CN1116980A - Method and apparatus for automated handling of cutmaterial - Google Patents
Method and apparatus for automated handling of cutmaterial Download PDFInfo
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- CN1116980A CN1116980A CN 94109435 CN94109435A CN1116980A CN 1116980 A CN1116980 A CN 1116980A CN 94109435 CN94109435 CN 94109435 CN 94109435 A CN94109435 A CN 94109435A CN 1116980 A CN1116980 A CN 1116980A
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Abstract
The present invention includes method and equipment: used to cut off a portion with preset shape without the destruction of a workpiece plate made with soft material, and to convey the cut portion to desposition area for further machining. The said removing and conveying process can be completed without deformation of the cut portion.
Description
The present invention about be used for cutting material automatically or the system of computer control assembly.This system comprises such as the extracting of the cutting part of the flexible material that is used for next step processing and transmission.
In flexible material assembling field, from one piece cuts down from sheet material, these cutting parts are delivered to configuring area again and are assembled into various composite members (claiming that hereinafter this is semi-finished product) then, perhaps also may fit together with other material, these semi-finished product are reprocessed into various products or article then.
Though cutting and normally a kind of old known technology of fusion, but still constantly exist the requirement of the flexible material special characteristics that should be used for newly developing, a lot of these new materials are light weight and accurate braiding, also very sturdy and durable, these materials comprise the special synthetic material that is used for extexine, or are used for the graphite epoxy material (composite) of similar products such as sports apparatus, outer cover.
More specifically be, in resin conversion die casting processing, produce in the composite element that semi-finished product are made composite layer such as the glass fibre or the carbon fiber layer of dried braiding.Semi-finished product are placed in the mould then, thereby and inject with resin and to make a finished product member.These semi-finished product may be very difficult and very time taking when making.On the one hand in order to control quality, these semi-finished product must carry out precision and make up, and composite will weave when carrying out the slightest processing and get loose on the other hand, are out of shape and scatter.Therefore need to adopt improved means to come to remove the monolithic cutting part, can keep removing the shape of part simultaneously again, and not disturb cutting part and the crop that stays from the cutting plate of the flexible material of precision.
Existing equipment and method all fail in the mode of cost-effectively the processing of this class material to be advised, and obtain high cost benefit will be the thing that at first must consider in the competitive market in the whole world, therefore any solution must be handled accurate cutting material part with the material deformation of minimum, must come to handle in the high duplication mode in batches with the crop and the waste product of minimum simultaneously.
Also have other problem during the special material of handling dipping such as thermoplastic resin-impregnated fibers, this moment, this material had a surface thickness.Here must not adhere under the situation of grabbing device at the material that stays, remove cutting part from the material that stays.In addition, grabbing device must unload the cutting part of extracting lightly, and under the condition of smoothly and not damaging, although under the situation of the surface thickness of such material gripping portion is delivered to configuring area.
Therefore, the purpose of this invention is to provide a kind of method and apparatus, adopt them can carry out the processing of flexible material automatically, and overcome the defective of prior art.
Further purpose of the present invention is to provide a kind of method and apparatus, is used to grasp flexible material and cutting part, and makes them can accurately locate, deliver to configuring area under the indeformable situation of gripping portion.
The invention provides a kind of method and apparatus, be used for the cutting part of removing a reservation shape from the plate or the workpiece of flexible material, can keep removing the shape of part simultaneously, this cut workpiece part can be sent to configuring area and do further processing then.Usually, method of the present invention comprises the following steps, the combination of an overlapping workpiece cover plate is placed on the cutting surface of cutting bed, cuts the work plate of cover plate then.This cutting work defines the cut workpiece portion boundary, also define auxiliary, respective shapes directly over cover plate that is the cutting cover plate part edge that partly downcuts of overlapping cut workpiece.The cut workpiece part is consistent with the border of cutting cover plate basically.This method also further comprises with a grabber and moves cutting cover plate part, can make the remaining part of cover plate and whole work-piece plate keep not distortion promptly not indeformable simultaneously.Grasp and the travelling workpiece part remainder of while cover plate and the work plate shape that also remains unchanged then keeping under the indeformable condition of workpiece with a grabber.If desired, this grabber can partly be sent to travelling workpiece the configuring area of below, and all these steps all make the workpiece shape attitude that partly remains unchanged.
According to a preferred embodiment of the present invention, the combination of cover plate and workpiece and grabber are selected by following situation: (1) cutting cover plate part grabber can rise this cutting cover plate part to expose overlapping cut workpiece part, and can not disturb remaining cover plate, the cut workpiece plate portion that has exposed or the balance of work plate; (2) cut workpiece part grabber can grasp in indeformable mode, rise, connect the cut workpiece part that the joint combination has exposed with movable more if necessary, and workpiece is damaged or distortion, and do not disturb remaining sheet material, thereby cut workpiece is partly delivered to the configuring area of below.
In a preferred embodiment of the invention, cover plate part grabber has cover plate materials effectively and to the extracting ability of workpiece material partial invalidity.For example: the material that can adopt the cover plate part of the cutting that vacuum picker grasps can be plastic sheeting or sheet metal and workpiece can be the fiber of loose weave.Simultaneously the grabber of cut workpiece part has the work plate material effectively and to the extracting ability of cover plate materials relative nullity, work plate part grabber preferably includes a carding apparatus (array of a plurality of flexible needle member is housed), the work plate material is for example knitting braiding of fabric, coiling, felt class or similar material, and these materials can be penetrated and be grasped by the needle member of workpiece part grabber.In these cases, cover plate materials is the plate of substantially rigid preferably, and it can not be passed by the needle member of workpiece part grabber, and for example it can be a sheet metal.In one embodiment, work plate is a graphite fibre plate and cover plate is the plastic sheeting plate.
In a kind of form of the present invention, work plate and cover plate are supported on the flat work piece support surface, and this workpiece part grabber comprises the end effector of a hinged combing type, and it can move on work piece support surface.End effector comprises a substrate and a movable plate, and these plates are installed in the cover, produces each other along the relative motion of the axle that moves that is roughly parallel to work piece support surface.Moving assembly is installed on the substrate, can produce mobile (i.e. control) on demand and pick up and discharge cutting part).The array of an adjacent staggered combing fillet is installed on every block of plate.This carding apparatus preferably has the form of the basic array that constitutes for flexible needle member, and needle member is stretched out by shifting axle abreast, tilts from vertical direction, and preferably each element comprises " broken line " type crotch.Each adjacent ribbons of organizing combing all is arranged on the flat board, corresponding respectively organize needle member be tilted in the opposite angles upper offset.By moving first group of rightabout adjacent ribbons, needle member can be setovered to the material that grasps, by mobile second group of rightabout adjacent ribbons, but the needle member releasable material.
In an alternative embodiment, a kind of workpiece part grasping mechanism is particularly useful for not having the situation of impenetrable cover plate (as plastics).The material that the present invention is suitable for can be the material on tacky surfaces or dryness surface.The workpiece part grabber of this replacement also comprises the movably array of grabber (being the combing formula) band, yet in addition, each grasps band and is made of a plurality of independent gripping portions.Each grabber partly has its linear actuator, and can do perpendicular to the independent start of the direction of shifting axle.In this alternative embodiment, a controller makes its selected controller part workpiece (by the restriction of the added solution of portions size) to grasp irregular contour of start individually, and can not disturb adjacent synusia on the work piece support surface, this is to accomplish by the actual fraction for the treatment of the grabbing workpiece part that overlaps of start only.
In this alternative embodiment, the top of the needle member of the grabber of not start part is positioned at a supporting plane, and the top of start part reaches the crawl position.Have under the situation of this configuration, only partly work and grasp and mobile cut workpiece part by the grabber of start.
In above-mentioned form of the present invention, can also between adjacent grabber band, have stripping film.The stripping film that has in this embodiment can do to move selectively (under the control at controller) with respect to the grabber band on perpendicular to the direction of shifting axle, thereby the top surface that makes stripping film extends the plane above place, needle member top, thus perhaps they also regracting their top surface is placed in the plane in the middle of the below, needle member top.Under stripping film mediated the situation on plane, the grabber band can grasp or discharge the cut workpiece part on demand.Stripping film is movable to the stripping film plane, thereby forces the workpiece releasing piece of extracting.The operation in back is particularly useful for discharging the viscosity part from being withdrawn into the start part of placing the plane.In a preferred embodiment, scribble the non-sticking lining as the polytetrafluoroethylene (PTFE) class of quick release on the top surface of stripping film.
These and other some feature of the present invention and advantage will be understood more fully by the following detailed description that the reference accompanying drawing is carried out, and same in the accompanying drawings figure is represented same element, wherein:
Fig. 1 is the perspective view of apparatus of the present invention;
Fig. 2 is the part top view of Fig. 1 device;
Fig. 3 represents a cut workpiece part, and this workpiece has overlapping auxiliary cutting cover plate part;
Fig. 4 is the side view with grabber stand of two grasping mechanisms of the present invention;
Fig. 5 A is the side view of an embodiment of workpiece grabber of the present invention mechanism;
Fig. 5 B is the top view of Fig. 5 A;
Fig. 5 C is the perspective view of grasping mechanism of the combing type of Fig. 5 A embodiment;
Fig. 5 D is the side view of the preferred broken line shape of Fig. 5 A combing type grasping mechanism pin type element;
Fig. 5 E is the exploded view of the reversing of Fig. 5 A embodiment;
Fig. 6 is a replacement grabber embodiment of the present invention.
Referring now to accompanying drawing, describe bonding pad 2 (land2) system 10 of the present invention, this system is used to select from formalize the really cut workpiece part of shape of workpiece material plate, and the part that will select is delivered to the configuration effort district of further processing.System 10 comprises that 12, one of cutting beds distribute and cutting stand 14, one grabber framves 16, one sheet material configuration components 18, and all these members are all under the guiding and control of controller 20.Material configuration device assembly 18 comprises the roller 22 of unit one plate of material 24 and carries out second roller 26 of cover material plate 28. Stand 14,16 each main shaft P along estrade 12 are driven by motor, and are connected across on the horizontal guide rail 30 (only illustrating) of pair of parallel, and guide rail is installed in the corresponding side of estrade and extends along the estrade main shaft.
Comparatively specifically, the free end 24 of material 24 and cover plate 28 ' and 28 ' clamp by the clamp mechanism 14A on the stand 14, stand 14 is driven into station B from station A then, at station B, the free end 24 of work plate 24 and cover plate 28 ', 28 ' being discharged by the 14A of mechanism also can be fixing by the clamping device 36 of station B on the estrade.42 pairs of cutting bed vise 40 of vacuum conveyor add vacuum then, thereby make workpiece cover plate assembly 44 stationary positioned that add.
In case workpiece cover plate assembly 44 is fixed on the estrade, the surface that 20 guiding stands 14 of controller are crossed assembly, thus can make cutting mechanism 14B that sheet material is cut into predetermined configuration.So cutting mechanism 14B cutting also limits the desired workpiece edge partly that downcuts from working plate, cut the edge of the cover part of the attached respective shapes that helps from the cover plate that covers above the workpiece part simultaneously, these cut edges accurately as one man overlap.For example shown in Figure 3, specimen configuration 46 is cut into board-like assembly 44 by cutting mechanism 14B, and the cutting cover plate part 50 of this sample is limited to the top of cut workpiece part 52.
This cutting work can repeat down always, up to desired configuration till downcutting on the board component 44.After these cutting work were finished, stand 14 is driven again got back to station A, and here it will not hinder the further work of stand 16.
Cutting mechanism 14B can adopt the cutter of cutter formula cutter, " Piza wheel " (Pizza Wheel) formula cutter, ultrasonic slitter, laser cutter or other general type.
It is possible coming the plate with very high precision cutting rapid wear with said apparatus, and cutting and shelving these cutting parts, during for example from the cutting part of the graphite fibre sheet material of graphite-epoxy composites structure, in order to keep the integration of cutting part, the i.e. loose or distortion for the knitted parts that prevents their materials when grasping and be sent to assembling district, road requires high degree of care ground to handle.In the present embodiment, this requirement can be met by the device of an independent grabber stand 16.Stand 16 optionally was parked in the back of station B before stand 14 carries out its intended function and turns back to station A, it drives under the guiding of controller 20 and puts in place.
Common grabber stand 16, all stands as shown in Figure 4, comprise cover plate part grasping mechanism 16A and workpiece part grasping mechanism 16B, they all carry out work under the control of intelligent controller 20, and has the edge perpendicular to main shaft, preferably perpendicular to the device of the application or the cutting axis D motion on the plane that spreads the plate on estrade, cover plate part grasping mechanism 16A is placed on and wants the configuration of cutting such as the top of configuration 46, and drive along cutting axis, make it engagement and removable cover plate portion 50, manifest the cut workpiece part 52 of aligning thus.Then the grasping mechanism of this part is regained, workpiece part grasping mechanism 16B is driven into the top of the workpiece part 52 that appears, thereby grasping mechanism 16B descends and 52 engagements of workpiece part along axle D, then they are picked up, tangle and pass on demand and be discharged on the configuration platform 53 or similar facilities of configuring area C, to carry out further work on demand by grasping mechanism 16B.
In a preferred embodiment of the invention, cover plate part grasping mechanism 16A comprises tubular cover 54 and is contained in the actuator arm 56 that covers in 54.There is an aspiration end manipulation device on the top of actuator arm, and this device matches on vacuum source 62 (not shown).As grasping mechanism 1 6A during near cutting cover plate part that will be crawled, actuator arm 56 stretches out, end effector 58 engagement cutting cover plate parts 50, the while by vacuum source 60 for grabber provides vacuum, so arrest part 50.The actuator arm is withdrawn in the pipe 54 of grasping mechanism 16A then, the part of having arrested is drawn in the pipe, for workpiece part grasping mechanism 16B mentions and transmits the workpiece part 52 that has appeared and clear the path to configuring area C.
Implement for making the present invention obtain the best, no matter preferably adopt which type of grabber to come to grasp cutting cover plate part from cutting bed, this cutting cover plate part grabber is effective and invalid to constituting workpiece material to the material that constitutes cover plate.Like this, cutting cover plate part can be crawled and do not disturb any material that stays.In the above-described embodiments, above-mentioned cover plate materials is the film such as plastic plate.This material is difficult for penetrating to the vacuum of the grabber that adds, and therefore overlapping workpiece part 52 just can not be interfered owing to the vacuum action of cover plate part grasping mechanism 16A.
In a preferred embodiment of the invention, workpiece part grabbing assembly 16B adopts hinged combing type end effector 68.Shown in Fig. 5 A-5E, device 68 comprises a substrate 70, and it overlaps on movable plate 72.Two boards all stretches along shifting axle S, nominally axle S is parallel to the plane of work piece support surface.The upside of substrate 70 installs on the end of moving assembly 78, and assembly 78 has an actuator devices 80.Movable plate 72 installs on the actuator devices 80, and it carries out work selectively, produces relative motion thereby make between substrate 70 and the movable plate 72 along the S axle.In illustrated embodiment, actuator devices 80 is pneumatic cylinders, and it has an output shaft 80a that can move between two endpoint locations.Axle 80 is matched on plate 70 and 72 by a connecting rod (not shown), thereby produces plate 70 and the 72 corresponding relative motions along the S axle in the motion that makes a 80a under the control of controller 20 between two endpoint locations.
In the preferred embodiment, shown in the exploded view of the assembly 68 that overturns among Fig. 5 E, plate 70 is rectangular elements of a rigidity, at its three carding element suitable 70a ' of supported underneath.70a ' length is L, and width is slightly less than D, lines up array 70a, and carding element suitable is placed side by side with parallel relation, and interelement interval is a bit larger tham D.Plate 72 is similar to plate 70, and the downside of plate 72 supports four carding element suitable 70a ', and its length is L, and width is slightly less than D, lines up array 72a, and these carding element suitables are also placed side by side with parallel relation, separates with the interval that is slightly smaller than D.Plate 72 have a series of elongated slot 72 ', each groove is between two carding element suitables, it is L+L ' (promptly than the long L ' of L) in S direction of principal axis length, is D at the horizontal width vertical with the S axle.The carding element suitable of plate 72 passes the groove of plate 72 with respect to plate 70 biasings thereby array 70a is protruded, and makes the array of two elements interlaced to form the continuous combing array that does not have the interelement interval substantially of a same height.Do with respect to plate 70 when the S direction of principal axis moves when plate 72, the carding element suitable of corresponding array 70a and 72a is also done similarly to move.
The carding element suitable of array 70a and 72a can adopt the needle member 76 of the elastomeric material of some almost parallels, and they stretch out from the plane of corresponding gripper shoe 70 and 72.Needle member in each array carding element suitable with and the N direction of respective support planar quadrature tilt equably.Therefore, in this composite array that forms by array 70a and 72a, on plate 70,72, settle alternately respectively organize adjacent combing band (be band 74 ', 74 ", 74 and 74 '), the corresponding needle member 76 of respectively organizing is with the opposite angles angled bias.Therefore, shown in Fig. 5 C, first group of combing band that replaces (promptly 74 ' and 74 ) has the needle member that first angle tilts, they are installed on the substrate 70, second group replaces band (promptly 74 " and 74 ') and has second needle member that tilts (on the contrary) angle, and they are installed in movably on the plate 72.The carding machine of the above-mentioned type can Howard brother manufacturing company originally difficult to understand obtain from the Massachusetts.
In Fig. 5 E, the angle of the needle member of combing array by shown in oblique line on the side of array illustrate.In this configuration, be placed to the carding element suitable array with basis that makes it at first when this composite array separately minimum at S direction of principal axis (shown in Fig. 5 E), composite array is setovered towards the braided fiber workpiece then, last carding element suitable array moves each other, thereby make their basis separately minimum in the S direction, the needle member of respective array protrudes into workpiece and catches workpiece securely by the elasticity extracting effect of the pin of setovering.When this extracting process is reverse when carrying out, corresponding needle member is recalled from workpiece, and workpiece is released out.
In a preferred embodiment, needle member is crooked, have the profile 76 of broken line shape ', shown in Fig. 5 D, it shows the form of the linear pin of two element segment.In addition, the needle set of illustrated embodiment has the end surface of planar shaped.The configuration of this special broken line shape is by allowing to set up the even distribution of corresponding elasticity needle member outstanding, the function that also helps to provide alternative extracting and discharge workpiece.
In the operation of the present invention, in order to grasp a cut workpiece part 52, after the cover plate 50 on the workpiece part 52 of intending extracting had been taken away, this workpiece part grasping mechanism 16B engagement also was placed on the top of the workpiece part that has exposed.Then this workpiece part grasping mechanism 16B along D axle arrangement near the workpiece part 52 that exposed, until needle member 76 beginnings when contacting with the surface of part 52 till.When making it by mobile movable plate 72 from the off-position to the position of engagement, 80 starts of start device produce relative motion (that is produce two groups of bands 74 ", 74 ' and 74 ', 74 ) between the two boards 70,72.Thereby each piece of plate 70 and 72 or two can be moved and make their produce relative motion, and this moves between the relative needle member 76 of band and produces clamping action, thereby produce the extracting effect lightly of band at the surf zone of whole exposure.Cover plate 28 on all the other workpiece prevents that needle member from grasping is not the workpiece part of part 52.In case when part 52 was meshed by grasping mechanism 16B securely, this mechanism rose, and picked up the part 52 of the disengaging estrade of having caught, under the situation of the configuration on the plane that keeps it, be sent to configuring area C.At configuring area C, the angled on demand placement of part 52, when movable plate 72 turned back to the off-position, part 52 was deposited with its original flat shape lightly, to do further processing.
Specific characteristic of the present invention is, it has following ability, be that workpiece part grasping mechanism 16B can grasp and rise workpiece part 52 lightly equably being roughly on the surf zone of gripping portion, neither influence the shape of itself, do not influence yet on the estrade around the shape of sheet material.In the preferred embodiment, the transverse cross-sectional area that appears at the grasping mechanism 16B on the workpiece part 52 is bigger than the cross-sectional area of workpiece part 52 itself, grasping mechanism 16B is in fact overlapping round the cover plate materials of the periphery of intending grabbing workpiece part 52, like this, the whole surface for the treatment of grabbing workpiece part 52 is subjected to the equally distributed extracting that is applied by grabber and plays lift.Therefore part 52 can gripping portion is produced minimum or the situation that not have to be out of shape under be booked and pass on.
The successful operation of the foregoing description is owing to following reason becomes possibility, the one, be that they have intrinsic flexibility by the natural characteristic of needle member, another is the material of the available pin part 52 of passing and the nature difference between the cover plate materials of unavailable needle penetration relatively.As long as cover plate and workpiece sheet material can have suitable difference, the combination of other various cover plate materials and workpiece sheet material all can be adopted the present invention.
Yet, if workpiece sheet material has the feature of surface thickness, thereby need the operation element that may more difficult cover plate separates, thereby to use a cover plate materials may be unpractical from workpiece.Fig. 6 shows a kind of workpiece part grasping mechanism 16B ' of replacement, and it is specially adapted to the situation that workpiece sheet material has certain surface thickness.The 16B ' of mechanism has the function same with said mechanism 16B.As if it preferably has the array of relatively-movable extracting band, and is all above-described combing shape band 88 with needle member 90.In addition, each grabber is the combing band by a plurality of independent gripping portions 92 ' form.Each gripping portion is that the linear actuator that part 92 has it is actuator 94 (being shown in dotted line among the figure), they can be independently in direction start perpendicular to the principal plane of plate 70 and 72.
In the present embodiment, the top of the needle member of the gripping portion of start is not positioned at and supports plane L, and the top of the gripping portion of start reaches extracting plane J.Therefore, separately the ability of the selected gripping portion of start allow to grasp any desired shape (according to appropriate section 92 ' the zone form restriction to this solution), implement to overlap the adjacent area that gripping portion on the workpiece part of intending grasping 52 just can not disturb workpiece on the cutting bed by start only.
The combing band of composite array can be separated from each other by the rigidity stripping film 96 that is fixed on the plate 72.The top surface of stripping film 96 is positioned at plane K, and the K face is positioned at the centre of plane L and J, grasps the part that keeps thereby stripping film 96 is peeled off from the pin of start part 92.This also helps grabber part and the material that is clamminess that keeps gripping portion to separate.In a preferred embodiment, as if the top of stripping film has all the non-sticking lining 98 of tetrafluoroethene (PTFE) class.
In illustrated embodiment, stripping film is fixed on the plate 72, yet in other embodiments, stripping film (with respect to the grabber part) can be made of the actuator of being furnished with blade.The configuration of these blades also can adopt not segmentation stripper configuration, shown in Fig. 5 E.
The workpiece part grabbing assembly 16B of foregoing description and the embodiment of 16B ' have computer-controlled configuration, the array of combing band is placed in the top of the end effector 68 of automatic control in this configuration, should see, end effector 68 also can adopt the manual operation assembly separately, thereby the relative motion of drive plate 70 and 72, the extracting of control workpiece.This device is particularly useful for rising and phoresying the situation of flexible workpiece under the situation that does not make workpiece deformation.
Concerning the professional and technical personnel, other embodiments of the invention will be included within the scope of following claim.For example, the combination of grabber and each species diversity of material is also contained within the spirit and scope of the present invention.Therefore, being used for of being appreciated that the front specification provided done further qualification from the workpiece material plate is removed the method and apparatus claim below of cut workpiece part of reservation shape.
Claims (23)
1. method of being undertaken by machine that a cut workpiece part with definite shape is claimed to open from a work plate, this method comprises the following steps:
A. above-mentioned work plate is placed on the stayed surface,
B. place a cover plate with the above-mentioned work plate that overlaps,
C. cut above-mentioned cover plate and above-mentioned work plate cutting cover plate part with the above-mentioned cover plate of the respective shapes that limits above-mentioned cut workpiece portion boundary and auxiliary overlapping,
D. remove above-mentioned cutting cover plate part to expose above-mentioned cut workpiece part, keep above-mentioned cover plate and above-mentioned work plate under the residue simultaneously, comprise above-mentioned cut workpiece plate on above-mentioned stayed surface indeformable substantially and
E. keeping the indeformable substantially and remainder that keeps above-mentioned cover plate and above-mentioned workpiece of above-mentioned cut workpiece under indeformable situation on the above-mentioned stayed surface, remove above-mentioned cut workpiece part.
2. according to the process of claim 1 wherein that above-mentioned cover plate is the plate of thin-film material, remove the cutting cover plate and partly comprise the step that adopts vacuum to grasp above-mentioned cutting cover plate part.
3. according to the method for claim 1, wherein above-mentionedly remove above-mentioned cut workpiece and partly comprise and adopt a workpiece part grabber, this grabber can be when removing above-mentioned cut workpiece part is effectively to work plate, and is invalid substantially when removing above-mentioned cover plate.
4. according to the method for claim 3, wherein above-mentioned workpiece part grabber comprises a penetrating device, and above-mentioned work plate can be passed by above-mentioned penetrating device, and above-mentioned cover plate can not be passed by above-mentioned penetrating device basically.
5. according to the method for claim 4, wherein above-mentioned penetrating device comprises that one is installed in the array of the combing band on the above-mentioned workpiece part grabber, the band that replaces of above-mentioned array can relatively move mutually being parallel on the above-mentioned surface-supported direction, each above-mentioned combing band has the flexible needle member that the substrate from being fixed on the above-mentioned grabber of a plurality of almost parallels stretches out, the wherein needle member of above-mentioned adjacent ribbons biasing relatively mutually angledly.
6. according to the method for claim 5, wherein each group of the adjacent strip tape alternation of above-mentioned band is placed on the supporting plate of above-mentioned grabber.
7. according to the method for claim 6, wherein above-mentioned needle member has the broken line type configuration.
8. according to the method for claim 1, wherein claiming to open above-mentioned cut workpiece partly comprises the steps: to grasp the top that end effector is placed on the workpiece part of above-mentioned exposure with one, the above-mentioned end effector of cut workpiece part biased downward towards above-mentioned exposure, and have at least a part to be biased on the part on every side of above-mentioned cover plate, wherein above-mentioned end effector can not cooperate with above-mentioned cover plate basically, and can be coupled to effectively on the above-mentioned cut workpiece part.
9. remove one from work plate and determine that the device of the cut workpiece part of shape comprises:
A. dispose the inking device of the material member that will cut at stayed surface, the above-mentioned material assembly comprises the cover plate that repeatedly is placed on the work plate.
B. cut the cutter sweep of above-mentioned material assembly, it can downcut the cutting cover plate part with above-mentioned definite shape from above-mentioned cover plate, and can downcut cut workpiece part from above-mentioned work plate with above-mentioned definite shape, wherein above-mentioned cutting cover plate partly overlaps on above-mentioned cut workpiece part
C. cut the grabbing device of cover plate part, it is used for removing above-mentioned cutting cover plate part, and above-mentioned cut workpiece part is stayed on the above-mentioned surface substantially indeformablely,
D. cut workpiece grabbing device, it is used for grasping above-mentioned cut workpiece part from above-mentioned surface, the said apparatus that grasps the cut workpiece part from above-mentioned surface can not cooperate with above-mentioned cover plate basically, and can partly cooperate with above-mentioned cut workpiece selectively and
E. in order to control the control device of following program:
I) above-mentioned inking device disposes the above-mentioned material assembly on above-mentioned stayed surface,
Ii) above-mentioned cutter sweep cutting above-mentioned material assembly, and can produce above-mentioned cut workpiece part and above-mentioned cutting cover plate part,
Iii) above-mentioned cutting cover plate part grabbing device is removed above-mentioned cutting cover plate part from the remainder of above-mentioned cover plate, exposing above-mentioned cut workpiece part,
Iv) above-mentioned cut workpiece part grabbing device is removed the workpiece part of above-mentioned exposure, does not damage above-mentioned cut workpiece part, keeps the remainder of above-mentioned cover plate and above-mentioned work plate indeformable on above-mentioned stayed surface simultaneously.
10. according to the device of claim 9, wherein above-mentioned cut workpiece part grabbing device comprises above-mentioned vis-a-vis surface-supported penetrating device, wherein above-mentioned work plate can be passed by above-mentioned penetrating device, and above-mentioned cover plate materials can not be passed by above-mentioned penetrating device basically.
11. according to the device of claim 10, wherein upper cover plate is a kind of plate of imporosity.
12. according to the device of claim 10, wherein above-mentioned work plate is the braided fiber plate.
13. device according to claim 10, wherein penetrating device comprises the combing band array that is installed on the above-mentioned workpiece part grabber, wherein the alternative expression band of above-mentioned array can be parallel on the direction of above-mentioned surface-supported shifting axle relative to moving mutually, each above-mentioned combing band has the elasticity needle member of a plurality of almost parallels, above-mentioned stayed surface is stretched to from a foundation in their top, the wherein angled ground of the needle member of above-mentioned adjacent ribbons biasing mutually, a controller is used for making selectively above-mentioned adjacent combing band to produce above-mentioned relative motion.
14. device according to claim 13, wherein also further comprise the some stripping films that are positioned between the above-mentioned combing band alternately, with make it in the motion of making relative above-mentioned combing band perpendicular to the direction of above-mentioned shifting axle thereby the flexible selectively above-mentioned top that surpasses or be lower than above-mentioned needle member of above-mentioned blade in order to control above-mentioned blade selectively.
15. device according to claim 13, wherein above-mentioned band comprises some bands that independently divide, above-mentioned penetrating device also further comprises actuator devices, in order to each above-mentioned minute band of conversion selectively between position and the retracted position forwardly, above-mentioned forward position is between above-mentioned retracted position and above-mentioned stayed surface, and further comprise a controller, be used for controlling selectively above-mentioned actuator, to produce the branch combination of the above-mentioned minute predetermined band that will be in above-mentioned forward position.
16. according to the device of claim 15, also further comprise the stripping films between some above-mentioned combing bands that place alternately, on above-mentioned blade reaches point between above-mentioned withdrawal and the forward position from above-mentioned grabber.
17. according to the device of claim 15, wherein the top of above-mentioned stripping film has not viscous coating.
18. a part grabbing device comprises:
A. part grabber, it has the combing band array that is installed on the grabber, wherein the band that replaces of above-mentioned array can move relatively mutually in the shifting axle direction, each above-mentioned combing band comprises some bands that independently divide, each above-mentioned minute band has a foundation and some substantially parallel, elongated elasticity needle member of stretching out from above-mentioned foundation, their top is positioned at a plane, the wherein above-mentioned needle member of the branch band of above-mentioned horizontal adjacent ribbons biasing relatively mutually angledly.
B. controller is used to make above-mentioned adjacent combing band to produce above-mentioned relative motion on the direction that comprises some above-mentioned axles that independently divide band,
C. actuator devices is used to make each above-mentioned minute band perpendicular to each above-mentioned plane up conversion between position and the retracted position forwardly.
D. a controller is used for controlling selectively above-mentioned actuator devices, thereby sets the band combination in predetermined above-mentioned minute that will be in above-mentioned forward position.
19. device according to claim 18, further comprise some stripping film and servicing units that place between the above-mentioned combing band alternately, this device is used to control the top that is in an above-mentioned blade in the plane, they are surpassed selectively and is lower than plane on the above-mentioned top of the above-mentioned needle member of above-mentioned forward position.
20. according to the device of claim 19, wherein the top of above-mentioned stripping film has non-sticking lining.
21. be used for removing the device of the cut workpiece part of reservation shape from being positioned at work plate material on the smooth stayed surface, this device comprises:
A. first flat board stretches out the array of the needle member of first plurality of elastic from it, and the top of needle member roughly is in and is parallel in the above-mentioned surface-supported plane,
B. second flat board stretches out the array of second some needle member from it, and the top of needle member roughly is in the same plane, and above-mentioned second flat board can be done with respect to the moving of above-mentioned first flat board along the shifting axle that is parallel to above-mentioned plane,
Wherein above-mentioned needle member 90 ° the angle of being less than of setovering from counting perpendicular to above-mentioned supporting plane angledly, the above-mentioned offset angle of the above-mentioned needle member of above-mentioned first array above-mentioned offset angle with the above-mentioned needle member of above-mentioned second array basically is opposite
Wherein each above-mentioned array comprises some independently branches, and these branches can be on perpendicular to above-mentioned surface-supported direction, do independently motion between with respect to above-mentioned surface-supported front portion and retracted position,
The above-mentioned array of wherein above-mentioned first flat board and the above-mentioned array of above-mentioned second flat board are alternately settled;
Also include and select forwardly and move the device of one or more branches between the retracted position ground.
22. device according to claim 21, also further comprise the some stripping films that place between the above-mentioned combing band alternately, and servicing unit, this device is used to control the top that will be in an above-mentioned blade on the plane, makes them exceed or be lower than the plane on the above-mentioned top of the above-mentioned needle member that is in above-mentioned forward position selectively.
23. according to the device of claim 22, wherein the top of above-mentioned stripping film has non-sticking lining.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94109435 CN1116980A (en) | 1994-08-13 | 1994-08-13 | Method and apparatus for automated handling of cutmaterial |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94109435 CN1116980A (en) | 1994-08-13 | 1994-08-13 | Method and apparatus for automated handling of cutmaterial |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1116980A true CN1116980A (en) | 1996-02-21 |
Family
ID=5033932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 94109435 Pending CN1116980A (en) | 1994-08-13 | 1994-08-13 | Method and apparatus for automated handling of cutmaterial |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1116980A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104822537A (en) * | 2012-10-29 | 2015-08-05 | 埃萨纳斯特里有限公司 | Apparatus and method for weeding multilayer sheet comprising support liner and at least one adhesive film coupled with liner |
| CN105332256A (en) * | 2014-08-06 | 2016-02-17 | 台湾吉川化工股份有限公司 | Method cutting liquid crystal rubbing cloth |
| CN106794509A (en) * | 2014-05-22 | 2017-05-31 | 通快机床两合公司 | Two apparatus and method of workpiece component for being separated from each other plate workpiece |
| CN107673090A (en) * | 2017-10-31 | 2018-02-09 | 宁夏森淼枸杞科技开发有限公司 | Lycium chinense splits and dynamic benefit amount system |
| CN110616557A (en) * | 2019-09-30 | 2019-12-27 | 佛山市致兴纺织服装有限公司 | Spinning semi-finished product preforming device |
| CN110623358A (en) * | 2019-10-23 | 2019-12-31 | 黎明职业大学 | Garment positioning device and positioning method |
| CN111807102A (en) * | 2020-07-14 | 2020-10-23 | 东华大学 | Automatic piece of clothing grasping system |
| CN114007824A (en) * | 2019-06-21 | 2022-02-01 | 力克公司 | Method for placing automatically cut sheet materials into patterned fabric |
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1994
- 1994-08-13 CN CN 94109435 patent/CN1116980A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104822537A (en) * | 2012-10-29 | 2015-08-05 | 埃萨纳斯特里有限公司 | Apparatus and method for weeding multilayer sheet comprising support liner and at least one adhesive film coupled with liner |
| CN104822537B (en) * | 2012-10-29 | 2019-02-19 | 埃萨纳斯特里有限公司 | For composite layer thin plate except the device and method of waste material |
| US10512965B2 (en) | 2014-05-22 | 2019-12-24 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Device and method for mutual separation of two workpiece components of a plate-like workpiece |
| CN106794509A (en) * | 2014-05-22 | 2017-05-31 | 通快机床两合公司 | Two apparatus and method of workpiece component for being separated from each other plate workpiece |
| CN106794509B (en) * | 2014-05-22 | 2019-01-01 | 通快机床两合公司 | Device and method for being separated from each other two workpiece components of plate workpiece |
| CN105332256A (en) * | 2014-08-06 | 2016-02-17 | 台湾吉川化工股份有限公司 | Method cutting liquid crystal rubbing cloth |
| CN107673090A (en) * | 2017-10-31 | 2018-02-09 | 宁夏森淼枸杞科技开发有限公司 | Lycium chinense splits and dynamic benefit amount system |
| CN114007824A (en) * | 2019-06-21 | 2022-02-01 | 力克公司 | Method for placing automatically cut sheet materials into patterned fabric |
| CN114007824B (en) * | 2019-06-21 | 2023-09-01 | 力克公司 | Method for placing automatically cut sheet into fabric with patterns |
| CN110616557A (en) * | 2019-09-30 | 2019-12-27 | 佛山市致兴纺织服装有限公司 | Spinning semi-finished product preforming device |
| CN110623358A (en) * | 2019-10-23 | 2019-12-31 | 黎明职业大学 | Garment positioning device and positioning method |
| CN110623358B (en) * | 2019-10-23 | 2021-07-06 | 黎明职业大学 | Garment positioning device and positioning method |
| CN111807102A (en) * | 2020-07-14 | 2020-10-23 | 东华大学 | Automatic piece of clothing grasping system |
| CN111807102B (en) * | 2020-07-14 | 2021-11-16 | 东华大学 | Automatic piece of clothing grasping system |
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