JPH1034480A - Workpiece carry-in and carry-out method in cutter and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent double taking of workpieces at the time of conveying workpieces by comparing actual weight detected by a weight detecting sensor with computed workpiece weight to detect single taking of a workpiece. SOLUTION: A length and shape of a workpiece are inputted from an input device 63, and the weight Go of the workpiece is computed by an arithmetic processing unit 71. At the time of lifting the workpiece, the value of all load cells 37 are totaled to detect actual weight G1 . The detected weight G1 and the computed workpiece weight G0 are compared in a comparing means 75. In case of G1 >G0 , that is, in case of workpieces being taken double, the attracting force of an electromagnet is reduced to try again so as to be G1 <=G0 , thus taking a single workppiece.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of loading and unloading a work in a cutting machine and an apparatus therefor.

[0002]

2. Description of the Related Art Conventionally, in order to automatically cut a flat bar with a cutting machine such as a sawing machine, the material is stored in a shelf, the material is lifted by a forklift claw, and then moved laterally to be taken out from the shelf and carried out. The method of supplying to a cutting machine is common.
In addition, a loading device that sucks and carries out a material stored in a shelf without using the forklift is also used.

[0003]

However, in the above-described conventional material unloading means, when a flat bar is stored in a shelf, there is a problem that the three-dimensional storage efficiency is extremely poor and a long-time continuous schedule operation cannot be performed. . In addition, a loading device using an adsorption member sometimes takes two flat bars.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and an apparatus for loading / unloading a work in a cutting machine, which can prevent a work piece from being picked up at the time of transferring the work and enable a long continuous schedule operation of the work cutting work. is there.

[0005]

According to a first aspect of the present invention, there is provided a method for loading and unloading a workpiece in a cutting machine according to the present invention, wherein a workpiece is loaded or unloaded from a cutting machine based on information of the workpiece. The weight of the work is calculated, and the work is sucked by a suction device provided at an end of an appropriate number of lifting members, and the weight of the work is detected by a weight detection sensor built in the lifting member. Calculating the weight by integrating the calculated values, comparing the actual weight detected by the weight detection sensor with the calculated weight of the work, and detecting one piece of the work. is there.

According to a second aspect of the present invention, a workpiece loading / unloading device for a cutting machine according to the present invention is provided as a workpiece loading / unloading device for a loading / unloading workpiece of a cutting machine. A lifting device is provided on the work loading side and / or the work unloading side, and an appropriate number of lifting members are movably provided on the lifting device. A suction device is provided at the lower end of the lifting member, and the weight for detecting the weight of the work is provided. An arithmetic processing unit that has a built-in detection sensor and calculates the weight of the work based on the information of the work;
A control device including a comparison device for comparing the work weight calculated by the calculation processing device with the detection value detected by the weight detection sensor is provided.

According to a third aspect of the present invention, there is provided a workpiece carrying-in / out device in the cutting machine according to the present invention, wherein the suction device is constituted by an electromagnetic magnet.

According to a fourth aspect of the present invention, there is provided a workpiece loading / unloading device in a cutting machine according to the present invention, wherein the weight detection sensor is constituted by a load cell.

According to the first to fourth aspects of the present invention, the material, the processed product, and the remaining material are transported to the cutting machine by a lifting member provided with a suction device. In order to prevent two sheets from being picked up, the weight of the work is calculated in advance, and the calculated work weight is compared with a value detected by a weight detection sensor built in the lifting member.
When the value of the weight detection sensor is larger than the calculated work weight, it is understood that two works have been taken, and the suction force of the suction device is controlled to perform a retry.

Therefore, it is possible to detect the picking of two works and to automate a line capable of reliably picking up and transferring one work by simple control.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Since the cutting machine and the product loading / unloading device employed in the embodiment of the present invention have already known configurations, a detailed description of the configuration will be omitted.

Referring to FIG. 1, FIG. 2 and FIG. 3, on the entry side (right side in FIG. 1 and FIG. 2) of the cutting machine 1, there are provided devices for feeding, for example, a flat bar as a work W. Each device for this Okuzai includes a sheet material yard 3 were stacked flat bar, the remainder yard 5 for stacking the remainder W _Z generated during processing the product W _S in the cutting machine 1, Sending the flat bar, which is the work W, to the cutting machine 1 or the remaining material W
_It comprises a material feeding device 7 for unloading _Z, and a lifting device 9 movable between the material supply yard 3 and the remaining material yard 5.

The feed yard 3 extends in the X-axis direction (the left-right direction in FIGS. 1 and 2 and the direction perpendicular to the drawing in FIG. 3), and a plurality of feed yards 3A, 3B, 3C and 3D are arranged in parallel. , And flat bars as the work W are stacked on the material supply yards 3A to 3D. In addition, one flat bar may be placed on the material supply yards 3A to 3D. By stacking and placing the flat bars and having a plurality of yards, the number of materials supplied automatically increases. Increase.

The remaining material yard 5 extends in the X-axis direction on the opposite side of the supply yard 3 and includes a plurality of remaining material yards 5A, 5B, 5A.
C are provided in parallel. But this is the remainder material yard 5 for accommodating the remainder W _Z that occur when it is processed by a cutting machine 1, the product of the remainder W _Z plurality of remainder material yard 5A, 5B, provided 5C onto its By weighing, it becomes possible to process the remaining material during automatic operation.

The material feeding device 7 is provided on the entry side of the cutting 1 and extends in the X-axis direction, and is provided with a table 7A for supplying material and a table 7B for remaining material connected in parallel to a gantry 7C. I have. Although not shown in the drawings, the feeding table 7A and the remaining material table 7B can be selectively positioned with respect to the feeding center of the cutting machine 1. However, in the Y-axis direction (in FIG. A gantry 7C is movably provided on a plurality of rails 11 extending in a vertical direction, a direction perpendicular to the drawing in FIG. 2, and a horizontal direction in FIG. A plurality of rollers 13 are rotatably provided by an electric motor (not shown) above each of the supply tables 7A and the remaining tables 7B.

The lifting device 9 is provided so as to straddle the supply yard 3 and the remaining material yard 5, and a plurality of portal-shaped columns 15 are provided extending in the Y-axis direction. Reference numeral 17 extends in the Y-axis direction. A crane body 19 extending in the X-axis direction rides on the rail 17 by a geared motor (not shown).
It can be moved and positioned in the axial direction.

The crane body 19 is provided with a plurality of (two in this embodiment) lifting members 21 which are movable in the X-axis direction. It is movable in the axial direction and positioning is performed. The lifting member 21 is provided with a support rod 25 having, for example, an electromagnetic magnet 23 at its lower end as a suction device so as to be vertically movable by a cylinder 27 which is operated by a fluid pressure.

More specifically, referring to FIG. 4, a lifting member 21 is provided on the crane body 19 so as to be movable in the X-axis direction, and the lifting member 21 has a guide member 31 provided on a bracket 29. . The support bar 25 slidable in the Z-axis direction (the vertical direction in FIG. 4) is mounted on the guide member 31. Also, the bracket 29
The cylinder 27 is attached to the cylinder 27. A moving frame 35 is integrally provided at a lower end of a piston rod 33 mounted on the cylinder 27, and the support rod 25 is inserted therein. The formed flange portion 25A is held in contact with, for example, a load cell 37 which is a weight detection sensor mounted inside the moving frame 35. In addition, the lower end of the support rod 25 is provided with the electromagnetic magnet 23 as an attraction device.

With the above structure, when the cylinder 27 is operated, the support rod 25 is guided by the guide member 31 via the piston rod 33 and is moved in the Z-axis direction. Therefore, the electromagnetic magnet 23 is also moved in the Z-axis direction. The work W can be sucked, lifted, and hung. The weight of the lifted work W is detected by a load cell 37 built in the moving frame 35.

Next, the configuration of the product unloading device 39 provided downstream of the cutting machine 1 will be schematically described.

Referring again to FIG. 1 and FIG. 2, the carrier 41 of the product unloading device 39 extends in the X-axis direction and stands upright. A product delivery table 43 is provided upright on the lower side in FIG. 1 in the X-axis direction of the transfer table 41.

A plurality of parallel guide rails 45 extending in the Z-axis direction are laid on the transfer table 41, and the guide rails 45 are provided with an X-axis transfer vise 49 having a clamp device 47. , A Z-axis transfer vise 50 is provided, and the Z-axis transfer vise 50 has an electromagnetic magnet 23
Is provided.

A plurality of sets of parallel guide rails 5 extending in the Y-axis direction are provided below the transfer table 41 in FIGS.
1, 53 are laid, and each guide rail 51,
53 is provided with a plurality of product pallets 55 movably in the Y-axis direction. Reference numeral 57 denotes an operation box, which is an electromagnetic magnet 2 which is an adsorption device described later.
A control device 59 for controlling the suction force of No. 3 is incorporated.

[0024] With the above structure, placed on the product delivery table 43 the product W _G which is cut by the cutting machine 1 by clamping at X-axis conveying device 49. Product W _G placed on the product delivery table 43 is attracted by electromagnet 23 mounted on the lifting member 21 provided on the Z-axis conveying device 50. The Z-axis conveying device 50 in this state is moved to the left, and stopped on a suitable location product pallet 55, by operated to lower the electromagnet 23 in this position, product pallet 55 product W _G descends product W _G by allowed to demagnetization at above it will be unloaded entrained been Tokiwanasa from the electromagnetic magnet 23 on the product pallet 55.

Next, prevention of two workpieces, which is a main part of the embodiment, will be described in detail.

A control device 59 for controlling the suction force of the electromagnetic magnet 23, which is a suction device mounted on the lifting member 21, and the work weight value detected by the load cell 37, which is a weight detection sensor, is incorporated in the operation box 57. Have been.

Referring to FIG. 5, the control device 59
A CPU 61 as a central processing unit is provided.
An input device 63 and a display device 65 for inputting information of the work W (for example, information on a feed yard position, a cross-sectional dimension and a length of the work W) are connected to U61, and an electromagnetic magnet is connected to the CPU 61. The load cell 37 is connected to a current detection device 67 for detecting the current of 23. Further, a memory 69, an arithmetic processing unit 71, and a comparison unit 73 are connected to the CPU 61. Based on these information, the weight G ₀ is calculated from the memory 71 in the arithmetic processing unit 73 by the input value before the shape of the work. The weight G ₀ calculated by the arithmetic processing unit 73 and the detected weight G _{1 of the} load cell 37 are compared by the comparator 75.

With the above-described configuration, the operation is performed, for example, by inputting information from the input device 63 to the supply side of the supply yard 3, the cross-sectional dimension of the work W, and the length of the work W as information on the supply side during automatic operation. The lifting of the workpiece W is performed by the lifting member 21 having a plurality of electromagnetic magnets 23.

That is, based on the position information of the feed yard 3, the lifting device 9 moves the feed yards 3A to 3A at desired positions.
Move to D. Then, the position of each lifting member 21 is moved and positioned to an optimum position based on the length information of the work W, and the electromagnetic magnet 23 provided on each lifting member 21 is lowered. 23 operates and sucks the workpiece W.

At this time, the weight is calculated based on the information of the cross-sectional dimension (width × thickness) and length of the flat bar as the work W, and the attraction force of the electromagnetic magnet 23 is controlled by, for example, current to prevent two sheets from being taken out. I do.

In addition, the lifting member 21 is raised by a predetermined lifting amount (slight lifting amount), and is interlocked with the electromagnetic magnet 23 built in the lifting member 21 in order to check whether or not two sheets are taken. The lifting weight is calculated by integrating the values of the load cells 37. In the case of overloading, since there is a possibility of two sheets being picked up, the lifting member 21 is first lowered, and the flat bar, which is the work W being sucked, is placed on the supply yard 3 and the electromagnetic magnet 23 After the attraction force is cut off, the retry is performed by controlling the attraction force of the electromagnetic magnet 23.

The above operation will be described in more detail with reference to the flowchart shown in FIG.

The length of the workpiece W at step S1, the input shape from an input device 63, calculates the weight G ₀ of the workpiece W at the processing unit 71 at step S2. Then, in step S3, the attraction force of the electromagnetic magnet 23 is set by current control (I = I ₀ ).

[0034] Then, to detect the actual weight G ₁ and overall the value of all of the load cell 37 at the time of lifting of the workpiece W at the step S4. Then, the detected weight G ₁ and the calculated weight G _{0 of the} work W are compared in step S5. If G ₁ ≦ G ₀ , that is, if one work W is taken, step S5 is performed. The carry-in operation of S6 is started, and a series of carry-out operations is completed.

If G ₁ > G ₀ , that is, if two workpieces W are taken, I = I _{0 in} step S7.
After adjusting so as to be −I ₁ , the process returns to before step S4, and a retry is performed so that G ₁ ≦ G ₀ .

With the structure and operation as described above, it is possible to detect two workpieces W, and it is possible to reliably take and transport one workpiece W by simple adjustment, thereby achieving automation of the line. it can.

Further, since the work W can be stacked in the supply yard 3 and the remaining material yard 5, the number of materials and the number of remaining materials are greatly improved, and continuous operation for a long time becomes possible.

The present invention is not limited to the above-described embodiment of the present invention, but can be embodied in other forms by making appropriate changes.

[0039]

As will be understood from the above description of the embodiment, according to the present invention, the material of the cutting machine, the product after processing, and the discharged material are conveyed. Is transported by a lifting member provided with an electromagnetic magnet as a suction device. At this time, in order to prevent two workpieces from being taken, the weight of the workpiece is calculated in advance, and the weight of the workpiece is compared with a value detected by a load cell which is a weight detection sensor built in the lifting member. If the value of the load cell is larger than the weight of the work, it is determined that two works have been taken, and the retry is performed by controlling the suction force of the electromagnetic magnet as the suction device.

Thus, since it is possible to detect the picking of two works and to reliably pick and transfer one work by simple control, the automation of the line can be achieved.

[Brief description of the drawings]

FIG. 1 is a plan view showing a cutting machine and a work loading / unloading device.

FIG. 2 is a side view of FIG.

FIG. 3 is an enlarged front view as viewed from the right side in FIG. 1;

FIG. 4 is an enlarged side view of a part viewed from an arrow IV in FIG. 2;

FIG. 5 is a circuit diagram illustrating a control device according to the present invention.

FIG. 6 is a flowchart of the present invention.

[Description of Signs] 1 Cutting machine 9 Lifting device 21 Lifting member 23 Electromagnetic magnet (suction device) 37 Load cell (weight detection sensor) 59 Control device 73 Arithmetic processing device 75 Comparison device

Claims (4)

[Claims] At the time of loading or unloading a workpiece to or from a cutting machine, the weight of the workpiece is calculated based on information of the workpiece, and the workpiece is sucked by a suction device provided at an end of an appropriate number of lifting members. The weight of the workpiece is detected by a weight detection sensor built in the lifting member, the weight is calculated by integrating the detected values, and the actual weight detected by the weight detection sensor and the calculated weight are calculated. A method for loading and unloading a workpiece in a cutting machine, wherein the method detects a single piece of the workpiece by comparing the weight of the workpiece. 2. A work loading / unloading device in a cutting machine for loading or unloading a work to or from a cutting machine, wherein a lifting device for sucking, holding, and transporting the stacked work is provided on the work loading side and / or the work unloading side. An appropriate number of lifting members are movably provided in the lifting device, a suction device is provided at a lower end of the lifting member, and a built-in weight detection sensor for detecting the weight of the work is provided. And a control device including a comparison device that compares the work weight calculated by the calculation processing device with the detection value detected by the weight detection sensor. Work loading / unloading device in a cutting machine. 3. The apparatus according to claim 2, wherein said suction device is constituted by an electromagnetic magnet. 4. The work loading / unloading device according to claim 2, wherein the weight detection sensor is constituted by a load cell.