Cutting machine

Abstract

To make a holding device appropriately hold an object to be cut.SOLUTION: A holding device 66 holds an object 5 to be cut. A posture of the holding device 66 in a state in which a first arm 101 and a second arm 102 of the holding device 66 extend in a first direction D2 is represented by a reference posture P1, and a position of the object 5 to be cut with respect to the holding device 66 when the other end 8b of the object 5 to be cut is brought into contact with the first arm 101 and the second arm 102 when the holding device 66 is in the reference posture P1 is represented by a reference position P10. A control device 150 of a cutting machine 100 includes: a first mounting rotation control part 161 for rotating the holding device 66 from the reference posture P1 so that the holding device 66 becomes an inclined posture P2, in a state in which the object 5 to be cut is not held by the holding device 66; and a second mounting rotation control part 165 for rotating the holding device 66 so that the holding device 66 becomes the reference posture P1 when the holding device 66 is in the inclined posture P2 and the object 5 to be cut is the reference position P10.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The present invention relates to a cutting machine. [Background technology]

[0002] For example, Patent Document 1 discloses a cutting machine equipped with a C-shaped clamp that holds the workpiece 5 during cutting, and a transport unit that transports the workpiece toward the clamp. The transport unit has a pair of hooks that grip and transport the workpiece. In the cutting machine, the workpiece gripped by the pair of hooks is transported so as to be fitted into the clamp, allowing the clamp to hold the workpiece. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-89763 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned cutting machine, the workpiece held by the pair of hooks may tilt due to its own weight. Even if the workpiece is tilted in this way, it is preferable to properly attach the workpiece to a holding device such as a clamp.

[0005] The present invention has been made in consideration of the above-mentioned points, and an object of the present invention is to provide a cutting machine capable of causing a holding device to properly hold a workpiece. [Means for solving the problem]

[0006] The cutting machine according to the present invention includes a holding device that holds a workpiece during cutting, a rotation mechanism that rotates the holding device, and a control device. The holding device includes a first arm, a second arm, a first guide portion, and a second guide portion. The first arm extends in a first direction. The second arm is disposed to face the first arm in a second direction intersecting the first direction, extends in the first direction, and is capable of sandwiching the workpiece together with the first arm. The first guide portion is provided on one side of the first arm in the first direction and guides the movement of the workpiece. The second guide portion is provided on the one side of the second arm in the first direction and guides the movement of the workpiece. The first arm has a first placement portion located on the one side of the first direction relative to the first guide portion. The second arm has a second placement portion located on the one side of the first direction relative to the second guide portion. The rotation mechanism is provided on at least one of the first arm and the second arm, and includes a rotation shaft extending in the second direction, and a drive unit that rotates the holding device around the rotation shaft. The attitude of the holding device in a state where the first arm and the second arm are extended in the first direction is defined as a reference attitude, and the position of the workpiece relative to the holding device when the end of the workpiece on the other side in the first direction contacts the first placement part and the second placement part from the one side in the first direction when the holding device is in the reference attitude is defined as a reference position. The control device includes a first mounting rotation control unit and a second mounting rotation control unit. The first mounting rotation control unit rotates the holding device by a predetermined angle from the reference attitude so that the one end of the one side of the first arm and the second arm is in an inclined attitude positioned lower than the other end of the other side in the first direction when the workpiece is not held by the holding device. The second mounting and rotation control unit rotates the holding device so that the holding device assumes the reference posture when the holding device is in the inclined posture and the workpiece is disposed at the reference position.

[0007] According to the cutting machine, even if the other end of the workpiece in the first direction is tilted downward relative to the one end before being held by the holding device, when the holding device changes from the tilted position to the reference position, the other end of the workpiece is lifted by the first placement portion of the first arm and the second placement portion of the second arm, so that the workpiece can be arranged parallel to the first direction relative to the first arm and the second arm. Therefore, the workpiece is less likely to get caught on the first guide portion and the second guide portion, and can be transported while being smoothly guided by the first guide portion and the second guide portion and held by the first arm and the second arm. Effect of the Invention

[0008] According to the present invention, it is possible to provide a cutting machine capable of causing a holding device to properly hold a workpiece. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view showing a cutting machine according to an embodiment. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 2 is a perspective view equivalent to FIG. 1, showing a state in which the door of the cutting machine is open. [Diagram 5] FIG. 2 is a front view showing a schematic view of a stocker and a conveying device. [Figure 6] FIG. [Figure 7] FIG. 2 is a front view of the cutting device with the cover open; [Figure 8] FIG. 2 is a perspective view showing a tool magazine, a rotating support member, and a holding device. [Figure 9] FIG. 2 is a plan view showing the holding device when not holding an object to be cut. [Figure 10] FIG. 2 is a plan view showing a holding device that holds an object to be cut. [Figure 11]11 is a cross-sectional view of the holding device taken along the line XI-XI in FIG. 10. [Figure 12] FIG. 1 is a block diagram of a cutting machine according to an embodiment. [Figure 13] 1 is a front view showing a schematic diagram of a holding device in a reference position and a workpiece held by a holding hook. FIG. [Figure 14] 11 is a flowchart showing a procedure for mounting a workpiece on a holding device. [Figure 15] FIG. 2 is a front view showing a schematic view of a holding device in an inclined position. [Figure 16] 1 is a front view showing a state in which the holding device is in an inclined position and the workpiece is placed at a reference position; FIG. [Figure 17] 1 is a front view showing a state in which the attitude of the holding device is a reference attitude and the workpiece is placed at a reference position. FIG. [Figure 18] 10 is a flowchart showing a procedure for removing the workpiece held by the holding device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, one embodiment disclosed herein will be described with reference to the drawings. Note that the embodiment described here is not intended to limit the present invention in particular. In addition, the same reference numerals are used for members and parts that perform the same function, and duplicated descriptions are omitted or simplified as appropriate.

[0011] FIG. 1 is a perspective view showing a cutting machine 100 according to this embodiment. In the following description, the side away from the cutting machine 100 when viewed from the front of the cutting machine 100 by a user is referred to as the front, and the side approaching the cutting machine 100 is referred to as the rear. The left, right, top, and bottom of the cutting machine 100 refer to the left, right, top, and bottom of the cutting machine 100 when viewed from the front of the cutting machine 100, respectively. The symbols F, Rr, L, R, U, and D in the drawings refer to the front, back, left, right, top, and bottom of the cutting machine 100, respectively. The cutting machine 100 is disposed in an XYZ orthogonal coordinate system. Here, the X-axis direction D1 is the front-rear direction. In this embodiment, the X-axis direction D1 is inclined by a predetermined angle from the horizontal direction. However, the X-axis direction D1 may be horizontal. The Y-axis direction D2 is the left-right direction. Here, the left side of the Y-axis direction D2 is referred to as one side. The right side of the Y-axis direction D2 is referred to as the other side. The Z-axis direction D3 is the up-down direction. In this embodiment, the Z-axis direction D3 is inclined at a predetermined angle from the vertical direction. However, the Z-axis direction D3 may be vertical. Note that the above-mentioned directions are merely defined for the convenience of explanation, and do not limit the installation mode of the cutting machine 100, nor limit the present invention.

[0012] The cutting machine 100 cuts the workpiece 5 (see FIG. 2) to produce an object. The type of the object is not particularly limited, and may be, for example, a dental molded product such as a crown prosthesis, an artificial tooth, or a denture base. Examples of the crown prosthesis include a crown, a bridge, a coping, an inlay, an onlay, a veneer, and a custom abutment. In this embodiment, the cutting machine 100 is used in the dental field, and produces a dental molded product from the workpiece 5. However, the field in which the cutting machine 100 is used is not limited to the dental field.

[0013] FIG. 2 is a plan view showing the workpiece 5. FIG. 3 is a perspective view showing the workpiece 5. The workpiece 5 has, for example, a plate-like shape. In this embodiment, as shown in FIG. 2, the workpiece 5 has a body 6 to be cut and an adapter 7. The body 6 to be cut is cut by a cutting machine 100. Here, the body 6 to be cut is cut to produce an object such as a dental molded product. That is, the object is produced from the body 6 to be cut. Here, the body 6 to be cut is disk-shaped. The body 6 to be cut is formed of a resin material such as PMMA (polymethylmethacrylate resin), PEEK (polyetheretherketone resin), hybrid resin, glass fiber reinforced resin, ceramic material such as glass ceramics, zirconia, metal material such as cobalt chrome sintered metal, wax, gypsum, and other types of materials. When zirconia is used as the type of material for the body 6 to be cut, for example, semi-sintered zirconia is suitable. However, the shape and material of the body 6 to be cut are not particularly limited.

[0014] The adapter 7 is attached to the body 6 to be cut. The adapter 7 supports the body 6 to be cut. The adapter 7 is formed with a fitting hole 7a having a shape (circular in this case) that follows the outer edge of the body 6 to be cut in a plan view. The body 6 to be cut is attached to the adapter 7 by fitting into the fitting hole 7a. Note that, although the adapter 7 and the body 6 to be cut are separate bodies in this embodiment, they may be formed integrally.

[0015] In the following description of the workpiece 5, the orientation of the workpiece 5 gripped by the gripping hook 32 (see FIG. 6) of the transport device 30 described later is used as a reference. In this embodiment, as shown in FIG. 2, the workpiece 5 has one end 8a and the other end 8b. The one end 8a constitutes the end of the workpiece 5 on one side (here, the left side) in the Y-axis direction D2. The other end 8b constitutes the end of the workpiece 5 on the other side (here, the right side) in the Y-axis direction D2. The other end 8b is the end opposite to the one end 8a in the Y-axis direction D2.

[0016] The workpiece 5 has a first engagement recess 9a and a second engagement recess 9b. The first engagement recess 9a and the second engagement recess 9b are formed at one end 8a of the workpiece 5. As shown in FIG. 3, the first engagement recess 9a is formed at one end 8a and the front of the workpiece 5, and is recessed from the front end toward the rear. As shown in FIG. 2, the second engagement recess 9b is formed at one end 8a and the rear of the workpiece 5, and is recessed from the rear end toward the front. The first engagement recess 9a and the second engagement recess 9b are shaped to be line-symmetrical with respect to the central axis A2 that passes through the center of the X-axis direction D1 of the workpiece 5 and extends in the Y-axis direction D2. In this embodiment, the first engagement recess 9a and the second engagement recess 9b are formed in the adapter 7. However, the first engagement recess 9a and the second engagement recess 9b may be formed in the workpiece body 6.

[0017] The workpiece 5 has a first guide protrusion 9c and a second guide protrusion 9d. The first guide protrusion 9c is formed at the front end of the workpiece 5 and extends in the Y-axis direction D2. The first guide protrusion 9c protrudes forward from the front end of the workpiece 5. The second guide protrusion 9d is formed at the rear end of the workpiece 5 and extends in the Y-axis direction D2. The second guide protrusion 9d protrudes backward from the rear end of the workpiece 5. The first guide protrusion 9c and the second guide protrusion 9d extend in the Y-axis direction D2, for example, from one end 8a to the other end 8b of the workpiece 5. The first guide protrusion 9c and the second guide protrusion 9d are shaped to be line-symmetrical with respect to the central axis A2 of the workpiece 5. Here, the first guide protrusion 9c and the second guide protrusion 9d are formed on the adapter 7, but may be formed on the workpiece body 6.

[0018] As shown in FIG. 2, the workpiece 5 has a first fitted portion 9e and a second fitted portion 9f. The first fitted portion 9e and the second fitted portion 9f are formed on the other end 8b of the workpiece 5. The first fitted portion 9e is formed on the other end 8b of the workpiece 5 at the front. The second fitted portion 9f is formed on the other end 8b of the workpiece 5 at the rear, and is disposed behind the first fitted portion 9e. The first fitted portion 9e and the second fitted portion 9f are recessed from the right end toward the left. The first fitted portion 9e and the second fitted portion 9f are shaped to be line-symmetrical with respect to the central axis A2 of the workpiece 5. In this embodiment, the first fitted portion 9e and the second fitted portion 9f are formed on the adapter 7, but may be formed on the workpiece body 6.

[0019] 1, the cutting machine 100 is a cutting machine with a so-called disk changer. The cutting machine 100 includes a storage device 10, a transport device 30 (see FIG. 6), a cutting device 60, and a control device 150.

[0020] 4 is a view equivalent to FIG. 1, and is a perspective view showing a state in which the door 12 of the cutting machine 100 is open. As shown in FIG. 4, the storage device 10 is a device for storing a plurality of objects to be cut 5. The storage device 10 is configured so as to be able to store a plurality of objects to be cut 5 therein. The storage device 10 includes a storage case main body 11, a door 12, and a stocker 13.

[0021] The storage case body 11 is formed in a box shape and has a space inside. A stocker 13 is disposed in the space inside the storage case body 11. An opening 17 is formed in the front of the storage case body 11. This opening 17 connects the space inside the storage case body 11 to the outside. The door 12 is provided so as to be able to open and close the opening 17 of the storage case body 11. Here, the door 12 is supported by the storage case body 11. The door 12 is configured to be rotatable, for example, around a right end portion 12a (see FIG. 1) as an axis.

[0022] As shown in Fig. 4, the stocker 13 is attached to the inner wall of the door 12. The stocker 13 includes a stocker body 21 and a plurality of storage sections 22 provided in the stocker body 21. The stocker body 21 is box-shaped and extends in the Z-axis direction D3. A transport hole 23 is formed in the wall of the stocker body 21, which communicates the internal space of the storage case body 11 with the internal space of a cutting case body 61 of the cutting device 60, which will be described later. When the door 12 is closed and the opening 17 is closed, the transport hole 23 is open toward the cutting device 60.

[0023] As shown in FIG. 4, the multiple storage sections 22 are arranged in a line in the Z-axis direction D3. Each of the multiple storage sections 22 has a space therein. One workpiece 5 is stored in one storage section 22. The number of storage sections 22 in the stocker 13 is not particularly limited, but six are provided here. Therefore, six workpieces 5 can be stored in the stocker 13. However, the number and arrangement positions of the storage sections 22 are not particularly limited.

[0024] FIG. 5 is a front view showing the stocker 13 and the conveying device 30. Here, as shown in FIG. 5, the conveying device 30 is a device that selects one workpiece 5 from among the multiple workpieces 5 stored in the stocker 13 and conveys the selected workpiece 5 to the cutting device 60 (see FIG. 1). The conveying device 30 also conveys the workpiece 5 cut in the cutting device 60 to the stocker 13 of the storage device 10. The conveying device 30 is a so-called auto disk changer (automatic exchange mechanism for the workpiece 5) that can automatically exchange multiple workpieces 5. The conveying device 30 is configured to take out the workpiece 5 stored in the storage section 22 of the stocker 13 from the stocker 13 and convey it to the cutting device 60. The conveying device 30 is configured to store the workpiece 5 taken out of the cutting device 60 in the storage section 22 of the stocker 13.

[0025] Fig. 6 is a plan view showing the transport device 30. Fig. 6 shows a state in which the workpiece 5 is gripped by the transport device 30. As shown in Fig. 6, the transport device 30 includes a transport body 31, a gripping hook 32, a first transport mechanism 37, and a second transport mechanism 38.

[0026] As shown in FIG. 5, the conveying body 31 is disposed, for example, in the space inside the housing case body 11 of the housing device 10. As shown in FIG. 6, the conveying body 31 has a plate-shaped first conveying body 31a and a box-shaped second conveying body 31b. The first conveying body 31a is configured to be movable in the Y-axis direction D2. Here, the first conveying body 31a is provided with a first shaft 41 and a second shaft 42 that protrude upward. The first shaft 41 and the second shaft 42 are disposed to face each other in the X-axis direction D1. The first shaft 41 is disposed in front of the second shaft 42. The second conveying body 31b is configured to be able to accommodate the first conveying body 31a.

[0027] As shown in FIG. 6, the gripping hook 32 pinches and grips the workpiece 5. The gripping hook 32 has a first hook 32a, a second hook 32b, a first spring 34, and a second spring 35. The first hook 32a and the second hook 32b pinch and grip the workpiece 5 in the X-axis direction D1. The first hook 32a and the second hook 32b are arranged to face each other in the X-axis direction D1. Here, the first hook 32a and the second hook 32b can pinch one end 8a (here, the left end) of the workpiece 5 in the Y-axis direction D2. The first hook 32a is arranged in front of the second hook 32b.

[0028] The first hook 32a is supported by a first shaft 41 and is rotatable around the first shaft 41. A tip end (here, the right end) of the first hook 32a engages with a first engagement recess 9a of the workpiece 5. The second hook 32b is supported by a second shaft 42 and is rotatable around the second shaft 42. A tip end (here, the right end) of the second hook 32b engages with a second engagement recess 9b of the workpiece 5.

[0029] The first spring 34 applies an elastic force to the first hook 32a. The first spring 34 applies an elastic force in a direction in which the tip of the first hook 32a moves toward the second hook 32b. The second spring 35 applies an elastic force to the second hook 32b. The second spring 35 applies an elastic force in a direction in which the tip of the second hook 32b moves toward the first hook 32a. In this embodiment, the first hook 32a and the second hook 32b grip one end 8a of the workpiece 5 by the first spring 34 and the second spring 35, respectively. However, the mechanism of the gripping hook 32 described here is merely an example, and the configuration of the gripping hook 32 is not particularly limited. The gripping hook 32 may be configured to grip the workpiece 5 by, for example, electrical control.

[0030] The first transport mechanism 37 is a mechanism for transporting the transport body 31 and the gripping hook 32 in the Z-axis direction D3. As shown in FIG. 5, the first transport mechanism 37 is disposed inside the storage case body 11 of the storage device 10. As shown in FIG. 6, the first transport mechanism 37 includes a pair of first rails 37a and a first drive motor 37b. The pair of first rails 37a are disposed so as to face each other in the X-axis direction D1. As shown in FIG. 5, the pair of first rails 37a extend in the Z-axis direction D3. The pair of first rails 37a face each other in the Y-axis direction D2 with the stocker 13 of the storage device 10.

[0031] The conveying body 31 (specifically, the second conveying body 31b) is slidably provided on the pair of first rails 37a. As shown in FIG. 6, the conveying body 31 is disposed between the pair of first rails 37a. The first driving motor 37b is a motor that moves the conveying body 31 and the gripping hook 32 in the Z-axis direction D3. Here, the first driving motor 37b is connected to the conveying body 31 (specifically, the second conveying body 31b), and moves the conveying body 31 along the pair of first rails 37a in the Z-axis direction D3, thereby moving the gripping hook 32 in the Z-axis direction D3. However, the configuration of the first conveying mechanism 37 is not particularly limited, and the first conveying mechanism 37 may be a so-called ball screw mechanism.

[0032] The second transport mechanism 38 is a mechanism for transporting the first transport body 31a and the gripping hook 32 in the Y-axis direction D2. The second transport mechanism 38 transports the workpiece 5 to the cutting device 60 (see FIG. 4) through a transport hole 23 (see FIG. 5) formed in the stocker body 21. As shown in FIG. 6, the second transport mechanism 38 includes a pair of second rails 38a and a second drive motor 38b. The pair of second rails 38a are rails that can expand and contract in the Y-axis direction D2. The pair of second rails 38a are disposed to face each other in the X-axis direction D1. The second rails 38a include a fixed rail 39a, a movable rail 39b, and an intermediate rail 39c.

[0033] The fixed rail 39a is fixed to the second transport body 31b. The intermediate rail 39c connects the fixed rail 39a and the moving rail 39b, and is disposed between the fixed rail 39a and the moving rail 39b. The intermediate rail 39c is provided so as to be slidable relative to the fixed rail 39a and the moving rail 39b. However, the configuration of the second transport mechanism 38 is not particularly limited. The first transport body 31a and the gripping hook 32 are disposed between the pair of moving rails 39b. Here, the first transport body 31a is fixed to the pair of moving rails 39b.

[0034] The second drive motor 38b is a motor that moves the first conveying body 31a and the gripping hook 32 of the conveying body 31 in the Y-axis direction D2. The second drive motor 38b is connected to the first conveying body 31a. However, the second drive motor 38b may be connected to a pair of second rails 38a. Here, the second drive motor 38b is driven to change the interval between the fixed rail 39a and the moving rail 39b. For example, when the interval between the fixed rail 39a and the moving rail 39b widens, the first conveying body 31a provided on the moving rail 39b and the workpiece 5 gripped by the gripping hook 32 are transported to the cutting device 60 through the transport hole 23 (see FIG. 5). In addition, when the interval between the fixed rail 39a and the moving rail 39b narrows and the fixed rail 39a and the moving rail 39b overlap, the first conveying body 31a and the gripping hook 32 are accommodated in the second conveying body 31b.

[0035] Next, a cutting device 60 shown in Fig. 1 will be described. The cutting device 60 cuts the workpiece 5 (specifically, the workpiece body 6) (see Fig. 2). The cutting device 60 is integrally formed with the storage device 10. A portion of the cutting device 60 communicates with the storage device 10. The configuration of the cutting device 60 is not particularly limited.

[0036] Fig. 7 is a front view showing the cutting device 60. Fig. 7 shows a state in which the cover 62 is open. As shown in Fig. 7, the cutting device 60 includes a cutting case main body 61, a cover 62, a spindle 63, a tool magazine 64, a rotation support member 65, a holding device 66 (see Fig. 8), and a rotation mechanism 68 (see Fig. 8).

[0037] The cutting case body 61 is formed in a box shape and has a space inside. An opening 67 is formed in the front of the cutting case body 61. The space inside the cutting case body 61 communicates with the outside through the opening 67. The cover 62 is provided so as to be able to open and close the opening 67. Here, the cover 62 is supported by the cutting case body 61 so as to be able to slide in the Z-axis direction D3.

[0038] The spindle 63 rotates the cutting tool 8. The spindle 63 rotates the cutting tool 8 while bringing it into contact with the workpiece 5 (more specifically, the body 6 to be cut) (see FIG. 2), thereby cutting the workpiece 5. The cutting tool 8 is rod-shaped and has a blade at the bottom. The cutting tool 8 includes a tool for cutting the workpiece 5 and a tool for polishing the workpiece 5.

[0039] 7, in this embodiment, the spindle 63 has a tool gripping portion 71 and a tool rotating portion 72. The tool gripping portion 71 is configured to be able to grip the upper end portion of the cutting tool 8. The tool gripping portion 71 is, for example, a collet chuck.

[0040] The tool rotating part 72 rotates the cutting tool 8 held by the tool holding part 71. The tool rotating part 72 is provided at the upper end of the tool holding part 71 and is fixed to the tool holding part 71. The tool rotating part 72 extends in the Z-axis direction D3. A third drive motor 72a (see FIG. 12) is connected to the tool rotating part 72. When the third drive motor 72a is driven, the tool rotating part 72 rotates around the Z-axis. With the rotation of the tool rotating part 72, the cutting tool 8 held by the tool holding part 71 rotates around the Z-axis. As a result, the cutting tool 8 rotates about a central axis extending in the Z-axis direction D3. Although not shown in the figure, the tool rotating part 72 is configured to be movable in the X-axis direction D1 and the Y-axis direction D2 by a first drive mechanism.

[0041] FIG. 8 is a perspective view showing the tool magazine 64, the rotary support member 65, and the holding device 66. As shown in FIG. 8, the tool magazine 64 is capable of accommodating a plurality of cutting tools 8. The tool magazine 64 is formed in a box shape. Here, a plurality of holes 81 for accommodating the cutting tools 8 are formed on the upper surface of the tool magazine 64. The cutting tools 8 are inserted into the holes 81 with their upper portions exposed. When replacing the cutting tools 8, the cutting tools 8 held by the tool gripping portion 71 (see FIG. 7) are returned to the holes 81. Then, the tool gripping portion 71 is moved to a position above the cutting tool 8 to be used next, and the upper end portion of the cutting tool 8 positioned below the tool gripping portion 71 is gripped by the tool gripping portion 71.

[0042] In this embodiment, the tool magazine 64 is provided with a rotation shaft 83 that rotatably supports the rotation support member 65. The rotation shaft 83 extends in the Y-axis direction D2 and is coupled to the rotation support member 65. Here, the rotation shaft 83 extends leftward from the left surface of the tool magazine 64. Although not shown, the tool magazine 64 is provided with a second drive mechanism. The rotation shaft 83 is rotated around the Y-axis by the second drive mechanism. The rotation of the rotation shaft 83 around the Y-axis causes the rotation support member 65 to rotate around the Y-axis.

[0043] The rotation support member 65 rotatably supports the holding device 66. The shape and configuration of the rotation support member 65 are not particularly limited. In this embodiment, the rotation support member 65 is formed in a substantially U-shape in a plan view. The rotation support member 65 is connected to the rotation shaft 83. The rotation support member 65 includes a first portion 91 extending in the X-axis direction D1, a second portion 92 extending leftward from the rear end of the first portion 91, and a third portion 93 extending leftward from the front end of the first portion 91. The holding device 66 is supported by the second portion 92 and the third portion 93 to be rotatable around the X-axis.

[0044] 9 and 10 are plan views showing the holding device 66. FIG. 9 shows a state in which the holding device 66 is not holding the workpiece 5. FIG. 10 shows a state in which the holding device 66 is holding the workpiece 5. FIG. 11 is a cross-sectional view of the holding device 66 taken along the line XI-XI in FIG. 10. As shown in FIGS. 9 and 10, the holding device 66 detachably holds the workpiece 5. Here, the holding device 66 holds the workpiece 5 to be cut during cutting. The holding device 66 is a so-called clamp.

[0045] In this embodiment, as shown in FIG. 9, the holding device 66 includes a first arm 101, a second arm 102, and a connecting portion 103. The first arm 101 and the second arm 102 extend in the Y-axis direction D2. The second arm 102 is disposed so as to face the first arm 101 in the X-axis direction D1. Here, the second arm 102 is arranged side by side with the first arm 101 in the X-axis direction D1 and is disposed apart from the first arm 101. The second arm 102 is disposed behind the first arm 101. The first arm 101 and the second arm 102 are parallel to each other. The connecting portion 103 connects the first arm 101 and the second arm 102. The connecting portion 103 extends in the X-axis direction D1. The connecting portion 103 is connected to the right end of the first arm 101 at its front end and to the right end of the second arm 102 at its rear end. Here, a substantial C-shape is formed by a first arm 101, a second arm 102, and a connecting portion 103. The first arm 101 and the second arm 102 are configured to be line-symmetrical with respect to a central axis A1 of the holding device 66 extending in the Y-axis direction D2. In other words, the first arm 101 and the second arm 102 are identical except that they are staggered with respect to the X-axis direction D1.

[0046] As shown in FIG. 11, the first arm 101 includes a first guide groove 105 that engages with the first guide protrusion 9c of the workpiece 5, and a first guide pin 111. The first guide groove 105 is configured by the first arm 101 (here, the upper surface of the first arm 101) and the first guide pin 111. As shown in FIG. 9, the first guide pin 111 is provided at one end of the first arm 101 in the Y-axis direction D2 (here, the tip end (in other words, the left end) of the first arm 101). The first guide pin 111 is an example of a first guide portion. As shown in FIG. 11, the first guide pin 111 has a first shaft portion 111a extending upward from the upper surface of the first arm 101, and a first head portion 111b provided at the upper end of the first shaft portion 111a. The first head portion 111b has a larger diameter than the first shaft portion 111a. The first head 111b may be, for example, a roller, and may be configured to be rotatable. In this embodiment, a first guide groove 105 is formed between the upper surface of the first arm 101 and the first head 111b. The first guide pin 111 guides the movement of the workpiece 5 between the first head 111b and the first arm 101 (more specifically, the movement of the workpiece 5 in the Y-axis direction D2).

[0047] The second arm 102 is provided with a second guide groove 106 that engages with the second guide protrusion 9d of the workpiece 5, and a second guide pin 112. The second guide groove 106 is formed by the second arm 102 (here, the upper surface of the second arm 102) and the second guide pin 112. As shown in FIG. 9, the second guide pin 112 is provided at one end of the second arm 102 in the Y-axis direction D2 (here, the tip end (in other words, the left end) of the second arm 102). The second guide pin 112 is an example of a second guide portion. As shown in FIG. 11, the second guide pin 112 has a second shaft portion 112a extending upward from the upper surface of the second arm 102, and a second head portion 112b provided at the upper end of the second shaft portion 112a. The second head portion 112b has a larger diameter than the second shaft portion 112a. The second head 112b may be, for example, a roller, and may be configured to be rotatable. In this embodiment, a second guide groove 106 is formed between the upper surface of the second arm 102 and the second head 112b. The second guide pin 112 guides the movement of the workpiece 5 in the Y-axis direction D2 between the second head 112b and the second arm 102.

[0048] In this embodiment, the first guide groove 105 and the second guide groove 106 are both formed to face the inside of the holding device 66. In other words, the first guide groove 105 faces the second arm 102 side. The second guide groove 106 faces the first arm 101 side. The first guide groove 105 and the second guide groove 106 face each other.

[0049] In this embodiment, as shown in FIG. 9, the first arm 101 has a first mounting portion 101a located on one side (here, the left side) of the first guide pin 111 in the Y-axis direction D2. The first mounting portion 101a is disposed to the left of the first guide pin 111. Similarly, the second arm 102 has a second mounting portion 102a located on one side of the second guide pin 112 in the Y-axis direction D2. The second mounting portion 102a is disposed to the left of the second guide pin 112. Here, the upper surface of the first mounting portion 101a and the upper surface of the second mounting portion 102a are not so-called chamfered, but are flat surfaces extending in the Y-axis direction D2. The upper surface of the first mounting portion 101a and the upper surface of the second mounting portion 102a are surfaces that extend linearly. In other words, the upper and lower surfaces of the first mounting portion 101a are parallel to each other, and the upper and lower surfaces of the second mounting portion 102a are parallel to each other.

[0050] In this embodiment, as shown in FIG. 9, the holding device 66 includes a first fitting portion 121 and a second fitting portion 122. As shown in FIG. 10, the first fitting portion 121 is a portion that fits with the first fitted portion 9e of the workpiece 5 to position the workpiece 5 and the holding device 66. The second fitting portion 122 is a portion that fits with the second fitted portion 9f of the workpiece 5 to position the workpiece 5 and the holding device 66. Here, the first fitting portion 121 and the second fitting portion 122 are provided in the connecting portion 103. The first fitting portion 121 is configured to fit with the first fitted portion 9e of the workpiece 5 when the workpiece 5 engages with the first guide groove 105 and the second guide groove 106 and abuts against the connecting portion 103. The second fitting portion 122 is configured to fit with the second fitted portion 9f of the workpiece 5 when the workpiece 5 engages with the first guide groove 105 and the second guide groove 106 and abuts against the connecting portion 103.

[0051] As shown in FIG. 9, the first fitting portion 121 is provided in the front of the connecting portion 103. The second fitting portion 122 is provided in the rear of the connecting portion 103. The second fitting portion 122 is configured to be symmetrical to the first fitting portion 121 with respect to the central axis A1 of the connecting portion 103 extending in the Y-axis direction D2, and has a similar configuration to the first fitting portion 121. The first fitting portion 121 and the second fitting portion 122 are, for example, rollers provided on the upper surface of the connecting portion 103. The first fitting portion 121 and the second fitting portion 122 partially protrude leftward from the connecting portion 103. As shown in FIG. 10, the portion of the first fitting portion 121 protruding leftward from the connecting portion 103 fits into the first fitted portion 9e of the workpiece 5. The portion of the second fitting portion 122 protruding leftward from the connecting portion 103 fits into the second fitted portion 9f of the workpiece 5. In this embodiment, when the workpiece 5 engages with the first guide groove 105 and the second guide groove 106, and also engages with the first fitting portion 121 and the second fitting portion 122 and abuts against the connecting portion 103, the workpiece 5 is held in place by being sandwiched between the first arm 101 and the second arm 102.

[0052] In this embodiment, as shown in Fig. 6, the workpiece 5 held by the gripping hook 32 of the transport device 30 is transported by the transport device 30 and held by the holding device 66 as shown in Fig. 10. When the workpiece 5 is fitted into the first fitting portion 121 and the second fitting portion 122 of the holding device 66 and sandwiched between the first arm 101 and the second arm 102, the holding device 66 is configured to fix and hold the position of the workpiece 5. Therefore, when the transport device 30 transports the gripping hook 32, for example, to the left, in a state in which the gripping hook 32 grips the workpiece 5 and the holding device 66 holds the workpiece 5, the workpiece 5 is removed from the gripping hook 32.

[0053] As shown in FIG. 9, the rotation mechanism 68 is a mechanism for rotating the holding device 66. Here, the rotation mechanism 68 rotates the holding device 66 around a rotation axis extending in the X-axis direction D1 (i.e., around the X-axis). The configuration of the rotation mechanism 68 is not particularly limited. In this embodiment, the rotation mechanism 68 includes a first rotation shaft 68a, a second rotation shaft 68b, and a fourth drive motor 68c. The first rotation shaft 68a and the second rotation shaft 68b extend in the X-axis direction D1. The first rotation shaft 68a and the second rotation shaft 68b are arranged side by side in the X-axis direction D1. The first rotation shaft 68a is connected to the first arm 101. Here, one end of the first rotation shaft 68a is connected to the front surface of the first arm 101 (for example, the central portion of the first arm 101 in the Y-axis direction D2), and the other end of the first rotation shaft 68a is connected to the third part 93 (see FIG. 8) of the rotation support member 65. The second rotating shaft 68b is connected to the second arm 102. Here, one end of the second rotating shaft 68b is connected to a rear surface of the second arm 102 (for example, a central portion of the second arm 102 in the Y-axis direction D2), and the other end of the second rotating shaft 68b is connected to a second portion 92 (see FIG. 8) of the rotation support member 65. In this embodiment, the first rotating shaft 68a and the second rotating shaft 68b are an example of the rotating shaft of the present invention.

[0054] The fourth drive motor 68c rotates the holding device 66 around the first rotating shaft 68a and the second rotating shaft 68b. The fourth drive motor 68c is an example of a drive unit of the present invention. In this embodiment, the fourth drive motor 68c is connected to, for example, the first rotating shaft 68a. However, the fourth drive motor 68c may be connected to the second rotating shaft 68b. Here, the first rotating shaft 68a rotates around the X-axis as the fourth drive motor 68c is driven. As a result, the holding device 66 connected to the first rotating shaft 68a and the second rotating shaft 68b rotates around the first rotating shaft 68a and the second rotating shaft 68b.

[0055] The control device 150 shown in Fig. 1 is a device that controls the cutting of the workpiece 5. The control device 150 is made up of a microcomputer, and is provided inside the cutting machine 100. The control device 150 includes, for example, a central processing unit (CPU), a ROM that stores programs executed by the CPU, and a RAM. Here, the control related to the cutting of the workpiece 5 is performed using the programs stored in the microcomputer.

[0056] FIG. 12 is a block diagram of the cutting machine 100 according to this embodiment. As shown in FIG. 12, the control device 150 is communicably connected to the transport device 30 and the cutting device 60. Here, the control device 150 is communicably connected to the first transport mechanism 37 (specifically, the first drive motor 37b) of the transport device 30, the second transport mechanism 38 (specifically, the second drive motor 38b) of the transport device 30, the spindle 63 (specifically, the third drive motor 72a connected to the tool rotation unit 72) of the cutting device 60, and the rotation mechanism 68 (specifically, the fourth drive motor 68c) of the cutting device 60. The control device 150 controls the first transport mechanism 37 to control the movement of the transport device 30 (specifically, the gripping hook 32) in the Z-axis direction D3. The control device 150 controls the second transport mechanism 38 to control the movement of the transport device 30 (specifically, the gripping hook 32) in the Y-axis direction D2. The control device 150 controls the spindle 63 to control the rotation of the cutting tool 8 held by the tool holding part 71. The control device 150 also controls the rotation mechanism 68 to control the rotation of the holding device 66 about the X-axis.

[0057] The configuration of the cutting machine 100 according to this embodiment has been described above. In this embodiment, the workpiece 5 transported by the transport device 30 is held by the holding device 66, and cutting is performed on the workpiece 5 held by the holding device 66. When cutting is completed, the workpiece 5 held by the holding device 66 is removed from the holding device 66 by the transport device 30 and transported to the storage device 10. In this manner, the attachment and detachment of the workpiece 5 to and from the holding device 66 is performed by the transport device 30.

[0058] FIG. 13 is a front view showing the holding device 66 in the reference position P1 and the workpiece 5 held by the gripping hook 32. In FIG. 13 and later-described FIGS. 15 to 18, when the holding device 66 is viewed from the front, the second arm 102 is disposed behind the first arm 101, so that the second arm 102 overlaps with the first arm 101 and is hidden. Therefore, the reference numerals for the second arm 102 are omitted in FIG. 13 and FIG. 15 to FIG. 18. In the following description, as shown in FIG. 13, the position of the holding device 66 in a state in which the first arm 101 and the second arm 102 extend in the Y-axis direction D2 is referred to as the reference position P1. When the holding device 66 is in the reference position P1, the first arm 101 and the second arm 102 are parallel to and not inclined with respect to a plane extending in the X-axis direction D1 and the Y-axis direction D2. In addition, in the following description, the state in which the workpiece 5 is held by the holding device 66 is also referred to as the workpiece 5 being attached to the holding device 66.

[0059] In this embodiment, with the attitude of the holding device 66 being in the reference attitude P1, the workpiece 5 is attached to the holding device 66 and detached from the holding device 66. For example, when the workpiece 5 is attached to the holding device 66, the conveying device 30 conveys the workpiece 5 from one side (here, the left side) in the Y-axis direction D2 toward the holding device 66, whereby the workpiece 5 is held by the holding device 66.

[0060] Incidentally, as shown in FIG. 13, when the workpiece 5 is gripped by the gripping hook 32 of the transport device 30, one end 8a of the workpiece 5 is pinched and gripped. Therefore, the workpiece 5 may be tilted such that the other end 8b of the workpiece 5 is lower than the one end 8a due to its own weight. In FIG. 13, the tilt angle of the workpiece 5 is enlarged for ease of understanding. In reality, the tilt angle of the workpiece 5 is small, and it may be slightly tilted. In this way, when the workpiece 5 is held by the holding device 66, if the workpiece 5 is transported toward the holding device 66 in the reference posture P1 in a tilted state, the workpiece 5 may get caught on the first arm 101, the second arm 102, the first guide pin 111 (for example, the first head 111b), and the second guide pin 112 (for example, the second head 112b) (see FIG. 9) of the holding device 66. If such a snag occurs on the workpiece 5, the workpiece 5 may not be transported properly, and the holding device 66 may not be able to hold the workpiece 5 properly. Therefore, in this embodiment, the holding device 66 is made to hold the workpiece 5 properly.

[0061] 12, the control device 150 includes a storage unit 151, a first mounting / rotation control unit 161, a first mounting / transport control unit 163, a second mounting / rotation control unit 165, and a second mounting / transport control unit 167. The control device 150 further includes a first removal / rotation control unit 171, a first removal / transport control unit 173, a second removal / rotation control unit 175, and a second removal / transport control unit 177. Each of the above-mentioned units of the control device 150 may be implemented by one or more processors, or may be incorporated into a circuit.

[0062] Next, a procedure for mounting the workpiece 5 on the holding device 66 will be described with reference to the flowchart in Fig. 14. Here, step S101 in Fig. 14 is executed in a state in which the workpiece 5 is not mounted on the holding device 66 and the workpiece 5 is not being held. Also, step S101 is executed in a state in which the attitude of the holding device 66 is the reference attitude P1 (see Fig. 13).

[0063] FIG. 15 is a front view showing the holding device 66 in the inclined posture P2. First, in step S101 in FIG. 14, the holding device 66 is inclined as shown in FIG. 15. Here, the first mounting and rotation control unit 161 in FIG. 12 rotates the holding device 66 in the direction of the arrow A31 by a predetermined angle R1 from the reference posture P1 as shown in FIG. 15 in a state where the workpiece 5 is not held by the holding device 66. The first mounting and rotation control unit 161 rotates the holding device 66 so that one end (here, the left end) on one side of the Y-axis direction D2 of the first arm 101 and the second arm 102 of the holding device 66 is positioned lower than the other end (here, the right end) on the other side of the Y-axis direction D2. In this embodiment, the posture of the holding device 66 after rotating by the predetermined angle R1 from the reference posture P1 is called the inclined posture P2. When the holding device 66 is in the inclined posture P2, the upper surfaces of the first arm 101 and the second arm 102 face obliquely upward and forward.

[0064] In this embodiment, the predetermined angle R1 is an acute angle. The predetermined angle R1 is greater than 0 degrees and less than 90 degrees, preferably 0 degrees to 70 degrees, and particularly preferably 10 degrees to 60 degrees. For example, even if the other end 8b of the workpiece 5 is supported by the gripping hook 32 inclined so as to be lowered, the workpiece 5 can be lifted by the holding device 66 to make it parallel, and from the viewpoint of shortening the time required for the holding device 66 to reach the reference posture P1 as much as possible, the predetermined angle R1 may be, for example, 20 degrees. However, in the case where the holding device 66 does not interfere with other members and there is no consideration of shortening the time required for the holding device 66 to reach the reference posture P1, the predetermined angle R1 may be an obtuse angle. The predetermined angle R1 is set in advance and is stored in the storage unit 151 of FIG. 12 in advance.

[0065] In this embodiment, the first mounting / rotation control unit 161 controls the rotation mechanism 68 (more specifically, the fourth drive motor 68c) (see FIG. 9) to rotate the holding device 66 around the first rotation shaft 68a and the second rotation shaft 68b. This allows the first arm 101 and the second arm 102 of the holding device 66 to rotate, and the holding device 66 to rotate from the reference posture P1 to the inclined posture P2. Note that, as shown in FIG. 15, in the inclined posture P2, the first placement portion 101a (or the second placement portion 102a) is disposed below the first rotation shaft 68a (or the second rotation shaft 68b).

[0066] FIG. 16 is a front view showing a state where the attitude of the holding device 66 is the inclined attitude P2 and the workpiece 5 is placed at the reference position P10. FIG. 17 is a front view showing a state where the attitude of the holding device 66 is the reference attitude P1 and the workpiece 5 is placed at the reference position P10. Next, in step S103 of FIG. 14, the workpiece 5 to be held by the holding device 66 is transported so as to be placed at the reference position P10. Here, the first mounting transport control unit 163 of FIG. 12 controls the transport device 30 so that the workpiece 5 is placed at the reference position P10 after the attitude of the holding device 66 becomes the inclined attitude P2 by the first mounting rotation control unit 161. In this embodiment, as shown in Fig. 17, the reference position P10 refers to the position of the workpiece 5 relative to the holding device 66 when the other end 8b of the workpiece 5 contacts the first placement portion 101a and the second placement portion 102a from one side in the Y-axis direction D2 when the holding device 66 is in the reference posture P1. As shown in Fig. 16, when the holding device 66 is in the inclined posture P2 and the workpiece 5 is disposed at the reference position P10, a part of the workpiece 5 (in this embodiment, the other end 8b of the workpiece 5 (for example, the part of the first guide protrusion 9c and the second guide protrusion 9d located at the other end 8b)) overlaps with the first placement portion 101a of the first arm 101 and the second placement portion 102a of the second arm 102 in a plan view.

[0067] In this embodiment, the first mounting transport control unit 163 grips the workpiece 5 (see FIG. 5) accommodated in the accommodation unit 22 of the stocker 13 of the accommodation device 10 with the gripping hook 32 of the transport device 30 as shown in FIG. 6, and removes it from the stocker 13. Thereafter, the first mounting transport control unit 163 controls the first transport mechanism 37 (see FIG. 5) of the transport device 30 so that the workpiece 5 is placed at the same height as the reference position P10. At this time, the workpiece 5 gripped by the gripping hook 32 is placed to the left of the holding device 66. Thereafter, the first mounting transport control unit 163 controls the second transport mechanism 38 (see FIG. 6) of the transport device 30 to transport the workpiece 5 together with the gripping hook 32 to the right in the Y-axis direction D2 toward the holding device 66. Then, the first mounting transport control unit 163 stops driving the second transport mechanism 38 when the workpiece 5 is placed at the reference position P10 as shown in FIG. 16.

[0068] When the workpiece 5 is placed at the reference position P10 in step S103, the workpiece 5 is held by the gripping hooks 32 (specifically, the first hook 32a and the second hook 32b). Therefore, the workpiece 5 held by the gripping hooks 32 may be inclined by its own weight so that the other end 8b is located lower than the one end 8a. In this embodiment, as shown in FIG. 16, when the holding device 66 is in the inclined posture P2 and the workpiece 5 is placed at the reference position P10, the other end 8b of the workpiece 5 is separated from the first placement portion 101a and the second placement portion 102a of the holding device 66, but at least a part of the other end 8b may be in contact with the first placement portion 101a and the second placement portion 102a.

[0069] Next, in step S105 of Fig. 14, the holding device 66 is rotated so that the holding device 66 assumes the reference posture P1 as shown in Fig. 17. Here, when the holding device 66 is in the inclined posture P2 as shown in Fig. 16 and the workpiece 5 is disposed at the reference position P10, the second mounting and rotation control unit 165 of Fig. 12 rotates the holding device 66 so that the holding device 66 assumes the reference posture P1 as shown in Fig. 17. The second mounting and rotation control unit 165 rotates the holding device 66 in the inclined posture P2 by a predetermined angle R1 (see Fig. 15) in the opposite direction compared to that at step S101, thereby setting the posture of the holding device 66 to the reference posture P1. In addition, when the workpiece 5 is placed at the reference position P10 and the attitude of the holding device 66 changes from the inclined attitude P2 to the reference attitude P1, the other end 8b of the workpiece 5 (specifically, the portion of the first guide protrusion 9c and the second guide protrusion 9d located at the other end 8b) is placed on the upper surface of the first placement part 101a of the first arm 101 and the upper surface of the second placement part 102a of the second arm 102. Furthermore, when the workpiece 5 is placed on the first placement part 101a and the second placement part 102a, the other end 8b of the workpiece 5 is pushed up by the first placement part 101a and the second placement part 102a. Therefore, the workpiece 5, which was inclined so that the other end 8b was lower than the one end 8a, extends in the Y-axis direction D2 and becomes parallel to the first arm 101 and the second arm 102. At this time, in the workpiece 5 gripped by the gripping hook 32, one end 8a and the other end 8b are at the same height.

[0070] Next, in step S107 of FIG. 14, the workpiece 5 is mounted on the holding device 66. Here, the second mounting and transporting control unit 167 of FIG. 12 controls the transporting device 30 so that the workpiece 5 is placed at a position sandwiched between the first arm 101 and the second arm 102 of the holding device 66 as shown in FIG. 10 after the posture of the holding device 66 becomes the reference posture P1 by the second mounting and rotation control unit 165. In this embodiment, the position of the workpiece 5 with respect to the holding device 66 when the workpiece 5 is sandwiched between the first arm 101 and the second arm 102 is called the holding position P11. The holding position P11 is located to the right of the reference position P10. When the workpiece 5 is placed at the holding position P11, the workpiece 5 is mounted on the holding device 66. When the workpiece 5 is placed at the holding position P11, the first fitted portion 9e and the second fitted portion 9f of the workpiece 5 are fitted into the first fitting portion 121 and the second fitting portion 122 of the holding device 66, respectively.

[0071] In this embodiment, the second mounting and transport control unit 167 controls the second transport mechanism 38 (see FIG. 6) of the transport device 30 so as to transport the workpiece 5 held by the gripping hook 32 and placed at the reference position P10 in the direction of the arrow A32, that is, to the right, as shown in FIG. 17. At this time, the workpiece 5 is less likely to be caught by the first guide pin 111 and the second guide pin 112 of the holding device 66, and is transported along the first guide groove 105 and the second guide groove 106. Then, as shown in FIG. 10, when the first fitted portion 9e and the second fitted portion 9f of the workpiece 5 are respectively fitted into the first fitting portion 121 and the second fitting portion 122 of the holding device 66, the second mounting and transport control unit 167 stops the movement of the transport device 30 to the right. As a result, the workpiece 5 is held by the holding device 66 at the holding position P11. With the workpiece 5 held by the holding device 66 in this manner, the workpiece 5 is cut using a cutting tool 8 (see FIG. 7) held by a tool holding portion 71 of the spindle 63.

[0072] Next, the procedure for removing the workpiece 5 held by the holding device 66 will be described with reference to the flowchart in Fig. 18. Here, as shown in Fig. 10, the workpiece 5 is attached to the holding device 66, and step S201 in Fig. 18 is executed in a state in which the workpiece 5 is being held.

[0073] First, in step S201, the holding device 66 is rotated so that the attitude of the holding device 66 becomes the reference attitude P1 (see FIG. 17). Here, the first external rotation control unit 171 in FIG. 12 rotates the holding device 66, which holds the workpiece 5, so that the holding device 66 becomes the reference attitude P1. The first external rotation control unit 171 controls the rotation mechanism 68 (more specifically, the drive of the fourth drive motor 68c) shown in FIG. 9 to rotate the holding device 66 around the first rotation shaft 68a and the second rotation shaft 68b, thereby setting the attitude of the holding device 66 to the reference attitude P1.

[0074] Next, in step S203 of FIG. 18, the workpiece 5 is transported to the reference position P10 as shown in FIG. 17. Here, the first detachment transfer control unit 173 of FIG. 12 controls the transport device 30 so that the workpiece 5 is transported from the holding position P11 to the reference position P10 after the attitude of the holding device 66 becomes the reference attitude P1 by the first detachment rotation control unit 171. In this embodiment, the first detachment transfer control unit 173 first controls the first transport mechanism 37 and the second transport mechanism 38 so that the gripping hook 32 of the transport device 30 grips the workpiece 5 held by the holding device 66 in the reference attitude P1. Then, in a state where the gripping hook 32 grips the workpiece 5, the first detachment transfer control unit 173 controls the second transport mechanism 38 so that the gripping hook 32 is transported leftward. For example, the first detachment transfer control unit 173 transports the gripping hook 32 and the workpiece 5 in the direction of the arrow A33 in FIG. 17. At this time, the workpiece 5 is transported leftward together with the gripping hook 32 from the holding position P11 toward the reference position P10. When the workpiece 5 is placed at the reference position P10, the first external transport control unit 173 stops the movement of the gripping hook 32 leftward. When the movement of the gripping hook 32 stops, the gripping hook 32 is in a state of gripping the workpiece 5, as shown in FIG.

[0075] Next, in step S205 of FIG. 18, the holding device 66 is rotated so that the attitude of the holding device 66 becomes the inclined attitude P2. Here, as shown in FIG. 17, when the holding device 66 is in the reference attitude P1 and the workpiece 5 moves from the holding position P11 to the reference position P10, the second external rotation control unit 175 of FIG. 12 rotates the holding device 66 so that the holding device 66 becomes the inclined attitude P2 as shown in FIG. 16. The second external rotation control unit 175 rotates the holding device 66 by a predetermined angle R1 (see FIG. 15) from the reference attitude P1 to make the holding device 66 become the inclined attitude P2. The second external rotation control unit 175 rotates the holding device 66 so that one end (here, the left end) on one side in the Y-axis direction D2 of the first arm 101 and the second arm 102 of the holding device 66 is positioned lower than the other end (here, the right end) on the other side in the Y-axis direction D2. The second removal rotation control unit 175 rotates the holding device 66 around the first rotation shaft 68a and the second rotation shaft 68b by controlling the rotation mechanism 68 (more specifically, the fourth drive motor 68c) shown in FIG. 9. This allows the first arm 101 and the second arm 102 of the holding device 66 to rotate. As a result, the holding device 66 can be rotated from the reference position P1 to the inclined position P2. In this way, as shown in FIG. 16, when the position of the holding device 66 becomes the inclined position P2, the workpiece 5 arranged at the reference position P10 is not placed on the first placement portion 101a of the first arm 101 and the second placement portion 102a of the second arm 102, and is separated from the first placement portion 101a and the second placement portion 102a.

[0076] Next, in step S207 in FIG. 18, the workpiece 5 is transported to the left side in the Y-axis direction D2. Here, the second detachment transport control unit 177 in FIG. 12 controls the transport device 30 so that the workpiece 5 is transported from the reference position P10 to one side (here, the left side) in the Y-axis direction D2 after the attitude of the holding device 66 becomes the inclined attitude P2 by the second detachment rotation control unit 175. The second detachment transport control unit 177 controls the second transport mechanism 38 (see FIG. 6) of the transport device 30 so that the gripping hook 32 and the workpiece 5 gripped by the gripping hook 32 are transported linearly to the left. For example, the second detachment transport control unit 177 transports the gripping hook 32 and the workpiece 5 in the direction of the arrow A34 in FIG. 13. As a result, the workpiece 5 is disposed to the left of the holding device 66 and is removed from the holding device 66, as shown in FIG. 13. After the workpiece 5 is removed from the holding device 66, the second detachment transport control unit 177 controls the first transport mechanism 37 and the second transport mechanism 38 to store the workpiece 5 held by the gripping hook 32 in the storage section 22 (see FIG. 5) of the storage device 10. This allows the workpiece 5 to be removed from the holding device 66 and stored in the storage section 22.

[0077] As described above, in this embodiment, as shown in Fig. 9, the cutting machine 100 includes the holding device 66 that holds the workpiece 5 during cutting, the rotation mechanism 68 that rotates the holding device 66, and the control device 150 (see Fig. 1). As shown in Fig. 10, the holding device 66 includes the first arm 101 extending in the Y-axis direction D2, the second arm 102 that is arranged to face the first arm 101 in the X-axis direction D1, extends in the Y-axis direction D2, and can hold the workpiece 5 together with the first arm 101, the first guide pin 111, and the second guide pin 112. As shown in Fig. 11, the first guide pin 111 is provided on one side of the first arm 101 in the Y-axis direction D2, and guides the movement of the workpiece 5. Specifically, the first guide pin 111 has a first shaft portion 111a extending upward on one side of the first arm 101 in the Y-axis direction D2, and a first head portion 111b provided at the upper end of the first shaft portion 111a. The first guide pin 111 guides the movement of the workpiece 5 between the first head portion 111b and the first arm 101. The second guide pin 112 is provided on one side of the second arm 102 in the Y-axis direction D2, and guides the movement of the workpiece 5. Specifically, the second guide pin 112 has a second shaft portion 112a extending upward on one side of the second arm 102 in the Y-axis direction D2, and a second head portion 112b provided at the upper end of the second shaft portion 112a. The second guide pin 112 guides the movement of the workpiece 5 between the second head portion 112b and the second arm 102. 9, the first arm 101 has a first mounting portion 101a located on one side (here, the left side) in the Y-axis direction D2 of the first guide pin 111. The second arm 102 has a second mounting portion 102a located on one side in the Y-axis direction D2 of the second guide pin 112. The rotation mechanism 68 is provided on at least one of the first arm 101 and the second arm 102 (here, both the first arm 101 and the second arm 102), and includes rotation shafts 68a, 68b extending in the X-axis direction D1, and a fourth drive motor 68c that rotates the holding device 66 around the rotation shafts 68a, 68b.Here, as shown in Fig. 13, the posture of the holding device 66 in a state where the first arm 101 and the second arm 102 extend in the Y-axis direction D2 (here, a state where they extend parallel to an axis extending in the Y-axis direction D2) is set as a reference posture P1. As shown in Fig. 17, when the holding device 66 is in the reference posture P1, the position of the workpiece 5 relative to the holding device 66 when the other end 8b on the other side of the Y-axis direction D2 of the workpiece 5 contacts the first placement part 101a and the second placement part 102a from one side in the Y-axis direction D2 is set as a reference position P10. As shown in Fig. 12, the control device 150 includes a first mounting and rotation control unit 161 and a second mounting and rotation control unit 165. In step S101 of Fig. 14, when the workpiece 5 is not held by the holding device 66, the first mounting and rotation control unit 161 rotates the holding device 66 by a predetermined angle R1 from the reference position P1 so that the holding device 66 assumes an inclined position P2 in which one end of the first arm 101 and the second arm 102 on one side in the Y-axis direction D2 is positioned lower than the other end on the other side in the Y-axis direction D2, as shown in Fig. 15. In step S105 of Fig. 14, when the holding device 66 is in the inclined position P2 and the workpiece 5 is disposed at the reference position P10, as shown in Fig. 16, the second mounting and rotation control unit 165 rotates the holding device 66 so that the holding device 66 assumes the reference position P1, as shown in Fig. 17.

[0078] As a result, even if the other end 8b of the workpiece 5 before being held by the holding device 66 is in a state in which it is inclined downward from the one end 8a, when the holding device 66 changes from the inclined posture P2 to the reference posture P1, the other end 8b of the workpiece 5 (specifically, the portion of the first guide protrusion 9c and the second guide protrusion 9d located at the other end 8b) is lifted by the first placement portion 101a of the first arm 101 and the second placement portion 102a of the second arm 102, so that the workpiece 5 can be arranged parallel to the Y-axis direction D2 with respect to the first arm 101 and the second arm 102, as shown in FIG. 17. Therefore, the workpiece 5 is less likely to get caught by the first guide pin 111 and the second guide pin 112, and can be transported while being smoothly guided by the first guide pin 111 and the second guide pin 112, and can be held by the first arm 101 and the second arm 102.

[0079] In this embodiment, the cutting machine 100 includes a conveying device 30 (see FIG. 6) that conveys the workpiece 5 from one side (here, the left side) in the Y-axis direction D2 toward the holding device 66. As shown in FIG. 12, the control device 150 includes a first mounting conveying control unit 163 and a second mounting conveying control unit 167. The first mounting conveying control unit 163 controls the conveying device 30 so that the workpiece 5 is placed at the reference position P10 as shown in FIG. 16 after the attitude of the holding device 66 is changed to the inclined attitude P2 by the first mounting rotation control unit 161 in step S103 of FIG. 14. The second mounting conveying control unit 167 controls the conveying device 30 so that the workpiece 5 is placed at the holding position P11 (see FIG. 10) sandwiched between the first arm 101 and the second arm 102 of the holding device 66 in step S107 of FIG. 14 after the attitude of the holding device 66 is changed to the reference attitude P1 by the second mounting rotation control unit 165. In this manner, the transport device 30 automatically transports the workpiece 5 to the reference position P10 and the holding position P11, so that the workpiece 5 can be transported to an appropriate position.

[0080] In this embodiment, as shown in Fig. 6, the transport device 30 includes a first hook 32a and a second hook 32b that is disposed so as to face the first hook 32a in the X-axis direction D1 and is capable of clamping one end 8a on one side of the Y-axis direction D2 of the workpiece 5 together with the first hook 32a. As a result, when the first hook 32a and the second hook 32b clamp the one end 8a of the workpiece 5 in the Y-axis direction D2, the weight of the workpiece 5 makes it easy for the other end 8b to tilt lower than the one end 8a, as shown in Fig. 13. However, in this embodiment, when the holding device 66 holds the workpiece 5, when the holding device 66 moves from the inclined posture P2 to the reference posture P1, the other end 8b of the workpiece 5 is lifted by the first placement portion 101a of the first arm 101 and the second placement portion 102a of the second arm 102 as shown in Fig. 17, so that the workpiece 5 can be arranged parallel to the Y-axis direction D2 with respect to the first arm 101 and the second arm 102. Therefore, the workpiece 5 is less likely to get caught on the first guide pin 111 and the second guide pin 112, and can be transported while being smoothly guided by the first guide pin 111 and the second guide pin 112 and held by the first arm 101 and the second arm 102.

[0081] In this embodiment, when the attitude of the holding device 66 is brought to the reference attitude P1 by the second mounting / rotation control unit 165, the workpiece 5 is placed on the first placement portion 101a of the first arm 101 and the second placement portion 102a of the second arm 102, as shown in Fig. 17. With this, with a simple configuration of controlling the rotation mechanism 68 so that the holding device 66 is brought to the reference attitude P1, the workpiece 5 can be placed on the first placement portion 101a and the second placement portion 102a, and the other end portion 8b of the workpiece 5 can be lifted to arrange the workpiece 5 parallel to the Y-axis direction D2 with respect to the first arm 101 and the second arm 102.

[0082] 16, when the holding device 66 is in the inclined posture P2 and the workpiece 5 is disposed at the reference position P10, a part of the workpiece 5 (here, the part of the first guide protrusion 9c and the second guide protrusion 9d located at the other end 8b) overlaps with the first placement part 101a of the first arm 101 and the second placement part 102a of the second arm 102 in a plan view. This allows the other end 8b of the workpiece 5 (here, the part of the first guide protrusion 9c and the second guide protrusion 9d located at the other end 8b) to be reliably placed on the first placement part 101a and the second placement part 102a when the holding device 66 is rotated from the inclined posture P2 to the reference posture P1, making it easy to lift it up.

[0083] In this embodiment, the upper surface of the first mounting portion 101a of the first arm 101 and the upper surface of the second mounting portion 102a of the second arm 102 are planes extending in the Y-axis direction D2 when in the reference position P1. As a result, when the holding device 66 is brought from the inclined position P2 to the reference position P1 and the other end 8b of the workpiece 5 is lifted by the first mounting portion 101a of the first arm 101 and the second mounting portion 102a of the second arm 102 as shown in Fig. 17, it is possible to easily arrange the workpiece 5 parallel to the Y-axis direction D2 with respect to the first arm 101 and the second arm 102.

[0084] In this embodiment, as shown in FIG. 10, the position of the workpiece 5 relative to the holding device 66 when the workpiece 5 is held by the holding device 66 is set as a holding position P11. As shown in FIG. 12, the control device 150 includes a first external rotation control unit 171 and a second external rotation control unit 175. In step S201 of FIG. 18, the first external rotation control unit 171 rotates the holding device 66 so that the holding device 66 holding the workpiece 5 is in a reference position P1 (see FIG. 13). In step S205 of FIG. 18, when the holding device 66 is in the reference position P1 and the workpiece 5 moves from the holding position P11 to the reference position P10, the second external rotation control unit 175 rotates the holding device 66 so that the holding device 66 is in an inclined position P2 as shown in FIG. 16. In this way, when removing the workpiece 5 from the holding device 66, the workpiece 5 can be smoothly transported along the Y-axis direction D2 by transporting the workpiece 5 from the holding position P11 to the reference position P10 when the holding device 66 is in the reference posture P1. Also, by transporting the workpiece 5 arranged at the reference position P10 in a direction away from the holding device 66 (leftward in this case) with the holding device 66 in the inclined posture P2, the workpiece 5 can be transported without being easily caught by the first guide pin 111 and the second guide pin 112.

[0085] In this embodiment, the conveying device 30 conveys the workpiece 5 to the holding device 66. As shown in FIG. 12, the control device 150 includes a first removal conveying control unit 173 and a second removal conveying control unit 177. The first removal conveying control unit 173 controls the conveying device 30 so that the workpiece 5 is conveyed from the holding position P11 to the reference position P10 after the attitude of the holding device 66 becomes the reference attitude P1 by the first removal rotation control unit 171 in step S203 of FIG. 18. The second removal conveying control unit 177 controls the conveying device 30 so that the workpiece 5 is conveyed from the reference position P10 to one side in the Y-axis direction D2 after the attitude of the holding device 66 becomes the inclined attitude P2 by the second removal rotation control unit 175 in step S207 of FIG. 18. In this way, the conveying device 30 automatically conveys the workpiece 5 from the holding position P11 to the reference position P10, and then automatically conveys it from the reference position P10 to one side in the Y-axis direction D2, thereby enabling the workpiece 5 to be conveyed to an appropriate position.

[0086] In the above embodiment, the first guide pin 111 is an example of the first guide portion, and the second guide pin 112 is an example of the second guide portion. However, the first guide portion and the second guide portion are not limited to the configuration of pins as long as they guide the movement of the workpiece 5. For example, the first guide portion may be a rail-shaped first guide rail provided on one side of the Y-axis direction D2 of the first arm 101 and extending in the Y-axis direction D2. Similarly, the second guide portion may be a rail-shaped second guide rail provided on one side of the Y-axis direction D2 of the second arm 102 and extending in the Y-axis direction D2. Even in this case, the workpiece 5 can move in the Y-axis direction D2 while being guided by the first guide rail and the second guide rail while being sandwiched between the first guide rail and the second guide rail.

[0087] In the above embodiment, the cutting machine 100 includes the storage device 10 and the transport device 30. The transport device 30 transports the workpiece 5 held by the gripping hook 32 to the holding device 66, and the holding device 66 holds the workpiece 5. However, the storage device 10 and the transport device 30 may be omitted. In this case, for example, a user may hold the workpiece 5 by hand and hold the workpiece 5 in the holding device 66. That is, in steps S103 and S107 of FIG. 14 and steps S203 and S207 of FIG. 18, the user may manually transport the workpiece 5 to the reference position P10 or the holding position P11. Even in this case, the same effect as in the above embodiment can be obtained. [Explanation of symbols]

[0088] 5 Workpiece 8a One end 8b Other end 30 Conveyor device 32a First hook 32b 2nd hook 66 Holding device 68 Rotation Mechanism 68a First Rotating Axis (Rotating Axis) 68b Second rotation axis (rotation axis) 68c 4th drive motor (drive unit) 100 cutting machine 101 First Arm 101a First placement part 102 Second Arm 102a Second mounting portion 111 First guide pin (first guide part) 111a 1st shaft part 111b 1st head 112 Second guide pin (second guide part) 112a 2nd shaft part 112b 2nd head 150 Control device 161 First mounting rotation control section 163 First mounting transport control section 165 Second mounting rotation control section 167 Second mounting transport control section 171 First external rotation control section 173 First removal transport control section 175 Second external rotation control section 177 Second removal transport control section D1 X-axis direction (second direction) D2 Y-axis direction (first direction) P1 Reference posture P2 Inclined posture P10 Reference position P11 Holding position

Claims

1. A holding device that holds the workpiece during cutting; A rotation mechanism that rotates the holding device; A control device; Equipped with The holding device comprises: A first arm extending in a first direction; a second arm that is disposed to face the first arm in a second direction intersecting the first direction, extends in the first direction, and is capable of sandwiching the workpiece together with the first arm; a first guide portion provided on one side of the first arm in the first direction and configured to guide movement of the workpiece; a second guide portion provided on the one side of the second arm in the first direction and configured to guide movement of the workpiece; Equipped with the first arm has a first placement portion located on the one side in the first direction relative to the first guide portion, the second arm has a second placement portion located on the one side in the first direction relative to the second guide portion, The rotation mechanism includes: a rotation shaft provided on at least one of the first arm and the second arm and extending in the second direction; A drive unit that rotates the holding device around the rotation axis; Equipped with When the attitude of the holding device in a state in which the first arm and the second arm are extended in the first direction is defined as a reference attitude, and when the holding device is in the reference attitude, the position of the workpiece relative to the holding device when the end portion on the other side in the first direction of the workpiece comes into contact with the first placement portion and the second placement portion from the one side in the first direction is defined as a reference position, The control device includes: a first mounting and rotation control unit that rotates the holding device by a predetermined angle from the reference posture so that the holding device assumes an inclined posture in which one end of the first arm and the second arm on the one side is positioned lower than the other end of the other side in the first direction when the workpiece is not held by the holding device; a second mounting / rotation control unit that rotates the holding device so that the holding device is in the reference posture when the holding device is in the inclined posture and the workpiece is disposed at the reference position; A cutting machine equipped with

2. a conveying device that conveys the workpiece from the one side in the first direction toward the holding device, The control device includes: a first mounting and transport control unit that controls the transport device so that the workpiece is placed at the reference position after the attitude of the holding device is changed to the inclined attitude by the first mounting and rotation control unit; a second mounting and transport control unit that controls the transport device so that the workpiece is disposed at a holding position between the first arm and the second arm of the holding device after the attitude of the holding device has become the reference attitude by the second mounting and rotation control unit; The cutting machine according to claim 1 , comprising:

3. The conveying device is A first hook; a second hook that is arranged to face the first hook in the second direction and is capable of clamping the end of the workpiece on the one side in the first direction together with the first hook; The cutting machine according to claim 2 , further comprising:

4. 2. The cutting machine according to claim 1, wherein when the attitude of the holding device is brought to the reference attitude by the second mounting rotation control unit, the workpiece is placed on the first placement portion of the first arm and the second placement portion of the second arm.

5. When the position of the workpiece relative to the holding device when the workpiece is held by the holding device is defined as a holding position, The control device includes: a first external rotation control unit that rotates the holding device that holds the workpiece so that the holding device is in the reference posture; a second external rotation control unit that rotates the holding device so that the holding device assumes the inclined posture when the holding device is in the reference posture and the workpiece moves from the holding position to the reference position; The cutting machine according to claim 1 , comprising:

6. a conveying device that conveys the workpiece to the holding device, The control device includes: a first removal and transfer control unit that controls the transfer device so that the workpiece is transferred from the holding position to the reference position after the attitude of the holding device becomes the reference attitude by the first removal and rotation control unit; a second removal and transfer control unit that controls the transfer device so that the workpiece is transferred from the reference position to the one side in the first direction after the attitude of the holding device becomes the inclined attitude by the second removal and rotation control unit; The cutting machine according to claim 5 , further comprising:

7. The conveying device is A first hook; a second hook that is arranged to face the first hook in the second direction and is capable of clamping the end of the workpiece on the one side in the first direction together with the first hook; The cutting machine according to claim 6 , further comprising:

8. 2. The cutting machine according to claim 1, wherein when the holding device is in the inclined posture and the workpiece is placed at the reference position, in a planar view, a portion of the workpiece overlaps with the first mounting portion of the first arm and the second mounting portion of the second arm.

9. 9. The cutting machine according to claim 1, wherein an upper surface of the first mounting portion of the first arm and an upper surface of the second mounting portion of the second arm are planes extending in the first direction when in the reference posture.

Images