Conveying system and determination method

Abstract

To provide a transportation system and a determination method that can readily confirm missing, coming off, damage or flexure of a transportation device.SOLUTION: A transportation system HS includes: a transportation device used for transporting a workpiece that is processed by a processing machine 1; an imaging part 31 for imaging a region including the transportation device; and a determination part 41 for determining if any missing, coming off, damage or flexure of the transportation device on the basis of the captured image which is imaged by the imaging part 31.SELECTED DRAWING: Figure 1

Description

[[Technical Field]]

[0001] The present invention relates to a conveying system and a determination method. [[Background Art]]

[0002] A conveying system for conveying a workpiece processed by a processing machine is disclosed (see, for example, Patent Document 1). In this conveying system, a workpiece placed on a pallet is conveyed from the processing machine to a predetermined area, then, a product that is the workpiece is taken out from the pallet in the predetermined area and carried out to a preset placement shelf. The conveying system also carries residues other than the product, such as frame parts, from the pallet to a residual material collection unit or the like. [[Prior Art Literature]] [[Patent Literature]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2021-171786 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] Here, the conveying system includes carrying-out devices such as a loader device, a pallet, and a fork device. Among these components, since the pallet is carried into the processing machine with a workpiece placed thereon, the pallet may suffer chipping, falling off, damage, or distortion due to thermal influence from processing the workpiece. Chipping, falling off, damage, or distortion may also occur over years of use in the fork device that lifts the workpiece from the pallet, and the loader device that takes a product out from above the pallet (the fork). For this reason, a user needs to periodically check whether chipping, falling off, damage, or distortion has occurred, and this periodic checking work imposes a large burden on the user and is inefficient. Patent Document 1 describes a technique related to detecting adhesion of molten metal to a pallet, but does not describe any technique related to detecting chipping, falling off, damage, or distortion of a carrying-out device, so the periodic checking work described above is still required.

[0005] The present invention aims to provide a transport system and a determination method that allows for easy detection of defects, detachment, damage, or distortion of the transport device without requiring periodic inspection by the user. [Means for solving the problem]

[0006] This invention one manner It is a transport system. The conveying system handles the workpieces processed by the processing machine. It has a support part that supports the lower surface of the workpiece Transport It is equipped with a fork device. The conveying system is a fork Imaging unit that images the area including the device. The transport system is equipped with the following: Based on the image captured by the imaging unit, fork Equipment failure Loss A determination to determine presence or absence. department Preparation The upper surface of the support portion is provided with a suction pad to support the workpiece. The imaging unit has a field of view that can capture the entire upper surface of the fork device. The determination unit determines whether the fork device is damaged or not, based on the captured image when the support portion is within the field of view of the imaging unit, by determining whether the suction pad has come off.

[0007] This invention one manner This is the method of determination. The determination method is the workpiece processed by the processing machine. bottom of Supported by the support part Transport fork Area including the device , has a field of view that can capture the entire upper surface of the fork device. Perform imaging in the imaging unit. This includes the following: Based on the image captured by the imaging unit, fork Equipment failure Loss Determining presence or absence and Contains The determination method is based on the captured image when the support part is within the field of view of the imaging unit, and determines whether or not there is a defect in the fork device by checking whether the suction pad, which is provided on the upper surface of the support part to support the workpiece, has come off. [Effects of the Invention]

[0008] According to the above embodiment of the transport system and determination method, an area including a discharge device used to transport a workpiece processed by a processing machine is imaged, and based on the captured image, the presence or absence of defects, detachment, damage, or distortion of the discharge device can be easily confirmed without performing periodic inspection work.

[0009] Furthermore, in the above embodiment of the transport system, the system includes a pallet on which the workpiece processed by the processing machine is placed, and a loader device for removing the workpiece from the pallet, and the unloading device may be at least one of the pallet or the loader device. With this configuration, it is possible to easily check for defects, detachment, damage, or distortion of at least the pallet or the loader device.

[0010] Furthermore, in the above embodiment of the transport system, the field of view of the imaging unit is set to include the entire upper surface of the pallet, and the determination unit may determine whether there are any defects, detachments, damage, or distortions in the pallet based on the image captured after all the workpieces have been removed. With this configuration, defects, detachments, damage, or distortions in the pallet can be easily confirmed during actual operation.

[0011] Furthermore, in the above embodiment of the transport system, the field of view of the imaging unit may be set to include the entire upper surface of the pallet, and the determination unit may determine whether the loader device is missing, detached, damaged, or distorted based on the captured image when the loader device is within the field of view. With this configuration, it is possible to easily confirm whether the loader device is missing, detached, damaged, or distorted during actual operation.

[0012] Furthermore, in the above embodiment of the transport system, the system includes a pallet on which workpieces processed by a processing machine are placed, a fork device having a support part that supports the workpieces placed on the pallet above the pallet, and a loader device that removes the workpieces on the pallet supported by the support part. The field of view of the imaging unit is set to include the area above the top surface of the pallet, the unloading device is the fork device, and the determination unit may determine whether the support part is missing, detached, damaged, or distorted based on the captured image when the support part is within the field of view. With this configuration, it is possible to easily check for missing, detached, damaged, or distorted parts of the fork device without performing periodic checks.

[0013] Further, in the conveying system of the above aspect, the determination unit may determine whether the conveying device has any defect, dropout, damage or distortion by comparing the state of the conveying device on the captured image with the original expected state of the conveying device. According to this configuration, defects, dropouts, damage or distortion of the conveying device can be easily checked without performing regular confirmation work. [Brief Description of the Drawings]

[0014] [Figure 1] FIG. 1 is a perspective view showing an example of the conveying system according to the present embodiment. [Figure 2] FIG. 2 is a plan view showing an example of the conveying system according to the present embodiment. [Figure 3] FIG. 3 is a perspective view showing a processing pallet according to the present embodiment. [Figure 4] FIG. 4 is a perspective view showing a fork device according to the present embodiment [Figure 5] FIG. 5 is a perspective view showing the operation of the fork device according to the present embodiment. [Figure 6] FIG. 6 is a diagram schematically showing an example of an angle of view captured by an imaging unit according to the present embodiment. [Figure 7] FIG. 7 is a schematic configuration diagram of a processing unit according to the present embodiment. [Figure 8] FIG. 8 is a diagram explaining an abnormality determination method for a processing pallet according to the present embodiment. [Figure 9] FIG. 9 is a diagram explaining an abnormality determination method for a fork device according to the present embodiment. [Figure 10] FIG. 10 is a diagram explaining an abnormality determination method for a loader device according to the present embodiment. [Figure 11] FIG. 11 is a flowchart of an abnormality determination method for a conveying device according to the present embodiment. [Mode for Carrying Out the Invention]

[0015] The present invention will be described below through embodiments, but the following embodiments are not limited to the invention as defined in the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention. In addition, in the drawings, the same or similar parts are denoted by the same reference numerals, and redundant explanations may be omitted. Also, the shape and size of elements in the drawings may be exaggerated for clearer explanation, and may differ in shape and dimensions from the actual product.

[0016] In drawings, directions are sometimes explained using the XYZ coordinate system. In the XYZ coordinate system, the plane parallel to the horizontal plane is called the XY plane. One direction on this XY plane is denoted as the X direction, and the direction perpendicular to the X direction is denoted as the Y direction. The direction perpendicular to the XY plane is denoted as the Z direction. In the drawings, the direction pointed to by the arrows is considered the + direction, and the direction opposite to the direction pointed to by the arrows is considered the - direction.

[0017] Figure 1 is a perspective view showing an example of a transport system HS according to the embodiment. Figure 2 is a plan view showing an example of a transport system HS according to the embodiment. In this embodiment, the transport system HS is applied to a processing system PS. As shown in Figures 1 and 2, the processing system PS includes, for example, a processing machine 1, a stocker 2, and a transport system HS. The transport system HS includes an unloading device used to transport the workpiece processed by the processing machine 1. The transport system HS includes, for example, a loader device 3, a gripper device 4, a processing pallet 5, a pallet changer 6, a fork device 7, a control unit 8, an illumination unit 30, one or more imaging units 31, and a processing unit 32. The loader device 3, the gripper device 4, the processing pallet 5, the pallet changer 6, and the fork device 7 are each examples of transport devices. In this embodiment, the transport system HS includes two imaging units 31A and 31B. When imaging units 31A and 31B are not distinguished, they may simply be referred to as "imaging unit 31".

[0018] The processing machine 1 performs cutting or other processing on the workpiece W placed on the processing pallet 5, separating the workpiece W into product Wa and leftover material Wb. This processing may be a so-called jointless processing method, where there is no connection between product Wa and leftover material Wb, or it may be a processing method other than jointless processing. For example, the processing machine 1 separates the workpiece W on the processing pallet 5 into product Wa and leftover material Wb by irradiating it with laser light. Workpiece W is, for example, a plate-shaped material. Leftover material Wb is the plate-shaped material remaining after product Wa has been cut from workpiece W by the processing machine 1, and is sometimes referred to as a skeleton. For example, leftover material Wb is a plate-shaped material that includes the peripheral edges of workpiece W and is connected to each other. Product Wa and leftover material Wb are examples of workpieces. Note that the processing machine 1 is not limited to laser processing, and may use processing methods other than laser processing.

[0019] Here, the processing system PS is provided with a storage area AR1 and an loading / unloading area AR2. For example, the workpiece W before processing is stored in the storage area AR1. The workpiece W after processing, i.e., the product Wa, is also stored in the storage area AR1. The loading / unloading area AR2 is located on the +X side of the processing machine 1. The loading / unloading area AR2 is located between the processing machine 1 and the storage area AR1. For example, the workpiece W before processing is transported from the storage area AR1 to the loading / unloading area AR2. The workpiece W before processing is then transported from the loading / unloading area AR2 to the processing machine 1, where it is cut into product Wa and waste material Wb.

[0020] Stocker 2 is located in storage area AR1. Stocker 2 stores workpieces W before processing and finished products Wa after processing. Stocker 2 comprises, for example, a plurality of storage shelves 11 and an elevator 12. The plurality of storage shelves 11 are arranged, for example, in the vertical direction (Z direction). The storage shelves 11 store, for example, material pallets (not shown) on which multiple workpieces W before processing are placed. The elevator 12 can take the material pallets from the storage shelves 11 and raise and lower these material pallets.

[0021] A temporary storage area AR3 is provided within the storage area AR1. The temporary storage area AR3 is provided, for example, adjacent to the stocker 2 on the +Y side. The stocker 2 uses the elevator 12 to place material pallets on which multiple unprocessed workpieces W are placed in the temporary storage area AR3. The storage shelves 11 store product pallets 13 on which product Wa is accumulated. The elevator 12 can take the product pallets 13 from the storage shelves 11 and raise or lower the product pallets 13. The stocker 2 places the product pallets 13 in the temporary storage area AR3. Product Wa is placed on the product pallets 13 placed in the temporary storage area AR3 by the loader device 3. The stocker 2 transfers the product pallets 13 on which product Wa is placed from the temporary storage area AR3 to the storage shelves 11.

[0022] The loader device 3 transports the workpiece W or product Wa before processing. For example, the loader device 3 transports the workpiece W before processing from the temporary storage area AR3 to the loading / unloading area AR2 and places it on the processing pallet 5 located in the loading / unloading area AR2. After laser processing, the loader device 3 also performs product unloading processing of the product Wa from the processing pallet 5. For example, as part of the product unloading process, the loader device 3 takes the product Wa from the processing pallet 5 located in the loading / unloading area AR2 and transfers the taken product Wa to the product pallet 13 in the temporary storage area AR3. The loader device 3 includes, for example, a Y-rail 15, a trolley 16 that can travel on the Y-rail 15, and a transfer device 17 provided on the trolley 16.

[0023] The Y-rail 15 extends in a direction (Y-direction) that intersects the direction of movement (X-direction) of the processing pallet 5. An X-rail 18 extending in the X-direction is provided on the upper part of the traveling trolley 16. The transfer device 17 is attached to the X-rail 18.

[0024] The transfer device 17 comprises an X-movable body 19 that can move along an X-rail 18, a Z-movable body 20 provided on the X-movable body 19, and a loader head 21 provided at the lower end of the Z-movable body 20. The X-rail 18 is provided extending above the temporary storage area AR3 and above the loading / unloading area AR2. The X-movable body 19 is movable between the temporary storage area AR3 and the loading / unloading area AR2. The Z-movable body 20 is movable in the vertical direction (up and down direction). The loader head 21 is provided with a suction pad 21p. The loader head 21 moves in the Y direction by the traveling carriage 16, in the X direction by the X-movable body 19, and in the vertical direction by the Z-movable body 20. The suction pad 21p can adsorb the product Wa by means of vacuum or reduced pressure, for example.

[0025] The loader device 3 may either remove multiple product Wa from the processing pallet 5 all at once, or remove each product Wa individually, as part of the product unloading process for product Wa. Alternatively, the loader device 3 may either transfer multiple product Wa removed from the processing pallet 5 all at once onto the product pallet 13, or transfer each product onto the product pallet 13 individually. Furthermore, if two or more types of product Wa are formed by processing a single workpiece W, the loader device 3 may sort the product Wa by type and transfer each type of product Wa to the product pallet 13.

[0026] The gripper device 4 is positioned above the processing pallet 5 on the +X side of the processing machine 1. The gripper device 4 is also movable in the Y direction and can be retracted from above the processing pallet 5. Although Figures 1 and 2 show the gripper device 4 retracted to the +Y side of the processing pallet 5, the gripper device 4 may also be retracted to the -Y side of the processing pallet 5.

[0027] The gripper device 4 removes the leftover material Wb placed on the processing pallet 5 from the processing pallet 5. The gripper device 4 is equipped with multiple gripping parts 4a that grip the +Y side and -Y side of the leftover material Wb. The multiple gripping parts 4a are arranged in the X direction and are provided to be vertically movable. The gripper device 4 holds the leftover material Wb with the gripping parts 4a and removes it from the workpiece lifted by the fork device 7.

[0028] For example, the gripper device 4 removes the leftover material Wb from the processing pallet 5 and performs a leftover material discharge process to discharge the leftover material Wb to the leftover material recovery unit 10. This leftover material discharge process may be performed before the product unloading process in which the product Wa is removed from the processing pallet 5 by the loader device 3, or it may be performed after the product unloading process.

[0029] When removing leftover material Wb from the processing pallet 5, for example, the gripper device 4 is positioned so that multiple gripping parts 4a are located above the outer circumference of the processed workpiece W. In this state, the multiple gripping parts 4a descend to grip the leftover material Wb, and then rise to lift the leftover material Wb from the workpiece W. With the leftover material Wb gripped by the gripping parts 4a, the gripper device 4 moves to the -Y side above the leftover material collection unit 10 (see Figure 1). As the multiple gripping parts 4a release their grip on the leftover material Wb, the leftover material Wb falls and is discharged into the leftover material collection unit 10. That is, the leftover material collection unit 10 is located below the range in which the gripper device 4 can move and collects the leftover material Wb discharged by the gripper device 4.

[0030] The processing pallet 5 is movable in and out of the processing machine 1 with the workpiece W on it. The processing pallet 5 is equipped with wheels that can move along rails 28, for example. Rails 28 extend from the processing machine 1 to the pallet changer 6. The processing pallet 5 supports the workpiece W before processing. The processing pallet 5 also supports the workpiece, including the product Wa and leftover material Wb after the workpiece W has been cut by the processing machine 1. The processing pallet 5 transports the workpiece W or workpiece before processing between the loading / unloading area AR2 and the processing machine 1.

[0031] Figure 3 is a perspective view showing a processing pallet according to this embodiment. As shown in Figure 3(A), the processing pallet 5 is, for example, rectangular when viewed from the vertical direction. The processing pallet 5 comprises, for example, a frame 5a and a plurality of support plates 5b. Each of the plurality of support plates 5b is plate-shaped and is provided upright relative to the frame 5a. Each of the plurality of support plates 5b extends in the Y direction and is arranged at predetermined intervals in the X direction. In a plan view, the plurality of support plates 5b extend in the longitudinal direction and are arranged parallel to each other. Each of the plurality of support plates 5b has an upper end portion 5c formed in a sawtooth shape. The plurality of support plates 5b support the lower surface of the workpiece W with the upper end portion 5c (the tip of the sawtooth). As shown in Figure 3(B), the processing pallet 5 is movable by placing the workpiece, including the product Wa and leftover material Wb cut by laser processing, on the plurality of support plates 5b.

[0032] The pallet changer 6 is located in the loading / unloading area AR2 and is positioned on the +X side relative to the processing machine 1. The pallet changer 6 swaps the processing pallets 5 that are loaded into or unloaded from the processing machine 1. The pallet changer 6 also handles the transfer of processing pallets 5 to the processing machine 1. The pallet changer 6 transports the processing pallets 5 along the rail 28, for example, by pulling the processing pallets 5. For example, a hook connected to a wire is attached to the processing pallet 5, and the processing pallet 5 is pulled when this wire is wound into the drive unit. The mechanism for moving the processing pallets 5 can be changed as appropriate, and for example, the processing pallets 5 may be self-propelled.

[0033] When the processing pallet 5 on which the workpiece is placed is brought into the loading / unloading area AR2, the fork device 7 receives the workpiece from the processing pallet 5 and supports it. For example, the fork device 7 lifts both the product Wa and the remaining material after the workpiece W has been cut by the processing machine 1. However, it is not limited to this, and the fork device 7 may lift either the product Wa or the remaining material.

[0034] Figure 4 is a perspective view showing a fork device 7 according to this embodiment. The fork device 7 comprises, for example, a base 7a and a plurality of arms 7b (support parts). The base 7a is plate-shaped and extends in the X direction. The plurality of arms 7b are rod-shaped members that extend from the base 7a in the +Y direction. The plurality of arms 7b are arranged in the X direction at a pitch (center-to-center distance) approximately equal to that of the support plates 5b of the processing pallet 5. The width of each arm 7b is set to be narrower than the gap between two adjacent support plates 5b on the processing pallet 5. Each arm 7b is insertable between two adjacent support plates 5b. The upper surface 7c of each arm 7b faces the lower surface of the workpiece W when the workpiece W is transferred. A plurality of suction pads 7d are provided on the upper surface 7c of the arm 7b. The plurality of suction pads 7d are arranged in the longitudinal direction (Y direction) of the arm 7b. The fork device 7 includes a drive unit (not shown) that drives the base 7a, and a guide 7e. The guides 7e are positioned on both sides of the base 7a in the X direction and extend in the Y direction. The drive unit of the fork device 7 moves the base 7a and the multiple arms 7b along the guides 7e in the Y direction.

[0035] In the state shown in Figure 5(A), the workpiece W is supported by multiple support plates 5b of the processing pallet 5. As shown in Figure 5(B), with multiple arms 7b positioned below the workpiece W, the processing pallet 5 moves downward relative to the multiple arms 7b, and the workpiece W is placed on the multiple arms 7b. Each of the multiple arms 7b supports the underside of the workpiece W between the multiple support plates 5b of the processing pallet 5. Alternatively, the fork device 7 may receive the workpiece W from the processing pallet 5 by moving the multiple arms 7b upward. In this way, by moving either or both of the arms 7b of the fork device 7 and the processing pallet 5 in the vertical direction, the arms 7b of the fork device 7 receive the workpiece W from the processing pallet 5.

[0036] When the workpiece and the processing pallet 5 are welded together by laser processing, the fork device 7 allows the processing pallet 5 to move downward while the workpiece W is supported by multiple arms 7b, thereby separating the weld and detaching the workpiece W from the processing pallet 5. The loader device 3 picks up the product Wa supported by the suction pads 7d of the arms 7b and transfers it onto the product pallet 13. The gripper device 4 removes the remaining material Wb supported by the suction pads 7d of the arms 7b from the processing pallet 5 and performs a waste material discharge process to discharge it to the waste material collection unit 10.

[0037] The control unit 8 controls the processing machine 1 as a whole. The control unit 8 controls the operation of each of the processing machine 1, stocker 2, loader device 3, gripper device 4, processing pallet 5, pallet changer 6, and fork device 7. For example, the control unit 8 reads predetermined programs and data stored in a storage device (not shown), or controls the operation of each part based on programs and data sent from a higher-level device.

[0038] The lighting unit 30 is positioned on one side of the fork device 7 in the horizontal direction. It is also positioned on one side of the processing pallet 5 located in the loading / unloading area AR2. In this embodiment, the side relative to the fork device 7 is the +X side of the fork device 7. For example, the lighting unit 30 is attached to the stocker 2. The lighting unit 30 is positioned, for example, in the loading / unloading area AR2, in a orientation (position) that illuminates an area including the entire upper surface of the processing pallet 5. For example, LED lighting is used for the lighting unit 30. The light emitted from the lighting unit 30 is, for example, visible light.

[0039] In this embodiment, one illumination unit 30 is used, but two or more illumination units 30 may be used. The illumination unit 30 may emit light continuously or intermittently. Furthermore, the illumination unit 30 emits light that spreads to illuminate the entire upper surface 7c of the fork device 7, but is not limited to this configuration. For example, the illumination unit 30 may emit light that spreads over a narrow area, changing the angle with respect to the fork device 7 and the processing pallet 5 in a plan view (scanning), thereby illuminating the entire upper surface of the fork device 7 and the processing pallet 5 at predetermined time intervals. In this case, the illumination unit 30 emits light for at least one cycle while the imaging unit 31 is capturing images, so as to cover the entire upper surface of the fork device 7 and the processing pallet 5.

[0040] The imaging unit 31 is, for example, a camera, and is positioned on the -X side of the processing pallet 5 located in the loading / unloading area AR2. The imaging unit 31 is, for example, attached to the processing machine 1. For example, of the two imaging units 31, imaging unit 31A is positioned on the +Y side in the Y direction, and imaging unit 31B is positioned on the -Y side in the Y direction.

[0041] The imaging unit 31 images the unloading device. For example, the imaging unit 31 images the unloading device by imaging a predetermined area in the loading / unloading area AR2. Here, the unloading device imaged by the imaging unit 31 is one or more of the following: the loader device 3, the processing pallet 5, and the fork device 7. Figure 6 is a schematic diagram showing an example of the field of view imaged by the imaging unit 31. As illustrated in Figure 6, the imaging unit 31 has a field of view (shooting field of view) that can image the entire upper surface of the fork device 7 placed in the loading / unloading area AR2. Furthermore, this shooting field of view is set to include the entire upper surface of the processing pallet 5 placed in the loading / unloading area AR2. For example, the shooting field of view of the imaging unit 31 is set to include the entire upper surface of the processing pallet 5 and the space above the processing pallet 5 (a range including the entire upper surface 7c when the workpiece is supported). Note that the shooting field of view is fixed during actual operation.

[0042] The imaging unit 31 can acquire an image showing all the workpieces on the processing pallet 5 by taking an image, for example, when the processing pallet 5 is brought into the loading / unloading area AR2, or when the fork device 7 is supporting the workpiece. The workpieces on the processing pallet 5 may be workpieces placed on the processing pallet 5, or workpieces supported above the processing pallet 5 by the fork device 7. It is not necessary for the workpieces to be visible in the image. In other words, the imaging unit 31 only needs to acquire an image with the above-mentioned field of view. The imaging unit 31 transmits the captured image to the processing unit 32. The captured image may be a still image or a video.

[0043] The processing unit 32 is connected to the imaging units 31A and 31B, respectively, by wired or wireless connection. The processing unit 32 is also connected to the illumination unit 30 by wired or wireless connection. The processing unit 32 is also connected to the control unit 8 by wired or wireless connection. Figure 7 is a schematic diagram of the processing unit 32 according to this embodiment. As shown in Figure 7, the processing unit 32 includes, for example, a determination unit 41, a recognition unit 42, and an output unit 43. These components are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integrated Circuit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or GPU (Graphics Processing Unit), or by the cooperation of software and hardware. The program may be stored in advance on a storage device such as an HDD (Hard Disk Drive) or flash memory (a storage device equipped with a non-transient storage medium), or it may be stored on a removable storage medium such as a DVD or CD-ROM (a non-transient storage medium) and installed on the storage device when the storage medium is inserted into the drive device. The storage device consists of, for example, an HDD, flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory).

[0044] The determination unit 41 determines whether there are any defects, detachments, damage, or distortions in the transport device based on the image captured by the imaging unit 31. For example, the determination unit 41 determines whether there are any defects, detachments, damage, or distortions in the transport device by comparing the state of the transport device in the image with the state in which the transport device should be. As an example, the determination unit 41 acquires an image of the transport device from the imaging unit 31. Then, the determination unit 41 determines whether there are any defects, detachments, damage, or distortions in the transport device by comparing the acquired image with a previously acquired reference image of the transport device. For example, the reference image is an image of the transport device in a state where there are no defects, detachments, damage, or distortions in the transport device, i.e., in the state in which it should be.

[0045] For example, in a transport system, if multiple imaging units 31A and 31B are provided, the determination unit 41 may have reference images corresponding to each of the multiple imaging units 31A and 31B in advance, and may determine whether or not there is a defect, detachment, damage, or distortion in the transport device based on the multiple images captured by each of the multiple imaging units 31A and 31B and the reference images corresponding to each of the multiple imaging units 31A and 31B. The determination unit 41 may then integrate the determination results to make a final determination as to whether or not there is a defect, detachment, damage, or distortion in the transport device. For example, the determination unit 41 may determine that there is a defect, detachment, damage, or distortion in the transport device if all determination results indicate that there is a defect, detachment, damage, or distortion in the transport device. For example, the determination unit 41 may determine whether or not there is a defect, detachment, damage, or distortion in the transport device using majority voting logic among multiple determination results. However, the determination unit 41 may use either the image captured by the imaging unit 31A or the image captured by the imaging unit 31B to determine whether the unloading device is missing, detached, damaged, or distorted.

[0046] The determination unit 41 may determine whether or not there are defects, detachments, damage, or distortions in the transport device without using a reference image. For example, the determination unit 41 may determine whether or not there are defects, detachments, damage, or distortions in the transport device within the captured image by the imaging unit 31 by applying known image processing. For example, the determination unit 41 may pre-acquire shape data of the transport device in a state without defects, detachments, damage, or distortions. Then, when the determination unit 41 acquires an image from the imaging unit 31, it performs known image processing on the captured image to determine whether or not the shape of the transport device is in its original state, that is, the shape of the transport device in a state without defects, detachments, damage, or distortions. In the following, determining whether or not there are defects, detachments, damage, or distortions in the transport device may be referred to as abnormality determination.

[0047] The following describes the method for detecting abnormalities in the conveying device. First, as an example of an unloading device, the method for detecting abnormalities in the processing pallet 5 will be explained using Figure 8. Figure 8 is a diagram illustrating the method for detecting abnormalities in the processing pallet 5. Figure 8(A) is a schematic diagram showing the processing pallet 5 being imaged by the imaging unit 31.

[0048] In determining abnormalities in the processing pallet 5, the imaging unit 31 takes an image when the entire support plate 5b is included within the range of the imaging angle VA. This allows the imaging unit 31 to image the entire upper surface of the processing pallet 5, i.e., the entire support plate 5b. For example, when no workpieces are placed on the processing pallet 5 located in the loading / unloading area AR2, imaging by the imaging unit 31 allows the processing unit 32 to obtain an image of the entire upper surface of the processing pallet 5. As an example, during actual operation, imaging by the imaging unit 31 may occur when all workpieces on the processing pallet 5 have been removed by the loader device 3 and the gripper device 4, and the arm portion 7b of the fork device 7 is positioned below the support plate 5b. When the determination unit 41 acquires the image captured by the imaging unit 31, it compares the state of the processing pallet 5 in the image with the state in which the processing pallet 5 should be, and determines whether there are any defects, detachments, damage, or distortions in the processing pallet 5.

[0049] Figure 8(B) shows an example of an abnormal state of the processing pallet 5. Detachment of the processing pallet 5 means, for example, that some of the support plates 5b have detached from the processing pallet 5. Damage to the processing pallet 5 means, for example, that the support plates 5b or the upper end portion 5c is scratched. Missing part of the processing pallet 5 means, for example, that the upper end portion 5c of the support plate 5b is missing (LS1), as illustrated in Figure 8(B). The determination unit 41 determines whether or not the upper end portion 5c of the support plate 5b is missing in the captured image, and determines that there is an abnormality if the upper end portion 5c is missing. For example, if the upper end portion 5c of the support plate 5b is missing in the acquired captured image, the determination unit 41 determines that there is a missing part of the processing pallet 5 because the acquired captured image does not match the previously acquired reference image of the processing pallet 5.

[0050] Next, as an example of an unloading device, the method for determining abnormalities in the fork device 7 will be explained using Figure 9. Figure 9 is a diagram illustrating the method for determining abnormalities in the fork device 7. Figure 9(A) is a schematic diagram showing how the fork device 7 is imaged by the imaging unit 31. In determining abnormalities in the fork device 7, the imaging unit 31 takes an image when the entire upper surface 7c of the arm portion 7b of the fork device is included within the range of the imaging angle VA. In this way, the imaging unit 31 images the entire upper surface 7c of the arm portion 7b of the fork device. For example, the imaging unit 31 takes an image when the upper surface 7c of the arm portion 7b of the fork device is located above the support plate 5b. As a specific example, during actual operation, imaging by the imaging unit 31 is performed immediately after all the workpieces supported by the fork device 7 have been removed by the loader device 3 and the gripper device 4. In addition, regardless of whether or not it is in actual operation, imaging by the imaging unit 31 may be performed when the fork device 7 is installed in the loading / unloading area AR2 and the processing pallet 5 has not been loaded into the loading / unloading area AR2.

[0051] When the determination unit 41 acquires an image of the fork device 7 captured by the imaging unit 31, it compares the state of the fork device 7 on the image with the state in which the fork device 7 should be, and determines whether there are any defects, detachments, damage, or distortions in the fork device 7. Detachment of the fork device 7 is, for example, a state in which a part of the arm portion 7b has detached. Damage to the fork device 7 is, for example, a state in which the arm portion 7b or the suction pad 7d is scratched. Figure 9(B) shows an example of a defect in the fork device 7. A defect in the fork device 7 is, for example, when the suction pad 7d of the arm portion 7b has come off (LS2), as illustrated in Figure 9(B). When the determination unit 41 acquires an image from the imaging unit 31, it determines whether one or more suction pads 7d of the arm portion 7b on the image have come off, and if it determines that the suction pads 7d have come off, it determines that there is an abnormality. For example, if the suction pad 7d of the arm portion 7b is missing in the acquired image, the determination unit 41 determines that the fork device 7 is missing because the acquired image does not match the previously acquired reference image of the fork device 7.

[0052] Next, as an example of an unloading device, the method for determining abnormalities in the loader device 3 will be explained using Figure 10. Figure 10 is a diagram illustrating the method for determining abnormalities in the loader device 3. Figure 10(A) is a schematic diagram showing how the loader device 3 is imaged by the imaging unit 31. In determining abnormalities in the loader device 3, the imaging unit 31 takes an image when the loader head 21 of the loader device 3 is within the range of the imaging angle VA. In this way, the imaging unit 31 images the loader head 21 of the loader device 3. As a specific example, during actual operation, the imaging unit 31 takes an image when the loader device 3 is unloading a workpiece from the processing pallet 5.

[0053] When the determination unit 41 acquires the image of the loader device 3 captured by the imaging unit 31, it compares the state of the loader device 3 on the image with the state in which the loader device 3 should be, thereby determining whether there are any defects, detachments, damage, or distortions in the loader device 3. Detachment of the loader device 3 refers to a state in which, for example, the loader head 21 or a part attached to the loader head 21 has detached. Damage to the loader device 3 refers to a state in which, for example, the loader head 21 or the suction pad 21p has been scratched. Figure 10(B) shows an example of a defect in the loader device 3. A defect in the loader device 3 is, for example, when the suction pad 21p has come off, as illustrated in Figure 10(B) (LS3). However, it is not limited to this, and a defect in the loader device 3 may also refer to a defect or distortion of the loader head 21. When the determination unit 41 acquires an image from the imaging unit 31, it determines whether or not the missing part of the loader device 3 on the image is removed, and if it determines that the loader device 3 is missing, it determines that there is an abnormality. For example, if the loader device 3 is missing from the acquired image, the determination unit 41 determines that the loader device 3 is missing because the acquired image does not match the previously acquired reference image of the loader device 3.

[0054] The recognition unit 42 acquires images of the workpieces on the processing pallet 5 from the imaging unit 31. Based on the acquired images, the recognition unit 42 recognizes each of the workpieces on the processing pallet 5. For example, the recognition unit 42 recognizes each workpiece shown in the images acquired from the imaging unit 31 based on the design information of the workpieces. For example, the recognition unit 42 recognizes product Wa and leftover material Wb from the images by pattern matching based on the design shapes of the workpieces, product Wa and leftover material Wb. However, the recognition unit 42 is not limited to this, and may use other known techniques other than pattern matching, such as template matching or other image recognition methods, as a method for recognizing product Wa and leftover material Wb. The design information includes shape information and position information of each product Wa and leftover material Wb on the processing pallet 5. The design information may be, for example, nesting data in which multiple product Wa are assigned to a workpiece W. The nesting data is, for example, layout data for cutting multiple products from a workpiece W.

[0055] The output unit 43 outputs the determination result from the determination unit 41 to an external device. For example, if the determination unit 41 determines that there is an abnormality, the output unit 43 outputs the determination result to the external device. As an example, if the determination unit 41 determines that there is a defect, detachment, damage, or distortion in the processing pallet 5, the output unit 43 outputs to the external device that there is a defect, detachment, damage, or distortion in the processing pallet 5. If the determination unit 41 determines that there is a defect, detachment, damage, or distortion in the fork device 7, the output unit 43 outputs to the external device that there is a defect, detachment, damage, or distortion in the fork device 7. If the determination unit 41 determines that there is a defect, detachment, damage, or distortion in the loader device 3, the output unit 43 outputs to the external device that there is a defect, detachment, damage, or distortion in the loader device 3. The above-mentioned external device is, for example, a display, computer, mobile terminal, or wearable terminal. In other words, the output unit 43 displays the determination result of the determination unit 41 on a display or notifies a computer, mobile terminal, or wearable terminal. The notification to external devices by the output unit 43 is not particularly limited, but may be, for example, an email notification, a pop-up notification, or a notification using social networking services (SNS).

[0056] The output unit 43 outputs the recognition result of the recognition unit 42 to the control unit 8 or an external device. This recognition result may be used, for example, to confirm whether the processing was carried out according to the design, or to control the loader device 3 or the gripper device 4, or both. For example, this recognition result is output to the control unit 8 and used as a target position for removing the product Wa or leftover material Wb from the processing pallet 5.

[0057] The following describes an example of the flow of the abnormality detection method for the conveying device according to this embodiment. Figure 11 is a flowchart of the abnormality detection method for the conveying device. When a processing pallet 5 on which a workpiece W before processing is placed is brought into the processing machine 1, the processing machine 1 processes the workpiece W on the processing pallet 5 and cuts the workpiece W into product Wa and leftover material Wb. The workpiece, including product Wa and leftover material Wb cut by the processing machine 1, is carried out from the processing machine 1 to the loading / unloading area AR2 while still placed on the processing pallet 5 (step S101). In other words, the processing pallet 5 on which the workpiece, including product Wa and leftover material Wb, is placed is carried out from the processing machine 1 to the loading / unloading area AR2.

[0058] When the processing pallet 5 is unloaded into the loading / unloading area AR2, the control unit 8 raises the multiple arms 7b positioned below the workpiece W or lowers the processing pallet 5 to support the workpiece with the arms 7b (step S102). After completing the process in step S102, the control unit 8 notifies the processing unit 32 of a shooting command. Upon receiving the shooting command from the control unit 8, the processing unit 32 controls the illumination unit 30 to irradiate light onto the processing pallet 5 on which the workpiece is placed, causing the imaging unit 31 to capture an image of the workpiece on the processing pallet 5 (step S103).

[0059] The processing unit 32 recognizes the shape and position of the workpiece on the processing pallet 5 based on the image captured in step S103 (step S104). The processing unit 32 then transmits the information of the recognized shape and position of the workpiece to the control unit 8. The control unit 8 controls the loader device 3 and the gripper device 4 based on the information of the shape and position of the workpiece obtained from the processing unit 32 to transport the product Wa and discharge the remaining material Wb (step S105). Immediately before or during step S105, the processing unit 32 causes the imaging unit 31 to capture an image of the loader head 21 (step S106). For example, when the loader device 3 is picking the product Wa, the processing unit 32 causes the imaging unit 31 to capture an image of the loader head 21. As an example, the control unit 8 may have information on the range of the shooting angle VA in advance, and when the position of the loader head 21 is within the range of the shooting angle VA, it may send a shooting command to the processing unit 32.

[0060] The processing unit 32 determines whether there is an abnormality in the loader device 3 based on the image captured in step S106. Specifically, the processing unit 32 determines whether there is a defect, detachment, damage, or distortion of the loader head 21 based on the image captured in step S106 (step S107). If the processing unit 32 determines that there is a defect, detachment, damage, or distortion of the loader head 21, it determines that there is an abnormality in the loader device 3 and decides whether or not to stop the processing system PS (step S108). As an example, the processing unit 32 decides whether or not to stop the processing system PS based on the degree of the abnormality, i.e., the degree of defect, detachment, damage, or distortion of the loader head 21. Specifically, the processing unit 32 detects the magnitude of the defect, detachment, damage, or distortion of the loader head 21 based on the image, and if the detected magnitude is greater than or equal to a predetermined value, it decides to stop the processing system PS.

[0061] If the processing unit 32 determines that the processing system PS should not be stopped, the output unit 43 notifies the external device of the abnormality of the loader device 3 (step S109). After the notification in step S109, the processing unit 32 proceeds to step S112. On the other hand, if the processing unit 32 determines that the processing system PS should be stopped, the processing unit 32 notifies the external device of information indicating the abnormality of the loader device 3 and information indicating that the processing system PS will be stopped (step S110). The processing unit 32 also notifies the control unit 8 that the processing system will be stopped. Upon receiving this notification, the control unit 8 stops the processing system (step S111).

[0062] In step S107, if the processing unit 32 determines that there are no defects, detachments, damage, or distortions in the loader head 21, it proceeds to step S112. In step S112, the processing unit 32 determines whether or not all workpieces on the processing pallet 5 have been removed. For example, if the control unit 8 has completed the waste material discharge process and the product unloading process, it notifies the processing unit 32 of this fact. Upon receiving this notification, the processing unit 32 determines that all workpieces have been removed.

[0063] When the processing unit 32 determines that all workpieces have been removed, it uses the imaging unit 31 to capture an image of the entire arm portion 7b of the fork device 7 (step S113). Based on the acquired image, the processing unit 32 determines whether there are any defects, detachments, damage, or distortions in the fork device 7 (step S114). If the processing unit 32 determines that there are defects, detachments, damage, or distortions in the fork device 7, it determines whether or not to stop the processing system PS in the same manner as in step S108 (step S115). If the processing unit 32 determines not to stop the processing system PS, the output unit 43 notifies the external device of the abnormality of the fork device 7 (step S116). After the notification in step S116, the processing unit 32 proceeds to step S119.

[0064] On the other hand, if the processing unit 32 determines that the machining system PS should be stopped, the processing unit 32 notifies an external device of information indicating an abnormality in the fork device 7 and information indicating that the machining system PS should be stopped (step S117). The processing unit 32 also notifies the control unit 8 that the machining system PS should be stopped. Upon receiving this notification, the control unit 8 stops the machining system PS (step S118).

[0065] In step S119, the control unit 8 moves the arms 7b or the support plate 5b so that the multiple arms 7b are positioned below the support plate 5b. Then, the processing unit 32 causes the imaging unit 31 to take an image when at least the arms 7b are positioned below the support plate 5b in the vertical direction (step S120). As an example, the control unit 8 notifies the processing unit 32 of an imaging command at any timing after the multiple arms 7b are positioned below the support plate 5b. Upon receiving the imaging command, the processing unit 32 causes the imaging unit 31 to perform imaging, thereby acquiring an image of the entire support plate 5b.

[0066] Based on the image acquired in step S120, the processing unit 32 determines whether the processing pallet 5 is missing, detached, damaged, or distorted (step S121). If the processing unit 32 determines that the processing pallet 5 is missing, detached, damaged, or distorted, it determines whether or not to stop the processing system in the same manner as in step S108 (step S122). If the processing unit 32 determines not to stop the processing system, the output unit 43 notifies the external device of the abnormality of the processing pallet 5 (step S123). After the notification in step S123, the processing unit 32 proceeds to step S126. In step S126, the control unit 8 places the workpiece W before processing onto the processing pallet 5 and transports it into the processing machine 1.

[0067] On the other hand, if the processing unit 32 determines that the processing system PS should be stopped, the processing unit 32 notifies an external device of information indicating an abnormality in the processing pallet 5 and information indicating that the processing system PS should be stopped (step S124). The processing unit 32 also notifies the control unit 8 that the processing system PS should be stopped. Upon receiving this notification, the control unit 8 stops the processing system PS (step S125).

[0068] In steps S111, S118, and S125, stopping the machining system PS includes temporarily halting its operation. Therefore, once the abnormality is resolved, the operation of the machining system PS may be resumed.

[0069] In the processing system PS, the positions of the processing machine 1, stocker 2, loader device 3, gripper device 4, processing pallet 5, pallet changer 6, and fork device 7 can be arbitrarily changed and are not limited to the positions described above. For example, in the examples shown in Figures 1 and 2, the workpiece W is transported to the processing machine 1 from the +X direction, but this is not limited to this, and the workpiece W may be transported to the processing machine 1 from the -X direction.

[0070] Furthermore, when performing abnormality determination, the determination unit 41 applies various image processing to the image captured by the transport device, for example. Here, this image processing may include, for example, a process for detecting at least one of contours and shadows. The image processing may also include a correction process for correcting distortion of the workpiece in the captured image. For example, if the image captured by the imaging unit 31 is an image of the workpiece captured from an oblique angle, the correction process may include a process for correcting the captured image so that it becomes an image of the workpiece captured from directly above.

[0071] The above embodiment discloses the following configuration. (Composition 1) A discharge device used to transport the workpiece processed by the processing machine 1, An imaging unit 31 that images the area including the transport device, Based on the image captured by the imaging unit 31, a determination unit 41 determines whether or not there are defects, detachments, damage, or distortions in the transport device. A transport system equipped with the following features. (Configuration 2) A processing pallet 5 on which the workpiece processed by the processing machine 1 is placed, A loader device 3 for removing the workpiece from the processing pallet 5, Equipped with, The unloading device is at least one of the processing pallet 5 and the loader device 3. The transport system described in Configuration 1. (Composition 3) The field of view of the imaging unit 31 is set to include the entire upper surface of the processing pallet 5. The determination unit 41 determines, based on the image captured after all workpieces have been removed, whether there are any defects, detachments, damage, or distortions in the processing pallet 5. The transport system described in configuration 1 or configuration 2. (Composition 4) The imaging angle of the imaging unit 31 is set to include the entire upper surface of the processing pallet 5. The determination unit 41 determines whether the loader device 3 is missing, detached, damaged, or distorted based on the captured image when the loader device 3 is within the shooting angle of view. A transport system as described in any of configurations 1 to 3. (Composition 5) A processing pallet 5 on which the workpiece processed by the processing machine 1 is placed, A fork device 7 having an arm portion 7b that supports the workpiece placed on the processing pallet 5 above the processing pallet 5, A loader device 3 for removing a workpiece from a processing pallet 5, supported by an arm 7b, Equipped with, The imaging angle of the imaging unit 31 is set to include the area above the upper surface of the processing palette 5. The unloading device is a fork device 7. The determination unit 41 determines whether there is any defect, detachment, damage, or distortion of the arm 7b based on the captured image when the arm 7b is within the shooting angle. A transport system as described in any of configurations 1 to 4. (Composition 6) The determination unit 41 compares the state of the transport device on the captured image with the state in which the transport device should be, in order to determine whether or not there are defects, detachments, damage, or distortions in the transport device. A transport system as described in any one of items 1 to 5.

[0072] One or more of the requirements described in the embodiments described above may be omitted. Furthermore, the requirements described in the embodiments described above can be combined as appropriate. Also, the execution order of each procedure shown in this embodiment can be implemented in any order, as long as the result of the previous procedure is not used in a later procedure. Furthermore, even if the operations in the embodiments described above are described using terms such as "first," "next," and "followed by," it is not necessary to perform them in this order. [Explanation of Symbols]

[0073] W...work Wa... Wb...residue material PS Processing System HS... Conveyor System 1...processing machine 2.. Stocker 3. Loader device (conveyor device) 4. Gripper device (conveyor device) 5. Processing pallet (conveyor device) 6. Pallet Changer 7. Forklift (conveyor) 8. Control Unit 30. Lighting Department 31. Imaging Unit 32... Processing Unit 41... Judgment section

Claims

1. A fork device for transporting a workpiece, which has a support part for supporting the lower surface of a workpiece processed by a processing machine, An imaging unit that images the area including the fork device, The system includes a determination unit that determines whether or not there is a defect in the fork device based on the image captured by the imaging unit, An adhesive pad for supporting the workpiece is provided on the upper surface of the support portion. The imaging unit has a field of view that can capture the entire upper surface of the fork device. The determination unit determines whether the suction pad has come off, based on the captured image when the support unit is within the field of view of the imaging unit, whether the fork device is missing, in the transport system.

2. The transport system according to claim 1, wherein the determination unit determines whether or not there is a defect in the fork device by comparing the state of the fork device on the captured image with the state in which the fork device should be.

3. The region including a fork device that supports and transports the lower surface of a workpiece processed by a processing machine using a support unit is imaged by an imaging unit having a field of view capable of capturing the entire upper surface of the fork device. This includes determining whether or not there is a defect in the fork device based on the image captured by the imaging unit, A determination method for determining whether or not the fork device is missing, based on the captured image when the support portion is within the field of view of the imaging unit, by determining whether or not the suction pad provided on the upper surface of the support portion and supporting the workpiece has come off.

Images