Processing equipment

Abstract

This invention provides a novel and useful technology for moving or rotating a cut workpiece in a processing apparatus for cutting plate-shaped workpieces. [Solution] The processing apparatus for cutting a workpiece comprises a cutting unit for cutting the workpiece, a stage unit positioned adjacent to the cutting unit and supporting the cut workpiece from below after it has been discharged from the cutting unit, and a robot arm unit for moving the workpiece on the stage unit. The stage unit has an air-floating stage that supports the cut workpiece with air. The robot arm unit has a head mechanism that grips the workpiece on the air-floating stage from the side.

Description

Technical Field

[0001] This specification discloses a technology related to a processing device for cutting a plate-shaped workpiece.

Background Art

[0002] Patent Document 1 describes a cutting unit for cutting a plate-shaped workpiece.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Generally, a cutting unit as described above is used in combination with a robot arm unit to move or rotate the workpiece after cutting. In this case, a head mechanism for holding the workpiece after cutting is required at the tip of the robot arm unit. As the head mechanism of the robot arm unit, an adsorption type that adsorbs the object, a clamping type that clamps the object, etc. are known. However, in the adsorption type, when the workpiece is a plurality of plate materials arranged in a stacked manner, only the uppermost plate material can be adsorbed and held. Also, in the clamping type, the workpiece divided into a plurality by cutting cannot be lifted.

[0005] This specification provides a novel and useful technology for moving or rotating the workpiece after cutting in a processing device for cutting a plate-shaped workpiece.

Means for Solving the Problems

[0006] The technology disclosed herein is embodied in a first embodiment in a processing apparatus for cutting a plate-shaped workpiece. This processing apparatus may include a cutting unit for cutting the workpiece, a stage unit positioned adjacent to the cutting unit and supporting the cut workpiece from below after it has been discharged from the cutting unit, and a robot arm unit for moving the workpiece on the stage unit. The stage unit may have an air-floating stage that supports the cut workpiece with air. The robot arm unit may have a head mechanism that grips the cut workpiece on the air-floating stage from the side.

[0007] In the above configuration, the cut workpiece, after being discharged from the cutting unit, is supported by an air-floating stage. The cut workpiece floats on the air-floating stage, allowing it to be easily moved and rotated. Therefore, the robot arm unit can move and rotate the cut workpiece freely simply by gripping it from the side, without having to lift the cut workpiece (i.e., the workpiece divided into multiple parts).

[0008] In a second embodiment, the workpiece may be a plurality of overlapping plate materials in the first embodiment described above.

[0009] As described above, the robot arm unit can move and rotate a workpiece freely simply by gripping it from the side on the air-floating stage. Therefore, even if the workpiece consists of multiple overlapping plates, the robot arm unit can move and rotate the cut workpiece as a single unit.

[0010] In a third embodiment, the workpiece on the stage unit after cutting may be configured to be re-inserted into the cutting unit, as in the second embodiment.

[0011] According to the above configuration, the workpiece that has been re-inserted into the cutting unit can be cut again.

[0012] In a fourth embodiment, in any one of the first to third embodiments, the head mechanism may include a pair of claws facing each other and a movable mechanism for operating at least one of the pair of claws.

[0013] According to the above configuration, it is possible to clamp workpieces of various sizes.

[0014] In a fifth embodiment, the movable mechanism may include, in the fourth embodiment, a first movable mechanism for moving one of the pair of claws forward and backward relative to the other; a second movable mechanism for moving the other of the pair of claws forward and backward relative to the air floating stage; and a third movable mechanism for rotating the pair of claws around a rotation axis perpendicular to the air floating stage.

[0015] With the above configuration, while the cut workpiece is held by the head mechanism, the cut workpiece can be rotated around the rotation axis. After rotation, the cut workpiece can be re-inserted into the cutting unit by retracting the second claw portion relative to the airflow stage and advancing the first claw portion relative to the second claw portion. The workpiece can then be cut in various directions by cutting it with the cutting unit.

[0016] In a sixth aspect disclosed herein, another processing apparatus for cutting a workpiece may include a cutting unit for cutting the workpiece, a stage unit positioned adjacent to the cutting unit and supporting the cut workpiece from below after it has been discharged from the cutting unit, and a robotic arm unit for moving the workpiece on the stage unit. The stage unit may have an air-floating stage that supports the cut workpiece with air. The robotic arm unit may have a head mechanism for suctioning the upper surface of the workpiece on the air-floating stage, and move the workpiece suctioned by the head mechanism on the air-floating stage while pressing it toward the air-floating stage.

[0017] In the above configuration, the cut workpiece, after being discharged from the cutting unit, is supported by an air-floating stage. The cut workpiece floats on the air-floating stage, allowing it to be easily moved. Therefore, the robot arm unit can move the cut workpiece without lifting it, simply by using the head mechanism to grip the top surface of the cut workpiece and then pressing the workpiece, which is being gripped by the head mechanism, towards the air-floating stage. [Brief explanation of the drawing]

[0018] [Figure 1] A schematic diagram showing the processing apparatus 2 according to the first embodiment. [Figure 2] A diagram showing the control configuration of the processing device 2. [Figure 3] Top view of the cutting unit 10 and the stage unit 30 [Figure 4] A diagram illustrating the operation of processing device 2. [Figure 5] Continuation of Figure 4. [Figure 6] Continuation of Figure 5. [Figure 7] Continuation of Figure 6. [Figure 8] Continuation of Figure 7. [Figure 9] A diagram schematically showing the processing apparatus 202 according to the second embodiment. [Figure 10] A diagram for explaining the operation of the processing apparatus 202.

Embodiments for Carrying Out the Invention

[0019] (First Embodiment) Referring to FIGS. 1 to 3, the processing apparatus 2 of the first embodiment will be described. The processing apparatus 2 is an apparatus for cutting a plate-shaped workpiece W. In the present embodiment, the workpiece W is a plurality of plate materials arranged in a stacked manner. Although it is an example, the plate materials are wood and resin. The processing apparatus 2 includes a cutting unit 10, a stage unit 30, a robot arm unit 50, a conveying device 70, and a controller 100 (see FIG. 2). Hereinafter, for easy understanding, the direction in which the cutting unit 10, the stage unit 30, and the conveying device 70 are arranged side by side will be described as the "front-rear direction", and the direction orthogonal to the up-down direction and the front-rear direction will be described as the "left-right direction".

[0020] The cutting unit 10 comprises a stage 12, a blade unit 14, and a clamp unit 16. A slit 12A extending in the left-right direction is formed at the front end of the stage 12. The slit 12A extends downward from the top surface of the stage 12. The blade unit 14 comprises a cutting blade 18, a motor 20 (see Figure 2) for driving the cutting blade 18, and a first moving device 22 for moving the cutting blade 18. The blade unit 14 is positioned within the slit 12A of the stage 12. The first moving device 22 is configured to be movable in the left-right and up-down directions. When the first moving device 22 moves upward, a portion of the cutting blade 18 is exposed outside the stage 12. The clamp unit 16 comprises a clamping device 24 and a second moving device 26 for moving the clamping device 24. The clamping device 24 is a device for fixing the workpiece W. The clamping device 24 may fix the workpiece W by pressing it against the upper surface of the stage 12, or by clamping the workpiece W in the vertical direction. The clamping device 24 has an extrusion mechanism that pushes the workpiece W forward. The second moving device 26 is configured to be movable in the front-rear direction. In Figure 3, five clamping devices 24 are arranged at equal intervals along the left-right direction. The number of clamping devices 24 may be one to four, or six or more.

[0021] The stage unit 30 is positioned adjacent to the cutting unit 10. The stage unit 30 is positioned in front of the cutting unit 10. The stage unit 30 includes an air-floating stage 32. As shown in Figure 2, the air-floating stage 32 is equipped with a blower 34 that supplies compressed air. As shown in Figure 3, a plurality of holes 32A are formed on the upper surface of the air-floating stage 32. Air supplied from the blower 34 (see Figure 2) is discharged from the plurality of holes 32A.

[0022] The robot arm unit 50 in Figure 1 comprises an arm mechanism 52 and a head mechanism 54. The arm mechanism 52 has six degrees of freedom. Specifically, the arm mechanism 52 has degrees of freedom in the vertical direction, horizontal direction, front-to-back direction, vertical rotational direction, horizontal rotational direction, and front-to-back rotational direction. The head mechanism 54 is provided at the tip of the arm mechanism 52. The head mechanism 54 comprises a base 56, a first claw 58, a second claw 60, and a movable mechanism 62 (see Figure 2). The base 56 is attached to the tip of the arm mechanism 52. The base 56 moves in accordance with the movement of the tip of the arm mechanism 52. The first claw 58 and the second claw 60 are movably attached to the base 56. Specifically, the first claw 58 is attached to the lower surface of the base 56. The second claw portion 60 is attached to the side surface (rear surface in Figure 1) of the base portion 56. The first claw portion 58 and the second claw portion 60 face each other in the horizontal direction. In Figure 1, the first claw portion 58 is located at the front end of the base portion 56, and the second claw portion 60 is located at the rear end of the base portion 56. The lower ends of the first claw portion 58 and the second claw portion 60 are in approximately the same position. As shown in Figure 2, the movable mechanism 62 includes a first movable mechanism 64 that operates the first claw portion 58, a second movable mechanism 66 that operates the second claw portion 60, and a third movable mechanism 68 that operates the base portion 56. The first movable mechanism 64 moves the first claw portion 58 forward and backward relative to the second claw portion 60. The second movable mechanism 66 moves the second claw portion 60 forward and backward relative to the air floating stage 32 when the base portion 56 is facing the air floating stage 32. The third movable mechanism 68 rotates the base 56. For example, when the base 56 is facing the air floating stage 32, the third movable mechanism 68 is rotatable around a rotation axis A (see Figure 1) perpendicular to the air floating stage 32. As the base 56 rotates, the first claw portion 58 and the second claw portion 60 rotate.

[0023] The conveying device 70 in Figure 1 is positioned adjacent to the stage unit 30. The conveying device 70 is located in front of the stage unit 30. For example, the conveying device 70 is a belt conveyor.

[0024] The controller 100 includes a CPU and memory such as ROM or RAM. The controller 100 controls the operation of each component of the processing apparatus 2.

[0025] (Operation of processing device 2) The operation of the processing apparatus 2 will be explained with reference to Figures 4 to 8. In Figures 4 to 8, reference numerals have been omitted for clarity.

[0026] First, as shown in Figure 4, the controller 100 drives a robot arm (not shown) for workpiece loading to place the workpieces W, which are multiple overlapping plate materials, onto the stage 12 of the cutting unit 10. Next, the controller 100 clamps the rear end of the workpieces W with the clamping device 24. Then, at T10, the controller 100 moves the workpieces W to the first cutting position in accordance with the movement of the clamping device 24. Also at T10, the controller 100 drives the motor 20 of the blade unit 14 to rotate the cutting blade 18 and move the cutting blade 18 to cut the workpieces W. At T12, the controller 100 operates the clamping device 24 so that the workpieces W move onto the air-floating stage 32.

[0027] At T20, the controller 100 moves the head mechanism 54. As shown in Figure 5, the controller 100 moves the head mechanism 54 so that the workpiece W is positioned between the first claw portion 58 and the second claw portion 60 of the head mechanism 54. For example, the controller 100 moves the head mechanism 54 so that the first claw portion 58 is positioned to the right of the right surface of the workpiece W, and the second claw portion 60 is in contact with the left surface of the workpiece W. Next, at T22, the controller 100 moves the first claw portion 58 so that the first claw portion 58 is in contact with the right surface of the workpiece W. As a result, the workpiece W is gripped by the first claw portion 58 and the second claw portion 60. That is, the head mechanism 54 grips the workpiece W from the side. Next, at T24, the controller 100 rotates the head mechanism 54 by 90 degrees. Specifically, the controller 100 rotates the head mechanism 54 so that the first claw portion 58 is positioned towards the front and the second claw portion 60 is positioned towards the rear.

[0028] At T26, the controller 100 moves the second claw portion 60 upward. That is, the controller 100 retracts the second claw portion 60 relative to the air floating stage 32. As shown in Figure 6, the controller 100 moves the second claw portion 60 until its lower end is positioned above the workpiece W. Next, at T28, the controller 100 moves the workpiece W backward in accordance with the movement of the first claw portion 58 backward. The controller 100 moves the first claw portion 58 until the rear end of the workpiece W is clamped by the clamping device 24. After the workpiece W is clamped by the clamping device 24, the controller 100 rotates the head mechanism 54 so that the first claw portion 58 is positioned on the right side and the second claw portion 60 is positioned on the left side. The controller 100 also moves the first claw portion 58 to the right end of the base portion 56 and lowers the second claw portion 60. Next, at T30, the controller 100 moves the clamping device 24 to move the workpiece W to the second cutting position. Also at T30, the controller 100 moves the cutting blade 18 to cut the workpiece W. At T32, the controller 100 operates the clamping device 24 so that the workpiece W moves onto the air floating stage 32. As a result, the workpiece W is positioned on the air floating stage 32, as shown in Figure 7.

[0029] At T40, the controller 100 moves the head mechanism 54. The controller 100 moves the head mechanism 54 so that the first claw portion 58 of the head mechanism 54 is positioned to the right of the right surface of the workpiece W, and the second claw portion 60 is in contact with the left surface of the workpiece W. The controller 100 also moves the first claw portion 58 so that it is in contact with the right surface of the workpiece W. Next, at T42, the controller 100 moves the head mechanism 54 forward and rotates the head mechanism 54 by 90 degrees. Specifically, the controller 100 rotates the head mechanism 54 so that the first claw portion 58 is positioned at the rear and the second claw portion 60 is positioned at the front.

[0030] At T44, the controller 100 moves the head mechanism 54 forward. As shown in Figure 8, the controller 100 moves the head mechanism 54 to the front end of the air floating stage 32. Next, at T46, the controller 100 moves the second claw portion 60 upward until its lower end is above the workpiece W. Next, at T48, the controller 100 moves the workpiece W forward in accordance with the movement of the first claw portion 58 forward. This moves the workpiece W onto the conveying device 70. The workpiece W then moves along the conveying device 70. In this way, the cut workpiece W can be moved.

[0031] As described above, the processing apparatus 2 for cutting the workpiece W comprises a cutting unit 10 for cutting the workpiece W, a stage unit 30 positioned adjacent to the cutting unit 10 and supporting the cut workpiece W from below after it has been discharged from the cutting unit 10, and a robot arm unit 50 for moving the workpiece W on the stage unit 30. The stage unit 30 has an air-floating stage 32 that supports the cut workpiece W with air. The robot arm unit 50 has a head mechanism 54 that grips the workpiece W on the air-floating stage 32 from the side.

[0032] In the above configuration, the cut workpiece W, which has been discharged from the cutting unit 10, is supported by the air-floating stage 32. The cut workpiece W is suspended above the air-floating stage 32, allowing it to be easily moved and rotated. Therefore, the robot arm unit 50 can move and rotate the cut workpiece W (i.e., the workpiece W divided into multiple parts) freely simply by gripping it from the side, without having to lift it.

[0033] Furthermore, workpiece W consists of multiple plates arranged in a superimposed configuration.

[0034] As described above, the robot arm unit 50 can move and rotate the workpiece W on the air-floating stage 32 freely simply by gripping the workpiece W from the side. Therefore, even if multiple plate materials are arranged in a superimposed arrangement, the robot arm unit 50 can move and rotate the cut workpiece W as a single unit.

[0035] Furthermore, the processing apparatus 2 is configured to allow the cut workpiece W on the stage unit 30 to be re-inserted into the cutting unit 10.

[0036] According to the above configuration, the workpiece W that has been re-inserted into the cutting unit 10 can be cut again.

[0037] Furthermore, the head mechanism 54 includes a pair of claw portions 58 and 60 that face each other, and a movable mechanism 62 that operates at least one of the pair of claw portions 58 and 60.

[0038] According to the above configuration, workpieces W of various sizes can be clamped.

[0039] Furthermore, the movable mechanism 62 includes a first movable mechanism 64 that moves the first claw portion 58 (an example of "one of the pair of claw portions") forward and backward relative to the second claw portion 60 (an example of "the other"); a second movable mechanism 66 that moves the second claw portion 60 forward and backward relative to the air floating stage 32; and a third movable mechanism 68 that rotates the first claw portion 58 and the second claw portion 60 around a rotation axis A perpendicular to the air floating stage 32.

[0040] With the above configuration, while the cut workpiece W is held by the head mechanism 54, the cut workpiece W can be rotated around the rotation axis A. After rotation, the cut workpiece W can be re-inserted into the cutting unit 10 by retracting the second claw portion 60 relative to the air floating stage 32 and advancing the first claw portion 58 relative to the second claw portion 60. The cut workpiece W can then be cut in various directions by cutting it with the cutting unit 10.

[0041] (Second example) Referring to Figure 9, the processing apparatus 202 of the second embodiment will be described. The processing apparatus 202 has the same configuration as the processing apparatus 2 of the first embodiment, except that the configuration of the robot arm unit 250 is different from that of the robot arm unit 50 of the first embodiment. In the following, components common to both embodiments are denoted by the same reference numerals and their descriptions are omitted.

[0042] The robot arm unit 250 comprises an arm mechanism 52 and a head mechanism 254. The head mechanism 254 has a suction device 256. For example, the suction device 256 is a vacuum type device. The suction device 256 is configured to pick up a workpiece W on the air floating stage 32 when it is facing the air floating stage 32.

[0043] Referring to Figure 10, the operation of the processing device 202 will be explained. The initial state in Figure 10 is the same as the state after T12 in Figure 4. That is, the workpiece W is cut in only one direction (left-right direction in Figure 4).

[0044] At T110, the controller 100 moves the head mechanism 254 so that its lower surface contacts the upper surface of the workpiece W. Then, at T112, the controller 100 starts the suction of the workpiece W by the head mechanism 254 and presses the suctioned workpiece W toward the air floating stage 32. The controller 100 adjusts the pressing force so that the lower surface of the workpiece W is positioned above the upper surface of the air floating stage 32. Then, at T114, the controller 100 moves the workpiece W forward in accordance with the forward movement of the head mechanism 254. As a result, the workpiece W is moved onto the conveying device 70. The workpiece W then moves along the conveying device 70. In this way, the cut workpiece W can be moved.

[0045] As described above, the processing apparatus 2 for cutting the workpiece W comprises a cutting unit 10 for cutting the workpiece W, a stage unit 30 positioned adjacent to the cutting unit 10 and supporting the cut workpiece W from below after it has been discharged from the cutting unit 10, and a robot arm unit 50 for transporting the workpiece W on the stage unit 30. The stage unit 30 has an air-floating stage 32 that supports the cut workpiece W with air. The robot arm unit 50 has a head mechanism 254 that suctions the upper surface of the workpiece W on the air-floating stage 32, and moves the workpiece W, which has been suctioned by the head mechanism 254, on the air-floating stage 32 while pressing it toward the air-floating stage 32.

[0046] In the above configuration, the cut workpiece W, which has been discharged from the cutting unit 10, is supported by the air-floating stage 32. The cut workpiece W is suspended above the air-floating stage 32, allowing it to be easily moved. Therefore, the robot arm unit 250 can move the cut workpiece W without lifting it, simply by using the head mechanism 254 to grip the upper surface of the cut workpiece W and then pushing the workpiece W, which is being gripped by the head mechanism 254, towards the air-floating stage 32.

[0047] Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes to the specific examples illustrated above. Modifications of the above embodiments are listed below.

[0048] (First modified example) Workpiece W may be a single sheet of material.

[0049] (Second Modification) In the first embodiment, the movable mechanism 62 does not necessarily have to include at least one of the first movable mechanism 64, the second movable mechanism 66, and the third movable mechanism 68.

[0050] Furthermore, the technical elements described herein or in the drawings demonstrate technical usefulness individually or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technologies illustrated herein or in the drawings achieve multiple objectives simultaneously, and achieving even one of these objectives constitutes technical usefulness in itself. [Explanation of Symbols]

[0051] 2: Processing device, 10: Cutting unit, 12: Stage, 12A: Slit, 14: Blade unit, 16: Clamp unit, 18: Cutting blade, 20: Motor, 22: First moving device, 24: Clamping device, 26: Second moving device, 30: Stage unit, 32: Air floating stage, 32A: Hole, 34: Blower, 50: Robot arm unit, 52: Arm mechanism, 54: Head mechanism, 56: Base, 58: First claw part, 60: Second claw part, 62: Movable mechanism, 64: First movable mechanism, 66: Second movable mechanism, 68: Third movable mechanism, 70: Conveying device, 100: Controller, 202: Processing device, 250: Robot arm unit, 254: Head mechanism, 256: Suction device

Claims

1. A processing device for cutting a plate-shaped workpiece, A cutting unit for cutting the aforementioned workpiece, A stage unit is positioned adjacent to the cutting unit and supports the cut workpiece, which has been removed from the cutting unit, from below. A robot arm unit for moving the workpiece on the stage unit, Equipped with, The stage unit has an air-floating stage that supports the cut workpiece with air, The robot arm unit has a head mechanism that grips the cut workpiece on the air-floating stage from the side. Processing equipment.

2. The processing apparatus according to claim 1, wherein the workpiece is a plurality of plate materials arranged in a superimposed configuration.

3. The processing apparatus according to claim 2, wherein the workpiece on the stage unit after cutting is configured to be re-inserted into the cutting unit.

4. The head mechanism is A pair of claws facing each other, A movable mechanism for operating at least one of the pair of claw portions, The processing apparatus according to any one of claims 1 to 3.

5. The aforementioned movable mechanism is A first movable mechanism that moves one of the pair of claws forward and backward relative to the other, A second movable mechanism moves the other of the pair of claws forward and backward relative to the air floating stage, A third movable mechanism that rotates the pair of claws around a rotation axis perpendicular to the air floating stage, The processing apparatus according to claim 4, having the following features.

6. A processing device for cutting a plate-shaped workpiece, A cutting unit for cutting the aforementioned workpiece, A stage unit is positioned adjacent to the cutting unit and supports the cut workpiece, which has been removed from the cutting unit, from below. A robot arm unit for moving the workpiece on the stage unit, Equipped with, The stage unit has an air-floating stage that supports the workpiece after cutting with air, The robot arm unit has a head mechanism that suctions the upper surface of the cut workpiece on the air-floating stage, and moves the cut workpiece, which has been suctioned by the head mechanism, on the air-floating stage while pressing it toward the air-floating stage. Processing equipment.

Images