Patent Description:
Patent Literature <NUM> discloses a pallet in which a plurality of workpiece supports (also called skids) which support a workpiece are arranged in parallel, and a workpiece lifting device which lifts the thermally cut workpiece placed on the pallet from the pallet. The workpiece lifting device disclosed in Patent Literature <NUM> includes a raising/lowering unit which is arranged between the adjacent workpiece supports, and is raised and lowered synchronously. Thus, even if the workpiece is welded to the workpiece supports, the welded portion is pulled apart when the workpiece is lifted by the raising/lowering unit, thereby removing the workpiece therefrom.

<CIT> discloses a workpiece transportation system which includes a machining palette that is able to move while holding a cut workpiece including a product and the remainder; a supporter that receives the workpiece from the machining palette and supports the workpiece; a suction attacher disposed on the supporter and attaches by suction to at least the product in the workpiece supported by the supporter; and a gripper that separates the remainder from the product attached to by suction by the suction attacher.

The workpiece lifting device is also called a workpiece separation device because it separates a workpiece from a pallet. Generally, a pallet is carried in and out of a laser processing machine by a pallet shelf device. The workpiece separation device is provided in the pallet shelf device.

With the recent increase in laser beam power, a possibility has increased in which the workpiece is welded to the workpiece support, and the welding strength when welded to the workpiece support has also increased. As the welding strength increases, there is a concern that it will become difficult to pull apart the welded portion in the lifting operation which relies solely on the raising movement of the raising/lowering unit, as disclosed in Patent Literature <NUM>. Accordingly, a workpiece separation device, a workpiece separation method, and a pallet shelf device have been desired with which it is possible to separate the workpiece welded to the workpiece supports from the pallet having the workpiece supports more reliably.

An aspect of the present disclosure is a workpiece separation device comprising: a raising/lowering unit from which a plurality of string-like members are hung down in such a way as to be raised and lowered synchronously; a separation unit which is suspended by the plurality of string-like members; a pallet which has a workpiece support on which a rectangular workpiece is placed and is arranged below the separation unit; a first clamp unit which is provided in the separation unit, and holds a first edge portion of the workpiece placed on the workpiece support; a second clamp unit which holds a second edge portion of the workpiece opposite to the first edge portion; and a push-up unit which receives a reaction force from the pallet by pushing a pusher onto the pallet, thereby pushing up the second clamp unit.

According to an aspect of the workpiece separation device, when the rectangular workpiece is separated from the workpiece support, it is separated by lifting one edge portion, and thus the workpiece can be separated from the workpiece support more reliably even if there is a welded portion in which the workpiece is welded to the workpiece support.

An aspect of the present disclosure is a workpiece separation method in which a separation unit is used, and the separation unit includes: a first clamp unit which is suspended from a raising/lowering unit to be raised and lowered, and holds a first edge portion of a rectangular workpiece; a second clamp unit which holds a second edge portion of the workpiece opposite to the first edge portion; and a first push-up unit and a second push-up unit which are respectively arranged in a same rigid body as the first clamp unit and the second clamp unit, and extend respective pushers downward, and in a state in which the rectangular workpiece is placed on a workpiece support of a pallet having the workpiece support, and the pallet is positioned below the separation unit, the method comprising: a step of holding a first edge portion and a second edge portion of the workpiece placed on the workpiece support by the first clamp unit and the second clamp unit, respectively; a step of lifting the second clamp unit and the second edge portion of the workpiece by a reaction force from the pallet which is received by extending the pusher of the second push-up unit downward and pushing the pusher onto the pallet; a step of lifting the first clamp unit and the first edge portion of the workpiece by a reaction force from the pallet which is received by extending the pusher of the first push-up unit downward and pushing the pusher onto the pallet after lifting the second edge portion; and a step of raising the separation unit, separating the workpiece from the workpiece support and raising the workpiece, after lifting the first edge portion.

According to an aspect of the workpiece separation method, when the rectangular workpiece is separated from the workpiece support, the separation is performed including a step of lifting one edge portion of the workpiece and a step of lifting the opposite edge portion thereafter, and thus the workpiece can be separated from the workpiece support more reliably even if there is a welded portion in which the workpiece is welded to the workpiece support.

An aspect of the present disclosure is a pallet shelf device comprising: a plurality of storage units which are arranged in parallel in an up-down direction, and capable of storing a pallet in each of the storage units; the above-described workpiece separation device which is arranged below the plurality of storage units; and an elevator shelf which moves the pallet between each of the storage units and a lower part of the separation unit in the workpiece separation device.

According to an aspect of the pallet shelf device, when the rectangular workpiece is separated from the workpiece support, it is separated by lifting one edge portion, and thus the workpiece can be separated from the workpiece support more reliably even if there is a welded portion in which the workpiece is welded to the workpiece support. In addition, the pallet can be replaced in a short time, and thus it is possible to separate the workpiece with high efficiency.

An aspect of the present invention makes it possible to separate the workpiece welded to the workpiece supports more reliably.

A workpiece separation device and a pallet shelf device according to a present embodiment will be described based on a workpiece separation device <NUM> and a pallet shelf device <NUM> provided with the workpiece separation device <NUM>. First, an installation example of the pallet shelf device <NUM> will be described based on a laser processing system ST which combines the pallet shelf device <NUM> and a laser processing machine <NUM>.

<FIG> is a diagram illustrating a configuration of the laser processing system ST including the laser processing machine <NUM> and the pallet shelf device <NUM>. For the sake of convenience for explanation, the respective directions of up, down, left, and right are defined in the directions indicated by arrows in <FIG>. The front is a position at the front side of the page space, and the rear is a position at the rear of the page space.

The laser processing system ST includes the laser processing machine <NUM> installed on a floor surface FL, and the pallet shelf device <NUM> positioned on the right side of the laser processing machine <NUM>. The laser processing machine <NUM> has a housing <NUM>, a laser oscillator <NUM>, an optical fiber <NUM>, a laser processing head <NUM>, and a processing control unit <NUM>. The laser oscillator <NUM> and the laser processing head <NUM> are housed in the housing <NUM>. The installation position of the processing control unit <NUM> is not limited. The laser oscillator <NUM> is, for example, a fiber laser, and generates a laser beam. The laser beam generated by the laser oscillator <NUM> is supplied to the laser processing head <NUM> through the optical fiber <NUM>, and is emitted as a laser beam Ls directed downward.

A pallet <NUM> is carried in from the outside below the laser processing head <NUM>. The laser processing head <NUM> and the pallet <NUM> move horizontally in two dimensions in a relative manner. Thus, a sheet metal workpiece W placed on the upper surface of the pallet <NUM> is irradiated with a laser beam Ls in two dimensions, and laser processing such as cutting in a desired path is performed on the workpiece W. The processing control unit <NUM> controls the laser oscillator <NUM>, the laser processing head <NUM>, and the relative two-dimensional movement between the laser processing head <NUM> and the pallet <NUM> by means of a drive device (not illustrated). The processing control unit <NUM> also performs control in cooperation with a shelf control unit <NUM> (see <FIG>) which controls the operation of the pallet shelf device <NUM>. The pallet <NUM> is carried in and out of the laser processing machine <NUM> by the pallet shelf device <NUM> (see arrow DR1).

The pallet shelf device <NUM> will be described with reference to <FIG> and <FIG> is a right side view illustrating the pallet shelf device <NUM>.

The pallet shelf device <NUM> is a shelf having a frame body <NUM> which is assembled to form a square when seen in a top view. The frame body <NUM> includes a front left frame 21a1, a front right frame 21a2, a rear left frame 21b1, and a rear right frame 21b2 which are supporting columns arranged at four corners of the square and extending in the up-down direction. The frame body <NUM> is structured by connecting these supporting columns with a plurality of horizontally extending frames, thereby forming a sturdy shelf.

As illustrated in <FIG>, the pallet shelf device <NUM> is functionally divided into three areas from the upper side: a pallet storage area AR1, a workpiece separation area AR2, and a carriage storage area AR3. In the pallet storage area AR1, which is the uppermost area, n (n is an integer of <NUM> or more) pallet storage units P1 to Pn for storing and holding the pallet <NUM> are provided in parallel along the up-down direction. The pallet <NUM> can also be stored in the workpiece separation area AR2 positioned in the middle section. The workpiece separation device <NUM> is provided in the workpiece separation area AR2. A carriage <NUM> having wheels and moving in the front-rear direction is stored in the carriage storage area AR3 which is the lowermost area.

Further, as illustrated in <FIG>, the pallet shelf device <NUM> includes an elevator shelf <NUM>, an elevator shelf raising/lowering drive unit <NUM>, and a shelf control unit <NUM>. As illustrated in <FIG>, the shelf control unit <NUM> includes a central processing unit (CPU) <NUM>, a storage unit <NUM>, and an input device <NUM>.

As illustrated in <FIG> and <FIG>, the elevator shelf <NUM> is supported by the front left frame 21a1 and the front right frame 21a2, and projects forward. The elevator shelf <NUM> is raised and lowered in the up-down direction by the elevator shelf raising/lowering drive unit <NUM> installed on the upper part of the frame body <NUM> (see arrow DR2). The elevator shelf <NUM> includes a pallet entering/leaving drive unit <NUM> (see <FIG>). The elevator shelf <NUM> is held at a height position corresponding to each of the pallet storage units P1 to Pn, and the pallet <NUM> is transferred to and received from each of the pallet storage units P1 to Pn by the operation of the pallet entering/leaving drive unit <NUM> (see arrow DR3). <FIG> illustrates the transfer and reception of the pallet <NUM> (indicated by a solid line) between the pallet storage unit P3 and the elevator shelf <NUM> (indicated by a solid line) (see arrow DR3).

As illustrated in <FIG>, the elevator shelf <NUM> is also held at a height position corresponding to the workpiece separation area AR2, and the pallet <NUM> is transferred to and received from the workpiece separation device <NUM> by the operation of the pallet entering/leaving drive unit <NUM> (see arrow DR4). The pallet shelf device <NUM> stores the pallet <NUM> which is transferred to and received from the workpiece separation device <NUM> in the empty storage unit of the pallet storage units P1 to Pn. The pallet shelf device <NUM> also transfers the pallet <NUM> which is received from any of the pallet storage units P1 to Pn to the workpiece separation area AR2.

The operation of the elevator shelf raising/lowering drive unit <NUM> and the pallet entering/leaving drive unit <NUM> is controlled by the shelf control unit <NUM>.

<FIG> is a top view of the pallet <NUM> of the pallet shelf device <NUM>. <FIG> is a cross-sectional view at S4-S4 position of <FIG>. As illustrated in <FIG>, the pallet <NUM> includes a frame <NUM> that is a rectangular frame body, and a plurality of workpiece supports <NUM> that are inserted into and supported by the frame <NUM>. The workpiece supports <NUM> are rectangular plate-like members. At the upper edge portion of the workpiece supports <NUM>, spire portions <NUM> which becomes thinner toward the upper side are continuously formed.

The plurality of workpiece supports <NUM> are mounted in parallel in the left-right direction. The respective workpiece supports <NUM> are in a standing posture such that the spire portions <NUM> extend in the front-rear direction by facing upward. The sheet metal workpiece W is placed on the spire portions <NUM>. Specifically, the workpiece W supported by the workpiece support <NUM> is substantially in point contact with the tip ends of the plurality of spire portions <NUM>.

An original position PS is set at the front left of the workpiece support <NUM>. The original position PS is an intersection point between the X-axis (left-right direction) and the Y-axis (front-rear direction) on the horizontal two-axis control, and the operation of the laser processing head <NUM> in the X-axis and the Y-axis is controlled with reference to the original position PS. The workpiece W is placed on the workpiece support <NUM> in a posture in which the left front corner part of the workpiece W coincides with the original position PS and the two orthogonal sides are in the left-right direction and the front-rear direction regardless of the size.

Referring back to <FIG>, in the laser processing machine <NUM>, laser cutting is performed on the workpiece W placed on the pallet <NUM> by the laser beam Ls. Thus, the workpiece W includes a product Wp whose outer shape is cut, and a skeleton Ws which is the remaining workpiece other than the product Wp, as illustrated in <FIG>. That is, the skeleton Ws is a plate-like residual material which includes the edge portion of the workpiece W and in which the product Wp is cut out. The edge portion including the original position PS at the front of the skeleton Ws is defined as a first edge portion Ws1, and the opposite edge portion thereof is defined as a second edge portion Ws2.

Next, the workpiece separation device <NUM> which is arranged in the workpiece separation area AR2 (see <FIG>) of the pallet shelf device <NUM> will be described in detail. First, an outline thereof will be described with reference to <FIG> is a schematic diagram illustrating a schematic configuration and operation of the workpiece separation device <NUM> provided in the pallet shelf device <NUM>, and is a diagram illustrating a state in which the basic frame body <NUM> is raised. <FIG> is a schematic diagram illustrating a schematic configuration and operation of the workpiece separation device <NUM> provided in the pallet shelf device <NUM>, and is a diagram illustrating a state in which the basic frame body <NUM> is lowered.

The workpiece separation device <NUM> includes a raising/lowering unit <NUM>, and a separation unit <NUM> hanging from the raising/lowering unit <NUM>. The raising/lowering unit <NUM> has a frame body <NUM> and raising/lowering chain support units <NUM>. The frame body <NUM> is formed into a rectangular shape by a pair of frames arranged apart in the front-rear direction and a pair of frames arranged apart in the left-right direction. The raising/lowering chain support units <NUM> are installed in a pair of frames arranged apart in the front-rear direction, which are provided apart in the left-right direction.

Respective string-like members <NUM> hang downward from the four raising/lowering chain support units <NUM>. In this example, the string-like members <NUM> are chains, which will be described as raising/lowering chains <NUM>. The raising/lowering chain support units <NUM> raise and lower the raising/lowering chains <NUM>. Of the four raising/lowering chains <NUM>, the two chains on the front side are a front left raising/lowering chain <NUM> and a front right raising/lowering chain 41R, which raise and lower synchronously. Meanwhile, the two chains are on the rear side are a rear left raising/lowering chain <NUM> and a rear right raising/lowering chain 42R, which raise and lower synchronously.

The separation unit <NUM> has the basic frame body <NUM> and raising/lowering chain connection units <NUM>. The basic frame body <NUM> is formed into a rectangular shape by a pair of metal frames arranged apart in the front-rear direction and a pair of metal frames arranged apart in the left-right direction. The raising/lowering chain connection units <NUM> are respectively provided in a pair of frames arranged apart in the front-rear direction, which are provided separately in the left-right direction. The four raising/lowering chain connection units <NUM> are positioned at positions corresponding to the four raising/lowering chain support units <NUM> of the raising/lowering unit <NUM>, and are connected to the tip ends of the raising/lowering chains <NUM> hanging from the respective raising/lowering chain support units <NUM>. The separation unit <NUM> is hung in a horizontal posture through the four raising/lowering chains <NUM> extending in the vertical direction by the raising/lowering unit <NUM> in a horizontal posture.

Next, the raising/lowering unit <NUM> will be described in detail with reference to <FIG> is a perspective view of the raising/lowering unit <NUM> provided in the workpiece separation device <NUM> seen from the right front obliquely upward. As illustrated in <FIG>, the raising/lowering unit <NUM> includes a gearbox <NUM>, a shaft <NUM>, drive sprockets <NUM>, driven sprockets <NUM>, a raising/lowering motor <NUM>, synchronization chains <NUM>, upper limit switches <NUM>, and lower limit switches <NUM> in addition to the frame body <NUM> and the raising/lowering chain supports <NUM> described above.

The frame body <NUM> includes a front frame <NUM> and a rear frame <NUM>, and is formed into a rectangular shape with long left and right sides when seen in a top view. The front frame <NUM> is a frame extending left and right in the front side of the frame body <NUM>, and the rear frame <NUM> is a frame extending left and right in parallel with the front frame <NUM> in the rear side of the frame body <NUM>.

The gearbox <NUM> and the raising/lowering motor <NUM> are attached to a portion of the front frame <NUM> positioned on the left side from the center. The operation of the raising/lowering motor <NUM> is controlled by the shelf control unit <NUM> (see <FIG>). The gearbox <NUM> has an encoder <NUM>. The encoder <NUM> measures the rotational speed of the raising/lowering motor <NUM>, and outputs the measured rotational speed information J34 to the shelf control unit <NUM> (see <FIG>).

The gearbox <NUM> transmits the rotation of the raising/lowering motor <NUM> to the shaft <NUM> extending in the front-rear direction. The drive sprockets <NUM> are fixed to both ends of the shaft <NUM>. Among the pair of drive sprockets <NUM>, the one fixed to the front end of the shaft <NUM> is a drive sprocket 332f, and the one fixed to the rear end is a drive sprocket 332b. When the raising/lowering motor <NUM> rotates, the pair of drive sprockets <NUM> rotate synchronously in the rotation direction corresponding to the rotation direction of the raising/lowering motor <NUM>.

A pair of driven sprockets <NUM> are rotatably attached to the respective right portions of the front frame <NUM> and the rear frame <NUM> about an axis extending in the front-rear direction. The endless loop-like synchronization chain <NUM> is bridged between the front-side drive sprocket <NUM> and the front-side driven sprocket <NUM> along the front frame <NUM>.

One end (right end) of the front left raising/lowering chain <NUM> is connected to the approximate center in the left-right direction of <FIG> in the portion running on the upper side of the front-side synchronization chain <NUM> by a connector <NUM>. The front left raising/lowering chain <NUM> extends leftward from the connector <NUM> along the synchronization chain <NUM>, and hangs downward in the front left position of the raising/lowering unit <NUM> through the left-side raising/lowering chain support unit <NUM>. A fixture <NUM> is attached to the lower end of the front left raising/lowering chain <NUM> hanging downward.

One end (left end) of the front right raising/lowering chain 41R is connected to the approximate center in the left-right direction of <FIG> in the portion running on the lower side of the front-side synchronization chain <NUM> by a connector <NUM>. The front right raising/lowering chain 41R extends rightward from the connector <NUM> along the synchronization chain <NUM>, and hangs downward in the front right position of the raising/lowering unit <NUM> through the right-side raising/lowering chain support unit <NUM>. A fixture 411R is attached to the lower end of the front right raising/lowering chain 41R hanging downward.

The synchronization chain <NUM> is also bridged between the rear-side drive sprocket <NUM> and the rear-side driven sprocket <NUM>. One end (right end) of the rear left raising/lowering chain <NUM> is connected to the approximate center in the left-right direction of <FIG> in the portion running on the upper side of the rear-side synchronization chain <NUM> by a connector <NUM>. The rear left raising/lowering chain <NUM> extends leftward from the connector <NUM> along the synchronization chain <NUM>, and hangs downward in the rear left position of the raising/lowering unit <NUM> through the left-side raising/lowering chain support unit <NUM>. A fixture <NUM> is attached to the lower end of the rear left raising/lowering chain <NUM> hanging downward.

One end (left end) of the rear right raising/lowering chain 42R is connected to the approximate center in the left-right direction of <FIG> in the portion running on the lower side of the rear-side synchronization chain <NUM> by a connector <NUM>. The rear right raising/lowering chain 42R extends rightward from the connector <NUM> along the synchronization chain <NUM>, and hangs downward in the rear right position of the raising/lowering unit <NUM> through the right-side raising/lowering chain support unit <NUM>. A fixture 421R is attached to the lower end of the rear right raising/lowering chain 42R hanging downward.

In this structure, when the raising/lowering motor <NUM> rotates, the rotation rotates the shaft <NUM> and the drive sprockets <NUM> connected to the shaft <NUM> via the gearbox <NUM> (see arrow DR5). When the drive sprockets <NUM> rotate, a pair of the front and rear synchronization chains <NUM> rotate (see arrow DR6).

One ends of four raising/lowering chains <NUM> are connected and fixed to the pair of synchronization chains <NUM> by the respective connectors <NUM> and <NUM>. The fixtures <NUM>, 411R, <NUM>, and 421R connected to the other ends of the respective raising/lowering chains <NUM> hanging downward are raised and lowered synchronously according to the rotation direction of the synchronization chains <NUM>. The raising/lowering range is illustrated by the distance L1 in <FIG> illustrates the state in which the raising/lowering chains <NUM> are most raised.

The upper limit switch <NUM> and the lower limit switch <NUM> are attached to the rear frame <NUM> of the frame body <NUM> as switches to be switched when the connector <NUM> of the rear left raising/lowering chain <NUM> moves to a predetermined position. As illustrated in <FIG> and <FIG>, switch information J61 and switch information J62 indicating the switch ON/OFF state of the upper limit switch <NUM> and the lower limit switch <NUM> are output to the shelf control unit <NUM>. The shelf control unit <NUM> controls the operation of the raising/lowering motor <NUM>, based on the switch information J61 and the switch information J62 input from the upper limit switch <NUM> and the lower limit switch <NUM>, and rotational speed information J34 input from the encoder <NUM>.

Specifically, the shelf control unit <NUM> raises and lowers the raising/lowering chains <NUM> when the connector <NUM> is positioned between the upper limit switch <NUM> and the lower limit switch <NUM> in the OFF state, based on the processing program stored in the memory unit <NUM>. For example, the shelf control unit <NUM> monitors the switch information J61 and J62 while raising and lowering the raising/lowering chains <NUM>. Thereafter, when the fixture <NUM> is raised to reach a predetermined uppermost position, the upper limit switch <NUM> detects the connector <NUM> and switches ON. The shelf control unit <NUM> detects the ON state of the upper limit switch <NUM>, and stops raising the raising/lowering chain <NUM>. That is, the fixtures <NUM>, 411R, <NUM>, and 421R have stopped to be raised synchronously.

Further, when the fixture <NUM> is lowered to reach a predetermined lowest position, the lower limit switch <NUM> detects the connector <NUM> and switches ON. The shelf control unit <NUM> detects the ON state of the lower limit switch <NUM>, and stops lowering the raising/lowering chain <NUM>. That is, the fixtures <NUM>, 411R, <NUM>, and 421R have stopped to be lowered synchronously.

Further, the shelf control unit <NUM> grasps the positions of the fixtures <NUM>, 411R, <NUM>, and 421R in the height direction on a steady basis, based on the rotation speed information from the encoder <NUM>. In this example, it is assumed that the portion of the raising/lowering chain <NUM> hanging down is lifted and raised when the raising/lowering motor <NUM> is in the positive rotation, and is moved down and lowered when the raising/lowering motor is in the inverse rotation.

Next, the separation unit <NUM> will be described in detail with reference to <FIG> is a top view illustrating the separation unit <NUM> provided in the workpiece separation device <NUM>. As illustrated in <FIG>, the separation unit <NUM> includes a reference side hanger frame <NUM>, an anti-reference side hanger frame <NUM>, reference side clamp units <NUM>, anti-reference side clamp units <NUM>, reference side push-up units <NUM>, and anti-reference side push-up units <NUM> in addition to the basic frame body <NUM> and the raising/lowering chain connection units <NUM> described above. The reference side clamp units <NUM> and the anti-reference side clamp units <NUM> are also referred to as the first clamp units <NUM> and the second clamp units <NUM>, respectively. The reference side push-up units <NUM> and the anti-reference side push-up units <NUM> are also referred to as the first push-up units <NUM> and the second push-up units <NUM>, respectively.

The basic frame body <NUM> includes a front frame <NUM> and a rear frame <NUM>, and a left frame <NUM> and a right frame <NUM>, and has a long rectangular shape in the left-right direction when seen in a top view. The front frame <NUM> and the rear frame <NUM>, and the left frame <NUM> and the right frame <NUM> are framed in such a way that the left frame <NUM> and the right frame <NUM> project forward and backward. The front frame <NUM> and the rear frame <NUM> extend in the left-right direction, and are separated in the front-rear direction to be arranged in parallel with each other. The left frame <NUM> extends in the front-rear direction, and has the left ends of the front frame <NUM> and the rear frame <NUM> connected thereto. The right frame <NUM> extends in the front-rear direction in parallel with the left frame <NUM>, and has the right ends of the front frame <NUM> and the rear frame <NUM> connected thereto.

Linear guides <NUM> are respectively attached to the lower surfaces of the left frame <NUM> and the right frame <NUM> at the portions extending forward from the front frame <NUM>. The reference side hanger frame <NUM> is supported by these two linear guides <NUM> so as to be movable in the front-rear direction in a posture parallel to the front frame <NUM> (see arrow DR7). Reference side hanger cylinders <NUM> are each attached to the left frame <NUM> and the right frame <NUM> at the portions extending forward from the front frame <NUM>. The reference side hanger cylinders <NUM> have rods <NUM> entering and leaving in the front direction, and the tip ends of the rods <NUM> are connected to the reference side hanger frames <NUM>.

The operation of the reference side hanger cylinders <NUM> is controlled by the shelf control unit <NUM> (see <FIG>). The reference side hanger frame <NUM> is moved by the operation of the reference side hanger cylinders <NUM> such that the rear surface position is positioned at two positions between a fifth position PS5 serving as the rear end in the movement range in the front-rear direction and a sixth position PS6 serving as the front end in the movement range in the front-rear direction.

Linear guides <NUM> are respectively attached to the lower surfaces of the left frame <NUM> and the right frame <NUM> at the portions extending backward from the rear frame <NUM>. The anti-reference side hanger frame <NUM> is supported by these two linear guides <NUM> so as to be movable in the front-rear direction in a posture parallel to the rear frame <NUM> (see arrow DR8). Anti-reference side hanger cylinders <NUM> are each attached to the left frame <NUM> and the right frame <NUM>. The anti-reference side hanger cylinder <NUM> has rods <NUM> entering and leaving in the rear direction, and the tip ends of the rods <NUM> are connected to the anti-reference side hanger frames <NUM>.

The operation of the anti-reference side hanger cylinders <NUM> is controlled by the shelf control unit <NUM> (see <FIG>). The anti-reference side hanger frame <NUM> is moved by the operation of the anti-reference side hanger cylinders <NUM> such that the rear surface position is positioned at four positions from the rearmost first position PS1 to the foremost fourth position PS4 in the movement range in the front-rear direction. The position of the anti-reference side hanger frame <NUM> among the position PS1 to the position PS4 is detected by an anti-reference side hanger sensor <NUM> (see <FIG>). The anti-reference side hanger sensor <NUM> outputs the detected position information of the anti-reference side hanger frame <NUM> as detection information J64 to the shelf control unit <NUM>. The shelf control unit <NUM> appropriately selects and sets the position of the anti-reference side hanger frame <NUM> in the workpiece separation operation to be described later, based on the detection information J64 or the like.

In <FIG> and <FIG>, a total of four raising/lowering chain connection units <NUM> are provided in the basic frame body <NUM>. The raising/lowering chain connection units <NUM> are the portions to which the fixtures <NUM>, 411R, <NUM>, and 421R of the raising/lowering chains <NUM> in the raising/lowering unit <NUM> are connected. The positions of the raising/lowering chain connection units <NUM> are associated with the positions of the raising/lowering chain support units <NUM> such that the raising/lowering chains <NUM> naturally extend in the vertical direction after the raising/lowering chains <NUM> are connected.

A plurality of the reference side clamp units <NUM> (six pieces in <FIG>) are attached to the reference side hanger frame <NUM> apart in the left-right direction. A plurality of the anti-reference side clamp units <NUM> (six pieces in <FIG>) are attached to the anti-reference side hanger frame <NUM> apart in the left-right direction. A plurality of the reference side push-up units <NUM> (three pieces in <FIG>) are attached to the reference side hanger frame <NUM> apart in the left-right direction. A plurality of the anti-reference side push-up units <NUM> (four pieces in <FIG>) are attached to the anti-reference side hanger frame <NUM> apart in the left-right direction.

First, the reference side clamp unit <NUM> will be described with reference to <FIG> are cross-sectional views at S8-S8 position of <FIG>, and the reference side clamp unit <NUM> provided in the separation unit <NUM> is illustrated as side views. <FIG> illustrates a state in which a pushing portion <NUM> is raised, and <FIG> illustrates a state in which the pushing portion <NUM> is lowered.

The reference side clamp unit <NUM> includes a body portion <NUM>, a pushing portion <NUM>, a reference side clamp unit cylinder <NUM>, and a claw <NUM>. The body portion <NUM> of the reference side clamp unit <NUM> is formed of a metal material, and is attached to the reference side hanger frame <NUM> by a fixture (not illustrated), such as a bolt, with an insulating plate <NUM> interposed therebetween. As a result, the reference side clamp unit <NUM> is electrically insulated from the basic frame body <NUM> including the reference side hanger frame <NUM>.

The body portion <NUM> has a generally box-like housing and a claw <NUM> having a tip end bent toward the reference side hanger frame <NUM> at a lower part. The upper surface of the claw <NUM> is a horizontal lower abutment surface 554a. The reference side clamp unit cylinder <NUM> is housed in the inner portion of the body portion <NUM>. Under the control of the shelf control unit <NUM>, the reference side clamp unit cylinder <NUM> causes the rod 553a to enter and leave downward by the flow of air supplied from the outside. The flat plate-like pushing portion <NUM> is attached to the lower end of the rod 553a. The lower surface of the pushing portion <NUM> is an upper abutment surface 552a parallel to the lower abutment surface 554a.

As illustrated in <FIG>, the reference side clamp unit <NUM> is normally in a retracted state in which the rod 553a is raised and pulled into the body portion <NUM>. The shelf control unit <NUM> operates the reference side clamp unit cylinder <NUM> as necessary, and lowers the pushing portion <NUM> as illustrated in <FIG> (see arrow DR9). As a result, a workpiece W or a skeleton Ws is held between the lower abutment surface 554a and the upper abutment surface 552a.

The body portion <NUM> is electrically conductive with at least one of the lower abutment surface 554a and the upper abutment surface 552a. As illustrated in <FIG>, the body portion <NUM> is electrically connected to the workpiece support <NUM>, which is an assembly of the spire portions <NUM>, via a conduction sensor <NUM>. The conduction sensor <NUM> detects whether the workpiece support <NUM> and the body portion <NUM> are in a conductive state, and outputs detection information J65 including the detection result to the shelf control unit <NUM> (see <FIG>).

Since the anti-reference side clamp unit <NUM> has the same structure as the reference side clamp unit <NUM>, the reference numerals as the anti-reference side clamp unit <NUM> are illustrated in parentheses in <FIG>.

Next, the reference side push-up unit <NUM> will be described with reference to <FIG> are cross-sectional views at S9-S9 position of <FIG>, and the reference side push-up unit <NUM> provided in the separation unit <NUM> is illustrated as side views. <FIG> illustrates a state in which the pusher <NUM> is raised, and <FIG> illustrates a state in which the pusher <NUM> is lowered.

The reference side push-up unit <NUM> includes a bracket <NUM>, a plate <NUM>, and a reference side push-up unit cylinder <NUM>. The bracket <NUM> is attached to the reference side hanger frame <NUM> by a fixture (not illustrated) such as a bolt. The lower portion of the bracket <NUM> is connected to the plate <NUM>, and the plate <NUM> supports the reference side push-up unit cylinder <NUM> in a standing posture causing the rod 573a to enter and leave downward. The flat plate-like pusher <NUM> is attached to the lower end of the rod 573a.

As illustrated in <FIG>, the reference side push-up unit <NUM> is normally in a retracted state in which the rod 573a is raised and pulled into the reference side push-up unit cylinder <NUM>. The shelf control unit <NUM> operates the reference side push-up unit cylinder <NUM> as necessary, and lowers the pusher <NUM> as illustrated in <FIG> (see arrow DR10). The reference side push-up unit <NUM> is attached to the reference side hanger frame <NUM> at a position where the lowered pusher <NUM> abuts on the workpiece support <NUM> of the pallet <NUM> (see <FIG>).

Since the anti-reference side push-up unit <NUM> has the same structure as the reference side push-up unit <NUM>, the reference numerals as the anti-reference side push-up unit <NUM> are illustrated in parentheses in <FIG>. The anti-reference side push-up unit <NUM> is attached to the anti-reference side hanger frame <NUM> at a position where the lowered pusher <NUM> abuts on the workpiece support <NUM> of the pallet <NUM> (see <FIG>).

As illustrated in <FIG>, the separation unit <NUM> has a deflection detection sensor unit <NUM>. The deflection detection sensor unit <NUM> is attached to the right frame <NUM> of the basic frame body <NUM>, for example. <FIG> is a cross-sectional view at S10-S10 position of <FIG>, in which the deflection detection sensor unit <NUM> provided in the separation unit <NUM> is illustrated as a side view.

The deflection detection sensor unit <NUM> includes a bracket <NUM>, a deflection detection sensor cylinder <NUM>, and a deflection detection sensor <NUM>. The bracket <NUM> has one end fixed to the right frame <NUM> by a fixture (not illustrated) such as a bolt, and holds the deflection detection sensor cylinder <NUM> at the other end side by straddling the anti-reference side hanger cylinder <NUM>. The deflection detection sensor cylinder <NUM> is in a posture to cause the rod-shaped deflection detection sensor <NUM>, which is also a rod, to enter and leave downward.

If necessary, the shelf control unit <NUM> operates the deflection detection sensor cylinder <NUM> to selectively maintain the measurement position of the deflection detection sensor <NUM> at three positions different in the height direction. Specifically, each of the three measurement positions is an uppermost standby position PS7, a lowermost skeleton accumulation height detection position PS9, and a skeleton deflection detection position PS8 which is an intermediate position between the position PS7 and the position PS9.

As illustrated in <FIG> and <FIG>, the workpiece separation device <NUM> described above performs a workpiece separation operation in which only the skeleton Ws is separated from the workpiece W, which is cut and separated into the product Wp and the residual skeleton Ws by the laser processing machine <NUM> in a state the workpiece W is placed on the pallet <NUM>, and is transferred onto the carriage <NUM>. More specifically, in the laser processing process, the pallet <NUM> on which the workpiece W is placed is conveyed into the laser processing machine <NUM>, and the workpiece W is cut into the product Wp and the skeleton Ws by laser cutting.

After the laser processing process is performed, the pallet <NUM> on which the product Wp and the skeleton Ws are placed is transferred from the laser processing machine <NUM> to the workpiece separation area AR2 of the pallet shelf device <NUM>. The workpiece separation device <NUM> performs the workpiece separation operation, and separates the skeleton Ws from the product Wp by clamping and lifting the peripheral edges of the skeleton Ws on the pallet <NUM>. At this time, the workpiece separation method including a process of lifting the second peripheral edge Ws2 which is one peripheral edge of the peripheral edges is performed, thereby separating the welded portion more reliably. After the skeleton Ws is separated, the pallet <NUM> on which only the product Wp is placed is retracted in order to take the product Wp out of the pallet shelf device <NUM>, and the clamped skeleton Ws is loaded on the carriage <NUM> waiting below the pallet <NUM>.

The details of the workpiece separation operation will be described below with reference to <FIG>. <FIG> is a first diagram illustrating an operation of the workpiece separation device <NUM>. <FIG> is a second diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> are third diagrams illustrating an operation for holding a skeleton Ws of the reference side clamp unit <NUM>, in which <FIG> illustrates a first holding operation, <FIG> illustrates a second holding operation, and <FIG> illustrates a third holding operation. <FIG> are fourth diagrams illustrating the operation of the workpiece separation device <NUM>, in which <FIG> is a partially enlarged view of the separation unit <NUM>, and <FIG> is an overall view of the workpiece separation device <NUM>. <FIG> is a fifth diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> is a sixth diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> is a seventh diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> is an eighth diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> is a ninth diagram illustrating the operation of the workpiece separation device <NUM>. <FIG> is a top view illustrating a separation unit 5V to which a vibration device V is attached. <FIG> is a side view illustrating an operation of the vibration device V. <FIG> is a block diagram illustrating a configuration of a pallet shelf device 92V having the separation unit 5V. <FIG> is a flow diagram of a workpiece separation operation performed by the pallet shelf device <NUM> and the pallet shelf device 92V.

<FIG> illustrates a pallet <NUM> transferred to the pallet shelf device <NUM> after laser processing, and the workpiece separation device <NUM> disposed above the pallet <NUM>. In this example, the workpiece W is a rectangular sheet metal of the largest size among the sizes that can be placed on the pallet <NUM>. In a case where the workpiece W of the largest size is placed on the workpiece support <NUM> with the left front corner portion aligned with the original position PS (see <FIG>), the rear edge of the workpiece W does not interfere with the anti-reference side clamp unit <NUM> when the anti-reference side hanger frame <NUM> is in the position PS1, and interferes with the anti-reference side clamp unit <NUM> when the anti-reference side hanger frame <NUM> is in the position PS2, as illustrated in <FIG> and <FIG>. In addition, the front edge of the workpiece W does not interfere with the reference side clamp unit <NUM> when the reference side hanger frame <NUM> is in the position PS6, and interferes with the reference side clamp unit <NUM> when the reference side hanger frame <NUM> is in the position PS5.

After finishing the processing in the laser processing machine <NUM>, before the pallet <NUM> is transferred to the lower part of the separation unit <NUM> of the pallet shelf device <NUM>, the shelf control unit <NUM> positively rotates the raising/lowering motor <NUM> (see <FIG>) to raise the separation unit <NUM> by the raising/lowering chains <NUM> (see <FIG>: arrow DR51). The shelf control unit <NUM> also moves the reference side hanger frame <NUM> to the foremost position PS6 by operating the reference side hanger cylinder <NUM> (see arrow DR52). The shelf control unit <NUM> moves the anti-reference side hanger frame <NUM> to the rearmost position PS1 by operating the anti-reference side hanger cylinder <NUM> (see arrow DR53). The shelf control unit <NUM> sets a state of the separation unit <NUM> to a basic state as illustrated in <FIG> (<FIG>: Step <NUM>).

As illustrated in <FIG>, the shelf control unit <NUM> inversely rotates the raising/lowering motor <NUM> (see <FIG>) to move the raising/lowering chains <NUM> downward, thereby lowering the separation unit <NUM> to a predetermined height position (see arrow DR54) (<FIG>: Step <NUM>). The predetermined height position is a position where the lower abutment surface 554a of the reference side clamp unit <NUM> and the lower abutment surface 564a of the anti-reference side clamp unit <NUM> are lower than the lower surface Wsb of the skeleton Ws by a predetermined distance L2. The predetermined distance L2 is illustrated in <FIG> and is, for example, <NUM>.

After lowering the separation unit <NUM> to a predetermined height position, the shelf control unit <NUM> operates the reference side hanger cylinders <NUM> to move the reference side hanger frame <NUM> from the foremost position PS6 to the rearmost position PS5, as illustrated in <FIG> and <FIG> (see arrow DR55). Thus, the lower abutment surface 554a enters the lower side of the lower surface Wsb of the skeleton Ws.

Next, the shelf control unit <NUM> positively rotates the raising/lowering motor <NUM> (see <FIG>) to raise the separation unit <NUM> by the predetermined distance L2. As a result, the reference side clamp unit <NUM> and the anti-reference side clamp unit <NUM> raise by the predetermined distance L2 (see arrow DR56 in <FIG>), and the lower abutment surfaces 554a and 564a abut on the lower surface Wsb of the skeleton Ws. <FIG> illustrates a state in which the lower abutment surface 554a abuts on the lower surface Wsb.

The shelf control unit <NUM> then operates a plurality of the reference side clamp unit cylinders <NUM> to push the pushing portions <NUM> downward (see <FIG>, arrow DR57). In addition, the shelf control unit <NUM> simultaneously operates a plurality of the anti-reference side clamp unit cylinders <NUM> to push the pushing portions <NUM> downward. As a result, the skeleton Ws is held in such a way that the first edge Ws1 as the front edge (see <FIG>) is sandwiched between the upper abutment surfaces 552a of the pushing portions <NUM> and the lower abutment surfaces 554a of the claws <NUM> of the plurality of reference side clamp units <NUM>. Further, the skeleton Ws is held in such a way that the second edge Ws2 as the rear edge (see <FIG>) is sandwiched between the upper abutment surfaces 562a of the pushing portions <NUM> and the lower abutment surfaces 564a of the claws <NUM> of the plurality of anti-reference side clamp units <NUM>. That is, the skeleton Ws is held by the separation unit <NUM>.

When the skeleton Ws is held by the separation unit <NUM>, the shelf control unit <NUM> operates the anti-reference side push-up unit cylinder <NUM> to push the pusher <NUM> downward (see arrow DR58), as illustrated in <FIG>. Since the lowering stroke of the pusher <NUM> is sufficiently long, the pusher <NUM> pushes the workpiece support <NUM> downward in an attempt to further push it down even if the pusher <NUM> comes into contact with the workpiece support <NUM>. With respect to this downward pushing force, the workpiece support <NUM> is strongly fixed to the pallet <NUM> firmly which is held by the pallet shelf device <NUM>, and therefore does not move downward. For this reason, the pusher <NUM> receives a reaction force from the workpiece support <NUM>, and the reaction force causes the anti-reference side push-up unit <NUM>, the anti-reference side hanger frame <NUM>, and the anti-reference side clamp unit <NUM> to be pushed upward since they are integrated as the same rigid body.

As the anti-reference side clamp unit <NUM> is pushed up, the rear edge of the skeleton Ws clamped by the anti-reference side clamp unit <NUM> is lifted (see arrow DR59). Here, if there is a welded portion M in which the skeleton Ws and the workpiece support <NUM> are welded to each other, the welded portion M is peeled off and separated because the skeleton Ws is forcibly lifted from the rear edge thereof, resulting in the remains of a welded portion Mp remaining in each of the skeleton Ws and the workpiece support <NUM>. When the rear edge of the skeleton Ws starts to be lifted, the welded portion M resists not to be lifted. However, as the rear edge of the skeleton Ws is lifted, the skeleton Ws deforms downward convexly. The portion to be peeled off gradually moves forward, and the separation of the welded portion M proceeds from the rear side to the front side. This is indicated by arrow DR60 in <FIG>.

In <FIG>, which illustrates a state in which the pusher <NUM> is pushed out to the maximum, the anti-reference side clamp unit <NUM> is in the most lifted position. In this state, the basic frame body <NUM> is in a posture in which the rear side is highly inclined. Accordingly, the members, which are attached to the basic frame body <NUM>, such as the reference side clamp unit <NUM> and the anti-reference side clamp unit <NUM> are inclined in the same way; however, only the basic frame body <NUM> is inclined in <FIG> for the sake of convenience.

As illustrated in <FIG>, after the operation of the anti-reference side push-up unit cylinder <NUM> is completed, the shelf control unit <NUM> also operates the reference side push-up unit cylinder <NUM> to push down the pusher <NUM>. As a result, the skeleton Ws on the reference side is also lifted from the front edge thereof in the same way as the anti-reference side, and the peeling and separation of the welded portion M proceeds from the front edge side to the rear side.

As illustrated in <FIG>, the pusher <NUM> of the reference side push-up unit <NUM> and the pusher <NUM> of the anti-reference side push-up unit <NUM> abut on the workpiece support <NUM> in a downwardly extended state. As a result, the basic frame body <NUM> is lifted together with the skeleton Ws that is held, and placed on the workpiece support <NUM>. Meanwhile, the raising/lowering chains <NUM> become slack. In many cases, the welded portion M is separated by a peeling operation performed by pushing down the pusher <NUM>. The skeleton Ws is then lifted apart from the product Wp and the workpiece support <NUM>, leaving the product Wp on the workpiece support <NUM>.

The shelf control unit <NUM> then rotates the raising/lowering motor <NUM> (see <FIG>) in the positive direction, and performs a raising step that lifts the separation unit <NUM> slightly, as illustrated in <FIG> (<FIG>: Step <NUM>). Specifically, the pusher <NUM> is in a position apart upward by a distance L3 from the workpiece support <NUM>. The distance L3 is, for example, about <NUM>.

As illustrated in <FIG>, the shelf control unit <NUM> refers to the detection information J65 input from the conduction sensor <NUM> (<FIG>: Step <NUM>). The shelf control unit <NUM> determines whether there is conduction (<FIG>: Step <NUM>), and when it is determined that there is no conduction (No), the shelf control unit <NUM> performs Step <NUM> of <FIG>.

When it is determined that there is conduction (Yes), the shelf control unit <NUM> determines whether the number of determinations that there is conduction is the predetermined N time (<FIG>: Step <NUM>). This value N is appropriately set. When the workpiece separation device <NUM> is not provided with the vibration device V which will be described later, "N = <NUM>" is obtained, and thus the determination in Step <NUM> of <FIG> is Yes. In this case, the shelf control unit <NUM> issues an alarm and stops the operation of the pallet shelf device <NUM> (<FIG>: Step <NUM>). The shelf control unit <NUM> may stop the operation of the entire laser processing system ST in cooperation with the processing control unit <NUM>.

When it is determined to be No in Step <NUM> of <FIG>, the shelf control unit <NUM> operates the deflection detection sensor cylinder <NUM> of the deflection detection sensor unit <NUM> as illustrated in <FIG>. The shelf control unit <NUM> then lowers the deflection detection sensor <NUM> from the uppermost position PS7 which is a standby position, to the position PS8 which is a skeleton deflection detection position.

As illustrated in <FIG>, when peeling off the welded portion M (see <FIG>), the welded portion M is not easily separated, and the skeleton Ws is pulled by the workpiece support <NUM>, causing the skeleton Ws to deflect in such a way that the center portion in the front-rear direction becomes low in some cases. In such cases, the deflection detection sensor <NUM> detects whether the skeleton Ws is deflected beyond the allowable upper limit at the position PS8 (<FIG>: Step <NUM>). The deflection detection result is output as detection information J63 to the shelf control unit <NUM> (see <FIG>). The shelf control unit <NUM> checks the detection information J63 (<FIG>: Step <NUM>), and determines whether the deflection of the skeleton Ws has been detected based on the detection information J63 (<FIG>: Step <NUM>).

When it is determined to be Yes in Step <NUM> of <FIG>, the shelf control unit <NUM> moves the anti-reference side hanger frame <NUM> backward as illustrated by arrow DR11 of <FIG>. As a result, the skeleton Ws is extended and corrected, thereby reducing the deflection within the allowable range (see arrows DR11a) (<FIG>: Step <NUM>).

The shelf control unit <NUM> moves the pallet <NUM> to the elevator shelf <NUM> when the deflection of the skeleton Ws is reduced by performing Step <NUM> of <FIG>, or when it is determined to be No in Step <NUM> of <FIG>. Thereafter, as illustrated in <FIG>, the shelf control unit <NUM> lowers the deflection detection sensor <NUM> to the position PS9 which is the skeleton accumulation height detection position (see arrow DR12). At the position PS9, the deflection detection sensor <NUM> detects the height of a place where the skeleton Ws that is held is to be placed. When the skeleton Ws is not placed on the carriage <NUM>, the deflection detection sensor <NUM> detects the height position of the placing surface of the carriage <NUM>. When a skeleton laminated body WsG is already placed on the carriage <NUM>, the deflection detection sensor <NUM> detects the height position of the uppermost surface of the skeleton laminated body WsG.

The shelf control unit <NUM> lowers the separation unit <NUM> to the height position of the position PS9 that is based on the detection information J63 from the deflection detection sensor <NUM> (see arrow DR13), and raises the pushing portion <NUM> of the reference side clamp unit <NUM> and the pushing portion <NUM> of the anti-reference side clamp unit <NUM>. As illustrated in <FIG>, the reference side hanger frame <NUM> is moved forward and the anti-reference side hanger frame <NUM> is moved backward, thereby releasing the skeleton Ws that is held (see arrow DR14). As a result, the skeleton Ws is placed on the skeleton laminate body WsG (<FIG>: Step <NUM>). Thereafter, the shelf control unit <NUM> raises the separation unit <NUM> to return to the basic state (see arrow DR15).

The workpiece separation device <NUM> described above lifts and separates the skeleton Ws among the product Wp and the skeleton Ws which are placed on the pallet <NUM> and cut into pieces. In doing so, the workpiece separation device <NUM> lifts one edge portion of the skeleton Ws even if the skeleton Ws is welded to the workpiece support <NUM> at the welded portion M, and thus the welded portion M can be easily separated, thereby making it possible to separate the skeleton Ws from the workpiece support <NUM> more reliably. Since the workpiece to be separated is not limited to the skeleton Ws, the workpiece separation device <NUM> performs the workpiece separation by means of the above-described workpiece separation method with which it is possible to separate the workpiece welded to the workpiece support <NUM> more reliably.

That is, an aspect of a workpiece separation device <NUM> includes: a raising/lowering unit <NUM> from which a plurality of string-like members <NUM> are hung down in such a way as to be raised and lowered synchronously; a separation unit <NUM> which is suspended by the plurality of string-like members <NUM>; a pallet <NUM> which has a workpiece support <NUM> on which a rectangular workpiece Ws is placed and is arranged below the separation unit <NUM>; a first clamp unit <NUM> which is provided in the separation unit <NUM>, and holds a first edge portion Ws1 of the workpiece Ws placed on the workpiece support <NUM>; a second clamp unit <NUM> which holds a second edge portion Ws2 of the workpiece Ws opposite to the first edge portion Ws1; and a push-up unit <NUM> which receives a reaction force from the pallet <NUM> by pushing a pusher <NUM> onto the pallet <NUM>, thereby pushing up the second clamp unit <NUM>. As a result, the workpiece separation device <NUM> lifts and raises the workpiece Ws welded to the workpiece support <NUM> from the second edge portion Ws2 side, thereby making it possible to separate the workpiece Ws from the workpiece support <NUM> more reliably.

In addition, the above-described one aspect of the workpiece separation device <NUM> may include a conduction sensor <NUM> which detects whether there is conduction between either the first clamp unit <NUM> or the second clamp unit <NUM> and the workpiece support <NUM>. As a result, when raising the workpiece Ws, the workpiece separation device <NUM> can recognize that the workpiece Ws cannot be separated because it is fixed to the workpiece support <NUM> by welding or the like, or because it still remains in contact with the workpiece support <NUM>.

In a workpiece separation method according to the present embodiment in which a separation unit <NUM> is used, the separation unit <NUM> includes: a first clamp unit <NUM> which is suspended from a raising/lowering unit <NUM> to be raised and lowered, and holds a first edge portion Ws1 of a rectangular workpiece Ws; a second clamp unit <NUM> which holds a second edge portion Ws2 of the workpiece Ws opposite to the first edge portion Ws1; and a first push-up unit <NUM> and a second push-up unit <NUM> which are respectively arranged in the same rigid body as the first clamp unit <NUM> and the second clamp unit <NUM>, and extend pushers <NUM> and <NUM> downward, and in a state in which the rectangular workpiece Ws is placed on a workpiece support <NUM> of a pallet <NUM> having the workpiece support <NUM>, and the pallet <NUM> is positioned below the separation unit <NUM>, the method includes: a holding step of holding the first edge portion Ws1 and the second edge portion Ws2 of the workpiece Ws placed on the workpiece support <NUM> by the first clamp unit <NUM> and the second clamp unit <NUM>, respectively; a second edge portion lifting step of lifting the second clamp unit <NUM> and the second edge portion Ws2 of the workpiece Ws by a reaction force from the pallet <NUM> which is received by extending the pusher <NUM> of the second push-up unit <NUM> downward and pushing the pusher <NUM> onto the pallet <NUM>; a first edge portion lifting step of lifting the first clamp unit <NUM> and the first edge portion Ws1 of the workpiece Ws by a reaction force from the pallet <NUM> which is received by extending the pusher <NUM> of the first push-up unit <NUM> downward and pushing the pusher <NUM> onto the pallet <NUM> after performing the second edge portion lifting step; and a raising step of raising the separation unit <NUM>, separating the workpiece Ws from the workpiece support <NUM> and raising the workpiece Ws, after performing the first edge portion lifting step. This enables the workpiece separation method to lift the workpiece Ws welded to the workpiece support <NUM> from the second edge portion Ws2 side and raise the workpiece Ws, thereby making it possible to separate the workpiece Ws from the workpiece support <NUM> more reliably.

Further, an aspect of a pallet shelf device <NUM> includes: a plurality of storage units P1 to Pn which are arranged in parallel in an up-down direction, and capable of storing a pallet <NUM> in each of the storage units P1 to Pn; a workpiece separation device <NUM> of the above aspect which is arranged below the plurality of storage units P1 to Pn; and an elevator shelf <NUM> which moves the pallet <NUM> between each of the storage units P1 to Pn and a lower part of the separation unit <NUM> in the workpiece separation device <NUM>. This makes it possible to separate the plurality of pallet workpieces Ws from the workpiece supports <NUM> efficiently.

The present embodiment is not limited to the configuration described above, and various modifications can be made to the extent not departing from the gist of the present invention.

The workpiece separation device <NUM> may be a workpiece separation device 93V provided with a separation unit 5V having a vibration device V instead of the separation unit <NUM>. The vibration device V will be described with reference to <FIG>. <FIG> is a top view illustrating the separation unit 5V to which the vibration device V is attached. <FIG> is a side view illustrating an operation of the vibration device V. <FIG> is a block diagram illustrating a configuration of a pallet shelf device 92V having the separation unit 5V.

As illustrated in <FIG>, the separation unit 5V is provided with the vibration device V in comparison with the separation unit <NUM>. The vibration device V is bridged and fixed between the left frame <NUM> and the right frame <NUM> of the basic frame body <NUM>. The vibration device V includes a holding bar V1, a vibration unit V2, and a support unit V3. A pair of the support units V3 are provided in the vibration device V, and fixed to the left frame <NUM> and the right frame <NUM>, respectively. Each of the support units V3 has a bar raising/lowering cylinder V32, and a rod V32a entering and leaving below each of the bar raising/lowering cylinder V32. The pair of rods V32a have the lower ends fixed to both ends of the holding bar V1. The operation of the bar raising/lowering cylinders V32 is controlled by the shelf control unit <NUM> (see <FIG>).

The vibration unit V2 is a vibrating member that vibrates by energization under the control of the shelf control unit <NUM>, and in this example, three vibration units V2 are attached apart from each other along the holding bar V1. As illustrated in <FIG>, regarding the height position, the holding bar V1 raises and lowers between the position PS10 and the position PS11 below the position PS10 by means of the operation of the bar raising/lowering cylinder V32. The position PS10 is a retracted position, and at the position PS11, the holding bar V1 comes into contact with the skeleton Ws which is placed on the workpiece support <NUM> of the pallet <NUM>, or comes into contact with the skeleton Ws in a state which is held by the separation unit 5V. That is, the holding bar V1 is capable of coming into contact with a workpiece such as the skeleton Ws. The shelf control unit <NUM> positions the holding bar V1 at the position PS11, and vibrates the vibration units V2. Thus, when the skeleton Ws overlaps with the product Wp and cannot be lifted, a vibration is applied to change the relative position to release the overlap, thereby increasing the possibility that the skeleton Ws can be separated from the product Wp and lifted.

When the pallet shelf device 92V has the separation unit 5V, the vibration application processing (Step <NUM>) may be performed by setting N of the processing in Step <NUM> of FIG. <NUM> to <NUM> or more.

Claim 1:
A workpiece separation device (<NUM>) comprising:
a raising/lowering unit (<NUM>) from which a plurality of string-like members (<NUM>) are hung down in such a way as to be raised and lowered synchronously;
a separation unit (<NUM>) which is suspended by the plurality of string-like members (<NUM>);
a pallet (<NUM>) which has a workpiece support (<NUM>) on which a rectangular workpiece (Ws) is placed and is arranged below the separation unit (<NUM>);
a first clamp unit (<NUM>) which is provided in the separation unit (<NUM>), and holds a first edge portion (Ws1) of the workpiece (Ws) placed on the workpiece support (<NUM>) ;
a second clamp unit (<NUM>) which holds a second edge portion (Ws2) of the workpiece (Ws) opposite to the first edge portion (Ws1); and
a push-up unit (<NUM>) which receives a reaction force from the pallet (<NUM>) by pushing a pusher (<NUM>) onto the pallet (<NUM>), thereby pushing up the second clamp unit (<NUM>).