JP5855962B2 - Processing system - Google Patents

Description

  The present invention relates to a long workpiece machining system suitable for NC machining of large parts.

  Conventionally, a processing device that cuts out a material according to the size of the part to be manufactured, rotates the end of the material by gripping the end with a chuck, and performs NC processing with a rotary tool while maintaining the angular position. (For example, refer to Patent Document 1).

  In such a processing apparatus, the gripping margin of the chuck cannot be processed, and the material in that portion becomes a disposal target. When a large part such as an aircraft part is manufactured, if a workpiece is large, a portion that becomes a gripping margin also becomes large. Therefore, waste as a resource and economical waste become significant.

  In view of this, the present applicant has previously proposed a processing method and a processing apparatus for processing a long workpiece while feeding it forward (see Patent Document 2). As shown in FIG. 5, this processing apparatus includes a gripping device 110 that grips a long workpiece W having a rectangular cross section, and a workpiece feed that advances the workpiece W in the long axis direction along an introduction path 121 leading to the gripping device 110. An apparatus 120 and a multi-axis robot 130 for processing the workpiece W are provided. In the processing apparatus 100 having such a configuration, processing is performed by the following processing method. First, the workpiece W is gripped by the gripping device 110 with the front end E of the workpiece W protruding from the gripping device 110. Then, the portion of the workpiece W protruding from the gripping device 110 is processed by the multi-axis robot 130, and when the processing is completed, the processed front end E is separated from the workpiece W. Thereafter, the gripping of the workpiece W by the gripping device 110 is released, the workpiece W is advanced by the workpiece feeding device 120, and an unprocessed portion of the workpiece W is projected from the gripping device 110. This newly projecting work at the front end is the part to be machined next, and machining by the multi-axis robot 130 is performed. By repeating such processing while moving the long workpiece W in one direction, a large number of parts are continuously manufactured.

  Therefore, according to the above processing method and processing device proposed by the present applicant, the gripping cost of the workpiece by the gripping device is a portion to be processed next by the advance feeding of the workpiece. As a result, it is possible to reduce the waste that the gripping allowance is discarded, and to process the part by effectively using the entire long workpiece.

  However, when manufacturing large parts such as aircraft and automobiles, unlike when manufacturing a large number of single-shaped parts such as screws and bolts, a wide variety of parts with different shapes and sizes can be processed into a single machine. It is required that it can be processed by the equipment. For this reason, when manufacturing a plurality of types of parts having greatly different dimensions, if a single workpiece is processed while being advanced, more parts are cut off when processing a part having a smaller dimension. That is, the above-described processing method and processing apparatus can reduce the waste that the gripping allowance is to be discarded, while the size of the part to be processed is greatly different, the waste of the portion that is excised by processing increases. There was room for improvement.

  Therefore, in view of the above situation, the present invention can reduce the waste of the workpiece gripping allowance, and reduce the portion to be cut by machining even if the dimensions of parts to be machined are various. It is an object of the present invention to provide a processing system for long workpieces that can be processed.

In order to solve the above problems, a processing system for a long workpiece according to the present invention,
"A gripping device for gripping and releasing long workpieces;
NC processing for cutting the workpiece front end into a predetermined shape for the workpiece gripped by the gripping device with the workpiece front end projecting from the gripping device, and the workpiece front end after NC processing being unmachined A cutting device that performs a cutting process with a unit of processing to separate from a part;
A workpiece feeding device that includes an introduction path that reaches the gripping device, and that moves the workpiece forward and backward along the introduction path;
A work stocker that includes a work table on which the work is placed, and a plurality of clamping devices that clamp the work on the work table;
A transport device that includes an arm for gripping a workpiece, and is capable of performing forward path transport to transport the work from the work stocker to the introduction path, and return path transport to transport the work from the introduction path to the work stocker;
The gripping device, the cutting device, the workpiece feeding device, the clamping device, and a control means for controlling the operation of the transport device,
The control means includes
When the next unit of machining is performed from the same workpiece after the completion of the one unit of machining, the workpiece is advanced along the introduction path by the workpiece feeding device with the workpiece released by the gripping device. And letting the gripping device grip the workpiece with the workpiece front end projecting from the gripping device, and let the cutting device perform the next unit of cutting,
When the next unit of cutting is performed from another workpiece after the one unit of cutting is completed, the workpiece is moved along the introduction path by the workpiece feeding device in a state where the workpiece is opened by the gripping device. Retreat, transport the work on the introduction path to the work stocker by the transport apparatus, and transport another work from the work stocker to the introduction path by the transport apparatus,
The length of the work to be held by the work stocker is acquired as an initial work length, and a position for gripping the work by the arm for forward transfer is determined based on the acquired initial work length, and after cutting The length of the workpiece is acquired as the workpiece length after machining, and the position at which the arm grips the workpiece for the return path conveyance is determined based on the acquired workpiece length after machining ”.

  According to the present invention having the above-described configuration, a plurality of workpieces including workpieces having different cross-sectional dimensions can be held in a workpiece stocker and prepared for cutting, and a workpiece remaining in an unmachined portion can be cut. It is possible to return to the work stocker from the processing place. Therefore, if the part to be cut next is smaller than the cross-sectional dimension of the workpiece, such as when the part that is removed by cutting becomes large, the workpiece cutting is interrupted and returned to the workpiece stocker. A workpiece having a cross-sectional dimension suitable for the size can be newly moved to a place where cutting is performed. Then, the workpiece that remains in the unprocessed part is held in the workpiece stocker, and when the next size of the part suitable for manufacturing from the workpiece is cut, the workpiece stocker will return to the place where cutting is performed. Can be moved. This makes it possible to reduce the waste of the workpiece gripping cost by cutting the long workpiece while cutting it forward, and is suitable for each component when the size and shape of the component to be manufactured are various. It is possible to select a workpiece having a different cross-sectional dimension, and it is possible to reduce waste of a portion cut by cutting.

  Conventionally, there has been no idea that a long workpiece is processed while being advanced, and in some cases, a workpiece with an unprocessed portion remaining is returned to the workpiece stocker. Also, in the case of a long workpiece, if it is to be conveyed along the major axis direction of the workpiece by a conveyor or the like from the workpiece stocker to the processing device or from the processing device to the workpiece stocker, a very large site area is required. turn into. On the other hand, in the present invention, since a transport device that grips and transports a workpiece with an arm is adopted, a space necessary for transporting the workpiece from the workpiece stocker to the processing device and from the processing device to the work stocker is increased. It is possible to keep it close to the minimum.

  In addition, in the present invention, the workpiece is gripped and conveyed by the arm, but the workpiece that has been subjected to the cutting process is shorter than before the machining. In the present invention having the above-described configuration, the initial workpiece length is acquired, and the position at which the workpiece is gripped by the arm during the forward transfer is determined accordingly, and the workpiece length after processing is acquired, and the return path is accordingly determined In order to determine the position at which the arm grips the workpiece during conveyance, the workpiece is always gripped and conveyed at a position suitable for the length of the workpiece. The “initial workpiece length” and “post-work workpiece length” can be detected using a linear encoder. Alternatively, it is possible to calculate the “work length after machining” based on the initial work length and the NC data used for cutting.

  The long workpiece processing system according to the present invention includes, in addition to the above-described configuration, “the clamp device includes a stopper having a surface perpendicular to the upper surface of the mounting table, and a cylinder that advances and retracts the rod in the stopper direction. An apparatus, and the control means acquires the workpiece width based on the detection of the rod when the clamping device clamps the workpiece.

  With the above configuration, when the workpiece is held by the workpiece stocker, the workpiece width (thickness) can be acquired along with the operation of clamping the workpiece to the clamping device. Therefore, an operation for measuring the workpiece width is not required separately, and the operation is simple. In addition, multiple workpiece widths held in the workpiece stocker can be stored and managed in the control means of the machining system, respectively, so it is easy to select workpieces with cross-sectional dimensions suitable for the parts to be manufactured. It will be something.

  The processing system for a long workpiece according to the present invention includes, in addition to the above configuration, “the arm includes an arm base extending in a vertical direction, a workpiece mounting portion protruding vertically from a lower end of the arm base, and the workpiece mounting. It is provided with an arm cylinder device that raises and lowers the lifting rod with respect to the mounting portion, and the control means acquires the workpiece height based on the detection of the lifting rod when the arm grips the workpiece. Can do.

  With the above configuration, the workpiece height can be acquired with the operation of gripping the workpiece with the arm. Therefore, the operation of measuring the workpiece height is not required separately and is simple. In addition, since a plurality of workpiece heights can be stored and managed in the control means of the machining system, it becomes easy to select a workpiece having a cross-sectional dimension suitable for a part to be manufactured.

  The long workpiece machining system according to the present invention includes, in addition to the above-described configuration, “The workpiece stocker includes a plurality of stock positions each holding one workpiece, and all of the workpieces before being held in the stock positions. Is provided with a preparation stage once held, and the workpiece is conveyed from the preparation stage to the stock position by the conveyance device, and the workpiece height is acquired when the arm grips the workpiece on the preparation stage. Can be ".

  With the above configuration, the plurality of workpieces held by the workpiece stocker are once held on the preparation stage, and then set to a stock position for holding each workpiece. Then, when the workpiece is transported from the preparation stage to the stock position, the workpiece height is acquired along with the operation of gripping the workpiece with the arm. That is, the workpiece height is acquired before setting the workpiece to the stock position. Accordingly, since the plurality of workpiece heights held at the stock position can be stored and managed in the control means of the machining system in correspondence with the stock position, the cross-sectional dimension suitable for the part to be manufactured is obtained. Work selection becomes easier.

  As described above, as an effect of the present invention, it is possible to reduce waste of the workpiece gripping allowance and to reduce a portion to be cut by machining even if the dimensions of parts to be machined are various. It is possible to provide a machining system for a long workpiece that is possible.

It is a perspective view showing a schematic structure of a processing system of one embodiment of the present invention. It is a partial side view explaining the clamp apparatus and conveyance apparatus of the processing system of FIG. It is a perspective view explaining the return path conveyance in the processing system of FIG. FIG. 2 is a perspective view of a workpiece feeding device and a gripping device of the processing system in FIG. 1. It is a perspective view of the conventional processing apparatus (patent document 2).

  A processing system according to an embodiment of the present invention will be described with reference to FIGS.

  The machining system according to the present embodiment has a gripping device 4 for gripping and releasing a long workpiece, and a workpiece front end with respect to a workpiece gripped by the gripping device 4 with the workpiece front end protruding from the gripping device 4. A cutting device (not shown) for performing NC processing for cutting into a predetermined shape and processing for cutting off the front end portion of the NC processed workpiece from an unmachined portion of the workpiece, and an introduction path leading to the gripping device 4 70, a workpiece feeding device 3 that moves the workpiece forward and backward along the introduction path 70, and a workpiece stocker 1 that includes a plurality of clamping devices 20 that clamp the workpiece and holds a plurality of workpieces including workpieces having different cross-sectional dimensions. , Including an arm 30 for gripping the workpiece, forward transfer for transferring the work from the work stocker 1 to the introduction path 70, and from the introduction path 70 to the work stocker 1 A conveying apparatus 2 capable of backward conveyance to convey the over-click, the gripping device 4, cutting device, the workpiece feeding device 3, the clamping device 20, and, and a control means for controlling the operation of the conveying device 2.

  In the following, the direction in which the introduction path 70 of the workpiece feeding device 3 extends is referred to as the X-axis direction, and among the two directions orthogonal to the X-axis direction, the vertical direction (vertical direction) is referred to as the Z-axis direction. I will explain.

  As shown mainly in FIG. 1, the work stocker 1 is provided on a pedestal 17 arranged in parallel with the introduction path 70, and a work table 13 on which the work W is placed, and the work W on the work table 13. A plurality of clamping devices 20 are provided. The mounting table 13 is formed of a long rectangular bar-like member that is horizontally mounted on the frame of the mounting frame 17 and extends in the Y-axis direction, and a plurality of mounting tables 13 are arranged in parallel in the X-axis direction at intervals. A plurality of and the same number of clamping devices 20 are provided on each mounting table 13. Here, assuming that the number of clamping devices 20 provided on one mounting table 13 is N, and counting from the side closer to the introduction path 70 as the first, Nth, the nth ( The clamping devices 20 of (n = 1 to N) are all attached at positions where the Y coordinates are the same. As a result, one long workpiece W can be clamped by the n-th clamping device 20 in each mounting table 13, and the workpiece stocker 1 has N pieces each having the major axis direction aligned with the X axis. The workpiece W can be held.

  In the present embodiment, the number of mounting tables 13 is five, and 11 clamping devices 20 are provided for each mounting table 13 (N = 11). That is, the workpiece stocker 1 can hold up to 11 long workpieces W clamped by a maximum of five clamping devices 20. Hereinafter, the positions at which one workpiece W is held by one set of clamp devices 20 (one set of five in this embodiment) that can hold one workpiece W are referred to as “stock positions 11”. Each stock position 11 can be identified by a position number.

  As shown mainly in FIG. 2, each clamp device 20 includes a flat plate-like stopper 21 perpendicular to the upper surface of the mounting table 13 and a cylinder device 25 that moves the rod 26 forward and backward toward the stopper 21. .

  The work stocker 1 of the present embodiment includes a preparation stage 10 provided in parallel with the stock position 11 on the side opposite to the work feeding device 3 in addition to the 11 stock positions 11. This preparatory stage 10 has a configuration in which all of the workpieces W before being held at the stock position 11 are once held, and is arranged in parallel on a long support member 15 extending in the X-axis direction. A plurality of mounting tables 14 and a clamping device 20 having the same configuration as described above provided on each mounting table 14. Here, the mounting table 14 of the preparation stage 10 has the same number and the same X coordinate as the mounting table 13 of the stock position 11.

  Further, the support member 15 that supports the mounting stage 14 of the preparatory stage 10 comes close to the endmost stock position 11 by sliding along a rail 16 that extends in the Y-axis direction by driving a motor (not shown). The position can be shifted to a stock position proximity position and a stock position separation position separated from the endmost stock position 11.

  On the other hand, the transfer device 2 includes a pair of arms 30 that grip the workpiece W, and an arm moving mechanism that moves the arms 30 in the X-axis direction, the Y-axis direction, and the Z-axis direction. Here, the arm moving mechanism mainly includes a pair of beam members 40, a first slider 50, and a second slider 60. More specifically, as shown in FIG. 1, the pair of girders 40 is erected upward from the upper end of the support column 18 erected from the installation surface of the processing apparatus and the gantry 17 of the work stocker 1. It is spanned between the upper ends of the supported columns 19 so as to extend in the Y-axis direction. A rail 41 extending in the Y-axis direction is provided on the upper surface of the pair of girders 40. FIG. 1 shows a state in which a part of the girder 40 is cut away.

  A pair of girders 40 is spanned with a long rectangular bar-shaped first slider 50, and wheels 55 that roll on the rails 41 of the girders 40 are attached to both ends of the first slider 50. . With this configuration, the first slider 50 reciprocates in the Y-axis direction along the beam member 40 with the rotation of the wheel 55 driven by a motor (not shown). Here, the range in which the first slider 50 can move is determined by the length of the beam member 40 and the position of the first slider 50 over the beam member 40, but the work stocker is located above the introduction path 70 of the workpiece feeder 3. The first slider 50 is set to be movable within a range that can cover the upper part of the first stock position 11 and the upper part of the preparatory stage 10 located near the stock position. At the stock position separation position, the upper side of the preparation stage 10 is open.

  As shown mainly in FIG. 2, rails 56 and 57 extending in the X-axis direction are formed on the upper surface and one side surface of the first slider 50, and the first slider 50 moves along these rails 56 and 57. Two two sliders 60 are attached. Specifically, the second slider 60 includes a top plate 61 parallel to the upper surface of the first slider 50 and a side plate 62 parallel to the side surface of the first slider 50, and has an inverted L shape. An engagement portion 66 having a groove that engages with the rail 56 is formed on the surface of the top plate 61 that faces the upper surface of the first slider 50, and the side plate 62 faces the side surface of the first slider 50. An engaging portion 67 having a groove that engages with the rail 57 is formed on the surface. With this configuration, the two second sliders 60 reciprocate in the X-axis direction along the rails 56 and 57 by driving the motor 59, respectively.

  On the other hand, each of the pair of arms 30 is a square bar-shaped arm base 31 whose major axis coincides with the vertical direction, and a flat plate-like workpiece that protrudes vertically from the lower end of the arm base 31 to form an L-shape with the arm base 31. The mounting unit 32 includes a lifting rod 36 that moves up and down toward the workpiece mounting unit 32, and an arm cylinder device 35 that drives the lifting rod 36. In addition, a rail 38 extending in the major axis direction of the arm base 31 is provided on a side face opposite to the side face (the side face on which the rod and the cylinder device are provided) from which the work placement portion 32 protrudes. Is formed. An engaging portion 68 having a groove engaging with the rail 38 is provided on the surface of the side plate 62 of the second slider 60 opposite to the surface facing the first slider 50. With this configuration, the arm 30 slides in the Z-axis direction with the rail 38 engaged with the engaging portion 68 by driving the motor 39.

  As described above, the pair of arms 30 slides relative to the second slider 60 and reciprocates in the Z-axis direction, and reciprocates in the X-axis direction via the second slider 60, so that the first slider 50 It reciprocates in the Y-axis direction via The moving distance of the first slider 50 in the Y-axis direction, the moving distance of the second slider 60 in the X-axis direction, and the lifting distance of the arm 30 in the Z-axis direction can all be detected using a rotary encoder or a linear encoder. is there.

  As shown in FIG. 4, the gripping device 4 is provided at the upstream end of the introduction path 70. The gripping device 4 is driven by a horizontal placement surface 91 on which a workpiece is placed and a cylinder device 95 to move up and down. A first pressing body (not shown in the drawing) that presses against the mounting surface 91, and a second pressing that is driven by the cylinder device 97 to advance and retreat, and presses the workpiece against the surface 92 perpendicular to the mounting surface 91 by advancement. And a body 98. That is, in the gripping device 4, the workpiece can be gripped between the placement surface 91 and the first pressing body, and the surface 92 and the second pressing body 98 perpendicular to the placement surface 91.

  As shown mainly in FIG. 4, the workpiece feeding device 3 includes an introduction path 70 and a workpiece end clamping device 80 that can move along the introduction path 70. More specifically, the introduction path 70 is formed by connecting a plurality of cylindrical rollers 71 whose rotation axis is aligned with the Y-axis direction. Here, the introduction path 70 is a virtual surface obtained as a set of ridgelines of the rollers 71 provided continuously, and is a surface having the same height as the placement surface 91 of the gripping device 4.

  In addition, the introduction path 70 formed by a large number of rollers 71 has a gap 73 where the rollers 71 do not exist, and the arm 30 of the workpiece transfer device 22 can enter there. Here, if there are m gaps 73 and one of the pair of arms 30 is always allowed to enter the first gap, the distance between the pair of arms 30 can be (m−1). . That is, the distance between the pair of arms 30 is the shortest distance between the first gap and the second gap, and the longest is the distance between the first gap and the mth gap.

  The workpiece end clamping device 80 in the workpiece feeding device 3 includes a workpiece pressing member 81 that extends so as to intersect the introduction path 70 and can come into contact with the rear end of the workpiece. A rack (not shown) is formed on one side of the introduction path 70 in the X-axis direction, and the work pushing member 81 is brought into engagement with the rack by a pinion (not shown) driven by a motor (not shown) and the rack. Advancing toward the gripping device 4 along 70, or retracting from the gripping device 4.

  A pair of clamping members 82 capable of clamping the workpiece from the left and right at the rear end of the workpiece are attached to the workpiece pressing member 81, and the pair of clamping members 82 advance and retract the rod 86 driven by the cylinder device 85, respectively. Along with this, the separation approaches along a rail orthogonal to the introduction path 70. Therefore, the rear end of the work can be firmly held by bringing the pair of holding members 82 closer to each other by driving the cylinder device 85, and the work pushing member 81 moves along the introduction path 70 in this state. be able to.

  The processing system of the present embodiment includes a computer (not shown), and the computer includes a central processing unit, a main storage device, and an auxiliary storage device as hardware configurations. The main storage device can store a program that causes a computer to function as the control means. Further, the auxiliary storage device can store a database in which the dimensions of the workpiece are associated with the stock position number. The computer has an input device such as a keyboard and a punching device for inputting data and various commands, and an output device such as a monitor and a printer for outputting the operation status of each component in the processing system. I have.

  Next, regarding a long workpiece machining method performed using the machining system of the present embodiment, each configuration (clamp device 20, transport device 2, workpiece feeding device 3, gripping device 4, The operation including the operation of the cutting device will be described.

  First, holding of a workpiece in the workpiece stocker 1 will be described. The work to be held at each stock position 11 is once carried to the preparation stage 10 before being held at the stock position 11. At this time, the preparation stage 10 is displaced to the stock position separation position. Since the upper part of the preparation stage 10 is open at this position, the work can be carried to the preparation stage 10 using a crane or the like. In the preparation stage 10, the initial workpiece length can be measured. For example, the initial workpiece length is measured by a linear encoder provided in the X-axis direction in the preparation stage 10, and the measured value is automatically transmitted to the computer. Then, by inputting the number of the stock position 11 that holds the workpiece, the measured initial workpiece length is associated with the number of the stock position 11 and stored in the auxiliary storage device of the computer.

  Further, on the preparation stage 10, the workpiece is clamped by the clamping device 20. That is, the workpiece is clamped by moving the rod 26 forward and pressing the workpiece against the stopper 21 with the workpiece positioned between the stopper 21 and the rod 26. At this time, the distance that the rod 26 has moved forward or the position of the rod 26 that has moved forward is detected by a sensor, and the computer calculates the workpiece width (thickness) based on the detected value and the position of the stopper 21. The calculated workpiece width is stored in the auxiliary storage device in association with the number of the stock position 11 that holds the workpiece.

  When the workpiece is transported from the preparation stage 10 to the stock position 11, first, the support member 15 is slid along the rail 16, and the preparation stage 10 is displaced from the stock position separation position to the stock position proximity position. Next, the arm 30 is moved along the Y-axis direction so as to be positioned above the preparation stage 10 at the position close to the stock position. At the same time, the pair of arms 30 move along the X-axis direction according to the initial workpiece length previously measured and stored in the computer. Since the arm 30 causes the workpiece mounting portion 32 to enter the space formed below the workpiece between the adjacent mounting tables 14, the distance between the pair of arms 30 is restricted to the distance relationship between the plurality of mounting tables 14. Is done. In this embodiment, the distance that can be taken by the pair of arms 30 is compared with the initial work length, and in other words, the distance between the pair of arms 30 is the distance closest to the initial work length. The distance between the pair of arms 30 is adjusted so that the distance between the arms 30 is the longest.

  Next, the arm 30 moves along the Z-axis direction, and the height of the upper surface of the workpiece mounting portion 32 (hereinafter, sometimes referred to as “Z-axis reference surface” in the arm 30) is a predetermined height from the bottom surface of the workpiece. It descends until it becomes low (hereinafter referred to as “interference avoidance height”). The interference avoidance height can be set to 5 mm, for example.

  In this state, the arm 30 further moves in the Y-axis direction, and the side surface on the front side of the arm base 31 (hereinafter, sometimes referred to as “Y-axis reference surface” in the arm 30) and the side surface of the workpiece are aligned. Subsequently, when the arm 30 is raised by the interference avoidance height in the Z-axis direction, the workpiece placement portion 32 is placed on the bottom surface of the workpiece. When the lifting / lowering rod 36 is lowered by driving the arm cylinder device 35 in this state, the workpiece is pressed against the workpiece mounting portion 32 by the lifting / lowering rod 36, and the workpiece is firmly fixed between the lifting / lowering rod 36 and the workpiece mounting portion 32. Grasped.

  As described above, when the workpiece is gripped by the arm 30, the distance by which the lifting rod 36 is lowered or the position of the rod 36 after being lowered is detected by the sensor, and the detected value and the height of the upper surface of the workpiece mounting portion 32 ( The computer calculates the workpiece height based on the height of the top surface of the mounting table 14. The calculated workpiece height is stored in the auxiliary storage device in association with the number of the stock position 11 that holds the workpiece.

  Through the above operation, since the workpiece is gripped by the arm 30, the clamp device 20 retracts the rod 26 to release the workpiece clamp. Thereafter, the arm 30 rises to the rising end along the Z-axis direction, and moves along the Y-axis direction to the stock position 11 of the number designated by the height.

  When reaching a position above the designated stock position 11, the arm 30 descends along the Z-axis direction, and the height of the Z-axis reference surface matches the height of the upper surface of the mounting table 13. In this state, the workpiece is clamped by the clamping device 20. Subsequently, the lifting rod 36 of the arm 30 is raised, and the gripping of the workpiece by the arm 30 is released. Thereafter, the arm 30 descends in the Z-axis direction until the Z-axis reference surface is lower than the bottom surface of the workpiece W by the interference avoidance height, and moves along the Y-axis direction until the workpiece placement unit 32 does not interfere with the workpiece. After (retreating), it rises to the rising end along the Z-axis direction.

  A plurality of workpieces can be held at the stock position 11 by repeating the above-described operation of transporting the workpieces from the preparation stage 10 to the stock position 11 for a plurality of workpieces. Here, each stock position 11 can hold a workpiece having a different cross-sectional dimension. And since the work width and height can be acquired respectively with the work clamping by the clamping device 20 and the gripping of the work by the arm 30 performed before holding the work in the stock position 11, Can be stored in the computer in association with the stock position 11 number.

  Next, an operation for conveying a workpiece from the workpiece stocker 1 to the introduction path 70 of the workpiece feeding device 3 (outward conveyance) will be described. As a work to be conveyed to the introduction path 70, a work having a cross-sectional dimension with few parts to be discarded by cutting is selected based on the size and shape of the parts to be manufactured. When the number of the stock position 11 holding the selected workpiece is input, the arm 30 moves in the Y-axis direction at the height of the rising end up to above the stock position 11 of that number. At the same time, the arm 30 moves in the X-axis direction, and the interval between the pair of arms 30 is adjusted based on the initial work length stored in association with the number of the stock position 11. In the present embodiment, among the distances that the pair of arms 30 can take according to the distance between the plurality of gaps 73 of the introduction path 70, in other words, the distance closest to the initial workpiece length is obtained. The distance between the pair of arms 30 is adjusted so that the distance between the arms 30 is the longest.

  Thereafter, similarly to the above, the arm 30 is lowered in the Z-axis direction until the Z-axis reference surface is lower than the placement surface 91 by the interference avoidance height, and the Y-axis direction is armed until the Y-axis reference surface coincides with the side surface of the workpiece. 30 moves, arm 30 is raised by interference avoidance height in the Z-axis direction, workpiece is gripped by lowering of the lifting rod 36, workpiece is clamped in the clamping device 20, and the arm 30 is moved up to the rising end in the Z-axis direction. .

  The arm 30 that grips the workpiece moves in the Y-axis direction up to the upper side of the introduction path 70 at the height of the rising end in the Z-axis direction. When reaching the upper side of the introduction path 70, the arm 30 descends in the Z-axis direction until the Z-axis reference plane coincides with the height of the introduction path 70. At this time, the arm 30 enters the gap 73 without the roller 71 in the introduction path 70, and the work gripped by the arm 30 is placed on the roller 71.

  When the workpiece is placed on the roller 71, the workpiece end clamping device 80 moves forward along the introduction path 70 and clamps the rear end of the workpiece. Thereafter, the gripping of the workpiece is released by raising the elevating rod 36, the arm 30 is lowered in the Z-axis direction until the Z-axis reference plane is lower than the introduction path 70 by the interference avoidance height, and the position where the workpiece placement portion 32 does not interfere with the workpiece. The arm 30 moves in the Y-axis direction until the arm 30 moves up to the rising end in the Z-axis direction.

  Thereafter, the arm 30 stands by at the standby position. In the present embodiment, the standby position of the arm 30 is the end position of the previous movement for the X axis and the Y axis, and the rising end for the Z axis.

  When the work is transported on the introduction path 70, the work feeding device 3 advances the work along the introduction path 70 and causes the work front end portion to protrude from the gripping device 4. Then, the gripping device 4 grips the workpiece by the lowering of the first pressing body and the advancement of the second pressing body 98. In this state, NC processing of the workpiece front end is performed by the cutting device.

  When the NC machining of the workpiece is almost completed and the machined workpiece is connected to the unmachined portion by only a few joints (micro joints), the workpiece receiving plate of the workpiece receiving device (not shown) moves forward and the workpiece front end Located below the part. In this state, the micro joint is cut by the cutting device, and the processed workpiece front end is placed on the workpiece receiving plate. Thereby, one unit of cutting from NC processing to separation processing is completed. Thereafter, the gripping of the workpiece in the gripping device 4 is released by raising the first pressing body and retracting the second pressing body 98.

  When the next unit of cutting is performed with the same work, the work feeding device 3 pushes the rear end of the work and further advances the work along the introduction path 70. As a result, the unmachined portion that was the grip allowance at the time of cutting of the previous unit protrudes from the gripping device 4 as the workpiece front end to be cut next, and the workpiece is gripped by the gripping device 4 in this state. . Thereafter, the following units are cut by the above operation. Then, by repeating this operation, a plurality of units can be continuously cut for one long workpiece, and a plurality of parts can be continuously manufactured.

  On the other hand, if the part to be cut next is small, such as when cutting from the same work, and the part to be cut is large, the work currently on the introduction path 70 is returned to the work stocker 1, and the next work Unit cutting is performed on different workpieces. In this case, the workpiece is retracted along the introduction path 70 by retracting the workpiece end clamping device 80 that sandwiches the rear end of the workpiece.

  In conveyance (return path conveyance) for returning the workpiece on the introduction path 70 to the work stocker 1, the arm 30 waiting above the introduction path 70 is lowered in the Z-axis direction. At this time, since the workpiece is shortened by cutting, the distance between the arms 30 is adjusted according to the workpiece length after machining by moving the arm 30 in the X-axis direction. Here, the post-working workpiece length can be measured when the workpiece is retracted along the introduction path 70 by providing a linear encoder in the introduction path 70. Alternatively, the workpiece length after machining can be calculated based on the initial workpiece length and NC data of NC machining performed on the workpiece. Then, the computer determines, as the distance between the pair of arms 30, the distance closest to the workpiece length after processing among the distances that the pair of arms 30 can take according to the distance between the plurality of gaps 73 of the introduction path 70. Then, the arm 30 is moved in the X-axis direction. Therefore, as shown in FIG. 3, the distance between the pair of arms 30 is smaller in the return path conveyance in which the workpiece is shorter than when the same workpiece is conveyed in the forward path.

  Thereafter, the arm 30 is lowered in the Z-axis direction until the Z-axis reference surface is lower than the introduction path 70 by the interference avoidance height, and the arm 30 is moved in the Y-axis direction until the Y-axis reference surface coincides with the side surface of the workpiece. The arm 30 is lifted by the height of avoiding interference in the direction, the work is gripped by lowering the lifting rod 36, the work end clamping device 80 releases the rear end of the work, the work end clamping device 80 retreats along the introduction path 70, Z Each component operates in the order of the arm 30 ascending to the ascending end in the axial direction.

  In the present embodiment, the workpiece in which the unmachined portion remains is returned to the stock position 11 held in the workpiece stocker 1 before machining. Therefore, next, the arm 30 moves in the Y-axis direction to the stock position 11 where the gripped work was originally held. Then, the arm 30 is lowered in the Z-axis direction until the Z-axis reference surface becomes the same height as the upper surface of the mounting table 13, the workpiece is clamped by the clamping device 20, the workpiece grip is released by raising the lifting rod 36, and the Z-axis reference surface Arm 30 is lowered in the Z-axis direction until the height of interference avoidance is lower than the upper surface of the mounting table 13, the arm 30 is moved in the Y-axis direction to a position where the workpiece mounting portion 32 does not interfere with the workpiece, and the ascending end in the Z-axis direction. The arm 30 operates in the order of ascending. Although the workpiece returned to the stock position 11 is shorter than the initial length, it still has a portion that can be processed, so it is suitable to be held at the stock position 11 and then manufactured with the workpiece having the cross-sectional dimension. The selected part is selected when it is cut, and is conveyed again to the introduction path 70 (forward path conveyance).

  Thereafter, the arm 30 grips the arm 30 having a different cross-sectional dimension held at another stock position 11 and transports it to the introduction path 70 (forward path transport) by the same operation as described above.

  As described above, according to the processing system of this embodiment, in addition to reducing the waste that the workpiece gripping cost is discarded by cutting the long workpiece while feeding it forward, the size of the part to be manufactured -In the case of various shapes, it is possible to select a workpiece having a cross-sectional dimension suitable for each part, and therefore it is possible to reduce waste of a portion cut by cutting.

  In addition, the initial workpiece length is measured by the preparatory stage 10 and the workpiece length after processing is acquired. In the forward transfer and the backward transfer, the arm 30 is moved in the X-axis direction according to the length of the workpiece. Move. Thereby, even if the length of a workpiece | work changes, the workpiece | work can be always hold | gripped in the suitable position by the arm 30. FIG.

  Further, in the present embodiment, before the workpiece is held at the stock position 11, the workpiece is temporarily held on the preparation stage 10, and the workpiece width is acquired here. If the workpiece width is acquired at the stock position 11, a sensor that detects the advance distance or position of the rod with the clamp device 20 is required for each stock position 11. On the other hand, in this embodiment, since the workpiece width is acquired at one preparation stage 10, the number of sensors is small, and the entire processing system is simple.

  In the present embodiment, the workpiece height is acquired when the workpiece is gripped by the arm 30 when the workpiece is transported from the preparation stage 10 to the stock position 11. Therefore, prior to holding the workpiece at the stock position 11, the workpiece height is determined. Thereby, the workpiece height can be stored in association with the number of the stock position 11. That is, in the present embodiment, since the cross-sectional dimension of the work specified by the work height and the work width can be stored and managed in association with the number of the stock position 11 where the work is held, manufacturing is performed. The operation of selecting a workpiece having a cross-sectional dimension suitable for the part to be processed is very easy.

  In addition, as a long workpiece processed by the processing system of the present embodiment, a workpiece obtained by cutting a standard metal square material can be suitably used. For example, the initial workpiece length is 100 cm to 450 cm, and the workpiece height is 3 cm. It can be set to ˜60 cm and the workpiece width 2 cm to 30 cm.

  The present invention has been described with reference to the preferred embodiments. However, the present invention is not limited to the above-described embodiments, and various improvements can be made without departing from the scope of the present invention as described below. And design changes are possible.

  For example, although the case where the transport apparatus 2 includes the pair of arms 30 has been described above, the present invention is not limited thereto, and the workpiece may be gripped by three or more arms. Moreover, although the number of the stock positions 11 was 11 and the number of the mounting bases 13 and the mounting bases 14 was five in the above example, of course, it is not limited to these numbers.

DESCRIPTION OF SYMBOLS 1 Work stocker 2 Conveying apparatus 3 Work feeding apparatus 4 Gripping apparatus 10 Preparation stage 11 Stock positions 13, 14 Mounting table 20 Clamping apparatus 21 Stopper (clamping apparatus)
25 Cylinder device (clamp device)
26 Rod (Clamping device)
30 Arm 32 Workpiece Placement 35 Arm Cylinder Device 36 Lifting Rod 70 Introduction Path

Japanese Patent No. 3803519 JP 2011-110611 A

Claims (4)

A gripping device for gripping and releasing a long workpiece; and
NC processing for cutting the workpiece front end into a predetermined shape for the workpiece gripped by the gripping device with the workpiece front end projecting from the gripping device, and the workpiece front end after NC processing being unmachined A cutting device that performs a cutting process with a unit of processing to separate from a part;
A workpiece feeding device that includes an introduction path that reaches the gripping device, and that moves the workpiece forward and backward along the introduction path;
A work stocker that includes a work table on which the work is placed, and a plurality of clamping devices that clamp the work on the work table;
A transport device that includes an arm for gripping a workpiece, and is capable of performing forward path transport to transport the work from the work stocker to the introduction path, and return path transport to transport the work from the introduction path to the work stocker;
The gripping device, the cutting device, the workpiece feeding device, the clamping device, and a control means for controlling the operation of the transport device,
The control means includes
When the next unit of machining is performed from the same workpiece after the completion of the one unit of machining, the workpiece is advanced along the introduction path by the workpiece feeding device with the workpiece released by the gripping device. And letting the gripping device grip the workpiece with the workpiece front end projecting from the gripping device, and let the cutting device perform the next unit of cutting,
When the next unit of cutting is performed from another workpiece after the one unit of cutting is completed, the workpiece is moved along the introduction path by the workpiece feeding device in a state where the workpiece is opened by the gripping device. Retreat, transport the work on the introduction path to the work stocker by the transport apparatus, and transport another work from the work stocker to the introduction path by the transport apparatus,
The length of the work to be held by the work stocker is acquired as an initial work length, and a position for gripping the work by the arm for forward transfer is determined based on the acquired initial work length, and after cutting A machining system characterized in that the length of a workpiece is acquired as a post-machining workpiece length, and a position at which the arm is gripped by the arm for return path conveyance is determined based on the acquired post-machining workpiece length. The clamping device is
A stopper having a surface perpendicular to the upper surface of the mounting table, and a cylinder device for moving the rod back and forth in the stopper direction;
The control means includes
2. The machining system according to claim 1, wherein the workpiece width is acquired based on detection of the rod when the clamp device clamps the workpiece. The arm is
An arm base that extends in the vertical direction, a work placement section that projects vertically from the lower end of the arm base, and an arm cylinder device that raises and lowers the lifting rod with respect to the work placement section,
The control means includes
The machining system according to claim 1, wherein the workpiece height is acquired based on detection of the lifting rod when the arm grips the workpiece. The work stocker has a plurality of stock positions each holding one work,
A preparatory stage for temporarily holding all of the workpieces before being held in the stock position;
The work is transported from the preparation stage to the stock position by the transport device, and the work height is acquired when the arm grips the work in the preparation stage. The processing system described.

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