Cutting material collection system and cutting material collection method

Abstract

To provide a system for determining collection work of cut members formed by cutting a cutting material and efficiently performing it in a short period of time in accordance with a cutting failure of the cutting material and a change in a cutting order, according to a cut member collection system and a cut member collection method related to the present invention.SOLUTION: A cut member collection system 1 includes: a cutting schedule program preparation part 300 for determining a program execution order of an NC program for cutting to be inputted to a cutting device 100 by arrangement information on a cutting material W acquired by the cutting device 100 for cutting the cutting material W; a picking data preparation part 400 for preparing picking NC data for allowing a picking device 200 to collect a plurality of cut members cut from the cutting material W; and a linkage schedule preparation part 500 for determining a picking order for collecting the cut members of the linkable picking device 200, and preparing a picking NC program for the picking device 200.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a cutting member collecting system and a cutting member collecting method. [Background technology]

[0002] Conventionally, multi-processing equipment has been widely known that uses a cutting device or the like to blank a cut material, such as by cutting or punching, and then subsequently performs other processes such as bending, and then performs other operations such as sorting all on a single line. For example, Patent Document 1 describes a multi-processing system that blanks sheet metal using a punching process, then performs bending, and includes subsequent processes such as joint removal and part sorting on a sheet metal processing line. Furthermore, the multi-processing system described in Patent Document 1 is equipped with a work equipment control function through centralized data management, and can create a processing schedule from each work process, such as NCT drilling / cutting and bending, to the sorting and accumulation device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4323160 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the multi-processing system described in Patent Document 1, instructions for the sorting and stacking device are created based on a pre-created processing schedule, so for example, if the order in which products to be cut is changed at the last minute during cutting work, the worker must also change the schedule for the subsequent processing steps and the order of the stacking work, which is a problem in that it takes time to change the order of each step.In addition, if there is a defect in the cut product, such as a poor cut, and the product cannot be stacked, the worker must re-create a schedule that skips the subsequent products, which is a problem.

[0005] The present invention has been made in consideration of the above circumstances, and aims to provide a system that determines the collection work of the cut pieces formed by cutting the cut material in accordance with poor cutting of the cut material or changes in the cutting order, and performs this work efficiently in a short amount of time. [Means for solving the problem]

[0006] In order to solve the above problems, the present invention proposes the following means. The cut material collection system according to the first aspect of the present invention is a system for collecting cut materials by cutting materials by using cut material arrangement information of the cut materials acquired by a cutting device that cuts the cut materials. first A cutting NC program input to the cutting device that cuts the cutting material a second cutting NC program input to the cutting device for cutting a second cutting material; a cutting schedule program creation unit that determines the program execution order of the above; and a picking data creation unit that creates picking NC data for collecting the plurality of cut pieces cut from the cutting material onto a pallet on which the cut pieces can be placed by a picking device. before and an interlocking schedule creation unit that determines a picking order for collecting the cutting members of the picking device that can be linked to the program execution order based on the program execution order and the picking NC data, and creates a picking NC program for the picking device.

[0007] According to a second aspect of the present invention, in the cut material collection system according to the first aspect, the interlocking schedule creation unit has a function of changing the picking order when the program execution order is changed.

[0008] According to a third aspect of the present invention, the cut material collection system relating to the first or second aspect has a function in which the interlocking schedule creation unit further incorporates pallet arrangement information of the pallet acquired by the picking device, and creates the picking NC program in accordance with changes in the pallet arrangement information.

[0009] According to a fourth aspect of the present invention, the cut material collection system relating to any of the first to third aspects has a function in which the interlocking schedule creation unit further imports positioning plate arrangement information of a positioning plate having a plurality of pallets on top, the relative positions of which do not change due to the picking device, and creates an NC program for the picking.

[0010] According to a fifth aspect of the present invention, the cut material collection system relating to any one of the first to fourth aspects has a function in which the interlocking schedule creation unit can skip the sequence for the cut material that was not cut by the cutting device.

[0011] A cut material collection method according to a sixth aspect of the present invention comprises a cutting schedule program creation process for determining the program execution order of a first cutting NC program to be input into a cutting device that cuts a first cut material among the cut materials and a second cutting NC program to be input into the cutting device that cuts a second cut material based on cut material placement information of the cut material acquired by the cutting device that cuts the cut material; a picking data creation process for creating picking NC data for collecting multiple cut materials cut from the cut material onto a pallet on which the cut materials can be placed by a picking device; and a linkage schedule creation process for determining a picking order for collecting the cut materials by the picking device that can be linked to the program execution order based on the cutting schedule program creation process and the picking data creation process, and creating a picking NC program for the picking device. [Effects of the Invention]

[0012] The cut material collection system and cut material collection method of the present invention can provide a system that determines the collection work of cut materials formed by cutting cut material in response to poor cutting of the cut material or changes in the cutting order, and can carry out the work efficiently in a short amount of time. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a perspective view showing a cutting member collecting system according to an embodiment of the present invention. [Figure 2] 2 is a schematic diagram illustrating an example of the cut member collecting system. FIG. [Figure 3] 10 is a diagram illustrating the flow of the cutting CAD / CAM, picking CAD / CAM, cutting device, picking device, and line schedule PC of the cutting device of the cut material collection system. FIG. [Figure 4] 10 is a diagram showing a schematic diagram of a cutting device and a picking device before cutting and collecting operations in the cut member collecting system. FIG. [Figure 5] FIG. 5 is a diagram showing a state in which the cutting device of the cut material collecting system in FIG. 4 has cut one of the plurality of cut materials. [Figure 6] FIG. 4 is a diagram showing a state in which the cutting device of the cut material collection system has cut the cut material and the picking device has collected the cut material onto a pallet. [Figure 7] 10A and 10B are diagrams illustrating a modified example of the cutting member collecting system of the present invention. [Figure 8] 10A and 10B are diagrams illustrating a modified example of the cutting member collecting system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] (One embodiment) An embodiment of the present invention will be described with reference to FIGS.

[0015] FIG. 1 is a perspective view showing a cut material collecting system 1 according to one embodiment of the present invention. FIG. 2 is a schematic diagram illustrating an example of the cut material collecting system 1. Here, the cutting device 100 of the cut material collecting system 1 is a device that cuts the cut material W on a surface plate 10, and the drive unit 130 and cutting head 110 of the cutting device 100 move in three orthogonal axial directions (X-axis, Y-axis, and Z-axis directions). The picking device 200 is a device that collects (picks) the cut materials S formed by cutting the cut material W and moves them to a predetermined position, and the drive unit 230 and picking head 210 of the picking device 200 move in the three orthogonal axial directions (X-axis, Y-axis, and Z-axis directions).

[0016] The direction in which the cutting device 100 and the picking device 200 move along the rail R is defined as the traveling direction, which is the X-axis direction. The right side along which the cutting device 100 and the picking device 200 travel in the X-axis direction is defined as the right traveling direction X1, and the left side along which they travel, opposite the right traveling direction X1, is defined as the left traveling direction X2. The axis perpendicular to the X-axis direction on a horizontal plane is defined as the lateral movement direction, which is the Y-axis direction. The front side along which the cutting device 100 and the picking device 200 travel in the Y-axis direction is defined as the front side Y1, and the rear side along which they travel opposite the front side Y1 is defined as the rear side Y2. The vertical direction perpendicular to the X-axis and Y-axis directions is defined as the Z-axis direction. In the Z-axis direction, the upper side along which the cutting head 110 of the cutting device 100 and the picking head 210 of the picking device 200 move up and down is defined as the upper side Z1, and the lower side along which they move up and down, opposite the upper side Z1, is defined as the lower side Z2.

[0017] A cut material collection system 1 according to one embodiment of the present invention is a system for cutting a cut material W, such as a steel plate, with a cutting device 100, and then collecting multiple cut materials S formed by cutting the cut material W with a picking device 200 and moving them to a predetermined location. The cut material collection system 1 includes a surface plate 10, a composite pallet 20, the cutting device 100, the picking device 200, a cutting CAD / CAM 300 (cutting program creation unit), a picking CAD / CAM 400 (picking data creation unit), and a line schedule PC 500 (linkage schedule creation unit). Here, the cut material collection system 1 is located between the office of a worker (not shown) and a workplace. The surface plate 10, the composite pallet 20, the cutting device 100, and the picking device 200 are located in the workplace as shown in FIG. 1. The cutting CAD / CAM 300, picking CAD / CAM 400, and line schedule PC 500 may be located in an office or in a workshop. There is a physical distance between the office and the workshop, and it takes time for workers to travel between the office and the workshop. The location of the office is not particularly limited, and may be near the workshop or the worker's home. The location of the workshop is also not particularly limited.

[0018] [Surface Plate 10] As shown in FIG. 1, the surface plate 10 is a table on which the cutting material W is placed. The surface plate 10 is placed in a work area where the surface plate 10 can be installed. The surface plate 10 extends, for example, on a horizontal plane (hereinafter simply referred to as the horizontal plane) along the horizontal direction and is formed in a rectangular shape. In addition, a pair of rails R are arranged on the front side Y1 and the back side Y2 of the surface plate 10 in the Y-axis direction. Note that the surface plate 10 does not have to extend on a horizontal plane. In addition, the surface plate 10 does not have to be formed in a rectangular shape.

[0019] [Composite Pallet 20] As shown in FIGS. 1 and 2, the composite pallet 20 is arranged on the front side Y1 of the surface plate 10, closer to the rail R, and is a platform on which the cutting members S are placed. The composite pallet 20 is arranged close to the cutting members S so that the picking device 200 can easily collect them. The composite pallet 20 is also arranged in a work area large enough to accommodate the composite pallet 20. The composite pallet 20 includes a positioning plate 21 and a pallet 22.

[0020] The positioning plate 21 extends on a horizontal plane and is formed in a rectangular shape. The positioning plate 21 is a square formed with four sides and has four corners. Here, for example, the positioning plate 21 has a corner formed by one side on the right side X1 in the X-axis direction and one side on the rear side Y2 in the Y-axis direction, and has a first point P1 (x1, y1, z1) at a height position from an arbitrary reference point in the Z-axis direction. The positioning plate 21 also has one side on the left side X2 in the X-axis direction and one side on the front side Y1 in the Y-axis direction, and has a corner provided symmetrically from the center of the positioning plate 21 with respect to the first point P1, and has a second point P2 (x2, y2, z2) at a height position from an arbitrary reference point in the Z-axis direction. The first point P1 may be defined by one side on the right side X1 of the traveling direction in the X-axis direction, one side on the near side Y1 of the traveling direction in the Y-axis direction, and a height position from an arbitrary reference point in the Z-axis direction. In this case, the second point P2 may be a corner provided symmetrically about the center of the positioning plate 21 with respect to the first point P1 on a horizontal plane defined by the X-axis and Y-axis directions. The positioning plate 21 does not necessarily have to have a rectangular shape. For example, the positioning plate 21 may be a rectangle having two sides in the X-axis direction and two sides in the Y-axis direction that are different lengths, or may be a circle having the first point P1 provided on an edge and the second point P2 provided symmetrically about the center of the positioning plate 21 with respect to the first point P1 on a horizontal plane. The positioning plate 21 may have a shape other than the above (for example, a polygon).

[0021] The pallets 22 are placed on top of the positioning plate 21, extend on a horizontal plane, and are formed in a rectangular shape smaller than the positioning plate 21. As shown in FIG. 1, for example, four pallets 22 are arranged in predetermined positions on the positioning plate 21 so that their relative positions do not change. The pallets 22 are sorted according to the shape of the cut materials S, and the cut materials S are collected on the pallets 22 according to their shape. Furthermore, like the positioning plate 21, the pallets 22 may have shapes other than a rectangle (for example, polygonal or circular).

[0022] The cutting material W is a plate-like member such as a steel plate, etc. The cutting members S refer to a plurality of members formed by cutting the cutting material W with the cutting device 100.

[0023] [Cutting device 100] As shown in Figures 1 and 2, the cutting device 100 is a device that cuts a cutting material W, such as a steel plate, placed on a surface plate 10. In this embodiment, the cutting device 100 is placed in a work area where the cutting device 100 can be installed. The cutting device 100 includes a cutting head 110, a cutting torch 120, a drive unit 130, a cutting material position detection unit 140, and a cutting device main control unit 150.

[0024] The cutting head 110 is equipped with, for example, a cutting torch 120. The cutting head 110 is disposed above the surface plate 10 and is movable in the X-axis direction and the Y-axis direction relative to the surface plate 10 as shown in FIG.

[0025] The cutting torch 120 is, for example, a laser torch that cuts the cutting material W by laser cutting. The cutting torch 120 can move on the surface plate 10 together with the cutting head 110 in the X-axis direction and the Y-axis direction, and can also move in the Z-axis direction to arbitrarily change its height, so that it can move along the cut shape to be formed in the cutting material W. The cutting torch 120 can also change its inclination relative to the vertical direction as necessary. The cutting torch 120 is not limited to a laser torch, and may also be a plasma torch or a gas torch.

[0026] The drive unit 130 is disposed on a pair of rails R and has a drive motor (not shown). The drive unit 130 is configured to be able to move the cutting device 100 in the X-axis direction and the Y-axis direction based on a drive control unit 154, which will be described later. The drive unit 130 is also configured to be able to move the cutting head 110 in the Z-axis direction.

[0027] The cutting material position detection unit 140 is provided in, for example, the cutting head 110 and detects the position of the workpiece W to be cut in accordance with the movement of the cutting head 110, which moves in any direction, using conventionally known technology. The cutting material position detection unit 140 is provided with, for example, a position detection sensor (not shown). The position of the workpiece W to be cut is managed using coordinates in three directions: the X-axis direction, the Y-axis direction, and the Z-axis direction. The cutting material position detection unit 140 calculates coordinate information (cutting material placement information) of the workpiece W from the detected values ​​and outputs it to the cutting device main control unit 150 of the cutting device 100. Hereinafter, detecting the position of the workpiece W to calculate the cutting material placement information will be referred to as a cutting material teaching operation. Note that the cutting material position detection unit 140 is not limited to a position detection sensor, as long as it can detect the position of the workpiece W to calculate the cutting material placement information. For example, the cutting material position detection unit 140 may detect the position by image recognition or the like, or the position may be detected by an operator measuring the cutting material W and directly inputting the measurement value using a mouse, keyboard, or the like.

[0028] The cutting device main control unit 150 is a device (computer) that reads programs, data, or information obtained from an external source and controls the cutting device 100. The cutting device main control unit 150 includes a display unit 151, an operation unit 152, a storage unit 153, a drive control unit 154, a cutting schedule program creation unit 155, and a communication unit 156.

[0029] The display unit 151 displays information about the cutting device 100. An operator (not shown) can understand information about the cutting device 100, the cutting device main control unit 150, and the like from the information displayed on the display unit 151. The display unit 151 is, for example, a liquid crystal panel. However, the display unit 151 is not limited to a liquid crystal panel.

[0030] The operation unit 152 is, for example, a touch panel attached to a liquid crystal panel, allowing input operations to be performed in accordance with information displayed on the liquid crystal panel. The operation unit 152 is operated by an operator of the cutting device 100 to input product information of the cutting material W required for the cutting operation, information about cutting defects, and the like. The operator can input various information to the cutting device main control unit 150 by operating the operation unit 152. Here, the cutting defect information refers to information about the cutting material S that has been improperly cut and is input to the line schedule PC 500 (described later) when there is a cutting defect that has not been properly cut. Note that the cutting device 100 may itself detect the cutting defect and input the cutting defect information to the cutting device main control unit 150. The operation unit 152 may also be a mouse, keyboard, operation buttons, or the like separate from the display unit 151.

[0031] The storage unit 153 is a storage means such as a ROM, RAM, or HDD, and stores programs and data. The storage unit 153 stores data necessary for cutting the cutting material W, such as the material, shape, or thickness of the cutting material W, as a database (not shown). The cutting device main control unit 150 can obtain the database stored in the storage unit 153 from the cutting CAD / CAM 300, so that the storage unit 153 is not necessary.

[0032] The drive control unit 154 controls the movement of the drive unit 130 of the cutting device 100 based on the information acquired by the communication unit 156 and the storage unit 153 .

[0033] The cutting schedule program creation unit 155 is a program that determines the execution order of NC programs for cutting a plurality of cutting materials W (described later) (program execution order) from the cutting material arrangement information acquired by the cutting material position detection unit 140. The created cutting schedule program is transmitted to the line schedule PC 500 by the communication unit 156. The cutting schedule program creation unit 155 can automatically or manually change the execution order of NC programs for cutting a plurality of cutting materials W at any time, according to information acquired from the operation unit 152 or the communication unit 156.

[0034] The communication unit 156 is connected to the cutting CAD / CAM 300, the picking device 200, and the line schedule PC 500 via a communication cable (not shown) or the like, and transmits and receives data such as arrangement information of the cutting device 100 and the cutting material W, cutting operation information such as the start and completion of cutting operation, cutting defect information, and cutting schedule programs. The communication unit 156 constantly transmits and receives information whenever the information in the cutting device main control unit 150 is updated. For example, when a change in the program execution order is input from the cutting schedule program creation unit 155, the communication unit 156 automatically transmits the information to the line schedule PC 500. Furthermore, when cutting defect information is input, the communication unit 156 automatically transmits the information to the line schedule PC 500. Note that the communication unit 156 may be connected to devices other than those described above. The communication unit 156 may also communicate via a wireless LAN (local area network), the Internet, a telephone line, or the like.

[0035] [Picking device 200] As shown in FIGS. 1 and 2 , the picking device 200 is a device that collects cut pieces S formed by cutting the cutting material W on the surface plate 10 onto a pallet 22 placed on top of a positioning plate 21. In this embodiment, the picking device 200 has a space large enough to accommodate the picking device 200 and is arranged in the same work area as the cutting device 100. The picking device 200 is arranged on the left side X2 of the cutting device 100 in the X-axis direction and moves on the surface plate 10 in the same way as the cutting device 100. The picking device 200 includes a picking head 210, a suction unit 220, a drive unit 230, a pallet position detection unit 240, and a picking device main control unit 250. The arrangement of the picking device 200 is not particularly limited. For example, the picking device 200 may be arranged on the right side X1 of the cutting device 100 in the X-axis direction.

[0036] The picking head 210 is equipped with an attraction unit 220 such as a magnet on the lower side Z2 in the Z-axis direction, is placed on the upper side Z1 of the base plate 10, and is movable in the Z-axis direction. Note that the picking head 210 can also be moved to a position further forward Y1 than the rail R on the front side Y1 of the base plate 10, and further backward Y2 than the rail R on the rear side Y2 of the base plate 10, by moving the drive unit 230 in the Y-axis direction.

[0037] The suction unit 220 is, for example, a suction device using a magnet or the like. The suction operation of the suction unit 220 is controlled by a control unit (not shown). The suction unit 220 is not limited to a suction device such as a magnet, and may be any device that can pick up the cutting member S.

[0038] The drive unit 230 is disposed on a pair of rails R and has a drive motor (not shown). The drive unit 230 is configured to be able to move the picking device 200 in the X-axis direction and the Y-axis direction based on a drive control unit 252 of the picking device 200. The drive unit 230 is also configured to be able to move the picking head 210 in the Z-axis direction.

[0039] The pallet position detection unit 240 is provided in, for example, the picking head 210 and detects coordinate information of the positioning plate 21 of the composite pallet 20. The pallet position detection unit 240 is provided with, for example, a position detection sensor (not shown). The coordinate position of the positioning plate 21 is managed in three directions, the X-axis direction, the Y-axis direction, and the Z-axis direction, using the same coordinates as those used by the cutting material position detection unit 140 of the cutting device 100 to determine the position of the composite pallet 20. The pallet position detection unit 240 detects two points, a first point P1 and a second point P2, on the positioning plate 21. The pallet position detection unit 240 calculates coordinate information of the positioning plate 21 (positioning plate arrangement information) from the detected values ​​of the first point P1 and the second point P2 of the positioning plate 21 and outputs the coordinate information to the picking device main control unit 250 of the picking device 200. Hereinafter, detecting the two points, the first point P1 and the second point P2, on the positioning plate 21 and calculating the positioning plate arrangement information will be referred to as a pallet teaching operation. The pallet position detection unit 240 is not limited to a position detection sensor as long as it can detect the positions of the two points, the first point P1 and the second point P2, of the positioning plate 21 and calculate the positioning plate arrangement information. For example, the pallet position detection unit 240 may detect the positions of the two points, the first point P1 and the second point P2, of the positioning plate 21 by image recognition using a camera, or the position may be detected by an operator measuring the positions of the two points, the first point P1 and the second point P2, of the positioning plate 21 and directly inputting the measurement values ​​using a mouse, keyboard, etc.

[0040] The picking device main control unit 250 is a device (computer) that reads programs, data, or information obtained from an external source and controls the picking device 200. The picking device main control unit 250 includes a storage unit 251, a drive control unit 252, a pallet arrangement calculation unit 253, and a communication unit 254. The picking device main control unit 250 also includes a computer main unit and input / output devices such as a mouse and a keyboard, which are not shown.

[0041] The storage unit 251 is a storage means such as a ROM, RAM, or HDD, and stores programs and data. The storage unit 251 stores necessary data such as the relative positions and pallet numbers of the pallets 22 as a database (not shown).

[0042] The drive control unit 252 controls the movement of the drive unit 230 of the picking device 200 based on the information acquired by the communication unit 254 and the storage unit 251 .

[0043] The pallet placement calculation unit 253 calculates the placement of the pallet 22 placed on the positioning plate 21 based on the relative positions of the pallets 22 stored in the memory unit 251 from the acquired positioning plate placement information. The acquired pallet placement information is transmitted to the line schedule PC 500 via the communication unit 254.

[0044] The communication unit 254 is connected to the cutting device 100 and the line schedule PC 500 via a communication cable or the like (not shown), and transmits and receives information and data. The communication unit 254 may communicate via a wireless LAN (local area network), the Internet, a telephone line, or the like. The communication unit 254 may also be connected to devices other than those mentioned above.

[0045] In this embodiment, the picking device 200 may further have a function of detecting the defective cutting information input by the cutting device 100. In this case, the picking device 200 transmits the detected defective cutting information to the line schedule PC 500 via the communication unit 254.

[0046] [Cutting CAD / CAM300 (Cutting Program Creation Unit)] The cutting CAD / CAM 300 (cutting program creation unit) creates an NC program for cutting the cutting material W by the cutting device 100. The cutting CAD / CAM 300 is a device (computer) equipped with a CAD (Computer-Aided Design) function and a CAM (Computer-Aided Manufacturing) function. The cutting CAD / CAM 300 is installed, for example, in the worker's office.

[0047] 1, the cutting CAD / CAM 300 includes a storage unit 310, a cutting NC data creation unit 320, a cutting NC program creation unit 330, and a communication unit 340. The cutting CAD / CAM 300 also includes, for example, a computer main unit and input / output devices such as a mouse and a keyboard, which are not shown.

[0048] The storage unit 310 is a storage means such as a ROM, RAM, or HDD, and stores programs and data. The storage unit 310 stores data necessary for cutting, such as the plate number, material, shape, or thickness of the cutting material W, as a database (not shown). The database of the storage unit 310 is transmitted to the outside via the communication unit 340 as needed.

[0049] The cutting NC data creating unit 320 creates cutting NC data for the cutting device 100 to cut the material W to be cut, based on the database stored in the storage unit 310.

[0050] The cutting NC program creation unit 330 combines multiple pieces of cutting NC data for one cutting material W to create a cutting NC program that determines a cutting pattern for the cutting material W. The cutting NC program creation unit 330 reads the cutting NC data and generates the cutting NC program, which is then output to the cutting device 100 via the communication unit 340.

[0051] The communication unit 340 is connected to the cutting device 100 and the picking CAD / CAM 400 via a communication cable or the like (not shown), and transmits and receives information and data. The communication unit 340 transmits a cutting NC program to the cutting device 100. The communication unit 340 also transmits cutting NC data to the picking CAD / CAM 400. The communication unit 340 may transmit and receive data between the cutting device 100 and the picking CAD / CAM 400 via a wireless LAN (local area network), the Internet, a telephone line, or the like. The communication unit 340 may also be connected to devices other than those described above.

[0052] The cutting CAD / CAM 300 may be a personal computer in which software for realizing the CAD function and the CAM function is installed, or may be a dedicated machine for realizing the CAD function and the CAM function.

[0053] [Picking CAD / CAM400 (Picking Data Creation Department)] The picking CAD / CAM 400 (picking data creation unit) is a device (computer) with the same functions as the cutting CAD / CAM 300. The picking CAD / CAM 400 creates picking NC data for determining how the cutting material S is to be picked by the picking device 200. Like the cutting CAD / CAM 300, the picking CAD / CAM 400 is installed, for example, in the worker's office.

[0054] 2, the picking CAD / CAM 400 includes a storage unit 410, a picking NC data creation unit 420, and a communication unit 430. The picking CAD / CAM 400 also includes, for example, a computer main body and input / output devices such as a mouse and a keyboard (not shown).

[0055] The storage unit 410 is a storage means such as a ROM, RAM, or HDD, and stores programs and data. The storage unit 410 stores necessary data, such as the material number, shape, thickness, or position of the cut pieces S formed by cutting the cutting material W, and the relative position and pallet number of the pallet 22, as a database (not shown). The database of the storage unit 410 is transmitted to the outside via the communication unit 430 as needed. Note that the picking CAD / CAM 400 does not need to have the storage unit 410 by acquiring the database held by the storage unit 410 from the cutting CAD / CAM 300.

[0056] The picking NC data creation unit 420 creates picking NC data that determines how the picking device 200 will pick the cutting material S, based on the database stored in the memory unit 410 and the cutting NC data acquired from the cutting CAD / CAM 300.

[0057] The communication unit 430 is connected to the cutting CAD / CAM 300 and the picking CAD / CAM 400 via a communication cable or the like (not shown), and transmits and receives information and data. The communication unit 430 transmits the picking NC data to the line schedule PC 500. The communication unit 430 may transmit the picking NC data to the line schedule PC 500 via a wireless LAN (local area network), the Internet, a telephone line, or the like. The communication unit 430 may also be connected to devices other than those described above.

[0058] The picking CAD / CAM 400 may be a personal computer in which software for performing CAD and CAM functions is installed, or may be a dedicated machine for performing CAD and CAM functions.

[0059] [Line Schedule PC500 (Interlocking Schedule Creation Unit)] As shown in FIGS. 1 and 2, the line schedule PC 500 (interlocking schedule creation unit) is a device (computer) having the same functions as the cutting CAD / CAM 300 and the picking CAD / CAM 400. The line schedule PC 500 is placed in a work area, for example, so that an operator can check and change the operation order of the picking device 200 and the cutting device 100. The line schedule PC 500 creates an interlocking schedule that enables the cutting device 100 and the picking device 200 to work without interfering with each other. The line schedule PC 500 also creates a picking NC program that determines the pattern for collecting the cut materials S. As shown in FIG. 2, the line schedule PC 500 includes an operation unit 510, a display unit 520, a memory unit 530, a communication unit 540, an interlocking schedule program creation unit 550, and a picking NC program creation unit 560.

[0060] The operation unit 510 is an operation means including a mouse, a keyboard, etc., and is used to perform operations to add information. The operation unit 510 can also add information after the linked schedule program and the picking NC program have been created, and the information is stored in the storage unit 530.

[0061] The display unit 520 is a display means formed of a display screen such as a liquid crystal display of the computer main body.

[0062] The storage unit 530 is a storage means such as a ROM, RAM, or HDD, and stores information input through the operation unit 510, programs or data acquired through the communication unit 540, and the like.

[0063] The communication unit 540 is connected to the cutting device 100, the picking device 200, and the picking CAD / CAM 400 via a communication cable (not shown) or the like, and transmits and receives data. The communication unit 540 also transmits an interlocking schedule program to the cutting device 100 and the picking device 200. The communication unit 540 also transmits a picking NC program to the picking device 200. The communication unit 540 may communicate via a wireless LAN (local area network), the Internet, a telephone line, or the like. The communication unit 430 may also be connected to devices other than those listed above. The communication unit 430 may be capable of communicating with at least one of the cutting device 100 and the picking device 200. The communication unit 430 can also transmit information stored in the line schedule PC 500 to devices other than those listed above as necessary.

[0064] The interlocking schedule program creation unit 550 creates an interlocking schedule program that enables the cutting device 100 and the picking device 200 to perform their respective tasks without interfering with each other, based on the cutting material arrangement information and cutting schedule program acquired from the cutting device 100, the pallet arrangement information acquired from the picking device 200, and the picking NC data acquired from the picking CAD / CAM 400. Furthermore, when the interlocking schedule program creation unit 550 acquires a changed cutting schedule program from the cutting device 100, it updates the originally created interlocking schedule program based on the cutting schedule program. Furthermore, the interlocking schedule program creation unit 550 manually or automatically updates the interlocking schedule program in accordance with the information and data acquired from the communication unit 540.

[0065] The picking NC program creation unit 560 is a program that combines cut material placement information obtained from the cutting device 100, picking NC data obtained from the picking CAD / CAM 400, and pallet placement information obtained from the picking device 200 for multiple cut members S formed by cutting one cut material W, and determines the picking position of the suction unit 220 of the picking device 200, the position of the pallet 22 on which the picked cut members S are placed, and the picking order of the multiple cut members S. The created picking NC program is transmitted to the picking device 200 via the communication unit 540. Furthermore, when the picking NC program creation unit 560 acquires defective cutting information from the cutting device 100, it creates a new picking NC program from the originally created picking NC program based on the defective cutting information, which skips the defectively cut cut members S from the cut material W. The picking NC program creation unit 560 may update the picking NC program in response to changes in the cutting schedule program changed by the cutting device 100 or changes in information and data acquired from the communication unit 540.

[0066] Next, the operation of the cut member collecting system 1 according to this embodiment will be described with reference to FIGS. FIG. 3 is a diagram illustrating the flow of the cutting CAD / CAM 300, picking CAD / CAM 400, cutting device 100, picking device 200, and line schedule PC 500 of the cutting device 100 of the cut materials collection system 1. FIG. 4 is a diagram schematically illustrating the cutting device 100 and picking device 200 before cutting and collecting operations in the cut materials collection system 1. FIG. 5 is a diagram illustrating the state in FIG. 4 where the cutting device 100 of the cut materials collection system 1 has cut one of the multiple cut materials W. FIG. 6 is a diagram illustrating the state in FIG. 4 where the cutting device 100 of the cut materials collection system 1 has cut the cut material W and the picking device 200 has collected the cut materials S formed by cutting the cut material W onto a pallet 22.

[0067] In this embodiment, as shown in Figure 4, two cutting materials W are placed on the surface plate 10 along the X-axis direction. Of these cutting materials W, the one on the left side X2 running in the X-axis direction is referred to as the first cutting material W1, and the one on the right side X1 running in the X-axis direction is referred to as the second cutting material W2. The multiple cutting members S formed by cutting the first cutting material W1 are referred to as the first cutting members S1, and the cutting members S formed by cutting the second cutting material W2 are referred to as the second cutting members S2. Furthermore, the composite pallet 20 includes a first composite pallet 20a on which the first cutting member S1 is placed, and a second composite pallet 20b on which the second cutting members S2 are placed.

[0068] (Step S101, Step S102) In step S101, before the cutting and collecting operations are performed, the cutting CAD / CAM 300 and the picking CAD / CAM 400, which are installed in an office away from the work site, create NC programs, NC data, etc. The cutting CAD / CAM 300 creates cutting NC data in the cutting NC data creation unit 320. Next, in step S102, the cutting NC program creation unit 330 creates a first cutting NC program that determines a cutting pattern for the first cutting material W1 based on the cutting NC data created in step S101 and a database such as the memory unit 310 of the cutting CAD / CAM 300. Similarly, the cutting NC program creation unit 330 creates a second cutting NC program that determines a cutting pattern for the second cutting material W2.

[0069] (Step S201) In step S201, the picking CAD / CAM 400 generates picking NC data using the picking NC data generation unit 420.

[0070] Next, a program is created by the line schedule PC 500 arranged in the work area, and the cutting work of the cutting material W and the collection work of the cut pieces S are carried out using the cutting device 100 and the picking device 200. First, the cutting work of the cutting material W by the cutting device 100 will be described with reference to steps S103 to S109 and step S301 in Fig. 3, and Figs. 4 to 6.

[0071] (Step S103, Step S104) First, in step S103, the cutting device 100 performs a cutting material teaching operation. As shown in Fig. 4, the drive control unit 154 of the cutting device 100 moves the cutting device 100 from the left traveling side X2 to the right traveling side X1 in the X-axis direction, and moves the cutting head 110 provided on the cutting device 100 over the first cutting material W1 and the second cutting material W2. In step S104, the cutting material position detection unit 140 arranged on the cutting head 110 reads the cutting material W by known means and acquires cutting material position information.

[0072] (Step S105) Next, in step S105, the cutting schedule program creation unit 155 of the cutting device 100 creates a cutting schedule program that determines the program execution order of the first cutting NC program and the second cutting NC program acquired from the cutting CAD / CAM 300. The cutting schedule program creation unit 155 creates a program that, for example, executes the first cutting NC program first, and then executes the second cutting NC program.

[0073] (Step S301) In step S301, the line schedule PC 500 acquires necessary data such as cutting material arrangement information output from the cutting device 100, a cutting schedule program, pallet arrangement information output from the picking device 200 in step S203 (described later), and picking NC data output from the picking CAD / CAM 400. The interlocking schedule program creation unit 550 creates an interlocking schedule program based on this information, data, and program. The cutting device 100 acquires the interlocking schedule program created by the line schedule PC 500.

[0074] (Step S106, Step S107) In step S106, as shown in FIG. 5, the cutting device main control unit 150 of the cutting device 100 executes the first cutting NC program based on the cutting schedule program. The cutting device 100 transmits cutting operation information, such as cutting start information, to the picking device 200 via the communication unit 156. The drive control unit 154 first controls the cutting device 100 to move in the X-axis direction from the left traveling side X2 to the right traveling side X1, and cuts the first cutting material W1. In step S107, after cutting the first cutting material W1, the cutting device 100 transmits cutting operation information, such as cutting completion information, via the communication unit 156 to the picking device 200, and proceeds to step S108.

[0075] (Step S108) In step S108, as shown in FIG. 6, after cutting the first workpiece W1, if there is a next workpiece W to be cut, the cutting device 100 proceeds to step S106 and performs the cutting operation on the next workpiece W. For example, in this embodiment, after cutting the first workpiece W1, the cutting device 100 performs the cutting operation on the next workpiece W, the second workpiece W2, based on the cutting schedule program created in step S105. The drive control unit 154 controls the cutting device 100 to move further to the right side X1 in the X-axis direction than the first workpiece W1, and cut the second workpiece W2. After cutting the second workpiece W2, the cutting device 100 transmits cutting operation information, such as cutting completion, to the picking device 200 via the communication unit 156.

[0076] (Step S109) In step S109, as shown in Figure 6, if the next cutting material W is not on the cutting schedule program, the cutting device 100 retreats to a position on the rail R that does not interfere with the collection work performed by the picking device 200, and sends cutting work information such as retreat completion to the picking device 200 via the communication unit 156, thereby completing the cutting work.

[0077] Next, the collection operation of the cut members S in the picking device 200 will be described with reference to steps S202 to S208 and steps S301 to S303 in FIG. 3, and FIGS.

[0078] (Step S202, Step S203) In step S202, the picking device 200 performs a pallet teaching operation. As shown in FIG. 4, the drive control unit 252 of the picking device 200 moves the picking device 200 from the left travel side X2 to the right travel side X1 in the X-axis direction, and moves the picking head 210 provided in the picking device 200 over the first composite pallet 20a and the second composite pallet 20b. In step S203, the pallet position detection unit 240 disposed in the picking head 210 acquires coordinate information (positioning plate arrangement information) of the first point P1 and the second point P2 of the positioning plates 21 of the first composite pallet 20a and the second composite pallet 20b, respectively. Thereafter, the pallet arrangement calculation unit 253 calculates pallet arrangement information based on the acquired positioning plate arrangement information. The pallet arrangement information is transmitted to the line schedule PC 500 via the communication unit 254.

[0079] (Step S301, Step S302) As in step S301 described above, the line schedule PC 500 acquires necessary data, such as the cutting material arrangement information and cutting schedule program output from the cutting device 100, the pallet arrangement information output from the picking device 200, and the picking NC data output from the picking CAD / CAM 400. The line schedule PC 500 creates an interlocking schedule program based on the acquired information. In step S302, the line schedule PC 500 combines the cutting material arrangement information, the picking NC data, and the pallet arrangement information to create picking NC programs for the first cutting member S1 and the second cutting member S2, respectively. The picking device 200 acquires the interlocking schedule program and picking NC program transmitted via the communication unit 540 of the line schedule PC 500.

[0080] (Step S204) Here, in step S204, if cutting defect information is input from the worker or the cutting device 100, or if the picking device 200 itself detects a cutting defect, the cutting defect information is transmitted to the line schedule PC 500. Next, the process proceeds to step S303. On the other hand, if cutting defect information is not input to the line schedule PC 500 in step S204, the process proceeds to step S205.

[0081] (Step S303) In step S303, the line schedule PC 500 creates a new picking NC program from the originally created picking NC program based on the acquired cutting defect information, which skips the first cutting member S1 of the first cutting material W1 that has a cutting defect. The picking NC program is transmitted to the picking device 200 via the communication unit 540 of the line schedule PC 500. Next, the process proceeds to step S205.

[0082] (Step S205, Step S206) In step S205, the picking device 200 performs collection work according to the picking NC program or a newly created picking NC program. The picking device 200 starts work based on cutting work information, such as cutting completion and evacuation completion, acquired from the cutting device 100. For example, if the picking device 200 acquires a picking NC program in step S303 that skips the first cut members S1 of the first cut material W1 that are poorly cut, the picking device 200 skips some of the first cut members S1 and performs collection work for the first cut members S1 formed by cutting the first cut material W1. When the picking device 200 completes the collection work, it transmits collection work information, such as work completion, to the outside via the communication unit 254, thereby completing the collection work.

[0083] (Step S207, Step S208) In step S207, the picking device 200 that collected the first cutting material S1 performs collection work in accordance with the picking NC program created in the line schedule PC 500 if there are next cutting materials S. For example, in this embodiment, after collecting the first cutting material S1, the picking device 200 performs collection work for the next cutting material S, the second cutting material S2, based on the interlocking schedule program and the picking NC program created in steps S301 and S302. If there are no cutting materials S to collect, the process proceeds to step S208, and the picking device 200 ends the collection work.

[0084] In this embodiment, the line schedule PC 500 located in the work area first acquires data such as picking NC data output from the picking CAD / CAM 400. The line schedule PC 500 then acquires cutting material placement information and a cutting schedule program from the cutting device 100, also located in the work area, and acquires necessary data such as pallet placement information from the picking device 200, thereby creating an interlocking schedule program and a picking NC program. Therefore, even if the cutting schedule order for the cutting material W is suddenly changed in the work area, the line schedule PC 500 can reacquire the cutting material placement information and the cutting schedule program from the cutting device 100 and create a new interlocking schedule program and a new picking NC program. Therefore, unlike conventional systems, where a picking NC program used in the subsequent collection process needs to be rewritten to match a change in the cutting schedule for the cutting material W, an operator can easily create a new picking NC program using the line schedule PC 500 located in the work area. Furthermore, because the line schedule PC 500 is located in the work area, an operator can quickly change the picking NC program in the work area.

[0085] Furthermore, in this embodiment, the cutting device 100 performs cutting material teaching work and outputs cutting material placement information to the line schedule PC 500. The line schedule PC 500 creates a picking NC program based on the cutting material placement information and transmits it to the picking device 200. Therefore, the picking device 200 can execute the picking NC program using the line schedule PC 500 that has acquired the cutting material placement information, without performing cutting material teaching work.

[0086] Furthermore, in this embodiment, the picking device 200 detects the first point P1 and the second point P2 of the positioning plate 21 to obtain positioning plate arrangement information, and can then calculate the pallet arrangement information from the relative positions of the pallets 22 stored in the database of the storage unit 251. Therefore, the picking device 200 can obtain the pallet arrangement information with just one pallet teaching operation, without having to obtain the coordinate information of multiple pallets 22 one by one as in the conventional method, and the time required for the pallet teaching operation can be significantly reduced.

[0087] Furthermore, in this embodiment, when defective cutting information is input by an operator or the cutting device 100, or when the picking device 200 itself detects a defective cutting, the defective cutting information is sent to the line schedule PC 500. Then, based on the defective cutting information, the line schedule PC 500 creates a new picking NC program from the originally created picking NC program that skips the defectively cut cut member S from the cut material W. Therefore, the line schedule PC 500 can easily create a picking NC program in a short time, without having to create a new picking NC program from scratch.

[0088] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the invention.

[0089] (Variation) In the cut material collecting system 1 of the present invention, there is no particular limitation on the number of cut materials W. For example, three or more cut materials W may be provided on the surface plate 10 as shown in FIG.

[0090] Furthermore, in the above embodiment, the cut material collecting system 1 may have one composite pallet 20 for one cut material W, which is disposed between the surface plate 10 and the cut material W in the Y-axis direction. Furthermore, in the above embodiment, one composite pallet 20 is provided for one cut material W, but this is not particularly limited in the present invention. For example, the cut material collecting system of the present invention may have multiple composite pallets for one cut material, or multiple cut materials for one composite pallet.

[0091] Furthermore, in the above embodiment, the composite pallet 20 was placed on the front side Y1 of the rail R on the front side Y1 of the surface plate 10, but the placement of the composite pallet 20 of the present invention is not particularly limited. For example, as shown in FIG. 8, the composite pallet 20 may be placed on the surface plate 10 within a range within which the picking head 210 of the picking device 200 can move. Even in this case, the cut member collecting system 1 can use the line schedule PC 500 to create an interlocking schedule program that determines the order in which the cut members S formed by cutting the cut material W will be collected.

[0092] Furthermore, in the above embodiment, the picking device 200 calculates positioning plate arrangement information from the detection values ​​of the first point P1 and the second point P2 of the positioning plate 21 in the pallet position detection unit 240, and acquires the pallet arrangement information in the pallet arrangement calculation unit 253, but the method for acquiring the pallet arrangement information is not particularly limited. For example, the picking device 200 may acquire the pallet arrangement information by performing a pallet teaching operation on the positions of the pallets 22 one by one in the pallet position detection unit 240.

[0093] Furthermore, in the above embodiment, the pallet position detection unit 240 detects the first point P1 and the second point P2 of the positioning plate 21, but the pallet position detection unit of the present invention may detect only the first point P1, or may detect multiple points in addition to the first point P1 and the second point P2. Furthermore, the first point P1 and the second point P2 do not have to be corners of the positioning plate 21. Furthermore, although the second point P2 is provided symmetrically with respect to the first point P1 from the center of the positioning plate 21, it does not have to be symmetrical.

[0094] Furthermore, the pallet position detection unit of the present invention may detect and calculate the height of the surface plate in the X-axis direction in addition to the coordinate information of the positioning plate.

[0095] In the above embodiment, four pallets 22 are arranged at predetermined positions on the positioning plate 21, but the number of pallets of the present invention is not particularly limited. Two or more pallets may be provided. Furthermore, the pallet of the present invention can accommodate not only one type of cutting material but multiple types of cutting materials. The composite pallet 20 may be arranged between the surface plate 10 and the cutting material W in the Y-axis direction.

[0096] In the above embodiment, the positioning plate 21 is disposed on the front side Y1 of the surface plate 10 in the Y-axis direction and substantially parallel to the cutting material W, but the positioning plate of the present invention is not particularly limited. For example, two or more positioning plates may be provided.

[0097] In the above embodiment, the office is located away from the work site, but the location of the office is not particularly limited, and it may be located near the work site, or may be the worker's home, etc. The location of the work site is also not particularly limited.

[0098] Furthermore, in the above embodiment, the line schedule PC 500 is individually arranged in the work area, but this is not particularly limited, and for example, the line schedule PC 500 may be provided in the picking device 200.

[0099] Furthermore, in the above embodiment, the picking device 200 detects the first point P1 and the second point P2 of the positioning plate 21 to obtain positioning plate arrangement information and calculate pallet arrangement information, but this is not particularly limited, and for example, the cutting device 100 may detect the first point P1 and the second point P2 of the positioning plate 21 and calculate the pallet arrangement information.

[0100] In any of the above embodiments, the cut material collection system and cut material collection method of the present invention can provide a system that determines the collection work of cut materials formed by cutting the cut material in response to poor cutting of the cut material or changes in the cutting order, and can carry out the work efficiently in a short amount of time. [Industrial Applicability]

[0101] The cut material collection system and cut material collection method of the present invention can provide a system that can determine the collection work of cut materials formed by cutting cut material in response to poor cutting of the cut material or changes in the cutting order, and can carry out the work efficiently in a short amount of time, making it industrially applicable. [Explanation of symbols]

[0102] 1 Cutting material collection system 10 Surface Plate 20 Composite Pallets 21 Positioning plate 22 palettes 100 cutting equipment 110 Cutting Head 120 cutting torch 140 Cutting material position detection unit 150 Cutting device main control unit 155 Cutting Schedule Programming Department 200 Picking device 210 Picking Head 220 Adsorption part 240 Pallet position detection unit 250 Picking device main control unit 253 Pallet placement calculation unit 300 Cutting CAD / CAM (Cutting NC Program Creation Department) 320 NC data creation for cutting 330 Cutting NC Program Creation Department 400 CAD / CAM for picking (NC data creation for picking) 420 Picking NC data creation section 500 Line Schedule PC (Interlocking Schedule Program Creation Department) 550 Interlocking Schedule Program Creation Department 560 Picking NC Program Creation Department P1 First point P2 Second point R rail W cutting material S Cutting material

Claims

1. a cutting schedule program creation unit that determines a program execution order of a first cutting NC program to be input to the cutting device that cuts a first cutting material among the cutting materials and a second cutting NC program to be input to the cutting device that cuts a second cutting material according to cutting material arrangement information of the cutting materials acquired by the cutting device that cuts the cutting materials; a picking NC data creation unit that creates picking NC data for collecting the plurality of cut pieces cut from the cutting material onto a pallet on which the cut pieces can be placed by a picking device; an interlocking schedule creating unit that determines a picking order for collecting the cutting members of the picking device that can be interlocked with the program execution order based on the program execution order and the picking NC data, and creates a picking NC program for the picking device; A cutting member collection system comprising:

2. The interlocking schedule creation unit has a function of changing the picking order when the program execution order is changed. The cutting material collection system of claim 1 .

3. The interlocking schedule creation unit has a function of further incorporating pallet arrangement information of the pallets acquired by the picking device, and creating the picking NC program in accordance with changes in the pallet arrangement information. The cutting member collecting system according to claim 1 or 2.

4. The interlocking schedule creation unit has a function of further acquiring positioning plate arrangement information of a positioning plate having a plurality of the pallets thereon, the relative positions of which are not changed by the picking device, and creating the picking NC program. The cutting member collecting system according to any one of claims 1 to 3.

5. The interlocking schedule creation unit has a function of skipping the sequence for the cut material that was not cut by the cutting device. A cutting member collecting system according to any one of claims 1 to 4.

6. a cutting schedule program creation process for determining a program execution order of a first cutting NC program to be input to the cutting device for cutting a first cutting material among the cutting materials and a second cutting NC program to be input to the cutting device for cutting a second cutting material, based on cutting material arrangement information of the cutting materials acquired by the cutting device for cutting the cutting materials; a picking data creation step of creating picking NC data for collecting, by a picking device, a plurality of cut pieces cut from the cutting material onto a pallet on which the cut pieces can be placed; a step of determining a picking order for collecting the cutting members of the picking device that can be linked with the program execution order based on the cutting schedule program creation step and the picking data creation step, and creating an interlocking schedule for creating a picking NC program for the picking device; A cutting member collecting method comprising:

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