JP6832069B2 - Work gripping method and chuck device - Google Patents

Description

The present invention relates to a method and a chuck device for gripping one end (rear end or front end) of a long work such as a pipe material or an angle material by a chuck device in a laser processing device, for example. More specifically, the present invention relates to a gripping method for gripping one end of the work after detecting the position of one end of the work, and a chuck device having a function of detecting one end of the work.

For example, when a long work such as a pipe material or an angle material is supplied (carried in) to a laser processing device, the rear end (one end) of the work is gripped by a chuck device provided on one side of the laser processing device. By pushing the work with the chuck device, the work is carried into the laser processing device (see, for example, Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2001-87885 Japanese Unexamined Patent Publication No. 2008-302375

In the configuration described in Patent Documents 1 and 2, the rear end portion of the long work located in the work carry-in path is gripped by a plurality of claw members provided in the chuck device. In this case, the plurality of claw members in the chuck device are held in an open state, and the chuck device is operated close to the rear end portion of the work. Then, after the rear end portion of the work is relatively inserted between the claw members in the open state, the work is gripped by closing the claw member.

Therefore, if the positions of the claw member of the chuck device and the rear end portion of the work are not accurately positioned, a difference between the program and the program will occur, resulting in a product error. Further, if the positional relationship is significantly deviated, the work and the chuck device may interfere with each other, or conversely, the work may not be gripped.

The present invention has been made in view of the above-mentioned problems, and is a chuck device, in which a gripping member that grips an end portion of a work and a distance between the gripping member and the gripping member at a first position corresponding to the gripping member. and sensor capable of detecting a to a reciprocally movable in a first direction along the word over click introduction passage, and a chuck body having a gripping member and said sensor,
The sensor is characterized in that it can move between the first position and the second position for detecting the end of the work in the first direction.
Further, it is a work gripping method in which the end portion of the work is gripped by a chuck device.
The chuck device
A chuck body that can reciprocate in the first direction along the work loading path,
A gripping member provided on the chuck body and gripping the end of the work,
A distance sensor provided on the chuck body and capable of moving between a first position for detecting the distance to the gripping member and a second position for detecting the end of the work in the first direction. ,
Shall have
The sensor at the first position detects the distance to the gripping member that grips the end of the work, and compares the detected distance with a preset predetermined distance. Is what you do.

According to the present invention, the end portion of the work is detected by the sensor provided in the chuck device to grip the end portion of the work. Therefore, the vicinity of the end of the work can be gripped by moving the end of the work by a desired distance from the detected position. Therefore, when the laser machining position exists near the end of the work, it is possible to avoid this laser machining position in advance and grip the work. Further, since the end portion of the work is detected and the vicinity of the end portion of the work is gripped, it is possible to always grip the constant position from the end portion of the work.

A perspective description showing the overall configuration of a laser machining system conceptually and schematically in a drawing showing a case where the present invention is applied to a laser machining system that performs laser machining of a long material such as a round pipe or a square pipe. It is a figure. A chuck device for gripping the rear end of a long workpiece is shown. FIG. 2 (A) is a plan view and FIG. 2 (B) is a front view, indicating that the optical sensor is in a retracted state. It is explanatory drawing which shows. In the chuck device shown in FIG. 2, the optical sensor is projected, FIG. 3A is a plan view, and FIG. 3B is a front view. It is a side explanatory view which conceptually and generally showed the overall structure of the work transfer conveyor in the work transfer apparatus. It is explanatory drawing of the structure of the transfer chain in a work transfer conveyor, and the case where a round pipe is supported by the transfer chain. It is explanatory drawing in the case of supporting a square pipe by a transport chain. It is explanatory drawing which shows the structure of the work support part which lifts and conveys a work from a work transfer conveyor. It is a perspective explanatory view which showed the positional relationship between a chuck device and a work support device when viewed from the rear side in the Y-axis direction. 9 (A) is a perspective view of the work support device, in which FIG. 9 (A) shows a state in which the work receiving portion of the work support device protrudes into the work loading path, and FIG. It is explanatory drawing which shows the state which was pulled in from. FIG. 10A is a perspective view showing a clamp member and a steady rest member in the work support device, and FIG. 10A shows a state in which the clamp member is open and the steady rest member is raised higher than the support roller. FIG. 10B shows a state in which the clamp member is closed and the steady rest member is lowered below the support roller. The work transfer conveyor is conceptually and schematically shown in the operation explanatory diagram showing the case where the work is transferred to the work loading path by the work transfer conveyor of the work transfer device. FIG. 11 (A) shows a state in which the work on the work transfer conveyor is supported at a position far away from the work loading path, and FIG. 11 (B) shows a state in which the work is lifted and conveyed from the work transfer conveyor. ing. It is explanatory drawing which shows the case where the work is delivered from the work support part of the work transfer conveyor to the work support device, FIG. 12 (A) shows the state just before delivery of work, and FIG. 12 (B) is after delivery of work. , The state where the rear end portion of the work is gripped by the chuck device is shown. It is explanatory drawing which shows the case where the work is pushed to the laser processing machine by a chuck device, FIG. 13 (A) shows the state which the work support device close to a chuck device retracted from a work loading path, and FIG. 13 (B) is , Indicates that all work support devices have been retracted from the work loading path. FIG. 14 (A) is an explanatory view in the case where the work support device supports the intermediate position of the work when the work is pushed to the laser machining machine by the chuck device, and FIG. 14 (B) shows the case where the chuck device laser-machines the work. It is explanatory drawing which shows the state which it is close to a machine and the work support is moved most to the laser processing machine side. Further, when the chuck device approaches the laser processing machine, the work support device sequentially retracts from the work loading path. FIG. 16A is an explanatory view of a configuration for detecting a tip portion of a workpiece in a laser processing machine, FIG. 16A is a perspective explanatory view showing a positional relationship between a laser beam and a rotary chuck, and FIG. 16B is a main portion. It is a plane explanatory view of. It is a perspective explanatory view which shows the positional relationship between a laser machine, a work shooter, a product box, a conveyor device, a work pusher device, and a carry-out conveyor. It is a perspective explanatory view which shows the positional relationship between a laser machine, a work shooter, and a product box. It is a perspective explanatory view which shows the state which the work shooter received a product. It is a perspective explanatory view which shows the state which a product is dropped from a work shooter to a product box. It is a perspective explanatory view which shows the structure of a work shooter. It is a perspective explanatory view which shows the overall structure of a conveyor device. It is a perspective explanatory view which shows the structure of the steady rest member and the like provided in the conveyor device. It is a front explanatory view which shows the relationship between a laser machine and a conveyor device, and shows the state which the support table in a conveyor device is located on the main body frame. It is a front explanatory view which shows the state which the support table in a conveyor device moved to the laser processing machine side. The vertical movement position of the table when the square pipe is rotated around the axis is shown. FIG. 25 (A) is an explanatory view of each corner of the square pipe, and FIG. 25 (B) shows the rotation of the square pipe. It is explanatory drawing which shows the relationship between the vertical movement position and the rotation angle in. FIG. 25C is an explanatory diagram showing the relationship between the rotation angle of the square pipe and the vertical movement position of the support table. It is explanatory drawing which shows the relationship between the circumscribed circle of a square pipe and a steady rest member. It is a perspective explanatory view which shows the positional relationship between a conveyor device and a work pusher device. It is a perspective explanatory view which shows the state just before pushing a product by the product moving member of a work pusher device. It is a perspective explanatory view which shows the state which pushed the product by the product moving member. It is a front explanatory view which shows the overall structure of the carry-out conveyor. It is a front explanatory view which shows the state which raised the elevating frame in the carry-out conveyor. It is a perspective explanatory view which shows the structure of the pantograph mechanism for moving up and down the elevating frame in a conveyor.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings, and a case where it is applied to a laser processing apparatus as an example of a processing machine for processing a long workpiece such as a pipe material or an angle material will be described. The configuration of the laser processing apparatus for laser processing a long workpiece is known, for example, as described in Patent Documents 1 and 2. However, in order to facilitate understanding, first, the overall configuration of the laser processing apparatus (laser processing system) will be briefly described.

As shown in FIG. 1, the laser processing apparatus 1 includes a laser processing machine 3. In the processing machine main body 5 of the laser processing machine 3, for example, a rotary chuck 7 that can grip and rotate a long workpiece (not shown in FIG. 1) such as a pipe material or an angle material is in the left-right direction (X-axis direction). ) Is rotatably provided around the axis. Further, the processing machine main body 5 is provided with a laser processing head 9 that can be moved in the front-rear direction (Y-axis direction) and in the vertical direction (Z-axis direction). The laser machining head 9 irradiates a work gripped by the rotary chuck 7 with a laser beam to perform laser machining of the work.

Since the configuration of the laser processing machine 3 as described above is already known, for example, as described in Patent Documents 1 and 2, detailed description of the overall configuration of the laser processing machine 3 will be omitted. ..

On one side (right side in FIG. 1) of the laser processing position by the laser processing head 9 in the laser processing machine 3 in the X-axis direction (left-right direction), a long workpiece is placed in the longitudinal direction with respect to the laser processing position. A work loading device 11 to be carried into the machine is arranged. A conveyor device 13 for supporting a long product after laser machining (not shown in FIG. 1) is provided on the other side (left side in FIG. 1) of the laser machining position in the X-axis direction.

A work shooter 15 is provided movably in the Y-axis direction (front-back direction) between the laser processing position and the conveyor device 13. The work shooter 15 supports a short product (not shown) machined at the laser machining position or scrap (not shown) to be discarded. A product box 17 capable of storing products or scraps dropped from the work shooter 15 is arranged in front of the work shooter 15 in the Y-axis direction.

Further, a carry-out conveyor 19 is provided on the other side of the laser processing position in the X-axis direction and on the opposite side of the laser processing position with the conveyor device 13 in between. The unloading conveyor 19 has a function of discharging products transferred from the conveyor device 13, and a plurality of product stockers 21 are X on one side (front side) of the unloading conveyor 19 in the Y-axis direction. It is provided at appropriate intervals in the axial direction.

As can be understood from the above-mentioned schematic description, the long work is conveyed (transferred) from one end side to the other end side in the X-axis direction (longitudinal direction of the work) by the work loading device 11 and is laser. It is carried into the rotary chuck 7 in the processing machine 3. As described above, when the tip of the work is carried into the rotary chuck 7 and the tip of the work appropriately projects from the laser machining position by the laser machining head 9 to the other end side in the X-axis direction and is positioned. The work is gripped by the rotary chuck 7.

Then, the laser processing head 9 irradiates the work with laser light, the work is rotated around the axial center in the longitudinal direction (X-axis direction) by the chuck device 25 and the rotary chuck 7 described later, and the chuck device 25 X. Laser processing of the workpiece is performed by moving in the axial direction. At this time, if the product to be cut and separated from the work is relatively short, the work shooter 15 is positioned at a position corresponding to the short product laser-machined by the laser processing head 9, and the short product is positioned by the work shooter 15. Is to receive. Then, the product received by the work shooter 15 is dropped and stored in the product box 17.

When the product is relatively long, the conveyor device 13 supports the tip end side of the work protruding from the laser processing position toward the other end side in the X-axis direction. Therefore, it is possible to prevent the tip end side of the work from bending significantly due to its own weight, and also to suppress the runout during rotation around the axis of the work. Then, when a long product is cut and separated from the work, the product is carried out from the conveyor device 13 onto the carry-out conveyor 19. The products on the carry-out conveyor 19 are dropped and carried out onto the desired product stocker 21 and aligned on the product stocker 21.

As can be understood from the above-mentioned schematic description, in the present embodiment, the work is moved (transferred) from one end side to the other end side in the X-axis direction. Therefore, when viewed in the moving direction of the work, one end side in the X-axis direction can be referred to as an upstream side, and the other end side in the X-axis direction can be referred to as a downstream side.

As shown in FIG. 1, the work loading device 11 is provided with a guide frame 23 that extends linearly from the processing machine main body 5 of the laser processing machine 3 to one end side in the X-axis direction. The guide frame 23 constitutes a part of a work carry-in path P for carrying a work in the X-axis direction with respect to the rotary chuck 7 in the laser processing machine 3. The guide frame 23 is provided with a chuck device 25 that can grip the rear end side of the work, which is one end side in the X-axis direction, so as to be movable in the X-axis direction.

The chuck device 25 is configured to be rotatable by gripping the rear end portion of the work and to be movable and positioned in a direction (X-axis direction) approaching and separating from the rotary chuck 7 of the laser processing machine 3. The axis (rotation center) in the X-axis direction in which the chuck device 25 grips and rotates the work coincides with the axis (rotation center) of the rotation chuck 7 in the laser machine 3. Therefore, as described above, when the rotary chuck 7 grips and rotates the work to perform laser machining of the work, the chuck device 25 that supports (grasps) the rear end portion of the work is the rotary chuck 7. It is rotated in synchronization with.

More specifically, the chuck device 25 includes a chuck main body 27 (see FIG. 2) that is guided and movable by a guide rail 23L in the X-axis direction provided in the guide frame 23. The chuck body 27 is provided with a rotating frame 29 that is rotatable around the axis in the X-axis direction. As shown in the plan view of FIG. 2A and the front view of FIG. 2B, the rotating frame 29 is horizontal on the other end surface side (the laser machine 3 side) of the chuck body 27 in the X-axis direction. It is rotatably provided around the center of the axis. Then, on the rotating frame 29, a plurality of gripping claws (grasping members) 31 capable of gripping the end portion (rear end portion) of the work from four directions are movable in the radial direction approaching and separating from the center of rotation. It is equipped.

As the configuration in which the plurality of gripping claws 31 move in the radial direction, for example, the configuration as described in Patent Document 1 or the configuration as described in Japanese Patent Application Laid-Open No. 2011-104642 can be adopted. That is, since the configuration in which the plurality of gripping claws 31 move in the radial direction may be a known configuration, a detailed description of the configuration for moving the gripping claws 31 in the radial direction will be omitted.

The chuck main body 27 in the chuck device 25 is provided with a traveling servomotor 33. The traveling servomotor 33 acts to move and position the chuck device 25 in the X-axis direction along the guide rail 23L. That is, for example, a pinion (not shown) is interlocked and connected to the rotating shaft of the traveling servomotor 33. The pinion is meshed with, for example, a rack (not shown) in the X-axis direction provided on the guide rail 23L.

Therefore, the chuck device 25 can be moved in the X-axis direction by driving the traveling servomotor 33. The moving position of the chuck device 25 from the reference position in the X-axis direction can be detected by, for example, a position detecting means such as a rotary encoder provided in the traveling servomotor 33. Therefore, by controlling the drive of the traveling servomotor 33 by a control device (not shown), the moving position of the chuck device 25 in the X-axis direction can be controlled.

Further, a rotation servomotor 35 for rotationally positioning the rotary frame 29 is mounted on the chuck body 27. A small-diameter gear (not shown) is interlocked and connected to the rotating shaft of the rotary servomotor 35, and the small-diameter gear meshes with a large-diameter gear (not shown) provided in the rotating frame 29. .. Therefore, by controlling the rotation of the rotation servomotor 35, the rotation of the rotation frame 29 can be controlled. As a configuration in which the rotary servomotor 35 and the rotary frame 29 are interlocked with each other, it is also possible to use a timing belt.

By the way, the rotation position of the rotation frame 29 with respect to the rotation reference position can be detected by a position detection means such as a rotary encoder provided in the rotation servomotor 35. Therefore, the rotational position of the rotary frame 29 can be controlled by rotationally driving the rotary servomotor 35 under the control of the control device.

Further, the chuck body 27 in the chuck device 25 is provided with an optical sensor 37 for detecting a work, and protects a movable cable or the like connected to the traveling servomotor 33, the rotating servomotor 35, or the like. A cable protection chain 39 for supporting is connected.

The optical sensor 37 is provided in a direction in which the optical axis passes through the rotation center position of the rotation frame 29. That is, in the present embodiment, the side surface of the chuck body 27 in the Y-axis direction is provided with a housing 41 that is long in the X-axis direction at the same height as the rotation center of the rotation frame 29. The housing 41 is provided with the optical sensor 37 movably in the X-axis direction.

That is, a reciprocating actuator (not shown) such as an air cylinder is provided in the housing 41, and a reciprocating operating member 43 (see FIG. 3) such as a piston rod provided in the reciprocating actuator is provided. , The optical sensor 37 is connected. The optical sensor 37 is integrally supported by the tip portions of a plurality of guide rods 45 movably provided in the housing 41 so as to move horizontally in the X-axis direction.

According to the above configuration, when the reciprocating actuator is operated, the optical sensor 37 is reciprocated in the X-axis direction at the same height position as the rotation center of the rotating frame 29. When the optical sensor 37 is moved so as to project from the housing 41, as shown in FIG. 3, the optical sensor 37 moves to the other end side in the X-axis direction to a predetermined position beyond the grip claw 31. Therefore, the presence or absence of the work W can be detected by the optical sensor 37 at the predetermined position (protruding position) moved so as to project.

Here, by using the optical sensor 37 as an optical distance sensor such as a laser distance sensor, the distance from the optical sensor 37 to the work W can be detected. Therefore, the shape and dimensions of the work W can be detected by detecting the distance from the optical sensor 37 to the work W while rotating the rotating frame 29 in a state where the work W is gripped by the gripping claw 31. Is.

That is, it is possible to detect the shape and dimensions of the work W before laser machining the work W, and it is possible to confirm whether or not it matches the vertical and horizontal dimensions of the work described in the machining program, and further the shape (round). , Square, angle, channel, etc.) can also be checked.

Further, when trying to grip one end of the work W by the chuck device 25, as described above, the chuck device 25 is brought closer to the end of the work W with the optical sensor 37 positioned at the protruding position. When moved, the end of the work W can be detected by the optical sensor 37. Therefore, when the optical sensor 37 detects the end portion of the work W when the chuck device 25 approaches the work W, the approaching operation of the chuck device 25 can be temporarily stopped. Therefore, it is possible to prevent the chuck device 25 from inadvertently colliding with the work W when the chuck device 25 approaches the work W, and the chuck device 25 can be reliably chucked with the claws to improve safety.

As shown in FIGS. 2A and 2B, when the optical sensor 37 is moved so as to be pulled into the housing 41, the optical sensor 37 moves to the claw holder 31A holding the gripping claw 31. It is positioned at the corresponding position (pull-in position). Therefore, when the optical sensor 37 is an optical distance sensor, the distance from the optical sensor 37 to the claw holder 31A can be detected. Therefore, when the distance from the optical sensor 37 to the claw holder 31A is detected, a work having a predetermined size is compared with a predetermined distance set in advance corresponding to the size (for example, diameter) of the work W. It can be confirmed whether or not it is.

That is, for example, when the size of the set work W is incorrect, an error in the work set can be detected. Further, by detecting the distance from the optical sensor 37 to the claw holder 31A, it is possible to confirm whether or not the work W can be accurately gripped by each of the gripping claws 31. Therefore, it is possible to prevent the chuck device 25 from moving without gripping the work W, and it is possible to improve safety.

Referring to FIG. 1 again, on the front side of the guide frame 23 in the Y-axis direction, a work transfer device that transfers the work W to the work carry-in path P where the chuck device 25 moves in the X-axis direction. 45 is arranged. As shown in FIG. 1, the work transfer device 45 is configured by arranging a plurality of work transfer conveyors 47 at appropriate intervals in the X-axis direction. The work transfer device 45 mounts and holds a long work (not shown in FIG. 1) in parallel with the guide frame 23 in the Y-axis direction (rear direction) orthogonal to the longitudinal direction of the work. ), And the work is transported to the work loading path P.

In the embodiment shown in FIG. 1, the work transfer conveyor 47 is illustrated in the case where three units are arranged in the X-axis direction. However, the number of work transfer conveyors 47 may be any number as long as it can support the target long work and transfer it in a direction orthogonal to the longitudinal direction of the work. it can. It is also possible to configure the work transfer conveyor 47 so that the work transfer conveyor 47 can be moved and adjusted in the X-axis direction so that the distance between the work transfer conveyor 47 in the X-axis direction can be adjusted according to the length of the work.

As shown in FIG. 4, the work transfer conveyor 47 includes a gantry frame 49. The frame 49 is provided with an endless transport chain (transfer chain) 51 that supports a work (not shown in FIG. 4) long in the X-axis direction and transports (transfers) in the Y-axis direction. The overall configuration of the work transfer conveyor 47, which is provided with the endless transfer chain 51 on the gantry frame 49 so as to be rotatable (travelable), is known as described in, for example, Patent Documents 1 and 2. .. Therefore, the detailed description of the overall configuration of the work transfer conveyor 47 will be omitted, and only the characteristic configuration will be described.

With reference to FIG. 4, the transfer chain 51 that can travel in the Y-axis direction is provided on the upper portion of the frame 49 of the work transfer conveyor 47. The transport chain 51 is rotationally driven by a servomotor (not shown) provided on the gantry frame 49. The transport chain 51 is configured to be able to stably support, for example, a round pipe material or a square pipe.

That is, as shown in FIG. 5, the transport chain 51 is provided with a curved surface support chain link 53 that supports a work having a curved outer peripheral surface, such as a round pipe WP. A V-shaped curved surface support portion 55 that supports the curved surface of the round pipe WP is formed at the center of the curved surface support chain link 53 in the longitudinal direction, corresponding to the round pipe WP of various diameters. Rolling restriction chain links 57 are pivotally connected to both ends of the curved surface support chain link 53 via hinge pins 59.

As shown in FIG. 5, the roll regulation chain link 57 abuts on the outer peripheral surface of a round pipe WP having a relatively large diameter supported by the curved surface support portion 55 of the curved surface support chain link 53, and the round pipe It is provided with a rolling control unit 61 that regulates the rolling of the WP. In other words, the height dimension of the roll regulation chain link 57 is formed higher than the height dimension of the curved surface support chain link 53, and the roll regulation chain links 57 on both ends are at the same height. It is formed in.

A chain link 63 having the same height and shape as the roll regulation chain link 57 is pivotally connected to each roll regulation chain link 57 via a hinge pin 59. That is, since the rolling regulation chain link 57 and each chain link 63 are formed at the same height, the upper surface of each rolling regulation chain link 57 and each chain link 63 is, for example, as shown in FIG. It supports a flat surface portion WF of a square pipe WA, an angle member (not shown), and the like, and constitutes a flat surface support portion 65.

When the flat surface portion WF of the square pipe WA is supported on the flat surface support portion 65, for example, a position restricting chain link 67 for restricting the position of the square pipe WA is attached to each chain link 63 via a hinge pin 59. It is pivotally connected. The height dimension of the position regulation chain link 67 is formed to be larger than the height dimension of the roll regulation chain link 57 and the chain link 63. Each position-regulating chain link 67 is provided at a position equidistant from the curved surface support chain link 53. That is, each of the curved surface support chain link 53 and the position regulation chain link 67 is provided in the transport chain 51 at equal intervals.

As already understood, in the transfer chain 51, for example, a round pipe WP and a square pipe WA can be supported. That is, the round pipe WP is supported by the curved surface support portion 55 in the curved surface support chain link 53. Then, the square pipe WA is supported by the flat surface support portion 65, and as shown in FIG. 6, abuts on the position restricting chain link 67 to hit the position restricting chain link 67 on the rear side in the transport direction by the transport chain 51. The position is regulated at the contacting position (the position of the position restricting chain link 67 on the right side in FIG. 6). Therefore, even when round pipes WP having different diameters and square pipes WA having different sizes coexist, each pipe material can be conveyed in a stable state in the Y-axis direction.

In order to transport the work W transported to the work loading path P side by the transport chain 51 in the work transport conveyor 47 to the work loading path P, the work W on the transport chain 51 can be lifted freely and the work. A work transfer means 69 (see FIG. 4) that can be transferred to the carry-in path P is provided. In other words, the work transfer means 69 can take out the work W from the work transfer conveyor 47.

That is, as shown in FIG. 4, the gantry frame 49 in the work transfer conveyor 47 is provided with a guide rail 71 (see FIG. 4) that is long in the Y-axis direction. A slide member 73 long in the Y-axis direction is movably supported on the guide rail 71 in the Y-axis direction. The work transporting means 69 is provided near the end of the slide member 73 on the work loading path P side.

More specifically, as shown in FIG. 4, a casing 75 is provided near the end of the slide member 73 on the work carry-in path P side. A vertical movement actuator 77 such as a fluid pressure cylinder is provided in the casing 75, and the lifting rod 77R such as a piston rod in the vertical movement actuator 77 supports a work W. Section 79 is supported. Further, the work support portion 79 is supported by the upper end portions of a plurality of guide bars 81 movably supported by the casing 75 in the vertical direction.

The work support portion 79 is configured to be able to support the round pipe WP, the square pipe WA, and the like. That is, the work support portion 79 is provided with a V-shaped curved surface support portion 83 corresponding to the round pipe WP. Plane support portions 85 are provided on both sides of the curved surface support portion 83 in the Y-axis direction. Further, the work support portion 79 is provided with an inclined guide 87 that guides the square pipe WA on the transport chain 51 to the plane support portion. As shown in FIG. 7, the tilt guide 87 has a configuration in which the tip end side (upper end side) is opened at intervals substantially equal to the spacing dimension of the position regulation chain link 67.

The work support portion 79 in the work transport means 69 is in a transport standby state in a normal state. That is, the work support portion 79 is located near the transfer end of the transfer chain 51 on the work support conveyor 47, and is below the work transfer surface on which the work W is conveyed in the transfer chain 51, as shown in FIG. It is in a position where it is immersed in the side. Then, the work W is conveyed by the transfer chain 51, and the curved surface support portion 55 supporting the work W of the curved surface support chain link 53 provided in the transfer chain 51 is above the curved surface support portion 83 in the work support portion 79. When it moves to the position, the transport of the transport chain 51 is stopped.

As described above, when the transfer operation of the transfer chain 51 is stopped, the work support portion 79 is raised higher than the transfer chain 51 by the vertical movement actuator 77 in the work transfer means 69 (see FIG. 4). Therefore, when the round pipe WP is mounted and supported on the curved surface support portion 55 of the curved surface support chain link 53 in the transport chain 51, the round pipe WP is supported by the curved surface support portion 83 of the work support portion 79. become.

Further, when the square pipe WA is supported by the transport chain 51, when the work support portion 79 is raised as described above, the square pipe WA is moved to the flat support portion 85 side of the work support portion 79 by the inclined guide 87. It will be moved and supported by the flat surface support portion 85.

As described above, when the work support portion 79 of the work transfer means 69 is raised higher than the transfer chain 51 and the work is supported by the work support portion 79, the work transfer means 69 is as shown by an imaginary line in FIG. It will be moved to the position corresponding to the work carry-in path P (the position corresponding to the carry-in path). That is, the end of the slide member 73 is driven by a reciprocating means (not shown) such as a fluid pressure cylinder or an endless rotary chain for reciprocating the slide member 73 along the guide rail 71. It is projected and moved to the carry-in path corresponding position P. The work loading path P and the loading path corresponding position may be the same position or may be slightly misaligned. Therefore, in order to facilitate understanding, the reference numeral "P" is attached to both the work loading path and the loading path corresponding position.

By the way, the long work W parallel to the work carry-in path P is placed and supported over each transport chain 51 provided in each work transfer conveyor 47. Therefore, as described above, when the slide member 73 is projected and moved to the carry-in path corresponding position P, each slide member 73 provided corresponding to each transport chain 51 in each work transfer conveyor 47 is used in the work carry-in path. It projects and operates in synchronization with the P direction.

The conveyor chain 51 in each work conveyor 47 is rotated by a three-phase motor or a servomotor at a predetermined pitch (for example, one rotation of a sprocket around which the conveyor chain 51 is rotated). That is, the transport chain 51 is intermittently rotated at predetermined pitches so that the curved surface support chain link 53 provided on the transport chain 51 temporarily stops at a position above the work support portion 79. Then, when the transport chain 51 is stopped, it is detected whether or not the work W is located above the work support portion 79.

That is, a bracket 91 (see FIG. 7) is provided near the transfer end of the transfer chain 51 provided on each work transfer conveyor 47, and the work detection sensor for detecting the work W on the bracket 91. 89 is provided. The work detection sensor 89 is composed of, for example, a distance sensor, and optically detects the work W conveyed above the work support portion 79 by the transfer chain 51.

Therefore, the work W supported by the foremost curved surface support chain link 53 or the rolling regulation chain link 57 or the like conveyed by the work transfer conveyor 47 is detected by the work detection sensor 89 provided corresponding to each transfer chain 51. To. Therefore, by adding the distances between the work detection sensors 89 that have detected the work W, it can be detected that the length of the work W is longer than the added distance. That is, the approximate length of the work W can be detected. Therefore, when the work W is much shorter than the preset work W or is very long, it is possible to detect an error in the work dimensions before carrying the work into the laser machining machine 3.

Further, even when the work W is not set normally and is placed at an angle, it can be detected by the work detection sensor 89. If an error or inclination of the work size is detected, the alert can be stopped.

As described above, when the long work W is conveyed to the work carry-in path, that is, the carry-in path corresponding position P by each work support portion 79 provided on each work transfer conveyor 47, the work at the carry-in path corresponding position P becomes a plurality of works. It is received by each work receiving unit 95 (see FIG. 9) provided in the support device 93 (see FIG. 8). The work support device 93 is located on one side in a direction orthogonal to the longitudinal direction of the work loading path P, that is, on the opposite side of the work transfer device 45 (in the Y-axis direction) with the guide frame 23 in between. It is located on the rear side). Each work support device 93 is individually movable in the X-axis direction.

More specifically, as shown in FIG. 8, each work support device 93 is attached to a guide rail 97 in the X-axis direction provided on the rear surface in the Y-axis direction of the guide frame 23 which is long in the left-right direction (X-axis direction). A slide body 99 that can be individually moved in the left-right direction along the line is provided. The slide main body 99 is reciprocated along the guide rail 97 by driving the servomotor 101 provided in the slide main body 99. The movement of the slide body 99 in the X-axis direction is performed by a configuration in which a pinion (not shown) rotated by the servomotor 101 meshes with a rack (not shown) long in the X-axis direction.

The slide body 99 is provided with a guide column 103 (see FIG. 9) in the vertical direction (Z-axis direction). The guide support column 103 is provided with a guide rail 103A in the vertical direction, and the elevating member 105 is vertically movable and supported on the guide rail. The vertical movement of the elevating member 105 is performed by a ball screw rotationally driven by a servomotor 107 provided on the guide column 103. The elevating member 105 is configured to be long in the front-rear direction, and a slide member 107 long in the front-rear direction is movably supported by the elevating member 105. The slide member 107 is moved in the front-rear direction by a back-and-forth movement actuator (not shown) such as a fluid pressure cylinder. The work receiving portion 95 is provided on one end side (front end side) of the slide member 107 in the Y-axis direction.

The work receiving unit 95 acts to support the work W transported to the carry-in path corresponding position P by the work support unit 79 of the work transfer conveyor 47. Then, in the work receiving member 95, the slide body 99 moves in the left-right direction along the guide rail 97, the elevating member 105 moves up and down, and the slide member 107 moves back and forth, so that the slide member 107 moves left and right, up and down, and It can be moved and positioned in the front-back direction.

Then, when the work receiving unit 95 receives the long work W from the work support portion 79 of the work transfer conveyor 47, the axial center of the work W in the longitudinal direction is set to the axis of the rotating frame 29 in the chuck device 25. It plays a centering function that matches the mind. Further, the work receiving portion 95 receives the work W in the Y-axis and Z-axis directions when the end portion is gripped and rotated by the plurality of gripping claws 31 in the chuck device 25 during machining. It has a function of suppressing runout.

That is, the work receiving portion 95 is provided with a base plate 109 (see FIG. 10) integrally attached to the front end portion of the slide member 107 in the Y-axis direction. The base plate 109 is formed long in the Y-axis direction, and support brackets 111 are erected on both ends in the Y-axis direction. The support bracket 111 is rotatably supported on both ends in the Y-axis direction of two support rollers 113 provided horizontally separated in the X-axis direction. The number of support rollers 113 may be one or three or more.

A pair of clamp members 115 capable of sandwiching the work W are provided between the support rollers 113 so as to be able to approach and separate from each other in the Y-axis direction in synchronization with each other. That is, the base plate 109 is provided with a guide member (not shown) in the Y-axis direction. The guide member is provided with guide portions long in the Y-axis direction separated from each other in the X-axis direction. A rack member 119 is movably supported in the Y-axis direction so as to face the X-axis direction in the guide portion. Racks 119R are formed on the facing surfaces of the rack members 119, respectively. A pinion (not shown) rotated by a cylinder (actuator) 117 mounted on the base plate 109 is engaged with the rack 119R facing the rack. The clamp member 115 facing the Y-axis direction is integrally erected on each rack member 119.

According to the above configuration, the pair of clamp members 115 are synchronously approached and separated from each other in the Y-axis direction by rotating the pinion in the forward and reverse directions by the cylinder. Therefore, the work W placed on the support roller 113 can be centered in the Y-axis direction by sandwiching the work W with a pair of clamp members 115 from the Y-axis direction. The centering in the Z-axis direction (vertical direction) is performed by moving the elevating member 105 up and down.

Further, the work receiving portion 95 of the work support device 93 is provided with a steady rest member 121. The steady rest member 121 has a function of supporting the work W supported by the work receiving portion 95 from below and suppressing the runout of the work W. More specifically, the work receiving portion 95 is horizontally provided with a support base 123 attached to the base plate 109. The support base 123 is provided with a vertical movement base 127 that is vertically moved by a vertical movement actuator 125 such as a fluid pressure cylinder mounted on the support base 123.

The elevating base 127 is formed long in the Y-axis direction. Guide rods 129 that are guided in the vertical direction by the guide portions provided on the base plate 109 are vertically attached to both ends of the elevating base 127 in the Y-axis direction. The steady rest member 121 is provided on the elevating base 127. The steady rest member 121 is formed with an arcuate concave curved surface 131 for suppressing vertical and horizontal runout of the work W when rotating around the axis of the work W supported by the work receiving portion 95. It is done.

As shown in FIGS. 10A and 10B, the steady rest member 121 is provided so as to be retractable with respect to the support roller 113, and is shown in FIG. 10A when supporting the work W. As described above, the support roller 113 is supported in a state of protruding upward. At this time, since the work W is supported by the concave curved surface 131 of the steady rest member 121, the vertical runout is suppressed and the horizontal runout (Y-axis direction) is also suppressed. .. The concave curved surface 131 is positioned at a height at which the outer peripheral circumference of the work is in contact.

In the configuration as described above, the operation of transporting the work W from the work transfer device 45 to the work carry-in path P in which the chuck device 25 reciprocates in the X-axis direction is performed as follows.

That is, the long work W for which laser machining is to be performed is placed on the transfer chain 51 of each transfer conveyor 47 of the work transfer device 45. At this time, on the work transfer conveyor 47 closest to the laser processing machine 3, the other end side (tip side) of the work W in the X-axis direction is brought into contact with, for example, a positioning plate (not shown) in the X-axis direction. Align and position in a predetermined position. Then, it is placed parallel to the X-axis direction over the plurality of work transfer conveyors 47.

When the work W is a round pipe, it is placed on the curved surface support portion 55 of the curved surface support chain link 53 in each transfer chain 51. Further, in the case of a square pipe, for example, the work W is placed on the plane support portion 65 of each transport chain 51 and placed in contact with the position restricting chain link 67. As is already understood, the work W is placed one by one between the position restricting chain links 67 in each transport chain 51. Therefore, even when round pipes, square pipes, and the like of various sizes are mixed as the long work W, each work W is held in a state parallel to the X-axis direction and extends over each transport chain 51. It can be placed on the floor.

As described above, after the work W is placed on each work transfer conveyor 47, each transfer chain 51 is driven to transfer the work W to the work loading path P side. Then, when the work W is transferred above the work support portion 79 located in the transfer standby state, the drive of the transfer chain 51 is stopped. After that, the work support portion 79 lifts the work W, and the slide member 73 moves to the rear side in the Y-axis direction, so that the work W supported by the work support portion 79 is conveyed to the carry-in path corresponding position P. is there.

As described above, when the work W is transported to the carry-in path corresponding position P by the work support portion 79, as shown in FIG. 11A, the length of the transported work W in the X-axis direction corresponds to the length. The chuck device 25 is retracted in advance at a position separated in the X-axis direction so as not to interfere with the work W. The work support device 93 is positioned in advance at a position corresponding to the length of the work W in order to support both ends of the work W. Note that, in FIGS. 11 to 14, each work transfer conveyor 47 is simplified and illustrated with a configuration in which only one transfer chain 51 is provided.

Then, as shown in FIG. 11B, when the work W on the work transfer conveyor 47 is conveyed to a position corresponding to the work support portion 79, the work W is lifted by the work support portion 79. After that, as shown in FIG. 12A, the work W is conveyed to the carry-in path corresponding position P by the work support portion 79. At this time, the work receiving unit 95 in the work support device 93 is positioned in advance at a position where the work W is received from the work support unit 79.

That is, as shown in FIG. 12 (A), when the work W is conveyed to a position above the work receiving portion 95 in the work support device 93 by the work supporting portion 79, the work receiving portion 95 rises and the work supporting portion 95. 79 descends, and the work W is delivered to the work receiving unit 95. After that, the work support portion 79 is returned to the original position in the transport standby state. Then, in the work receiving portion 95 of the work support device 93 that supports the work W, the work W is sandwiched by a pair of clamp members 115, and the work W is centered in the Y-axis direction. Further, the work receiving portion 95 is moved up and down, and the work W is positioned (centered in the Z-axis direction) so that the axis (center of rotation) of the work W coincides with the center of rotation of the chuck device 25.

As described above, when the axis of the work W and the rotation center of the chuck device 25 coincide with each other, the chuck device 25 moves so as to be close to the end portion of the work W, and a plurality of gripping claws (grip members) in the chuck device 25. ) 31, The work W is gripped (see FIG. 12B). In this case, as shown in FIG. 3, the optical sensor 37 provided in the chuck device 25 is projected in the X-axis direction with respect to the gripping claw 31, and the chuck device 25 is moved toward the end of the work W. When it moves, the optical sensor 37 detects the end of the work W.

As described above, after detecting the end portion of the work W by the optical sensor 37, the chuck device 25 is moved in the same direction by a predetermined distance from this detection position, and the claw member (grip member) provided in the chuck device 25 at this moving position. ) 31 can grip the vicinity of the end of the work W. Therefore, it is possible to prevent the chuck device 25 from inadvertently colliding with the work W, to reliably chuck the work W with a claw, and to improve safety.

Further, the operation of gripping the end portion of the work W by the plurality of gripping claws 31 provided in the chuck device 25 can be performed as follows. That is, until the optical sensor 37 provided in the chuck device 25 detects the end portion of the work W, or until the position close to the end portion of the work W whose length is known in advance, the chuck device approaches the work W. Fast forward. Then, the approaching operation is performed at medium speed or low speed from a position close to the end portion of the work W until the optical sensor 37 detects the end portion of the work W.

Then, as described above, after the end portion of the work W is detected by the optical sensor 37, the chuck device 25 is returned by a predetermined distance. From the stop position of this return operation, the chuck device 25 is moved at a low speed in a direction approaching the work W. In this case, by performing the operation in this way, the gripping position with respect to the end portion of the work W can be positioned with higher accuracy.

As described above, after gripping the end portion (rear end portion) of the work W by the chuck device 25, the chuck device 25 is moved in the direction approaching the laser processing machine 3 (X-axis direction), whereby the work W The tip of the laser processing machine 3 can be carried into the rotary chuck 7 of the laser processing machine 3. As described above, when the tip end portion of the work W is carried into the rotary chuck 7, the work W is gripped by the chuck device 25 and is gripped by the rotary chuck 7. When the work W is rotated around the axis, the rotation of the chuck device 25 and the rotation of the rotary chuck 7 are performed in synchronization with each other.

As described above, when the work W is gripped by the chuck device 25 and the rotary chuck 7 and laser machining is performed by the laser machining machine 3, when the work support device 93 is not used, FIG. 13 (B) shows. As shown, all the work support devices 93 are retracted from the work carry-in path P in which the chuck device 25 reciprocates. When not in use, both are retracted before the start of processing.

When the work support device 93 is used during laser machining, the work support device 93 is arranged at appropriate intervals between the chuck device 25 and the rotary chuck 7 as shown in FIGS. 14A and 14B. To do. Then, the steady rest member (vibration suppression member) 121 of the work receiving portion 95 in the work support device 93 is raised, and the work W is rotatably supported by the concave curved surface 131 of the vibration suppression member (vibration suppression member) 121. is there.

In the work support device 93, when the laser processing of the work W progresses and the chuck device 25 gradually approaches the laser processing machine 3, the laser processing machine 3 side corresponds to the approaching movement of the chuck device 25. It gradually moves to support the intermediate position of the work W. Then, as shown in FIG. 14B, when the chuck device 25 approaches the laser processing machine 3, the work support device 93 stops supporting the work W and retracts to a position where it does not interfere with the chuck device 25. It is a thing.

As can be understood from the above description, when the central portion of the work W is easily bent, the work support device 93 can support the central portion of the work W in the longitudinal direction. Therefore, when the work W is rotated around the axis and laser machining is performed, it is possible to suppress the runout caused by the bending of the work W. Therefore, the work W can be laser-machined with higher accuracy.

By the way, when the work W is carried into the rotary chuck 7 of the laser machining machine 3 by the chuck device 25, the work that detects that the tip of the work W has reached the laser machining position by the laser machining head 9 in the laser machining machine 3. The tip detecting means 133 (see FIG. 15) is provided. More specifically, the laser machining head 9 in the laser machining machine 3 is provided with the machining machine main body 5 so as to be movable and vertically movable in the Y-axis direction (direction orthogonal to the axis of the rotary chuck 7). Has been done. Then, the laser machining head 9 performs laser machining at a position slightly separated from the rotary chuck 7 on the other end side in the X-axis direction.

In other words, the laser machining position by the laser machining head 9 is set to a position slightly deviated from the rotary chuck 7 toward the conveyor device 13 in the X-axis direction. Therefore, the work W gripped by the rotary chuck 7 is rotationally positioned around the axis, and the work is moved and positioned in the X-axis direction by the chuck device 25 gripping the rear end portion of the work W. Then, by irradiating the work with laser light from the laser processing head 9, the work W can be laser-processed.

When laser machining the work W as described above, it is necessary to accurately position the work W with respect to the laser machining position. Therefore, the work tip detecting means 133 is provided in order to detect the position of the tip of the work W at the laser machining position. More specifically, the work tip detecting means 133 attaches the laser floodlight 135A (the mounting structure to the machining machine main body 5 is not shown) and the reflector 135B mounted on the machining machine main body 5 of the laser machining machine 3 in the Y-axis direction. It is a configuration provided facing the.

The laser floodlight 135A is a regression reflection type (note that it may be a transmission type or a reflection type as well as a regression reflection type), and the rotation of the rotary chuck 7 is performed at a vertically downward position of the laser processing head 9. It is arranged so as to irradiate the laser beam horizontally in the Y-axis direction perpendicular to the center. Therefore, it is possible to detect that the tip end portion of the work W is accurately positioned at the laser machining position by the laser machining head 9. Therefore, the laser machining of the work W can be started immediately after the work tip detecting means 133 detects the tip of the work W.

By the way, the actual work length can be accurately known from the rear end position of the work W detected on the chuck device 25 side and the moving distance of the chuck device 25 when detected on the rotary chuck 7 side. If there is a difference between the work length detection result and the machining program, an alarm can be issued and machining can be stopped.

As is already understood, when laser machining a long work W, the work W is conveyed from the work transfer conveyor 47 to the work loading path P. Then, the work W is supported on the work loading path P by the work receiving unit 95 in the plurality of work support devices 93. The rear end portion of the work W supported by the work receiving portion 95 is gripped by the chuck device 25 and carried into the rotary chuck 7 of the laser processing machine 3. Then, the work W is gripped by the rotary chuck 7, and laser machining is performed by the laser machining head 9 while rotating around the axis. As described above, when laser machining the work W, the portion protruding from the rotary chuck 7 to the other end side in the X-axis direction, that is, the downstream side when viewed in the loading direction of the work W is formed by the conveyor device 13. It is supported.

By the way, referring to FIG. 16 showing the main part, the conveyor device 13 is separated from the laser processing machine 3 on the other end side in the X-axis direction. The work shooter 15 is provided between the laser processing machine 3 and the conveyor device 13 so as to be freely moved in and out in the Y-axis direction.

More specifically, as shown in FIG. 17, the main configuration of the work shooter 15 is that a gantry 137 is arranged on the other end side of the rotary chuck 7 in the laser processing machine 3 in the X-axis direction. A guide pedestal 139 (see FIG. 18) is integrally provided on the rear side of the gantry 137 in the Y-axis direction. A slide pedestal 141 is movably supported on the guide pedestal 139 in the Y-axis direction. The work shooter 15 is provided on the front end side of the slide mount 141 in the Y-axis direction so as to be tiltable.

More specifically, the slide mount 141 is reciprocated in the Y-axis direction by the action of an actuator (not shown) such as a fluid pressure cylinder or a rack and pinion. The work shooter 15 is tilted by the operation of an actuator 143 (see FIG. 20) such as a fluid pressure cylinder mounted on the slide mount 141.

That is, as shown in FIG. 17, the work shooter 15 is in a state of being retracted from the laser processing position of the laser processing machine 3 to a position rearward in the Y-axis direction under the normal condition. Then, when the short product WG is cut and separated from the work W at the laser processing position, it is moved to the front side in the Y-axis direction as shown in FIG.
At this time, as shown in FIG. 19, the work shooter 15 is tilted so that the front side in the Y-axis direction is lowered, and the short product WG cut and separated falls on the tilted work shooter and is discharged. is there. Small scraps are dropped into a scrap box (not shown) arranged in the gantry 137.

Further, when cutting and separating the short product WG that does not want to be damaged by dropping, the work shooter 15 is held in a horizontal state so as to support the short product WG, and the machine is stopped. After taking out the work, the worker restarts and continues the machining.

Therefore, for example, when processing short product WGs one after another, the operation of transporting the short product WGs in the longitudinal direction is unnecessary, and the short product WGs can be processed efficiently.

By the way, in the case where the tip end portion of the work W is greatly projected from the rotary chuck 7 in the laser machining machine 3 toward the other end side in the X-axis direction to perform laser machining, the conveyor device 13 uses the tip end side of the work W. It acts as a supporter. Therefore, as shown in FIG. 16, the conveyor device 13 is located on the other end side (of the work W) of the laser processing machine 3 in the X-axis direction with a region in which the work shooter 15 reciprocates in the Y-axis direction. They are arranged apart from each other (downstream side when viewed in the moving direction).

The conveyor device 13 is configured as follows in order to support the tip side of the work W that greatly protrudes in the X-axis direction.

That is, as shown in FIG. 21, the conveyor device 13 includes a box-shaped main body frame 145. An elevating member 147 is provided on the main body frame 145 so as to be vertically movable. The elevating member 147 is moved up and down by, for example, an elevating operation device (not shown) such as a ball screw mechanism or a servo cylinder rotated by a servomotor. Then, the elevating member 147 is positioned at a desired height position corresponding to the size such as the diameter of the work W laser-processed by the laser processing machine 3.

On the elevating member 147, a support table 149 capable of supporting the product (processed product) WG laser-processed at the laser processing position is movable in the X-axis direction, that is, in a direction approaching and separating from the laser processing position. It is supported so that it can be moved. The movement of the support table 149 in the X-axis direction is performed by a reciprocating operating device (not shown) such as a fluid pressure cylinder.

The support table 149 has a configuration in which a plurality of support rollers 151 for supporting the product WG are rotatably provided. The support table 149 is provided with a wall member 153 that prevents the product WG on the support table 149 from falling off in the Y-axis direction. More specifically, the wall member 153 is erected on the support table 149 on both sides of the support roller 151 in the Y-axis direction. Therefore, the product supported on the support roller 151 of the support table 149 does not fall off from the support roller 151 in the Y-axis direction.

In the support table 149, a pair of product clamps 155 capable of gripping the product WG on the support table 149 approach each other in the Y-axis direction on one end side in the X-axis direction, that is, the end side close to the laser machining position. It is provided so that it can be separated. Further, at a substantially central position of the support table 149 in the X-axis direction, a pair of steady rest members 157 that suppress the runout of the product WG during laser machining of the product WG are provided so as to be able to approach and separate from each other in the Y-axis direction. ing.

More specifically, a box-shaped guide frame 159 (see FIG. 22) that crosses the support table 149 in the Y-axis direction is provided at substantially the center of the support table 149 in the X-axis direction.

A pair of slide blocks 161 are guided and supported on the guide frame 159 so as to be able to approach and separate from each other in the Y-axis direction. A roller support member 163 that rotatably supports the pair of vertical rollers as the steady rest member 157 is integrally erected on the pair of slide blocks 161. A servomotor 165 with a brake is attached to the guide frame 159 in order to bring the pair of steady rest members 157 closer to each other in the Y-axis direction. An intermediate gear 173 interlocked with the output shaft of the speed reducer 167 rotated by the servomotor 165 is rotatably provided in the guide frame 159.

A rack 171A extending long in the Y-axis direction from one of the slide blocks 161 is meshed with the pinion 169 that meshes with the intermediate gear 173. The intermediate gear 173 is integrally provided with an intermediate gear (not shown) for rotating a pinion (not shown) meshed with a rack 171B in the Y-axis direction provided on the other slide block 161. Therefore, when the servomotor 165 is driven to rotate in the forward and reverse directions, the intermediate gear 173 is rotated in the forward and reverse directions. Therefore, the pair of steady rest members 157 are synchronously approaching and separating from each other in the Y-axis direction.

As understood from the above description, the pair of steady rest members 157 can sandwich the long work W on the support table 149 from the Y-axis direction. Further, the pair of steady rest members 157 can be positioned in a state appropriately separated from the work W on the support table 149 in the Y-axis direction. By positioning the work W in a state appropriately separated from the work W in the Y-axis direction in this way, it is possible to prevent the work W on the support table 149 from swinging significantly in the Y-axis direction.

The configuration in which the pair of product clamps 155 approach and separate from each other in the Y-axis direction may be the same as the configuration in which the steady rest members 157 approach and separate from each other in the Y-axis direction. Further, as a configuration in which the product clamps 155 approach and separate from each other in the Y-axis direction, each product clamp 155 may be synchronously driven by a fluid pressure cylinder such as an air cylinder. Further, for example, each product clamp 155 may be connected to a traveling portion on the opposite side of the endless chain so as to move synchronously in the directions of approaching and separating from each other. That is, various configurations can be adopted as the configurations in which the pair of product clamps 155 are approached and separated from each other in the Y-axis direction.

By the way, in the normal state, the support table 149 in the conveyor device 13 is located above the main body frame 145 and in a standby position away from the laser processing machine 3, as shown in FIG. 23. As described above, when the support table 149 is located in the standby position, the work shooter 15 does not interfere with the work shooter 15 when moving in the Y-axis direction.

Therefore, when the support table 149 is located in the standby position, the scrap can be dropped down and the short product WG can be carried out by the work shooter 15.

When laser processing of a relatively long product WG is performed by the laser processing machine 3, the support table 149 is moved so as to approach the laser processing machine 3 from the standby position as shown in FIG. 24. That is, the support table 149 is projected and moved to the region where the work shooter 15 moves in the Y-axis direction. The support table 149 supports the work W in order to suppress the runout of the work W at this protruding movement position.

That is, the position of the rotation center of the rotary chuck 7 that grips and rotates the work W in the laser machine 3 is always a constant height. Here, for example, when round pipes having different diameters are gripped by the rotary chuck 7, the center of rotation of the rotary chuck 7 and the axis of the round pipe coincide with each other. Therefore, when round pipes having various diameters are gripped by the rotary chuck 7, the lowest position of each round pipe fluctuates up and down. By the way, when the work is a round pipe, the round pipe can be supported in a state where the work is supported by the support table 149 in the conveyor device 13.

However, when the work W is a work having a non-circular cross-sectional shape such as a square pipe WA, the work is rotated around the axis while the work is placed and supported by the support table 149. That is impossible. Therefore, the vertical operation position of the support table 149 in the conveyor device 13 is controlled according to the shape and dimensions of the cross section of the work W and the rotation angle around the axis in the longitudinal direction.

More specifically, when the work W is, for example, a square pipe WA having a side of 200 mm, the circumscribed circle C1 is set as shown in FIG. 25 (A). Then, the center of the circumscribed circle C1 is set to 0. In this case, the center of the cross-sectional shape of the square pipe WA is the position where the diagonal lines of the corner portions A1, A2, A3, and A4 intersect, and coincides with the center 0.

Here, the positions of the corner portions A1, A2, A3, and A4 in the initial state are as shown in FIG. 25 (A), and the plane between the corner portions A3 and A4 is supported by the support table 149. It is assumed that there is. Then, the relationship between each corner portion A1, A2, A3, A and the rotation angle when the square pipe WA is rotated in the counterclockwise direction with the center 0 as the center is shown in FIG. 25 (B). become.

That is, in the range of the rotation angle from 0 ° to 90 °, the corner portion A3 indicates the lowest position (lowermost position). Therefore, as shown in FIG. 25C, the support table 149 is moved up and down following the vertical movement position of the corner portion A3. Next, the corner portions A2, A1 and A4 are moved up and down following the vertical movement positions. At this time, the vertical movement position of the support table 149 can be controlled so as to always be in contact with the square pipe WA.

Therefore, it is possible to move the support table 149 up and down while always maintaining the vertical distance between the square pipe WA and the support table 149 at a substantially constant distance. Therefore, when the square pipe WA swings in the vertical direction, it comes into contact with the support portion 149F of the support table 149, and the vertical swing can be suppressed.

By controlling in the same manner, not only square pipes but also irregularly shaped materials having a non-circular cross-sectional shape, such as channel materials and angle materials, are rotated around the axis in the longitudinal direction to perform laser machining. However, it is also possible to suppress the runout in the vertical direction.

Then, the initial height position of the support portion 149F (see FIGS. 25 and 26) of the support table 149 is set. Then, it is held in the distance dimension L (see FIG. 26) between the circumscribed circle C1 of the work W and the steady rest preventing member 157.

Therefore, when the work W is rotated around the center 0 to perform laser machining, the vertical runout is suppressed by abutting on the support portion 149F of the support table 149. Further, the runout in the horizontal direction (Y-axis direction) orthogonal to the longitudinal direction of the work W is controlled by abutting on the steady rest member 157. Therefore, it is possible to perform laser machining while suppressing runout on the tip side of the work W, and it is possible to perform laser machining with high accuracy.

By the way, since the support table 149 is provided with a pair of steady rest members 157 (see FIG. 21), the distance between the steady rest members 157 is set at an angle similar to the vertical steady rest operation of the support table 149. It is also possible to prevent the work W from swinging by positioning it so that it is always in contact with the pipe. In this case, the steady rest can be performed at two places, the vertical steady rest of the support table 149 and the horizontal steady rest by the pair of steady rest members 157. Therefore, the steady rest of the work W can be performed more effectively.

As described above, when the work W is laser-processed by the laser processing machine 3 and the product WG is cut and separated from the work W, the product WG is placed on the support roller 151 of the support table 149 in the conveyor device 13. Will be done. Then, the product WG is gripped by the product clamp 155 provided on the support table 149. After that, by moving the support table 149 to the standby position (position shown in FIG. 23), the product WG is transported from the laser processing position to the downstream side.

As described above, after moving the support table 149 to the standby position, the work pusher device 189 (see FIG. 27) for transferring the product WG on the support table 149 onto the carry-out conveyor 19 on the downstream side It is equipped. That is, at the lateral position of the support table 149 in the Y-axis direction, a guide frame 191 close to the support table 149 and parallel to the X-axis direction (moving direction of the support table 149) is provided. The guide frame 191 is formed long from a position close to the laser processing machine 3 (not shown in FIG. 27) to the vicinity of the other end side in the X-axis direction of the conveyor device 13 (see FIG. 16). ).

A slider 193 is movably supported in the guide frame 191 in the X-axis direction. The slider 193 is moved and positioned in the X-axis direction under the drive of an appropriate slide drive mechanism such as a timing belt mechanism or an endless chain mechanism that is rotationally driven by a three-phase motor 195 mounted on the guide frame 191. It is a thing. The slider 193 has a stretched portion extended above the support table 149 in the conveyor device 13. An elevating guide 197 in the vertical direction is provided on the tip end side of the extended portion. The motor is not limited to a three-phase motor, but may be a servo motor or the like.

The elevating guide 197 is provided with a product moving member 199 that can move up and down. The product moving member 199 pushes and moves the rear end portion of the product WG on the support table 149 toward the carry-out conveyor 19. In other words, the product moving member 199 acts to move the product WG on the support table 149 in the conveyor device 13 in a direction away from the laser processing machine 3 in the X-axis direction.

Therefore, the product moving member 199 has, for example, a rectangular plate shape, and is provided in a moving region in which the product WG is movably supported on the support table 149 from above. That is, the product moving member 199 is provided so that the upper position of the support table 149 in the conveyor device 13 can be moved and moved up and down in the X-axis direction. Then, when it is lowered, it acts to push the rear end portion of the product WG close to the support roller 151 in the support table 149.

In order to move the product moving member 199 up and down along the elevating guide 197, the elevating guide 197 is provided with an elevating actuator 201 such as a fluid pressure cylinder. Therefore, the product moving member 199 can be positioned at a lowering position where the product moving member 199 abuts on the end portion of the product WG and is pushed forward, and a raised standby position by the operation of the elevating actuator 201.

Therefore, as described above, when the product WG is located on the support table 149 of the conveyor device 13 and the support table 149 is in a state of being moved away from the laser processing machine 3, the rear end portion of the product WG The product moving member 199 can be lowered between the product WG and the laser machine 3 to a height position for pushing the product WG on the support table 149 so as to push the product WG (see FIG. 28). ).

Then, by moving the slider 193 in the X-axis direction and in the direction away from the laser processing machine 3, as shown in FIG. 29, the product WG is moved onto the carry-out conveyor 19 (not shown in FIG. 29). It can be carried out to. As described above, after the product WG is carried out on the carry-out conveyor 19 by the product moving member 199, the product moving member 199 is returned to the original standby position.

By the way, when laser machining a long work W with the laser machining machine 3, the tip end side of the work W may be carried onto the carry-out conveyor 19. Therefore, the carry-out conveyor 19 is configured to be vertically movable like the support table 149 in the conveyor device 13.

More specifically, as shown in FIGS. 30 and 31, the unloading conveyor 19 is provided with a base pedestal 203 having a frame structure long in the X-axis direction. A plurality of roller units 207A, 207B, 207C provided with a plurality of support rollers 205 (see FIG. 32) for supporting the product WG are vertically movable on the base frame 203. The roller units 207A to 207B are moved up and down by the pantograph mechanisms 209A, 209B, and 209C. Each of the pantograph mechanisms 209A to 209C has the same configuration and includes a pair of pantograph mechanisms in the Y-axis direction.

The pantograph mechanisms 209A to 209C have a configuration in which the central portions of a pair of actuating links 211A and 211B having the same length are pivotally attached to each other in an X shape via a pivot shaft 213. The lower end of one of the actuating links 211A in the pantograph mechanisms 209A to 209C is pivotally attached to a fixing bracket 217 fixed on the base frame 215 in the base frame 203. The lower end of the other actuating link 211B is pivotally attached to a slide bracket 219 (see FIG. 32) provided on the base frame 215 so as to be movable in the X-axis direction.

The upper end of the other operating link 211B in each of the pantograph mechanisms 209A to 209C is pivotally attached to the elevating frame 221 in the roller units 207A to 207C. The pivotal position of the other actuating link 211B with respect to the elevating frame 221 is a position perpendicular to the pivotal position of the lower end of the one actuating link 211A with respect to the fixing bracket 217. The upper end of the one operating link 211A supports the elevating frame 221 relatively movably in the X-axis direction at a position above the slide bracket 219. Therefore, the roller units 207A to 207C are always kept horizontal and moved up and down.

A pantograph operating device 223 (see FIG. 32) that synchronously operates each of the pantograph mechanisms 209A to 209C in order to synchronously move the roller units 207A to 207C up and down via the respective pantograph mechanisms 209A to 209C. It is equipped. More specifically, a speed reducer 227 rotated by a servomotor 225 is mounted on the base frame 215. A ball screw 229 long in the X-axis direction is interlocked and connected to the output shaft of the speed reducer 227. A nut member 231 is screwed onto the ball screw 229 so as to be movable in the X-axis direction.

The nut member 231 is attached to a slider 233 movably supported by the base frame 215 in the X-axis direction. The slider 233 and the slider bracket 219 are connected via a cushioning means 235. More specifically, the cushioning means 235 is composed of an air damper or the like provided with a piston rod 237 that can be moved in and out. The piston rod 237 is connected to the slide bracket 219.

Therefore, when the servomotor 225 is driven to rotate the ball screw 229, the slider 233 is moved in the X-axis direction due to the screwing relationship between the ball screw 229 and the nut member 231. When the slider 233 is moved in the X-axis direction, the slider bracket 219 is moved in the X-axis direction via the buffer means 235. Therefore, the roller unit 207A is moved up and down via the pantograph mechanism 209A.

In order to move the roller units 207B and 207C up and down, sliders 233B and 233C provided with cushioning means (reference numerals omitted) having the same configuration as the buffering means 235 are provided on the base frame 215 so as to be movable in the X-axis direction. There is. The piston rods 237 provided in each of the buffering means are interlocked and connected to the pantograph mechanisms 209B and 209C. The connection structure between the piston rod 237 and the pantograph mechanisms 209B and 209C is the same as the connection structure to the pantograph mechanism 209A.

Then, in order to move the roller units 207A, 207B, and 207C up and down in synchronization, the slider 233 and the slider 233B, and the slider 233B and the slider 233C are integrally connected via a connecting rod 239, respectively. .. Therefore, when the servomotor 225 is appropriately rotationally driven, the roller units 207A, 207B, and 207C are moved up and down in synchronization with each other.

As already understood, the roller units 207A to 207C in the carry-out conveyor 19 are moved up and down at the same time by controlling and rotating the servomotor 225. Therefore, by appropriately controlling the rotational operation of the servomotor 225, it is possible to move up and down in synchronization with the support table 149 in the conveyor device 13.

Further, according to the above configuration, for example, when the square pipe WA is rotated around the axis and laser machining is performed, the corner portion of the square pipe WA impacts the roller units 207A to 207C to cause an overload. , The above impact can be mitigated. That is, when a load in the vertical direction suddenly acts on the roller units 207A to 207C, the air damper as the buffer means 235 absorbs the impact. Therefore, it is possible to prevent a shocking load from acting on the screwed portion between the ball screw 229 and the nut member 231 and improve safety.

As described above, when the product WG is long, the work may be carried onto the roller units 207A to 207C in the carry-out conveyor 19 to perform laser machining. Therefore, in order to suppress the runout of the work W in the horizontal direction (Y-axis direction), a plurality of steady rest members 241 having the same configuration as the steady rest member 157 are provided on the base frame 203. As shown in FIGS. 30 and 31, the steady rest preventing members 241 are provided at appropriate distances in the X-axis direction.

In order to discharge the product on the unloading conveyor 19 onto the product stocker 21 provided on the front side of the unloading conveyor 19 in the Y-axis direction, the unloading conveyor 19 has product pushers 243A, 234B, and 243C on the Y-axis. It is equipped so that it can move in any direction. More specifically, the product pushers 243A to 243C are provided in the roller units 207A to 207C as shown in FIGS. 30 and 31. Therefore, the product pushers 243A to 243C are moved up and down integrally with the roller units 207A to 207C by the pantograph mechanisms 209A to 209C.

When the roller units 207A to 207C are raised, the support rollers 205 provided in the roller units 207A to 207C are raised higher than the steady rest member 241 as shown in FIG. 31. In this way, in a state where the support roller 205 is raised higher than the steady rest member 241 in order to move the product pushers 243A to 243C to the front side in the Y-axis direction, the elevating frame 221 is provided with, for example, a fluid. Reciprocating actuators 245A, 245B, 245C such as a pressure cylinder are provided.

Therefore, when the ascending frame 221 of the roller units 207A to 207C is in the raised state, the reciprocating actuators 245A to 245C move the product pushers 243A to 243C to the front side in the Y-axis direction, whereby the roller units 207A to 207A to The product on the 207C can be discharged onto the product stocker 21.

As can be understood from the above description, in the present embodiment, the work transfer device 45 arranged on the front side in the Y-axis direction of the work loading path P long in the left-right direction (X-axis direction) allows the work long in the left-right direction. W is transported to the work loading path P. When the work W is conveyed to the work loading path P, it is supported by a plurality of work support devices 93 arranged on the rear side of the work loading path P in the Y-axis direction.

Since each of the work support devices 93 can be positioned in the left-right direction, the desired position of the work W can be supported according to the length of the work W. As described above, when the work W is supported by each work support device 93, one end side (of the work) of the work W in the X-axis direction is provided by the chuck device 25 provided so as to reciprocate in the left-right direction on the work loading path P. The rear end side) is gripped. Then, the work W is carried into the rotary chuck 7 of the laser processing machine 3 by the chuck device 25. Then, the work W is rotationally positioned around the axis by the rotary chuck 7 and the chuck device 25, and laser light is irradiated from the laser processing head 9 provided in the laser processing machine 3, so that the work W is laser-processed. Will be.

At this time, the work support device 93 can be moved to a desired position in the X-axis direction in response to the movement of the chuck device 25 in the X-axis direction. Therefore, the intermediate position of the work W can be supported by the work support device 93 between the chuck device 25 and the laser processing machine 3. Therefore, the laser machining with high accuracy is performed by suppressing the occurrence of runout due to the occurrence of bending at the intermediate position of the work W.

When the product WG cut and separated from the work W by performing laser processing by the laser processing machine 3 as described above is relatively short, it is received by the work shooter 15. Then, the product received by the work shooter 15 is dropped and discharged into the product box 17.

When the product WG cut and separated from the work W is relatively long, the support table 149 in the conveyor device 13 projects so as to be close to the laser processing machine 3 to support the tip end side of the work W. The support table 149 is vertically movable, and when the work W is, for example, a square pipe WA, the support table 149 moves up and down according to the rotation angle of the work W.

That is, the support table 149 always supports the work W and suppresses the runout caused by the bending of the work W. Further, the support table 149 can suppress the runout in the front-rear direction by the steady rest member 157 capable of sandwiching the work W on the table 149 from the front-rear direction (Y-axis direction).

Therefore, when laser machining is performed on the portion of the long product WG that greatly protrudes from the laser machining machine 3 to the other end side in the left-right direction, runout can be suppressed. Therefore, it is possible to perform laser processing with high accuracy. When the tip end side of the long product WG reaches the carry-out conveyor 19, the height position of the support roller 205 on the discharge conveyor 19 is positioned in advance at the height position that supports the product WG corresponding to the circumscribed circle C1. it can. Further, since the roller units 207A to 207C in the carry-out conveyor 19 are provided with the steady rest member 241, it is possible to suppress the runout of the long product WG on the tip side.

Then, when the product WG is cut and separated, the product WG is transferred to the carry-out conveyor 19 side in a state of being clamped by the product clamp 155 by the support table 149. After that, the product WG on the support table 149 is pushed and transferred onto the carry-out conveyor 19 by the product moving member 199 in the work pusher device 189. Then, the product WG transferred to the discharge conveyor 19 is discharged and dropped onto the product stocker 21 arranged on the front side of the carry-out conveyor 19 in the Y-axis direction.

As understood from the above description, according to the present embodiment, the rear end portion of the work W is detected by the sensor 37 provided in the chuck device 25 that can reciprocate along the work loading path P. Therefore, it is possible to prevent the chuck device 25 from coming into contact with the rear end portion of the work W, and it is possible to accurately grip a predetermined position from the rear end portion of the work W.

Further, since the sensor 37 is an optical distance sensor, it is possible to detect the outer shape and dimensions of the work W by grasping the work W by the chuck device 25 and rotating it around the axis. Therefore, the preset shape and dimensions can be compared with the detected shape and dimensions, and for example, an error in the set work can be detected in advance.

In the above description, the case where the rear end portion of the work W is gripped by the chuck device 25 has been described. However, it can also be applied to the case where the front end portion of the work W is gripped by the chuck device and the work W is pulled by the chuck device.

1 Laser light device 3 Laser machining machine 5 Machining machine body 7 Rotating chuck 9 Laser machining head 11 Work loading device 13 Conveyor device 15 Work shooter 17 Product box 19 Discharge conveyor 21 Product stocker 23 Guide frame 25 Chuck device 31 Gripping claw (grasping member) )
37 Optical sensor 45 Work transfer device 47 Work transfer conveyor 51 Transfer chain 53 Curved surface support chain link 55 Curved surface support part 57 Rolling restriction chain link 61 Rolling restriction part 65 Flat surface support part 67 Position regulation chain link 69 Work transfer means 79 Work support Part 83 Curved surface support part 85 Flat surface support part 87 Tilt guide 89 Work detection sensor 93 Work support device 95 Work receiving part 99 Slide body 107 Slide member 113 Support roller 115 Clamp member 121 Steering member 131 Concave curved surface 133 Work tip detection means 135A Laser Floodlight 135B Reflector 137 Stand 141 Slide Stand 145 Body Frame 149 Support Table 151 Support Roller 155 Product Clamp 157 Steering Member (Vertical Roller)
165 Servo Motor 189 Work Pusher Device 199 Product Moving Member 203 Base Mount 207A, 207B, 207C Roller Unit 209A, 209B, 209C Pantograph Mechanism 221 Lifting Frame 223 Pantograph Actuator 235 Buffer Means 243A, 243B, 243C Product Pusher 245A, 245B Reciprocating actuator

Claims (2)

A gripping member that grips the end of the work,
A sensor capable of detecting the distance to the gripping member at the first position corresponding to the gripping member , and
A chuck body that can reciprocate in the first direction along the work loading path and has the gripping member and the sensor, and a chuck body.
With
The chuck device is characterized in that the sensor can move between the first position and a second position for detecting an end portion of the work in the first direction. This is a work gripping method in which the end of the work is gripped by a chuck device.
The chuck device
A chuck body that can reciprocate in the first direction along the work loading path,
A gripping member provided on the chuck body and gripping the end of the work,
A distance sensor provided on the chuck body and capable of moving between a first position for detecting the distance to the gripping member and a second position for detecting the end of the work in the first direction. ,
Shall have
The sensor at the first position detects the distance to the gripping member that grips the end of the work, and compares the detected distance with a preset predetermined distance. Work gripping method.