JP7685459B2 - Control data creating device and control data creating method - Google Patents

Description

The present invention relates to a control data creation device and a control data creation method.

Patent document 1 discloses a method for controlling a loader device that adsorbs and transports a plate-shaped workpiece with a pad, in which a stability coefficient for the workpiece transport state is calculated based on the adsorption position of the pad relative to the workpiece, and the transport speed of the workpiece is set based on the stability coefficient.

JP 2016-203201 A

However, with conventional methods, the suction state of the product was not fully considered when removing the product cut from the workpiece. This resulted in problems such as the product becoming slanted or warped, causing it to get caught on the remaining workpiece material.

A control data creation device according to one aspect of the present invention is a device that creates control data for a product discharge device to take out and discharge a product cut from a plate-shaped workpiece by a processing machine, and the product discharge device is equipped with a discharge arm that is configured to be movable along the workpiece plane and has a plurality of suction pads that adsorb the product on the surface facing the workpiece. The control data creation device is equipped with an identification unit that moves the discharge arm on the product data to switch the suction position at which the discharge arm adsorbs the product and identifies an index for evaluating the suction state for each suction position, and an allocation setting unit that creates control data in which a suction position is assigned to the product based on each of the indexes identified for each suction position.

The control data creation device of one embodiment of the present invention specifies an index for evaluating the adsorption state for each adsorption position, so it can evaluate the adsorption state at each adsorption position. This makes it possible to specify adsorption positions that can obtain an appropriate adsorption state, and therefore to create the desired control data.

According to one aspect of the present invention, the product can be properly adsorbed, so that the product can be transported stably without getting caught on the remaining workpiece material.

FIG. 1 is a block diagram showing the configuration of a control data generating device and a processing system according to the first embodiment. FIG. 2 is an explanatory diagram showing a simplified configuration of the machining system. FIG. 3 is an explanatory diagram showing a main part of the carry-out arm. FIG. 4 is a flow chart showing a method for allocating pickup positions of the carry-out arm to products. FIG. 5 is a flowchart showing a process for identifying the attraction center of gravity for each attraction position. FIG. 6 is a diagram for explaining a method for switching the suction position of the carry-out arm on the product data. FIG. 7 is a diagram for explaining a method for switching the suction position of the carry-out arm on the product data. FIG. 8 is a diagram for explaining a method for switching the suction position of the carry-out arm on the product data. FIG. 9 is a diagram for explaining a method for switching the suction position of the carry-out arm on the product data. FIG. 10 is a diagram for explaining the effective suction pads and the suction center of gravity. FIG. 11 is a diagram illustrating an effective suction pad. FIG. 12 is a diagram for explaining the distance between the product center of gravity and the suction center of gravity. FIG. 13 is a block diagram showing the configuration of a control data generating device and a processing system according to the second embodiment. FIG. 14 is a diagram illustrating the first, second and third carry-out arms that constitute the product carry-out device. FIG. 15 is a flow chart showing a method for allocating pickup positions of the carry-out arm to products. FIG. 16 is a diagram for explaining the relationship between the product size and the method of specifying the suction position. FIG. 17 is a diagram for explaining the relationship between the product size and the method of specifying the suction position. FIG. 18 is a diagram for explaining the relationship between the product size and the method of specifying the suction position.

Hereinafter, a control data creating device and a control data creating method according to the present embodiment will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram showing the configuration of a control data creation device and a processing system according to a first embodiment. FIG. 2 is an explanatory diagram showing a simplified configuration of the processing system. FIG. 3 is an explanatory diagram showing a main part of a carry-out arm. In the following description, the directions are defined as an X-axis direction (first axis direction) and a Y-axis direction (second axis direction) that are orthogonal to the horizontal direction, and a Z-axis direction that is orthogonal to the X-axis direction and the Y-axis direction, respectively. The X-axis direction corresponds to the left-right direction, the Y-axis direction corresponds to the front-rear direction, and the Z-axis direction corresponds to the up-down direction. Note that these directions are used merely for convenience of description.

The control data creation device 21 according to this embodiment is a device that creates control data for the product discharge device 60 to take out and discharge the product P cut from the plate-shaped workpiece W by the processing machine 50. The product discharge device 60 is configured to be movable along the workpiece plane and includes discharge arms 61a, 61b that are provided with a plurality of suction pads 62 that adsorb the product P on the surface facing the workpiece W. The control data creation device 21 includes a specification unit that moves the discharge arms 61a, 61b on the product data to switch the suction positions at which the discharge arms 61a, 61b adsorb the product P, and specifies an index for evaluating the suction state for each suction position, and an allocation setting unit 21c that creates control data in which suction positions are assigned to the product P based on each of the indexes specified for each suction position.

In this embodiment, the identification unit includes an adsorption center of gravity identification unit 21b that identifies, as an index, the adsorption center of gravity, which is the center of gravity position calculated from the set of effective adsorption pads 62a that can adsorb the product P among the multiple adsorption pads 62. The allocation setting unit 21c creates control data so that the distance between the adsorption center of gravity and the product center of gravity is small.

The following describes the overall system including the control data creation device and the processing system. The overall system shown in Figure 1 is mainly composed of a CAD (Computer Aided Design) 10, a CAM (Computer Aided Manufacturing) 20, a control device 30, and a processing system 40.

CAD 10 is a computer equipped with CAD functions. CAD 10 is composed of a computer having a hardware processor such as a CPU (Central Processing Unit), memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus. The various functions of CAD 10 are realized by having the hardware processor execute programs stored in the memory.

The CAD 10 functions as a product data creation device 11 by executing a computer program. The product data creation device 11 creates product data, which is data related to the product P to be cut from the workpiece W. The product data includes information (graphic data) such as the shape of the product P (two-dimensional data showing the shape of the product P expressed on a two-dimensional plane), size, and weight. The product data created by the product data creation device 11 is input to the CAM 20.

CAM 20 is a computer equipped with CAM functions. CAM 20 is composed of a computer having a hardware processor such as a CPU, memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus. The various functions of CAM 20 are realized by having the hardware processor execute programs stored in the memory.

The CAM 20 is connected to an input device 22 for inputting information to the CAM 20, and a display device 23 for displaying information created by the CAM 20. The CAM 20 executes a computer program to function as a control data creation device 21 that creates a machining program for the control device 30 to control the machining system 40. Details of the control data creation device 21 will be described later.

The control device 30 is a device that controls the machining system 40 based on a machining program, and is, for example, an NC device (Numerical Control device). The control device 30 is composed of a computer having a hardware processor such as a CPU, a memory, and various interfaces. The memory and various interfaces are connected to the hardware processor via a bus. The various functions of the control device 30 are realized by having the hardware processor execute the program stored in the memory.

For example, the control device 30 controls the processing machine 50 to cut out the product P from the workpiece W based on the processing program. When the processing machine 50 cuts out the product P from the workpiece W, the product P is produced. The control device 30 also controls the product discharge device 60 to remove and discharge the product P cut from the workpiece W based on the processing program. When the product discharge device 60 discharges the product P, the product P is accumulated on an accumulation pallet (not shown).

The processing system 40 includes a processing machine 50 and a product discharge device 60.

The processing machine 50 is a multi-tasking machine equipped with a punch processing section 51 and a laser processing section 52. The punch processing section 51 performs punch processing on the workpiece W using a metal mold consisting of a punch and a die. The laser processing section 52 performs laser cutting processing on the workpiece W using a laser beam.

The laser processing unit 52 is equipped with a processing head 52a that irradiates a laser beam onto the workpiece W. The processing head 52a is configured to be freely movable in the Y-axis direction and the Z-axis direction. When performing laser cutting processing, under the control of the control device 30, the processing machine 50 combines the movement of the workpiece W in the X-axis direction with the movement of the processing head 52a in the Y-axis direction to two-dimensionally irradiate the workpiece W with the laser beam output from the processing head 52a. In this way, the laser processing unit 52 cuts the workpiece W according to the internal shape and outer peripheral shape of the product P.

The product discharge device 60 removes and discharges the product P cut out from the workpiece W. The product discharge device 60 discharges the product P every time the laser processing unit 52 cuts out the product P from the workpiece W. The product discharge device 60 is equipped with first and second discharge arms 61a and 61b that separate and discharge the product P cut out from the workpiece W from the remaining workpiece material.

Each of the unloading arms 61a, 61b is equipped with a plurality of suction pads 62 for suctioning the product P. The plurality of suction pads 62 are provided on the surfaces of the unloading arms 61a, 61b that face the workpiece W. The plurality of suction pads 62 include a plurality of types of suction pads with different pad diameters. In addition, a plurality of sensors 63 for detecting the presence or absence of the product P are provided on the surfaces of the tip ends of the unloading arms 61a, 61b that face the workpiece W.

When the product P is to be removed, under the control of the control device 30, the product removal device 60 moves the first and second removal arms 61a, 61b to the left in the X-axis direction and advances the first and second removal arms 61a, 61b toward the processing head 52a. When the first and second removal arms 61a, 61b reach the product P, the product removal device 60 uses the first and second removal arms 61a, 61b to adsorb the product P, and separates and removes the product P from the remaining workpiece material. The product removal device 60 removes the removed product P and removes it on a collection pallet (not shown) for collection.

The configuration of the control data creation device 21, which is one of the features of this embodiment, will be described below. Product data created by the product data creation device 11 is input to the control data creation device 21. Work data including the size, plate thickness, material, etc. of the workpiece W is input to the control data creation device 21 from the input device 22. Device data including information on the product discharge device 60 of the processing system 40 is input to the control data creation device 21. The device data may be acquired from the product discharge device 60 or the control device 30, or may be acquired from an external device that holds information on the processing system 40.

The control data creation device 21 creates control data for the product discharge device 60 to take out and discharge the product P that has been separated from the workpiece W by the processing machine 50. This control data is data that assigns, to the product P, suction positions at which the first and second discharge arms 61a, 61b will suction the product P. The control data creation device 21 creates a processing program based on the control data. The processing program is composed of machine control codes that the control device 30 uses to control the processing system 40.

The machining program created by the control data creation device 21 is stored in the control device 30. The control data creation device 21 may store the created machining program in a database in a data management server (not shown). In this case, the control device 30 may read out the machining program stored in the database of the data management server.

In relation to this embodiment, the control data creation device 21 includes a product center of gravity identification unit 21a, an adsorption center of gravity identification unit 21b, and an allocation setting unit 21c. The product center of gravity identification unit 21a acquires product data from the product data creation device 11. The product center of gravity identification unit 21a identifies the product center of gravity, which is the center of gravity of the product P, based on the product data. The adsorption center of gravity identification unit 21b switches the adsorption positions at which the first and second carry-out arms 61a and 61b adsorb the product P while moving the first and second carry-out arms 61a and 61b on the product data (data indicating the shape of the product P expressed on a two-dimensional plane). The adsorption center of gravity identification unit 21b identifies an effective adsorption pad that can adsorb the product P among the multiple adsorption pads 62 for each adsorption position, and identifies the center of gravity position calculated from the set of adsorption pads as the adsorption center of gravity. The allocation setting unit 21c creates control data that allocates the suction positions of the first and second discharge arms 61a and 61b to the product P so that the distance between the suction center of gravity and the product center of gravity is small.

In addition to creating control data that allocates suction positions, the allocation setting unit 21c can also create processing data for the product P required for the laser cutting process of the processing machine 50 by allocating cutting lines and cutting paths of the laser beam for cutting the product P on the workpiece W based on the product data.

Next, the procedure for the control data creation device 21 to create the control data will be described. Figure 4 is a flowchart showing the method for assigning the pickup position of the delivery arm to the product.

In step S10, the control data creation device 21 acquires device data and product data. Through the device data, the control data creation device 21 can recognize the number of suction pads 62 provided on each of the discharge arms 61a, 61b, the position of each suction pad 62 on the arm, the pad diameter, etc. Through the product data, the control data creation device 21 can recognize the shape, size, etc. of the product P.

In step S11, the attraction center of gravity identification unit 21b identifies the attraction center of gravity. Figure 5 is a flowchart showing the process of identifying the attraction center of gravity for each attraction position.

First, in step S110, the suction center of gravity identification unit 21b sets the suction positions at which the first and second discharge arms 61a, 61b will suction the product P. In this embodiment, since it is preferable to identify the suction center of gravity for various suction positions on the product data, the suction positions of the first and second discharge arms 61a, 61b are set multiple times while switching between locations. Below, a method for switching the suction positions of the first and second discharge arms 61a, 61b will be described with reference to Figures 6 to 9. Figures 6 to 9 are diagrams for explaining a method for switching the suction positions of the discharge arms on the product data.

First, as shown in FIG. 6, the suction center of gravity identification unit 21b sets the suction positions of the first and second discharge arms 61a and 61b to a first reference position. The first reference position is set, for example, to a corner of the product P shown in FIG. 6. Specifically, the corner of the product P corresponds to the left side where the first and second discharge arms 61a and 61b advance and the rear side where the first discharge arm 61a of the first and second discharge arms 61a and 61b is located, that is, the lower left of the product P in FIG. 6. When the suction center of gravity identification unit 21b sets the first and second discharge arms 61a and 61b to the first reference position, the suction center of gravity identification unit 21b moves the second discharge arm 61b at a constant pitch along the Y-axis direction to switch the suction position of the second discharge arm 61b. The movement of the second discharge arm 61b in the Y-axis direction is repeated until the second discharge arm 61b reaches the end position of the product P in the Y-axis direction.

The pitch at which the second unloading arm 61b moves in the Y-axis direction can be set according to, for example, the area of the product P. For example, the larger the area of the product P, the larger the pitch at which the second unloading arm 61b moves in the Y-axis direction. The pitch is determined in the same way for movement in the X-axis direction, which will be described later.

When the second ejection arm 61b reaches the end position of the product P in the Y-axis direction, the suction center of gravity identification unit 21b returns the second ejection arm 61b to the first reference position, as shown in FIG. 7. Then, the suction center of gravity identification unit 21b moves the second ejection arm 61b at a constant pitch along the X-axis direction to switch the suction position of the second ejection arm 61b.

When the second discharge arm 61b reaches the end position of the product P in the X-axis direction, the suction center of gravity identification unit 21b moves the first and second discharge arms 61a, 61b to a second reference position (initial position) as shown in FIG. 8. The second reference position is offset from the first reference position by a certain distance in the Y-axis direction. As shown in FIG. 6 and FIG. 7, the suction center of gravity identification unit 21b moves the second discharge arm 61b at a certain pitch along the Y-axis direction and the X-axis direction to switch the suction position of the second discharge arm 61b. Then, while updating the second reference position along the Y-axis direction, the suction center of gravity identification unit 21b switches the suction position as shown in FIG. 6 and FIG. 7 until the second reference position reaches the end position of the product P in the Y-axis direction.

When the second reference position reaches the end position of the product P in the Y-axis direction, the suction center of gravity identification unit 21b moves the first and second discharge arms 61a, 61b to the third reference position, as shown in FIG. 9. The third reference position is offset from the first reference position by a certain distance in the X-axis direction. As shown in FIG. 6 and FIG. 7, the suction center of gravity identification unit 21b moves the second discharge arm 61b at a certain pitch along the Y-axis direction and the X-axis direction to switch the suction position of the second discharge arm 61b. Then, while updating the reference position along the X-axis direction, the suction center of gravity identification unit 21b switches the suction position as shown in FIG. 6 and FIG. 7 until the reference position reaches the end position of the product P in the X-axis direction.

Figure 10 is a diagram explaining the effective suction pads and the suction center of gravity. When the suction positions of the first and second discharge arms 61a, 61b are switched as described above, the suction center of gravity identification unit 21b calculates the suction center of gravity Bg for each suction position (step S111). The suction center of gravity Bg is the center of gravity position calculated from the set of effective suction pads 62a that can suction the product P among all the suction pads 62 provided on the first and second discharge arms 61a, 61b.

Specifically, the suction center of gravity identification unit 21b identifies, among all the suction pads 62 provided on the first and second carry-out arms 61a and 61b, the suction pads 62 that are located inside the outer perimeter line that defines the outer perimeter shape of the product P as effective suction pads 62a. In FIG. 10, as shown by hatching, multiple effective suction pads 62a are identified.

The suction center of gravity identification unit 21b generates a bounding box BB, which is a rectangular frame that circumscribes the effective suction pad 62a. The suction center of gravity identification unit 21b calculates the position of the center of gravity of the bounding box BB as the suction center of gravity Bg.

The method of calculating the suction center of gravity Bg is not limited to the method using the bounding box BB. For example, since the suction force of the effective suction pad 62a depends on the pad diameter of the effective suction pad 62a, the suction center of gravity Bg may be calculated using the following formula for calculating the center of gravity.
xg=(r1・x1+...rn・xn)/(r1+...+rn)
yg=(r1・x1+...rn・xn)/(r1+...+rn)

Here, "xg" is the X-axis coordinate of the suction center of gravity Bg, and "yg" is the Y-axis coordinate of the suction center of gravity Bg. x1 to xn are the X-axis coordinates of each of the n effective suction pads 62a, and y1 to yn are the Y-axis coordinates of each of the n effective suction pads 62a. r1 to rn are the pad diameters of each of the n effective suction pads 62a. In this way, the suction center of gravity Bg may be calculated taking into account the coordinate positions and suction forces of each of the effective suction pads 62a.

Figure 11 is a diagram explaining an effective suction pad. Depending on the product P, the product P may have a hole Pa of a required shape inside it. In this case, the suction center of gravity identification unit 21b does not treat as an effective suction pad 62a an suction pad 62 in which all or part of the suction pad 62 interferes with the hole Pa, even if the suction pad 62 is located inside the outer periphery of the product P. This makes it possible to treat only the suction pads 62 that contribute to the suction of the product P as effective suction pads 62a.

The suction center identification unit 21b also calculates the total suction force obtained from the set of effective suction pads 62a. As described above, the suction force of the suction pad 62 depends on the pad diameter of the effective suction pad 62a. The suction center identification unit 21b uses a map or a formula to identify the suction force from the pad diameter of the effective suction pad 62a. The suction center identification unit 21b then calculates the total suction force by adding up the suction forces of the individual effective suction pads 62a.

Furthermore, the suction center of gravity identifying unit 21b calculates the amount of deflection that occurs in the product P when it is adsorbed by the first and second carry-out arms 61a, 61b. For example, the suction center of gravity identifying unit 21b determines the length to the free end where deflection occurs based on the suction positions of the first and second carry-out arms 61a, 61b. Then, the suction center of gravity identifying unit 21b calculates the amount of deflection based on the length to the free end, the Young's modulus of the work W, and the second moment of area.

In step S112 shown in FIG. 5, the suction center of gravity identification unit 21b determines whether the following three requirements are met. The first requirement is that at least one of the multiple sensors 63 provided on each of the discharge arms 61a, 61b detects the product P. The second requirement is that the total suction force of the collective effective suction pads 62a is greater than the weight of the product P. The third requirement is that the amount of deflection generated in the product P is within a preset allowable amount of deflection.

If all three requirements are met (step S112: YES), the attraction center of gravity identification unit 21b identifies the attraction center of gravity Bg corresponding to the attraction positions of the first and second carry-out arms 61a and 61b from the calculation result of step S111 (step S113). At this time, the attraction center of gravity identification unit 21b associates the attraction center of gravity Bg and the total attraction force with the attraction positions of the first and second carry-out arms 61a and 61b, and stores this information. On the other hand, if any one of the three requirements is not met (S112: NO), the attraction center of gravity identification unit 21b does not identify the calculation result of step S111 as the attraction center of gravity Bg corresponding to the attraction positions of the first and second carry-out arms 61a and 61b, and proceeds to the next process. In this way, the attraction center of gravity identification unit 21b performs a process of identifying and storing (collecting) the attraction center of gravity Bg for the attraction positions that satisfy the above-mentioned requirements.

In step S114, the attraction center of gravity specifying unit 21b judges whether or not the switching of the attraction positions for the first and second discharge arms 61a, 61b has been completed. If all the switching shown in Fig. 6 to Fig. 9 has been completed, this routine ends (S114: YES). On the other hand, if all the switching shown in Fig. 6 to Fig. 9 has not been completed, the process returns to step S110, and the attraction positions of the first and second discharge arms 61a, 61b are set (switched).

Figure 12 is a diagram explaining the distance between the product center of gravity and the suction center of gravity. In step S12, the product center of gravity identification unit 21a identifies the product center of gravity Pg, which is the center of gravity position of the product P, based on the product data. Meanwhile, the allocation setting unit 21c identifies the distance between the suction center of gravity Bg identified for each suction position and the product center of gravity Pg. Then, the allocation setting unit 21c identifies the suction position where the distance between the suction center of gravity Bg and the product center of gravity Pg is the smallest.

In step S13, if there are multiple suction positions where the distance between the suction center of gravity Bg and the product center of gravity Pg is the smallest, the allocation setting unit 21c evaluates the total suction force calculated at each suction position. Then, the allocation setting unit 21c identifies the suction position with the highest total suction force among the multiple suction positions.

In step S14, the allocation setting unit 21c identifies the suction positions of the first and second discharge arms 61a, 61b to be allocated to the product P. Specifically, if a single suction position is determined at which the distance between the suction center of gravity Bg and the product center of gravity Pg is the smallest, the allocation setting unit 21c identifies this suction position. On the other hand, if there are multiple suction positions at which the distance between the suction center of gravity Bg and the product center of gravity Pg is the smallest, the allocation setting unit 21c identifies the suction position at which the total suction force is the highest.

In step S15, the allocation setting unit 21c creates control data by allocating the identified suction positions of the first and second conveying arms 61a, 61b to the product P.

When the control data is created in this manner, the control data creation device 21 creates a processing program based on the control data for the suction position and the processing data for the product P. The created processing program is used by the control device 30.

The control device 30 controls the processing machine 50 and the product discharge device 60 based on the processing program. As a result, the processing machine 50 cuts the workpiece W according to the internal and outer peripheral shapes of the product P using a laser beam emitted from the processing head 52a of the laser processing unit 52.

When the outer peripheral shape of the product P is cut by the laser beam, the product P is completely separated from the workpiece W. The product discharge device 60 moves the first and second discharge arms 61a, 61b to the left in the X-axis direction and advances them toward the processing head 52a. When the product discharge device 60 advances the first and second discharge arms 61a, 61b to the suction position, it starts the suction operation using the suction pad 62, and separates and removes the product P from the remaining workpiece. The product discharge device 60 transports the removed product P to an accumulation pallet (not shown) for accumulation.

Through this series of steps, the laser cutting method according to this embodiment is realized. This laser cutting method is performed each time a product P assigned to the workpiece W is cut.

According to the control data creation device 21 of this embodiment, the allocation setting unit 21c creates control data that allocates the suction positions of the first and second discharge arms 61a and 61b to the product P based on the suction center of gravity Bg identified for each suction position.

With this configuration, the suction positions of the first and second discharge arms 61a, 61b can be set taking into account the suction center of gravity Bg, so that the product P can be appropriately adsorbed by the first and second discharge arms 61a, 61b. Because the product P can be appropriately adsorbed, the product P can be stably transported without getting caught on the remaining workpiece material.

According to this embodiment, the allocation setting unit 21c creates control data based on the suction position where the distance between the suction center of gravity Bg and the product center of gravity Pg is the smallest. This allows the product P to be adsorbed in the most balanced position. Since the product P can be adsorbed in a balanced manner, the product P can be transported stably without getting caught on the remaining workpiece material.

According to this embodiment, the allocation setting unit 21c creates control data so that the distance between the suction center of gravity Bg and the product center of gravity Pg is small and the suction force of the product P is large. This allows the product P to be suctioned in a well-balanced manner and with a high suction force. As a result, the product P can be transported stably.

According to this embodiment, the suction center of gravity identification unit 21b performs a process of identifying the suction center of gravity Bg for suction positions where the total suction force is greater than the weight of the product P. Therefore, since the suction center of gravity Bg is not identified for suction positions where the product P cannot be attracted, it is possible to prevent unnecessary data from being accumulated.

According to this embodiment, the suction center of gravity identification unit 21b performs a process of identifying the suction center of gravity Bg for a suction position where at least one of the multiple sensors 63 can detect the product P. If none of the multiple sensors 63 detects the product P, the suction operation by the first and second carry-out arms 61a, 61b is not performed. Therefore, since the suction center of gravity Bg is not identified at a suction position where the suction operation by the first and second carry-out arms 61a, 61b is not performed, it is possible to prevent unnecessary data from being accumulated.

According to this embodiment, the suction center of gravity identification unit 21b performs processing to identify the suction center of gravity Bg for suction positions where the deflection of the product P falls within a preset allowable deflection amount. With this configuration, the suction center of gravity Bg is not identified for suction positions where the deflection of the product P causes interference with the workpiece W, making it possible to prevent unnecessary data from being accumulated.

In the above embodiment, an example is shown in which one product P is adsorbed by two ejection arms 61a, 61b. However, the method of this embodiment may also be applied to cases in which one product P is adsorbed by three or more ejection arms, or cases in which one product P is adsorbed by one ejection arm.

In the example shown in FIG. 11, it is assumed that the product P with the hole Pa cut out therein is sucked up by the ejection arms 61a and 61b. However, it is also possible to consider a processing mode in which the hole Pa in the product P is not completely cut out, but a joint is provided to leave a work area corresponding to the hole Pa. In this case, it is preferable that the suction center of gravity identification unit 21b treats the suction pad 62 that exists in the hole Pa as an effective suction pad 62a. However, if the suction pad 62 overlaps the cutting line of the hole Pa excluding the joint, the suction pad 62 does not exert suction force, so it is preferable to treat it as being excluded from the effective suction pad 62a. It is also preferable that the product center of gravity identification unit 21a calculates the product center of gravity assuming that there is no hole Pa inside the product P. To perform such calculations, it is preferable to refer to not only the product data but also the processing data of the product P.

According to this embodiment, the suction center of gravity identification unit 21b switches the suction position by moving the first and second discharge arms 61a, 61b back and forth and left and right, respectively, starting from a specific product corner in the product data, specifically the rear left of the product. This makes it possible to start calculation of the suction position from a position where the product P can be most efficiently discharged, taking into account the movements of the first and second discharge arms 61a, 61b and the processing head 52a.

In the above-described embodiment, the control data creation device 21 includes a product center of gravity identification unit 21a that identifies the product center of gravity Pg based on the product data. However, the control data creation device 21 does not necessarily need to include the product center of gravity identification unit 21a. For example, when the product data created by the product data creation device 11 includes information on the product center of gravity Pg, the control data creation device 21 can acquire the product center of gravity Pg based on the product data. Therefore, the allocation setting unit 21c can perform necessary calculations using the product center of gravity Pg acquired from the product data. However, when the control data creation device 21 includes the product center of gravity identification unit 21a, the product center of gravity can be identified based on not only the product data but also the processing data of the product P, so that the product center of gravity Pg according to the product shape that the discharge arms 61a and 61b actually pick up can be accurately identified.

Second Embodiment
13 is a block diagram showing the configuration of a control data creation device and a processing system according to the second embodiment. The control data creation device 21 according to this embodiment is a device that creates control data for a product discharge device 60 to take out and discharge a product P cut from a plate-shaped workpiece W by a processing machine 50. The product discharge device 60 is configured to be movable along a workpiece plane and includes discharge arms 65a, 65b, and 65c on which a plurality of suction pads 66 for adsorbing the product P are provided on a surface facing the workpiece W. The control data creation device 21 includes a specifying unit that moves the discharge arms 65a, 65b, and 65c on the product data to switch the suction positions at which the discharge arms 65a, 65b, and 65c adsorb the product P, and specifies an index for evaluating the suction state for each suction position, and an allocation setting unit 21c that creates control data in which a suction position is assigned to the product P based on each of the indexes specified for each suction position.

In this embodiment, the identification unit includes an adsorption force identification unit 21d that identifies, as an index, the total adsorption force calculated from the set of effective adsorption pads that can adsorb the product P among the multiple adsorption pads 66. The allocation setting unit 21c creates control data based on the adsorption position with the largest total adsorption force.

The following describes the overall system that includes the control data creation device and the machining system. The overall system is mainly composed of CAD 10, CAM 20, control device 30, and machining system 40. Note that we will omit explanations of content that overlaps with the first embodiment, and will focus on the differences.

The processing system 40 includes a processing machine 50 and a product discharge device 60.

The processing machine 50 is a laser processing machine equipped with a laser processing unit 53. The laser processing unit 53 performs laser cutting processing on the workpiece W using a laser beam.

Figure 14 is a diagram explaining the first, second, and third discharge arms that make up the product discharge device 60. The product discharge device 60 is equipped with first, second, and third discharge arms 65a, 65b, and 65c that separate and remove the product P cut out from the workpiece W from the remaining workpiece material.

The first output arm 65a is the output arm with the largest area among the first, second and third output arms 65a, 65b and 65c. The second and third output arms 65b and 65c are located on both the left and right sides of the first output arm 65a. The first output arm 65a is connected to the second and third output arms 65b and 65c by a pair of telescopic rods 68.

The telescopic rod 68 can be in a fully retracted state, a fully extended state, or any state between these two states. When the telescopic rod 68 is in its fully retracted state, the second and third output arms 65b, 65c are adjacent to the sides of the first output arm 65a, i.e., in a closed state. On the other hand, when the telescopic rod 68 is in its fully extended state, the second and third output arms 65b, 65c are spaced a predetermined distance from the first output arm 65a, i.e., in an open state.

The first, second and third discharge arms 65a, 65b and 65c are provided with a plurality of suction pads 66 for suctioning the product P. The plurality of suction pads 66 are provided on the surfaces of the first, second and third discharge arms 65a, 65b and 65c facing the workpiece W. The suction pads 66 include a multi-pad 66a consisting of a plurality of small-diameter pads whose suction on/off is controlled synchronously. In addition, a plurality of sensors 67 are provided at the center of the first, second and third discharge arms 65a, 65b and 65c in the Y-axis direction so as to be aligned in the X-axis direction . Each sensor 67 is a sensor for detecting the presence or absence of the product P.

The first output arm 65a is configured to be movable in the X-axis, Y-axis, and Z-axis directions. The first output arm 65a is rotatable in a horizontal plane around the arm center Ag, which is the center position of the first output arm 65a, and can rotate horizontally in a range of 90 degrees (180 degrees) in both forward and reverse directions. The second and third output arms 65b and 65c are connected to the first output arm 65a via an extendable rod 68. Therefore, when the first output arm 65a moves and rotates, the first, second, and third output arms 65a, 65b, and 65c move and rotate as a whole. The arm center Ag is also the center position of the entire first, second, and third output arms 65a, 65b, and 65c.

When the product P is to be discharged, under the control of the control device 30, the product discharge device 60 moves the first discharge arm 65a back and forth and left and right, and rotates it horizontally, to position the first, second, and third discharge arms 65a, 65b, and 65c above the product P. The product discharge device 60 also extends and retracts the telescopic rod 68 according to the size of the product P, and opens and closes the second and third discharge arms 65b and 65c relative to the first discharge arm 65a. The product discharge device 60 uses the first, second, and third discharge arms 65a, 65b, and 65c to suck the product P, separate it from the remaining work material, and remove it. The product discharge device 60 transports the removed product P to a collection pallet (not shown) for collection.

Hereinafter, the control data creation device 21 of the CAM 20, which is one of the features of this embodiment, will be described. The control data creation device 21 includes a product center of gravity identification unit 21a, an adsorption force identification unit 21d, and an allocation setting unit 21c. The product center of gravity identification unit 21a acquires product data from the product data creation device 11. The product center of gravity identification unit 21a identifies the product center of gravity, which is the center of gravity of the product P, based on the product data. The adsorption center of gravity identification unit 21b switches the adsorption positions at which the first, second, and third carry-out arms 65a, 65b, and 65c adsorb the product P while moving the first, second, and third carry-out arms 65a, 65b, and 65c on the product data. The adsorption center of gravity identification unit 21b identifies an effective adsorption pad that can adsorb the product P among the multiple adsorption pads 66 for each adsorption position, and identifies the total adsorption force calculated from the set of effective adsorption pads. The allocation setting unit 21c creates control data that allocates the suction positions of the first, second, and third discharge arms 65a, 65b, and 65c to the product P based on the suction position where the total suction force is the greatest.

Next, the procedure by which the control data creation device 21 creates the control data will be described. FIG. 15 is a flowchart showing a method for allocating the pickup position of the ejection arm to the product. FIG. 16 to FIG. 18 are diagrams explaining the relationship between the product size and the method for identifying the pickup position.

In step S20, the control data creation device 21 acquires device data and product data. Through the device data, the control data creation device 21 can recognize the number of suction pads 66 provided on each of the discharge arms 65a, 65b, 65c, the position of each suction pad 66 on the arm, the pad diameter, etc. Through the product data, the control data creation device 21 can recognize the shape, size, etc. of the product P.

In step S21, the control data creation device 21 classifies the product P by size. If the longitudinal size of the workpiece W is less than the first size La, the control data creation device 21 classifies the workpiece W as small. As shown in FIG. 16, the first size La corresponds to the size of the first discharge arm 65a in the extension direction of the telescopic rod 68. If the longitudinal size of the workpiece W is equal to or greater than the first size La and less than the second size Lb, the control data creation device 21 classifies the workpiece W as medium. As shown in FIG. 17, the second size Lb corresponds to the size of the first, second, and third discharge arms 65a, 65b, and 65c in the extension direction of the telescopic rod 68 when the telescopic rod 68 is in the most contracted state. If the longitudinal size of the workpiece W is equal to or greater than the second size Lb, the control data creation device 21 classifies the workpiece W as large.

In step S22, the control data creation device 21 switches the suction positions of the first, second, and third discharge arms 65a, 65b, and 65c on the product data, and calculates the total suction force at each suction position. In calculating the total suction force, the method of switching the suction position differs depending on the product size classification.

Here, the total suction force is the sum of the suction forces obtained from the collection of effective suction pads in the first, second and third discharge arms 65a, 65b and 65c. Note that the concept of effective suction pads is the same as in the first embodiment, and a detailed description thereof will be omitted.

Below, a product P classified as a small item will be described with reference to FIG. 16. The control data creation device 21 sets the suction position of the first ejection arm 65a to a reference position. The reference position is the position where the arm center Ag, which is the center of the first ejection arm 65a, coincides with the product center of gravity Pg.

At this time, the second and third ejection arms 65b, 65c are closed relative to the first ejection arm 65a. The rotational states of the first, second and third ejection arms 65a, 65b, 65c are in the initial state, i.e., 0 degrees (no rotation).

First, the control data creation device 21 calculates the total suction force at the reference position. Since the number of effective suction pads is correlated with the total suction force, the calculation of the total suction force in this embodiment is performed by counting the number of effective suction pads.

Then, the control data creation device 21 moves the arm center Ag in the X-axis direction and the Y-axis direction at a predetermined distance pitch, for example 1 mm, thereby switching the suction positions of the first, second and third discharge arms 65a, 65b, 65c. The control data creation device 21 calculates the total suction force at each suction position. The range in which the arm center Ag is moved is a predetermined range centered on the product center of gravity Pg, for example, ±100 mm in the X-axis direction and ±100 mm in the Y-axis direction.

The control data creation device 21 sets two rotation patterns, a first angle α1 between 0 and 90 degrees, and 90 degrees, in addition to 0 degrees, and switches the pickup position in the X-axis and Y-axis directions in each rotation pattern as described above. Note that, as shown in FIG. 16, the first angle α1 is an angle determined by the relationship between the sensor 67 and the multi-pad 66a, for example 40.6 degrees.

Referring to Figure 17, we will explain a product P classified as a medium item. The calculation of the total suction force for a medium item P is the same as the calculation method for a small item P described above, but the angle pattern is different.

Specifically, the control data creation device 21 sets four rotation patterns: 0 degrees, a positive second angle α2 between 0 and 90 degrees, and a negative second angle α2 between 90 degrees and 0 and -90 degrees. Then, in each rotation pattern, the control data creation device 21 switches the suction position in the X-axis and Y-axis directions as described above. As shown in FIG. 17, the second angle α2 is an angle determined by the relationship between the sensor 67 and the multi-pad 66a, for example, 59.72 degrees.

Referring to Figure 18, a product P classified as large will be described. The control data creation device 21 sets the suction position of the first discharge arm 65a to a reference position. The reference position is the position where the arm center Ag, which is the center of the first discharge arm 65a, coincides with the product center of gravity Pg.

At this time, the second and third ejection arms 65b, 65c are closed relative to the first ejection arm 65a. The rotational states of the first, second and third ejection arms 65a, 65b, 65c are in the initial state, i.e., 0 degrees (no rotation).

First, the control data creation device 21 calculates the total suction force at the reference position.

Then, the control data creation device 21 moves the arm center Ag in the X-axis direction and the Y-axis direction at a predetermined distance pitch, for example 1 mm, thereby switching the suction positions of the first, second and third discharge arms 65a, 65b, 65c. The control data creation device 21 calculates the total suction force at each suction position. The range in which the arm center Ag is moved is a predetermined range centered on the product center of gravity Pg, for example, ±100 mm in the X-axis direction and ±100 mm in the Y-axis direction.

The control data creation device 21 rotates the first ejection arm 65a in the positive and negative directions at a predetermined angular pitch, for example 1 degree, for each individual XY pattern, thereby switching the suction positions of the first, second and third ejection arms 65a, 65b, 65c. The range of rotation is 50 degrees in the positive direction and 50 degrees in the negative direction, with 0 degrees as the boundary.

Furthermore, the control data creation device 21 calculates the total suction force while switching the suction position according to the above-mentioned XY pattern and angle pattern, not only when the second and third ejection arms 65b, 65c are closed, but also when the second and third ejection arms 65b, 65c are open. The state in which the second and third ejection arms 65b, 65c are open refers to a state in which the second and third ejection arms 65b, 65c are open to the maximum position according to the size of the product P, for example, to a position that is -10 mm from the outer edge of the product P. Note that when the telescopic rod 68 is fully extended, and the size from the second ejection arm 65b to the third ejection arm 65c is smaller than the longitudinal size of the product P, the telescopic rod 68 is in the maximum open state. Thus, in this embodiment, the switching between opening and closing the second and third ejection arms 65b, 65c is also included in the switching of the suction position.

In step S23, the control data creation device 21 evaluates the multiple total suction forces calculated at each suction position as described above. As described above, the control data creation device 21 calculates the number of effective suction pads as the total suction force. Therefore, in this step S23, the number of effective suction pads is evaluated for each suction position.

In step S24, the control data creation device 21 identifies the suction position with the highest total suction force, i.e., the suction position with the largest number of effective suction pads. If there are multiple suction positions with the largest number of effective suction pads, the control data creation device 21 identifies a suction position that satisfies one or more of the following conditions 1 to 3.
(1) The total suction force of the effective suction pads is actually calculated, and the total suction force is the highest. (2) The area (area) of the effective suction pads is large. (3) The center of the arm Ag and the center of gravity Pg of the product are close to each other.

In step S25, the control data creation device 21 creates control data by assigning the identified suction positions of the first, second, and third conveying arms 65a, 65b, and 65c to the product P.

When the control data is created in this manner, the control data creation device 21 creates a processing program based on the control data for the suction position and the processing data for the product P. The created processing program is used by the control device 30.

In the control data creation device 21 according to this embodiment, the allocation setting unit 21c creates control data that allocates the suction positions of the first, second and third discharge arms 65a, 65b, 65c to the product P based on the total suction force identified for each suction position.

According to this configuration, the suction positions of the first, second and third discharge arms 65a, 65b, 65c can be set taking into consideration the total suction force, so that the product P can be appropriately adsorbed by the first, second and third discharge arms 65a, 65b, 65c. Since the product P can be appropriately adsorbed, the product P can be stably transported without getting caught on the remaining workpiece material.

According to this embodiment, the allocation setting unit 21c creates control data based on the suction position where the total suction force is the greatest. This allows the product P to be sucked up at a position where the greatest total suction force is obtained from the first, second and third discharge arms 65a, 65b, 65c. Since the product P can be appropriately sucked up, the product P can be stably discharged without getting caught on the remaining workpiece.

In this embodiment, the suction force determination unit 21d switches the suction positions at which the first, second, and third carry-out arms 65a, 65b, and 65c suction the product P by moving and rotating the first carry-out arm 65a and moving the second and third carry-out arms 65b, 65c using the telescopic rod 68 on the product data. Then, the suction force determination unit 21d determines the total suction force from the effective suction pads in the first, second, and third carry-out arms 65a, 65b, and 65c for each suction position.

With this configuration, the suction position can be appropriately switched taking into account the rotation and extension/retraction movements of the first, second, and third discharge arms 65a, 65b, and 65c. This allows appropriate evaluation at each suction position.

In this embodiment, when the longitudinal size of the product P is less than the first size La, the suction force determination unit 21d switches the suction position by performing a rotation process in which the first, second, and third ejection arms 65a, 65b, and 65c are rotated in three angle patterns including 0 degrees, a first angle α1 between 0 degrees and 90 degrees, and 90 degrees while aligning the arm center Ag and the product center of gravity Pg, and a movement process in which the first, second, and third ejection arms 65a, 65b, and 65c are moved at a predetermined movement pitch along the front-back and left-right directions for each angle pattern.

With this configuration, the suction position of the first discharge arm 65a can be switched so that it covers the entire area of the product P. This allows the suction position of the first discharge arm 65a for the product P to be appropriately switched.

In this embodiment, when the longitudinal size of the product P is equal to or larger than the first size La and smaller than the second size Lb, the suction force determination unit 21d performs a rotation process in which the first, second, and third ejection arms 65a, 65b, and 65c are rotated in four angle patterns including 0 degrees, a positive second angle α2 between 0 degrees and 90 degrees, 90 degrees, and a negative second angle α2 between 0 degrees and -90 degrees while aligning the arm center Ag and the product center of gravity Pg, and a movement process in which the first, second, and third ejection arms 65a, 65b, and 65c are moved forward, backward, left, and right at a predetermined movement pitch for each angle pattern, while performing a rotation process in which the first, second, and third ejection arms 65a, 65b, and 65c are moved forward, backward, left, and right.

According to this configuration, the suction positions of the first, second, and third discharge arms 65a, 65b, and 65c are switched so that they cover the entire area of the product P. This allows the suction positions of the first, second, and third discharge arms 65a, 65b, and 65c for the product P to be appropriately switched.

In this embodiment, when the longitudinal size of the workpiece is equal to or larger than the second size, the suction force determination unit 21d performs an extension process to move the second and third ejection arms 65b, 65c relative to the first ejection arm 65a in two extension patterns including a state in which the telescopic rod 68 is most retracted and a state in which the telescopic rod 68 is extended, with the arm center Ag and the product center of gravity Pg aligned, a movement process to move the first, second and third ejection arms 65a, 65b, 65c at a predetermined distance pitch along the front-back and left-right for each extension pattern, and a rotation process to rotate the first, second and third ejection arms 65a, 65b, 65c at a predetermined angle pitch each time the first, second and third ejection arms 65a, 65b, 65c are moved at the predetermined distance pitch, thereby switching the suction position.

With this configuration, by taking into consideration the opening and closing of the second and third discharge arms 65b, 65c, the suction positions are switched so that the first, second, and third discharge arms 65a, 65b, and 65c cover the entire area of the product P. This allows the first, second, and third discharge arms 65a, 65b, and 65c to be appropriately switched with respect to the product P.

The first and second embodiments share a common concept, and the techniques shown in each embodiment can be used interchangeably.

As described above, an embodiment of the present invention has been described, but the descriptions and drawings that form part of this disclosure should not be understood as limiting this invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure.

10. CAD
11 Product data creation device 20 CAM
21 Control data creation device 21a Product center of gravity determination section 21b Suction center of gravity determination section 21c Allocation setting section 21d Suction force determination section 22 Input device 23 Display device 30 Control device 40 Processing system 50 Processing machine 51 Punch processing section 52 Laser processing section 52a Processing head 53 Laser processing section 60 Product discharge device 61a, 61b First and second discharge arms 62 Suction pad 63 Sensor 65a, 65b, 65c First, second and third discharge arms 66 Suction pad 66a Multi-pad 67 Sensor

Claims (15)

A control data creation device creates control data for a product removal device to remove and remove a product cut from a plate-shaped workpiece by a processing machine, the control data creation device comprising:
The product discharge device is
A carry-out arm is configured to be movable along a work plane and has a plurality of suction pads that adsorb the product on a surface facing the work,
The control data generating device comprises:
a determination unit that moves the carry-out arm on product data including a shape of the product to switch a suction position at which the carry-out arm picks up the product, and determines an index for evaluating a suction state for each of the suction positions;
an allocation setting unit that creates control data in which the pickup positions are allocated to the products based on the indexes identified for each of the pickup positions,
The identification unit is
an adsorption center of gravity specifying unit that specifies, as the index, an adsorption center of gravity, which is a center of gravity position calculated from a set of effective adsorption pads that can adsorb the product among the plurality of adsorption pads;
The allocation setting unit,
creating the control data so that a distance between the suction center of gravity and a product center of gravity, which is a center position of the product, is reduced;
The carry-out arm is provided with a plurality of sensors for detecting the product on a surface facing the workpiece,
The attraction center of gravity specifying unit is
a control data generating device that performs processing to identify the pickup center of gravity for the pickup position where at least one of the plurality of sensors can detect the product; The allocation setting unit,
2. The control data creating device according to claim 1, wherein the control data is created based on the pickup position where a distance between the pickup center of gravity and the product center of gravity is smallest. The attraction center of gravity specifying unit is
Further determining a total suction force obtained from the set of effective suction pads for each of the suction positions;
The allocation setting unit,
2. The control data creating device according to claim 1, wherein the control data is created so that the distance between the attraction center of gravity and the product center of gravity is small and the total attraction force is large. The allocation setting unit,
4. The control data creating device according to claim 3, wherein, when there are a plurality of suction positions at which the distance between the suction center of gravity and the product center of gravity is the smallest, the control data is created based on the suction position at which the total suction force is the largest among the plurality of suction positions. The attraction center of gravity specifying unit is
The control data generating device according to claim 3 , further comprising a process for identifying the attraction center of gravity for the attraction position where the total attraction force becomes greater than the weight of the product. The attraction center of gravity specifying unit is
Calculating the amount of deflection that occurs in the product while it is being sucked by the carry-out arm;
The control data generating device according to claim 1 , further comprising a process for identifying the attraction center of gravity for the attraction positions where the deflection amount falls within a preset allowable deflection amount. The ejection arm includes:
A first carrying-out arm that is movable back and forth and left and right along the work plane;
A second ejection arm that is movable back and forth and left and right along the work plane,
The attraction center of gravity specifying unit is
moving the first and second carry-out arms on the product data to switch the suction positions at which the first and second carry-out arms suction the product;
The control data generating device according to claim 1 , wherein the suction center of gravity is identified for each of the suction positions based on the effective suction pads in the first and second carry-out arms. The attraction center of gravity specifying unit is
The control data creating device according to claim 7 , wherein the suction position is switched by moving the first and second carry-out arms back and forth and left and right, respectively, with a predetermined product corner in the product data as a starting point. The identification unit is
an adsorption force specifying unit that specifies, as the index, a total adsorption force calculated from a set of effective adsorption pads that can adsorb the product among the plurality of adsorption pads;
The allocation setting unit,
The control data creating device according to claim 1 , wherein the control data is created based on the attraction position where the total attraction force is maximized. The ejection arm includes:
a first ejection arm that is movable back and forth and left and right along the work plane and that is rotatable within a plane parallel to the work plane;
second and third ejection arms are disposed on either side of the first ejection arm and movably connected to the first ejection arm via an extensible rod;
The adsorptive force specifying unit is
moving and rotating the first carry-out arm and moving the second and third carry-out arms by the telescopic rod on the product data, thereby switching suction positions at which the first, second, and third carry-out arms suction the product;
The control data generating device according to claim 9 , wherein the total suction force is determined for each of the suction positions based on the effective suction pads in the first, second and third carry-out arms. When the size of the first discharge arm in the extension direction of the telescopic rod is defined as a first size, if the size of the product in the longitudinal direction is less than the first size,
The adsorptive force specifying unit is
a rotation process of rotating the unloading arm at three angle patterns including 0 degrees, a first angle between 0 degrees and 90 degrees, and 90 degrees while aligning an arm center, which is a central position of the unloading arm, with a product center of gravity, which is a center position of the product;
a movement process of moving the carry-out arm at a predetermined movement pitch along the front-rear and left-right directions for each of the angle patterns;
The control data generating device according to claim 10 , wherein the suction position is switched by performing the following. When the size of the first, second and third discharge arms in the extension direction of the telescopic rod is defined as a second size in a state where the telescopic rod is in a most contracted state, if the size of the product in the longitudinal direction is equal to or larger than the first size and smaller than the second size,
The adsorptive force specifying unit is
a rotation process of rotating the unloading arm in four angle patterns including 0 degrees, a positive second angle between 0 degrees and 90 degrees, 90 degrees, and a negative second angle between 0 degrees and -90 degrees while aligning the arm center with the product center of gravity;
a movement process of moving the carry-out arm at a predetermined movement pitch along the front-rear and left-right directions for each of the angle patterns;
The control data generating device according to claim 11 , wherein the suction position is switched by performing the following: If the longitudinal size of the product is equal to or larger than the second size,
The adsorptive force specifying unit is
an extension/contraction process of moving the second and third ejection arms relative to the first ejection arm in two extension/contraction patterns including a state in which the telescopic rod is most contracted and a state in which the telescopic rod is extended while the arm center is aligned with the product center of gravity;
a movement process of moving the ejection arm at a predetermined distance pitch along the front-rear and left-right directions for each of the extension/contraction patterns;
a rotation process of rotating the carry-out arm at a predetermined angle pitch every time the carry-out arm is moved at the predetermined distance pitch;
The control data generating device according to claim 12 , wherein the suction position is switched by performing the following: The control data generating device according to claim 1 , further comprising a product center of gravity specifying unit that specifies the product center of gravity based on the product data. 1. A method for creating control data for a product removal device to remove and remove a product cut from a plate-shaped workpiece by a processing machine, comprising:
The product discharge device is
A carry-out arm is configured to be movable along a work plane and has a plurality of suction pads that adsorb the product on a surface facing the work,
The control data creation method includes:
The computer
moving the carry-out arm on product data including a shape of the product to switch a suction position at which the carry-out arm picks up the product, and identifying an index for evaluating a suction state for each of the suction positions;
creating control data that assigns the pickup positions to the products based on the indexes identified for each pickup position;
The computer,
identifying, as the index, an adsorption center of gravity, which is a center of gravity position calculated from a set of effective adsorption pads that can adsorb the product among the plurality of adsorption pads;
creating the control data so that a distance between the suction center of gravity and a product center of gravity, which is a center position of the product, is reduced;
The carry-out arm is provided with a plurality of sensors for detecting the product on a surface facing the workpiece,
The computer includes:
a process for identifying the pickup center of gravity for the pickup position where at least one of the plurality of sensors can detect the product.

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