WO2008075571A1 - Method and device for cutting, cleaning, and drying workpiece - Google Patents
Method and device for cutting, cleaning, and drying workpiece Download PDFInfo
- Publication number
- WO2008075571A1 WO2008075571A1 PCT/JP2007/073653 JP2007073653W WO2008075571A1 WO 2008075571 A1 WO2008075571 A1 WO 2008075571A1 JP 2007073653 W JP2007073653 W JP 2007073653W WO 2008075571 A1 WO2008075571 A1 WO 2008075571A1
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- WO
- WIPO (PCT)
- Prior art keywords
- cutting
- workpiece
- cleaning
- drying
- robot
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45036—Waterjet cutting
Definitions
- 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.
- Patent Document 1 JP-A-8-318237
- Patent Document 2 JP 2003-100688
- 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.
- 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.
- the attachment position of the cutting waste was the opposite radiation surface that slid by the projection surface of the high-pressure water.
- the cutting dust adhered to one place on the surface on the radiation side and scattered little.
- 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.
- 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.
- 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.
- the same washing and drying can be completed in the shortest time with the least amount of water.
- the workpiece cutting / cleaning / drying method and apparatus proposed by the present invention for achieving the above object are as follows.
- 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.
- 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)
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- control based on the information acquired by the sensor can be overlapped with the control based on the previously given information.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- an information mark is previously attached to the workpiece 1 to be cut, and this is cut into the cutting robot.
- the workpiece 1 can be accurately cut based on the information input in advance or the information acquired by the sensor. Can do.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
- the workpiece 1 can be accurately cleaned based on information input in advance or information acquired by the sensor. Can do.
- 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.
- 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).
- 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.
- 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.
- the cleaning time can also be controlled by detecting with a sensor attached to the cleaning robot 5.
- Drying at the drying position is performed by the drying robot 5a.
- 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.
- 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.
- 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.
- an information mark is previously attached to the workpiece 1 to be cut, and this is attached to the drying robot.
- the controller 4 or the robot controller controls the drying robot 5a and the nozzle of the drying air based on the information acquired from the information mark. You can also.
- the work 1 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.
- 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.
- the drying time can also be controlled by detection with a sensor attached to the drying robot 5a.
- 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.
- 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.
- 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.
- 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.
- 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.
- the holding posture of the workpiece 1 can be determined in advance.
- a simple robot holder jig
- 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.
- high-pressure water for example, 3000 kg / cm 2 of high-pressure water can be used.
- 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.
- 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.
- 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.
- 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.
- a cleaning / drying robot that also serves as a drying robot is employed. Thereby, cleaning and drying are performed at the same position.
- 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.
- 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.
- the cleaning process is continued for a predetermined time (for example, 1 to 5 minutes) determined based on the information described above.
- 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.
- dry air For example, dry air having a temperature of 50 ° C to 70 ° C and a humidity of 10% can be used.
- 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.
- 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.
- 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.
- 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.
- 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.
- control is performed based on the information obtained from the information sticker.
- 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.
- 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.
- 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.
- the force S can be used to clean and remove dirt other than cutting waste.
- 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.
- washing water hose 15 and the dry air hose 16 are separate and in parallel (Fig. 3).
- FIG. 5 (a) shows the surface to be cleaned la of the workpiece 1 and the angle ⁇ 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.
- 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.
- reference numeral 34 denotes a hose.
- 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.
- 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.
- the cutting process position 22 is provided with a cutting robot or a cutting device for cutting with high-pressure water.
- the drying process position 24 is provided with a drying robot or a drying apparatus for performing a drying operation.
- 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
- 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.
- the work 1 is set on the jig 20 by the hand leak rain 38.
- 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.
- a control device for example, a computer
- the workpiece 1 set on the jig 20 is cut.
- the cutting process is automatically performed by the ultra-high pressure water sent by starting the ultra-high pressure pump 39.
- ultra-high pressure water for example, 350 MPa ultra-high pressure water is used.
- the turntable rotates 90 degrees in the direction of arrow 35.
- the turntable 19 rotates 90 degrees in the direction of arrow 35.
- the work 1 is dried by blowing dry air from the blower 41.
- 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.
- the machined workpiece 1 is removed and a new workpiece to be machined is attached.
- 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.
- 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. .
- 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.
- 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).
- 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 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.
- cleaning is performed by blowing cleaning water
- drying is performed by blowing dry air.
- Equipment having the same structure can be used for the washing process and the drying process.
- 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.
- 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.
- 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.
- 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.
- FIGS. 8 (a) and 8 (b) describe the cleaning
- the drying process can be performed by sending dry air instead of the cleaning water.
- the pressure of the dry air to 1 to 5 MPa, it is possible to blow away water and improve the drying efficiency.
- 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.
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- Forests & Forestry (AREA)
- Engineering & Computer Science (AREA)
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- Cleaning By Liquid Or Steam (AREA)
- Details Of Cutting Devices (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
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
明 細 書 Specification
ワークの切断 ·洗浄 ·乾燥方法及び装置 Work cutting · Cleaning · Drying methods and equipment
技術分野 Technical field
[0001] この発明は、合成樹脂材、繊維製材など力 なるワークを高圧水で切断し、当該高 圧水の切断によって生じた切断屑を洗浄除去し、次いで乾燥することに適したワーク の切断 ·洗浄 ·乾燥方法及び装置に関する。 [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.
背景技術 Background art
[0002] 従来、高圧水で合成樹脂材、繊維製材などからなるワークを切断した場合、ワーク に付着した切断屑を除去する為に、ワーク全体を各方向から投射する洗浄水で洗浄 するのが普通であった。 [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] また、ワークの全体を洗浄し、洗浄不十分な部分を光学的に検出して、検出した部 分のみを更に洗浄する方法の提案がある。 [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] 更に、ワークにおける異物の検査結果に基づいて洗浄条件を制御する技術も提案 されている。 [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] このような洗浄の場合、ワーク全体を洗浄し、全体を乾燥するのが最も普通であつ た。 [0005] In such cleaning, it is most common to clean the entire workpiece and dry the entire workpiece.
特許文献 1 :特開平 8— 318237 Patent Document 1: JP-A-8-318237
特許文献 2:特開 2003— 100688 Patent Document 2: JP 2003-100688
発明の開示 Disclosure of the invention
発明が解決しょうとする課題 Problems to be solved by the invention
[0006] 従来一般に行われているワークの切断、洗浄、乾燥は、切断したワークを洗浄槽に 移動して、ワーク全体を水中に沈めて洗浄し、又は全体を包むように水を放射させて 洗净していた。 [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] 従って多量の洗浄水が必要になるのみならず、洗浄時間の長時間化と、乾燥の長 時間化は免れなかった。 [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] 例えば、大型のワークについては数十リットルの水と数十分の乾燥時間を要するこ とも希ではな!/、と!/、う問題点があった。
[0009] そこでこの発明は、合成樹脂材、繊維製材などからなるワークを、高圧水で切断し、 当該高圧水の切断によって生じた切断屑を洗浄除去し、次いで乾燥するワークの切 断 ·洗浄 ·乾燥方法及び装置において、洗浄効率、乾燥効率を向上させ、洗浄に必 要な洗浄水を節減することを目的にしている。 [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.
課題を解決するための手段 Means for solving the problem
[0010] 前記事情に鑑み、合成樹脂材、繊維製材などからなるワークを高圧水で切断するメ 力二ズムを実験検討した所、例えば、合成樹脂板よりなるワークを高圧水で切断した 場合に、切断屑は切断部を若干離れた部分へ集中的に付着することが判明した。 [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] また、ワークの形状によっても大差がある力 ワークを高圧水で切断する場合、切断 屑の付着面積は、ワークの全表面積の 5%〜30%以下が多いことが判明した。更に 、ワークが立体形状であって、高圧水によって貫通切断した場合には、高圧水を投 射する側に切断屑の付着は殆どなぐ前記高圧水の投射側と反対側にあたる放射側 の面の一部に集中的に切断屑が付着することが認められた。また、 1つの切断部分 に対し、切断屑が付着する部分は 1箇所に集中することが認められた。 [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] 切断部分と、切断屑の付着位置及び付着状態は、ワークの材質、形状、水圧の大 小、高圧水の方向、切断部分の形状などにより千差万別である。しかし、切断屑の付 着位置は、高圧水の投射面でなぐその反対の放射面であることが認められた。また 、放射側の面の一箇所へ集中的に切断屑が付着し、広く散乱することが少ないこと が認められた。 [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] 更に、ワークの材質、形状、水圧の大小、高圧水の方向、切断部分の形状といった 切断条件が一致する場合には、切断屑の付着面と位置、付着状態もほぼ一致するこ とが認められ、かつ付着面積もほぼ同一であることが認められた。 [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] 更にワークの形状によっては、予め切断部位と、洗浄部位が特定されるので、これ を切断ロボット、洗浄ロボットに予め記憶させることにより、自動的に、かつ効率よく切 断-洗浄の全自動化ができることが判明した。 [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] そこで、同一形状、同一材質のワークを同一高圧水で切断する場合には、切断位 置、切断形状、大きさなどのワークの切断に関する情報を用いることによって、ワーク の洗浄位置と洗浄すべき面積を正確に予測することに成功した。
[0016] 前記知見に基づき、同一のワークについては、最初の洗浄条件を設定すれば、そ のまま同一条件で洗浄、乾燥すること力 Sできる。 [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] またワークが変わる場合には、その都度、洗浄を行う洗浄装置、洗浄ロボット、ある いはこれらの制御装置に切断に関する情報を入力するのみで、正確に洗浄位置を 特定することに成功したのである。 [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] 前記洗浄装置、洗浄ロボット、あるいは制御装置には、ワークの材質、高圧水の圧 力変化などによる付着部及びその面積に関するデータを予め入力しておく。 [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] 従って、ワークの材質、形状その他の条件が変わる時には、これに対応するように 洗浄装置、洗浄ロボット、あるいは制御装置の条件を設定し、爾後は切断条件のみ の変化に対応して洗浄部分及び面積を自動設定することにより、最少の水量で、最 短時間に同一洗浄、乾燥を完了させることができる。 [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.
[0020] すなわち、前記目的を達成するためのこの発明が提案するワークの切断 ·洗浄-乾 燥方法及び装置は以下の通りのものである。 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)ワークを切断用ロボットにより高圧水で切断した後、ワークに付着した切断屑を洗 浄用ロボットによって洗浄し、ついで乾燥用ロボットによってワークを乾燥する方法に おいて、ワークを高圧水で切断する工程は、予め入力されている当該ワークの切断 に関する情報に基づいて制御される切断用ロボットによって行われることを特徴とし たワークの切断 '洗浄'乾燥方法。 [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)前記(1 )において、ワークを洗浄する工程は、予め入力されている当該ワークの 切断に関する情報に基づいて特定される当該ワークの部位を、当該予め入力されて いる当該ワークの切断に関する情報に基づいて制御される洗浄用ロボットによって洗 浄することを特徴とするワークの切断 ·洗浄'乾燥方法。 [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)前記(2)にお!/、て、前記予め入力されて!/、るワークの切断に関する情報には、ヮ ークを高圧水で切断する工程において当該ワークに切断屑が付着する部位に関す る情報が含まれ、前記予め入力されてレ、るワークの切断に関する情報に基づ!/、て特 定されるワークの部位は、当該ワークを高圧水で切断する工程において当該ワーク に切断屑が付着する部位に該当することを特徴とするワークの切断 ·洗浄 ·乾燥方法
[0024] (4)前記(1)において、ワークを洗浄する工程に用いられる洗浄用ロボットにセンサ 一が付設されており、ワークを高圧水で切断する工程において当該ワークに切断屑 が付着した部位を前記センサーによって検知し、当該センサーによって特定された 部位を前記洗浄用ロボットによって洗浄することを特徴とするワークの切断 ·洗浄-乾 燥方法。 [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)前記(1)において、切断用ロボットによって行われたワークの切断に関する情報 に基づいて、切断用ロボットによって行われたワークの切断において当該ワークに切 断屑が付着する部位を特定し、これに基づいて洗浄用ロボットを制御し、当該特定さ れた部位を洗浄用ロボットで洗浄することを特徴としたワークの切断 ·洗浄 ·乾燥方法 [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)前記(1)において、ワークを洗浄する工程に用いられる洗浄用ロボットにセンサ 一が付設されており、前記予め入力されているワークの切断に関する情報に含まれ ている、ワークを高圧水で切断する工程において当該ワークに切断屑が付着する部 位に関する情報に基づいて特定されたワークの部位及び当該部位の近傍を前記セ ンサ一によつて検知し、当該センサーによって特定した部位を前記洗浄用ロボットに よって洗浄する工程が行われることを特徴とするワークの切断 '洗浄'乾燥方法。 [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)前記(1)において、ワークを洗浄する工程に用いられる洗浄用ロボットにセンサ 一が付設されており、前記切断用ロボットによって行われたワークの切断に関する情 報に基づいて特定された、前記切断用ロボットによって行われたワークの切断におい て当該ワークに切断屑が付着する部位及び当該部位の近傍を前記センサーによつ て検知し、当該センサーによって特定した部位を前記洗浄用ロボットによって洗浄す る工程が行われることを特徴とするワークの切断 ·洗浄 ·乾燥方法。 [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)前記(1)〜(7)のいずれかにおいて、ワークを乾燥する工程は、予め入力されて いる当該ワークの切断に関する情報に基づいて特定された当該ワークの部位を、当 該予め入力されている当該ワークの切断に関する情報に基づいて制御される乾燥用 ロボットによって乾燥するものであることを特徴としたワークの切断 ·洗浄 ·乾燥方法。 [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)ワークを順次移動させつつ切断、洗浄、乾燥を行う装置において、ワークを高圧 水で切断する切断装置、ワークに付着した切断屑を水洗する洗浄装置、洗浄後のヮ
ークを乾燥させる乾燥装置が配備され、ワークを前記切断装置、洗浄装置、乾燥装 置が配備されて!/、る位置に順次移送して!/、くワーク移動装置を備えて!/、ると共に、前 記ワーク移動装置、切断装置、洗浄装置、乾燥装置の各動作を制御する制御装置 を備えていることを特徴とするワークの切断 ·洗浄 ·乾燥装置。 [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)前記(9)において、前記制御装置による切断装置の制御は、前記ワークの切断 する部位を特定する情報を含む前記ワークの切断に関する情報に基づいて前記切 断装置に当該部位を切断させるものであることを特徴とするワークの切断 ·洗浄-乾 燥装置。 [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)前記(9)又(10)において、前記制御装置による洗浄装置の制御は、前記洗浄 装置によって洗浄するワークの部位を特定する情報を含む当該ワークの切断に関す る情報に基づいて前記洗浄装置に当該部位を洗浄させるものであることを特徴とす るワークの切断 '洗浄'乾燥装置。 [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)前記(11)において、前記ワークの切断に関する情報には、前記切断装置でヮ ークを高圧水にて切断する工程において当該ワークに切断屑が付着する部分に関 する情報が含まれることを特徴とするワークの切断 ·洗浄 ·乾燥装置。 [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)前記(11)において、前記洗浄装置によって洗浄するワークの部位を特定する 情報は、前記切断装置によって行われたワークの切断に関する情報に基づいて、切 断装置によって行われたワークの切断において当該ワークに切断屑が付着する部分 を特定したものであることを特徴とするワークの切断 ·洗浄 ·乾燥装置。 [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.
[0034] (14)前記(9)にお!/、て、前記制御装置による洗浄装置の制御は、洗浄装置に付設 されているセンサーにより、前記洗浄装置によって洗浄するワークの部位を特定し、 当該センサーによって特定した部位を前記洗浄装置に洗浄させるものであることを特 徴とするワークの切断 '洗浄'乾燥装置。 (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)前記(9)において、前記制御装置による洗浄装置の制御は、洗浄装置に付設 されているセンサーにより、前記切断装置でワークを高圧水にて切断する工程にお V、て当該ワークに切断屑が付着して!/、る部分を検知し、当該センサーによって検知 した部分を前記洗浄装置に洗浄させるものであることを特徴とするワークの切断-洗 浄-乾燥装置。
[0036] (16)前記(9)において、前記制御装置による洗浄装置の制御は、前記ワークの切断 に関する情報に含まれている、ワークを高圧水で切断する工程において当該ワーク に切断屑が付着する部位に関する情報に基づいて特定されたワークの部位及び当 該部位の近傍を前記洗浄装置に付設されているセンサーによって検知し、当該セン サ一によつて特定した部位を前記洗浄装置に洗浄させるものであることを特徴とする ワークの切断 ·洗浄 ·乾燥装置。 [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)前記(9)において、前記制御装置による洗浄装置の制御は、前記切断装置に よって行われたワークの切断に関する情報に基づいて特定された前記切断装置によ つて行われたワークの切断において当該ワークに切断屑が付着する部分及び当該 部分の近傍を洗浄装置に付設されているセンサーによって検知し、当該センサーに よって特定した部位を前記洗浄装置に洗浄させるものであることを特徴とするワーク の切断 ·洗浄 ·乾燥装置。 [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)前記(9)〜(; 17)のいずれかにおいて、ワークに付着した切断屑を水洗する洗 浄装置はワークの被洗浄面に対して水を噴射するノズルを備えており、当該ノズルの 中心線は、前記被洗浄面に対して鋭角をなし、当該ノズルが前記被洗浄面に対して 水を噴射しつつ、当該噴射により水が向力、う方向にノズルが前進して洗浄することを 特徴としたワークの切断 ·洗浄 ·乾燥装置。 [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)前記(9)〜(; 18)のいずれかにおいて、前記乾燥装置はワークの被乾燥面に対 して乾燥空気を噴射するノズルを備えており、当該ノズルの中心線は、前記被乾燥 面に対して鋭角をなすことを特徴としたワークの切断 ·洗浄 ·乾燥装置。 [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] この発明によれば、ワークを切断用ロボットにより高圧水で切断した後、ワークに付 着した切断屑を洗浄用ロボットによって洗浄し、ついで乾燥用ロボットによってワーク を乾燥するべぐ切断ロボット、洗浄ロボット、乾燥ロボットが順に配備される。あるい は、切断ロボットと、乾燥ロボットを兼用する洗浄ロボットとが順に配備される。そして、 これらのロボットを制御する制御装置、あるいはこれらのロボットの制御部に、ワークの 切断に関する情報が記憶されている。この予め格納されている情報に基づいて、ヮ ークの切断、洗浄、乾燥が行われる。 [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] 前記のワークの切断に関する情報の中には、ワークの形状、材質、高圧水で切断
する際の水圧、被切断面に対する高圧水の噴射角度などに関する情報が含まれる。 [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.
[0042] これらの情報に基づき、前記のロボットを制御する制御装置、あるいは前記のロボッ トの制御部は、切断ロボット、洗浄ロボット、乾燥ロボットによる切断、洗浄、乾燥工程 を制御する。 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] また、洗浄ロボットあるいは、乾燥ロボットを兼用する洗浄ロボットにセンサーが付属 されていて、当該センサーで検知した部位を洗浄、乾燥すること力 Sできる。 [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.
[0044] あるいは、ワークに予め貼り付け、等されている情報をセンサーで検知することによ り、切断ロボット、洗浄ロボット、乾燥ロボットによる切断、洗浄、乾燥工程を制御する ことあでさる。 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] また、前述した予め与えられている情報による制御に、センサーによって取得した 情報に基づく制御を重複することもできる。 [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] 本発明においては、高圧水でワークを切断した際、切断屑が当該ワークに付着す る位置は正確に特定されて!/、る。 [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] 同一形状、同一材質のワークを同一高圧水で切断する場合には、切断位置、切断 形状、大きさなどのワークの切断に関する情報を用いることによって、切断屑が当該 ワークに付着する位置、付着状態を正確に予測できるからである。 [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] そこで、洗浄ロボットあるいは、乾燥ロボットを兼用する洗浄ロボットによる洗浄を精 度もよく行うこと力できる。すなわち、高圧水での切断工程を経たワークの全体を洗浄 する必要がなぐ必要な部分のみを洗浄すればよくなる。そこで、乾燥効率も良好に なる。これによつて、最少の洗浄水で短時間に洗浄し、効率よく乾燥することができる [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.
〇 Yes
[0049] 本発明の方法と装置によれば、ワーク全体を洗浄する場合の洗浄水量の 10%〜3 0%で十分目的を達成することができる。また洗浄部位の面積が少ないことにより、乾 燥面積も少なくなるので、乾燥時間も、ワーク全体を乾燥するのに要する時間の 10 %〜50 %で十分目的を達成することができる。 [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.
発明の効果 The invention's effect
[0050] この発明によれば、合成樹脂材、繊維製材などからなるワークを、高圧水で切断し 、当該高圧水の切断によって生じた切断屑を洗浄除去し、次いで乾燥するワークの
切断 '洗浄'乾燥方法及び装置において、切断屑の付着部位のみを洗浄することに より、洗浄効率を向上することは勿論、乾燥効率も著しく向上させること力できる。 [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] また、洗浄に必要な洗浄水を著しく節減することができる。更に、洗浄工程におい て濡れる部分を減少することにより、乾燥効率を向上させることができる。 [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] また、洗浄ロボットと乾燥ロボットとを併用する、等によってワークの洗浄と乾燥を同 一の位置で行うようにすれば、ワークを大きく移動させる必要がなくなり、作業性を向 上できる。 [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.
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
[0053] 以下、添付図面を参照し、本発明の最良の実施形態をいくつかの実施例について 説明する。 [0053] The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.
実施例 1 Example 1
[0054] 図 1のブロック図に示すように、ワーク 1をコンベア(図示してない)その他により切断 装置 2が配置されている位置に運び込み、治具(図示していない)に固定する。ヮー ク 1としては、合成樹脂製品や、繊維製品などがある。 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] 次いで、切断ロボット 3のロボットアームに固定した高圧水ノズルを、ワーク 1の切断 部分に対向させ、高圧水(例えば 3000kg/cm2)をワーク 1に投射して、切断を行う [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] 切断ロボット 3、高圧水ノズルによる切断は、予め制御装置 4、あるいはロボットの制 御部(不図示)に格納されている、切断対象のワーク 1の切断に関する情報に基づい て自動的に制御されて行われる。 [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] 前記の切断対象のワーク 1の切断に関する情報には、例えば、予め定めた切断位 置及び順序などの情報が含まれる。 [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] また、切断対象のワーク 1に、予め、情報マークを付着しておき、これを切断ロボット[0058] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is cut into the cutting robot.
3に付属させておくセンサーで読み取って、制御装置 4、あるいはロボットの制御部( 不図示)が前記情報マークから取得した情報に基づいて切断ロボット 3、高圧水ノズ ノレを制卸するようにすることもできる。 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] これにより、ワーク 1の形状又は切断部位が個別的に異なる場合であっても、あらか じめ入力されている情報や、センサーで取得した情報に基づき、的確に切断すること
ができる。 [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] 切断ロボット 3のロボットアームを動かして高圧水ノズルを切断位置に沿って移動さ せることにより、切断作業が進行し、切断を終了させることができる。 [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] 切断が終了したならば、移動手段により、ワーク 1を洗浄位置に移動させる。 [0061] When the cutting is completed, the work 1 is moved to the cleaning position by the moving means.
[0062] 洗浄位置における洗浄は、洗浄ロボット 5により行われる。 [0062] Cleaning at the cleaning position is performed by the cleaning robot 5.
[0063] 洗浄ロボット 5のロボットアームに固定した洗浄ノズルを、ワーク 1の洗浄部分に対向 させ、洗浄水をワーク 1に噴射して、洗浄を行う。 [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] 洗浄ロボット 5、洗浄ノズルによる洗浄は、予め制御装置 4、あるいはロボットの制御 部(不図示)に格納されている、切断対象のワーク 1の切断に関する情報に基づいて 特定されるワーク 1の部位を、前記予め格納されているワーク 1の切断に関する情報 に基づいて制御されて自動的に行われる。 [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] 例えば、予め格納されているワークの切断に関する情報には、ワーク 1を切断ロボッ ト 3で切断する工程においてワーク 1に切断屑が付着する部位に関する情報が含ま れている。そして、この情報に基づいて、ワーク 1に切断屑が付着している部分を部 位し、そこを洗浄する [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.
また、洗浄ロボット 5にセンサー(不図示)が付設されていて、ワーク 1を切断ロボット 3で切断する工程においてワーク 1に切断屑が付着した部位をセンサーによって検 知し、当該センサーによって特定された部位を洗浄することもできる。 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] 更に、切断用ロボット 3によって行われたワーク 1の切断に関する情報に基づいて、 切断用ロボット 3によって行われたワーク 1の切断においてワーク 1に切断屑が付着 する部位を特定し、これに基づいて当該部位を洗浄用ロボット 5で洗浄することもでき [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] 更に、切断対象のワーク 1に、予め、情報マークを付着しておき、これを洗浄ロボット [0067] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is used as a cleaning robot.
5に付属させておくセンサーで読み取って、制御装置 4、あるいはロボットの制御部( 不図示)が前記情報マークから取得した情報に基づいて洗浄ロボット 5、洗浄ノズル を制卸するようにすることもできる。 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] これにより、ワーク 1の形状又は洗浄部位が個別的に異なる場合であっても、あらか じめ入力されている情報や、センサーで取得した情報に基づき、的確に洗浄すること
ができる。 [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] また、予め制御装置 4、あるいはロボットの制御部(不図示)に格納されている、切断 対象のワーク 1の切断に関する情報に基づく洗浄ロボット 5、洗浄ノズルの制御と、前 記センサーで取得した情報に基づく制御とを重畳させることもできる。 [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] 以上のようにして、必要箇所を過不足なく洗浄するので効率よく洗浄することができ [0070] As described above, since the necessary portions are cleaned without excess or deficiency, the cleaning can be efficiently performed.
[0071] 予め制御装置 4、あるいはロボットの制御部(不図示)に格納されている、切断対象 のワーク 1の切断に関する情報には、被洗浄面に対する洗浄ノズルの角度及び移動 速度、などを試行してみて、その最良条件 (水の圧力、洗浄ノズルの角度と速度)に 関する情報が含まれている。 [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] 洗浄は切屑を洗除することを目的として!/、る。そこで、被洗浄面に対して洗浄ノズル が向力、う角度は鋭角にし、あた力、も紙を剥がすように、洗浄ノズルから噴射される洗 浄水が前進する方向に洗浄ノズルを前進させるのが良いとされる。 [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] このように、切断部位の情報を把握していることにより、より正確にかつ効率よく洗浄 をすること力 Sでさる。 [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] 所定の時間、前記のようにして洗浄を行ったならば、移動手段により、ワーク 1を乾 燥位置に移動させる。 [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] 前記の洗浄を行う所定の時間は、予め行った実験などにより、ワークの形状、切断 箇所の大きさ、ワークの材質、切断屑の量、付着状態などに応じて、前記の予め入力 されてレ、る情報で定められてレ、る。 [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] 洗浄ロボット 5に付帯されているセンサーで検知して洗浄時間を制御することもでき [0076] The cleaning time can also be controlled by detecting with a sensor attached to the cleaning robot 5.
[0077] 乾燥位置における乾燥は、乾燥ロボット 5aにより行われる。 [0077] Drying at the drying position is performed by the drying robot 5a.
[0078] 乾燥ロボット 5aのロボットアームに固定した乾燥空気のノズルを、ワーク 1の乾燥さ せる部分に対向させ、乾燥空気を吹き出して乾燥する。 [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] 乾燥ロボット 5a、乾燥空気のノズルによる乾燥は、予め制御装置 4、あるいはロボッ トの制御部(不図示)に格納されている、ワーク 1の切断に関する情報に基づいて自 動的に制御されて行われる。
[0080] また、乾燥ロボット 5aにセンサー(不図示)が付設されていて、ワーク 1を洗浄ロボッ ト 5で洗浄した工程の結果、ワーク 1の塗れている部位をセンサーによって検知し、当 該センサーによって特定された部位を乾燥することもできる。 [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] 更に、切断対象のワーク 1に、予め、情報マークを付着しておき、これを乾燥ロボット[0081] Further, an information mark is previously attached to the workpiece 1 to be cut, and this is attached to the drying robot.
5aに付属させておくセンサーで読み取って、制御装置 4、あるいはロボットの制御部( 不図示)が前記情報マークから取得した情報に基づいて乾燥ロボット 5a、乾燥空気 のノズルを制御するようにすることもできる。 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] これにより、ワーク 1の形状又は乾燥部位が個別的に異なる場合であっても、あらか じめ入力されている情報や、センサーで取得した情報に基づき、的確に乾燥すること ができる。 [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] また、予め制御装置 4、あるいはロボットの制御部(不図示)に格納されている、切断 対象のワーク 1の切断に関する情報に基づく乾燥ロボット 5a、乾燥空気のノズルの制 御と、前記センサーで取得した情報に基づく制御とを重畳させることもできる。 [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] 以上のようにして、必要箇所を過不足なく乾燥するので効率よく乾燥することができ [0084] As described above, since necessary portions are dried without excess or deficiency, it can be efficiently dried.
[0085] 所定の時間、前記のようにして、乾燥を行ったならば、移動手段により、ワーク 1を加 ェ済みワーク 7が置かれる位置に移動する。 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] 前記の乾燥を行う所定の時間は、予め行った実験などにより、ワークの形状、切断 箇所の大きさ、ワークの材質、切屑の量、付着状態などに応じて、前記の予め入力さ れてレ、る情報で定められてレ、る。 [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] 乾燥ロボット 5aに付帯されているセンサーで検知して乾燥時間を制御することもで きる。 [0087] The drying time can also be controlled by detection with a sensor attached to the drying robot 5a.
[0088] 何れにしても乾燥ロボット 5aのロボットアーム及び、乾燥空気のノズルを適切に動作 させることにより、短時間で所望の乾燥度とすることができる。 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] 例えば、 50°C〜70°Cの湿度 10%以下の乾燥空気を 10kg/cm2程度の圧力で吹 き出し、ワーク表面の水分を飛ばすと共に、付着水分は蒸発させて除去する。 [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] 前記水分を飛ばすことによる乾燥は、蒸発乾燥よりも効率がよいので、圧力と、ノズ ルの方向(被乾燥面との角度)とは試験研究し、適切に定めておき、これを、予め制
御装置 4、あるいはロボットの制御部(不図示)に格納しておく。 [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] 以上説明した実施例では、洗浄と乾燥を、別々の位置にお!/、て、洗浄ロボット 5、乾 燥ロボット 5aで別々に行っていた。これを、同一の位置において乾燥ロボットの機能 を兼用する洗浄ロボットを用いて行なうこともできる。 [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.
[0092] この実施例におけるワーク 1の移動手段には、従来知られているターンテーブル又 はコンベアその他の移動手段を用いることができる。要は、切断、洗浄、乾燥時に、ヮ ークが予め定めた姿勢に保持されればよいのである。 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] このターンテーブル又はコンベアその他の移動手段による移動も、前述したワーク の切断に関する情報に基づいて制御装置が制御することによって行うことが出来る。 [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.
[0094] 前記において、ワーク 1の保持姿勢は予め定めておくことができる。また、ワークの 形状によっては切断し易い姿勢、洗浄し易い姿勢に変える為に、簡易なロボット保持 器 (治具)を使用することもできる。また、別のロボットノ、ンドで姿勢制御することもでき 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] 切断、洗浄用のロボットハンドに単純に運動させ、ワークを切断又は洗浄し易い姿 勢に保つ方が優れている場合もある。その選択は限定しない。またワーク支持その他 は公知の装置も使用できる。 [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.
実施例 2 Example 2
[0096] 図 2、図 3、図 4、図 5 (a)〜図 5 (d)を用いて説明する。 [0096] This will be described with reference to FIGS. 2, 3, 4, and 5 (a) to 5 (d).
[0097] 合成樹脂製 (例えばポリカーボネイト製)のワーク 1に、高圧水による切断によって方 形孔 8を形成する。高圧水としては、例えば、 3000kg/cm2の高圧水を使用できる。 [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] 穿孔部 laを形成する予定部へ切断ロボットのジェットノズル 6を近接し(図 2 (b) )、 ジェットノズル 6を移動して方形孔 8を設ける。 [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] 切断ロボットの制御は不図示の制御装置あるいは、切断ロボットに備えられている 制御部により行われる。不図示の制御装置としてはコンピュータなどが採用される。 切断ロボットに備えられている制御部としては、 CPU、 RAM, ROM、記憶部などか らなる制御部が採用される。いずれも、 CPU、 RAMなどが、所定のコンピュータプロ グラムの下に所定の処理動作を行なうものである。 [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] ジェットノズル 6から噴射された加圧水は、符号 9で示す矢印方向に飛散する。そし
て、切断屑 10は、ワーク 1の裏面 lbの、方形孔 8の下方面の近辺 11に付着する。 [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] ワーク 1の材質、形状、方形孔の大きさ、形状、ジェットノズル 6から噴射される加圧 水の水圧などのワークの切断に関する条件により、切断ロボットによって切断されたヮ ーク 1のどこに、いかなる形状、形態で切断屑 10が付着するかは、種々の条件の下 での実験により把握されて!/、る。 [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] そこで、ワーク 1の材質、形状、方形孔の大きさ、形状、ジェットノズル 6から噴射され る加圧水の水圧などの条件、これらの条件の下で切断ロボットによって切断されたヮ ーク 1のどこに、いかなる形状、形態で切断屑 10が付着するかに関する情報を不図 示の制御装置あるいは、洗浄ロボットに備えられている制御部に格納しておく。 [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] 切断対象になつているワーク 1の材質、形状、方形孔の大きさ、形状、ジェットノズル [0103] Workpiece 1 material to be cut, shape, square hole size, shape, jet nozzle
6から噴射される加圧水の水圧などの、ワーク 1の切断に関する条件を不図示の制御 装置あるいは、洗浄ロボットに備えられている制御部に入力する。 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] 図 2 (b)図示のように方形孔 8が形成されたワーク 1は、洗浄ロボットが配備されてい る洗浄位置に移送されてくる。 [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.
[0105] 図 3図示の実施形態では、乾燥ロボットを兼ねている洗浄 ·乾燥ロボットが採用され ている。これにより、同一の位置で、洗浄と乾燥が行われる。 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] 洗浄 ·乾燥ロボットが、図 3図示のようにそのロボットアーム 14で保持している水洗ノ ズル 12の先端を、図 2 (c)図示のように、切断屑 11の付着部近辺に向ける。そして、 洗浄水のホース 15を介して導入された洗浄水を加圧しつつ放射して洗浄する。 [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] この洗浄工程は、不図示の制御装置あるいは、洗浄 ·乾燥ロボットに備えられてい る制御部に入力されていた前述した情報に基づき、不図示の制御装置あるいは、洗 浄'乾燥ロボットに備えられて!/、る制御部が洗浄 ·乾燥ロボットを制御することによって 行われる。 [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] 洗浄工程は、前述した情報に基づき定められる所定の時間(例えば 1分〜 5分)続 fiされる。 [0108] The cleaning process is continued for a predetermined time (for example, 1 to 5 minutes) determined based on the information described above.
[0109] 洗浄終了後は、高圧水の放射を中止し、ロボットアーム 14で保持している乾燥空気 のノズル 13を洗浄して濡れた部分の近辺に向ける。そして、乾燥空気のホース 16を 介して導入されてきた乾燥空気を乾燥すべき部位に向けて吹き出す。乾燥空気とし
ては、例えば、 50°C〜70°C、湿度 10%の乾燥空気を使用できる。 [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] これにより、洗浄、乾燥すべき部位が合理的に制約され、少水量、短時間で水洗し 、少空気、短時間で乾燥することが可能となった。 [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] この乾燥空気の噴出しによる乾燥工程の制御も、不図示の制御装置あるいは、洗 浄-乾燥ロボットに備えられている制御部に入力されていた前記の切断に関する情報 に基づき、図示の制御装置あるいは、洗浄 ·乾燥ロボットに備えられている制御部が 洗浄 ·乾燥ロボットを制御することによって行われる。 [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] 前記において、作業当初は、一旦洗浄を中止し、センサー 18で表面を検知し、切 断屑 11の排除を確認してから、乾燥行程に移行することもできる。 [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] 然し乍ら、同一ワークに対し、同一穿孔作業を連続して行う場合には、洗浄終了時 間が一定するので、時間制御のみで目的を達成することができる。 [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] この実施例においては、ワーク 1の材質、形状、方形孔の大きさ、形状、ジェットノズ ル 6から噴射される加圧水の水圧などの条件、これらの条件の下で切断ロボットによ つて切断されたワーク 1のどこに、いかなる形状、形態で切断屑 10が付着するかに関 する情報を不図示の制御装置、あるいは、切断ロボット、洗浄ロボット、洗浄 ·乾燥口 ボットの制御部に格納しておいた。そして、切断対象となっているワーク 1の材質、形 状、方形孔の大きさ、形状などの切断に関する情報の入力を受けて、不図示の制御 装置や、切断ロボット、洗浄ロボット、洗浄 ·乾燥ロボットの制御部の制御の下に切断 ロボット、洗浄ロボット、洗浄 ·乾燥ロボットが所定の動作を行なった。 [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] これに替えて、センサー 18で取得した情報に基づき、不図示の制御装置や、切断 ロボット、洗浄ロボット、洗浄 ·乾燥ロボットの制御部の制御により切断ロボット、洗浄口 ボット、洗浄 ·乾燥ロボットが所定の動作を行なうようにすることもできる。 [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] 例えば、ワーク 1の材質、形状、方形孔の大きさ、形状などのワークの切断に関する 情報を導き出すことができる情報シール (不図示)を切断対象のワークに貼り付けて おき、センサー 18でこの情報シールから取得した情報に基づき制御が行われるもの である。 [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] また、センサー 18で、切断屑 10が付着している位置、その量、切断屑 10を洗浄除 去できたかどうか、洗浄によりぬれている部分、乾燥したかどうか、等々を感知して、
不図示の制御装置や、切断ロボット、洗浄ロボット、洗浄 ·乾燥ロボットの制御部の制 御の下に切断ロボット、洗浄ロボット、洗浄 ·乾燥ロボットに所定の動作を行なわせる ことあでさる。 [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] 例えば、不図示の制御装置や、切断ロボット、洗浄ロボット、洗浄 ·乾燥ロボットの制 御部に、切断屑 10の付着していないワーク 1の表面写真を記憶させておく。センサ 一 18で取得したワーク 1の表面の反射光の相違によって切断屑 10の付着近辺を検 知し、これを不図示の制御装置や、洗浄ロボット、洗浄.乾燥ロボットの制御部への入 力情報として利用して、制御することもできる。 [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] また、不図示の制御装置、切断ロボット、洗浄ロボット、洗浄 ·乾燥ロボットの制御部 に予め格納されている前述した情報を利用した制御と、センサー 18で取得した情報 に基づく制御とを併用することもできる。 [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] センサー 18で取得した情報を採用する場合には、切断屑以外の汚損も洗浄除去 すること力 Sでさる。 [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] この実施例では、洗浄と乾燥は同一場所で、同一ロボットで行うことができるので、 ワークを移動させたり、追加のロボットを配備する必要がなぐきわめて合理的に洗浄 [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.
、乾燥を完了することができる。 Can complete the drying.
[0122] なお、洗浄水のホース 15と、乾燥空気のホース 16とは、別々で並列の場合(図 3)と[0122] The washing water hose 15 and the dry air hose 16 are separate and in parallel (Fig. 3).
、兼用のホース 17を用いる場合(図 4)とある。 In the case of using the dual hose 17 (FIG. 4).
[0123] 図 5 (a)は、ワーク 1の被洗浄面 laと、ノズル (洗浄水又は乾燥空気用)の角度 Θを 示すものである。この角度はワークの材質により異なる力 10度〜 50度位が用いら れる。 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] ワーク 1の被洗浄面 laと、ノズルの中心軸との角度は、ワークの材質、表面性など により異なる。 [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] 例えば、ノズルを直線状に並列して、前進(矢示 25)させると、切断屑又は水滴は、 恰も剥がされる如ぐ矢示 27、 28で示すように、横方向からの力を受ける方が合理的 である(図 5 (a) )。 [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] しかし、放射流体の圧力が強い時には、矢示 26のように直角に近い方向から吹き 付けても屑又は水滴は矢示 29、 30のように放射する(図 5 (b) )。
[0127] そこでワークの材質、表面性、流体の圧力などを勘案して実験的に求めれば、より 好ましい角度を定めることができる。 [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] またワーク 1の被洗浄面 laが幅広い時には、図 5 (c)、(d)のようにノズル盤 31のノ ズルを被洗浄面に対し、 Θ = 30° の角度で対向させ、矢示 33の方向へ前進させれ ば、ノズル盤 31の幅だけ一度に洗浄 (又は乾燥)することができる。図中、符号 34は ホースである。 [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.
実施例 3 Example 3
[0129] この発明の実施例を図 6、 7、 8を用いて説明する。 An embodiment of the present invention will be described with reference to FIGS.
[0130] 円盤状のターンテーブル 19へ、ワークを固定する治具 20を 4個固定する。治具 20 にワーク 1をセットして、切断 '洗浄'乾燥する。 [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.
[0131] 図 6のようにターンテーブル 19の廻りに、等間隔で、着脱工程位置 21、切断工程 位置 22、洗浄工程位置 23及び乾燥工程位置 24を設定する。 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] 着脱工程位置 21には、ワーク 1を治具 20に固定し、また、治具 20からワーク 1を取 り外すハンドリークレイン 38、等の装置が配備される。 [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] 切断工程位置 22には高圧水で切断作業を行なう切断ロボット、あるいは切断装置 が配備される。 [0133] The cutting process position 22 is provided with a cutting robot or a cutting device for cutting with high-pressure water.
[0134] 洗浄工程位置 23には、洗浄作業を行なう洗浄ロボット、ある!/、は洗浄装置が配備さ れる。 [0134] In the cleaning process position 23, there is a cleaning robot that performs cleaning work, and there is a cleaning device.
[0135] 乾燥工程位置 24には、乾燥作業を行なう乾燥ロボット、あるいは乾燥装置が配備さ れる。 [0135] The drying process position 24 is provided with a drying robot or a drying apparatus for performing a drying operation.
[0136] なお、洗浄工程位置 23と乾燥工程位置 24とを一つにまとめ、ここに洗浄作業と乾 燥作業とを行なう戦場 ·乾燥ロボット、あるレ、は洗浄 ·乾燥装置を配備することもできる [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
〇 Yes
[0137] 所定の時間(例えば 5分)毎にターンテーブル 19を矢示 35の方向へ間欠移動(例 えば 90度)させる。これによつて、各部において夫々作業し、一回転でワークの切断 、洗浄、乾燥を行うこと力できる。 [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] 着脱工程位置 21では、ハンドリークレイン 38により治具 20へワーク 1をセットする。 [0138] At the attachment / detachment process position 21, the work 1 is set on the jig 20 by the hand leak rain 38.
操作制御盤 37でワークの切断に関する情報、等の作業条件を入力、指示した後、起
動スタンド 36のスィッチを ONにする。これにより、ターンテーブル 19が矢示 35の方 向へ 90度回転する。 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] ターンテーブル 19によるワーク 1の移動は、前記の入力された情報に基づき、不図 示の制御装置 (例えば、コンピュータ)によって行われる。 [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] こうしてワーク 1は次工程へ移される。 [0140] In this way, the workpiece 1 is moved to the next process.
[0141] 切断工程位置 22では、治具 20にセットされているワーク 1に対して切断処理がなさ れる。たとえば、超高圧ポンプ 39の起動により送水された超高圧水により、切断工程 が自動的に行われる。超高圧水としては、例えば、 350MPaの超高圧水が使用され [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] この後、ターンテーブルが矢示 35の方向へ 90度回転する。 [0142] After this, the turntable rotates 90 degrees in the direction of arrow 35.
[0143] 洗浄工程位置 23では、洗浄ポンプ 40により送られた洗浄水で洗浄される。 [0143] At the cleaning process position 23, cleaning is performed with the cleaning water sent by the cleaning pump 40.
[0144] この後、ターンテーブル 19が矢示 35の方向へ 90度回転する。 [0144] After this, the turntable 19 rotates 90 degrees in the direction of arrow 35.
[0145] 乾燥工程位置 24では、ブロア一 41からの乾燥空気の吹きつけにより、ワーク 1を乾 燥する。 [0145] At the drying process position 24, the work 1 is dried by blowing dry air from the blower 41.
[0146] 乾燥が終了したならば、ターンテーブル 19が矢示 35の方向へ更に 90度回転し、 最初に治具 20にセットされたワーク 1は、着脱工程位置 21に戻される。ここで、加工 済みのワーク 1を取り外し、加工すべき新たなワークを取り付ける。 [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] 前記は、ワークの最初の取り付けから加工について順次説明した力 ターンテープ ルの 4個の治具 20には、ワークが順次取り付けられるので、ターンテーブルが 1回転 した時には、各治具 20にセットされているワークへ、夫々の工程に応じた加工が一斉 に行われていることになる。 [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] 従ってターンテーブル 19が 1分間隔で回転と停止(移動 10秒、停止 50秒)を繰り 返せば、 1分に 1個宛、加工済ワークが送り出されることになる。 [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] 前記において、最長の加工時間の工程に合わせてターンテーブルを回転すれば、 円滑に継続運転できる。例えば、乾燥工程が一番長い加工であって 50秒かかるとす れば、ターンテーブル 19を 1分間隔 (停止時間 50秒)で回転停止させ、 1分間隔で 加工済ワークを取り出すことができる。 [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] 図 6中、符号 42で示すものはエリアセンサーであって、ワークが正しくセットされた
か否かを検出するセンサーである。また、符号 68はフィルターユニット、 69は溜め槽 、 70は送水ポンプを示している。 [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] 次に各工程における加工について説明する。 [0151] Next, processing in each step will be described.
[0152] 図 7 (a)は、切断工程位置 22で行われる加工動作を説明する図である。支持台 43 に、切断ロボット 44の基台 45が固定されている。切断ロボット 44のロボットハンド 46 の先端に、高圧ノズル 47が固定されている。そこで高圧ノズル 47が予め指示された とおりに移動し、治具 20にセットされたワーク 1を超高圧水(例えば 350MPa)で切断 する。 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] 切断ロボット 44の制御部(不図示)には、ロボットハンド 46の移動がプログラム制御 、またはティーチング制御によって予め指示されている。そこで、これに従ってロボット ハンド 46は高速で移動し、ワーク 1は設定どおりに自動切断される。 [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.
[0154] 着脱工程位置 21で行う動作について、図 7 (b)に基づいて説明する。 The operation performed at the attachment / detachment process position 21 will be described with reference to FIG. 7 (b).
[0155] 切断、洗浄、乾燥が行われた加工済みのワーク 1が着脱工程位置 21に至ると、シャ ッター駆動器 48がセンサー 49の出力(ワーク検出)により起動する。そして、シートシ ャッター 50がワーク 1のターンテーブル 19側を遮断する。そこで作業者 51が、ハンド クレーン 38により、加工済ワークを取り外し、新たに加工を施す未加工ワークをセット する。 [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] ここでは、ハンドクレーン 38を使用した力 ロボットを用いて自動着脱方式を採用す ることもできる。この場合に作業者は、加工条件のセットと、起動又は停止をするのみ で、その他は監視者になる。 [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.
[0157] 次に図 8 (a)、(b)を用いて、洗浄工程、乾燥工程の一例を説明する。 Next, an example of the cleaning process and the drying process will be described with reference to FIGS. 8 (a) and 8 (b).
[0158] 図示の例では、洗浄は洗浄水を吹き出し、乾燥は乾燥空気を吹き出して作業して いる。この洗浄工程、乾燥工程には同一構造の器機を用いることができる。 [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.
[0159] まず、洗浄について説明する。 First, cleaning will be described.
[0160] 図 8 (a)図示のように、ロボットアーム 52の先端のノズル支え 53へ、給水ホース 54 のノズル 55を取り付けて、ノズル 55をワーク 1の上側面へ対向させる。 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] ワーク 1がセットされている治具 20の台 56へ、第 1接続具 57を固定し、第 1接続具 5 7にパイプ 58の一端を固定し、パイプ 58の他端は分岐管 59に固定する。分岐管 59
へ、複数のノズルパイプ 60、 60の基部を連結し、ノズルパイプ 60、 60の先端へノズ ノレ 61、 61を夫々接続する。 [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] ホース 54へ矢示 64のように洗浄水を給送すると、ワーク 1の上側面は洗浄される。 [0162] When cleaning water is fed to hose 54 as shown by arrow 64, the upper surface of work 1 is cleaned.
[0163] 第 1接続具 57へ第 2接続具 62を矢示 63のように近接して接続する。洗浄水は矢示 [0163] Connect the second connector 62 close to the first connector 57 as shown by arrow 63. Wash water is indicated by arrow
64のように、ホース 65、第 2接続具 62、第 1接続具 57を経て、矢示 66、 67、 67のよ うに流動し、ノズル 61、 61から夫々噴出してワーク 1の下側面を洗浄する。 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] 第 2接続具 62を自動制御型にしておけば、ターンテーブル 19の停止と同時に第 1[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.
、第 2接続具 57、 62を接続し、ターンテーブル 19の回転開始直前に自動離脱するこ と力 Sできる。 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] 図 8 (a)、 (b)では洗浄について説明したが、洗浄水に代えて乾燥空気を送れば、 乾燥処理できる。この場合には、乾燥空気の圧力を l〜5MPaにすることにより、水 分を吹き飛ばし、乾燥効率を向上させることができる。 [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] 以上、添付図面を参照して本発明の好ましい実施形態、実施例を説明したが、本 発明はこれらに限定されるものではなぐ特許請求の範囲の記載から把握される技術 的範囲において種々の形態に変更可能である。 [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.
図面の簡単な説明 Brief Description of Drawings
[0167] [図 1]この発明の方法によるワークの切断 ·洗浄 ·乾燥の工程を説明するブロック図。 FIG. 1 is a block diagram for explaining a process of cutting, cleaning and drying a workpiece by the method of the present invention.
[図 2] (a)この発明の方法によりワークが切断されてワークに孔が形成された状態を説 明する斜視図、(b)この発明の方法によりワークを切断してワークに孔が形成する状 態を説明する一部を省略した断面図、(c)この発明の方法により切断されて孔が形 成されたワークに対して洗浄を開始する状態を説明する一部を省略した断面図。 [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. .
[図 3]この発明の方法により切断されて孔が形成されたワークに対して洗浄を開始す る状態を説明する一部を省略した斜視図。 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.
[図 4]この発明の方法により切断されて孔が形成されたワークに対して洗浄を開始す る他の状態を説明する一部を省略した斜視図。 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.
[図 5] (a)、 (b)は、この発明の方法において洗浄を行なう際のワークの被洗浄面と洗 浄ノズルが向力、う方向との間に形成される角度を説明する図、(c)この発明の方法に ぉレ、て洗浄を行なう際に多数のノズルを並列し、幅広く洗浄する形態を説明する側
面図、(d)図 5 (c)の一部省略した斜視図。 [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.
[図 6]この発明において、ターンテーブルにより、ワークを加工位置に順次移動させる 状態を説明する概念図。 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.
園 7] (a)図 6中 A— A矢示における一部を省略した説明図、(b)図 5中 B— B矢示に おける一部を省略した説明図。 (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.
園 8] (a)この発明における洗浄装置のワーク上側を洗浄する機構を説明する一部を 省略した図、(b)この発明における洗浄装置のワーク下側を洗浄する機構を説明す る一部を省略した図。 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.
符号の説明 Explanation of symbols
1 ワーク 1 work
lb ワークの裏面 lb Back side of workpiece
2 切断装置 2 Cutting device
3 切断ロボット 3 Cutting robot
4 制御装置 4 Control device
5 洗浄ロボット 5 Cleaning robot
5a 乾燥ロボット 5a Drying robot
6 ジェットノズル 6 Jet nozzle
8 方形孔 8 Square hole
10 切断屑 10 Cutting waste
12 水洗ノズル 12 Flush nozzle
13 乾燥空気のノズル 13 Dry air nozzle
14 ロボットアーム 14 Robot arm
16 乾燥空気のホース 16 Dry air hose
18 センサー 18 sensors
19 ターンテープノレ 19 Turn tape
20 ワークを固定する治具 20 Jig for fixing workpiece
21 着脱工程位置 21 Detachment process position
22 切断工程位置
洗浄工程位置 乾燥工程位置
22 Cutting process position Cleaning process position Drying process position
Claims
[1] ワークを切断用ロボットにより高圧水で切断した後、ワークに付着した切断屑を洗浄 用ロボットによって洗浄し、ついで乾燥用ロボットによってワークを乾燥する方法にお いて、 [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.
ワークを高圧水で切断する工程は、予め入力されている当該ワークの切断に関す る情報に基づいて制御される切断用ロボットによって行われることを特徴としたワーク の切断 ·洗浄 ·乾燥方法。 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] ワークを洗浄する工程は、予め入力されている当該ワークの切断に関する情報に 基づいて特定される当該ワークの部位を、当該予め入力されている当該ワークの切 断に関する情報に基づいて制御される洗浄用ロボットによって洗浄するものであるこ とを特徴とする請求項 1記載のワークの切断 ·洗浄 ·乾燥方法。 [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] 前記予め入力されているワークの切断に関する情報には、ワークを高圧水で切断 する工程において当該ワークに切断屑が付着する部位に関する情報が含まれ、前 記予め入力されているワークの切断に関する情報に基づいて特定されるワークの部 位は、当該ワークを高圧水で切断する工程において当該ワークに切断屑が付着する 部位に該当することを特徴とする請求項 2記載のワークの切断 '洗浄'乾燥方法。 [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] ワークを洗浄する工程に用いられる洗浄用ロボットにセンサーが付設されており、ヮ ークを高圧水で切断する工程において当該ワークに切断屑が付着した部位を前記 センサーによって検知し、当該センサーによって特定された部位を前記洗浄用ロボッ トによって洗浄することを特徴とする請求項 1項記載のワークの切断 ·洗浄 ·乾燥方法 [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] 切断用ロボットによって行われたワークの切断に関する情報に基づいて、切断用口 ボットによって行われたワークの切断において当該ワークに切断屑が付着する部位 を特定し、これに基づいて洗浄用ロボットを制御し、当該特定された部位を洗浄用口 ボットで洗浄することを特徴とした請求項 1記載のワークの切断 ·洗浄 ·乾燥方法。 [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] ワークを洗浄する工程に用いられる洗浄用ロボットにセンサーが付設されており、 前記予め入力されているワークの切断に関する情報に含まれている、ワークを高圧 水で切断する工程において当該ワークに切断屑が付着する部位に関する情報に基
づいて特定されたワークの部位及び当該部位の近傍を前記センサーによって検知し 、当該センサーによって特定した部位を前記洗浄用ロボットによって洗浄する工程が 行われることを特徴とする請求項 1記載のワークの切断 ·洗浄 ·乾燥方法。 [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] ワークを洗浄する工程に用いられる洗浄用ロボットにセンサーが付設されており、 前記切断用ロボットによって行われたワークの切断に関する情報に基づいて特定さ れた、前記切断用ロボットによって行われたワークの切断において当該ワークに切断 屑が付着する部位及び当該部位の近傍を前記センサーによって検知し、当該セン サ一によつて特定した部位を前記洗浄用ロボットによって洗浄する工程が行われるこ とを特徴とする請求項 1記載のワークの切断 ·洗浄 ·乾燥方法。 [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] ワークを乾燥する工程は、予め入力されている当該ワークの切断に関する情報に 基づいて特定された当該ワークの部位を、当該予め入力されている当該ワークの切 断に関する情報に基づいて制御される乾燥用ロボットによって乾燥するものであるこ とを特徴とした請求項 1乃至 7のいずれか一項記載のワークの切断.洗浄.乾燥方法 [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] ワークを順次移動させつつ切断、洗浄、乾燥を行う装置にお!/、て、 [9] In a device that cuts, cleans and dries while moving the workpiece sequentially! /
ワークを高圧水で切断する切断装置、ワークに付着した切断屑を水洗する洗浄装 置、洗浄後のワークを乾燥させる乾燥装置が配備され、 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.
ワークを前記切断装置、洗浄装置、乾燥装置が配備されている位置に順次移送し て!/、くワーク移動装置を備えて!/、ると共に、 The workpiece is sequentially transferred to the position where the cutting device, cleaning device and drying device are installed!
前記ワーク移動装置、切断装置、洗浄装置、乾燥装置の各動作を制御する制御装 置を備えていることを特徴とするワークの切断 ·洗浄 ·乾燥装置。 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] 前記制御装置による切断装置の制御は、前記ワークの切断する部位を特定する情 報を含む前記ワークの切断に関する情報に基づいて前記切断装置に当該部位を切 断させるものであることを特徴とする請求項 9記載のワークの切断 ·洗浄 ·乾燥装置。 [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] 前記制御装置による洗浄装置の制御は、前記洗浄装置によって洗浄するワークの 部位を特定する情報を含む当該ワークの切断に関する情報に基づいて前記洗浄装 置に当該部位を洗浄させるものであることを特徴とする請求項 9又は 10記載のワーク の切断 ·洗浄 ·乾燥装置。
[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] 前記ワークの切断に関する情報には、前記切断装置でワークを高圧水にて切断す る工程において当該ワークに切断屑が付着する部分に関する情報が含まれることを 特徴とする請求項 11記載のワークの切断 ·洗浄'乾燥装置。 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] 前記洗浄装置によって洗浄するワークの部位を特定する情報は、前記切断装置に よって行われたワークの切断に関する情報に基づ!/、て、切断装置によって行われた ワークの切断において当該ワークに切断屑が付着する部分を特定したものであること を特徴とする請求項 11記載のワークの切断 ·洗浄 ·乾燥装置。 [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] 前記制御装置による洗浄装置の制御は、洗浄装置に付設されているセンサーによ り、前記洗浄装置によって洗浄するワークの部位を特定し、当該センサーによって特 定した部位を前記洗浄装置に洗浄させるものであることを特徴とする請求項 9記載の ワークの切断 ·洗浄 ·乾燥装置。 [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] 前記制御装置による洗浄装置の制御は、洗浄装置に付設されているセンサーによ り、前記切断装置でワークを高圧水にて切断する工程において当該ワークに切断屑 が付着している部分を検知し、当該センサーによって検知した部分を前記洗浄装置 に洗浄させるものであることを特徴とする請求項 9記載のワークの切断 ·洗浄 ·乾燥装 置。 [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] 前記制御装置による洗浄装置の制御は、前記ワークの切断に関する情報に含まれ ている、ワークを高圧水で切断する工程において当該ワークに切断屑が付着する部 位に関する情報に基づいて特定されたワークの部位及び当該部位の近傍を前記洗 浄装置に付設されているセンサーによって検知し、当該センサーによって特定した部 位を前記洗浄装置に洗浄させるものであることを特徴とする請求項 9記載のワークの 切断 ·洗浄*乾燥装置。 [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] 前記制御装置による洗浄装置の制御は、前記切断装置によって行われたワークの 切断に関する情報に基づいて特定された前記切断装置によって行われたワークの 切断において当該ワークに切断屑が付着する部分及び当該部分の近傍を洗浄装置 に付設されているセンサーによって検知し、当該センサーによって特定した部位を前 記洗浄装置に洗浄させるものであることを特徴とする請求項 9記載のワークの切断- 洗浄 ·乾燥装置。
[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] ワークに付着した切断屑を水洗する洗浄装置はワークの被洗浄面に対して水を噴 射するノズルを備えており、当該ノズルの中心線は、前記被洗浄面に対して鋭角をな し、当該ノズルが前記被洗浄面に対して水を噴射しつつ、当該噴射により水が向力、う 方向にノズルが前進して洗浄することを特徴とした請求項 9乃至 17のいずれか一項 記載のワークの切断 ·洗浄 ·乾燥装置。 [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] 前記乾燥装置はワークの被乾燥面に対して乾燥空気を噴射するノズルを備えてお り、当該ノズルの中心線は、前記被乾燥面に対して鋭角をなすことを特徴とした請求 項 9乃至 18のいずれか一項記載のワークの切断.洗浄.乾燥装置。
[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.
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