WO2008075571A1

WO2008075571A1 - Method and device for cutting, cleaning, and drying workpiece

Info

Publication number: WO2008075571A1
Application number: PCT/JP2007/073653
Authority: WO
Inventors: Shimaki Hori
Original assignee: Rosecc Co., Ltd.
Priority date: 2006-12-20
Filing date: 2007-12-07
Publication date: 2008-06-26
Also published as: JPWO2008075571A1

Abstract

[PROBLEMS] A method and device that, after cutting a workpiece by a cutting robot by using a high-pressure water, removes chips adhered to a workpiece by using a cleaning robot and dries the workpiece by a drying robot, in which cleaning efficiency and drying efficiency are increased to save cleaning water required for cleaning. [MEANS FOR SOLVING THE PROBLEMS] A step of cutting a workpiece by high-pressure water and a step of cleaning the workpiece are performed by the cutting robot and cleaning robot that are controlled according to information on cutting of the workpiece. Such information is previously inputted in the robots.

Description

Specification

Work cutting · Cleaning · Drying methods and equipment

Technical field

[0001] The present invention is directed to cutting a work suitable for cutting a powerful work such as a synthetic resin material or a fiber material with high-pressure water, washing and removing cutting waste generated by cutting the high-pressure water, and then drying the work. · Washing · Dry methods and equipment.

Background art

[0002] Conventionally, when a workpiece made of a synthetic resin material, a fiber material, or the like is cut with high-pressure water, the entire workpiece is washed with cleaning water that is projected from each direction in order to remove the cutting waste adhering to the workpiece. It was normal.

[0003] In addition, there is a proposal of a method of cleaning the entire workpiece, optically detecting an insufficiently cleaned portion, and further cleaning only the detected portion.

[0004] Furthermore, a technique for controlling the cleaning conditions based on the inspection result of the foreign matter in the work has been proposed.

[0005] In such cleaning, it is most common to clean the entire workpiece and dry the entire workpiece.

Patent Document 1: JP-A-8-318237

Patent Document 2: JP 2003-100688

Disclosure of the invention

Problems to be solved by the invention

[0006] Cutting, cleaning, and drying of workpieces generally performed in the past are performed by moving the cut workpiece to a cleaning tank and submerging the entire workpiece in water for cleaning, or by radiating water so as to wrap the entire workpiece. I was jealous.

[0007] Accordingly, not only a large amount of washing water is required, but also an increase in washing time and drying time are inevitable.

[0008] For example, large workpieces require several tens of liters of water and several tens of minutes of drying time. Therefore, the present invention cuts a workpiece made of a synthetic resin material, fiber lumber, or the like with high-pressure water, cleans and removes cutting waste generated by cutting the high-pressure water, and then cuts and cleans the workpiece to be dried. · The purpose of the drying method and equipment is to improve washing efficiency and drying efficiency, and to reduce the washing water required for washing.

Means for solving the problem

[0010] In view of the above circumstances, a mechanism for cutting a workpiece made of a synthetic resin material, fiber lumber, or the like with high-pressure water was experimentally studied, for example, when a workpiece made of a synthetic resin plate was cut with high-pressure water. It has been found that the cutting waste adheres intensively to a part slightly away from the cut part.

[0011] Further, when the workpiece is cut with high-pressure water, the force varies widely depending on the shape of the workpiece. It was found that the adhesion area of the cutting waste is 5% to 30% or less of the total surface area of the workpiece. Furthermore, when the workpiece has a three-dimensional shape and is cut through by high-pressure water, there is almost no sticking of cutting waste to the side where high-pressure water is projected. It was confirmed that cutting waste adhered to a part intensively. In addition, it was found that the part where the cutting waste adheres to one cut part was concentrated in one place.

[0012] The cutting part and the attachment position and state of the cutting waste vary widely depending on the material and shape of the workpiece, the magnitude of the water pressure, the direction of the high-pressure water, the shape of the cutting part, and the like. However, it was recognized that the attachment position of the cutting waste was the opposite radiation surface that slid by the projection surface of the high-pressure water. In addition, it was confirmed that the cutting dust adhered to one place on the surface on the radiation side and scattered little.

[0013] Furthermore, when the cutting conditions such as the workpiece material, shape, water pressure magnitude, high-pressure water direction, and the shape of the cut portion are the same, the attached surface and the position and the attached state of the cutting waste are almost the same. It was recognized that the adhesion area was almost the same.

[0014] Furthermore, depending on the shape of the workpiece, the cutting site and the cleaning site are specified in advance, and by storing them in the cutting robot and the cleaning robot in advance, the entire cutting and cleaning are performed automatically and efficiently. It turns out that it can be automated.

[0015] Therefore, when cutting a workpiece of the same shape and the same material with the same high-pressure water, by using information related to the cutting of the workpiece such as a cutting position, a cutting shape, and a size, the cleaning position and cleaning of the workpiece are performed. We succeeded in accurately predicting the area to be used. [0016] Based on the above knowledge, if the same cleaning condition is set for the same workpiece, it can be washed and dried under the same condition as it is.

[0017] When the workpiece changes, each time the workpiece is changed, the cleaning position can be accurately specified only by inputting information about the cutting to the cleaning device, the cleaning robot, or these control devices. It was.

[0018] In the cleaning device, the cleaning robot, or the control device, data related to the adhesion portion and its area due to the material of the workpiece, the pressure change of high-pressure water, and the like are input in advance.

[0019] Accordingly, when the workpiece material, shape, and other conditions change, the conditions of the cleaning device, the cleaning robot, or the control device are set to respond to this, and after that, the cleaning is performed in response to only the cutting conditions. By automatically setting the part and area, the same washing and drying can be completed in the shortest time with the least amount of water.

That is, the workpiece cutting / cleaning / drying method and apparatus proposed by the present invention for achieving the above object are as follows.

[0021] (1) In a method in which a workpiece is cut with high-pressure water by a cutting robot, cutting waste adhering to the workpiece is washed by a washing robot, and then the workpiece is dried by a drying robot. The work cutting 'cleaning' drying method characterized in that the step of cutting with high-pressure water is performed by a cutting robot controlled based on information on cutting of the work input in advance.

[0022] (2) In the above (1), the step of cleaning the workpiece includes identifying the part of the workpiece specified based on information about cutting of the workpiece inputted in advance as the workpiece inputted in advance. A cutting / cleaning / drying method for workpieces, which is characterized by cleaning by a cleaning robot controlled on the basis of information on cutting of the workpiece.

[0023] (3) The information regarding the cutting of the workpiece that is input in advance in the above (2)! /, Includes the cutting waste on the workpiece in the step of cutting the cake with high-pressure water. Information on the part to which the material adheres is included, and the part of the workpiece specified based on the previously inputted information on cutting the workpiece is a step of cutting the workpiece with high-pressure water. The workpiece cutting, cleaning and drying method is characterized by the fact that it corresponds to the part where cutting waste adheres to the workpiece in [0024] (4) In (1), a sensor is attached to the cleaning robot used in the step of cleaning the workpiece, and the portion where cutting waste adheres to the workpiece in the step of cutting the workpiece with high-pressure water A workpiece cutting / cleaning / drying method characterized in that a part specified by the sensor is detected by the sensor, and the part specified by the sensor is cleaned by the cleaning robot.

[0025] (5) In the above (1), based on the information related to the cutting of the work performed by the cutting robot, the part where the cutting waste adheres to the work in the cutting of the work performed by the cutting robot is determined. A method of cutting, cleaning and drying workpieces characterized by identifying and controlling the cleaning robot based on this and cleaning the specified part with the cleaning robot

[0026] (6) In the above (1), a sensor is attached to the cleaning robot used in the step of cleaning the workpiece, and the workpiece is included in the information regarding the cutting of the workpiece inputted in advance. The part of the workpiece specified based on the information on the part where the cutting waste adheres to the workpiece in the process of cutting the workpiece with high-pressure water and the vicinity of the portion are detected by the sensor and identified by the sensor. A method of cutting and “washing” a workpiece, wherein a step of washing the part by the washing robot is performed.

[0027] (7) In the above (1), a sensor is attached to the cleaning robot used in the step of cleaning the workpiece, and the identification is performed based on information on the workpiece cutting performed by the cutting robot. In the cutting of the work performed by the cutting robot, the part where the cutting waste adheres to the work and the vicinity of the part are detected by the sensor, and the part specified by the sensor is used for the cleaning. A cutting, cleaning and drying method for workpieces, which is characterized by a robot cleaning process.

[0028] (8) In any one of the above (1) to (7), in the step of drying the work, the part of the work specified based on the information related to the cutting of the work input in advance is applied. A workpiece cutting / cleaning / drying method characterized in that the workpiece is dried by a drying robot controlled based on the pre-input information on the workpiece cutting.

[0029] (9) In an apparatus for cutting, cleaning and drying while sequentially moving the workpiece, a cutting device for cutting the workpiece with high-pressure water, a cleaning device for washing cutting waste adhering to the workpiece with water, a scissors after cleaning A drying device for drying the workpiece is provided, and the workpiece is sequentially transferred to the cutting device, the cleaning device, and the drying device! /, And the workpiece moving device is provided! /, And a workpiece cutting / cleaning / drying device comprising a control device for controlling the operations of the workpiece moving device, the cutting device, the cleaning device, and the drying device.

[0030] (10) In the above (9), the control of the cutting device by the control device is performed on the cutting device based on information related to cutting of the workpiece including information for specifying a portion to cut the workpiece. A workpiece cutting / cleaning-drying device characterized by cutting the workpiece.

[0031] (11) In the above (9) or (10), the control of the cleaning device by the control device is information relating to cutting of the workpiece including information specifying a part of the workpiece to be cleaned by the cleaning device. A workpiece cutting 'cleaning' drying device characterized by causing the cleaning device to clean the part based on the above.

[0032] (12) In the above (11), the information relating to the cutting of the workpiece includes information relating to a portion where cutting waste adheres to the workpiece in the step of cutting the cake with high-pressure water by the cutting device. Workpiece cutting, cleaning, and drying equipment characterized by including

[0033] (13) In the above (11), the information for specifying the part of the workpiece to be cleaned by the cleaning device is performed by the cutting device based on the information on the workpiece cutting performed by the cutting device. A workpiece cutting / cleaning / drying device characterized by identifying the part of the workpiece where cutting debris adheres to the workpiece.

(14) In (9), the control of the cleaning device by the control device specifies the part of the workpiece to be cleaned by the cleaning device by means of a sensor attached to the cleaning device, A workpiece cutting 'cleaning' drying device characterized in that the cleaning device cleans the part specified by the sensor.

[0035] (15) In (9), the control of the cleaning device by the control device is performed in the step of cutting the workpiece with high-pressure water by the cutting device by means of a sensor attached to the cleaning device. A workpiece cutting-cleaning-drying device characterized in that it detects a portion where cutting waste adheres to the workpiece and causes the cleaning device to clean the portion detected by the sensor. [0036] (16) In the above (9), the control of the cleaning device by the control device includes cutting waste adhering to the workpiece in the step of cutting the workpiece with high-pressure water, which is included in the information on cutting the workpiece. The part of the workpiece specified based on the information on the part to be performed and the vicinity of the part are detected by a sensor attached to the cleaning device, and the cleaning device cleans the part specified by the sensor. Cutting / cleaning / drying equipment for workpieces.

[0037] (17) In (9), the control of the cleaning device by the control device is performed by the cutting device specified based on the information related to the cutting of the workpiece performed by the cutting device. In cutting a workpiece, the portion where the cutting waste adheres to the workpiece and the vicinity of the portion are detected by a sensor attached to the cleaning device, and the cleaning device cleans the part specified by the sensor. Features workpiece cutting, cleaning, and drying equipment.

[0038] (18) In any one of the above (9) to (; 17), the cleaning device for washing the cutting waste adhering to the workpiece includes a nozzle for injecting water onto the surface to be cleaned of the workpiece. The center line of the nozzle forms an acute angle with respect to the surface to be cleaned, and while the nozzle injects water onto the surface to be cleaned, the nozzle advances forward in the direction of water. Cutting / cleaning / drying equipment characterized by

[0039] (19) In any one of the above (9) to (; 18), the drying device includes a nozzle that injects dry air toward the surface to be dried of the workpiece, and the center line of the nozzle is A workpiece cutting / cleaning / drying device characterized by forming an acute angle with respect to the surface to be dried.

[0040] According to this invention, after cutting the workpiece with high-pressure water by the cutting robot, the cutting waste attached to the workpiece is cleaned by the cleaning robot, and then the workpiece is dried by the drying robot. A cleaning robot and a drying robot are arranged in this order. Alternatively, a cutting robot and a cleaning robot that also serves as a drying robot are sequentially arranged. Information relating to the cutting of the workpiece is stored in the control device for controlling these robots or the control unit of these robots. Based on the information stored in advance, the cake is cut, washed, and dried.

[0041] Among the information on cutting the workpiece, the workpiece shape, material, and cutting with high-pressure water are included. The information regarding the water pressure at the time of carrying out, the injection angle of the high pressure water with respect to a to-be-cut surface, etc. is contained.

Based on these pieces of information, the control device for controlling the robot or the control unit of the robot controls cutting, cleaning, and drying processes by the cutting robot, the cleaning robot, and the drying robot.

[0043] In addition, a sensor is attached to the cleaning robot or the cleaning robot that also serves as the drying robot, and it is possible to clean and dry the part detected by the sensor.

Alternatively, it is possible to control cutting, cleaning, and drying processes by a cutting robot, a cleaning robot, and a drying robot by detecting information pasted on the workpiece in advance using a sensor.

[0045] Further, the control based on the information acquired by the sensor can be overlapped with the control based on the previously given information.

[0046] In the present invention, when a workpiece is cut with high-pressure water, the position where the cutting waste adheres to the workpiece is accurately identified!

[0047] When cutting workpieces of the same shape and the same material with the same high-pressure water, the position where cutting waste adheres to the workpiece by using information on cutting of the workpiece such as the cutting position, cutting shape and size. This is because the adhesion state can be accurately predicted.

[0048] Therefore, the cleaning by the cleaning robot or the cleaning robot also serving as the drying robot can be performed with high accuracy. That is, it is only necessary to clean only the necessary parts that do not need to be cleaned after the cutting process with high-pressure water. Therefore, the drying efficiency is also improved. As a result, it can be washed in a short time with the least amount of washing water and dried efficiently.

Yes

[0049] According to the method and apparatus of the present invention, the objective can be sufficiently achieved with 10% to 30% of the amount of cleaning water when the entire workpiece is cleaned. Further, since the area of the cleaning part is small, the drying area is also reduced, so that the drying time can be sufficiently achieved by 10% to 50% of the time required to dry the entire workpiece.

The invention's effect

[0050] According to this invention, a workpiece made of a synthetic resin material, a fiber material, or the like is cut with high-pressure water, and cutting waste generated by cutting the high-pressure water is washed and removed, and then dried. In the cutting 'cleaning' drying method and apparatus, by cleaning only the part where the cutting waste is adhered, not only the cleaning efficiency but also the drying efficiency can be remarkably improved.

[0051] In addition, the amount of cleaning water required for cleaning can be significantly reduced. Furthermore, the drying efficiency can be improved by reducing the wetted parts in the cleaning process.

[0052] If the cleaning and drying of the workpiece are performed at the same position by using a cleaning robot and a drying robot in combination, it is not necessary to move the workpiece greatly, and workability can be improved.

BEST MODE FOR CARRYING OUT THE INVENTION

[0053] The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

Example 1

As shown in the block diagram of FIG. 1, the work 1 is carried to a position where the cutting device 2 is arranged by a conveyor (not shown) or the like and fixed to a jig (not shown). Cake 1 includes synthetic resin products and textile products.

[0055] Next, the high-pressure water nozzle fixed to the robot arm of the cutting robot 3 is opposed to the cutting portion of the work 1, and high-pressure water (for example, 3000 kg / cm ² ) is projected onto the work 1 to perform cutting.

[0056] Cutting by the cutting robot 3 and the high-pressure water nozzle is automatically performed based on information related to cutting the workpiece 1 to be cut, which is stored in advance in the control device 4 or the control unit (not shown) of the robot. Done under control.

[0057] The information related to the cutting of the workpiece 1 to be cut includes information such as a predetermined cutting position and order, for example.

[0058] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is cut into the cutting robot.

3 is read by the sensor attached to 3 and the control unit 4 or the control unit (not shown) of the robot controls the cutting robot 3 and the high pressure water nozzle based on the information obtained from the information mark. You can also.

[0059] Thereby, even when the shape or cutting part of the workpiece 1 is individually different, the workpiece 1 can be accurately cut based on the information input in advance or the information acquired by the sensor. Can do.

[0060] By moving the robot arm of the cutting robot 3 and moving the high-pressure water nozzle along the cutting position, the cutting operation proceeds and the cutting can be terminated.

[0061] When the cutting is completed, the work 1 is moved to the cleaning position by the moving means.

[0062] Cleaning at the cleaning position is performed by the cleaning robot 5.

[0063] The cleaning nozzle fixed to the robot arm of the cleaning robot 5 is made to face the cleaning portion of the workpiece 1, and cleaning water is sprayed onto the workpiece 1 to perform cleaning.

[0064] Cleaning by the cleaning robot 5 and the cleaning nozzle is performed based on information related to cutting of the workpiece 1 to be cut, which is stored in advance in the control device 4 or the control unit (not shown) of the robot. This part is automatically controlled and controlled based on the previously stored information relating to the cutting of the workpiece 1.

[0065] For example, the information relating to the cutting of the workpiece stored in advance includes information relating to the part where cutting waste adheres to the workpiece 1 in the step of cutting the workpiece 1 with the cutting robot 3. Based on this information, the part where the cutting waste is attached to the work 1 is located and cleaned there.

In addition, a sensor (not shown) is attached to the cleaning robot 5, and in the process of cutting the workpiece 1 with the cutting robot 3, the site where the cutting waste has adhered to the workpiece 1 is detected by the sensor and specified by the sensor. The site can also be washed.

[0066] Further, based on the information related to the cutting of the work 1 performed by the cutting robot 3, the part where the cutting waste adheres to the work 1 in the cutting of the work 1 performed by the cutting robot 3 is specified. This part can be cleaned with the cleaning robot 5 based on

[0067] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is used as a cleaning robot.

The sensor attached to 5 may be used to control the cleaning robot 5 and the cleaning nozzle based on the information acquired from the information mark by the control device 4 or the control unit (not shown) of the robot. it can.

[0068] Thereby, even when the shape or the cleaning part of the workpiece 1 is individually different, the workpiece 1 can be accurately cleaned based on information input in advance or information acquired by the sensor. Can do.

[0069] Further, the control of the cleaning robot 5 and the cleaning nozzle based on the information related to the cutting of the workpiece 1 to be cut, which is stored in advance in the control device 4 or the control unit (not shown) of the robot, and the sensor described above. Control based on the acquired information can be superimposed.

[0070] As described above, since the necessary portions are cleaned without excess or deficiency, the cleaning can be efficiently performed.

[0071] The information regarding the cutting of the workpiece 1 to be cut, which is stored in advance in the control device 4 or the control unit (not shown) of the robot, is an attempt on the angle and moving speed of the cleaning nozzle with respect to the surface to be cleaned. Thus, it contains information on the best conditions (water pressure, cleaning nozzle angle and speed).

[0072] Washing is intended to clean up the chips! Therefore, the cleaning nozzle is directed toward the surface to be cleaned, the angle of the cleaning nozzle is set to an acute angle, and the cleaning nozzle is advanced in the direction in which the cleaning water sprayed from the cleaning nozzle advances so as to peel off the paper. Is good.

[0073] As described above, by grasping the information on the cutting site, it is possible to perform cleaning more accurately and efficiently with the force S.

[0074] When the cleaning is performed as described above for a predetermined time, the workpiece 1 is moved to the dry position by the moving means.

[0075] The predetermined time for performing the cleaning is input in advance according to the shape of the workpiece, the size of the cutting portion, the material of the workpiece, the amount of cutting waste, the adhesion state, and the like based on experiments performed in advance. It is determined by the information.

[0076] The cleaning time can also be controlled by detecting with a sensor attached to the cleaning robot 5.

[0077] Drying at the drying position is performed by the drying robot 5a.

[0078] A dry air nozzle fixed to the robot arm of the drying robot 5a is opposed to a portion of the work 1 to be dried, and dried by blowing dry air.

[0079] Drying by the drying robot 5a and the nozzle of the drying air is automatically controlled based on information related to the cutting of the workpiece 1 stored in advance in the control device 4 or the control unit (not shown) of the robot. To be done. [0080] Further, a sensor (not shown) is attached to the drying robot 5a, and as a result of the process of cleaning the workpiece 1 with the cleaning robot 5, the part where the workpiece 1 is applied is detected by the sensor, and the sensor The part specified by can also be dried.

[0081] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is attached to the drying robot.

It is read by the sensor attached to 5a, and the controller 4 or the robot controller (not shown) controls the drying robot 5a and the nozzle of the drying air based on the information acquired from the information mark. You can also.

[0082] Thereby, even when the shape or drying part of the workpiece 1 is individually different, it can be accurately dried based on the information input in advance or the information acquired by the sensor. .

[0083] Further, the control of the drying robot 5a, the drying air nozzle based on the information related to the cutting of the workpiece 1 to be cut, which is stored in advance in the control device 4 or the control unit (not shown) of the robot, Control based on information acquired by the sensor can be superimposed.

[0084] As described above, since necessary portions are dried without excess or deficiency, it can be efficiently dried.

When drying is performed as described above for a predetermined time, the work 1 is moved to the position where the added work 7 is placed by the moving means.

[0086] The predetermined time for performing the drying is input in advance according to the shape of the workpiece, the size of the cut portion, the material of the workpiece, the amount of chips, the adhesion state, and the like, based on experiments performed in advance. It is determined by the information that is.

[0087] The drying time can also be controlled by detection with a sensor attached to the drying robot 5a.

In any case, a desired degree of dryness can be achieved in a short time by appropriately operating the robot arm of the drying robot 5a and the nozzle of the drying air.

[0089] For example, dry air of 50 ° C to 70 ° C with a humidity of 10% or less is blown out at a pressure of about 10 kg / cm ² to blow off the moisture on the workpiece surface and to remove the adhering moisture by evaporation.

[0090] Since the drying by removing the moisture is more efficient than the evaporation drying, the pressure and the direction of the nozzle (angle with respect to the surface to be dried) are studied and determined appropriately. In advance Store it in the control device 4 or in the robot controller (not shown).

[0091] In the embodiment described above, cleaning and drying are separately performed at different positions by the cleaning robot 5 and the drying robot 5a. This can also be performed using a cleaning robot that also functions as a drying robot at the same position.

As the moving means of the work 1 in this embodiment, a conventionally known turntable, conveyor or other moving means can be used. In short, it is sufficient that the cake is held in a predetermined posture during cutting, washing and drying.

[0093] The movement by the turntable or the conveyor or other moving means can also be performed under the control of the control device based on the information related to the cutting of the workpiece.

In the above, the holding posture of the workpiece 1 can be determined in advance. In addition, depending on the shape of the workpiece, a simple robot holder (jig) can be used to change the posture to be easy to cut or easy to clean. It is also possible to control the posture with another robot.

[0095] In some cases, it is better to simply move the robot hand for cutting and cleaning so that the workpiece is easily cut or cleaned. The selection is not limited. In addition, known devices can be used for workpiece support and others.

Example 2

[0096] This will be described with reference to FIGS. 2, 3, 4, and 5 (a) to 5 (d).

[0097] A rectangular hole 8 is formed in a workpiece 1 made of synthetic resin (for example, made of polycarbonate) by cutting with high-pressure water. As high-pressure water, for example, 3000 kg / cm ² of high-pressure water can be used.

[0098] The jet nozzle 6 of the cutting robot is brought close to the planned portion where the perforated portion la is to be formed (Fig. 2 (b)), and the jet nozzle 6 is moved to provide the square hole 8.

[0099] The cutting robot is controlled by a control device (not shown) or a control unit provided in the cutting robot. A computer or the like is employed as a control device (not shown). As the control unit provided in the cutting robot, a control unit consisting of a CPU, RAM, ROM, storage unit, etc. is adopted. In all cases, a CPU, RAM, etc. perform predetermined processing operations under a predetermined computer program.

[0100] The pressurized water sprayed from the jet nozzle 6 scatters in the direction indicated by the arrow 9. And Thus, the cutting waste 10 adheres to the vicinity 11 of the lower surface of the rectangular hole 8 on the back surface lb of the workpiece 1.

[0101] Workpiece 1 material, shape, square hole size, shape, pressure of water jetted from jet nozzle 6 and water pressure of water, etc. Where and in what shape and form the scrap 10 adheres can be ascertained through experiments under various conditions!

[0102] Accordingly, the material 1 and shape of the workpiece 1, the size and shape of the square hole, the conditions such as the pressure of the pressurized water sprayed from the jet nozzle 6, and the workpiece 1 cut by the cutting robot under these conditions Information regarding where and in what shape and form the cutting waste 10 adheres is stored in a control device (not shown) or a control unit provided in the cleaning robot.

[0103] Workpiece 1 material to be cut, shape, square hole size, shape, jet nozzle

The conditions relating to the cutting of the workpiece 1 such as the pressure of the pressurized water sprayed from 6 are input to a control device (not shown) or a control unit provided in the cleaning robot.

[0104] As shown in Fig. 2 (b), the workpiece 1 in which the square holes 8 are formed is transferred to the cleaning position where the cleaning robot is installed.

In the embodiment shown in FIG. 3, a cleaning / drying robot that also serves as a drying robot is employed. Thereby, cleaning and drying are performed at the same position.

[0106] The cleaning / drying robot moves the tip of the water washing nozzle 12 held by its robot arm 14 as shown in Fig. 3 to the vicinity of the attachment part of the cutting waste 11 as shown in Fig. 2 (c). Turn. The washing water introduced through the washing water hose 15 is radiated and washed while being pressurized.

[0107] This cleaning process is performed on a control device (not shown) or a cleaning / drying robot based on the above-mentioned information input to a control device (not shown) or a control unit provided in the cleaning / drying robot. Provided! /, The control unit controls the washing / drying robot.

[0108] The cleaning process is continued for a predetermined time (for example, 1 to 5 minutes) determined based on the information described above.

[0109] After the cleaning, the high-pressure water emission is stopped, and the dry air nozzle 13 held by the robot arm 14 is cleaned and directed to the vicinity of the wet portion. Then, the dry air introduced through the dry air hose 16 is blown out toward the portion to be dried. As dry air For example, dry air having a temperature of 50 ° C to 70 ° C and a humidity of 10% can be used.

[0110] Thereby, the parts to be cleaned and dried were rationally restricted, and it was possible to wash with a small amount of water in a short time and dry with a small amount of air and in a short time.

[0111] The control of the drying process by blowing out the dry air is also performed based on the information related to the cutting input to the control unit (not shown) or the control unit provided in the cleaning-drying robot. This is done by controlling the cleaning / drying robot by the control unit or the control unit provided in the cleaning / drying robot.

[0112] In the above, at the beginning of the work, the cleaning can be stopped once, the surface can be detected by the sensor 18, and the removal of the cutting waste 11 can be confirmed, and then the process can proceed to the drying process.

[0113] However, when the same drilling operation is continuously performed on the same workpiece, the cleaning completion time is constant, and therefore the object can be achieved only by time control.

[0114] In this embodiment, the material of the workpiece 1, the shape, the size and shape of the rectangular hole, the conditions such as the pressure of the pressurized water sprayed from the jet nozzle 6, and the like are cut by the cutting robot under these conditions. Information on where and what shape and shape of the scrap 10 adheres to the workpiece 1 is stored in the control unit (not shown), or the control unit of the cutting robot, cleaning robot, cleaning / drying port bot Oita. Then, upon receiving information related to cutting, such as the material, shape, square hole size, and shape of the workpiece 1 to be cut, a control device (not shown), cutting robot, cleaning robot, cleaning / drying Under the control of the robot controller, the cutting robot, cleaning robot, and cleaning / drying robot performed the prescribed operations.

[0115] Instead, based on the information acquired by the sensor 18, the cutting robot, cleaning port bot, cleaning and drying are controlled by a control unit (not shown) and the control unit of the cutting robot, cleaning robot and cleaning / drying robot. The robot may perform a predetermined operation.

[0116] For example, an information sticker (not shown) that can be used to derive information related to workpiece cutting, such as workpiece 1 material, shape, rectangular hole size, and shape, is attached to the workpiece to be cut. Thus, control is performed based on the information obtained from the information sticker.

[0117] In addition, the sensor 18 senses the position where the cutting waste 10 is attached, the amount thereof, whether the cutting waste 10 has been removed by washing, the wetted portion by washing, whether it has dried, and so on. , The cutting robot, cleaning robot, and cleaning / drying robot are allowed to perform predetermined operations under the control of a control device (not shown) and the control unit of the cutting robot, cleaning robot, and cleaning / drying robot.

[0118] For example, a surface photograph of the workpiece 1 on which the cutting waste 10 is not attached is stored in a control unit (not shown), a control unit of a cutting robot, a cleaning robot, or a cleaning / drying robot. Sensor 1 Detects the vicinity of attachment of cutting waste 10 based on the difference in reflected light on the surface of work 1 acquired by sensor 18 and inputs this to the control unit (not shown), cleaning robot, and cleaning robot controller It can also be used and controlled as information.

[0119] In addition, control using the above-mentioned information stored in advance in a control unit (not shown), a cutting robot, a cleaning robot, and a cleaning / drying robot, and control based on information acquired by the sensor 18 are performed. It can also be used together.

[0120] When the information acquired by the sensor 18 is adopted, the force S can be used to clean and remove dirt other than cutting waste.

[0121] In this embodiment, cleaning and drying can be performed at the same place and by the same robot, so that it is possible to perform cleaning extremely rationally without having to move the workpiece or deploy an additional robot.

Can complete the drying.

[0122] The washing water hose 15 and the dry air hose 16 are separate and in parallel (Fig. 3).

In the case of using the dual hose 17 (FIG. 4).

FIG. 5 (a) shows the surface to be cleaned la of the workpiece 1 and the angle Θ of the nozzle (for cleaning water or dry air). For this angle, a force of about 10 to 50 degrees is used depending on the workpiece material.

[0124] The angle between the surface to be cleaned la of the workpiece 1 and the central axis of the nozzle varies depending on the material and surface properties of the workpiece.

[0125] For example, when the nozzles are moved in a straight line and moved forward (arrow 25), the cutting waste or water droplets exert a lateral force as shown by arrows 27 and 28 as if they are also peeled off. It is more reasonable to receive it (Fig. 5 (a)).

[0126] However, when the pressure of the radiant fluid is strong, even if it is sprayed from a direction close to a right angle as shown by arrow 26, dust or water droplets radiate as shown by arrows 29 and 30 (Fig. 5 (b)). [0127] Therefore, a more preferable angle can be determined by experimentally considering the work material, surface properties, fluid pressure, and the like.

[0128] When the surface to be cleaned la of workpiece 1 is wide, the nozzle of nozzle board 31 is opposed to the surface to be cleaned at an angle of Θ = 30 ° as shown in Figs. 5 (c) and (d). If it is advanced in the direction of arrow 33, it can be cleaned (or dried) at the same time by the width of the nozzle board 31. In the figure, reference numeral 34 denotes a hose.

Example 3

An embodiment of the present invention will be described with reference to FIGS.

[0130] Fix the four jigs 20 for fixing the workpiece to the disc-shaped turntable 19. Set work 1 on jig 20 and cut and “clean” and dry.

As shown in FIG. 6, an attaching / detaching process position 21, a cutting process position 22, a cleaning process position 23, and a drying process position 24 are set around the turntable 19 at equal intervals.

[0132] At the attachment / detachment process position 21, devices such as a hand leak train 38 for fixing the workpiece 1 to the jig 20 and removing the workpiece 1 from the jig 20 are provided.

[0133] The cutting process position 22 is provided with a cutting robot or a cutting device for cutting with high-pressure water.

[0134] In the cleaning process position 23, there is a cleaning robot that performs cleaning work, and there is a cleaning device.

[0135] The drying process position 24 is provided with a drying robot or a drying apparatus for performing a drying operation.

[0136] It should be noted that the cleaning process position 23 and the drying process position 24 are combined into one, and a battlefield / drying robot, a certain robot, or a cleaning / drying apparatus that performs the cleaning process and the drying process may be provided here. it can

Yes

[0137] The turntable 19 is moved intermittently (for example, 90 degrees) in the direction of arrow 35 every predetermined time (for example, 5 minutes). As a result, it is possible to work in each part and to cut, clean and dry the work in one rotation.

[0138] At the attachment / detachment process position 21, the work 1 is set on the jig 20 by the hand leak rain 38.

After entering and instructing work conditions such as information on workpiece cutting on the operation control panel 37, start Set the switch of the moving stand 36 to ON. This turns the turntable 19 90 degrees in the direction of arrow 35.

[0139] The movement of the work 1 by the turntable 19 is performed by a control device (for example, a computer) (not shown) based on the input information.

[0140] In this way, the workpiece 1 is moved to the next process.

[0141] At the cutting step position 22, the workpiece 1 set on the jig 20 is cut. For example, the cutting process is automatically performed by the ultra-high pressure water sent by starting the ultra-high pressure pump 39. As ultra-high pressure water, for example, 350 MPa ultra-high pressure water is used.

[0142] After this, the turntable rotates 90 degrees in the direction of arrow 35.

[0143] At the cleaning process position 23, cleaning is performed with the cleaning water sent by the cleaning pump 40.

[0144] After this, the turntable 19 rotates 90 degrees in the direction of arrow 35.

[0145] At the drying process position 24, the work 1 is dried by blowing dry air from the blower 41.

[0146] When the drying is completed, the turntable 19 further rotates 90 degrees in the direction of the arrow 35, and the work 1 initially set on the jig 20 is returned to the attachment / detachment process position 21. Here, the machined workpiece 1 is removed and a new workpiece to be machined is attached.

[0147] In the above, the work is sequentially attached to the four jigs 20 of the turntable, which are described in order from the initial attachment of the work to the machining. Therefore, when the turntable rotates once, each jig 20 This means that the workpieces set in are processed in accordance with each process at the same time.

[0148] Therefore, if the turntable 19 repeats rotation and stop (movement 10 seconds, stop 50 seconds) at 1-minute intervals, the processed workpiece will be sent to one piece per minute.

[0149] In the above, if the turntable is rotated in accordance with the process with the longest processing time, the continuous operation can be smoothly performed. For example, if the drying process is the longest and it takes 50 seconds, the turntable 19 can be stopped at intervals of 1 minute (stop time 50 seconds), and the processed workpiece can be taken out at intervals of 1 minute. .

[0150] In FIG. 6, the reference numeral 42 is an area sensor, and the workpiece is set correctly. It is a sensor that detects whether or not. Reference numeral 68 denotes a filter unit, 69 denotes a reservoir, and 70 denotes a water pump.

[0151] Next, processing in each step will be described.

FIG. 7 (a) is a diagram for explaining the processing operation performed at the cutting process position 22. A base 45 of the cutting robot 44 is fixed to the support base 43. A high pressure nozzle 47 is fixed to the tip of the robot hand 46 of the cutting robot 44. Therefore, the high pressure nozzle 47 moves as instructed in advance, and the workpiece 1 set on the jig 20 is cut with ultra high pressure water (for example, 350 MPa).

[0153] Movement of the robot hand 46 is instructed in advance by program control or teaching control to a control unit (not shown) of the cutting robot 44. Therefore, according to this, the robot hand 46 moves at a high speed, and the workpiece 1 is automatically cut as set.

The operation performed at the attachment / detachment process position 21 will be described with reference to FIG. 7 (b).

[0155] When the processed workpiece 1 that has been cut, cleaned and dried reaches the attachment / detachment process position 21, the shutter driver 48 is activated by the output of the sensor 49 (work detection). Then, the sheet shutter 50 blocks the turntable 19 side of the work 1. Therefore, the worker 51 removes the processed workpiece by the hand crane 38 and sets an unprocessed workpiece to be newly processed.

[0156] Here, it is also possible to adopt an automatic attachment / detachment method using a power robot using the hand crane 38. In this case, the worker only sets the machining conditions and starts or stops, and the others become supervisors.

Next, an example of the cleaning process and the drying process will be described with reference to FIGS. 8 (a) and 8 (b).

[0158] In the illustrated example, cleaning is performed by blowing cleaning water, and drying is performed by blowing dry air. Equipment having the same structure can be used for the washing process and the drying process.

First, cleaning will be described.

As shown in FIG. 8 (a), the nozzle 55 of the water supply hose 54 is attached to the nozzle support 53 at the tip of the robot arm 52 so that the nozzle 55 faces the upper side of the workpiece 1.

[0161] First connector 57 is fixed to base 56 of jig 20 on which workpiece 1 is set, one end of pipe 58 is fixed to first connector 57, and the other end of pipe 58 is a branch pipe. Fix to 59. Branch pipe 59 The bases of the plurality of nozzle pipes 60, 60 are connected to each other, and the nozzles 61, 61 are connected to the tips of the nozzle pipes 60, 60, respectively.

[0162] When cleaning water is fed to hose 54 as shown by arrow 64, the upper surface of work 1 is cleaned.

[0163] Connect the second connector 62 close to the first connector 57 as shown by arrow 63. Wash water is indicated by arrow

As shown in Fig. 64, the fluid flows as indicated by arrows 66, 67, 67 through the hose 65, the second connector 62, and the first connector 57, and is ejected from the nozzles 61 and 61, respectively. Wash.

[0164] If the second connector 62 is of an automatic control type, the first connection is made simultaneously with the stop of the turntable 19.

The second connecting devices 57 and 62 can be connected and the force can be released automatically just before the turntable 19 starts rotating.

[0165] Although FIGS. 8 (a) and 8 (b) describe the cleaning, the drying process can be performed by sending dry air instead of the cleaning water. In this case, by setting the pressure of the dry air to 1 to 5 MPa, it is possible to blow away water and improve the drying efficiency.

[0166] While the preferred embodiments and examples of the present invention have been described with reference to the accompanying drawings, the present invention is not limited thereto, but within the technical scope grasped from the description of the claims. It can be changed into various forms.

Brief Description of Drawings

FIG. 1 is a block diagram for explaining a process of cutting, cleaning and drying a workpiece by the method of the present invention.

[FIG. 2] (a) A perspective view illustrating a state in which a workpiece is cut by the method of the present invention to form a hole in the workpiece. (B) A workpiece is cut by the method of the present invention to form a hole in the workpiece. FIG. 4 is a cross-sectional view with a part omitted to explain the state to be performed, and (c) a cross-sectional view with a part omitted to explain the state in which cleaning is started for a workpiece cut by the method of the present invention to form holes. .

FIG. 3 is a perspective view in which a part of a state where cleaning is started for a work cut by the method of the present invention to start cleaning is omitted.

FIG. 4 is a perspective view with a part omitted illustrating another state in which cleaning is started for a workpiece cut by the method of the present invention to form a hole.

[FIG. 5] (a) and (b) are diagrams for explaining the angle formed between the surface to be cleaned of the workpiece and the cleaning nozzle in the direction of force and the direction of the cleaning in the method of the present invention. (C) In the method of the present invention, the side for explaining a mode in which a large number of nozzles are arranged in parallel and cleaned extensively when performing cleaning. FIG. 6D is a perspective view in which part of FIG. 5C is omitted.

FIG. 6 is a conceptual diagram illustrating a state in which the workpiece is sequentially moved to the machining position by the turntable in the present invention.

(7) (a) An explanatory diagram with a part omitted from the A—A arrow in FIG. 6, and (b) an explanatory diagram with a part omitted from the BB arrow in FIG.

8) (a) A drawing omitting a part of the mechanism for cleaning the upper side of the workpiece of the cleaning device in this invention, (b) Part of the mechanism for cleaning the lower side of the workpiece of the cleaning device in this invention. The figure which omitted.

Explanation of symbols

1 work

lb Back side of workpiece

2 Cutting device

3 Cutting robot

4 Control device

5 Cleaning robot

5a Drying robot

6 Jet nozzle

8 Square hole

10 Cutting waste

12 Flush nozzle

13 Dry air nozzle

14 Robot arm

16 Dry air hose

18 sensors

19 Turn tape

20 Jig for fixing workpiece

21 Detachment process position

22 Cutting process position Cleaning process position Drying process position

Claims

The scope of the claims

[1] In a method in which a workpiece is cut with high-pressure water by a cutting robot, cutting waste adhering to the workpiece is washed with a washing robot, and then the workpiece is dried with a drying robot.

The work cutting / cleaning / drying method characterized in that the step of cutting the work with high-pressure water is performed by a cutting robot controlled based on information relating to the cutting of the work input in advance.

[2] In the process of cleaning the workpiece, the part of the workpiece specified based on the information about the cutting of the workpiece inputted in advance is controlled based on the information about the cutting of the workpiece inputted in advance. 2. The method for cutting, cleaning and drying a workpiece according to claim 1, wherein the workpiece is cleaned by a cleaning robot.

[3] The information regarding the cutting of the workpiece input in advance includes information regarding a portion where cutting waste adheres to the workpiece in the step of cutting the workpiece with high-pressure water. 3. The workpiece cutting according to claim 2, wherein the part of the workpiece specified based on the information related to cutting corresponds to a portion where cutting waste adheres to the workpiece in the step of cutting the workpiece with high-pressure water. 'Wash' drying method.

[4] A sensor is attached to the cleaning robot used in the process of cleaning the workpiece. In the process of cutting the workpiece with high-pressure water, the sensor detects the site where the cutting waste has adhered to the workpiece. 2. The method for cutting, cleaning and drying a workpiece according to claim 1, wherein the part specified by the sensor is cleaned by the cleaning robot.

[5] Based on the information on the workpiece cutting performed by the cutting robot, the part where cutting waste adheres to the workpiece in the cutting of the workpiece performed by the cutting mouth bot is identified, and based on this, it is used for cleaning. 2. The work cutting / cleaning / drying method according to claim 1, wherein the robot is controlled to clean the identified part with a cleaning mouth bot.

[6] A sensor is attached to the cleaning robot used in the step of cleaning the workpiece, and the workpiece is cut in the step of cutting the workpiece with high-pressure water, which is included in the information regarding the cutting of the workpiece input in advance. Based on information on the part where cutting waste adheres to 2. The work part according to claim 1, wherein a step of detecting a part of the work specified by the sensor and the vicinity of the part by the sensor and cleaning the part specified by the sensor by the cleaning robot is performed. Cutting / cleaning / drying method.

[7] A sensor is attached to the cleaning robot used in the process of cleaning the workpiece. The sensor is attached by the cutting robot specified based on the information related to the cutting of the workpiece performed by the cutting robot. In the cutting of a workpiece, a step in which cutting waste adheres to the workpiece and the vicinity of the portion are detected by the sensor, and the portion specified by the sensor is cleaned by the cleaning robot. The work cutting / cleaning / drying method according to claim 1.

[8] In the process of drying the workpiece, the part of the workpiece specified based on the information about the cutting of the workpiece inputted in advance is controlled based on the information about the cutting of the workpiece inputted in advance. The workpiece cutting, cleaning, and drying method according to any one of claims 1 to 7, wherein the workpiece is dried by a drying robot.

[9] In a device that cuts, cleans and dries while moving the workpiece sequentially! /

A cutting device that cuts the workpiece with high-pressure water, a cleaning device that rinses cutting waste adhering to the workpiece with water, and a drying device that dries the workpiece after cleaning are installed.

The workpiece is sequentially transferred to the position where the cutting device, cleaning device and drying device are installed!

A workpiece cutting / cleaning / drying device comprising a control device for controlling each operation of the workpiece moving device, cutting device, cleaning device, and drying device.

[10] The control of the cutting device by the control device is to cause the cutting device to cut the part based on information relating to the cutting of the work including information specifying the part to be cut of the work. 10. The workpiece cutting / cleaning / drying apparatus according to claim 9 characterized by the above-mentioned.

[11] The control of the cleaning device by the control device causes the cleaning device to clean the part based on information related to cutting the work including information specifying the part of the work to be cleaned by the cleaning device. 11. The work cutting / cleaning / drying apparatus according to claim 9 or 10, wherein:

12. The information on the cutting of the workpiece includes information on a portion where cutting waste adheres to the workpiece in the step of cutting the workpiece with high-pressure water by the cutting device. Cutting of workpieces · Cleaning 'drying equipment.

[13] The information for specifying the part of the workpiece to be cleaned by the cleaning device is based on the information on the workpiece cutting performed by the cutting device! /, And in the cutting of the workpiece performed by the cutting device. 12. The workpiece cutting / cleaning / drying device according to claim 11, wherein a portion where cutting waste adheres to the workpiece is specified.

[14] The control of the cleaning device by the control device is performed by specifying a part of a workpiece to be cleaned by the cleaning device using a sensor attached to the cleaning device, and specifying the part specified by the sensor in the cleaning device. 10. The workpiece cutting / cleaning / drying device according to claim 9, wherein the device is a device for cleaning.

[15] The control of the cleaning device by the control device is a part in which cutting waste adheres to the workpiece in the process of cutting the workpiece with high-pressure water by the cutting device using a sensor attached to the cleaning device. 10. The workpiece cutting / cleaning / drying apparatus according to claim 9, wherein a part detected by the sensor is cleaned by the cleaning apparatus.

[16] The control of the cleaning device by the control device is specified based on the information on the part where the cutting waste adheres to the workpiece in the step of cutting the workpiece with high-pressure water, which is included in the information on the cutting of the workpiece. 10. The part of the workpiece and the vicinity of the part are detected by a sensor attached to the cleaning device, and the part specified by the sensor is cleaned by the cleaning device. Cutting / cleaning * drying equipment for the described workpiece.

[17] The control of the cleaning device by the control device is such that cutting waste adheres to the work in the work cutting performed by the cutting device specified based on the information related to the work cutting performed by the cutting device. The workpiece cutting apparatus according to claim 9, wherein the part and the vicinity of the part are detected by a sensor attached to the cleaning device, and the cleaning device cleans the part specified by the sensor. Washing and drying equipment.

[18] A cleaning device for washing cutting waste adhering to a workpiece is provided with a nozzle that sprays water onto the surface to be cleaned of the workpiece, and the center line of the nozzle has an acute angle with respect to the surface to be cleaned. 18. The nozzle according to claim 9, wherein the nozzle sprays water onto the surface to be cleaned, and the nozzle advances and cleans the nozzle in the opposite direction by the spray. Cutting / cleaning / drying of workpieces as described in one item.

[19] The drying apparatus includes a nozzle that injects dry air onto a surface to be dried of a workpiece, and a center line of the nozzle forms an acute angle with respect to the surface to be dried. Item 9. The workpiece cutting, cleaning, and drying device according to any one of Items 9 to 18.