Control data creation device and control data creation method

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.

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.