Product separation system

Abstract

To provide a product separation system capable of accurately separating products connected by a connection part from a workpiece without damaging the products even when the workpiece is in a large size.SOLUTION: A product separation system for separating products connected by a connection part from a workpiece includes a connection part cutting device that cuts the connection parts while transporting the workpiece, and a workpiece supply device that supplies the workpiece to the connection part cutting device. The connection part cutting device includes a first transport unit, a first pin unit, and a punch press unit. The workpiece supply device includes a second transport unit, a workpiece positioning unit, and a second pin unit. After the workpiece is moved until the tip of the workpiece comes to a prescribed position of the first transport unit in a state where the workpiece is positioned by the second pin unit, in the state where the workpiece is positioned by the first pin unit instead of the second pin unit, the connection part is cut with the punch press while the workpiece is moved in synchronization with the first transport unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a product separation system for separating a product connected by a connection such as a micro joint from a workpiece, and more particularly to a product separation system suitable for separating a product from a workpiece the size of a large plate. [Background technology]

[0002] When cutting out one or more products of a given shape from a thin metal plate, punching is performed using a turret punch press, etc. In punching, in order to increase the work efficiency, a method is often adopted in which the product and the frame are connected with a connecting part such as a micro joint, and the products are separated by cutting the connecting part in a later process. The applicant has previously proposed a connection cutting device described in Patent Document 1 below as a device for separating the product from a workpiece composed of the frame portion of the plate material and the product connected by the connection portion.

[0003] The connection cutting device described in Patent Document 1 is a device that separates a product connected by a connection from a workpiece, and is provided with, in order, a work feeding section on which the workpiece is placed and into which the placed workpiece is fed, a punching unit that cuts the connection, and a product removal section that removes the product from the workpiece including the product from which the connection has been cut.

[0004] [Problem to be solved by the invention] In the connection cutting device described in Patent Document 1 above, a work supply section is arranged on the side of the work feed section, and one of the works stacked in the work supply section is placed on the work feed section by a pick-up robot or a pick-up type sheet transport device.

[0005] However, when the size of the workpiece is, for example, a large plate size exceeding 1000 mm x 2000 mm, it is not easy to transfer such a large plate size workpiece to a predetermined position in the workpiece feed section with high accuracy by the pickup robot or the pickup type sheet transport device. In addition, a large plate size workpiece is easily bent, and there is a risk that some of the connections may come off or some products may come off the workpiece during transfer.

[0006] Furthermore, in the work supply section, the workpieces are often stacked with some misalignment in the stacking direction, and when the workpieces are transferred from the work supply section to the work feed section, a shift in the position of the workpieces may occur. Furthermore, when the workpiece is moved by a direction alignment robot while there is a misalignment in its position, the alignment accuracy of the punching unit with the connection to be cut decreases, making it impossible to cut the connection with high accuracy, resulting in damage to the product.

[0007] In addition, in the connection cutting device described in Patent Document 1 above, after all of the connections of the work are cut by the punching unit, the product is removed by the pickup robot at the product removal section, the remainder of the work is ejected from the product removal section, and then the next work is placed on the work feed section. Therefore, in the connection cutting device described in Patent Document 1 above, the operation of cutting the connection of the next work cannot be performed until the pickup robot has completed the operation of removing the product from the work and the operation of discharging the remaining part, and there was a problem that there was room for improvement in terms of the efficiency of the operation of the entire device. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 7144851 Summary of the Invention Means for solving the problem and their effects

[0009] The present invention has been made in view of the above problems, and one of its objects is to provide a product separation system that can accurately separate products connected to a workpiece by a connection part such as a micro joint from the workpiece without damaging the workpiece, even if the workpiece is a large plate size. Another object is to provide a product separation system that can efficiently perform a series of operations from supplying the workpiece to separating and recovering the product, even if the workpiece is a large plate size.

[0010] In order to achieve the above object, the product separation system (1) according to the present invention is a product separation system that separates a product connected by a connection part from a workpiece, the product separation system comprising: a connection cutting device that cuts the connection while transporting the workpiece; a work supply device that supplies the work to the connection cutting device, The connection disconnecting device is A first conveying unit that receives and conveys the workpiece supplied from the workpiece supply device; a first pin unit disposed on one side of the first transport section and inserted into a reference hole for positioning preliminarily formed on one side of the work; a punch press unit that cuts off the connection portion of the workpiece, The work supply device, A second conveying unit that conveys the work to the first conveying unit; A workpiece positioning unit that positions the width direction and tip end of the workpiece; a second pin unit that is disposed on one side of the second transport unit and is inserted into the reference hole of the workpiece in a state where the workpiece is positioned by the workpiece positioning unit; The system is characterized in that, with the workpiece positioned by the second pin unit, the workpiece is moved until the tip of the workpiece reaches a predetermined position in the first transport section, and then, with the workpiece positioned by the first pin unit instead of the second pin unit, the workpiece is moved in synchronization with the first transport section while the connection section is cut by the punch press section.

[0011] According to the above product separation system (1), even if the workpiece is a large plate size, the workpiece can be positioned by the workpiece positioning unit, and then the workpiece in the positioned state can be transported from the workpiece supply device to the connection cutting device with high positional accuracy by the second pin unit. The connection cutting device is configured to cut the connection part by the punch press unit while moving the workpiece in synchronization with the first transport unit in a state where the workpiece is positioned by the first pin unit instead of the second pin unit. This configuration can prevent the workpiece from shifting when transporting the workpiece and cutting the connection part, and the operation of cutting the connection part while transporting the workpiece can be performed with high accuracy. Therefore, it is possible to accurately separate the product connected by the connection part such as a micro joint from the workpiece without damaging it.

[0012] In addition, the product separation system (2) of the present invention is characterized in that, in the above-mentioned product separation system (1), it is provided with a reference pin moving unit that moves the first pin unit and the second pin unit in synchronization with the workpiece transport operation by the first transport unit.

[0013] According to the above-mentioned product separation system (2), the reference pin moving unit can efficiently move the first pin unit and the second pin unit in synchronization with the workpiece transport operation by the first transport unit, thereby enhancing the effect of preventing positional deviation of the workpiece or the product on the transport surface (XY plane).

[0014] The product separation system (3) according to the present invention is the above-mentioned product separation system (2), The reference pin moving unit is a linear motion unit disposed on one side of the first transport unit, the linear motion unit having the first pin unit and the second pin unit attached thereto at a predetermined interval; The apparatus is characterized by including a drive unit that moves the linear motion unit so as to synchronize the first pin unit, the second pin unit, and the first transport unit.

[0015] According to the above-mentioned product separation system (3), the linear motion unit and the drive unit constituting the reference pin moving unit can precisely synchronize the operations of the first pin unit, the second pin unit, and the first transport unit. Therefore, it is possible to improve the accuracy of the supply operation of the work from the work supply device to the connection cutting device and the transport operation of the work in the connection cutting device.

[0016] The product separation system (4) according to the present invention is the product separation system (2) or (3), The first conveying section, A first conveyor and a second conveyor are arranged in series, The punch press unit is disposed between the first conveyor and the second conveyor, The reference pin moving unit is The present invention is characterized in that, with the workpiece positioned by the first pin unit, the workpiece is moved in synchronization with the transport operation of the workpiece by the first conveyor and the second conveyor.

[0017] According to the above-mentioned product separation system (4), the punch press unit is disposed between the first conveyor and the second conveyor, so that the connection portion is cut by the punch press unit while the workpiece is transported from the first conveyor to the second conveyor. Furthermore, the reference pin moving unit is configured to move the workpiece in synchronization with the transport operation of the workpiece by the first conveyor and the second conveyor while the workpiece is positioned by the first pin unit. With this configuration, the workpiece can be transported on the second conveyor without misalignment between the product separated from the workpiece and the remaining part (scrap) from which the product was separated.

[0018] Further, the product separation system (5) according to the present invention is any one of the above product separation systems (1) to (4), The first pin unit and the second pin unit, A placement piece on which the one side portion of the workpiece is placed; A pin portion is disposed below the mounting piece and configured to be movable up and down to a position protruding above the mounting piece; The mounting plate has a pressing portion disposed above the mounting piece and configured to be movable up and down so as to fit into the pin portion protruding above the mounting piece.

[0019] According to the above product separation system (5), the first pin unit and the second pin unit each include the placement piece, the pin portion, and the pressing portion. Therefore, the one side of the workpiece is placed on the placement piece so that the reference hole of the workpiece is positioned, and the pin portion is inserted into the reference hole from below the placement piece. Then, the pressing portion is fitted into the pin portion protruding above the placement piece, so that the workpiece can be held in a reliably positioned state. Therefore, with the workpiece positioned by the second pin unit, the workpiece can be supplied from the workpiece supply device to the connection cutting device with high positional accuracy. Also, with the workpiece positioned by the first pin unit, the workpiece can be transported in the connection cutting device with high positional accuracy.

[0020] The product separation system (6) according to the present invention is the above-mentioned product separation system (5), At least one of the first pin unit and the second pin unit is The workpiece is characterized by having an advancing and retreating moving portion that moves the mounting frame, to which the mounting piece, the pin portion, and the pressing portion are attached, back and forth in a direction perpendicular to the one side portion of the workpiece.

[0021] According to the above-mentioned product separation system (6), at least one of the first pin unit and the second pin unit is configured to be able to move forward and backward in a direction perpendicular to the one side of the workpiece, so that when the one side of the workpiece is not being held, it is possible to retreat the one side of the first conveying unit or the one side of the second conveying unit.

[0022] Further, the product separation system (7) according to the present invention is any one of the above product separation systems (1) to (6), The workpiece positioning unit is A width direction positioning unit that positions the work in the width direction; and a tip positioning section for positioning the tip of the workpiece.

[0023] According to the above-mentioned product separation system (7), the width direction positioning unit positions the one side of the workpiece at a predetermined reference position in the width direction parallel to the conveying direction of the workpiece, and the tip positioning unit positions the tip of the workpiece at a predetermined reference position in the conveying direction. Therefore, in the second conveying unit, it becomes possible to accurately position the width direction and tip of the workpiece, i.e., the one side and the tip of the workpiece, before supplying the workpiece to the connection cutting device, and the workpiece can be supplied to the connection cutting device with high positional accuracy even when the workpiece is a large plate size.

[0024] Further, the product separation system (8) according to the present invention is any one of the above product separation systems (1) to (7), The punch press unit is A punching head portion disposed above a surface on which the workpiece is placed in the first transport portion; a punching head moving section that moves the punching head section in the width direction of the workpiece; A die set unit disposed below a surface on which the work is placed in the first transport unit; The punching head has a die set moving section which moves the die set section in the width direction of the workpiece in synchronization with the die set moving section.

[0025] According to the above product separation system (8), in a state where the workpiece is positioned by the first pin unit, the first transport unit controls the transport operation of the workpiece and the alignment operation with the connection portion existing in the transport direction of the workpiece, while the punch press unit controls the alignment operation with the connection portion existing in the width direction of the workpiece and the cutting operation of the connection portion. That is, the punching head moving unit and the die set moving unit can synchronously move the punching head unit and the die set unit in the width direction of the workpiece, and the connection portion of the workpiece can be accurately cut.

[0026] The product separation system (9) according to the present invention is the product separation system (8), The punching head portion is The punching device includes a punch section, a pressing section that presses the punch section downward, and a holding section that detachably holds the punch section, The die set unit is The punching tool is characterized by comprising a die portion into which the tip of the punch portion is fitted, and a holding portion for detachably holding the die portion.

[0027] According to the above-mentioned product separation system (9), the punch section and the die section can be appropriately replaced, and maintenance of the punch section and the die section can be easily performed.

[0028] Further, the product separation system (10) according to the present invention is any one of the product separation systems (1) to (9), The connection cutting device further includes a product removal device that removes the product from the workpiece whose connection has been cut by the connection cutting device, The product removal device, A third conveying unit that receives and conveys the workpiece conveyed from the first conveying unit; and a transfer robot that transfers the product separated from the work from the third transport section to a predetermined product recovery position.

[0029] According to the above-mentioned product separation system (10), the workpiece (i.e., the workpiece with the connection portion cut off) conveyed from the first conveyor is received and conveyed by the third conveyor, and the product separated from the workpiece is transferred from the third conveyor to a predetermined product recovery position by the transfer robot, so that the product can be recovered. After the workpiece is received by the third conveyor, the connection portion cutting device can start the operation of cutting the connection portion of the next workpiece, so that even if the workpiece is a large plate size, a series of operations from supplying the workpiece to separating and recovering the product can be efficiently performed.

[0030] The product separation system (11) according to the present invention further comprises the above-mentioned product separation system (10), The transfer robot, A robot body including an arm having a predetermined range of motion; a robot hand unit attached to a tip end of the arm unit, The robot hand unit, The present invention is characterized by comprising a holding unit for holding the product separated from the workpiece.

[0031] According to the above-mentioned product separation system (11), the products can be efficiently collected by the product removal device. Also, the products held by the holding unit can be transferred to a predetermined product collection position by type, and the products can be sorted when collected. [Brief description of the drawings]

[0032] [Figure 1] 1 is a partially transparent plan view illustrating an example of an overall configuration of a product separation system according to an embodiment of the present invention. [Diagram 2] 1 is a partially see-through front view illustrating an example of the overall configuration of a product separation system according to an embodiment. [Diagram 3] FIG. 2 is a partially transparent cross-sectional view taken along the line III-III in FIG. [Figure 4] FIG. 2 is a plan view showing an example of a workpiece. [Diagram 5] 1A and 1B are diagrams showing a schematic configuration of a portion including a first pin unit, a second pin unit, and a reference pin moving section, in which (a) is a plan view and (b) is a front view. [Figure 6] 6A and 6B are cross-sectional views of the main part taken along the line VI-VI in FIG. 5, in which (a) is a diagram showing a state in which the first pin unit is retracted, and (b) is a diagram showing a state in which the workpiece is positioned by the first pin unit. [Figure 7] 7A and 7B are cross-sectional views of the main part taken along line VII-VII in FIG. 5, in which (a) is a diagram showing a state in which the second pin unit is retracted, and (b) is a diagram showing a state in which the workpiece is positioned by the second pin unit. [Figure 8] 3 is a functional block diagram showing a configuration example of a main control unit and a robot control unit in the product separation system according to the embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Hereinafter, a product separation system according to an embodiment of the present invention will be described with reference to the drawings. Note that the embodiment described below shows a preferred specific example of the present invention, and various technically preferable limitations are attached, but the scope of the present invention is not limited to these forms unless otherwise specified in the following description to the effect that the present invention is limited.

[0034] Fig. 1 is a partially see-through plan view, Fig. 2 is a partially see-through front view, and Fig. 3 is a partially see-through sectional view taken along line III-III in Fig. 1. Note that Fig. 1 omits the robot hand unit of the transfer robot shown in Figs. 2 and 3. Fig. 3 also omits the first transport unit. Fig. 4 is a plan view showing an example of a workpiece to which the present invention is applied.

[0035] The product separation system 10 is a system for separating a product 3 (see FIG. 4) connected at a connection portion 2 from a plate-shaped workpiece 1, which is a base material.

[0036] As shown in Fig. 4, the work 1 has a rectangular thin plate shape, and one work 1 contains one or more products 3. The shapes and sizes of these products 3 may be the same or different. Each product 3 is connected to the outer periphery 4, which is the outer frame of the work 1, by at least two connection parts 2.

[0037] There is a cutout 5 between the product 3 and the outer periphery 4. The connection parts 2 are located in the cutout 5 and connect the product 3 and the outer periphery 4. The number of connection parts 2 is designed appropriately according to the shape, size, etc. of the product 3. For example, if the product 3 is approximately rectangular, at least two connection parts are formed, one at each diagonal position, or four or more connection parts are formed, one at each corner. These connection parts 2 are also called micro joints.

[0038] The shape of the connection part 2 is such that the tip on the product 3 side is the narrowest, and the width of the tip is significantly narrower than the width on the outer periphery 4 side. The width of the tip of the connection part 2 is extremely narrow, just enough to hold the product 3. Therefore, the product 3 can be easily separated from the workpiece 1 at the tip of the connection part 2. The workpiece 1 is made of a thin steel plate made of iron, stainless steel, aluminum, etc.

[0039] Furthermore, a plurality of reference holes 1a for positioning are formed on one side of the work 1. The intervals and number of these reference holes 1a are appropriately designed taking into consideration the size of the work 1 and the installation intervals of the first pin unit 21 and the second pin unit 45 provided in the reference pin moving section 55 described later. Furthermore, as shown in Fig. 4, the work 1 may also have connection parts 4a formed on the outer periphery 4. These connection parts 4a are intended to divide the outer periphery 4 into smaller parts. There is no particular limitation on the size of the workpiece 1 that can be handled by the product separation system 10, but the product separation system 10 of this embodiment is capable of handling workpieces 1 of large plate size, such as a meter plate (1000 x 2000 mm) or a 4 x 8 plate (1250 x 2500 mm).

[0040] The product separation system 10 includes a connection cutting device 11 that cuts the connection 2 while transporting the work 1, a work supply device 40 that supplies the work 1 to the connection cutting device 11, and a product removal device 60 that removes the product 3 from the work 1 whose connection 2 has been cut by the connection cutting device 11. In the following description, the transport direction of the work 1 is the X-axis direction, the direction perpendicular to the X-axis direction in the horizontal plane is the Y-axis direction, and the direction perpendicular to the XY plane (vertical direction) is the Z-axis direction.

[0041] The connection cutting device 11 includes a first transport section 12 that receives and transports the work 1 supplied from the work supply device 40, a first pin unit 21 that is disposed on one side of the first transport section 12 and is inserted into a reference hole 1a for positioning that is formed in advance on one side of the work 1, and a punch press section 30 that cuts off the connection section 2 of the work 1. The first pin unit 21 is configured to include one or more sets of two pieces. In the example shown in FIG. 1, three sets of the first pin units 21 are provided.

[0042] The work supply device 40 includes a second transport section 41 that transports the work 1 to the first transport section 12, a work positioning section 42 that positions the width direction and tip of the work 1, and a second pin unit 45 that is disposed on one side of the second transport section 41 and is inserted into the reference hole 1a of the work 1 in a state where it has been positioned by the work positioning section 42. The second pin unit 45 is configured to include one or more sets of two pieces. In the example shown in FIG. 1, one set of the second pin unit 45 is provided.

[0043] The product removal device 60 includes a third transport section 61 that receives and transports the workpiece 1 transported from the first transport section 12, and a transfer robot 63 that transfers the product 3 separated from the workpiece 1 from the third transport section 61 onto a product recovery cart 80 arranged at a product recovery position. In addition, a recovery box 81 is provided on the discharge side of the third transport section 61 to recover the outer periphery 4 (also called scrap) of the workpiece 1 after the product 3 has been recovered.

[0044] The product separation system 10 also includes a reference pin moving section 55 that moves the first pin unit 21 and the second pin unit 45 in synchronization with the transport operation of the workpiece 1 by the first transport section 12.

[0045] Furthermore, the product separation system 10 is configured to include a robot control unit 75 for controlling the operation of the transfer robot 63, a main control unit 90 for controlling the operation of each device that constitutes the system, and an operation panel 91 for setting and inputting the operating conditions of each device that constitutes the system.

[0046] The main control unit 90 is configured to include one or more computer devices such as a programmable logic controller (PLC) that controls the operation of each device in the product separation system 10, as well as input units, output units, and power supply units for sending and receiving data and signals to and from each part of the system. In addition, the operation panel 91 is connected to the main control unit 90, and it is possible to input the operating conditions of each part of the system (manual operation conditions, automatic operation conditions, etc.), monitor the operating status, turn the power on / off, etc. via the operation panel 91. The functional configuration of the robot control unit 75 and the main control unit 90 will be described later.

[0047] The product separation system 10 is configured to move the work 1 until the tip of the work 1 reaches a predetermined position on the first transport section 12 with the work 1 positioned by the second pin unit 45, and then, with the work 1 positioned by the first pin unit 21 instead of the second pin unit 45, move the work 1 in synchronization with the first transport section 12, and cut the connection section 2 with the punch press section 30. The operations of these sections are controlled by a main control section 90.

[0048] Next, an example of the configuration of each device constituting the product separation system 10 will be described. First, a configuration example of each part of the connection cutting device 11 disposed between the work supply device 40 and the product removal device 60 will be described. As shown in FIG. 1, the first conveying section 12 is configured with a first conveyor 13 and a second conveyor 14 arranged in series. The first conveyor 13 and the second conveyor 14 are each configured as a belt-driven conveyor having wide ring-shaped belt parts 13a and 14a on the placement surface of the workpiece 1, and the belt parts 13a and 14a can be rotated in forward and reverse directions by drive motors 13b and 14b such as servo motors. Each drive motor 13b and 14b is synchronously controlled according to the position and conveying direction of the workpiece 1. The length of the first conveying section 12 is designed to be longer than the length of the workpiece 1, and the width of the first conveying section 12 is designed to be approximately the same as the width of the workpiece 1.

[0049] The punch press unit 30 is attached to a gate-shaped frame 35 disposed between the first conveyor 13 and the second conveyor 14, as shown in FIGS. 3, the punch press unit 30 includes a punching head unit 31 disposed above the placement surface 12a of the workpiece 1 in the first transport unit 12, and a punching head moving unit 32 that moves the punching head unit 31 in the width direction (Y-axis direction) of the workpiece 1. The punch press unit 30 further includes a die set unit 33 disposed below the placement surface 12a of the workpiece 1 in the first transport unit 12, and a die set moving unit 34 that moves the die set unit 33 in the width direction (Y-axis direction) of the workpiece 1 in synchronization with the punching head unit 31.

[0050] The punching head moving section 32 is attached to the upper frame of the gate-shaped frame 35 and is configured to allow the punching head section 31 to move linearly in the width direction (Y-axis direction) of the workpiece 1 by a ball screw mechanism including a ball screw, a guide rail, and a drive motor.

[0051] The die set moving part 34 is attached to the lower frame of the gate-shaped frame 35, and is configured to be able to linearly move the die set part 33 in the width direction (Y-axis direction) of the work 1 in synchronization with the punching head part 31 by a ball screw mechanism similar to that of the punching head moving part 32. The drive motors equipped to the punching head moving part 32 and the die set moving part 34 are, for example, servo motors.

[0052] The punching head 31 includes a punch 31a, a pressing portion 31b that presses the punch 31a downward, and a holding portion 31c that detachably holds the punch 31a. The pressing portion 31b includes a drive motor 31d, a cam attached to the drive shaft, a roller follower that contacts the cam, and a follower attached to the roller follower. The pressing portion 31b is configured with a mechanism that converts the rotation caused by the cam and the reciprocating follower into linear motion, and includes a mechanism that presses the punch 31a in the vertical (Z-axis) direction by the follower.

[0053] The die set section 33 includes a die section 33a having a hole into which the rod-shaped tip (punch tip) of the punch section 31a is fitted, and a holding section 33b that detachably holds the die section 33a. The die set section 33 includes a recovery section (not shown) that recovers chips of the connection section 2 of the workpiece 1 cut by the die section 33a. The chips of the connection section 2 are accommodated in the recovery section by air blowing. The recovery section includes a box section that can be inserted into and removed from the lower frame of the gate-shaped frame 35.

[0054] The die set unit 33 may also include a lifting mechanism capable of lifting the die unit 33a a small distance (a distance that does not protrude above the mounting surface 12a) in synchronization with the descent of the punch unit 31a. The lifting mechanism includes, for example, a horizontal cylinder arranged in the Y-axis direction, a block attached to the horizontal cylinder and having an upper surface inclined in the Y-axis direction, a roller follower arranged on the inclined surface, and a die support unit attached to the roller follower. It is possible to use a commercially available punching unit for the punch unit 31a and the die unit 33a.

[0055] The first pin unit 21 is attached to a reference pin moving part 55 disposed on one side of the first transport section 12. The first pin unit 21 is configured so that it can move back and forth on one side of the first transport section 12 in parallel to the transport direction of the work 1 by operation of the reference pin moving part 55. The configuration of the first pin unit 21 will be described later together with the configuration of the reference pin moving part 55.

[0056] Next, an example of the configuration of each part of the work supply device 40 will be described. 1 and 2, the second transport section 41 is configured with a driven roller conveyor in which rollers 41a are rotated by a motor 41b. The length of the second transport section 41 is designed to be longer than the length of the work 1, and the width of the second transport section 41 is designed to be approximately the same as the width of the work 1.

[0057] As shown in FIG. 1, the workpiece positioning section 42 includes a width direction positioning section 43 that positions the workpiece 1 in the width direction, and a tip positioning section 44 that positions the tip portion (one side on the tip side) of the workpiece 1.

[0058] The width direction positioning unit 43 includes a reference guide unit 43a disposed on one side of the second transport unit 41, and a workpiece pressing unit 43b disposed on the other side of the second transport unit 41. The reference guide unit 43a and the workpiece pressing unit 43b are disposed at positions facing each other with the workpiece 1 interposed therebetween. The reference guide portion 43a is composed of a guide plate for positioning one side of the work 1 parallel to the conveying direction (X-axis) of the work 1. The work pressing portion 43b is composed of a pressing plate 43c for pressing the side of the work 1 opposite to the one side, and an air cylinder 43d for pressing the pressing plate 43c. The air cylinder 43d is controlled by, for example, an electromagnetic valve.

[0059] The tip positioning unit 44 includes a stopper plate 44a arranged parallel to the roller 41a (Y-axis direction perpendicular to the conveying direction of the work 1) at a predetermined position on the tip side of the second conveying unit 41, a lifting unit 44b for raising and lowering the stopper plate 44a, and a detection unit 44c for detecting the state in which the tip of the work 1 abuts against the stopper plate 44a. The lifting unit 44b includes an air cylinder, and the lifting unit 44b can raise the stopper plate 44a to the height position of the conveying surface of the roller 41a or lower it below the conveying surface. The detection unit 44c is composed of a photoelectric sensor or the like. The work positioning unit 42 allows the position of the work 1 to be corrected (aligned) to a predetermined reference position on the second conveying unit 41.

[0060] The second pin unit 45 is attached to a reference pin moving part 55 disposed on one side of the first transport part 12. The second pin unit 45 is configured so that it can move back and forth between the second transport part 41 and one side of the first transport part 12 in a direction parallel to the transport direction of the work 1 by operation of the reference pin moving part 55. The configuration of the second pin unit 45 will be described later together with the configuration of the reference pin moving part 55.

[0061] Next, examples of the configuration of the first pin unit 21, the second pin unit 45, and the reference pin moving section 55 will be described. 5A and 5B are diagrams showing the main configurations of the first pin unit 21, the second pin unit 45, and the reference pin moving part 55, where (a) is a plan view and (b) is a front view. Note that in Fig. 5A, the illustration of the support base 56d is partially omitted. Figure 6 is a cross-sectional view of the main part taken along line VI-VI in Figure 5, where (a) is a diagram showing the state in which the first pin unit 21 is retracted (standby state), and (b) is a diagram showing the state in which the workpiece 1 is positioned by the first pin unit 21 (state when the workpiece is moving). Figure 7 is a cross-sectional view of the main part taken along line VII-VII in Figure 5, where (a) is a diagram showing the state in which the second pin unit 45 is retracted (standby state), and (b) is a diagram showing the state in which the work 1 is positioned by the second pin unit 45 (state when the work is moving).

[0062] 5 and 6, the reference pin moving section 55 is provided on one side of the first transport section 12, and includes a linear motion section 56 to which the first pin unit 21 and the second pin unit 45 are attached with a predetermined interval therebetween, and a drive section 57 that moves the linear motion section 56 so as to synchronize the first pin unit 21 and the second pin unit 45 with the first transport section 12. In other words, the drive section 57 is configured to move the first pin unit 21 and the second pin unit 45 along the linear motion section 56 while synchronizing them with the first transport section 12.

[0063] The drive unit 57 is configured as a winding transmission device, and includes a drive pulley 57a and a driven pulley 57b arranged at a predetermined interval on one side of the first conveyor unit 12, a timing belt 57c wound around these pulleys, and a drive motor 57d that rotates and drives the drive pulley 57a. The drive pulley 57a and the driven pulley 57b are configured as timing pulleys, for example, and the drive motor 57d is configured as a servo motor, for example. The drive motor 57d of the reference pin moving unit 55 and the drive motors 13b and 14b of the first conveyor unit 12 are configured to perform synchronous control.

[0064] The linear motion section 56 includes a rail 56a disposed on one side of the first transport section 12, a slide section 56b slidably attached to the rail 56a, a belt metal fitting 56c having one end attached to a timing belt 57c of the drive section 57 and the other end attached to the slide section 56b, and a support base 56d attached on the slide section 56b. The first pin unit 21 and the second pin unit 45 are attached at a predetermined interval on the support base 56d.

[0065] As shown in FIGS. 5 and 6, the first pin unit 21 includes a placement piece 22, a pin portion 23, a pressing portion 24, and a forward / backward moving portion 26. As shown in FIG. As shown in FIG. 6, the mounting piece 22 is a member on which one side of the workpiece 1 on which the reference hole 1a is formed is placed, and a step portion is formed on the upper surface for abutting the one side. The pin portion 23 is disposed below the mounting piece 22, and configured to be movable up and down to a position protruding above the mounting piece 22. The pin portion 23 includes a pin metal fitting 23a disposed with its generally conical tip facing upward, a vertical slider 23b attached to the pin metal fitting 23a and capable of sliding in the vertical direction (Z-axis direction), and a vertical cylinder 23c attached to the vertical slider 23b in order to move the vertical slider 23b in the vertical direction.

[0066] The pressing portion 24 is positioned above the mounting piece 22 and is movable up and down to fit into the pin portion 23 (pin fitting 23a) protruding above the mounting piece 22, and is configured to be able to move back and forth in a direction perpendicular to the one side of the workpiece 1 (the Y-axis direction). The pressure applying portion 24 is composed of a pressure applying bracket 24a having an inverted recess at its lower end, a vertical cylinder 24b for moving the pressure applying bracket 24a in the vertical direction (Z-axis direction), a horizontal slider 24c that allows the pressure applying bracket 24a and the vertical cylinder 24b to slide in the Y-axis direction, and a horizontal cylinder 24d for moving the horizontal slider 24c in the Y-axis direction. The mounting piece 22, the pin portion 23, and the pressing portion 24 are attached to a mounting frame 25 and integrated together.

[0067] The advance / retract movement portion 26 is configured to be capable of advancing and retracting the mounting frame 25 in a direction perpendicular to the one side portion of the workpiece 1 (Y-axis direction). The forward / backward moving section 26 is attached to the support base 56d of the linear motion section 56 and includes a horizontal slider 26a for moving the mounting frame 25 in the Y-axis direction, and a horizontal cylinder 26b for moving the horizontal slider 26a in the Y-axis direction. The vertical cylinders 23c, 24b and the horizontal cylinders 24d, 26b are constituted by, for example, air cylinders, and an electromagnetic valve 27 controls ON / OFF thereof.

[0068] 5 has six first pin units 21 (three sets) attached to it, but the number of first pin units 21 is not limited to this. The number and intervals of the first pin units 21 can be changed depending on the type and size of the target workpiece 1, and the workpiece 1 is configured so that at least two or more first pin units 21 can hold two or more of the reference holes 1a formed on one side of the workpiece 1.

[0069] In addition, which of the six first pin units 21 is to be used can be set in advance by a program according to the type, size, etc. of the work 1. In addition, while the work 1 is being moved while synchronizing the operations of the reference pin moving unit 55 and the first transport unit 12, it is also possible to perform control to switch the first pin unit 21 to be inserted into the reference hole 1a of the work 1, or to increase or decrease the number of first pin units 21 to be inserted into the reference hole 1a of the work 1. For example, if the connection portion 2, 4a is located near the reference hole 1a of the work 1 to which the first pin unit 21 is inserted, the first pin unit 21 may become an obstacle to the cutting operation of the connection portion 2, 4a by the punch press unit 30. In such a case, it is also possible to perform control to switch the first pin unit 21, that is, to release the state in which the first pin unit 21 is inserted into the reference hole 1a, and to insert another first pin unit 21 into another reference hole 1a of the work 1, at a timing before the connection portion 2, 4a of the work 1 is transported to the position of the punch press unit 30.

[0070] The second pin unit 45 includes a mounting piece 46, a pin portion 47, and a pressing portion 48, and has a configuration substantially similar to that of the first pin unit 21. Two second pin units 45 (one set) are attached to the reference pin moving portion 55 illustrated in Fig. 5, but the number of second pin units 45 installed is not limited to this. At least two or more second pin units 45 are configured to hold two or more of the reference holes 1a formed on one side of the workpiece 1.

[0071] As shown in FIG. 7, the mounting piece 46 is a member on which one side of the workpiece 1 on which the reference hole 1a is formed is placed, and a step portion is formed on the upper surface for the one side to abut against. The pin portion 47 is disposed below the mounting piece 46 and configured to be movable up and down to a position protruding above the mounting piece 46. The pin portion 47 includes a pin metal fitting 47a disposed with its generally conical tip facing upward, a vertical slider 47b attached to the pin metal fitting 47a and capable of sliding in the vertical direction (Z-axis direction), and a vertical cylinder 47c attached to the vertical slider 47b in order to move the vertical slider 47b in the vertical direction.

[0072] The pressing portion 48 is positioned above the supporting piece 46 and comprises a pressing fitting 48a having an inverted recess at its lower end and a vertical cylinder 48b for moving the pressing fitting 48a in the vertical direction (Z-axis direction), and is configured to be movable up and down to fit into the pin portion 47 (pin fitting 47a) protruding above the supporting piece 46. In addition, the pressing portion 48 is equipped with a horizontal slider 48c that allows the pressing bracket 48a and the vertical cylinder 48b to slide in the Y-axis direction, and a horizontal cylinder 48d for moving the horizontal slider 48c in the Y-axis direction, and is configured to be able to move back and forth in a direction perpendicular to the one side portion of the work 1 (the Y-axis direction). The mounting piece 46, the pin portion 47, and the pressing portion 48 are attached to a mounting frame 49 and integrated together.

[0073] The advance / retract movement section 50 is configured to be able to advance / retract the mounting frame 49 in a direction perpendicular to the one side of the workpiece 1 (Y-axis direction). The forward / backward moving section 50 is attached to the support base 56d of the linear motion section 56 and includes a horizontal slider 50a for moving the mounting frame 49 in the Y-axis direction, and a horizontal cylinder 50b for moving the horizontal slider 50a in the Y-axis direction. The vertical cylinders 47c, 48b and the horizontal cylinders 48d, 50b are constituted by, for example, air cylinders, and an electromagnetic valve 51 controls ON / OFF thereof.

[0074] It is not necessary that the first pin unit 21 and the second pin unit 45 have the same structure. The above-mentioned second pin unit 45 has a horizontal slider 48c and a horizontal cylinder 48d in the pressing portion 48. As an alternative configuration example, instead of providing the horizontal slider 48c and the horizontal cylinder 48d in the pressing portion 48, the pressing metal fitting 48a and the vertical cylinder 48b may be arranged coaxially with the pin portion 47 (pin metal fitting 47a), and the pressing metal fitting 48a may be moved up and down. In yet another configuration example, the forward / backward moving part 50 may not be provided, and the clamping fixture 48a and the pin fixture 47a may be pre-positioned in the Y-axis direction so that they are positioned overlapping with the reference hole 1a of the work 1 positioned by the work positioning part 42.

[0075] Next, an example of the configuration of each part of the product removal device 60 will be described. 1, the third transport section 61 is configured as a belt-driven conveyor having a wide ring-shaped belt section 61a on the surface on which the workpiece 1 is placed, and the belt section 61a can be rotated in the forward direction by a drive motor 61b such as a servo motor. The third transport section 61 is configured so as to be synchronously controlled with the first transport section 12. The length of the third transport section 61 is designed to be longer than the length of the workpiece 1, and the width of the third transport section 61 is designed to be approximately the same as the width of the workpiece 1, similar to the first transport section 12.

[0076] The transfer robot 63 includes a robot body 64 and a robot hand unit 65, and is configured such that the operation of each unit is controlled by a robot control unit 75. Figures 1 and 3 show a state in which the robot hand unit 65 is located above the third transport unit 61, and Figure 2 shows a state in which the robot hand unit 65 is located above the product recovery cart 80. The robot body 64 is a general-purpose industrial robot, for example, a vertical articulated (six-axis) robot, and is equipped with an arm 64a having a predetermined range of motion. A robot hand 65 is attached to the tip of the arm 64a. The robot hand section 65 includes a holding unit 66 for holding the product 3 separated from the workpiece 1. The robot hand section 65 is capable of moving within a spherical area of ​​a predetermined radius by the operation of the arm section 64a. The product separation system 10 shown in Fig. 1 is equipped with one transfer robot 63, but in another embodiment, two or more transfer robots may be equipped.

[0077] The holding unit 66 includes a plurality of holding parts 67 that hold objects to be held, such as the product 3, a mounting frame 68 to which these holding parts 67 are attached, an advance / retract movement part 69 that moves the holding parts 67 attached to the mounting frame 68 forward and backward in the vertical direction, and a detection part (not shown) that detects the objects to be held, such as the product 3. The detection part is, for example, an ultrasonic sensor, and is attached to the mounting frame 68 in a state facing downward near the holding parts 67. 2 and 3, a plurality of holding parts 67 are disposed at predetermined intervals in the Y-axis direction. Each holding part 67 has a suction part 67a at its lower end, and the holding unit 66 has a vacuum unit 70 for performing a suction operation of the holding object by the suction parts 67a. It is possible to use all or a part of the plurality of holding parts 67 depending on the shape and size of the holding object.

[0078] The suction part 67a is equipped with a vacuum pad and a fall prevention valve (check valve). The suction flow path of the suction parts 67a of the plurality of holding parts 67 that are not in contact with the object to be held is blocked by the fall prevention valve, so that the suction parts 67a in contact with the object to be held can suction and hold the object to be held. The forward / backward moving part 69 is composed of an air cylinder with a guide.

[0079] FIG. 8 is a functional block diagram showing an example of the configuration of the main control unit 90 and the robot control unit 75 in the product separation system 10 according to the embodiment. The main control unit 90 includes an input unit 90a, a calculation unit 90b, an output unit 90c, a storage unit 90d, and a power supply unit 90e. The main control unit 90 is connected by a communication line (not shown) to the connection cutting device 11, the work supply device 40, the product removal device 60, the reference pin moving unit 55, the robot control unit 75, and the operation panel 91 so as to be able to send and receive data, control signals, etc.

[0080] The input section 90a is composed of an input interface for taking in signals and the like from each section of the product separation system 10 and transferring them to the calculation section 90b. The output section 90c is configured as an output interface for receiving the results of the arithmetic processing performed by the arithmetic section 90b and outputting signals for operating each section of the product separation system 10.

[0081] The calculation unit 90b is configured to include one or more central processing units (CPUs), and has a function of performing calculation processing based on signals received from the input unit 90a and data and programs read from the storage unit 90d, and outputting signals for controlling the operation of each unit from the output unit 90c to each unit. The calculation unit 90b also has a timer / counter function for performing sequence control.

[0082] The memory unit 90d is composed of a program memory (ROM) and a data memory (RAM), and stores data and programs for sequence control of each part of the system, such as Numerical Control (NC) data, setting / input / calculation data, a cutting position determination program, a reference pin moving unit operation program, a conveying unit operation program, and a punch press unit operation program.

[0083] The NC data is data converted from shape data such as CAD data used when the workpiece 1 is machined by punching using a turret punch press or the like. The setting / input / calculation data includes conditions such as the quantity of workpieces 1 to be supplied, which are input via the operation panel 91, setting conditions for each part of the system, operation parameters, and calculation results in the calculation part 90b.

[0084] The cutting position determination program is a program that determines the position of the connection parts 2 of the workpiece 1 based on NC data, and by using this program, the cutting position coordinates (X, Y) of each connection part 2 of the workpiece 1, the cutting order of each connection part 2 based on the cutting position, etc. can be determined. The reference pin moving unit operation program and the conveying unit operation program include a numerical control program that synchronously drives the reference pin moving unit 55 and at least one of the first conveying unit 12, the second conveying unit 41, and the third conveying unit 61 in the Y-axis direction based on the cutting position coordinates (X, Y) of each connection portion 2 of the workpiece 1 obtained by the cutting position determination program based on the NC data.

[0085] The punch press operation program includes a program for numerically controlling the cutting operation of the connection portions 2 by the punching head portion 31, the punching head moving portion 32, and the die set moving portion 34 based on the cutting position coordinates (X, Y) of each connection portion 2 of the workpiece 1 determined by the cutting position determination program, the cutting order of each connection portion 2 based on the cutting positions, etc. Based on these programs, sequential control of the first transport section 12, the second transport section 41, the third transport section 61, the first pin unit 21, the second pin unit 45, the reference pin moving section 55, and the punch press section 30 is realized.

[0086] The robot control unit 75 includes an input unit 75a, a calculation unit 75b, an output unit 75c, a storage unit 75d, and a power supply unit 75e. The robot control unit 75 is connected to the main control unit 90, the robot body 64, and the robot hand unit 65 via a communication line (not shown) so as to be able to send and receive data, control signals, and the like.

[0087] The input unit 75a is composed of an input interface for taking in signals and the like from the main control unit 90, the robot body 64, the robot hand unit 65, and the holding unit 66, and transferring them to the calculation unit 75b. The output unit 75c is composed of an output interface for receiving the results of the calculation process performed by the calculation unit 75b and outputting signals for operating the robot main body 64, the robot hand unit 65, the holding unit 66, etc.

[0088] The calculation unit 75b is configured to include one or more central processing units (CPUs), and has a function of performing calculation processing based on signals, NC data, etc. taken in from the input unit 75a, and data and programs read from the storage unit 75d, and outputting signals from the output unit 75c that control the operations of the robot body 64, the robot hand unit 65, the holding unit 66, etc. The calculation unit 75b also has a timer / counter function for performing sequence control.

[0089] The storage unit 75d includes a program memory (ROM) and a data memory (RAM), and stores setting, input, and calculation data, a robot main body operation program, a robot hand operation program, and the like. The setting / input / calculation data includes setting conditions and operation parameters of the robot body 64, robot hand portion 65, and holding unit 66, etc., input via the operation panel 91, and calculation results in the calculation unit 75b.

[0090] The robot main body operation program includes a program for realizing operations such as transferring the product 3 from the workpiece 1, whose connection portion 2 has been cut off and which has been transported from the first transport section 12 to the third transport section 61, to a product recovery cart 80, and transferring the outer periphery 4 (scrap) of the workpiece 1, whose connection portion 2 has been cut off, to a recovery box 81. The robot hand section operation program includes a program for realizing an operation of sucking and holding a holding object such as the product 3 by the holding unit 66 during the above-mentioned transfer operation. In addition, the product separation system 10 in this embodiment is equipped with a main control unit 90 and a robot control unit 75, but in other embodiments, these may be configured as a single control unit, or may be divided into three or more control units.

[0091] Next, the operation of each part of the product separation system 10 according to the embodiment will be described. The main control unit 90 starts control to operate the second transport unit 41 of the work supply device 40. When the work 1 is supplied onto the rollers 41a of the second transport unit 41, the work 1 is transported toward the connection cutting device 11 by the rotational drive of the rollers 41a. The work 1 is supplied with one side having the reference hole 1a facing the reference pin moving unit 55.

[0092] Next, the main control unit 90 controls the work positioning unit 42 of the work supply device 40 to operate. First, the main control unit 90 controls the stopper plate 44a of the tip positioning unit 44 to rise to the height position of the conveying surface of the roller 41a. When the detection unit 44c detects that the tip of the work 1 abuts against the stopper plate 44a, the main control unit 90 next operates the work pressing unit 43b of the width direction positioning unit 43 to perform operation control to press the pressing plate 43c against the other side portion opposite to the one side portion of the work 1 so that the one side portion of the work 1 abuts against the reference guide portion 43a. Note that, during the operation of the width direction positioning unit 43, it is preferable to stop the rotation of the roller 41a of the second conveying unit 41, but the rotation may be continued. The tip of the work 1 and the width direction are positioned by the above-mentioned operation control of the work positioning unit 42.

[0093] After the work positioning unit 42 has performed positioning of the tip and width of the work 1, the main control unit 90 operates the linear motion unit 56 of the reference pin moving unit 55 to control the movement of the second pin unit 45 to the position of a specified reference hole 1a of the work 1 positioned by the work positioning unit 42.

[0094] After moving the second pin unit 45 to the position of a predetermined reference hole 1a of the work 1, the main control unit 90 operates the advance / retract movement unit 50, the pin unit 47, and the presser unit 48 of the second pin unit 45 to perform a positioning operation for machining the work 1 with one set of second pin units 45. That is, the main control unit 90 operates the advance / retract movement unit 50 of the second pin unit 45 to place one side of the work 1 on the placement piece 46, then raises the pin unit 47 to insert the pin metal fitting 47a from below into the reference hole 1a of the work 1, and lowers the presser unit 48 to fit the presser metal fitting 48a into the pin metal fitting 47a protruding above the reference hole 1a.

[0095] After performing the positioning operation for processing of the workpiece 1 by the second pin unit 45, the main control unit 90 controls the release of the positioning state of the workpiece 1 by the workpiece positioning unit 42. That is, the main control unit 90 controls the operation of lowering the stopper plate 44a of the tip positioning unit 44 below the conveying surface of the roller 41a, and the operation of releasing the pressing state by the workpiece pressing unit 43b of the width direction positioning unit 43. As a result, the workpiece 1 positioned by the second pin unit 45 becomes available for conveyance to the connection cutting device 11.

[0096] After performing an operation to release the positioning state of the work 1 by the work positioning unit 42, the main control unit 90 drives the second transport unit 41 and controls to synchronize the movement operation of the second pin unit 45 by the linear motion unit 56 of the reference pin moving unit 55 with the transport operation by the first transport unit 12 (at least the first conveyor 13). Then, the second pin unit 45 is moved to a predetermined position so that the tip of the work 1 reaches a predetermined position on the tip side of the first conveyor 13.

[0097] When the second pin unit 45 is moved to a predetermined position and the tip of the workpiece 1 reaches a predetermined position on the tip side of the first conveyor 13, the main control unit 90 then controls the pin portion 47 and the pressing portion 48 of the second pin unit 45 to operate (lower the pin metal fitting 47a and raise the pressing metal fitting 48a) to release the positioning state of the workpiece 1 by the second pin unit 45. The main control unit 90 may also control the operation of operating the advance / retract movement unit 50 of the second pin unit 45 to retract the pin portion 47 and the pressing portion 48 in the Y-axis direction.

[0098] After releasing the positioning state of the work 1 by the second pin unit 45, the main control unit 90 operates the linear motion unit 56 of the reference pin moving unit 55 to perform control to move the first pin unit 21 to the position of a predetermined reference hole 1a of the work 1 that has been transported by the first conveyor 13. Note that the operation of the linear motion unit 56 returns the second pin unit 45 to the second transport unit 41 side.

[0099] After moving the first pin unit 21 to the position of the reference hole 1a of the work 1, the main control unit 90 operates the advance / retract movement unit 26, the pin unit 23, and the presser unit 24 of the first pin unit 21 to perform a positioning operation for machining the work 1 with at least one set of the first pin units 21. That is, the main control unit 90 operates the advance / retract movement unit 26 of the first pin unit 21 to place one side of the work 1 on the placement piece 22, then raises the pin unit 23 to insert the pin metal fitting 23a from below into the reference hole 1a of the work 1, and lowers the presser unit 24 to fit the presser metal fitting 24a into the pin metal fitting 23a protruding above the reference hole 1a.

[0100] After the first pin unit 21 has performed the positioning operation of the workpiece 1, the main control unit 90 starts control to synchronously drive the first conveyor 13, the second conveyor 14, and the reference pin moving unit 55 so as to synchronize the transport operation of the workpiece 1 by the first transport unit 12 and the movement operation of the first pin unit 21 by the linear motion unit 56 of the reference pin moving unit 55. By this control, the workpiece 1 is transported to the punch press unit 30.

[0101] Next, the main control unit 90 controls the operations of the first transport unit 12, the reference pin moving unit 55, and the punch press unit 30, while controlling the operation of cutting the connection portion 2 of the workpiece 1. Specifically, the main control unit 90 controls the first transport unit 12 and the reference pin moving unit 55 in synchronization with each other to transport the workpiece 1 in the X-axis direction. Then, at the timing when the connection unit 2 of the workpiece 1 is transported onto the Y-axis line where the punching head unit 31 and the die set unit 33 are arranged, the transport of the workpiece 1 is temporarily stopped. In other words, the transport operation of the workpiece 1 by the first conveyor 13 and the second conveyor 14 and the movement operation of the first pin unit 21 by the reference pin moving unit 55 are temporarily stopped.

[0102] Next, the main control unit 90 controls the operation of the punching head moving unit 32 and the die set moving unit 34 to synchronously move the punching head unit 31 and the die set unit 33 in the Y-axis direction, thereby positioning the punching head unit 31 and the die set unit 33 at the position of the connection portion 2 of the work 1.

[0103] Then, the main control unit 90 drives the punching head unit 31 and the die set unit 33 to press the tip of the punch unit 31a against the connection unit 2 of the work 1 and to perform control to cut the connection unit 2 of the work 1 by fitting the tip of the punch unit 31a into the die unit 33a. If there is another connection unit 2 in the Y-axis direction, the punching head unit 31 and the die set unit 33 are moved synchronously in the Y-axis direction to repeatedly cut the connection unit 2 of the work 1 in the same manner as above.

[0104] Thereafter, the main control unit 90 resumes the transportation of the workpiece 1 that had been temporarily stopped, and synchronously controls the first transport unit 12 and the reference pin moving unit 55 to transport the workpiece 1 in the X-axis direction, thereby repeatedly controlling the cutting operation of the connection unit 2 as described above. Then, when cutting of the connection portion 2 of the front half of the work 1 is completed and the first pin unit 21 is moved to a predetermined position so that the tip of the work 1 reaches a predetermined position on the tip side of the second conveyor 14, the main control unit 90 controls the first pin unit 21 to change the positioning position of the work 1.

[0105] First, the main control unit 90 controls the pin portion 23 and the pressing portion 24 of the first pin unit 21 to operate (lower the pin metal fitting 23a and raise the pressing metal fitting 24a) to release the positioning state of the workpiece 1 by the first pin unit 21. The main control unit 90 may also control the operation of operating the advance / retract movement unit 26 of the first pin unit 21 to retract the pin portion 23 and the pressing portion 24 in the Y-axis direction.

[0106] After temporarily releasing the positioning state of the work 1 by the first pin unit 21, the main control unit 90 controls the linear motion unit 56 of the reference pin moving unit 55 to move in the direction opposite to the transport direction of the work 1, thereby moving the first pin unit 21 to the position of a predetermined reference hole 1a of the work 1 on the first conveyor 13 side.

[0107] After moving the first pin unit 21 to the position of a predetermined reference hole 1a of the work 1 on the first conveyor 13 side, the main control unit 90 operates the advance / retract movement unit 26, the pin unit 23, and the presser unit 24 of the first pin unit 21 to perform positioning for machining of the work 1 again with at least one set of the first pin units 21. That is, the main control unit 90 operates the advance / retract movement unit 26 of the first pin unit 21 to place one side of the work 1 on the placement piece 22, then raises the pin unit 23 to insert the pin metal fitting 23a from below into the reference hole 1a of the work 1, and lowers the presser unit 24 to fit the presser metal fitting 24a into the pin metal fitting 23a protruding above the reference hole 1a.

[0108] After repositioning the workpiece 1 by the first pin unit 21, the main control unit 90 starts control to synchronously drive the first conveyor 13, the second conveyor 14, and the reference pin moving unit 55 so as to synchronize the transport operation of the workpiece 1 by the first transport unit 12 and the movement operation of the first pin unit 21 by the linear motion unit 56 of the reference pin moving unit 55. By this control, the rear half of the workpiece 1 is transported to the punch press unit 30.

[0109] Thereafter, the main control unit 90 controls the operations of the first transport unit 12, the reference pin moving unit 55, the punch press unit 30, and the third transport unit 61 to perform the cutting operation of the connection portion 2 in the rear half of the work 1. As the cutting operation of the connection portion 2 in the rear half of the work 1 proceeds, the tip of the work 1 moves from the second conveyor 14 to the third transport unit 61, so that the first transport unit 12 and the third transport unit 61 are controlled synchronously.

[0110] After that, when all of the connection portions 2 of the workpiece 1 have been cut, the rear half of the workpiece 1 is transported to the second conveyor 14 and the front half of the workpiece 1 is transported to the third transport section 61, and the first pin unit 21 is moved to a predetermined position on the second conveyor 14 side. When all of the connections 2 of the workpiece 1 have been cut, the main control unit 90 controls the pin portion 23 and the clamping portion 24 of the first pin unit 21 to operate (lower the pin fitting 23a and raise the clamping fitting 24a) to release the positioning state of the workpiece 1 by the first pin unit 21.

[0111] After releasing the positioning state of the workpiece 1 by the first pin unit 21, the main control unit 90 drives the linear motion unit 56 of the reference pin moving unit 55 to perform control to move the first pin unit 21 to a predetermined initial position.

[0112] In addition, the main control unit 90 synchronously drives the first conveying unit 12 (at least the second conveyor 14) and the third conveying unit 61 in the forward direction to transport the workpiece 1 with the connection portion 2 disconnected to the third conveying unit 61, and when the workpiece 1 has been transported to the third conveying unit 61, temporarily halts the driving of the third conveying unit 61 and the first conveying unit 12.

[0113] Thereafter, the main control unit 90 sends a command to the robot control unit 75 to perform a product removal operation. The robot control unit 75 controls the operation of moving the robot hand unit 65 onto the third transport unit 61, lowering the holding unit 66, and transferring and stacking the products 3 separated from the workpieces 1 one by one from the third transport unit 61 onto the product pallet of the product recovery cart 80. When there are multiple types of products 3, the products 3 may be stacked on the product pallet of the product recovery cart 80 by type.

[0114] Furthermore, the robot control unit 75 may perform an operation of storing the outer peripheral portion 4 (scrap), which is the remaining portion of the workpiece 1, in a collection box 81 with the holding unit 66 in parallel with the operation of transferring the product 3. Furthermore, in parallel with the operation of transferring the product 3, the main control unit 90 may perform control of driving the third transport unit 61 in the forward direction. Furthermore, after sending a command to the robot control unit 75 to perform the product removal operation, the main control unit 90 controls the operation of the second transport unit 41 of the work supply device 40 in order to process the next work 1.

[0115] According to the product separation system 10 of the above embodiment, even if the work 1 supplied to the system is a large plate size, the work 1 can be positioned by the work positioning unit 42, and then the work 1 in the positioned state can be transported from the work supply device 40 to the connection cutting device 11 with high positional accuracy by the second pin unit 45. In addition, the connection cutting device 11 is configured to cut the connection part 2 by the punch press unit 30 while moving the work 1 in synchronization with the first transport unit 12 in a state where the work 1 is positioned by the first pin unit 21 instead of the second pin unit 45. With this configuration, it is possible to prevent the work 1 from shifting when transporting the work 1 and cutting the connection part 2, and the operation of cutting the connection part 2 while transporting the work 1 can be performed with high accuracy. Therefore, it is possible to accurately separate the product 3 connected by the connection part 2 such as a micro joint from the work 1 without damaging it.

[0116] Furthermore, according to the product separation system 10, since it is provided with the reference pin moving part 55, it is possible to efficiently move the first pin unit 21 and the second pin unit 45 in synchronization with the conveying operation of the work 1 by the first conveying part 12. Furthermore, it is possible to convey the work 1 without applying an external force to the work 1, and it is possible to enhance the effect of preventing the work 1 and the product 3 separated from the work 1 from being displaced on the mounting surface 12a (XY plane).

[0117] Furthermore, according to the product separation system 10, since the reference pin moving part 55 includes the linear motion part 56 and the drive part 57, the linear motion part 56 and the drive part 57 can precisely synchronize the operations of the first pin unit 21, the second pin unit 45, and the first transport part 12. Therefore, the precision of the supply operation of the work 1 from the work supply device 40 to the connection cutting device 11 and the transport operation of the work 1 in the connection cutting device 11 can be improved.

[0118] In addition, according to the product separation system 10, the punch press unit 30 is arranged between the first conveyor 13 and the second conveyor 14, so that the connection portion 2 is cut by the punch press unit 30 while the workpiece 1 is transported from the first conveyor 13 to the second conveyor 14. Furthermore, the reference pin moving part 55 is configured to move the work 1 in synchronization with the transport operation of the work 1 by the first conveyor 13 and the second conveyor 14, with the work 1 positioned by the first pin unit 21. With this configuration, the work 1 can be transported on the second conveyor 14 without misalignment between the product 3 separated from the work 1 and the outer periphery 4 (scrap) from which the product 3 was separated.

[0119] Further, according to the product separation system 10, the first pin unit 21 and the second pin unit 45 each include the mounting piece 22, 46, the pin portion 23, 47, and the holding portion 24, 48. Therefore, one side of the work 1 is placed on the mounting piece 22, 46 so that the reference hole 1a of the work 1 is located on the mounting piece 22, 46, and the pin portion 23, 47 can be inserted into the reference hole 1a from below the mounting piece 22, 46. Then, the holding portion 24, 48 is fitted into the pin portion 23, 47 protruding above the mounting piece 22, 46, so that the work 1 can be held in a reliably positioned state when the work 1 is transported and when the connection portion 2 is cut. Therefore, with the work 1 positioned by the second pin unit 45, the work 1 can be supplied from the work supply device 40 to the connection portion cutting device 11 with good positional accuracy, and then, with the work 1 positioned by the first pin unit 21, the connection portion 2 can be cut while the work 1 is transported with good positional accuracy in the connection portion cutting device 11.

[0120] Moreover, according to the product separation system 10, the first pin unit 21 and the second pin unit 45 each include an advance / retract movement section 26, 50, and are configured to be able to advance / retract in a direction (Y-axis direction) perpendicular to one side of the workpiece 1. This configuration enables position adjustment in the Y-axis direction, and also enables the unit to be retracted from one side of the first transport section 12 or one side of the second transport section 41 when one side of the workpiece 1 is not being held.

[0121] Furthermore, according to the product separation system 10, the work positioning unit 42 includes the width direction positioning unit 43 and the tip end positioning unit 44, so that one side of the work 1 is positioned parallel to the conveying direction of the work 1 at a predetermined reference position in the width direction by the width direction positioning unit 43. Furthermore, the tip end positioning unit 44 positions the tip end of the work 1 at a predetermined reference position in the conveying direction. Therefore, in the second conveying unit 41, it is possible to accurately position the width direction and tip end of the work 1 before supplying the work 1 to the connection cutting device 11, and even if the work 1 is a large plate size, the work 1 can be supplied to the connection cutting device 11 with high positional accuracy.

[0122] Further, according to the product separation system 10, the punch press unit 30 includes a punching head unit 31, a punching head moving unit 32, a die set unit 33, and a die set moving unit 34. Therefore, in a state where the work 1 is positioned by the first pin unit 21, the first transport unit 12 controls the transport operation of the work 1 and the alignment operation to the connection portion 2 existing in the transport direction of the work 1, while the punch press unit 30 controls the alignment operation to the connection portion 2 existing in the width direction of the work 1 and the cutting operation of the connection portion 2. That is, the punching head moving unit 32 and the die set moving unit 34 can accurately cut the connection portion 2 of the work 1 while synchronously moving the punching head unit 31 and the die set unit 33 in the width direction of the work 1.

[0123] Furthermore, according to the product separation system 10, the punching head unit 31 includes the punch unit 31a, the pressing unit 31b, and the holding unit 31c, and the die set unit 33 includes the die unit 33a and the holding unit 33b. This makes it possible to appropriately replace the punch unit 31a and the die unit 33a, and facilitates maintenance of the punch unit 31a and the die unit 33a.

[0124] Moreover, according to the product separation system 10, since it further includes a product removal device 60, the work 1 transported from the first transport section 12 can be received and transported by the third transport section 61, and the product 3 separated from the work 1 can be transferred from the third transport section 61 to the product recovery cart 80 by the transfer robot 63, and the product 3 can be recovered. After the work 1 is received by the third transport section 61, the connection cutting device 11 can start the operation of cutting the connection section 2 of the next work 1, so that even if the work 1 is a large plate size, a series of operations from supplying the work 1 to separating and recovering the product 3 can be efficiently performed.

[0125] Furthermore, according to the product separation system 10, the transfer robot 63 includes a robot body 64 and a robot hand section 65 equipped with a holding unit 66, so that the products 3 separated from the workpieces 1 can be efficiently collected in the product removal device 60. Also, the products 3 held by the holding unit 66 can be transferred to a predetermined product collection cart 80 by type, so that the products 3 can be sorted when collected.

[0126] Although the embodiment of the present invention has been described in detail above, the above description is merely an example of the present invention. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention, and these are also included in the scope of the present invention.

[0127] The above-mentioned reference pin moving section 55 is configured such that the first pin unit 21 and the second pin unit 45 are arranged on the support base 56d of the linear motion section 56, and the first pin unit 21 and the second pin unit 45 move in accordance with the movement of the support base 56d, but the reference pin moving section 55 is not limited to this configuration.

[0128] For example, in another configuration example, a reference pin moving section for the first pin unit 21 may be provided on one side of the first transport section 12, and a reference pin moving section for the second pin unit 45 may be provided on one side of the second transport section 41, so that each reference pin moving section moves the first pin unit 21 and the second pin unit 45 individually.

[0129] In yet another configuration example, a slide portion 56b and a support base 56d for the first pin unit 21 and a slide portion 56b and a support base 56d for the second pin unit 45 may be provided separately on the rail 56a of the linear motion portion 56, so that the first pin unit 21 and the second pin unit 45 can be moved separately.

[0130] The length of the rail 56a of the linear motion portion 56 can be changed as appropriate depending on the movement range of the first pin unit 21 and the second pin unit 45, the size of the workpiece 1, and the specifications of each device.

[0131] The above-mentioned configuration of the work positioning unit 42 is also one example, and the configurations of the width direction positioning unit 43 and the tip end positioning unit 44 and their installation positions can be appropriately changed according to the specifications of each device. For example, the reference guide portion 43a of the width direction positioning unit 43 may be provided with a lifting function so as not to interfere with the positioning operation by the second pin unit 45. Furthermore, the shape of the workpiece 1 is not necessarily limited to a rectangular shape, and the specifications of the width direction positioning portion 43 and the tip positioning portion 44 that constitute the workpiece positioning portion 42 can be appropriately changed depending on the external shape of the workpiece 1. In addition, the first conveying unit 12 and the third conveying unit 61 may be equipped with a detection unit that detects the workpiece 1, such as a photoelectric sensor, and the operation of the first conveying unit 12 and the third conveying unit 61 may be controlled based on the detection state of the workpiece 1 by the detection unit. [Explanation of symbols]

[0132] 1 Work 1a Reference hole 2 Connection 3 Products 4 Outer periphery 4a Connection 5 Cutout 10 Product Separation System 11 Connection disconnect device 12 First conveyor section 12a Placement surface 13 First conveyor 13a Belt section 13b Drive motor 14 Second conveyor 14a Belt section 14b Drive motor 21 1st pin unit 22 Placement piece 23 Pin section 23a Pin fitting 23b Vertical Slider 23c Vertical Cylinder 24 Presser section 24a Clasp 24b Vertical Cylinder 24c Horizontal Slider 24d Horizontal cylinder 25 Mounting frame 26 Advance / retreat moving part 26a Horizontal Slider 26b Horizontal cylinder 27 Solenoid valve 30 Punch Press Section 31 Punching head section 31a Punch section 31b Pressing part 31c Holding part 31d Drive motor 32 Punching head moving part 33 Die Set Section 33a Die section 33b Holding part 34 Die set moving part 35 Gate Frame 40 Work supply device 41 Second conveyor section 41a Lola 41b Drive motor 42 Work positioning section 43 Width direction positioning part 43a Reference guide part 43b Pressing part 43c Pressure plate 43d Air Cylinder 44 Tip positioning part 44a Stopper plate 44b Lifting section 44c Detection section 45 2nd pin unit 46 Placement piece 47 Pin section 47a Pin fitting 47b Vertical Slider 47c Vertical Cylinder 48 Presser section 48a Clasp 48b Vertical Cylinder 49 Mounting frame 50 Advance / retreat moving part 50a Horizontal Slider 50b Horizontal cylinder 51 Solenoid valve 55 Reference pin moving part 56 Linear motion section 56a Rail 56b Slide section 56c Belt Clasp 56d support stand 57 Drive unit 57a Drive pulley 57b Passive pulley 57c Timing belt 57d Drive motor 60 Product removal device 61 Third conveyor section 61a Belt section 61b Drive motor 63 Transfer robot 64 Robot body 64a Arm section 65 Robot Hand Club 66 Holding Unit 67 Holding part 67a Adsorption part 68 Mounting Frame 69 Advance / retreat moving part 70 Vacuum Unit 75 Robot control unit 75a Input section 75b Calculation section 75c output section 75d storage section 75e power supply section 80 Product collection trolley 81 Collection Box 90 Control section 90a Input section 90b Arithmetic unit 90c output section 90d Memory section 90e power supply section 91 Control panel

Claims

1. A product separation system for separating a product connected by a connection portion from a workpiece, comprising: a connection cutting device that cuts the connection while transporting the workpiece; a work supply device that supplies the work to the connection cutting device, The connection disconnecting device is A first conveying unit that receives and conveys the workpiece supplied from the workpiece supply device; a first pin unit disposed on one side of the first transport section and inserted into a reference hole for positioning preliminarily formed on one side of the work; a punch press unit that cuts off the connection portion of the workpiece, The work supply device, A second transport unit that transports the workpiece to the first transport unit; A workpiece positioning unit that positions the width direction and tip end of the workpiece; a second pin unit that is disposed on one side of the second transport unit and is inserted into the reference hole of the workpiece in a state where the workpiece is positioned by the workpiece positioning unit; A product separation system characterized in that, with the workpiece positioned by the second pin unit, the workpiece is moved until its tip is at a predetermined position in the first transport unit, and then, with the workpiece positioned by the first pin unit instead of the second pin unit, the workpiece is moved in synchronization with the first transport unit while the connection portion is cut by the punch press unit.

2. 2. The product separation system according to claim 1, further comprising a reference pin moving unit that moves the first pin unit and the second pin unit in synchronization with the workpiece transport operation by the first transport unit.

3. The reference pin moving unit is a linear motion unit disposed on one side of the first transport unit, the linear motion unit having the first pin unit and the second pin unit attached thereto at a predetermined interval; 3. The product separation system according to claim 2, further comprising a drive unit that moves the linear motion unit so as to synchronize the first pin unit, the second pin unit and the first transport unit.

4. The first conveying unit, A first conveyor and a second conveyor are arranged in series, The punch press unit is disposed between the first conveyor and the second conveyor, The reference pin moving unit is The product separation system according to claim 2, characterized in that, with the workpiece positioned by the first pin unit, the workpiece is moved in synchronization with the transport operation of the workpiece by the first conveyor and the second conveyor.

5. The first pin unit and the second pin unit, A placement piece on which the one side portion of the workpiece is placed; A pin portion is disposed below the mounting piece and configured to be movable up and down to a position protruding above the mounting piece; The product separation system according to any one of claims 1 to 4, further comprising a pressing portion arranged above the mounting piece and configured to be movable up and down to fit into the pin portion protruding above the mounting piece.

6. At least one of the first pin unit and the second pin unit is The product separation system according to claim 5, further comprising an advancing / retreating moving section which moves a mounting frame to which the mounting piece, the pin section, and the pressing section are attached, forward and backward in a direction perpendicular to the one side of the workpiece.

7. The workpiece positioning unit is A width direction positioning unit that positions the work in the width direction; 5. The product separation system according to claim 1, further comprising a tip positioning unit for positioning the tip of the workpiece.

8. The punch press unit is A punching head portion disposed above a surface on which the workpiece is placed in the first transport portion; a punching head moving section that moves the punching head section in the width direction of the workpiece; A die set unit disposed below a surface on which the work is placed in the first transport unit; The product separation system according to any one of claims 1 to 4, further comprising a die set moving section that moves the die set section in the width direction of the workpiece in synchronization with the punching head section.

9. The punching head portion is The punching device includes a punch section, a pressing section that presses the punch section downward, and a holding section that detachably holds the punch section, The die set unit is 9. The product separation system according to claim 8, further comprising: a die portion into which the tip of the punch portion is fitted; and a holding portion that detachably holds the die portion.

10. The connection cutting device further includes a product removal device that removes the product from the workpiece whose connection has been cut by the connection cutting device, The product removal device, A third transport unit that receives and transports the workpiece transported from the first transport unit; The product separation system according to any one of claims 1 to 4, characterized in that it is provided with a transfer robot that transfers the product separated from the work from the third conveying section to a predetermined product recovery position.

11. The transfer robot, A robot body including an arm having a predetermined range of motion; a robot hand unit attached to a tip end of the arm unit, The robot hand unit, The product separation system according to claim 10, further comprising a holding unit for holding the product separated from the workpiece.

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