JP6742179B2 - Control device for cutting device - Google Patents

Description

The present invention relates to a control device for a device that cuts an object to be cut into a predetermined shape.

An example of this type of device is described in Patent Document 1. The apparatus has a first sandwiching member and a second grasping member arranged on the left and right sides in the transport direction of the original sandwich, with the original sandwich made by sandwiching the ingredients between the two breads, aligned on the cutting conveyor. It is configured to grip the left and right sides of the original sandwich by. The original sandwich is cut in the thickness direction by the cutter descending from above while being held by each holding member. Each gripping member has a pair of patch plates along each of two sides corresponding to one corner of the original sandwich, and one patch plate on the front side in the transport direction in the first gripping member, After the original sandwich has been cut, the second gripping member and the other back plate on the rear side in the transport direction are retracted in a direction away from the product sandwich obtained by cutting. Then, the tongue is inserted toward the product sandwich from the position where the one contact plate of the first grip member and the other contact plate of the second grip member were present. After gripping the product sandwich with the tongs, the respective gripping members are returned to their original positions.

Japanese Patent No. 5719472

In the configuration described in Patent Document 1, after the cutting of the original sandwich is completed, one patch plate of the first gripping member and the other patch plate of the second gripping member are retracted, and those patch plates are The tongs are inserted from the place where it was. In other words, the respective product sandwiches are not particularly gripped by the gripping members until the product sandwich obtained by cutting is gripped by the tongs, and the product sandwich is in a so-called free state. As a result, when inserting the tongue toward the product sandwich, the product sandwich may be pushed by the tongs, and the position and the posture thereof on the cutting conveyor may change.

It is an object of the present invention to provide a control device for a cutting device that can suppress changes in the position and orientation of an object to be cut.

In order to achieve the above object, the present invention is a gripping member that grips a cutting object arranged on a mounting surface from both sides thereof, and the cutting object that is gripped by the gripping member in the thickness direction. A cutter that cuts from above to below, and a pair of tongs that grip and lift each of the two cut objects obtained by cutting the cut object, the gripping member being a side surface of the cut object. In the control device of the cutting device, which has a pair of contact plates attached to each other, one contact plate being configured to approach and separate from the other contact plate, the cutting by the gripping member. While holding the object, the cutting object is sandwiched between the placing surface and the cutter by pressing the cutter against the cutting object, the placing surface and the cutter In a state where the object to be cut is sandwiched between the one contact plate is separated from the other contact plate, after the one contact plate is separated from the other contact plate, It is configured such that the cutting of the object to be cut by the cutter is started and the tongue is inserted toward the object to be cut from the position where the one of the back plates was present. is there.

Further, according to the present invention, the tongue is inserted into the object to be cut, and at a time point before the cutting of the object to be cut is finished, the gripping member is separated from the object to be cut. The tongs may be configured to be gripped by the tongue after the object is evacuated and the cutting of the cutting object is completed.

Further, according to the present invention, a gripping member that grips a cutting target placed on a mounting surface from both sides thereof, and the cutting target that is gripped by the gripping member is cut from the upper side to the lower side in the thickness direction. A cutter, and a pair of tongs for gripping and lifting each of the two cut objects obtained by cutting the cut object, the gripping member being a pair of pads attached to the side surfaces of the cut object. In a control device of a cutting device, which has a plate, and one of the contact plates is arranged to approach and separate from the other contact plate, the cutting object is placed on the cutting device. A pressing mechanism for pressing the object to be cut is provided, and the object to be cut is pressed onto the mounting surface by the pressing mechanism while the object to be cut is held by the gripping member. While the object to be cut is pressed onto the surface, cutting of the object to be cut by the cutter is started, and at the same time when the cutting of the object to be cut is completed, the pressing mechanism is separated from the object to be cut. And the one contact plate is separated from the other contact plate, and the one contact plate is separated from the other contact plate, and then the cutting is performed from the position where the one contact plate is present. It is characterized in that the tongue is inserted toward an object.

According to this aspect of the invention, the cutter is pressed against the object to be cut that is being held by the holding member, and in this state, one of the holding plates of the holding member is separated from the other of the holding plates. That is, while the cutter is pressing the object to be cut on the placement surface, one of the contact plates is separated from the other contact plate. Therefore, it is possible to prevent the position and the posture of the object to be cut from changing due to the separating operation. When one of the contact plates is separated from the other contact plate, the cutter starts cutting the object to be cut, and the tongs are inserted toward the object to be cut. During the process of cutting the object to be cut, the object to be cut is in contact with the side surface of the cutter and the other backing plate, that is, is held by these. Therefore, even if the tongs are inserted, it is possible to suppress the position and the posture of the cutting target from being displaced due to the inserting operation of the tongs. As a result, it can be cut as expected. Moreover, since the operations that overlap in time increase, the work of the entire apparatus can be speeded up.

Further, according to the present invention, even if the gripping member is separated from the object to be cut at the time before the cutting of the object to be cut is completed, the tongue is already inserted into the object to be cut. Thus, it is possible to suppress changes in the position and orientation of the cutting target. Further, after the cutting of the object to be cut is completed, each tongue can be quickly grasped by the tongs. In this way, the number of time-overlapped operations is further increased, and the work of the entire apparatus can be further speeded up.

Further, according to the present invention, the cutting target cuts the cutting target while the pressing mechanism presses the cutting target on the mounting surface. Therefore, it is possible to prevent the position and the posture of the object to be cut from changing due to the cutting operation, and thereby to cut as desired. At the same time when the cutting is completed, the pressing mechanism is separated from the object to be cut, the one contact plate is separated from the other contact plate, and then the tongue is inserted. Therefore, even if the tongue is inserted, the interference between the holding mechanism and the tongue can be prevented or suppressed. Further, when the tongs are inserted, the two cut objects obtained by cutting are in contact with the other backing plate and the cutter, so that the position and the posture of the cut objects may change due to the insertion operation of the tongs. Can be suppressed. Further, since there are many operations that overlap with each other in time, the work of the entire apparatus can be speeded up.

5 is a time chart for explaining an example of control executed in the present invention. It is a bird's-eye view which shows the tongs inserted toward the cutting target. It is a bird's-eye view which shows an example of the apparatus of the cutting device which concerns on this invention, and its periphery. It is a bird's-eye view showing a cutting conveyor and a corner pressing mechanism. It is a bird's-eye view showing a robot that constitutes the pickup mechanism. It is a perspective view which shows the other example of the cutting device which concerns on this invention. 6 is a time chart for explaining another example of control executed in the present invention.

The cutting device targeted by the present invention grips a cutting target object such that the position or orientation of the cutting target object does not change, cuts the gripped cutting target object into a predetermined shape, and cuts the cutting product obtained by cutting. It is a device configured to grab and to automatically supply to the next process. The above-mentioned objects to be cut may be, for example, sandwiches, meat, foods such as starch and tofu, or laminated papers, sheets, films and the like. Further, the shape of the object to be cut may be appropriate. First, an example of the configuration of the cutting device and its peripherals will be described, and then an example of the control executed by the present invention will be described. The example described below is an example of obtaining a triangular cut object by cutting a square cut object along the diagonal direction.

(Example 1)
FIG. 3 is a bird's-eye view showing an example of the configuration of the cutting device according to the present invention and its surroundings. A carry-in conveyor 1 is provided adjacent to the cutting device according to the present invention. This carry-in conveyor 1 is a belt conveyor, and the direction indicated by the arrow in FIG. 3 is the direction in which the cutting object 2 is conveyed by the carry-in conveyor 1. A stacking mechanism 3 is provided near the end of the carry-in conveyor 1. In the example shown in FIG. 3, the stacking mechanism 3 is composed of an articulated robot. Further, a camera 4 for discriminating the direction and orientation of the cutting target object 2 placed on the carry-in conveyor 1 is arranged above the carry-in conveyor 1. The image data obtained by the camera 4 is analyzed by the controller, and the analysis result is transmitted to the above-described articulated robot as a control command signal so that the articulated robot operates according to the position and orientation of the cutting object 2. Is configured. The controller will be described later.

The stacking mechanism 3 is for stacking a plurality of objects to be cut 2 in a uniform posture, and includes a scooping mechanism 5 attached to a robot arm. The scooping mechanism 5 may be a conventionally known mechanism and is configured to scoop up one of the cutting objects 2 that is placed flat on the carry-in conveyor 1. Then, the stacking mechanism 3 places the scooped cutting objects 2 on the other cutting objects 2 on the carry-in conveyor 1 with the postures aligned, and the plurality of cutting objects 2 thus stacked from the carry-in conveyor 1 It is configured to be picked up and sent to the next cutting step 6.

Following the carry-in conveyor 1, a cutting conveyor 7 corresponding to the mounting surface in the present invention is arranged. The cutting conveyor 7 is for carrying the object 2 to be cut further forward in the carrying direction and for cutting the object 2 in the carrying process. The cutting conveyor 7 is composed of a belt conveyor like the carry-in conveyor 1. The belt preferably has a slit at the center in the width direction. This is to avoid damage due to the cutter as described later. The articulated robot that constitutes the stacking mechanism 3 described above is configured such that one corner of the cutting object 2 faces forward in the transport direction, and a diagonal line passing through the corner is parallel to the transport direction. Specifically, the object 2 to be cut is placed on the cutting conveyor 7 so as to match the slits. Such handling of the object 2 to be cut can be performed by teaching the articulated robot.

Next, a mechanism for cutting the cutting object 2 will be described. FIG. 4 shows the corner pressing mechanism 8 that regulates the position and posture of the cutting target 2 when the cutting target 2 is cut. The corner pressing mechanism 8 includes two gripping members 9 and 10, one gripping member 9 is arranged on the right side of the cutting conveyor 7 in the transport direction indicated by an arrow in FIG. 4, and the other gripping member 10 is the transporting member. Is arranged on the left side of the cutting conveyor 7 in the direction. As described above, the object to be cut 2 placed on the cutting conveyor 7 by the holding members 9 and 10 with one corner facing forward in the transport direction and the diagonal line passing through the corner parallel to the transport direction. It is configured to press each of the other two corners of the. The left and right gripping members 9 and 10 are provided with contact plates 9A, 9B, 10A and 10B along two sides of the other two corners. These contact plates 9A, 9B, 10A and 10B are placed on the movable bases 11 and 12 in such a manner that their opening angles are right angles according to the angles of the above-mentioned corners.

The backing plate 9A arranged on the front side of the one gripping member 9 in the transport direction is pinned to the movable base 11 so as to be rotatable about an axis line that is oriented in the vertical direction with respect to the movable base 11. There is. A cylinder 13 that rotates the contact plate 9A in a direction in which the opening angle further increases, that is, in a direction in which the cutting plate 7 is retracted from the cutting object 2 is attached to the movable table 11. Similarly, the backing plate 10B arranged on the rear side of the other gripping member 10 in the transport direction is movable with respect to the movable base 12 such that the movable base 12 can be rotated about an axis that is oriented in the vertical direction. Is pinned to. A cylinder 14 that rotates the contact plate 10B in a direction in which the opening angle further increases, that is, in a direction in which the cutting plate 2 is retracted from the object 2 to be cut is attached to the movable table 12.

The gripping members 9 and 10 are configured to approach and separate from the object 2 to be cut, further moved at the same speed as the cutting conveyor 7, and retracted to the original position. The movable bases 11 and 12 are connected to open/close cylinders 15 and 16 that move back and forth in a direction perpendicular to the traveling direction of the cutting conveyor 7. The gripping members 9 and 10 are arranged at symmetrical positions with respect to the center of the cutting conveyor 7 in the width direction, and the stroke amounts of the opening and closing cylinders 15 and 16 are set to be equal. Therefore, the cutting object 2 is positioned at the center of the cutting conveyor 7 in the width direction by the gripping members 9 and 10. The open/close cylinders 15 and 16 are connected to a feed cylinder 17 that operates in the same direction as the cutting conveyor 7. These cylinders 15, 16 and 17 are configured to operate based on a control command signal from a controller described later. Those operations will be described later.

A cutter 18 is arranged above the cutting conveyor 7 in the center in the width direction. The cutter 18 is for cutting the cutting object 2 whose position and orientation are determined by the gripping members 9 and 10 and which is being conveyed by the cutting conveyor 7, and as shown in FIG. The blade (blade) 19 is composed of one flat blade so as to linearly cut the object 2 to be cut along the diagonal line described above. In the example shown here, an ultrasonic cutter for ultrasonically vibrating the blade 19 is adopted.

The blade 19 is attached to the lifting table 20 including a mechanism for ultrasonically vibrating. The lift table 20 is attached to a movable part such as a piston in a lift cylinder 21 arranged in the vertical direction, and is configured to move up and down by the lift cylinder 21. The lifting cylinder 21 is attached downward to a slider 22 arranged above the cutting conveyor 7 in the width direction of the cutting conveyor 7. As shown in FIG. 3, one end of the slider 22 is connected to a linear guide 23 arranged in parallel with the traveling direction of the cutting conveyor 7. Further, the other end is connected to a front-rear movement cylinder 24 that moves back and forth in a direction parallel to the traveling direction of the cutting conveyor 7. The linear guide 23, the longitudinal cylinder 24, and the like are attached to a frame member described later. The slider 22, the lifting cylinder 21 attached to the slider 22, and the blade 19 are configured to move back and forth in the traveling direction of the cutting conveyor 7 based on a control command signal from a controller described later. Further, the blade 19 is configured to cut down the object 2 to be cut by being moved down by the lifting cylinder 21 while being moved forward by the forward-backward movement cylinder 24 in the traveling direction of the cutting conveyor 7.

The cutting object obtained by cutting the cutting object 2 is lifted from the cutting conveyor 7 to a position where the cutting of the cutting object 2 by the cutter 18 is completed or slightly forward of the position, and a bag (not shown) or the like is lifted. A pick-up mechanism 25 is provided for packing in the containing member. Since two (two sets) of cut objects are obtained by cutting the cutting object 2 with the cutter 18, the pickup mechanisms 25 are arranged on the left and right sides of the cutting conveyor 7, respectively. The pick-up mechanism 25 sandwiches the cut object in the vertical direction, lifts it from the cutting conveyor 7, and conveys it to the next process. In addition, in the course of the transportation, the orientation, that is, the posture of the cut object can be changed.

Such a mechanism can be configured by combining a link and a cylinder, or can be configured by an industrial robot. In the example shown here, the pick-up mechanism 25 is configured by an articulated robot. As shown in FIG. 5, tongs 26 for sandwiching the cut object from above and below are attached to the arm portions of the robots arranged on the left and right sides of the cutting conveyor 7, respectively. The tongue 26 is obliquely cut so that the edge on the front end side matches the cut surface of the cut object as much as possible so that the cut object is sandwiched between the upper and lower surfaces of the cut object. There is. By doing so, it is possible to prevent or suppress the tongs 26 from unnecessarily interfering with each other, or the edges of the tongs 26 protruding around the cut object and being excessively rubbed against surrounding members. Further, in the example shown in FIG. 5, the tongue 26 is formed with a cutout portion 26A. For example, when accommodating the cut object picked up by the tongs 26 in the accommodating member (not shown), the cut object is inserted into the accommodating member together with the tongues 26, and the cutout portion 26A is used to make The cut object is pressed through the housing member. Then, the tongue 26 is pulled out while holding the cut object through the housing member. By doing so, only the tongue 26 can be pulled out from the housing member.

The tongue 26 is attached to the arm portion via a rotary actuator, and is configured to rotate a cut object that is sandwiched and lifted from the cutting conveyor 7 and can appropriately change its direction (posture). The directions of inserting the tongue 26 into the cut object are opposite to each other for the robot on the right side and the robot on the left side. Since the front contact plate 9A of the gripping member 9 located on the right side with respect to the traveling direction of the cutting conveyor 7 can be retracted in the direction away from the cut object, it is located on the right side with respect to the traveling direction of the cutting conveyor 7. The tongue 26 of the pickup mechanism 25 is inserted toward the cut object from the position where the contact plate 9A was located after the contact plate 9A was retracted. That is, the tongue 26 is inserted from the diagonally front side of the cut object. On the other hand, since the backing plate 10B on the rear side of the gripping member 10 located on the left side with respect to the traveling direction of the cutting conveyor 7 can be retracted in the direction away from the cut object, The tongue 26 of the pickup mechanism 25 located on the left side is inserted toward the cut object from the position where the contact plate 10B was after the contact plate 10B was retracted. That is, the tongue 26 is inserted from the diagonally rear side of the cut object.

The above-described operations of turning and moving the tongs 26 are performed in the left and right pick-up mechanisms 25 at positions displaced forward and backward in the transport direction of the cutting conveyor 7. That is, even if the left and right pickup mechanisms 25 are close to each other, it is possible to prevent the tongs 26 from interfering with each other. In other words, it is possible to make effective use of the space and make the configuration of the entire apparatus compact.

The above-described apparatus according to the present invention is configured to control various operations by the stacking mechanism 3, the corner pressing mechanism 8, the cutter 18, etc. based on a control command signal from the controller 27. The controller 27 performs an operation based on the data stored in advance, the image data of the object to be cut 2 captured by the camera 4, and outputs the operation result to each robot, each cylinder, actuator, etc. as a control command signal. .. FIG. 1 is a time chart for explaining an example of control executed in the present invention.

First, the object 4 to be cut on the carry-in conveyor 1 is photographed by the camera 4, and a control command signal is output to the stacking mechanism 3 based on the analysis result of the image data. As a result, the articulated robot operates and the scooping mechanism 5 scoops up the cutting object 2. Then, the object to be cut 2 is transferred from the carry-in conveyor 1 to the cutting conveyor 7. In that case, one predetermined corner of the cutting object 2 faces forward in the direction of conveyance by the cutting conveyor 7, and the diagonal line passing through the corner is substantially aligned with the center line of the cutting conveyor 7. That is, it is obliquely placed on the cutting conveyor 7.

A sensor (not shown) that detects the object 2 to be cut is arranged above the gripping members 9 and 10. When the object 2 to be cut on the cutting conveyor 7 is detected by the sensor at time t1, the opening/closing cylinders 15 and 16 of the corner pressing mechanism 8 operate to direct the gripping members 9 and 10 toward the object 2 to be cut. Can be moved forward. The contact plates 9A, 9B, 10A, 10B of the respective gripping members 9, 10 come into contact with each other along the two sides of the respective corner portions arranged on the left and right sides in the width direction of the cutting conveyor 7. As a result, the object to be cut 2 is lightly gripped by the gripping members 9 and 10, and its position and orientation (posture) are determined. Since each of the gripping members 9 and 10 is moved at the same speed as the cutting conveyor 7 by the feed cylinder 17, the cutting object 2 sandwiched by the gripping members 9 and 10 moves while resting on the cutting conveyor 7. The state where the contact plates 9A, 9B, 10A, 10B of the gripping members 9, 10 are attached to the two sides of each corner is described as "100%" in the time chart shown in FIG. ..

The front-rear movement cylinder 24 and the lifting cylinder 21 of the cutter 18 start operating almost at the same time as the operation of the corner pressing mechanism 8 starts, or at the same time as the gripping members 9, 10 pinch the object 2 to be cut. The blade 19 is moved by the forward/backward moving cylinder 24 at the same speed as the cutting object 2, and is lowered by the elevating cylinder 21 toward the cutting object 2. When the cutting edge of the blade 19 lightly contacts the object to be cut 2 at time t2, the lowering of the lifting cylinder 21 is temporarily stopped. Next, at time t3, the cylinders 13 and 14 operate to move one of the backing plates 9A and 10B in a direction away from the cutting target 2. That is, one of the backing plates 9A and 10B is separated from the object 2 to be cut while the object 2 to be cut is lightly pressed on the cutting conveyor 7 by the blade 19. Since the object 2 to be cut is in contact with the other contact plates 9B and 10A and is sandwiched between the blade 19 and the cutting conveyor 7, the position and direction (posture) of the cutting conveyor 7 are particularly Does not change. The state in which one of the backing plates 9A and 10B is separated from the cutting object 2 is described as "50%" in the time chart shown in FIG.

At time t4 when the movement of one of the contact plates 9A and 10B is completed, the cutting by the cutter 18 is started. That is, the blade 19 is ultrasonically vibrated, and the movement of the blade 19 by the forward-backward movement cylinder 24 and the elevating cylinder 21 is restarted, so that the object 2 to be cut starts to be cut in the thickness direction. Although the cutting edge of the blade 19 finally reaches the surface of the cutting conveyor 7, the cutting conveyor 7 is formed with the above-described slits in advance, so that the cutting conveyor 7 is prevented from being damaged by the blade 19. Suppressed.

Further, almost at the same time as the cutting by the cutter 18 starts, the pickup mechanism 25 starts to operate, and as shown in FIG. 2, one of the backing plates 9A is located, that is, a diagonally right front side of the cutting object 2 in the transport direction. The tongue 26 is inserted toward the cutting target 2. Further, the tongue 26 is inserted toward the cutting target object 2 from the diagonal left front side of the cutting target object 2 in the position where the one of the backing plates 10B was located, that is, in the transport direction. As described above, the tongs 26 are inserted while the object 2 is being cut by the cutter 18. In the example shown in FIG. 2, the cutter 18 and the articulated robot of the pickup mechanism 25 are omitted. Further, even if the cutting object 2 receives a load from the tongs 26 due to the insertion of the tongs 26, the cutting object 2 is sandwiched between the side surface of the blade 19 and the other contact plates 9B, 10A. A change in position, orientation (orientation), etc. on the cutting conveyor 7 is suppressed.

At time t5 immediately before the cutting of the object 2 to be cut, or when the cutter 18 descends to a predetermined height, the opening/closing cylinders 15 and 16 operate to retract the gripping members 9 and 10 to the side of the cutting conveyor 7. Then, the feed cylinder 17 then returns so as to move the gripping members 9 and 10 back to their original positions. In the process of this return, the one of the backing plates 9A and 10B is returned to its original position by the cylinders 13 and 14. Further, at time t6 when the cutting of the cutting object 2 is completed, each of the two cut objects obtained by cutting is gripped by the tongs 26 and slightly lifted from the cutting conveyor 7. The state in which the gripping members 9 and 10 are retracted to the side of the cutting conveyor 7 is described as "0%" in the time chart shown in FIG.

Then, at time t7, each tongue 26 that has picked up the cut object is separated from the cutting conveyor 7, and is swung so that the posture of each cut object that has been picked up is aligned, so that each cut object goes to the next step not shown. Be transported. Further, the cutter 18 is returned to the original position. When the conveyance of the cut product to the next process is completed, the tongue 26 is released and returned to the original position.

According to the control device having the above-mentioned configuration, while the cutter 18 is pressing the cutting object 2 against the cutting conveyor 7, one of the backing plates is separated from the cutting object and the operation of the pickup mechanism 25 is started. .. Further, the tongs 26 are inserted while the object to be cut is being cut. Then, when the cutting is completed, the tongue 26 promptly grasps and lifts the cut object and conveys it to the next step. That is, there are many overlapping operations in time, and the cutting target 2 is prevented from being in a so-called free state. Therefore, it is possible to suppress the change in the position and the posture of the cutting target 2. Further, the cutting of the object 2 to be cut into a predetermined shape and the transfer of the cut product obtained by cutting to the next step can be performed at high speed and stably.

(Example 2)
FIG. 6 is a perspective view showing another example of the cutting device according to the present invention. A holding mechanism 28 is provided on each side of the cutter 18 with the holding mechanism 28 interposed therebetween. These pressing mechanisms 28 are for lowering together with the cutter 18 to lightly press the cutting object 2. Each holding mechanism 28 includes a holding plate 28A having a triangular shape, and an actuator (not shown) that moves the holding plate 28A toward and away from the object 2 to be cut. Each actuator is attached to the lift table 20 together with the cutter 18. Therefore, each pressing mechanism 28 moves up and down as the cutter 18 moves up and down. Each of the above actuators is configured to move the holding plate 28A toward or away from the cutting target 2 based on the control command signal from the controller 27 described above. The operation of the pressing mechanism 28 will be described later. The linear guide 23, the forward-backward movement cylinder 24, and the like described above are attached to a frame member 29 of the cutting device, as shown in FIG.

In the example shown in FIG. 6, air nozzles 30 are provided behind the cutter 18 in the carrying direction and on both sides of the cutter 18 with the cutter 18 interposed therebetween. Each of the air nozzles 30 is configured to blow air continuously or intermittently onto the blade edge of the blade 19 from diagonally above and blow off the residue generated by the cutting from the blade 19. Therefore, for example, a compressor (not shown) is connected to each air nozzle 30.

FIG. 7 is a time chart for explaining another example of the control executed in the present invention. At least two objects 2 to be cut on the carry-in conveyor 1 are stacked by the stacking mechanism 3 and obliquely placed on the cutting conveyor 7. When the object to be cut 2 on the cutting conveyor 7 is detected by a sensor (not shown) at time t8, the corner pressing mechanism 8 starts to operate, and the object to be cut 2 is gripped by the gripping members 9 and 10.

The front-rear movement cylinder 24 and the lifting cylinder 21 of the cutter 18 start operating almost at the same time as the operation of the corner pressing mechanism 8 starts, or at the same time as the gripping members 9, 10 pinch the object 2 to be cut. As a result, the blade 19 and the pressing mechanism 28 are moved at the same speed as the object to be cut 2 by the forward/backward movement cylinder 24, and are lowered toward the object to be cut 2 by the elevating cylinder 21. Further, the actuator of the pressing mechanism 28 operates so that the pressing plate 28A approaches the cutting target 2. Then, at time t9, the pressing plate 28A of the pressing mechanism 28 is brought into light contact with the object to be cut 2 simultaneously with the blade 19 or in advance of the blade 19. That is, the cutting object 2 is pressed onto the cutting conveyor 7 by the pressing plate 28A. In this way, at time t9 when the holding plate 28A comes into contact with the object 2 to be cut, apparently the lowering of the holding plate 28A by the actuator is stopped. The movement of the blade 19 by the forward/backward movement cylinder 24 and the lifting cylinder 21 is continued.

As described above, the cutting by the cutter 18 is started almost at the same time when the pressing plate 28A comes into contact with the object 2 to be cut. That is, the blade 19 is ultrasonically vibrated, and the cutting object 2 starts to be cut in the thickness direction. In this case, the cutting target object 2 is gripped by the gripping members 9 and 10.

Next, at the same time when the cutting of the object 2 to be cut is completed, that is, at time t10, the pressing plate 28A is rapidly raised by the actuator and retracted to the original position. Further, the cylinders 13 and 14 operate to separate one of the backing plates 9A and 10B from the object to be cut 2. Since the two cuts obtained along with the cutting are in contact with the side surface of the blade 19 and the other contact plates 9B and 10A, the position and orientation (posture) on the cutting conveyor 7 are particularly It does not change.

Further, the pickup mechanism 25 starts to operate, and the tongs 26 are inserted toward the two cut objects obtained by cutting from the position where the one of the contact plates 9A and 10B was. Then, at time t11, each of the two cut pieces is gripped by the tongs 26 and slightly lifted. Further, at the time t11, the opening/closing cylinders 15 and 16 operate to retract the gripping members 9 and 10 to the side of the cutting conveyor 7, and then move the gripping members 9 and 10 backward to the original positions. The feed cylinder 17 returns. In the process of this return, the one of the backing plates 9A and 10B is returned to its original position by the cylinders 13 and 14. Further, the cut object picked up and lifted by the tongs 26 is conveyed to the next step by the pickup mechanism 25, and the blade 19 is returned to the original position. Further, in the process of returning the blade 19 to the original position, air is blown from the air nozzle 30 to the blade 19, and the residue generated by the cutting is blown off from the blade 19.

According to the control device having the above-described configuration, the cutter 18 cuts the cutting target 2 while the pressing target 28 holds the cutting target 2 against the cutting conveyor 7. It can be cut without changing. Further, when the cutting of the object 2 to be cut is completed, the holding mechanism 28 is separated and the one of the contact plates 9A and 10B is separated. At the same time, the pickup mechanism 25 starts operating and the tongue 26 is inserted. Therefore, the interference between the pressing mechanism 28 and the tongue 26 can be prevented or suppressed. Then, at the same time as the cutter 18 retreats, the tongue 26 promptly grasps and lifts the cut object and conveys it to the next step. Thus, even with the configuration shown in the second embodiment, similar to the first embodiment, there are many temporally overlapping operations, and it is possible to prevent the cutting target object 2 from becoming a so-called free state. Further, the cutting of the object 2 to be cut into a predetermined shape and the transfer of the cut product obtained by cutting to the next step can be performed at high speed and stably.

2... Object to be cut, 7... Cutting conveyor (placement surface), 9, 10... Gripping member, 9A, 9B, 10A, 10B... Patch plate, 18... Cutter, 26... Tong, 27... Controller (control device).

Claims (3)

A gripping member that grips a cutting object arranged on the mounting surface from both sides thereof, a cutter that cuts the cutting object gripped by the gripping member from the upper side to the lower side in the thickness direction, and the cutting With a pair of tongs for gripping and lifting each of the two cut objects obtained by cutting the object, the gripping member has a pair of backing plates that are attached to the side surfaces of the cutting object. , A controller for a cutting device, wherein one pad plate is configured to be brought closer to and separated from the other pad plate,
While holding the cutting target by the gripping member, the cutting target is sandwiched between the placing surface and the cutter by pressing the cutter against the cutting target,
In a state where the object to be cut is sandwiched between the placing surface and the cutter, the one contact plate is separated from the other contact plate,
After the one patch plate is separated from the other patch plate, the cutting of the cutting object by the cutter is started, and from the place where the one patch plate was, toward the cutting object. A control device for a cutting device, wherein the tongue is inserted. The tongs are inserted into the cutting object, and at a time point before the cutting of the cutting object is finished, the gripping member is retracted in a direction of separating from the cutting object,
The control device of the cutting device according to claim 1, wherein the tongue holds the cut object after the cutting of the cut object is completed. A gripping member that grips a cutting object arranged on the mounting surface from both sides thereof, a cutter that cuts the cutting object gripped by the gripping member from the upper side to the lower side in the thickness direction, and the cutting With a pair of tongs for gripping and lifting each of the two cut objects obtained by cutting the object, the gripping member has a pair of backing plates that are attached to the side surfaces of the cutting object. , A controller for a cutting device, wherein one pad plate is configured to be brought closer to and separated from the other pad plate,
The cutting device is provided with a pressing mechanism that presses the object to be cut against the placement surface,
In a state where the cutting target is gripped by the gripping member, the cutting target is pressed onto the placement surface by the pressing mechanism,
In a state where the object to be cut is pressed onto the placing surface, the cutting of the object to be cut by the cutter is started,
At the same time when the cutting of the cutting object is completed, the pressing mechanism is separated from the cutting object, and the one contact plate is separated from the other contact plate,
It is configured such that, after the one contact plate is separated from the other contact plate, the tongue is inserted toward the object to be cut from the position where the one contact plate was. Control device for cutting device.

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