Control data creation device and control data creation method

1 . A control data creation device for creating control data for a product carrying-out device to take out and carry out a product cut from a plate-shaped workpiece by a processing machine,

the product carrying-out device being provided with a carrying-out arm configured to be movable along a workpiece plane and provided with a plurality of suction pads for suctioning the product on a surface of the carrying-out arm facing the workpiece, the carrying-out arm including:

a first carrying-out arm movable back and forth and to left and right along the workpiece plane; and

a second carrying-out arm movable back and forth and to left and right along the workpiece plane;

the control data creation device comprising:

a memory storing instructions; and

a hardware processor configured to execute the instructions to:

change a suction position at which the carrying-out arm suctions the product by moving the carrying-out arm on the product data so as to specify an index for evaluating a suction state for each suction position;

create the control data in which the suction position is laid out to the product based on each index specified for each suction position;

specify, as the index, a suction gravity center that is a gravity center position calculated from a set of effective suction pads capable of suctioning the product among the plurality of suction pads;

create the control data such that a distance between the suction gravity center and a product gravity center that is a gravity center position of the product is reduced;

change suction positions at which the first and second carrying-out arms suction the product by moving the first and second carrying-out arms on the product data;

specify the suction gravity center for each of the suction positions based on the effective suction pads in the first and second carrying-out arms; and

change the suction positions by moving the first and second carrying-out arms back and forth and to left and right, starting from a predetermined corner portion of the product in the product data.

2 . The control data creation device according to claim 1 , wherein the hardware processor is configured to execute the instructions to create the control data based on the suction position at which the distance between the suction gravity center and the product gravity center is smallest.

3 . The control data creation device according to claim 1 , wherein

the hardware processor is further configured to execute the instructions to specify a total suction force obtained from the set of effective suction pads for each suction position, and

create the control data such that the distance between the suction gravity center and the product gravity center is reduced and the total suction force is increased.

4 . The control data creation device according to claim 3 , wherein when there are a plurality of the suction positions at which the distance between the suction gravity center and the product gravity center is smallest, the hardware processor is further configured to execute the instructions to create the control data based on the suction position at which the total suction force is largest among the plurality of the suction positions.

5 . The control data creation device according to claim 3 , wherein the hardware processor is further configured to execute the instructions to perform processing of specifying the suction gravity center for the suction position at which the total suction force is larger than a weight of the product.

6 . The control data creation device according to claim 1 , wherein

the carrying-out arm is provided with a plurality of sensors for detecting the product on the surface facing the workpiece, and

the hardware processor is further configured to execute the instructions to perform processing of specifying the suction gravity center for the suction position at which at least one sensor among the plurality of sensors can detect the product.

7 . The control data creation device according to claim 1 , wherein the hardware processor is further configured to execute the instructions to

calculate a deflection amount generated in the product in a state of being suctioned by the carrying-out arm, and

perform processing of specifying the suction gravity center for the suction position at which the deflection amount is within an allowable deflection amount set in advance.

8 . The control data creation device according to claim 1 , wherein

the hardware processor is further configured to execute the instructions to specify, as the index, a total suction force calculated from a set of effective suction pads capable of suctioning the product among the plurality of suction pads, and

the hardware processor is further configured to execute the instructions to create the control data based on the suction position at which the total suction force is largest.

9 . The control data creation device according to claim 8 , wherein

the carrying-out arm includes:

a first carrying-out arm movable back and forth and to left and right along the workpiece plane and rotatable in a surface parallel to the workpiece plane; and

second and third carrying-out arms respectively arranged on both sides of the first carrying-out arm interposed therebetween and connected to the first carrying-out arm via an extendable rod in a movable manner, and

the hardware processor is further configured to execute the instructions to:

change suction positions at which the first, second, and third carrying-out arms suction the product by moving and rotating the first carrying-out arm on the product data and by moving the second and third carrying-out arms by the extendable rod on the product data, and

specify the total suction force for each of the suction positions based on the effective suction pads in the first, second, and third carrying-out arms.

10 . The control data creation device according to claim 9 , wherein

when a size of the first carrying-out arm in an extending and contracting direction of the extendable rod is a first size and a size of the product in a longitudinal direction is less than the first size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

rotation processing of rotating the carrying-out arm in three angle patterns including 0 degrees, a first angle between 0 degrees and 90 degrees, and 90 degrees in a state in which an arm center that is a center position of the carrying-out arm is made to coincide with a product gravity center that is a gravity center position of the product, and

movement processing of moving the carrying-out arm back and forth and to left and right at a predetermined movement pitch for each of the angle patterns.

11 . The control data creation device according to claim 10 , wherein

when a size of the first, second, and third carrying-out arms is a second size in the extending and contracting direction of the extendable rod in a state in which the extendable rod is the most contracted and the size of the product in the longitudinal direction is equal to or larger than the first size and less than the second size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

rotation processing of rotating the carrying-out arm in four angle patterns including 0 degrees, a positive second angle between 0 degrees and 90 degrees, 90 degrees, and a negative second angle between 0 degrees and −90 degrees in a state in which the arm center is made to coincide with the product gravity center, and

movement processing of moving the carrying-out arm back and forth and to left and right at a predetermined movement pitch for each of the angle patterns.

12 . The control data creation device according to claim 11 , wherein

when the size of the product in the longitudinal direction is equal to or larger than the second size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

extension and contraction processing of moving the second and third carrying-out arms with respect to the first carrying-out arm in two extension and contraction patterns including a state in which the extendable rod is the most contracted and a state in which the extendable rod is extended in a state in which the arm center is made to coincide with the product gravity center,

movement processing of moving the carrying-out arms back and forth and to left and right at a predetermined distance pitch for each of the extension and contraction patterns, and

rotation processing of rotating the carrying-out arms at a predetermine angular pitch each time the carrying-out arms is moved at the predetermined distance pitch.

13 . The control data creation device according to claim 1 , the hardware processor is further configured to execute the instructions to specify the product gravity center based on the product data including a shape of the product.

14 . A control data creation device for creating control data for a product carrying-out device to take out and carry out a product cut from a plate-shaped workpiece by a processing machine,

the product carrying-out device being provided with a carrying-out arm configured to be movable along a workpiece plane and provided with a plurality of suction pads for suctioning the product on a surface of the carrying-out arm facing the workpiece, the carrying-out arm including:

a first carrying-out arm movable back and forth and to left and right along the workpiece plane and rotatable in a surface parallel to the workpiece plane; and

second and third carrying-out arms respectively arranged on both sides of the first carrying-out arm interposed therebetween and connected to the first carrying-out arm via an extendable rod in a movable manner

the control data creation device comprising:

a memory storing instructions; and

a hardware processor configured to execute the instructions to:

change a suction position at which the carrying-out arm suctions the product by moving the carrying-out arm on the product data so as to specify an index for evaluating a suction state for each suction position;

create the control data in which the suction position is laid out to the product based on each index specified for each suction position;

specify, as the index, a total suction force calculated from a set of effective suction pads capable of suctioning the product among the plurality of suction pads;

create the control data based on the suction position at which the total suction force is largest;

change suction positions at which the first, second, and third carrying-out arms suction the product by moving and rotating the first carrying-out arm on the product data and by moving the second and third carrying-out arms by the extendable rod on the product data;

specify the total suction force for each of the suction positions based on the effective suction pads in the first, second, and third carrying-out arms;

wherein when a size of the first carrying-out arm in an extending and contracting direction of the extendable rod is a first size and a size of the product in a longitudinal direction is less than the first size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

rotation processing of rotating the carrying-out arm in three angle patterns including 0 degrees, a first angle between 0 degrees and 90 degrees, and 90 degrees in a state in which an arm center that is a center position of the carrying-out arm is made to coincide with a product gravity center that is a gravity center position of the product, and

movement processing of moving the carrying-out arm back and forth and to left and right at a predetermined movement pitch for each of the angle patterns.

15 . The control data creation device according to claim 14 , wherein

when a size of the first, second, and third carrying-out arms is a second size in the extending and contracting direction of the extendable rod in a state in which the extendable rod is the most contracted and the size of the product in the longitudinal direction is equal to or larger than the first size and less than the second size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

rotation processing of rotating the carrying-out arm in four angle patterns including 0 degrees, a positive second angle between 0 degrees and 90 degrees, 90 degrees, and a negative second angle between 0 degrees and −90 degrees in a state in which the arm center is made to coincide with the product gravity center, and

movement processing of moving the carrying-out arm back and forth and to left and right at a predetermined movement pitch for each of the angle patterns.

16 . The control data creation device according to claim 15 , wherein

when the size of the product in the longitudinal direction is equal to or larger than the second size, the hardware processor is further configured to execute the instructions to change the suction positions by performing:

extension and contraction processing of moving the second and third carrying-out arms with respect to the first carrying-out arm in two extension and contraction patterns including a state in which the extendable rod is the most contracted and a state in which the extendable rod is extended in a state in which the arm center is made to coincide with the product gravity center,

movement processing of moving the carrying-out arms back and forth and to left and right at a predetermined distance pitch for each of the extension and contraction patterns, and

rotation processing of rotating the carrying-out arms at a predetermine angular pitch each time the carrying-out arms is moved at the predetermined distance pitch.

17 . A method for creating control data for a product carrying-out device to take out and carry out a product cut from a plate-shaped workpiece by a processing machine, the product carrying-out device being provided with a carrying-out arm configured to be movable along a workpiece plane and provided with a plurality of suction pads for suctioning the product on a surface of the carrying-out arm facing the workpiece, the carrying-out arm including a first carrying-out arm movable back and forth and to left and right along the workpiece plane, and a second carrying-out arm movable back and forth and to left and right along the workpiece plane, the method comprising the steps of:

changing a suction position at which the carrying-out arm suctions the product by moving the carrying-out arm on the product data so as to specify an index for evaluating a suction state for each suction position;

creating the control data in which the suction position is laid out to the product based on each index specified for each suction position;

specifying, as the index, a suction gravity center that is a gravity center position calculated from a set of effective suction pads capable of suctioning the product among the plurality of suction pads;

creating the control data such that a distance between the suction gravity center and a product gravity center that is a gravity center position of the product is reduced;

changing suction positions at which the first and second carrying-out arms suction the product by moving the first and second carrying-out arms on the product data;

specifying the suction gravity center for each of the suction positions based on the effective suction pads in the first and second carrying-out arms; and

changing the suction positions by moving the first and second carrying-out arms back and forth and to left and right, starting from a predetermined corner portion of the product in the product data.