Conveyance system

Abstract

【Problem】 To appropriately separate a frame from a product. 【Solution】 A conveyance system in which a jig device has: a plurality of long-side jigs arranged in a long-side direction with respect to a workpiece that is cut into a product by processing cutting, and a frame having an outer frame portion that is overall rectangular and a crossbeam portion that is located inside the outer frame portion, both ends of which are connected by two short-side portions opposite each other and extend in the long-side direction; and a plurality of short-side jigs arranged in a short-side direction with respect to the workpiece, which hold short-side portions of the outer frame portion, at least one of the plurality of short-side jigs moving in the short-side direction in cooperation with a dimension of the workpiece in the short-side direction, holding the short-side portions of the outer frame portion; a lifting device that separates the outer frame portion and the crossbeam portion from the product by relatively lifting the jig device holding the outer frame portion and the product; and a control device that controls the actions of the jig device and the lifting device.

Description

Technical Field

[0001] This invention relates to a conveying system. Background Technology

[0002] Previously, techniques for cutting products from workpieces such as sheet metal were known. In these techniques, after the workpiece is cut using various processing machines such as laser processing machines, the frame is separated from the product. Patent Document 1 discloses a technique in which the frame is disassembled by using a clamp to hold the long side of the frame while separating it from the product.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6648765 Summary of the Invention

[0006] In the prior art, there are situations where it is difficult to properly separate the frame from the product. Specifically, in the prior art, there is a situation where the crossbeam extending along the long side of the frame held by the clamp droops down, thereby hooking onto the product when disassembling the frame, making it difficult to properly separate the frame from the product.

[0007] The present invention provides a conveying system that enables the proper separation of the frame from the product.

[0008] The conveying system of the present invention is a conveying system having a clamping device, a lifting device, and a control device. The clamping device comprises: a plurality of long-side clamps arranged relative to the workpiece along its long side, the workpiece being cut into a product and a frame having an outer frame portion and a crossbeam portion; the plurality of long-side clamps holding the long side portion of the outer frame portion, the outer frame portion being generally rectangular in shape, the crossbeam portion located inside the outer frame portion, its two ends connected by two opposing short sides and extending along the long side; and a plurality of short-side clamps arranged relative to the workpiece along its short side, holding the short sides of the outer frame portion. At least one of the short-side clamps moves along the short side in accordance with the dimension of the workpiece along its short side, holding the short sides of the outer frame portion. The lifting device separates the outer frame portion and the crossbeam portion from the product by lifting the clamping device holding the outer frame portion relative to the product. The control device controls the operation of the clamping device and the lifting device.

[0009] Invention Effects

[0010] According to the present invention, the conveying system has a clamping device that holds both the short and long sides of the outer frame portion of the frame, thereby suppressing the sagging of the crossbeam portion extending in the long side direction of the frame and allowing the frame to be properly separated from the product.

[0011] Alternatively, in the above-described conveying system, multiple long-side clamps can move in the short-side direction in accordance with the dimensions of the workpiece along its short side, gripping the long side of the outer frame; and multiple short-side clamps can move in the long-side direction in accordance with the dimensions of the workpiece along its long side, gripping the short side of the outer frame. According to this configuration, the long-side clamps move in the short-side direction in accordance with the dimensions of the workpiece and grip the long side; the short-side clamps move in both the short-side and long-side directions in accordance with the dimensions of the workpiece and grip the short side. Therefore, it is possible to handle workpieces of various sizes and properly separate the frame from the product. Furthermore, in the above-described conveying system, the control device can control the operation of the clamping device in a manner that moves the multiple long-side clamps in the short-side direction after at least one of the multiple short-side clamps has moved in the short-side direction. According to this configuration, the movement of each fixture is controlled to prevent interference when it is moved in accordance with the dimensions of the workpiece. Therefore, system stoppages and the labor and time required for inspection due to system stoppages can be suppressed. Alternatively, in the above-described conveying system, it may include a processing pallet and a support portion that rises and falls relative to the processing pallet. The processing pallet includes: a pallet frame; multiple support plates arranged at predetermined intervals along the long side of the workpiece and extending along the short side inside the pallet frame, supporting the workpiece at its upper end; and a plate support portion extending along the long side inside the pallet frame, supporting the multiple support plates. The support portion includes: multiple lifting plates arranged at predetermined intervals along the long side of the workpiece and extending along the short side. The extension allows for lifting and lowering between multiple support plates; and a notch is provided on multiple lifting plates, allowing the plate support to enter when the multiple lifting plates rise relative to the processing tray. As the support rises relative to the processing tray, the workpiece supported by the upper ends of the multiple support plates is transferred to the lifting plates. After the workpiece is supported by the lifting plates, multiple long-side clamps move along the short-side direction between the multiple lifting plates to hold the long-side portion of the outer frame. Multiple short-side clamps pass through the notch and move along the long-side direction to hold the short-side portion of the outer frame. According to this configuration, a notch for a lifting plate is provided in accordance with the position of the plate support portion that supports the support plate. By raising the support portion relative to the processing tray, the workpiece supported by the upper end of the support plate is transferred to the lifting plate, which supports the workpiece. Then, the short side is moved through the notch by a clamp and held in the long side direction. Therefore, contact between the lifting plate and each clamp can be avoided, and the frame can be properly separated from the product without making significant changes to the existing system with the plate support portion that supports the support plate. Attached Figure Description

[0012] Figure 1 This is a diagram illustrating an example of a conveying system for implementing an embodiment.

[0013] Figure 2 This is a diagram illustrating an example of a conveying system for implementing an embodiment.

[0014] Figure 3 This is a diagram illustrating an example of a processing tray and support portion according to an embodiment.

[0015] Figure 4 This is a diagram illustrating an example of a processing tray and support portion according to an embodiment.

[0016] Figure 5 This is a diagram illustrating an example of a processing tray and support portion according to an embodiment.

[0017] Figure 6 This is a diagram illustrating an example of a clamping device for an implementation method.

[0018] Figure 7 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0019] Figure 8 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0020] Figure 9 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0021] Figure 10 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0022] Figure 11 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0023] Figure 12 This is a diagram illustrating an example of how a clamping device, according to an embodiment, holds a frame.

[0024] Figure 13 This is a diagram illustrating an example of the interlocking of a clamping device in an embodiment.

[0025] Figure 14 This is a diagram illustrating an example of the interlocking of a clamping device in an embodiment. Detailed Implementation

[0026] Hereinafter, embodiments will be described with reference to the accompanying drawings. The present invention is not limited to the forms described below. In the drawings, for the purpose of illustrating embodiments, the scale may be appropriately changed, such as by enlarging, reducing, or emphasizing certain parts. In each drawing, the directions are illustrated using an XYZ orthogonal coordinate system. In the XYZ orthogonal coordinate system, the vertical direction is designated as the Z direction, and the horizontal direction is designated as the X and Y directions. Furthermore, in each direction, the direction of the arrow is referred to as the + side (e.g., +X side), and the side opposite to the direction of the arrow is referred to as the - side (e.g., -X side).

[0027] Figure 1 and Figure 2 This is a diagram illustrating an example of a conveying system implemented in this way. Specifically, Figure 1 This is a top view of the conveying system. Figure 2 This is a side view of the conveying system in the Y direction. The conveying system 1 includes a loader 2, a workstation 3, a processing pallet 4, a laser processing machine 5, a clamping device 6, a control device 7, and a lifting device 8.

[0028] The conveying system 1 includes an inlet / outlet area AR1 and a temporary placement area AR2. The inlet / outlet area AR1 is located adjacent to the +X side of the laser processing machine 5, between the laser processing machine 5 and the temporary placement area AR2. A workpiece W, awaiting processing, is conveyed from any location to the inlet / outlet area AR1. The workpiece W is then moved from the inlet / outlet area AR1 to the laser processing machine 5. The laser processing machine 5 performs laser processing on the workpiece W that was moved from the inlet / outlet area AR1.

[0029] The laser-processed workpiece W is moved from the laser processing machine 5 to the loading / unloading area AR1. The laser-processed workpiece W includes product Pr and frame Sk. For example, frame Sk has: an outer frame portion that is generally rectangular; and a crossbeam portion located inside the outer frame portion, with its two ends connected by two opposing short sides and extending in the long side direction. Figure 1 In this text, for the frame Sk, the outer frame portion is referred to as "outer frame portion Sk1," and the portion located inside the outer frame portion Sk1, connected at both ends by two opposing short sides, and extending in the long side direction, is referred to as "crossbeam portion Sk2." In the following description, without distinguishing between the outer frame portion Sk1 and the crossbeam portion Sk2, it may be simply referred to as "frame Sk." The loading / unloading area AR1 also serves as an unloading area for unloading product Pr from the laser-processed workpiece W. In the loading / unloading area AR1, the laser-processed workpiece W is separated into product Pr and frame Sk. Product Pr is transferred to the temporary placement area AR2, stacked on the product tray 10, and then moved outwards. Figure 1The example given includes a frame Sk with a relatively long crossbeam Sk2 in the X direction (the direction of the long side of the workpiece W and the frame Sk). Figure 1 The example given is the case of Sk2, which includes four crossbeams.

[0030] The loader assembly 2 includes a first track 11, a traveling trolley 12 capable of traveling on the first track 11, and a transfer device 13 provided on the traveling trolley 12. The first track 11 extends in a direction (Y direction) intersecting the direction of movement (X direction) relative to the processing pallet 4. A second track 14 extending in the X direction is provided on the traveling trolley 12. The transfer device 13 is mounted on the second track 14. The transfer device 13 includes an X-moving body 15 capable of moving along the second track 14, a Z-moving body 16 provided on the X-moving body 15, and a first suction part 17 provided at the lower end (-Z side) of the Z-moving body 16. The second track 14 is provided above the temporary loading area AR2 and the loading / unloading area AR1, spanning the temporary loading area AR2 and the loading / unloading area AR1. The X-moving body 15 can move between the temporary loading area AR2 and the loading / unloading area AR1. The Z-moving body 16 can move in the Z direction (vertical direction). Thus, the transfer device 13 can move in the X direction using the second track 14, in the Y direction using the first track 11, and in the Z direction using the Z moving body 16.

[0031] The first adsorption section 17 holds the product Pr in the processed workpiece W by adsorption through vacuum or reduced pressure. For example, after the transfer device 13 holds the product Pr placed on the processing tray 4 by adsorption using the first adsorption section 17 and moves it, the product Pr is placed on the product tray 10 by releasing the first adsorption section 17. A plurality of adsorption pads are provided on the lower surface side (-Z side) of the first adsorption section 17. For example, the adsorption pads are provided with at least one of multiple pads and a single pad. In addition, the first adsorption section 17 may also be configured to use magnetism or the like for adsorption.

[0032] The workstation device 3 is equipped with a processing tray 4 and a clamping device 6. The workstation device 3 has a third track 20 and a main body 21 that can move along the third track 20. The processing tray 4 has a roughly rectangular shape when viewed from the Z direction. In the processing tray 4, the length in the X direction is longer than the length in the Y direction, which is orthogonal to the X direction. As described above, a workpiece W before processing or a workpiece W after processing is placed on the processing tray 4. The processing tray 4 can move in and out of the laser processing machine 5 while holding the workpiece W before processing or the workpiece W after processing. The processing tray 4 transports the workpiece W between the loading / unloading area AR1 and the laser processing machine 5. The processing tray 4 has wheels 4c that can move along the fourth track 18. The processing tray 4 moves along the fourth track 18 by being pulled. The mechanism for moving the processing tray 4 can be appropriately changed and can be, for example, self-propelled.

[0033] The processing pallet 4 includes a pallet frame 4d, multiple support plates 4a, and a plate support portion 4b (see reference). Figure 3 Multiple support plates 4a are plate-shaped and are placed inside the pallet frame 4d, arranged at predetermined intervals along the long side (X direction) of the workpiece W and extending along the short side (Y direction), supporting the workpiece W with their upper ends. Each support plate 4a has a serrated upper end. The multiple support plates 4a support the lower surface of the workpiece W at multiple points (the tips of the serrations, the upper ends). A plate support portion 4b extends along the long side of the workpiece W inside the pallet frame 4d, supporting the multiple support plates 4a. Additionally, a support portion 22 (fork unit, lifting unit, see reference) is arranged below the processing pallet 4. Figure 3 The support portion 22 rises and falls relative to the processing tray 4. The support portion 22 includes multiple lifting plates 22a, which are arranged at predetermined intervals along the long side of the workpiece W and extend along the short side, rising and falling between the multiple support plates 4a. Additionally, the support portion 22 includes notches 22b, which are respectively provided on the multiple lifting plates 22a, allowing the plate support portions 4b to enter when the multiple lifting plates 22a rise relative to the processing tray 4. Details of the support plates 4a and the support portion 22 will be described later.

[0034] The clamping device 6 is positioned above the processing tray 4 to remove the frame Sk from the processed workpiece W, which includes the product Pr and the frame Sk. The clamping device 6 is independently installed from the loader device 2, removing the frame Sk from the processed workpiece W before the product Pr is picked up by the transfer device 13. The clamping device 6 is movable in a direction (Y direction) orthogonal to the direction (X direction) in which the laser processing machine 5 and the processing tray 4 retracting from the laser processing machine 5 are arranged. The clamping device 6 is supported on the main body 21 of the workstation device 3 and can move integrally with the main body 21 in the Y direction. The clamping device 6 has multiple clamps (holding parts) that hold the outer frame Sk1. Furthermore, while holding the outer frame Sk1, the clamping device 6 moves in the -Y direction, releasing the clamp at the waste discharge location 19 to discharge the frame Sk.

[0035] The laser processing machine 5 irradiates a workpiece W, which is placed on the processing tray 4, with a laser to perform laser processing (cutting) on ​​the workpiece W. The laser processing machine 5 has a laser head and a head drive unit. The laser head is connected to a laser source via an optical transmission medium such as an optical fiber and emits laser light downwards. The laser source is, for example, a solid-state laser such as a fiber laser. As a result, a laser with a higher thermal density than that of a carbon dioxide laser is obtained. Therefore, the laser processing machine 5, which uses a fiber laser, can perform cutting processing at high speed. The workpiece W and the support plate 4a of the processing tray 4 may sometimes fuse together due to laser processing, but since the support plate 4a supports the workpiece W at multiple points, the fusion portion between the support plate 4a and the workpiece W can be reduced.

[0036] The control device 7 provides overall control of the conveying system 1. For example, the control device 7 controls the operation of the clamping device 6 and the lifting device 8 to move the frame Sk to the waste material discharge location 19. Additionally, the control device 7 controls the operation of the loader device 2 (transfer device 13) to move the product Pr, which is placed on the processing pallet 4, to the product pallet 10. Furthermore, the control device 7 controls the lifting of the movable plate 22c, described later. The lifting device 8 separates the frame Sk, including the outer frame Sk1 and the crossbeam Sk2, from the product Pr by lifting the clamping device 6 holding the outer frame Sk1 relative to the product Pr.

[0037] Figures 3-5This diagram illustrates an example of the processing tray and support portion according to the embodiment. The support portion 22 includes multiple lifting plates 22a, which are arranged at predetermined intervals along the long side of the workpiece W and extend along the short side, rising and falling between the multiple support plates 4a. The support portion 22 includes notches 22b, each provided on one of the multiple lifting plates 22a, allowing the plate support portion 4b to enter when the multiple lifting plates 22a rise relative to the processing tray 4. Additionally, the support portion 22 includes a movable plate 22c. The support portion 22 is positioned below the processing tray 4 when the processed workpiece W is moved from the laser processing machine 5 to the loading / unloading area AR1 (see reference). Figure 4 The movable plate 22c is capable of moving in the vertical direction (Z direction). Multiple lifting plates 22a are disposed on the upper surface of the movable plate 22c. Figures 3-5 In the example given, there are three notches 22b, but there can also be two or more.

[0038] Multiple lifting plates 22a are, for example, plate-shaped, extending vertically upward from the upper surface of the movable plate 22c. The multiple lifting plates 22a may also have a shape different from plate-shaped, such as column-shaped. The multiple lifting plates 22a are sized and arranged such that they can be inserted between adjacent support plates 4a in the processing tray 4. The upper surfaces of the multiple lifting plates 22a can be opposite to the workpiece W, ensuring that the positions (heights) of the upper surfaces are consistent across the multiple lifting plates 22a. A second adsorption section 22d may also be provided on the upper surface of the multiple lifting plates 22a to adsorb the processed workpiece W. The second adsorption section 22d adsorbs the product Pr when the outer frame Sk1 is held by the clamping device 6.

[0039] The processing tray 4 includes a support plate 4a, which has multiple support plates 4a arranged at predetermined intervals at positions different from the multiple lifting plates 22a along the long side direction (X direction) of the workpiece W, and supports the workpiece W above the support portion 22 before the support portion 22 supports the workpiece W. In addition, the processing tray 4 includes a plate support portion 4b, which is arranged in a position that matches the notch portion 22b (arranged above the notch portion 22b) so as to support the workpiece W by the support portion 22, and supports the support plate 4a.

[0040] The movable plate 22c is in the state where the workpiece W is held by the processing tray 4 (support plate 4a) (see reference). Figure 4 The movable plate 22c moves upwards. The upper end of the multiple lifting plates 22a is positioned above the upper end of the support plate 4a (see reference). Figure 5 As a result, the workpiece W, supported by the upper ends of the plurality of support plates 4a, is transferred to the lifting plate 22a by the support portion 22 (movable plate 22c) rising relative to the processing tray 4.

[0041] Figure 6 This diagram illustrates an example of a clamping device according to an embodiment. The clamping device 6 includes a slider 6a, a slider opposing member 6b, a Y-guide 6c, an X-guide 6d, a long-side clamp 6e, a long-side clamp 6f, a short-side clamp 6g, and a short-side clamp 6h. The multiple long-side clamps 6e and 6f are arranged in the long-side direction relative to the workpiece W cut into product Pr and frame Sk, holding the long-side portion of the outer frame Sk1 of frame Sk. The multiple short-side clamps 6g and 6h are arranged in the short-side direction relative to the workpiece W cut into product Pr and frame Sk, holding the short-side portion of the outer frame Sk1 of frame Sk.

[0042] The slider 6a is provided on the Y guide 6c in a manner that allows it to slide in the Y direction, and has a long-side clamp 6f below it. The slider opposing member 6b is provided opposite to the slider 6a, and has a long-side clamp 6e below it. The Y guide 6c includes the slider 6a and the X guide 6d, and is a guide for sliding the slider 6a and the X guide 6d, which is positioned in the +Y direction, in the Y direction. The control device 7 controls the sliding of the slider 6a and the X guide 6d, which is positioned in the +Y direction, in the Y direction. The X guide 6d is provided on the Y guide 6c, and has a short-side clamp 6g and a short-side clamp 6h below it. The long-side clamp 6e on the -Y side can hold one side of the long side of the outer frame Sk1 by moving the clamping device 6. The long-side clamp 6f on the +Y side moves in the short-side direction in accordance with the dimensions of the workpiece W by moving the clamping device 6 and sliding the slider 6a, and can hold the other side of the long-side portion of the outer frame portion Sk1. The short-side clamp 6g on the -X side moves in the short-side direction in accordance with the dimensions of the workpiece W by moving the clamping device 6 and moving with the X guide 6d, and can hold one side of the short-side portion of the outer frame portion Sk1. The short-side clamp 6h on the +X side moves in the short-side direction in accordance with the dimensions of the workpiece W by moving the clamping device 6 and moving with the X guide 6d, and also moves in the long-side direction in accordance with the dimensions of the workpiece W, and can hold the other side of the short-side portion of the outer frame portion Sk1. In addition, the short-side clamps 6g and 6h set the upper part of the notch portion 22b as the initial position. The control device 7 controls the movement of the short-side clamp 6h on the +X side in the X direction. Additionally, the control device 7 controls the gripping of the outer frame Sk1 by the long-side clamps 6e, 6f, 6g, and 6h. The lifting device 8, under the control of the control device 7, causes the clamping device 6 holding the outer frame Sk1 and the product Pr to rise and fall relative to each other, thereby separating the frame Sk, including the outer frame Sk1 and the crossbeam Sk2, from the product Pr.

[0043] The long-side clamp 6f, in coordination with the short-side dimension of the workpiece W, moves in the short-side direction via the sliding member 6a, thus holding the long-side portion of the outer frame Sk1. Similarly, the short-side clamps 6g and 6h on the +Y side, in coordination with the short-side dimension of the workpiece W, move in the short-side direction via the movement of the X-guide 6d, thus holding the short-side portion of the outer frame Sk1. Furthermore, the short-side clamp 6h, in coordination with the long-side dimension of the workpiece W, moves along the X-guide 6d in the long-side direction, holding the short-side portion of the outer frame Sk1. By raising the support portion 22 relative to the processing tray 4, the movable plate 22c moves to a position above the upper end of the plurality of lifting plates 22a, which is higher than the upper end of the support plate 4a. The workpiece W is transferred from the support plate 4a to the plurality of lifting plates 22a, after which the clamping device 6 holds the outer frame Sk1.

[0044] Figures 7-12 This diagram illustrates an example of how a clamping device, according to an embodiment, holds a frame. Figures 7-9 The example given is the case where the short side needs to move in the X direction using the clamp 6h, but sliding in the Y direction is not required based on the X guide 6d and the slider 6a. Figures 10 to 12 The example given is a case where the short side needs to move in the X direction using the clamp 6h, and sliding in the Y direction is required based on the X guide 6d and the slider 6a. Furthermore, in... Figure 9 and Figure 12 In the diagram, dashed lines represent the state of the frame without the use of short-side clamps 6g and 6h. The outer frame portion of this frame is designated as "Outer Frame Size Sk1'", and the crossbeam portion is designated as "Crossbeam Size Sk2'". Additionally, when the outer frame portion Sk1' and the crossbeam portion Sk2' are not distinguished, they may be simply referred to as "Frame Sk'".

[0045] like Figures 7-9As shown, in the clamping device 6, the short-side clamp 6h moves along the X guide 6d in the X direction (-X direction) under the control of the control device 7, corresponding to the size of the workpiece W. Furthermore, when the short-side clamp 6h is not above the notch 22b, it moves above the notch 22b by moving the X guide 6d in the Y direction under the control of the control device 7. Then, the clamping device 6 is lowered to a height capable of holding the outer frame Sk1 under the control of the control device 7 and the lifting device 8, thus holding the outer frame Sk1 with each clamp. At this time, the long-side clamps 6e and 6f enter between the multiple lifting plates 22a and hold the long side of the outer frame Sk1. Similarly, the short-side clamps 6g and 6h enter the notch 22b and hold the short side of the outer frame Sk1. After the outer frame Sk1 is held by the clamping device 6 and the clamping device 6 has risen, the product Pr remains on the multiple lifting plates 22a. Furthermore, after the workpiece W is supported by the support portion 22 (multiple lifting plates 22a), each fixture holds the outer frame portion Sk1. In this way, the long and short sides of the outer frame portion Sk1 are held using the long-side fixtures 6e and 6f and the short-side fixtures 6g and 6h, as shown... Figure 9 As shown, in addition to suppressing the sagging of the long and short sides of the outer frame Sk1, which are directly held by each clamp, the sagging of the crossbeam Sk2 is also suppressed, so that the crossbeam Sk2 will not hook onto the product Pr when disassembling the frame Sk. On the other hand, without using the short side clamps 6g and 6h, the short side of the outer frame Sk1' is not held, therefore, as Figure 9 The dashed line indicates a situation where the central part sags and enlarges, and the crossbeam Sk2' hooks onto the product Pr when the frame Sk' is disassembled.

[0046] like Figures 10-12As shown, in the clamping device 6, the short-side clamp 6h moves along the X guide 6d in the X direction (-X direction) by means of control based on the control device 7, corresponding to the size of the workpiece W. Additionally, the short-side clamps 6g and 6h on the +Y side move along the Y guide 6c in the Y direction (-Y direction). At this time, the short-side clamps 6g and 6h on the +Y side move above the notch 22b. Furthermore, the long-side clamp 6f moves in the Y direction (-Y direction) by means of sliding based on the slider 6a, controlled by the control device 7 and corresponding to the size of the workpiece W. Then, the clamping device 6 is lowered to a height capable of holding the outer frame Sk1 by the control of the control device 7 and the lifting device 8, thus holding the outer frame Sk1 by each clamp. At this time, the long-side clamps 6e and 6f move along the short-side direction between the multiple lifting plates 22a, holding the long side of the outer frame Sk1. Similarly, the short-side clamps 6g and 6h pass through the notch 22b and move in the long-side direction to hold the short side of the outer frame portion Sk1. After the outer frame portion Sk1 is held by the clamping device 6 and the clamping device 6 is raised, the product Pr remains on the multiple lifting plates 22a. Furthermore, after the support portion 22 (multiple lifting plates 22a) supports the workpiece W, the clamps hold the outer frame portion Sk1. In this way, by using the long-side clamps 6e and 6f and the short-side clamps 6g and 6h to hold the long and short sides of the outer frame portion Sk1, Figure 12 As shown, in addition to suppressing the sagging of the long and short sides of the outer frame Sk1, which are directly held by each clamp, the sagging of the crossbeam Sk2 is also suppressed, so that the crossbeam Sk2 will not hook onto the product Pr when disassembling the frame Sk. On the other hand, without using the short side clamps 6g and 6h, the short side of the outer frame Sk1' is not held, therefore, as Figure 12 The dashed line indicates the situation where the central part sags and becomes larger, and the crossbeam Sk2' hooks onto the product Pr when the frame Sk' is disassembled. In addition, the upper part of the support plate 4a, which has the plate support part 4b, can also be formed to be lower (shorter) than other parts, so that no interference occurs when the clamps 6g and 6h pass through the notch 22b on the short side.

[0047] Figure 13 and Figure 14 This diagram illustrates an example of the interlocking of the clamping device in the embodiment. The control device 7 controls the operation of the clamping device 6 so that when the short-side clamps 6g and 6h and the long-side clamp 6f are moved in accordance with the dimensions of the workpiece W, the short-side clamps 6g and 6h and the long-side clamp 6f do not interfere with each other. For example, as... Figure 13As shown, when the control device 7 moves the short-side clamp 6h and the long-side clamp 6f on the +Y side in the -Y direction in accordance with the size of the workpiece W, if the long-side clamp 6f moves in the -Y direction before the short-side clamp 6h, there is a possibility of interference depending on the size of the workpiece W. Therefore, the control device 7 controls the operation of the clamping device 6 in such a way that after at least one of the multiple short-side clamps 6h has moved in the short-side direction (towards the -Y direction), the multiple long-side clamps 6f move in the short-side direction (towards the -Y direction). That is, the control device 7 moves the short-side clamp 6h in the -Y direction before the long-side clamp 6f. Furthermore, as... Figure 14 As shown, when the control device 7 moves the short-side clamp 6h and the long-side clamp 6f on the +Y side in the +Y direction, there is a possibility of interference if the short-side clamp 6h moves in the +Y direction before the long-side clamp 6f. Therefore, the control device 7 controls the operation of the clamping device 6 in such a way that after the multiple long-side clamps 6f have moved in the short-side direction (towards the +Y direction), at least one of the multiple short-side clamps 6h moves in the short-side direction (towards the +Y direction). In other words, the control device 7 moves the long-side clamp 6f in the +Y direction before the short-side clamp 6h.

[0048] As described above, the conveying system 1 includes a clamping device 6 that holds the short and long sides of the outer frame portion Sk1 of the frame Sk. Therefore, it can suppress the sagging of the crossbeam portion Sk2 extending along the long side of the frame Sk, allowing the frame Sk to be properly separated from the product Pr. Furthermore, the conveying system 1 moves the clamps in both the short and long sides to hold the outer frame portion Sk1 in accordance with the dimensions of the workpiece W. Therefore, it can properly separate the frame Sk from the product Pr for workpieces of various sizes. In addition, the conveying system 1 controls the movement of the clamping device 6 in a manner that prevents interference between the clamps, thus reducing the labor and time required for system shutdowns and inspection operations caused by system shutdowns. Furthermore, the conveying system 1 includes a support portion 22 that supports the lower surface of the workpiece W, comprising: multiple lifting plates 22a, through which long-side clamps 6e and 6f can enter and hold the long side of the outer frame portion Sk1; and a notch portion 22b through which short-side clamps 6g and 6h can pass and hold the short side of the outer frame portion Sk1. Therefore, contact between each clamp and the multiple lifting plates 22a can be avoided. Additionally, the conveying system 1 uses a support portion 22 with the notch portion 22b positioned in accordance with the position of the plate support portion 4b that supports the support plate 4a. Therefore, proper separation of the frame Sk from the product Pr can be achieved without significant changes to the existing system.

[0049] The embodiments of the present invention have been described above, but the technical scope of the present invention is not limited to the embodiments described above. It will be apparent to those skilled in the art that various changes or modifications can be made to the above embodiments. Furthermore, forms resulting from such changes or modifications are also included within the technical scope of the present invention. Sometimes, one or more elements described in the above embodiments, etc., are omitted. Furthermore, the elements described in the above embodiments, etc., can be appropriately combined. Furthermore, as long as the output of the previous process is not used in a subsequent process, the execution order of each process shown in this embodiment can be implemented in any order. Furthermore, even if the actions in the above embodiments are described using terms such as "firstly," "next," or "next" for convenience, they are not necessarily performed in that order. Furthermore, to the extent permitted by law, all disclosures of documents cited in the above embodiments, etc., are incorporated into this document.

[0050] In the above embodiments, the example given is that the lifting plate 22a and the notch 22b of the support portion 22 are arranged in accordance with the position of the plate support portion 4b that supports the support plate 4a, but this is not a limitation. For example, if the number of plate support portions 4b is changed or if the plate support portions 4b are not used at all, the arrangement of the lifting plate 22a and the notch 22b can be changed accordingly. In addition, in the above embodiments, the example given is that the clamping device 6 is equipped with long-side clamps 6e and 6f and short-side clamps 6g and 6h, but this is not a limitation on the case where the workpiece W is rectangular. For example, the workpiece W can also be square. That is, the clamping device 6 can also be equipped with short-side clamps 6g and 6h that hold the short side portion of the outer frame portion Sk1 of the frame Sk and long-side clamps 6e and 6f that hold the long side portion of the outer frame portion Sk1 of the frame Sk, which is longer than the short side portion (the same length as the short side portion).

[0051] Furthermore, the technical scope of the present invention is not limited to the forms described in the above-described embodiments, etc. Sometimes, one or more elements described in the above-described embodiments, etc. are omitted. In addition, the elements described in the above-described embodiments, etc., can be appropriately combined. Furthermore, to the extent permitted by law, the disclosure of Japanese Patent Application No. 2020-200419 and all documents cited in the above-described embodiments, etc., are incorporated herein by reference.

[0052] Explanation of reference numerals in the attached figures

[0053] 1: Transport System

[0054] 2: Loader device

[0055] 3: Workstation device

[0056] 4: Processing pallets

[0057] 4a: Support plate

[0058] 4b: Plate support section

[0059] 4d: Tray frame

[0060] 5: Laser processing machine

[0061] 6: Fixture device

[0062] 6a: Slider

[0063] 6b: Sliding component opposite part

[0064] 6c: Y-boot

[0065] 6d: X bootloader

[0066] 6e, 6f: Fixtures for the long side

[0067] 6g, 6h: Short side clamp

[0068] 7: Control device

[0069] 8: Lifting device

[0070] 22: Support section

[0071] 22a: Lifting plate

[0072] 22b: Notch

[0073] 22c: Movable plate

[0074] W: Workpiece

[0075] Pr: Product

[0076] Sk: Framework

[0077] Sk1: Outer frame

[0078] Sk2: Crossbeam section.

Claims

1. A conveying system comprising a clamping device, a lifting device, and a control device, wherein, The clamping device includes: Multiple long-side clamps are arranged relative to a workpiece in the long-side direction. The workpiece is cut into a product and a frame having an outer frame portion and a crossbeam portion by processing and cutting. The multiple long-side clamps hold the long-side portion of the outer frame portion of the frame. The outer frame portion is generally rectangular in shape. The crossbeam portion is located inside the outer frame portion and is connected at both ends by two opposing short sides and extends in the long-side direction. as well as Multiple short-side clamps are arranged relative to the workpiece in the short-side direction to hold the short-side portion of the outer frame. At least one of the plurality of short-side clamps moves in the short-side direction in accordance with the dimension of the workpiece in the short-side direction, thereby holding the short-side portion of the outer frame portion. The lifting device separates the outer frame and the crossbeam from the product by raising and lowering the clamping device holding the outer frame relative to the product. The control device controls the movement of the clamping device and the lifting device.

2. The conveying system according to claim 1, wherein, The plurality of long-side clamps move in the short-side direction in accordance with the dimensions of the workpiece in the short-side direction, thereby holding the long-side portion of the outer frame. The plurality of short-side clamps move in the long-side direction in accordance with the dimensions of the workpiece, thereby holding the short-side portion of the outer frame.

3. The conveying system according to claim 1, wherein, The control device controls the operation of the clamping device in such a way that after at least one of the plurality of short-side clamps has been moved in the short-side direction, the plurality of long-side clamps are moved in the short-side direction.

4. The conveying system according to claim 2, wherein, The control device controls the operation of the clamping device in such a way that after at least one of the plurality of short-side clamps has been moved in the short-side direction, the plurality of long-side clamps are moved in the short-side direction.

5. The conveying system according to any one of claims 1 to 4, wherein, It has a processing tray and a support portion that can be raised and lowered relative to the processing tray. The processing tray has the following features: Tray frame; A plurality of support plates, arranged at predetermined intervals along the long side of the workpiece and extending along the short side, inside the pallet frame, support the workpiece by means of their upper ends; and A plate support portion, extending along the long side inside the pallet frame, supports the plurality of support plates. The support portion includes: Multiple lifting plates are arranged at the specified intervals along the long side of the workpiece and extend along the short side, and move up and down between the multiple support plates; and The notches are respectively provided on the plurality of lifting plates, allowing the plate support portion to enter when the plurality of lifting plates are raised relative to the processing tray. The workpiece, supported by the upper ends of the plurality of support plates, is transferred to the plurality of lifting plates by the support portion rising relative to the processing tray. After the workpiece is supported by the plurality of lifting plates, the plurality of long-side clamps move between the plurality of lifting plates along the direction of the short side to hold the long side of the outer frame portion, and the plurality of short-side clamps move through the notch portion and move along the direction of the long side to hold the short side of the outer frame portion.

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