagram showing a display example of loading mode selection on the display unit, (B) is a schematic diagram showing a display example of a planned loading position on the display unit, and (C) is a loading on the display unit. Schematic diagram showing a display example of the situation

  Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a schematic diagram for explaining an example of a workpiece moving device 1 according to the present invention, and shows a state in which the workpiece moving device 1 is viewed from above. FIG. 2 is a side view showing the loading device 6 provided with the suction pad 2a. In FIG. 1, each work material 99 arranged in each part of the work material moving device 1 is indicated by a thin line with a different alphabet in the order of processing, and after the work material 99a is processed, A situation is shown in which the material 99b is processed, and then the processed material 99 is processed like the processed material 99c.

  The workpiece moving device 1 is a device for moving the workpiece 99 that has been cut by the processing machine. For example, the workpiece moving device 1 processes wood (structural members) such as columns, beams, and feathers used in a house. It is an apparatus that can be used as a part of a wood precut processing apparatus. The workpiece moving device 1 is arranged on the downstream side after the material is processed by the processing machine, and moves the workpiece 99 processed by the processing machine so as to be accumulated (loaded) into a plurality of batches. The collected plurality of processed materials are packed for shipping and then loaded onto a truck by a fork type lift or the like and delivered to a construction site.

  As shown in FIG. 1, the workpiece moving device 1 includes an adsorption unit 2 that contacts the workpiece 99, a transfer device 3 that transfers the workpiece 99, and accumulation areas 10 and 20 where the workpiece 99 is accumulated. Support moving devices 4 and 5 that support the lower side of the work material 99, a loading device 6 that moves the suction portion 2 to load the work material 99 onto the support moving devices 4 and 5, and each part of the work material moving device 1 And a control device 9 for controlling the operation. The workpiece moving device 1 may be configured as a part of a wood processing device including a processing machine, or may be configured not to include the control device 9.

  The adsorbing part 2 is a part that constitutes a contact part that comes into contact with the workpiece 99 so that the workpiece 99 can be brought into a suspended state by contacting a part of the workpiece 99 that has been subjected to cutting. As shown in FIG. 2, the suction part 2 is formed in a rectangular parallelepiped shape and is provided with a sponge-like suction pad 2a on the lower side, and a workpiece 99 is brought into contact with the lower surface of the suction pad 2a as a contact surface. After that, the work material 99 is sucked by depressurizing the internal space of the suction part 2, and then the work material 99 is lifted by being lifted. An electromagnetic valve (not shown) and a pump (not shown) are connected to the suction part 2 through a pipe (not shown) capable of controlling air pressure, and the controller 9 controls the operation of the electromagnetic valve. Then, the suction drive control is performed to switch between an adsorption state in which the adsorption unit 2 can lift the workpiece 99 and a non-adsorption state in which the workpiece 99 can be separated from the workpiece 99.

  It should be noted that the workpiece 99 need not necessarily be lifted by one suction portion 2, and the workpiece 99 may be lifted by two or more suction portions 2. Further, the part for lifting the work material 99 in contact with the work material 99 does not necessarily need to be configured by the part that comes into contact with the work material 99 by adsorption (suction), instead of or in addition to this, Other workpieces 99 can be lifted, such as a configuration in which the workpiece 99 is lifted by gripping (clamping) both side surfaces arranged so as to face the horizontal direction continuously in the longitudinal direction of the workpiece 99. You may comprise by a simple mechanism.

  The transfer device 3 is a device that constitutes at least a part of a transfer path for transferring the workpiece 99 (99i), and supports the lower side of the workpiece 99 at a lifting position 3a that the suction part 2 can contact. For example, as shown in FIG. 1, the transfer device 3 is configured by a conveyor that can transfer the workpiece 99 i, a conveyance table (not shown) configured by a large number of rotating bodies, and rotation that contacts the workpiece 99 i. And a drive device (not shown) for driving a part of the body, and the operation is controlled by the control device 9. The workpiece 99i transferred toward the lifting position 3a is detected by the sensor provided on the front end side (downstream end side) of the transfer device 3 to be detected as being placed at the lifting position 3a, By stopping the driving of the driving device, the driving device stops at the lifting position 3a. It is not always necessary to stop the driving device by detecting the position of the tip end side of the workpiece 99 and place the workpiece 99 at the lifting position 3a. For example, the workpiece 99 may be stopped at the lifting position 3a by the control of the control device 9 so that the center position of the workpiece 99 having different lengths becomes a constant position. After detecting the position on the front end side, drive control of the drive amount according to the length of the workpiece 99 may be performed, and then the drive of the drive device may be stopped.

  Two support moving devices 4 and 5 and a support base 8 are provided at a position away from the transfer device 3 (lifting position 3a). The two support moving devices 4 and 5 have substantially the same configuration although the arrangement positions are different. In the following, the configuration of one support moving device (first support moving device 4) close to the transfer device 3 (for example, The “frame 11”) will be mainly described, and the components of the support moving device (second support moving device 5) separated from the transfer device 3 are numbered with the same name plus “10”. A part of the description is omitted as the shape (for example, “frame body 21”).

  The first support moving device 4 is a device that is provided so as to be positioned below the accumulation region 10 where the work material 99 is accumulated, and supports the lower side of the work material 99 in the accumulation region 10. Further, the first support moving device 4 is a device that can move a plurality of supported workpieces 99 together.

  As shown in FIG. 1, the first support moving device 4 includes two conveyors 12 and 13 that are separated from the ground by a frame 11 that is fixed to the floor surface, and two conveyors 12 and 13. And a drive motor 15 that drives the interlock mechanism 14. The drive motor 15 is connected to the control device 9 and is operated by the control of the control device 9. The two conveyors 12 and 13 are configured by rotating a rotating body such as a chain or a belt along the moving direction of the workpiece 99, and the workpiece 99 can be moved from the side closer to the lifting position 3a to the far side. Thus, it arrange | positions so that it may continue in the direction (up-down direction of FIG. 1) which is separated from the lifting position 3a. In addition, the 1st support movement apparatus 4 does not necessarily need to be comprised so that the workpiece 99 may be moved by the two conveyors 12 and 13, and may be comprised by one wide conveyor, or three or more conveyors may be comprised. The distance that can be moved in a state in which two conveyors are further arranged on one side (for example, the lower side in FIG. 1) and the workpiece 99 is supported with respect to the two conveyors 12 and 13. May be lengthened.

  The moving direction of the workpiece 99 in the first support moving device 4 is set in a direction (downward in FIG. 1) perpendicular to the longitudinal direction (left-right direction in FIG. 1) of the workpiece 99 arranged at the lifting position 3a. Yes. When the workpiece 99 is linearly moved toward the top of the two conveyors 12 and 13 of the first support moving device 4 in the top view, the workpiece 99 is stopped at the lifting position 3a and remains in its orientation. The movement to the first support moving device 4 is completed at a distance of. For this reason, the moving amount of the workpiece 99 can be reduced, and the preset number of workpieces 99 can be efficiently moved from the transfer device 3 to the first support moving device 4.

  As shown in FIG. 1, the first support moving device 4 is provided at a position separated from the lifting position 3 a in a top view, and supports the lower side of the accumulated work material 99 within the arranged range. A possible region (integrated region 10) is formed. The accumulation region 10 is provided so as to be positioned on the direction side (lower side in FIG. 1) orthogonal to the longitudinal direction (left-right direction side in FIG. 1) of the workpiece 99 that stops at the lifting position 3a. In this accumulation region 10, a plurality of workpieces 99 (four of the workpieces 99a, 99b, 99c, 99h are shown in FIG. 1) by the two conveyors 12, 13 of the first support moving device 4. Side is supported.

  The accumulation area 10 can be divided into a loading area 10a as a first area close to the lifting position 3a and a shipping standby area 10b as a second area farther from the lifting position 3a than the loading area 10a. The loading area 10a is an area where a plurality of workpieces 99 are stacked side by side by the operations of the loading device 6 and the suction unit 2. The shipping standby area 10b is an area in which a plurality of workpieces 99 that are stacked side by side in the loading area 10a are moved (transferred) together.

  The control device 9 controls the operations of the loading device 6 and the suction unit 2 and sequentially loads the work material 99 transferred to the lifting position 3a by the transfer device 3 into the loading region 10a. When a set number of workpieces 99 are loaded in the loading area 10a, the control device 9 controls the operation of the first support moving device 4 (two conveyors 12 and 13) to load the loading area 10a. The batch of the workpiece 99 is moved from 10a to the shipping standby area 10b so as to slide in that state.

  A plurality of workpieces 99 (shown as a group of workpieces 97 in FIG. 1) moved to the shipping standby area 10 b are arranged at positions separated from the loading device 6. In this shipping standby area 10b, the operator confirms the state of loading of the group of workpieces 97, performs fastening to prevent the collapse of the load, or groups of workpieces 97 with a waterproof sheet. Work for packing, such as covering protection, can be performed.

  Here, in the movement of the workpiece 99 to the accumulation region 10, control is performed so that the orientation (angle) of the workpiece 99 does not change in the top view and the movement direction is linear. It is preferable to perform this, thereby suppressing a change in the inertial force acting on the workpiece 99 lifted in contact with the suction portion 2 and facilitating the situation of falling off the suction portion 2. Accordingly, the workpiece 99 can be moved efficiently by making it easy to set the moving speed of the workpiece 99 higher.

  Further, with respect to the workpiece 99 arranged at the lifting position 3a, at least a part of the loading area 10a and at least a part of the shipping standby area 10b are provided on the direction side perpendicular to the longitudinal direction of the workpiece 99. It is preferable to arrange such that the distance for moving the workpiece 99 from the lifting position 3a to the loading area 10a is shortened, and the workpiece 99 is efficiently loaded into the loading area 10a. it can. In this case, with respect to the workpiece 99 arranged at the lifting position 3a, both the loading area 10a and the shipping standby area 10b are more than half on the direction side orthogonal to the longitudinal direction of the workpiece 99. It is preferable to provide the integrated region 10 so as to occupy, and it is preferable to provide the integrated region 10 in which most (for example, approximately 80% or more) is positioned. In FIG. 1, both the loading area 10 a and the shipping standby area 10 b are in a range corresponding to a direction perpendicular to the longitudinal direction of the workpiece 99 with respect to the workpiece 99 disposed at the lifting position 3 a. The case where it arrange | positions so that all may be included is illustrated.

  In addition, as the arrangement position of the work material 99 that can be located at the lifting position 3a and the arrangement position of the accumulation region 10, the work material 99 is arranged with respect to the center portion in the longitudinal direction of the work material 99 arranged at the lifting position 3a. It is preferable that the central portion in the width direction (left and right direction in FIG. 1) of the accumulation region 10 is located on the direction side (lower side in FIG. 1) perpendicular to the longitudinal direction. It is preferable that the center part of the width direction (left-right direction of FIG. 1) is located also about the area | region 10a and the shipment standby area | region 10b. In FIG. 1, the widths of the loading area 10 a and the shipping standby area 10 b on the direction side perpendicular to the longitudinal direction of the workpiece 99 with respect to the central portion in the longitudinal direction of the workpiece 99 arranged at the lifting position 3 a. The case where the center part in a direction is located is illustrated.

  Moreover, the moving direction of the workpiece 99 in the first support moving device 4 does not necessarily have to be a direction (orthogonal direction) orthogonal to the longitudinal direction of the workpiece 99 disposed at the lifting position 3a, but intersects the longitudinal direction. The moving direction may be set to an angle that is shifted from the orthogonal direction. In addition, the moving direction of the workpiece 99 is not necessarily configured linearly, and the moving direction (moving path) of the workpiece 99 may be configured in a polygonal line when viewed from above, or the curved portion may be at least the moving path. You may comprise so that it may be included as a part.

  Further, the first support moving device 4 is arranged on the side in the direction intersecting the longitudinal direction of at least a part of the workpiece 99 as the side in the direction intersecting the longitudinal direction of the workpiece 99 arranged in the lifting position 3a. As a part of the work material 99, the work material 99 such as a shed bundle in which “tenon” is formed on both ends in the short side rather than the longitudinal direction is arranged on the direction side crossing the short side. The case where it moves from the lifting position 3a toward the made 1st support movement apparatus 4 may be included.

  On the work material 99 arranged so that the lower side is supported by the two conveyors 12 and 13, another work material 99 is arranged side by side or stacked by the loading device 6 and the suction unit 2. To do. As a mode in which a plurality of workpieces 99 are stacked in a plurality of stages, the workpieces 99 may be arranged or stacked so that the positions of one end face along the longitudinal direction of each workpiece 99 are aligned. For the workpiece 99 having different lengths, the center position in the longitudinal direction of the workpiece 99 disposed at the lifting position 3a is varied so that the positions of the end faces on one side along the longitudinal direction of the workpiece 99 are aligned. Also good. In this case, the workpiece moving device 1 is configured including a device for printing information (so-called numbering) for identifying each individual on the end face of the workpiece 99, and necessary information is added from the stacked state. It is preferable that the workpiece 99 can be easily found, and the loading operation of the loading device 6 is controlled by the control device 9 so that the numbered positions are aligned on one end side of the workpiece 99. Is preferred.

  The loading device 6 is a device that can move the suction portion 2 and moves and loads the workpiece 99 from the lifting position 3 a to the accumulation region 10. The loading device 6 includes a plurality of workpieces 99 arranged in a row and can be stacked in a plurality of stages in the vertical direction, for example, a large number of movable parts 32 (specifically, It is comprised by the articulated robot containing movable part 32a-32f).

  As shown in FIG. 2, the loading device 6 includes a plurality of movable portions 32 a to 32 f that are connected to a base portion 31 that is disposed on the floor surface so as to be capable of rotating, and are connected most remotely from the base portion 31. The suction part 2 is attached via a transmission part 7 connected to a part of the movable part 32f on the distal end side. The plurality of movable portions 32a to 32f are configured to rotate about a plurality of rotation axes Ra to Rf so that the position and posture of the suction portion 2 can be operated in various forms. The loading device 6 is connected to the control device 9 and operates by electric control of a motor or the like, or control of an electromagnetic valve through which fluid such as hydraulic pressure or pneumatic pressure passes. By the operation of the suction unit 2 through the loading device 6, the workpiece 99 is moved from the lifting position 3a to the accumulation region 10 (loading region 10a), and the workpiece 99 is far away from the side close to the lifting position 3a. It is loaded in such a manner that a plurality are arranged on the other side and stacked in a plurality of stages.

  Note that the loading device 6 is not necessarily configured by an articulated robot, but is suspended from a ceiling of a factory and can be moved by other devices such as a crane-type device that can be moved by rails arranged along the ceiling. It may be configured.

  Here, in this embodiment, the case where the two support moving apparatuses 4 and 5 are installed is illustrated. The first support moving device 4 described above is provided on the side closer to the lifting position 3a, and is separated from the lifting position 3a in another position farther from the lifting position 3a than in the stacking area 10 of the first supporting moving device 4. The 2nd support movement apparatus 5 which forms is provided. In the accumulation region 20 formed by the second support moving device 5, similarly to the accumulation region 10 of the first support moving device 4 described above, a loading region 20a and a shipping standby region 20b are provided. The loading region 20a is arranged on the side close to the loading device 6, and the loading device 6 arranges a plurality of workpieces 99 on the side far from the side near the lifting position 3a, and in a plurality of stages. After being stacked in a stacked manner, it is moved to the shipping standby area 20b (in FIG. 1, the processed materials 99d and 99f and a group of processed materials 98 are shown).

  The loading areas 10a and 20a of the two support moving devices 4 and 5 are provided such that the work material 99 faces the same direction side, and the other loading area 20a with respect to one loading area 10a. Is provided so as to be located in the vicinity of the longitudinal direction of the workpiece 99 to be supported. For this reason, when it is desired to perform loading in one loading region 10a in an order different from the processing order of the workpiece 99, the workpiece 99 can be temporarily placed in the other loading region 20a. Can use the region as a temporary temporary storage region to change the order in which the workpieces 99 are loaded into the loading region 10a by moving the suction unit 2 over a short distance. The degree of freedom of arrangement of the processed materials 99 can be increased.

  Further, the two support moving devices 4 and 5 are provided so that the accumulation regions 10 and 20 are adjacent to each other with the two sensors 95 and 96 interposed therebetween, and the loading device 6 is more than the two sensors 95 and 96. The side closer to is set as loading areas 10a and 20a, and the side farther from the loading device 6 than the two sensors 95 and 96 is set as shipping standby areas 10b and 20b. The two sensors 95 and 96 are formed in a vertically long bar shape, and are configured by non-contact sensors that stop the operation of the loading device 6 when a part of the worker's body enters between them. Yes. For this reason, the sensors 95 and 96 common to the two loading areas 10a and 20a can be used, and the safety of the worker can be enhanced at a low cost.

  In addition, a gap S is provided between the two shipping standby areas 10b and 20b so that an operator can enter it. The operator can enter the gap S and perform a packing operation before shipment on both of the two shipping standby areas 10b and 20b. For this reason, the operator's work space for the two shipping standby areas 10b and 20b can be made common, and the entire space of the workpiece transfer device 1 can be reduced.

  As a suitable control example of the two support moving devices 4 and 5, of the two support moving devices 4 and 5, the first support moving device 4 close to the lifting position 3a is a second far from the lifting position 3a. Compared to the support moving device 5, a group of workpieces 97 can be formed by moving a short distance from the lifting position 3a. For this reason, it is preferable that the loading device 6 is controlled by the control device 9 so that the first support moving device 4 close to the lifting position 3a is preferentially used.

  A support base 8 for forming a temporary placement region 8 a is provided on the counterclockwise direction side with the base 31 of the loading device 6 as the center with respect to the two support moving devices 4 and 5. . The support base 8 is formed in a shape in which an upper surface is formed by, for example, a wooden flat plate, and a plurality of workpieces 99 can be temporarily placed at positions separated from the floor surface. When the control device 9 controls the operation of the loading device 6 to move the workpiece 99 from the lifting position 3a to the loading region (for example, the loading region 10a), a part of the workpiece 99 is temporarily stored. In the temporary placement area 8a, after processing the other work material 99 and loading the work material 99 into the loading area 10a, the work material 99 placed in the temporary placement area 8a is loaded. Move to 10a and load. Thereby, the order of the work material 99 moved from the lifting position 3a and the order of the work material 99 loaded in the accumulation region 10 can be made different, and the processing after loading as a group of work materials 99 is performed. The degree of freedom of arrangement of the material 99 can be increased. For example, the workpiece 99 having different thicknesses can be easily controlled so as to be preferentially loaded so that the thicker material is positioned on the lower side without depending on the processing order of the workpieces 99.

  The control device 9 is a device that controls each part of the workpiece moving device 1 so that the workpiece 99 is loaded according to the operator's intention, and includes a control unit 90, an input unit 92, and a display unit 91. Yes. The control unit 90 includes an arithmetic processing device that performs various calculations, a storage device that stores various programs and drive control information, and stores information necessary for executing the programs, a transfer device 3, and a support movement. The devices 4 and 5, the loading device 6, and an input / output device that performs data transfer with an external device such as a processing machine are included. The input unit 92 is configured by an input device such as a mouse or a keyboard that allows an operator to input an order for loading the workpieces 99 and the like. The display unit 91 is configured by a display device such as a liquid crystal display that displays the planned loading position and loading status of the workpiece 99.

  Thus, the workpiece 99 stops at the lifting position 3a with respect to the loading area 10a (or the loading area 20a) as the first area near the lifting position 3a in the collecting area 10 (or the collecting area 20). Thus, a plurality of rows are arranged along a first direction orthogonal to the longitudinal direction and are stacked in a plurality of stages. For this reason, it is possible to easily shorten the moving distance of the work material 99 required until a plurality of the work materials 99 are stacked and to make the work materials 99 efficiently gathered in a short time.

  Moreover, the processed material 99 made into the state piled up side by side with the loading apparatus 6 is loaded from the loading area | region 10a (or loading area | region 20a) by the 1st support movement apparatus 4 (or 2nd support movement apparatus 5). Are also configured to be movable together in a shipping standby area 10b (or a shipping standby area 20b) as a second area away from the lifting position 3a. For this reason, after the workpiece 99 is moved from the loading area 10a (or loading area 20a) close to the lifting position 3a to the shipping standby area 10b (or shipping standby area 20b), no product remains. The workpiece 99 can be moved again with respect to the loading region 10a (or the loading region 20a), and the workpieces 99 can be arranged or stacked. Therefore, in the second region that is a part of the accumulation region, it is possible to easily start the movement of the work material from the lifting position to the accumulation region while maintaining a state in which a plurality of work materials are stacked side by side.

  In addition, since the shipping standby area 10b (or the shipping standby area 20b) is farther from the lifting position 3a than the loading area 10a (or the loading area 20a), a plurality of workpieces stacked in a line are stacked. The post-processing for 99 can be executed at a position away from the loading device 6 that moves the suction unit 2 between the lifting position 3a and the loading area 10a (or the loading area 20a). . For this reason, the working space for packing and the moving space for the fork-type lift do not need to be set at a position close to the lifting position 3a, so that it is easy to improve the safety of the work and the preparation before shipment is easy. The workpiece moving apparatus 1 can be provided.

  Further, as the loading device 6, an articulated robot capable of moving the workpiece 99 only to the loading areas 10a and 20a among the accumulation areas 10 and 20 is used, and the workpiece 99 is moved to the shipping standby areas 10b and 20b. A small articulated robot that cannot be used can be used. In this case, it is easy to configure the loading device 6 in a small size, and accordingly, the accumulation region 10 (or the accumulation region 20) can be arranged close to the loading device 6, and the like in a more limited region. A large number of workpieces 99 can be managed in a stacked state.

  The two accumulation regions 10 and 20 are arranged in a second direction (left and right direction in FIG. 1) intersecting a first direction (up and down direction in FIG. 1) in which the one accumulation region 10 is provided with respect to the lifting position 3a. In this way, since a plurality of the workpieces 99 are provided, the workpieces 99 can be combined and stacked in a plurality of locations close to the lifting position by the loading means. For this reason, it is easy to move the workpiece 99 using the common loading device 6, and it is easy to manage a larger number of workpieces 99 in a limited area. It is possible to easily increase the processing speed by increasing the degree of freedom of the processing order.

  Further, in the top view, the stacking area 10a and the shipping standby area 10b are positioned so as to be positioned on the direction side perpendicular to the longitudinal direction of the workpiece 99 disposed at the lifting position 3a with respect to the lifting position 3a. Since the region 10 is provided, the workpiece 99 can be moved to the accumulation region 10 in a short time by moving a short distance. Therefore, the workpieces 99 can be efficiently combined in a short time in a stacked state, and the lifting position 3a and the accumulation region 10 can be easily placed in a limited region. Miniaturization can be facilitated.

  Further, the lifting position 3a, the loading areas 10a and 20a (accumulation areas 10 and 20), and the temporary placement area 8a are provided side by side in the circumferential direction centering on the base 31 of the articulated robot in a top view. Yes. For this reason, the movement between the lifting position 3a, the loading areas 10a and 20a, and the temporary placement area 8a can be completed in a short time by movement over a short distance. Therefore, the work materials 99 can be efficiently combined in a short time in a stacked state, and if necessary, the work materials are temporarily placed in the temporary placement region 8a, and the order is different from the work order. A large number of workpieces can be stacked.

  Next, a preferred control example for moving the suction unit 2 between the lifting position 3a and the two loading areas 10a and 20a will be described with reference mainly to FIG. FIG. 3 is a schematic diagram for explaining the movement control of the suction unit 2. The lifting position 3 a set in the workpiece moving device 1, the two loading areas 10 a and 20 a, the temporary placement area 8 a, The placement position of the loading device 6 to which the suction part 2 is attached is shown in top view, and the lifting position 3a and the set positions of the areas 50 to 56 set for the areas 8a, 10a, and 20a are shown. Show. In FIG. 3, the position of the center C of the suction unit 2 is indicated by a black dot, and an example of a path along which the center C of the suction unit 2 moves is indicated by a line with an arrow.

  The adsorbing unit 2 is a part where the moving path is determined by the movable unit 32 of the loading device 6 being controlled by the control device 9. The adsorbing unit 2 controls the adsorbing unit 2 as movement control of the adsorbing unit 2. An up-and-down operation region in which 2 moves up and down is set in advance, and the suction unit 2 performs up and down operations within the range of the up-and-down operation region.

  Specifically, as shown in FIG. 3, the control device 9 includes a lifting operation region 50 corresponding to the lifting position 3a and a first accumulation region 10 (first loading region 10a) as the up / down operation region. , A first loading operation area 51 corresponding to the second stacking area 20 (second loading area 20a), and a temporary placement operation area corresponding to the temporary placement area 8a. 53 is set (stored). After the suction unit 2 moves horizontally so that the center C of the suction unit 2 is located within the range of the operation regions 50 to 53 in the top view, the suction unit 2 moves up and down.

  Here, the lifting operation region 50 is set to be long along the longitudinal direction of the lifting position 3a (longitudinal direction of the workpiece 99), and the workpiece 99 having a short length is set at different positions along the longitudinal direction (for example, FIG. 3, it is possible to stop at a position close to the left side of the lifting position 3 a, a position according to the center portion, the right end, or the like. The stop position of the workpiece 99 at the lifting position 3a is preferably controlled by the control device 9 at a position where the distance to move to the loading areas 10a, 20a and the temporary placement area 8a is short, thereby the loading areas 10a, The workpiece 99 can be moved to 20a or the temporary placement area 8a in a short time. Moreover, also about the operation areas 51-53 set with respect to the loading areas 10a and 20a and the temporary placement area 8a, the position where the center C of the suction part 2 is different in the longitudinal direction of the workpiece 99 (the left-right direction in FIG. 3). Thus, a plurality of workpieces 99 having a short length can be stacked side by side along the longitudinal direction of the workpiece 99.

  Each of the operation areas 50 to 53 is provided as four spaced areas around the base 31 of the articulated robot constituting the loading device 6 in a top view. The control device 9 controls the position of the suction portion 2 through the loading device 6 so as to travel between the operation regions 50 to 53, and moves upward so as to lift the workpiece 99 through the suction portion 2. Later, the workpiece 99 is moved horizontally, and thereafter, the workpiece 99 is moved downward to control the workpiece 99 to a position where it can be placed in each of the regions 8a, 10a, and 20a.

  Between each of the motion areas 50 to 53, horizontal movement areas 54 to 56 are provided around the base 31 of the articulated robot as areas that connect the motion areas located next to each other. The horizontal movement areas 54 to 56 are areas preset in the control device 9 so that the suction unit 2 can pass from one operation area to another operation area in a top view. In the present embodiment, the range of the horizontal movement areas 54 to 56 is set by two adjacent operation areas connected by the horizontal movement areas 54 to 56, for example, the length and width of the two adjacent operation areas. It is set (stored) in the control device 9 as a matching area. The control device 9 controls the position of the suction unit 2 through the loading device 6 so as to pass through the horizontal movement regions 54 to 56 in a top view, and controls the workpiece 99 to move in the horizontal direction through the suction unit 2. Do.

  An area close to the base 31 of the articulated robot is set in advance in the control device 9 as an inaccessible area where the suction part 2 does not enter (an area surrounded by the motion areas 50 to 53 and the horizontal movement areas 54 to 56). Remembered). However, a partial area close to the base 31 of the articulated robot in the first loading operation area 51 and the second loading operation area 52 is set as a special accessible area in which the suction unit 2 may enter specially. ing.

  Specifically, the first loading motion region 51 and the second loading motion region 52 have a certain distance (for example, a radius of 50 cm) with respect to the corners 51a and 52a closest to the base 31 of the articulated robot. The range of the limit lines 51b and 52b) is set as a special accessible area where the suction part 2 can enter specially when viewed from above. By allowing the suction part 2 to pass through a position close to the base 31 of the articulated robot, the movement distance of the suction part 2 when moving from one motion region to another motion region may be shortened. The time for loading the workpiece 99 into one of the loading areas 10a and 20a can be shortened. Note that the special accessible area is not necessarily set, and the suction unit 2 may move only within a range surrounded by the operation areas 50 to 53 and the horizontal movement areas 54 to 56 in a top view. Further, the special accessible area may be controlled by the control device 9 so as to vary the possibility of entry depending on whether the workpiece 99 is lifted and moving, and is limited to a situation where the workpiece 99 is not moved. Then, the suction unit 2 may be controlled to be able to enter the specially accessible area.

  When the suction unit 2 moves from one motion region to another motion region, another motion region may be interposed around the base 31 of the articulated robot in a top view. For example, as shown in FIG. 3, when the suction unit 2 moves from the lifting operation region 50 to the temporary placement operation region 53, the first loading operation region around the base portion 31 of the articulated robot as viewed from above. 51 and a second loading operation area 52 are interposed. In such a case, the control device 9 passes through the first loading operation region 51 and the second loading operation region 52, or the first loading operation region 51 and the second loading operation region. 52 and the base 31 of the multi-joint robot is controlled so that the suction unit 2 moves via a special accessible area set in advance.

  Specifically, as shown in FIG. 3, after lifting the workpiece 99 in the lifting operation area 50, the suction unit 2 passes from the lifting operation area 50 to the first loading operation area 51 via the horizontal movement area 54. To move. Thereafter, the suction unit 2 is moved from the first loading operation area 51 to the second loading operation area 52 via the horizontal movement area 55 and further to the temporary placement operation area 53 via the horizontal movement area 56. Move part 2.

  Further, in the temporary placement operation area 53, after the workpiece 99 is placed in the temporary placement area 8a, the suction unit 2 moves so as to return to the lifting operation area 50. In this case, from the temporary placement operation area 53 via the horizontal movement area 56, the special entry possible area set corresponding to the second loading operation area 52 (from the limit line 52b to the second loading operation area 52). The suction part 2 is moved so as to pass through the area on the near side. After that, it passes through the horizontal movement area 55 and passes through a special approachable area (an area closer to the first loading operation area 51 than the limit line 51b) set corresponding to the first loading operation area 51. Thus, the suction unit 2 is moved so as to return to the lifting operation area 50 via the horizontal movement area 54.

  As described above, as the movement control of the suction unit 2 by the control device 9, the suction unit 2 moves from one vertical motion region (for example, the lifting motion region 50) to another vertical motion region (for example, the temporary placement motion region 53). In such a case, when another vertical motion region (for example, the first loading motion region 51 and the second loading motion region 52) is interposed around the base 31 of the articulated robot as a predetermined center portion in a top view. The adsorbing unit 2 passes through another up-and-down motion region, or passes through another pass-through region (specially accessible region) set in advance between the other up-and-down motion region and a predetermined center portion. To move. For this reason, using the setting of movement control from one up / down motion area to another up / down motion area and movement control from another up / down motion area to another up / down motion area, another up / down motion area is used. The suction part 2 can be moved to the operation region.

  That is, the route for moving directly from the lifting operation area 50 to the temporary placement area 8a does not have to be set in the control device 9 in advance, and accordingly, the types of settings necessary for movement control of the suction unit 2 accordingly. Can be simplified. For this reason, it is possible to set the movement control of the suction unit 2 in a short period of time, and it is possible to easily cope with a change in movement control corresponding to a change in the position of the vertical movement region or an increase or decrease in the number of settings. For example, when the vertical movement area increases, only the horizontal movement area for connecting to the vertical movement area located adjacent to the added vertical movement area may be set.

  Further, when the temporary placement area 8a is provided as in the present embodiment, the temporary placement motion area 53 as the vertical motion area increases correspondingly, and the pattern that moves between the vertical motion areas also increases. However, only the horizontal movement control for the second loading operation area 52 corresponding to the second accumulation area 20a may be set for the horizontal movement control necessary for setting the temporary placement area 8a. For this reason, it is possible to easily set movement control in a short period when the temporary placement area 8a is added as a part of the vertical movement area.

  Next, the structure and control for suitably suppressing the shaking of the workpiece 99 in a situation where the workpiece is lifted and moved using the suction unit 2 will be described. 4A is a front view showing the suction portion 2 and the transmission portion 7, FIG. 4B is a side view showing the suction portion 2 and the transmission portion 7, and FIGS. 4C and 4D are views. FIG. 4A is a schematic diagram showing the state of the suction portion 2 and the transmission portion 7 in a cross-sectional view taken along the line AA in FIG. 4A. FIG. FIG. 4D is a schematic diagram showing a case where the deformation connecting portion 74 is in a state where it is difficult to deform. 4C and 4D, the workpiece 99 is shown by a one-dot chain line, and the suction portion 2 is shown in a state where it is not viewed in cross section.

  The suction unit 2 is a part of a device (suction device) attached to the tip portion of the loading device 6 (see FIG. 2), and is attached to the movable portion 32f on the tip side of the loading device 6 via the transmission unit 7. It has been. The upper surface portion of the suction unit 2 is fixed below the transmission unit 7, and the movable unit 32 f of the loading device 6 is fixed above the transmission unit 7.

  The transmission unit 7 constitutes a portion that is continuous upward with respect to the suction unit 2, and the material, thickness, etc. are selected so as to have a strength capable of transmitting the power for lifting the workpiece 99 through the suction unit 2. It is configured.

  The transmission unit 7 includes a base 71 attached to the movable unit 32 f of the loading device 6, and connecting units 72 to 74 that continue from the base 71 to the upper surface of the suction unit 2 continuously. The connection parts 72 to 74 include a lower connection part 73 constituting a part close to the adsorption part 2, an upper connection part 72 constituting a part away from the adsorption part 2, and the upper connection part 72 and the lower connection part 73. It is comprised by the deformation | transformation connection part 74 as a deformation | transformation part which comprises the part between.

  The deformable connecting portion 74 is configured to be deformable by an elastic body such as an elastomer, while the upper connecting portion 72 and the lower connecting portion 73 are configured of a material that cannot be deformed by a metal round bar-like member. The lower connecting portion 73 is configured to be able to swing a certain amount around the deformed connecting portion 74 by the deformed connecting portion 74 interposed between the upper connecting portion 72 and the deformed connecting portion 74. The lower side is configured to be relatively movable (slidable) within a certain range both in the horizontal direction and in the vertical direction. Thereby, with respect to the movable part 32f of the loading apparatus 6, the adsorption | suction part 2 can change a relative angle within a fixed range, or can move a relative position.

  Here, in the processed material 99, variations in shape and size within an allowable range occur, and variations in the cross-sectional shape, warping and twisting of the processed material 99 in the longitudinal direction, and the like may occur. In this case, even if the position and angle of the suction portion 2 are controlled through the loading device 6 under the control of the control device 9, there may be slight variations with respect to the angle and position with the surface of the workpiece 99. If the suction part 2 does not adhere tightly along the surface of the work material 99, the work material 99 may not be firmly sucked and the work material 99 may be dropped.

  On the other hand, a deformation connecting portion 74 is provided between the suction portion 2 and the movable portion 32 f of the loading device 6, and loading is performed so that the suction portion 2 contacts the upper surface of the workpiece 99. When the movable portion 32f of the apparatus 6 is lowered and the adsorbing portion 2 comes into contact with the upper surface of the workpiece 99, and then the movable portion 32f of the loading device 6 is further lowered, the lowering force of the movable portion 32f and the workpiece 99 are obtained. The deformation connecting portion 74 is deformed by the reaction force received by the suction portion 2 from the upper surface of the workpiece, and the angle and position of the suction portion 2 approach a shape along the upper surface of the workpiece 99. For this reason, the suction force of the suction pad for lifting the workpiece 99 through the suction portion 2 can be easily transmitted to the upper surface of the workpiece 99, and the workpiece 99 can be easily lifted through the suction portion 2 and dropped. It is possible to suppress the occurrence of problems such as the possibility of

  In addition, the movable part 32f and the adsorption | suction part 2 of the loading apparatus 6 are not necessarily the relative angle of the upper side (upper connection part 72) and lower side (lower connection part 73) centering on the deformation | transformation connection part 74 (deformation part). And it is not necessary to make the deformable part deformable so that the relative positions on the horizontal side and the vertical direction are different with respect to the deformed part, and at least of the relative angle and the relative position on the horizontal side and the vertical side Any one of them may be configured differently, and when the workpiece 99 is lifted by the suction pad, it is preferable to provide a deformable portion capable of varying at least the relative angle. The deformable portion may be a deformable portion using an elastic body, or the deformable portion may be configured by other structures such as a ball joint combining a ball shape and a cup shape, or a joint combining a shaft and a shaft hole. May be.

  As shown in FIGS. 4A and 4B, the connecting portions 72 to 74 are respectively provided at positions separated along the longitudinal direction of the suction portion 2. The suction part 2 is set to a size corresponding to the processed material 99. For example, as the suction part 2 for lifting a pillar material or a horizontal member used in a house, the length in the longitudinal direction is approximately 500 mm, The suction part 2 having a width of about 100 mm is set. The size of the suction portion 2 is preferably set to be smaller in both length and width than the size of the surface with which the suction portion 2 contacts in a large number of workpieces 99 that need to be transferred as the workpiece 99. It is possible to facilitate loading into the loading areas 10a and 20a.

  That is, the control device 9 lifts the workpiece 99 by controlling the position of the suction portion 2 so that the longitudinal direction of the suction portion 2 is along the longitudinal direction of the workpiece 99 so as to contact the upper surface of the workpiece 99. The loading regions 10a and 20a may move to predetermined positions so as to line up with other workpieces 99. In this case, the suction part 2 is configured to be smaller than the upper surface of the workpiece 99 so that the suction part 2 does not come into contact with the workpiece 99 located next to or near the workpiece 99 being moved. it can. For this reason, it is preferable that a plurality of workpieces 99 are stacked side by side without any gap. The transmission unit 7 located on the upper side of the adsorption unit 2 is also configured to be within the size range of the adsorption unit 2 on the upper side of the adsorption unit 2 so that it does not come into contact with other workpiece 99 during loading. It is preferable to do.

  Here, as an example of the processed material 99, a columnar material for a house is used having a square cross-sectional shape with a side length of 105 mm or 120 mm and a total length in the longitudinal direction of about 2000 mm to 3000 mm. For this reason, it is preferable to provide a plurality of connecting portions 72 to 74 that support the suction portion 2 so as to be separated from each other in the longitudinal direction of the work material 99. Efficiently suppress the occurrence of swinging (both clockwise and counterclockwise swinging of the suction portion 2 as viewed in the direction of FIG. 4A) such that both end portions move up and down around the central portion in the longitudinal direction. can do.

  On the other hand, when the work material 99 that is set to be as short as 105 mm or 120 mm as the width in the short direction of the work material 99 is mainly loaded, the connection parts 72 to 74 are separated in the short direction of the work material 99. Even if a plurality of them are provided, it is difficult to suppress the swing of the workpiece 99 because the distance is short. Moreover, if the connecting portions 72 to 74 are provided apart from each other beyond the size range of the suction portion 2, there is a problem that the degree of freedom of loading is limited. For this reason, in this embodiment, when the connection parts 72-74 are visually recognized from the longitudinal direction of the workpiece 99 (direction view of FIG. 4 (B)), only one is provided. Therefore, when the workpiece 99 is moved, the workpiece 99 swings to the left and right or to the left and right around the deformation connecting portion 74 located above the workpiece 99 (FIG. 4). (B) (swing that moves in the left-right direction of the suction part 2 in the direction view) can occur.

  As a mechanism for suppressing the swing and movement of the workpiece 99 around the deformation connecting portion 74, the deformation connecting portion 74 can be deformed between the suction portion 2 and the base 71 of the transmission portion 7. There is provided a deformation state switching mechanism for switching between the easy deformation state and the difficult deformation state that cannot be deformed. Specifically, as shown in FIGS. 4 (A) and 4 (B), metal parts constituting the plate-like contacted part 76 are attached to the upper surface of the suction part 2, and the transmission part 7. A locking device 77 provided with a movable piece 78 capable of contacting the contacted portion 76 via an attachment member 75 is attached to the lower surface of the base portion 71.

  The lock device 77 is a device capable of switching between a state where the movable piece 78 is pressed against the contacted portion 76 and a state where the movable piece 78 is separated from the contacted portion 76 under the control of the control device 9. It is made up of pneumatic and hydraulic cylinders. As shown in FIG. 4C, when the movable piece 78 is not in contact with the contacted portion 76 by the operation of the locking device 77 (deformable state), the base 71 of the transmission portion 7 and the suction portion 2 The relative positional relationship is not fixed, and the deformation of the deformation connecting portion 74 is allowed.

  On the other hand, as shown in FIG. 4D, when the movable piece 78 comes into contact with the contacted portion 76 and the movement of the contacted portion 76 is limited (deformation difficult state), the transmission portion to which the movable piece 78 is attached. 7 is fixed, and the relative positional relationship between the suction portion 2 to which the contacted portion 76 is attached is fixed, and the deformation connecting portion 74 cannot be deformed.

  While the workpiece 99 is moving or stopped during the movement, the control device 9 controls the lock device 77 so that the movable piece 78 comes into contact with the contacted portion 76 to make it difficult to deform. Thereby, the swing of the workpiece 99 which arises when the deformation | transformation connection part 74 deform | transforms is suppressed. For this reason, since the workpiece 99 can be moved in a state where the swing of the workpiece 99 is suppressed, it is easy to avoid a situation in which the workpiece 99 is detached from the suction portion 2 and falls during the movement. The material 99 can be moved suitably.

  Further, as shown in FIGS. 4A and 4D, the contacted portion 76 is a central portion in the longitudinal direction of the suction portion 2 and protrudes upward from the end portions on both ends in the width direction. It is provided at a position in contact with the movable piece 78 at the position. For this reason, in the portion between the two connecting portions 72 to 74, it moves in the short direction intersecting the longitudinal direction of the workpiece 99 or rotates around the direction along the longitudinal direction of the workpiece 99. The swing of the workpiece 99 that moves can be suppressed, and the movement and swing of the workpiece 99 can be suppressed in a well-balanced manner.

  Further, the contacted portion 76 is provided on the upper side of the deformation connecting portion 74 so as to be able to contact the movable piece 78. For this reason, it is possible to efficiently suppress the vibration generated around the deformation coupling portion 74 with reference to the position away from the deformation coupling portion 74 while reducing the size of the transmission portion 7. Further, the deformation connecting portion 74 is disposed below the work material 99 as compared with the contact portion with the movable piece 78 in the contacted portion 76, and the work material 99 generated due to the deformation of the deformation connection portion 74. As for the fluctuation width, the deformation connecting portion 74 is disposed near the workpiece 99, so that it can be easily suppressed.

  FIG. 4C illustrates a state where the center C of the workpiece 99 is shifted to the left side with respect to the center C in the width direction of the suction portion 2. In this case, when the suction part 2 is raised, as shown in FIG. 4 (D), the deformation connecting part 74 is deformed by the dead weight of the work material 99, and it is vertically downward with respect to the center part in the transmission part 7. Then, the suction part 2 is inclined obliquely so that the center of gravity of the workpiece 99 is positioned, and after the inclined part is brought into the inclined state, the movable piece 78 can be brought into a difficult deformation state. Thereby, when the suction part 2 moves to the horizontal direction side and moves the workpiece 99 to the horizontal side, the position of the center of gravity of the workpiece 99 approaches the vertically lower side with respect to the center portion of the transmission unit 7. The workpiece 99 can be placed in a stable state, and the workpiece 99 can be prevented from shaking in a well-balanced manner.

  Here, referring to FIG. 5, it is preferable that the moving work material 99 i as an example of the work material 99 is moved from the lifting position 3 a of the transfer device 3 to the loading region 10 a of the first support moving device 4. A control example will be described. FIG. 5A is a schematic diagram for explaining the loading control of the moving workpiece 99i, and FIG. 5B is a timing chart showing the loading control of the moving workpiece 99i. In FIG. 5A, the position of the center C (see FIG. 4) where the lower surface of the suction part 2 and the moving workpiece 99i come into contact with each other in the process of moving the suction part 2 is indicated by black dots.

  First, as shown in FIG. 5A, the suction part 2 (suction pad 2a) moves to a position where the suction part 2 (suction pad 2a) can be contacted toward the height position HS of the upper surface of the moving workpiece 99i arranged at the lifting position 3a. Thus, the control device 9 controls the loading device 6. When the suction unit 2 moves, the position of the suction unit 2 may be controlled using the design value of the moving work material 99i that is the object of movement. More preferably, the control device 9 determines the position where the suction unit 2 moves based on the dimensions (actual dimensions). The actual dimension of the moving workpiece 99i is measured by providing a measuring machine capable of measuring the actual dimension of the moving workpiece 99i with a laser beam or the like in the processing machine or the transfer device 3 where the cutting process is performed, and measuring data thereof. May be input to the control device 9 and used for controlling the position of the suction unit 2. The position closer to the center of gravity is determined by determining the position where the suction part 2 comes into contact with the moving work material 99i based on the actual dimensions as the length in the longitudinal direction and the width in the short direction of the movement work material 99i. It is easy to be positioned directly below the center C of 2 and can be lifted and moved in a stable state. Further, the moving work is performed on another workpiece 99h that has been moved to the loading region 10a first. It is possible to bring the materials 99i close to each other without any gaps and make them aligned.

  The suction drive of the suction part 2 is stopped and set to the non-suction state until the suction part 2 comes into contact with the upper surface of the moving work material 99i arranged at the lifting position 3a until it comes into contact, and the lock device 77 is stopped. It is easy to deform. The start state at the left end of the timing chart of FIG. 5B is a state in which the suction part 2 is in contact with the upper surface of the moving workpiece 99i arranged at the lifting position 3a and the suction pad 2a is compressed (suction start state). Is shown.

  In the suction start state, as shown in FIG. 5B, suction drive control is performed on the suction unit 2 (time ta). By controlling this suction drive, the upper surface of the moving work material 99i is sucked to the suction portion 2, and the moving work material 99i can be lifted (a liftable state).

  After entering the liftable state, the control device 9 controls the loading device 6 to start the ascending drive (time tb) so that the suction unit 2 starts to rise. The control (upward movement control) of the suction unit 2 by the control device 9 is performed at a timing (time td) when the upper surface of the moving workpiece 99i reaches a height position HM set in advance so that the horizontal movement operation is performed. Is done.

  In the process in which the suction part 2 is raised, the lock device 77 is in an easily deformable state, and the center of gravity of the moving work material 99i is positioned below the center part of the transmission part 7 due to the weight of the moving work material 99i. As a result, the deformation connecting portion 74 (see FIG. 4) is deformed. When the adsorbing portion 2 reaches the height position HL of the end portion close to the stop position of the upward movement control by the upward movement control (for example, the position 50 mm below the stop position) (time tc), the lock device 77 is activated and deformed. The connecting portion 74 is in a state of being difficult to be deformed.

  Here, it is possible to switch from the easily deformable state to the difficultly deformed state immediately after the start of the upward movement by the upward movement control or immediately after the upward movement start. Since there is a high possibility that the center of gravity of the moving work material 99i is located below the center portion and the state is unstable, the switching is set at least in the second half of the upward movement. Is preferable, and it is preferable that the end point is close to the stop position. In addition, at the end of the upward movement by the upward movement control, the moving workpiece 99i may become unstable due to switching between deceleration and stop, and the shaking may occur, so it is difficult to deform before the end of the upward movement. It is preferable to switch to the state. Further, in the upward movement control, the control may be performed by increasing the speed from the high speed state to the low speed. In this case, it is preferable that the switching to the difficult deformation state is performed after the speed becomes lower than the high speed state.

  Further, the upward movement by the upward movement control does not necessarily need to be moved vertically upward, and may be moved obliquely upward, but it is stable with little shaking using the weight of the moving work material 99i. In order to switch from the state to the state where deformation is difficult, it is preferable to move vertically upward. In this way, by making the movable work material 99i stable by its own weight and switching to the difficult deformation state, problems such as dropping of the movable work material 99i after the change can be made difficult to occur, and the movable work material 99i. Thus, a large number of workpieces 99 can be moved to the loading area 10a in a short time.

  After the upward movement control, the control device 9 controls the loading device 6 to start horizontal driving (time te) so that the suction unit 2 starts horizontal movement. The horizontal movement control (horizontal movement control) of the suction unit 2 by the control device 9 is more constant than the other work material 99h in which the end surface on the front side in the movement direction of the moving work material 99i is located adjacent to the moving material 99i. This is performed until the timing (time tf) at which the lowering position set before the distance (for example, 50 mm) is reached (see FIG. 5A).

  When the moving workpiece 99i reaches the lowered position, the control device 9 controls the loading device 6 to start the lowering drive (time tg) so that the suction unit 2 starts to lower. The lowering control (downward movement control) of the suction part 2 by the control device 9 is such that the upper surface of the moving work material 99i is set at a certain distance higher than the height position HE planned in the loading area 10a. This is performed until the timing of reaching the position HU (time th). At the time when the downward movement control is finished, the lock device 77 is in a state of being hard to be deformed, and after the movement is finished, the juxtaposition control for placing the movable work material 99i close to and placing it next to another work material 99h. Is performed by the control device 9.

  In the juxtaposition control, first, the movement work material 99i starts moving in the horizontal direction so as to approach another work material 99h (time ti). (Time tj). Then, the movement in the horizontal direction is continued even after the state of being easily deformed, and the movement workpiece 99i is moved to a position adjacent to another workpiece 99h, and then the movement in the horizontal direction is stopped ( Time tk).

  After the movable workpiece 99i is moved in the horizontal direction by the juxtaposition control, the movable workpiece 99i is lowered to the height position HE (time tl to time tm), and the suction drive is stopped (time tn). The juxtaposition control is ended by stopping the suction drive. As a result of the end of this juxtaposition control, the moving workpiece 99i is placed and loaded at the planned loading position (planned loading position) in the loading area 10a, and the loading of one workpiece 99 is completed. To do.

  Here, in the juxtaposition control, control is performed such that the height of the moving workpiece 99i and the other workpiece 99h that has already moved overlap in a certain height range HD in the vertical direction. In this juxtaposition control, at the timing when the moving workpiece 99i and another workpiece 99h approach each other, the lock device 77 is set to be stopped and switched to an easily deformable state. Even if a situation occurs in which 99i comes into contact with another workpiece 99h, occurrence of a situation in which the moving workpiece 99i pushes and moves another workpiece 99h due to the deformation of the deformation connecting portion 74 is suppressed. Therefore, in the control of the control device 9, even if the moving work material 99 i and another work material 99 h are set to be close to each other, the possibility of causing a problem is reduced, and a plurality of work materials 99 are provided. While shortening the time until it is stacked side by side, it is possible to make it easy to achieve an aligned state with few gaps.

  Note that it is not always necessary to stop the lock device 77 and switch to the easy deformation state after the downward movement control, and stop the lock device 77 to the easy deformation state in the process of moving vertically downward by the downward movement control. You may make it switch. In addition, it is not always necessary to perform juxtaposition control after downward movement control. In the process of downward movement by downward movement control, a setting is made to switch from a difficult to deformable state to an easily deformable state. The moving work material 99i may be placed at the planned loading position. Also in the downward movement control, as in the upward movement control, the setting of switching from the difficult deformation state to the easy deformation state may be performed before the downward movement or immediately after the start of the downward movement, but at least in the second half of the downward movement. It is preferable to set the switching to the easily deformable state, and it is preferable to switch to the easily deformable state just before the end near the descending stop position. Further, in the downward movement control, the control may be performed by lowering the speed from the high speed state, and in this case, it is preferable that the switching from the high speed state to the easy deformation state is performed after the low speed. However, it is not always necessary to move vertically downward, and it may be moved obliquely downward, but it is preferable to move vertically downward.

  As described above, when the workpiece 99 is moved, the lock device 77 constituting the deformation state switching means is stopped and the deformation connecting portion 74 serving as the deformation portion is in a deformable and easily deformable state so that the suction portion 2 is moved. Is brought into contact with the workpiece 99. For this reason, even in a situation where the shape and size of the workpiece 99 vary, the relative positional relationship between the adsorbing portion 2 and the contact portion of the workpiece 99 due to the deformation of the deformation connecting portion 74 is an appropriate shape. The workpiece can be easily lifted through the suction part 2.

  Further, during the movement of the workpiece 99, by operating the lock device 77 to make it difficult to deform, the swing of the workpiece 99 caused by the deformation of the deformation connecting portion 74 can be suppressed. For this reason, since the workpiece 99 can be moved in a state in which the swing of the workpiece 99 is suppressed, the workpiece 99 is preferably moved such that it is easy to avoid a situation where the workpiece 99 falls during the movement. can do.

  In addition, since the contacted portion 76 as the deformation switching contact portion is provided on the upper side of the deformation connecting portion 74 so as to be able to contact the movable piece 78 of the locking device 77, the size of the transmission portion 7 is reduced. On the other hand, it is possible to efficiently suppress the shaking generated around the deformation connecting portion 74 with reference to the position away from the deformation connecting portion 74. In addition, the deformation connecting portion 74 is disposed below the workpiece 99 as compared with the portion where the contacted portion 76 and the movable piece 78 of the locking device 77 are in contact with each other, resulting from the deformation of the deformation connecting portion 74. The swaying width of the workpiece 99 that is generated in this manner can be easily suppressed to a small extent because the deformation connecting portion 74 is disposed near the workpiece 99.

  Further, in the process in which the suction unit 2 moves upward by the upward movement control of the control device 9 as the upward movement control means so as to lift the workpiece 99, the lock device 77 is operated to change from the easy deformation state to the difficult deformation state. Can be switched to. For this reason, it becomes easy to set the period when the deformation | transformation connection part 74 is pulled below by the dead weight of the work material 99, and the shake of the work material 99 is suppressed, and it becomes a deformation | transformation difficult state in the condition where the shake of the work material 99 is few. Switching can be facilitated.

  Further, after the suction unit 2 moves upward, the deformation difficult state is maintained, and the suction unit 2 moves in the horizontal direction by the horizontal movement control of the control device 9 as the upper horizontal movement control means in the deformation difficult state. Thus, the control of the lock device 77 by the control device 9 as the first switching control means (control of the times tc to tj in FIG. 5) is performed. For this reason, when the movement direction is switched from the upper side to the horizontal direction, the deformation-resistant state is already maintained, so that the workpiece 99 is not easily shaken even when the movement direction is changed. The workpiece 99 can be suitably moved, for example, by easily setting the movement of the material 99 at a high speed.

  Next, FIG. 6 shows a preferable control example for setting the planned loading position of each workpiece 99 corresponding to the mode of the group of workpieces 99 after being loaded into the two loading areas 10a and 20a. The description will be given with reference. 6A is a schematic diagram illustrating a display example of loading mode selection on the display unit 91, FIG. 6B is a schematic diagram illustrating a display example of a planned loading position on the display unit 91, and FIG. ) Is a schematic diagram showing a display example of the loading status on the display unit 91.

  It is preferable that the mode of the group of workpieces 99 after being loaded into the loading areas 10a and 20a by the workpiece moving device 1 can be easily set by the operator, and the control device 9 acquires the CAD data from the CAD data. Based on the information of each processed material 99, candidates for modes of the group of processed materials 99 after being loaded in the loading areas 10a and 20a are displayed, and the operator selects one of the modes and the selected mode is selected. In this manner, a program for loading the workpiece 99 into the loading areas 10a and 20a is stored.

  As an example of the control by the control device 9, as shown in FIG. 6 (A), before loading in the loading areas 10a and 20a is started, a screen for selecting the loading mode is displayed on the display unit 91, The operator can select any mode through the input unit 92 (see FIG. 2). For the control device 9, by inputting information on the workpiece 99 from the data of the processing machine and CAD, the loading area 10a is based on the thickness and length of the workpiece 99, the processing sequence, and the assembly order at the site. , 20a are grouped into a plurality of types of workpieces 99 and displayed on the display unit 91 so that the operator can select them.

  As shown in FIG. 6A, the display unit 91 displays four mode selection tabs T11 to T14 corresponding to a plurality of types of aspects of the group of workpieces 99 after loading. In each mode selection tab T11 to T14, it is preferable to display the priority content as an arrangement reference as an aspect of the group of workpieces 99. For example, “fine material priority mode”, “thick material priority mode”, “ “Processing order priority mode” and “Assembly order priority mode” are displayed as characters, and are also displayed in a schematic diagram. Whether loading is performed with priority on thickness, processing order is given priority, assembly order It is displayed so that it can be easily recognized by the operator.

  Here, it is sufficient that at least one or more contents (modes) that are given priority as an alignment reference as an aspect of the group of processed materials 99 displayed on the display unit 91 are the four modes described above. Another mode may be added. For example, as a reference for the arrangement, the planned loading position based on another standard (for example, a type standard such as a column material or a feather pattern material as an application) presetting the work material 99 loaded in the loading regions 10a and 20a. A mode in which is set may be provided. In addition, a mode may be provided in which a planned loading position is set based on the number when a group of workpieces 99 loaded in the loading areas 10a and 20a is classified according to a preset criterion. When there are some numbers when classified according to the standard, a mode may be provided in which the larger number is loaded on the lower side. In addition, it is not always necessary to select a mode for the loading areas 10a and 20a every time, and any mode selected by the worker is determined by a predetermined mode change time (for example, a change operation by the worker). Or the timing at which loading at one site is completed, for example, may be controlled. In addition, a setting may be provided in which the operator does not need to select a mode. When an input operation that does not require selection of the mode is performed by the worker, a plurality of modes stored in the control device 9 are stored. Any mode set in advance so as to be prioritized may be selected without an operator's selection operation.

  In addition, the display unit 91 has three area selection tabs T1 to T3 that can be operated to select which of the plurality of loading areas 10a and 20a to select which priority mode. Is displayed. By operating the area selection tab T1 for selecting the first loading area 10a and the area selection tab T2 for selecting the second loading area 20a, the operator selects and operates the priority mode. Different priority modes can be selected for the plurality of loading areas 10a and 20a. In addition, by operating the common area selection tab T3 that can collectively set the same priority mode to a plurality of loading areas 10a and 20a, the priority mode is selected and operated separately for the plurality of loading areas 10a and 20a. The priority mode can be selected.

  After the operator operates the input unit 92 and the priority mode for the mode of the group of workpieces 99 after loading is selected, as shown in FIG. 6B, the workpiece selected as the priority mode. The expected loading position as an array of 99 is shown to the operator. In addition, in the situation where the planned loading position is displayed, an arrangement change tab T21 for enabling the arrangement change by the operator is displayed, and a part of the arrangement is set so as to match the detailed arrangement intended by the operator. Control by the control device 9 is performed so that the position of the workpiece 99 can be changed or the screen can return to the previous priority mode selection screen. When the workpiece 99 is arranged as intended by the operator, the operator selects the loading start tab T22 so that the workpiece 99 is loaded into the loading areas 10a and 20a by the workpiece moving device 1. Is started. In FIG. 6B and FIG. 6C, the arrangement of the workpieces 99 is displayed in a combination of alphabets and letters, specifically “A” according to the thickness of the workpiece 99. , With a different alphabet of “B” at the beginning, and in the first loading area 10a on the lower side, on the side far from the lifting position 3a, numbers are added in order from the lower side, and then Numbers are given in order from the lower side in the second loading area 20a, the side being loaded at a position far from the lifting position 3a. However, the present invention is not limited to this, and other letters or numbers may be given.

  After the loading of the workpiece 99 into the loading areas 10a and 20a is started, as shown in FIG. 6C, the workpiece 99 currently progressing is loaded in the loading areas 10a and 20a as the loading status. The state moved to is easily understandable in a part of the aspect of the group of workpieces 99 after loading. For example, the color is changed or the thickness of the frame is changed. Further, the processed material 99 is not necessarily processed in order from the one loaded below the loading region 10a. In the state of FIG. 6C, the processed material 99 loaded into “B14” is in an early stage. The state after being processed and temporarily placed in the temporary placement area 8a is shown. In such a state, among the workpieces 99, the workpiece 99 temporarily placed in the temporary placement area 8a different from the loading areas 10a and 20a is also displayed on the display unit 91. It is possible to recognize the situation where the workpiece 99 is placed in the plurality of loading areas 10a and 20a and the temporary placement area 8a by visually recognizing the part 91.

  Thus, the program which comprises the control apparatus 9 so that the preset loading position of each process material 99 corresponded to the aspect of the group of process material 99 after having been loaded in loading area 10a, 20a can be set. By providing, the operator does not have to bother to set the mode of the group of workpieces 99 after loading, or the mode of the mode can be changed by simply changing the position of some workpieces 99 after the mode selection. The setting can be made, and the work can be simplified. In addition, by displaying the set aspect of the group of workpieces 99 and the progress on the display unit 91, the worker can visually recognize the display unit 91, and the plurality of loading areas 10 a and 20 a The status of the workpiece 99 placed in the temporary placement area 8a can be easily recognized at a glance.

  Note that the present invention is not limited to the above-described embodiment, and for example, the invention may be modified as described below. In this case, each configuration described below is different from the above-described embodiment. You may apply and may apply with respect to the said embodiment combining the some structure described below.

  In the above-described embodiment, the structure in which the loading areas 10a and 20a and the shipping standby areas 10b and 20b are provided in the accumulation areas 10 and 20 in the workpiece moving device 1 has been described. The loading areas 10a and 20a may be used. In this case, instead of the support moving devices 4 and 5, the accumulation area (loading area) is simply constituted by a support base that can support the workpiece 99 so as not to move. May be.

  Moreover, in the said embodiment, although the structure provided with one lifting position 3a, one temporary placement area | region 8a, and two integrated area | regions 10 and 20 was demonstrated, not only this but two lifting positions are provided. The temporary storage area may be provided at two or more places, or may be omitted, and the accumulation area may be provided at one place, or may be provided at three or more places. . In addition, when increasing any of a lifting position, a temporary placement area | region, and a collection | stacking area | region, it is preferable to arrange | position around the predetermined | prescribed center part which is a part of the loading apparatus 6. FIG.

  In the above-described embodiment, the configuration in which the two integrated regions 10 and 20 and the temporary storage region 8a are provided apart from each other has been described. However, the two integrated regions are provided adjacent to each other, It is not always necessary to provide each of the areas separately, such as providing the accumulation area and the temporary placement area next to each other.

  Moreover, in the said embodiment, although the integration | stacking area | regions 10 and 20 demonstrated the case where it arrange | positions so that it may be located in the direction which cross | intersects the longitudinal direction of the workpiece 99 arrange | positioned at the lifting position 3a, it followed the longitudinal direction. An accumulation area may be provided at another position, such as an accumulation area on the side.

  In the above embodiment, when the workpiece 99 is moved from the lifting position 3a to the loading areas 10a and 20a, the control device 9 performs movement control without changing the orientation of the workpiece 99 in a top view. Although the case has been described, in order to change the orientation of the workpiece 99 when viewed from above, for example, after the workpiece 99 is raised, the workpiece 99 is rotated by a certain angle and then moved to the accumulation regions 10 and 20. Movement control may be performed. That is, the direction of the workpiece 99 at the lifting position 3a may be different from the orientation of the workpiece 99 loaded in the loading regions 10a and 20a.

  Moreover, in the said embodiment, when moving the adsorption | suction part 2 in the condition where another up-and-down operation area | region exists around a predetermined | prescribed center part, it passes through that other up-and-down movement area, or the other Although the description has been given of the case where the suction unit 2 moves via a preset passable area (special entry possible area) between the vertical movement area and a predetermined center part, the present invention is not limited to this, and one vertical movement A moving route is set for each of the region and all other vertically moving regions, and the suction unit 2 moves via an optimum moving route set by the developer for moving to each vertically moving region. You may set control of the control apparatus 9 so that it may.

  Moreover, in the said embodiment, although the case where a deformation | transformation part (deformation connection part 74) was provided between the adsorption | suction part 2 and the movable part 32f of the front end side of the loading apparatus 6 was demonstrated, it was not necessarily mentioned above. For example, the deformable portion that can be deformed in the vertical direction and the deformable portion that can move or swing in the horizontal direction may be provided at different positions, or only one of the deformable portions may be provided. You may provide, or you may abbreviate | omit a deformation | transformation part.

  Moreover, in the said embodiment, although it comprised so that the switching of a deformation | transformation easy state and a deformation | transformation difficult state of a deformation | transformation part might be performed by operation | movement of the locking device 77 by the control apparatus 9, not only this but another structure is employ | adopted. May be. For example, the control device 9 may be controlled to switch between the easily deformable state and the difficultly deformable state. For example, as the shaft portion of the transmission unit 7 that can move in the vertical direction, the outer diameter decreases toward the lower side. On the other hand, a shaft portion that is enlarged is provided on the upper side of the suction portion 2, and a cylindrical portion that surrounds the shaft portion and a shaft hole that fits into a thick portion of the shaft portion are provided. After the suction part 2 is lifted and lifts the workpiece 99, the outer diameter of the shaft part is large. A shaft hole may be fitted into the portion to restrict the movement and swinging of the suction portion 2.

  In addition, you may comprise a workpiece movement apparatus as follows as invention which can be extracted from above-described embodiment.

A contact portion that contacts a part of the workpiece that has been subjected to the cutting process so that the workpiece can be lifted; and
Work material transfer means that constitutes at least a part of a transfer path for transferring the work material, and supports the lower side of the work material at a lifting position at which the contact portion can contact;
When viewed from above, the lower side of the plurality of workpieces is supported by a predetermined accumulation region provided in a first direction side that is separated from the lifting position and intersects the longitudinal direction of the workpiece at the lifting position. Possible integrated support means;
The contact portion can be moved, and a plurality of the work materials are arranged along the first direction in a predetermined accumulation region separated from the lifting position, and are also arranged in a plurality of steps in the vertical direction. Loading means to be in a stacked state;
In the case where the workpiece is moved from the lifting position to the predetermined accumulation region by the loading means, the order of the workpieces moved from the lifting position and the workpiece to be loaded into the predetermined accumulation region Temporary placement material support means capable of supporting the lower side of a plurality of workpieces in a predetermined temporary placement area in which a part of the workpieces can be temporarily placed so that the order can be changed. With
In the top view, the lifting position, the predetermined accumulation area, and the predetermined temporary placement area are sequentially provided in a predetermined direction.

  As described above, the present invention is suitable for a workpiece moving device, a control device for the workpiece moving device, and a workpiece moving program.

  1: Workpiece moving device, 2: Adsorption unit (contact unit), 3: Transfer device, 4, 5: Support moving device, 6: Loading device, 7: Transmission unit, 8: Support base, 9: Control device, 74: deformation connection part, 76: contacted part, 77: locking device, 78: movable piece, 99: processed material

Claims (4)

A contact portion that contacts a part of the workpiece that has been subjected to the cutting process so that the workpiece can be lifted; and
Work material transfer means that constitutes at least a part of a transfer path for transferring the work material, and supports the lower side of the work material at a lifting position at which the contact portion can contact;
When viewed from above, a plurality of workpieces are below a plurality of workpieces in a predetermined accumulation region provided on a side in a predetermined first direction that is separated from the lifting position and intersects the longitudinal direction of the workpieces at the lifting position. An integrated support moving means capable of supporting the side and moving the plurality of workpieces together;
The contact portion can be moved, and a plurality of the workpieces are arranged along the first direction from the lifting position to a predetermined first area close to the lifting position in the predetermined accumulation area. And loading means to be stacked in a plurality of stages in the vertical direction,
The accumulation support moving means includes:
A plurality of the workpieces stacked in a row by the loading means, in a predetermined second region that is a part of the predetermined accumulation region and is further away from the lifting position than the predetermined first region, It is configured to be movable together ,
The predetermined accumulation region is provided in a plurality of locations, and in the predetermined first region in the predetermined accumulation region provided in the plurality of locations, provided so that the processing material faces the same direction side,
The loading means is
When loading into one predetermined first area, the other predetermined first area is used as a temporary temporary storage area, and the work material is placed in the one predetermined first area. A workpiece transfer device characterized in that loading is performed by changing the loading order . The lifting position, the predetermined first area provided at the plurality of locations, and a temporary placement area provided separately from the predetermined first area are centered on a part of the loading means in a top view. The workpiece moving device according to claim 1, wherein the workpiece moving device is provided side by side in a circumferential direction . The control apparatus of the workpiece moving apparatus which controls operation | movement of the workpiece moving apparatus of Claim 1 or 2 . Claim 1 or workpiece moving device operation processing of the controller for controlling the possible to run a workpiece movement programs described in 2.