JP5344918B2 - Three-dimensional automatic cutting method and apparatus - Google Patents

Description

  The present invention relates to a three-dimensional automatic cutting method and apparatus for automatically cutting a woven fabric, a sheet, a block, or other work in three dimensions.

  Conventionally, in order to cut foam rubber or the like, the wire is moved at high speed in the axial direction, and frictional heat is generated to melt the wire. In addition, when sufficient heat cannot be generated, the wire may be energized to generate heat electrically.

  Conventionally, a yarn saw that moves linearly in the axial direction is generally used to cut wood into a predetermined shape.

  Next, there has also been a proposal for an automatic cutting device using high-pressure water or a laser beam.

  The high-speed cutting method or apparatus conventionally proposed or implemented has been two-dimensional cutting. For example, the workpiece is moved toward the cutting blade while being supported on a flat surface, and the cutting blade is reciprocated at a high speed at a fixed position.

Therefore, it is not known about the three-dimensional automatic cutting of the workpiece.
JP 56-89500 JP 2000-35500 A

  In the conventional cutting device, in the case of foam rubber cutting, heat and fusing are used, so that the cutting efficiency can be improved by heating. The method cannot be adopted. In the case of cutting using high-pressure water, there is a problem that not only the workpiece gets wet, but the price of the high-pressure apparatus becomes too large.

  In other cutting apparatuses, the wire or the like is moved in the axial direction at a fixed position, or reciprocated at a fixed position, so that there is a problem that the work must be moved horizontally.

  Further, the conventional cutting apparatus has a problem that only the two-dimensional cutting can be performed because the workpiece is moved horizontally as described above. Further, there is a problem that the wire must be replaced in a short time when the wire or the like is worn with respect to a decrease in cutting efficiency.

  In order to solve the above-described problems, the present invention proposes a three-dimensional automatic cutting method and apparatus described below.

  The three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, wherein the drive unit is controlled by a predetermined computer program. The cutting blade is reciprocated at a high speed from a right angle direction with respect to the surface of the workpiece fixed on the jig, and the cutting blade is advanced relative to the workpiece in the cutting direction to cut the workpiece. It is a feature.

  Another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, and the drive unit is controlled by a predetermined computer program. As a result, the cutting blade is reciprocated at a high speed from the direction perpendicular to the surface of the workpiece fixed on the jig, and the cutting blade is advanced in the cutting direction with respect to the workpiece while being parallel to the advance direction. The workpiece is cut by slightly vibrating back and forth.

  Still another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a driving unit that moves three-dimensionally, and the driving unit is controlled by a predetermined computer program. By controlling, the cutting blade is reciprocated at a high speed from the direction perpendicular to the surface of the workpiece fixed on the jig, and the cutting blade is moved forward with respect to the workpiece in the cutting direction. The workpiece is cut by applying ultrasonic vibration.

  Another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a driving unit that moves three-dimensionally, and is driven by a predetermined computer program. By controlling the unit, the cutting blade is reciprocated at a high speed from the direction perpendicular to the surface of the workpiece fixed on the jig, ultrasonic vibration is applied to the cutting blade, and the cutting blade is applied to the workpiece. On the other hand, the workpiece is cut by being slightly vibrated back and forth in parallel with the forward direction while being advanced in the cutting direction.

  In any of the three-dimensional automatic cutting methods of the present invention, after the step of cutting the workpiece, the step of polishing the cutting blade, the step of replacing the cutting blade, or the step of replacing the drive unit with the cutting blade Can be included.

  In any of the three-dimensional automatic cutting methods of the present invention, after the step of cutting the workpiece, the cutting blade is polished, and the polished cutting blade and the drive unit are cleaned with pressurized air. Can be.

  In these cases, a step of detecting the wear state of the blade portion of the cutting blade can be performed before the step of polishing the cutting blade.

  In any of the three-dimensional automatic cutting methods of the present invention, the surface of the jig fixing the workpiece can be a two-dimensional or three-dimensional surface.

  In this case, for the cutting along the curved line, the control by the drive unit can be performed so as to cut by rotating the cutting blade.

  In any of the three-dimensional automatic cutting methods of the present invention, the control of the drive unit by the predetermined computer program is executed with reference to information obtained by a sensor attached to the drive unit. Can be done.

  In any of the three-dimensional automatic cutting methods of the present invention, the cutting with the cutting blade can continuously cut the workpiece.

  Furthermore, in any of the three-dimensional automatic cutting methods of the present invention, the cutting blade can be a cutting punch blade, and the cutting can be perforated cutting.

  In any of the three-dimensional automatic cutting methods of the present invention, a step of automatically refueling the drive unit can be included.

  Next, the three-dimensional automatic cutting device proposed by the present invention is a device that cuts the cutting blade by reciprocating the cutting blade at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig. A cutting unit having a reciprocating means for a cutting blade for performing a high-speed reciprocating motion, a guide means for the cutting blade, a three-dimensional moving means in which the cutting unit is fixed to a robot arm, and each of the means And a control means for controlling the operation.

  Here, the three-dimensional moving means may be one obtained by applying a rotational force to the cutting unit to rotate the cutting unit.

  Alternatively, the robot arm is a robot arm of a multi-axis robot, and the three-dimensional moving means attaches the cutting unit to the robot arm of the multi-axis robot and applies rotation to the cutting unit to the cutting blade. A three-dimensional movement may be performed.

  In any of the three-dimensional automatic cutting devices of the present invention, the reciprocating means of the cutting blade is attached to the rotating disk so that the base end of the cutting blade is eccentric and rotatable, and the cutting blade can be reciprocated by a guide roller. It can be sandwiched between.

  Also, in any of the three-dimensional automatic cutting devices of the present invention, the cutting unit is a cutting blade that slightly vibrates the cutting blade back and forth in parallel with a forward direction in which the cutting blade advances in the cutting direction with respect to the workpiece. The front-rear vibration means can be further provided.

  Here, the front-rear vibration means of the cutting blade may be a cutting blade or a support member for the cutting blade provided with a vibrator for vibrating the cutting blade in the front-rear direction.

  In any three-dimensional automatic cutting apparatus of the present invention, the cutting unit further includes ultrasonic vibration means for the cutting blade that applies ultrasonic vibration to the cutting blade. it can.

  Here, the means for applying ultrasonic vibration may be an ultrasonic horn attached to the support member of the cutting blade.

  By installing an ultrasonic horn on the support portion of the cutting blade, ultrasonic vibration is applied to the cutting blade. For example, 30 kHz to 50 kHz. The amplitude is variable from 20% to 100%, but is usually adjusted from 20% to 30%. Moreover, although the frequency of an ultrasonic wave may change with the property of a workpiece | work, about 40 kHz is usually used.

  In any of the three-dimensional automatic cutting apparatuses of the present invention, the cutting unit may further include a cutting blade rotating means for rotating the cutting.

  In any of the three-dimensional automatic cutting apparatuses of the present invention, the cutting blade automatic polishing means for automatically polishing the cutting blade, the cutting blade replacement means for automatically replacing the cutting blade, or the cutting unit It is possible to further provide a cutting unit replacement means for replacement.

  Here, the automatic polishing means may be configured such that a polishing disk is fixed in parallel with two parallel vertical axes at predetermined intervals, and a part of each of the polishing disks is slightly crossed.

  Any of the three-dimensional automatic cutting apparatuses of the present invention can further include an automatic cleaning means for cleaning the cutting blade and the cutting unit with pressurized air.

  In any of the three-dimensional automatic cutting apparatuses according to the present invention, the cutting unit may further include a fixing means for fixing the vicinity of the cutting portion of the work on the jig.

  Here, the work fixing means is such that a guide piece that contacts the work is attached to a guide rod, the guide rod is slidably attached to the machine frame of the cutting unit, and the guide piece is biased toward the work side. Can be.

Pressure fixing of the workpiece in said Since the object can be achieved if the work is displaced at the time of cutting, pressure is sufficient 0.1kg ^/ cm ² ~0.2kg ^/ cm 2 approximately.

  In any of the three-dimensional automatic cutting apparatuses according to the present invention, the cutting unit may support the cutting blade in a cantilever shape.

  In any of the three-dimensional automatic cutting devices of the present invention, the cutting unit may further include heating means for heating the cutting blade to a temperature at which the workpiece can be melted.

  The heating temperature of the cutting blade by the heating means varies depending on the material of the workpiece, but is preferably within the melting temperature of the workpiece. For example, when the melting temperature of the synthetic resin workpiece is 150 ° C., the temperature of the cutting blade is preferably 110 ° C. to 150 ° C., more preferably 120 ° C. to 140 ° C. (softening and cutting). When the workpiece is blown as described above, the lifting speed of the cutting blade can be drastically reduced.

  For example, when the workpiece is cut by raising and lowering the cutting blade, it can be cut with high efficiency by raising and lowering 5000 times to 10,000 times per minute. On the other hand, when the workpiece is heated to an appropriate temperature, it can be cut with the same efficiency as the ultra high speed cutting by raising and lowering 200 to 500 times per minute.

  The durability of the cutting blade varies depending on the material of the workpiece and the cutting blade. In the conventional method, the cutting blade is replaced or polished in 10 to 20 hours. Durability over time is observed.

  In addition, since it is not necessary to polish in the case of heating, the overall cutting efficiency is recognized to be improved by 20% or more.

  Furthermore, since the restrictions on the shape of the cutting blade and the thickness of the blade portion are greatly reduced (for example, the blade can be cut even if it is thick), the durability is further improved. If an appropriate shape structure is used, the durability can be expected to be 5 to 10 times that when heating is not performed. By improving the durability as described above, the replacement time of the cutting blade or the polishing time can be greatly reduced, so that the efficiency is improved accordingly.

  In order to heat the cutting blade by the heating means, various methods such as direct energization or layering of energization material are conceivable, but appropriate considering that it can be heated to an appropriate temperature and there is no hindrance to cutting movement. Determine.

  According to the present invention, with respect to the wear of the wire described above with respect to the prior art, it was possible to polish and maintain the cutting ability by using a cutting blade, and to dramatically improve the service life. Moreover, since it is the cutting | disconnection by a cutting blade, it is possible to perform cold cutting | disconnection, without using a heat ray.

Furthermore, in order to cut using a high pressure (for example, 3000 kg / cm ² ) such as the use of high pressure water, a special device for high pressure is required, but in the present invention, the cutting blade is moved and cut. High-voltage equipment is unnecessary. As a result of adopting a commonly used conduction system, power system, etc., the object can be achieved with a relatively inexpensive apparatus.

  As described above, according to the present invention, since the device for supporting the cutting blade in a cantilever manner and reciprocating the cutting blade in the longitudinal direction is attached to the robot arm, the work is placed on a jig. By moving only the cutting blade in the two-dimensional direction or the three-dimensional direction, the three-dimensional cutting of the workpiece is facilitated and the conventional problems are solved.

  Since the present invention uses a cutting blade to cut a woven fabric, sheet or block or other workpiece, even if the thickness is 0.1 mm, if the width of the blade is 5 mm, the continuous operation 10 hours or 50 hours But it has enough cutting ability.

  Moreover, since it grind | polishes as needed (polishing once for 5 to 10 hours of continuous use), of course, the same cutting | disconnection efficiency can always be maintained, and a favorable cross section can always be held.

  For example, the cutting efficiency can be kept good by raising and lowering the cutting blade 5000 times to 10,000 times per minute.

  Although the cutting efficiency of this invention changes with parts to be cut | disconnected, in the case of the synthetic resin woven fabric or sheet | seat of thickness 1mm, it can cut | disconnect 50 cm-200 cm in 1 minute.

  When the cutting blade is lost in the above, this can be detected and used as it is according to the state, and the used state such as use or replacement can be selected by polishing.

  Since there is no limitation on the shape of the cutting blade in the invention, there are various types such as a wide thin blade, a circular or square line in cross section, a semicircular line, and an arcuate blade having a shape of a part of a conical wall.

  In addition, when using a rotating disk, the stroke of the cutting blade changes the distance from the rotation axis, adjusts the arm angle when reciprocating the arm, and changes the cam eccentricity when using the cam. Any conventionally known stroke conversion means can be used.

  Even if the stroke of the cutting blade is constant, the cutting depth can be adjusted by adjusting the axial movement amount of the pressing piece to regulate the protruding amount of the cutting blade.

  In the above invention, the cutting blade is based on a reciprocating motion, but imparts ultrasonic vibration (for example, around 40 kHz) to the reciprocating motion or adds a slight back and forth vibration (back and forth with respect to the traveling direction of the cutting blade). There is also. Accordingly, there are four types of cutting blades, reciprocating motion or reciprocating motion and ultrasonic vibration, or reciprocating motion and ultrasonic vibration, longitudinal vibration or reciprocating motion, and longitudinal vibration, so that they are appropriately selected and used. In the above description, the reciprocating motion is performed 4000 to 8000 times. However, when the ultrasonic vibration is used together, the reciprocating motion frequency can be set to 400 to 800 times.

  Further, the front and rear micro vibrations may have an amplitude of 5 mm to 10 mm and 60 to 600 times per minute. Since the longitudinal vibration is usually used together with the reciprocating motion, it is natural to adopt a format that does not hinder the reciprocating motion. For example, even if only the back surface of the cutting blade is in contact with the protrusion of the vibrator, the vibration is effectively transmitted.

  The work fixing means in the invention is exclusively related to whether or not the work is attached (fixed). For example, when the work is securely fixed to the jig, the fixing means is unnecessary. It is preferable that the jig in the above is not cut or damaged by the cutting blade. For example, a brush jig in which elastic bristles are implanted is used.

  In the method of the present invention, the cutting blade is reciprocated at a high speed in a direction perpendicular to the fixed surface of the workpiece with the cutting blade fixed on the base of a two-dimensional or three-dimensional surface, or longitudinal vibration or ultrasonic vibration is applied. And the cutting blade is moved in the two-dimensional or three-dimensional direction so as to match the cut surface. By cutting in this way, even if the shape of the workpiece is changed, it is possible to continue the cutting with sufficiently high efficiency by controlling to cope with this.

  In the apparatus of the present invention, the cutting blade is cantilevered and reciprocated at high speed in a direction perpendicular to the cutting surface of the workpiece. In order to generate the reciprocating motion in this case, for example, the upper end of the cutting blade is rotatably attached to the eccentric position of the rotating disk, and the cutting blade of the cutting blade is moved by interlocking the rotating disk shaft with the motor shaft. High-speed reciprocating motion (for example, 3000 to 4500 times per minute, but 300 to 450 times per minute when used in combination with ultrasonic vibration), and if necessary, cutting can be performed with back-and-forth vibration.

  In the present invention, since the machine frame is attached to the robot arm, the direction of the cutting blade and the angle with respect to the workpiece are controlled through the machine frame and controlled by controlling the robot arm.

  Also, since the state of the cutting blade is detected and polished appropriately (or automatically polished or detected at predetermined time intervals and replaced as necessary), it is controlled automatically according to a predetermined program for a long time. The cutting operation can be continued.

  The work to be cut in the present invention is a woven fabric, a film, a sheet, or a synthetic resin or other block, and there is no restriction on its shape and material. Therefore, it is possible to set a predetermined condition and give the best cutting condition according to the material.

  For example, the cutting blade material, shape, dimensions, replacement frequency, reciprocating speed, polishing interval, polishing time, replacement time, etc. are determined by a predetermined program and the cutting blade can be automatically replaced based on detection by a sensor. It can be controlled appropriately.

  The present invention has an effect that the surface of the cutting position by the cutting blade can continuously cut not only two-dimensional but also three-dimensional surfaces.

  If a cutting blade is used and polished, it can be continuously cut for a long time, and the accuracy and cutting efficiency of the cut surface can always be kept the same. Next, although the cutting blade reciprocates at high speed, the heat generated at the cutting edge during cutting is dissipated throughout the cutting blade, so there is no risk of local overheating, and naturally there is no risk of alteration of the blade material such as annealing. There are various effects.

  Moreover, a small hole can be cut by replacing the cutting blade with a cutting punch.

  The cutting blade combines the reciprocating motion with the longitudinal vibration or the ultrasonic vibration, so that an excellent cutting result can be obtained even if the reciprocating speed is remarkably slowed.

  Next, the cutting blade can be continuously cut for a long time (10 hours to 20 hours) by using polishing means, replacement means, etc., and the same cutting effect can be maintained.

  Further, when the cutting blade is heated to melt the workpiece, the number of reciprocating motions of the cutting blade can be drastically reduced, and the durability of the cutting blade can be improved by 5 to 10 times, and the efficiency can be remarkably improved.

  Hereinafter, preferred embodiments of the present invention will be described by way of a plurality of examples with reference to the accompanying drawings.

  A description will be given with reference to FIGS.

  The workpiece W is carried to a processing place by the turntable T. A robot RO having a cutting blade drive unit U attached to the robot arm A is set at a machining position (FIG. 1A).

  In the above, when the workpiece W is sent on the turntable T as indicated by arrow B and stops at the machining position, the robot RO is started by sensing the sensor of the robot RO, and the drive unit U of the robot RO is indicated by arrow E. Bring to the cutting position and start cutting. In this case, the cutting is started by adjusting the cutting blade to the cutting position of the workpiece by the robot arm A and applying ultrasonic vibration.

  When a predetermined time has elapsed, the cutting blade of the robot RO is stopped, the robot arm A is moved, and the driving unit U of the cutting blade is returned to the original position as indicated by the arrow D.

  In addition, after stopping the cutting blade of the robot RO, the robot arm A can be moved to move the cutting blade to the polishing position of the polishing wheel S (arrow C). In this case, here, the polishing wheel S is rotated and the cutting blade is reciprocated to start polishing. Then, after polishing for a predetermined time (for example, 0.1 seconds to 3 seconds), the arm A of the robot RO is moved, the driving unit U of the cutting blade is returned to the original position as indicated by the arrow D, and cutting is performed again. Start.

  The above-described cutting, processing, cutting blade polishing, and the like of the workpiece W by the transfer robot RO are all program-controlled and are usually fully automatic, but may be partially manual.

  An embodiment of the apparatus of the present invention will be described with reference to FIGS.

  The cutting device (cutting unit) 10 according to the present invention is attached to the tip of the arm 3 of the robot 5 at a variable angle. That is, the abutment 12 is installed in the machine casing 11 of the cutting apparatus 10 so as to be rotatable in the horizontal direction. A horizontal shaft 13 is installed inside the upper part of the abutment 12, and a rotary disk 14 serving as a pulley is rotatably mounted on the horizontal shaft 13. A motor 15 is installed on the top of the abutment 12, a pulley 17 is fixed to the shaft 16 of the motor 15, and a V-belt 18 is mounted between the pulley 17 and the rotating disk 14. The rotating disk 14 is eccentrically provided with a support shaft 19, and a base end portion 4 d of the cutting blade 4 is rotatably attached to the support shaft 19.

  The upper parts of the casings 9 and 9 are locked to the bottom plate 11a of the machine frame 11 so that they can be moved up and down (for example, the lowering is limited by nuts). It is fixed to the holding piece 7. Springs 8 and 8 are fitted to the housings 9 and 9, and the pressing pieces 7 are urged downward by the springs 8 and 8.

  A pulley 25 is fixed to a lower end portion of the abutment 12, and a pulley 27 fixed to a shaft of a motor 26 provided vertically in the machine frame 11 is interlocked with a belt 28. In the figure, 21 and 21 are guide rolls of the cutting blade 4.

  The operation of the apparatus 10 of this embodiment will be described.

  2, 3, 4, and 5, the robot 5 is operated (FIG. 2), the arm 3 is opposed to the slope of the woven fabric 1, the pressing piece 7 is brought into contact with the woven fabric 1, and the apparatus 10 is moved to the arrow. It moves as shown in FIG. 29 (FIG. 5). Since the spring 8 is compressed, the woven fabric 1 is pressurized and held by the pressing piece 7.

  When the motor 15 is started (FIG. 4), the pulley 17 is rotated via the V-belt 18 and the rotating disk 14 is rotated by the rotation, so that the cutting blade 4 reciprocates as indicated by arrows 22 and 23 in FIG. And cutting with the blade portion 4a. Next, when the arm 3 is moved (FIG. 3), the apparatus 10 is moved as indicated by an arrow 29, the cutting blades are also moved as indicated by 22 and 23, and the woven fabric 1 arranged three-dimensionally is arranged. Cut in three dimensions at the same position. Next, when the motor 26 is started, the pulley 25 can be rotated via the pulley 27 and the belt 28, so that the cutting blade 4 is also rotated (eg, arrow 31), as is apparent in FIG. 4B. . The motor 26 uses a stepping motor and rotates by a necessary angle whenever necessary, so that when the cutting blade 4 cuts a circle or an arc, the blade side 4a always faces the forward direction. Since the arm 3 of the robot 5 and the mounting portion of the machine casing 11 are rotated in either direction as indicated by arrows 32 and 33 in FIG. 3, the robot 3 can easily follow the three-dimensional cutting. There is no risk of trouble. The machine casing 11 can be moved in the directions of arrows 20, 24, and 30 by the arm 3 (FIG. 3).

  FIG. 5B is an explanatory diagram when the cutting depth is changed. The cutting blade 4 moves in the direction of the arrow 40 while reciprocating with respect to the block 39. In this case, if the stroke of the cutting blade 4 in the direction of the arrow 41 is changed according to a predetermined program (for example, Stroke d-ed) A cutting with an arcuate depth is possible.

  3B (for example, a shape obtained by cutting a part of a conical wall), and when this is rotated and reciprocated finely, the arc of the arcuate blade 42 that is in contact with the work is partly Can be cut circularly. Accordingly, circular cutting with various diameters can be performed using the same cutting blade. When the diameter is small (for example, 5 mm or less), a punch blade is used instead of the cutting blade (FIG. 10).

  In this embodiment, a sensor 34 is installed on the holding piece 7 (FIG. 3), and the degree of wear of the blade portion 4a is detected. Thereby, when the detected degree of wear reaches a set value, the cutting operation is temporarily stopped and the blade portion 4a is polished (or replaced).

  For polishing, support shafts 36 and 36 are vertically mounted on upper and lower support rods 35a and 35b of the frame 35, and polishing disks 37 and 37 (grinding stones) are fixed in parallel to the support shafts 36 and 36, respectively. In addition, they are slightly crossed alternately. This polishing disk 37 is for polishing the blade part. If the blade part 4a of the cutting blade 4 is brought close as indicated by an arrow 38 in FIG. 2 (c) and the cutting blade 4 is moved up and down, It can be polished in a short time.

  As described above, just before the cutting efficiency is deteriorated by the sensor 34, this is detected and polished. Alternatively, polishing is performed when the need for polishing is generated for a pre-measured time. If the polishing is sufficiently performed, this is detected and the frame body 35 is retracted. Alternatively, the apparatus is moved away from the frame body 35 and returned to the original cutting position, and the cutting process is continued (FIG. 5).

  In the above description, if the pressing piece 7 is supported by the upper frame 35a, the blade portion 4a can be reciprocated while being in contact with the polishing disc 37 to be polished (FIGS. 2 and 3).

  If the wear of the blade reaches the limit as a result of detection by the sensor, the control system that receives the output of the sensor is activated to move the device 10 to the blade replacement place, and the entire cutting blade automatically (Fig. 9).

  The automatic exchange can be easily performed by adopting a structure that can automatically attach and detach the base 4d of the cutting blade 4 and the support shaft 19 (FIG. 9).

  Hereinafter, a description will be given based on FIG.

  After setting the woven fabric 1 on the jig 2, the arm 3 of the robot 5 is operated so that the cutting blade 4 faces the woven fabric 1 at a right angle (FIG. 5). Next, when the switch (not shown) of the cutting device 10 is turned on, the cutting blade 4 reciprocates in the direction perpendicular to the woven fabric 1 as indicated by arrows 22 and 23 to sequentially cut the woven fabric 1 ( FIG. 5). In this case, when the woven fabric 1 is set in a three-dimensional shape, the arm 3 is moved as shown by an arrow 6 and the angle of the arm 3 is adjusted by the operation of the robot 5. Since the reciprocating direction of the cutting blade 4 is always kept perpendicular to the surface of the woven fabric 1, the woven fabric 1 is cut under the same conditions and the same efficiency. In the figure, reference numeral 7 denotes a presser piece (guide piece) of the woven fabric 1, and 8 denotes a pressurizing spring fitted in a housing (guide rod) 9 (FIG. 3).

  If the cutting operation is continued for a predetermined time (for example, 5 hours) as described above, the cutting blade 4 is moved to the grinding stone side, polished for, for example, 3 seconds, returned to the cutting position again, and the cutting operation is continued. To do. Since the polishing interval varies depending on the material, shape (particularly thickness), and cutting speed of the woven fabric 1 (workpiece), it can be programmed in advance and stored in the robot 5, and all can be automated.

  In the above-described embodiment, the vibrator 81 of the electric vibrator 79 is brought into contact with the rear side wall of the cutting blade 4 on the lower surface of the bottom plate 11a of the machine frame 11 to vibrate the vibrator 81 in the exit / exit direction (for example, amplitude) 0.5 cm), a longitudinal vibration can be applied to the cutting blade. In this case, since the cutting blade is guided and moves up and down, there is no problem even if electric vibration of about 60 times per second is applied. Therefore, the cutting blade is given a slight vibration of 60 times per second while moving up and down (4000 to 8000 times per minute).

  The connecting tube 100 of the punch blade 99 of the robot arm is fitted to the connecting ring 101 at the base end of the punch blade 99 of the present invention, and the protrusion 102 of the connecting ring 101 is provided on the side wall of the connecting tube 100. The projection 102 is urged to be locked to the locking portion 103 a of the ridge groove 103 by the spring 105 fitted to the connecting shaft 104 of the connecting ring 101 while being inserted and locked in the groove 103. Accordingly, the protrusion 102 and the locking portion 103a are stably locked as shown in FIG. 9B, and there is no possibility that the projection 102 and the locking portion 103a are detached due to an unexpected external force.

  In the above description, the large-diameter connecting pipe 106 is connected to the head of the punch blade 99, and the shaft rod 107 having the connecting ring 101 is fitted into the connecting pipe 106 and fixed with the bolts 108. In the above, if the punch blade 99 (same for the cutting blade 4) is placed in a support material and supported in parallel, the robot blade can be automatically replaced by the operation of the robot arm. Can be automated.

  10 and 11 are illustrations of the punch blade 99, where (a) is a side wall provided with an elliptical hole 109 (for example, for discharging chips), (b) is a partial cross-sectional view, and (c) is a cross-sectional view. A saw blade 89 is provided at the tip.

  The detection of the cutting blade 4 in the apparatus of the present invention will be described with reference to FIG.

  A laser beam is projected from the projection port 91 of the detector 90 as indicated by an arrow 92, and the reflected light (arrow 92a) from the cutting blade 4 is received by the light receiving port 93, and the image is stored in the detector 90 in advance. In the case of the same image, it is determined that the cutting blade is not required to be replaced. If it is found that the image has a defect of 10% or more, for example, replacement is instructed.

  In FIG. 6B, the cutting blade 4 is interposed between the laser beam projector 94 and the light receiver 95, and the amount of light emitted (as well as the shape) as indicated by an arrow 97 and the light received by the arrow 98. When the amount difference reaches a predetermined amount, replacement of the cutting blade 4 is instructed. The above is performed by moving the cutting blade 4 during the polishing operation, or by moving the measuring head of the measuring instrument provided with the light projector 94 and the light receiver 95 to the cutting blade portion.

  An embodiment of the present invention will be described with reference to FIG.

  A connecting cylinder 41 is connected to the tip of the robot arm 3, and a snap ring cylinder 43 is connected to the connecting cylinder 41 with a connecting tool 63. Snap electrodes 44a and 44b are fixed to the snap ring cylinder 43 and connected to the cords 45a and 45b. A bracket 46 is installed at the lower end of the snap ring cylinder 43, a drive motor 48 is fixed to the upper plate 47 of the bracket 46, and a bevel gear 49 is fixed to the shaft of the drive motor 48 (FIG. 13).

  A support frame 55 is provided vertically on the lower surface of the upper plate 47 of the bracket 46, and a turntable 57 having an eccentric cam groove 56 on one side is rotatably installed vertically on the support frame 55. A bevel gear 58 is fixed to the horizontal axis at the center of the other side of the rotating disk 57, and a cam wheel 59 protruding from the side wall of the guide block 52 is rotatably inserted into the cam groove 56.

  Between the upper plate 47 and the lower plate 50 of the bracket 46, guide rods 51, 51 are installed in parallel on both sides, and a guide block 52 is mounted on the guide rods 51, 51 so as to be movable up and down. The shaft body 53 of the cutting blade 4 is fixed to the lower part, and the ultrasonic horn 54 is attached to the shaft body 53 (FIGS. 6, 13, and 14).

  In this embodiment, when the switch of the drive motor 48 is turned on, the bevel gear 49 is rotated by the rotation of the motor shaft, and thereby the bevel gear 58 is also interlocked, so that the cam wheel 57 is rotated. Therefore, as the cam wheel 57 rotates, the cam roll 59 moves up and down according to the eccentric amount L of the cam groove 56 via the cam roll 59 inserted into the eccentric cam groove 56, and the block 52 moves as shown by an arrow 60. Therefore, the shaft 53 fixed to the lower surface of the block 52 and the cutting blade 4 are also moved up and down in the direction of the arrow 67. That is, even if the raising / lowering speed of the cutting blade is considerably slow (for example, 1/10) by the addition of ultrasonic vibration, the same cutting efficiency is obtained.

  If the ultrasonic horn 54 oscillates, for example, 39.5 kHz ultrasonic waves, the cutting blade 4 also vibrates at the same frequency, so that the cutting blade 4 moves up and down at a high speed (for example, 400 to 800 times / minute). The workpiece 1 is cut by vibrating at 39.5 kHz.

  The raising / lowering speed of the cutting blade depends on the material of the workpiece 1, but the workpiece 1 is cut quickly and easily by the raising / lowering motion of the cutting blade 4 and the vibration of ultrasonic waves.

  In the figure, 70 is an ultrasonic wiring, 71 is a motor wiring, and 77 is a bearing.

  Next, an embodiment in the case where power is transmitted to the rotating unit will be described. In FIG. 8, snap rings 111a and 111b are fixed up and down on the upper side wall of the rotating cylinder 110, and the tips of sliding contact rods 112a and 112b are brought into contact with the snap rings 111a and 111b. Then, it is installed in the support tube 113 so as to be slidable in the axial direction, and the leading ends of the lead wires 114a and 114b are fixed to the rear ends of the sliding contact rods 112a and 112b. The sliding contact rods 112a and 112b are accommodated in the cylindrical cavities 115a and 115b of the support cylinder 113, and the rings 116a and 116b are accommodated in the sliding contact rods 112a and 112b, respectively, as spring receivers for the springs 117a and 117b.

  In the above, since the sliding contact rods 112a and 112b are always urged in the direction of arrow 118 by the springs 117a and 117b, the snap rings 111a and 111b and the sliding contact rods 112a and 112b are always in elastic contact. . Therefore, electricity is reliably supplied from the fixed part to the rotating part.

  With reference to FIG. 12, the jig | tool which fixes a workpiece | work in this invention is demonstrated.

  The work 1 (for example, a sheet, cloth, etc.) is three-dimensionally supported on the jig 2 (FIG. 5). However, when the support surface is plate-shaped, the work 1 and the support surface are simultaneously cut and cut. As a result, the supporting force decreases. Therefore, the support surface of the jig must be constantly replaced. However, the replacement efficiency is inevitably reduced by frequent replacement.

  Therefore, an elastic wire 121 (for example, made of synthetic rubber, having a diameter of 1 mm to 2 mm and a length of 3 cm to 5 cm) is implanted on the base plate 120 at intervals of 2 to 3 mm to form a jig for the workpiece 1. The length of the elastic wire 121 is the cutting length of the cutting blade, and the interval between the elastic wires has a clearance space for the cutting blade, and the original shape is preferably restored after passing through the cutting blade. Therefore, it becomes the said dimension on the average. It is preferable to provide an arcuate part 121a at the tip of the elastic wire 121.

  Another embodiment of the present invention will be described with reference to FIGS.

  At the tip of the robot arm 3, an upper support plate 61 and a lower support plate 62 are provided in a cantilever manner with a predetermined interval.

  On the upper support plate 61, a motor 63 for rotating the tool is installed downward, and a flat gear 64 is fixed to the shaft of the motor 63 passing through the upper support plate 61. The flat gear 64 is connected to the upper plate of the bracket 46. 47 is engaged with a flat gear 66 fixed to a base shaft 65 provided vertically.

  A drive motor 48 is fixed vertically to the lower surface of the upper plate 47 of the bracket 46, and a bevel gear 49 is fixed to the shaft of the drive motor 48.

  A support frame 55 is provided vertically on the lower surface of the upper plate 47 of the bracket 46, and a turntable 57 having an eccentric cam groove 56 on one side is rotatably installed vertically on the support frame 55. A bevel gear 58 is fixed to the horizontal axis at the center of the other side of the rotating disk 57, and a cam wheel 59 protruding from the side wall of the guide block 52 is rotatably inserted into the cam groove 56.

  Between the upper plate 47 and the lower plate 50 of the bracket 46, guide rods 51, 51 are installed in parallel on both sides, and a guide block 52 is mounted on the guide rods 51, 51 so as to be movable up and down. The shaft body 53 of the cutting blade 4 is fixed to the lower part, and the ultrasonic horn 54 is attached to the shaft body 53.

  In this embodiment, when the switch of the drive motor 48 is turned on, the bevel gear 49 is rotated by the rotation of the motor shaft, and thereby the bevel gear 58 is also interlocked, so that the cam wheel 57 is rotated. Therefore, as the cam wheel 57 rotates, the cam roll 59 moves up and down according to the eccentric amount L of the cam groove 56 via the cam roll 59 inserted into the eccentric cam groove 56, and the block 52 moves as shown by an arrow 60. Therefore, the shaft 53 fixed to the lower surface of the block 52 and the cutting blade 4 are also moved up and down in the direction of the arrow 67.

  If the ultrasonic horn 54 oscillates 39.5 kHz ultrasonic waves, the cutting blade 4 also vibrates at the same frequency, so that the cutting blade 4 eventually moves up and down at a high speed (for example, 400 to 800 times / minute), It vibrates at 39.5 kHz and cuts the workpiece 1 (in the case of using ultrasonic vibration, the reciprocation can be slowed (for example, 1/10).

  Although it depends on the material of the workpiece, the workpiece is cut quickly and easily by the up-and-down movement of the cutting blade and the vibration of ultrasonic waves.

  In FIG. 7, reference numeral 72 is a snap ring tube, 73a and 73b are snap electrodes, 74a and 74b are codes, 75 is a code of a motor 48, 76 is a code of an ultrasonic horn 54, 79 is an electric vibrator, and 81 is a vibrator. It is.

  In this embodiment, when the switch of the motor 63 is turned on (not shown), the base shaft 65 rotates through the flat gears 64 and 66, so that the bracket 46 rotates and the direction of the blade portion 4a of the cutting blade 4 is reached. Can be changed. For example, when the traveling direction of the cutting device 80 is changed by the robot arm 3, the blade portion 4 a of the cutting blade 4 also faces the traveling direction of the cutting device 80. In FIG. 11, 77 and 78 are bearings.

  The driving of the cutting blade 4 will be described with reference to FIG.

  The base of the cutting blade 4 is connected to the lower end of the lifting rod 122, the lower end of the crank rod 123 is rotatably connected to the upper end of the lifting rod 122, and the upper end of the crank rod 123 is eccentric to the turntable 124. It is rotatably attached via a shaft 135. A pulley 126 is fixed to the shaft 125 of the rotating disk 124, and the pulley 126 is interlocked by a timing belt 129 with a pulley 128 fixed to the shaft of the motor 127. In the figure, 130 is a guide for the lifting rod 122.

  In this embodiment, when the motor 127 is started and the pulley 128 is rotated in the direction of the arrow 136, the timing belt 129 moves in the direction of the arrow 137, and accordingly, the pulley 126 is rotated in the direction of the arrow 133. Then, since the turntable 124 also rotates in the direction of the arrow 133 via the shaft 125, the crank rod 123 moves up and down as indicated by arrows 131 and 132, and accordingly, the lift rod 122 also moves as indicated by the arrow 134. Go up and down. Eventually, the rotation of the turntable 124 raises and lowers the elevating rod 122 corresponding to twice the amount of eccentricity 2h, whereby the cutting blade 4 can be raised and lowered (FIG. 15B).

  An embodiment relating to refueling in the apparatus of the present invention will be described with reference to FIG.

  A rotating plate 141 is rotatably installed in the fixing ring 140, and a pulley 143 is fixed to the shaft 142 of the rotating plate 141. The mounting shaft 144 is eccentrically projected from the rotating plate 141, the upper end portion of the link rod 145 is rotatably mounted on the mounting shaft 144, and the upper end portion of the knife 146 or the knife connecting rod is attached to the lower end portion of the link rod 145. The upper and lower ends of the knife 146 were fixed to constitute a mechanism for moving the knife 146 up and down. The pulley 143 is rotated by a timing belt 154 (FIG. 16B).

  In the above, the connecting shaft 144 and the connecting portion of the upper end portion of the link rod 145 are always rotating and sliding, so it is necessary to refuel, but the connecting portion is raised and lowered while rotating and revolving, Refueling is very difficult. Therefore, when the connecting portion reaches the bottom dead center (or may be the top dead center), a device for supplying oil by spraying oil as indicated by an arrow 148 from a nozzle 147 set facing the position is provided. The nozzle 147 is as close to the connecting portion as possible, and sprays instantaneously when passing through the connecting portion.

  In the above, the outside of the nozzle 147 is covered with the hood 149, and the excess oil mist is removed by suction (exhaust fan etc.) as indicated by an arrow 150 through the exhaust pipe 149a, so that the oil mist diffuses more than necessary. There is no fear.

  The nozzle 147 is connected to an oil supply pipe 151, and the oil supply pipe 151 is connected to an oil supply pump 153 in the oil tank 152. The oil pump 153 is controlled by a controller (not shown) and controls to spray only when the nozzle 147 faces the connecting portion.

  Although this embodiment has been described with respect to the lubrication of the connecting portion, the same lubrication method can be used for the lubrication of other portions.

  Another embodiment of the present invention will be described with reference to FIG.

  An example of cleaning the holder 155 of the knife 156 will be described. Since the knife 156 cuts cloth, sheets, and other objects to be cut at high speed, countless dust adheres to the holder 155 of the knife 156. However, when the holder 155 is used continuously, the dust is covered. There were problems such as adhesion to cut objects and fouling, and adhesion to robot joints causing trouble. Therefore, the holder 155 of the knife 156 is periodically cleaned, or the amount of dust attached is detected by a sensor. When the amount of attachment reaches a preset amount, the holder 155 is cleaned by an instruction from a controller such as a computer. It solves the problem.

  That is, the robot hand 157 accommodates the knife holder 155 in the cleaning hood 158, and blows out pressurized air from the pressurized air nozzle 159 to clean the holder 155. In this case, the holder 155 is moved up and down as indicated by an arrow 160 by the robot hand 157, and rotated to clean the entire upper and lower sides and all four sides.

  In the above, there is an entrance / exit at the upper part of the cleaning hood 158, and an open / close lid 161 is attached. The lid is automatically opened when the holder 155 comes close, and is automatically closed when the holder 155 is taken out. Further, one side of the cleaning hood 158 is connected to a ventilation fan (not shown) via an exhaust pipe 162 and is always exhausted as indicated by an arrow 163 in the figure, so that the separated dust is reattached to the holder 155. It is not. In addition, the holder 155 has a countermeasure against static electricity to prevent reattachment of dust. In the figure, reference numeral 164 denotes an air supply pump.

  In the above description, the cleaning of the holder 155 has been described. However, if the cleaning hood 158 is set in the cutting chamber, a plurality of holders of the knife operating in the cutting chamber can be efficiently cleaned. However, it does not prevent the cleaning hood 158 from being provided for each knife holder. Moreover, although the said was described about the cleaning of a knife holder, the said cleaning hood can also be used for the deposit | cleaning of the deposit | attachment of another apparatus.

  Another embodiment of the present invention will be described with reference to FIG.

  This shows a method of replacing the holder 155 with the knife 156 when the holder 155 with the knife 156 is set on the holder rack 165 and the knife 156 needs to be replaced.

  In this way, the knife 156 can be easily replaced in a short time, and the working efficiency can be improved.

  Conventionally, since the knife was replaced by attaching / detaching the knife 156 to / from the holder 155, not only did the replacement take a long time, but the mounting structure of the knife 156 was also limited (for example, screwing was not adopted) However, as described above, the holder 155 and the knife 156 may be fixed with screws, and the knife 156 can be securely fixed. For example, it takes at least one minute to replace the knife 156, and about 30 seconds is sufficient to replace the holder 155.

  Another embodiment of the present invention will be described with reference to FIG.

  The shaft 83 of the cutting blade 4 is inserted into the component 82 fixed to the robot so as to be movable up and down. On the other hand, guide rods 85, 85 are erected on the work presser 84, and the guide rods 85, 85 are inserted through a guide plate 86 and a guide frame 87, and the upper part thereof is inserted into a component 82 so as to be movable up and down. In the figure, reference numeral 119 denotes a spring for lowering the work presser, and 138 denotes a guide cylinder of the shaft 83.

  In the said Example, the cutting blade 4 raises / lowers like the arrow 139. FIG. When the part 82 moves up and down as indicated by an arrow 160, the work presser 84 also moves up and down. In this case, even if the workpiece presser 84 is lowered to the workpiece surface to hold the workpiece and the component 168 fixed to the robot hand is lowered, the guide rod 85 is attached to the component 168 so that it can be raised and lowered.

  The lower pressure of the work holder 84 depends on the elasticity of the spring 119, but the magnitude of the lower pressure is determined by the position of the spring receiver 165. That is, when the spring receiver 165 is raised (arrow 201), it is strong, and when it is lowered (arrow 202), it becomes weak.

  The guide tube 138 is held on the guide frame 87 by a projection 166 and a spring 167 and supports the shaft 83 of the cutting blade 4. Further, the vertical member 87 a of the guide frame 87 is connected to the component 168.

  In FIG. 22, when air is supplied / discharged to / from the pressurizing chamber in the cylinder 187 by the supply / discharge pipes 185, 186, the U-shaped locking plate 189 and the U-shaped portion 189 a are indicated by arrows 190 through the rod 188. 19, the component 82 in FIG. 19 is locked and fixed (or released), and the cutting blade unit 184 can be attached to and detached from the connecting shaft of the robot arm (FIG. 20).

  19 (b), (c), and (d), an insulating layer 68 is provided on the surface of the cutting blade 4, and an electrothermal layer 69a is provided thereon. An insulating layer 68 is provided on the outer side to form a heating layer 69. The cutting blade 4 can be heated to a predetermined temperature by adjusting the amount of electricity to the electrothermal layer 69a (FIG. 19 (c)).

  Moreover, it can also be set as the structure (FIG.19 (d)) which embedded the heating layer 69 with the cutting blade 4 and the pressing material 4a. Furthermore, the heating layer 69 can also be embedded in the groove 4a of the cutting blade 4 (FIG. 19B).

  The electric heating structure is an example, and other methods (for example, an electric heating material is enclosed or layered on a part of the cutting blade) can be used.

  The point is to adopt a temperature-variable electric heating method so that workpieces of different materials can be cut at high speed with the same cutting blade (for example, the heating temperature is set to 150 ° C. to 200 ° C.).

  Another embodiment of the present invention will be described with reference to FIGS.

  The cutting blade 4 is fixed to a mounting shaft 169 with a mounting screw 170, and a flange 171 is connected to the upper portion of the mounting shaft 169, and a sliding shaft 172 is connected to the center of the upper portion of the flange 171. Is formed in a cylindrical shape, and a through hole 173 is provided in a side wall to accommodate a steel ball 174 and a spring 175, and the steel ball 174 is urged by the spring 175 in the direction of an arrow 176. The holder 184 of the cutting blade 4 is configured by covering the cover cylinder 182 with this. The through hole 173 has a small inner hole diameter to prevent the steel ball 174 from falling inside, and the spring 175 is supported by the plug 173a (FIG. 21).

  On the other hand, an annular groove 178 that can be engaged with the steel ball 174 is provided on the lower side wall of the connecting shaft 177 of the robot hand. Therefore, when the connecting shaft 177 is lowered in the direction of the arrow 179 (FIG. 20) and the annular groove 178 of the connecting shaft 177 reaches the steel ball 174, the steel ball 174 enters the annular groove 178 and is locked. In this case, since the steel ball 174 is urged in the direction of the arrow 176 by the spring 175, the locked state can be maintained.

  The connecting member 180 is fixed to the connecting shaft 177 with a set screw 181, and the protrusion 177 a of the connecting shaft 177 is fitted and locked in the groove 180 a of the connecting member 180. A projecting piece 180 b is provided on the lower surface of the outer periphery of the connecting member 180, and is fitted and locked into the notch 182 a of the cover cylinder 182 of the sliding shaft 172. In the figure, reference numeral 183 denotes a spring fitted on the sliding shaft 172 between the flange 171 and the lower surface of the cover cylinder 182, and reference numeral 182 b denotes a protrusion provided on the outer periphery of the lower part of the cover cylinder 182.

  In this embodiment, when the connecting shaft 177 of the robot arm is lowered as shown by an arrow 179 and inserted into the upper portion of the sliding shaft 172, the steel ball 174 is press-fitted into the annular groove 178 of the connecting shaft 177. Thus, the connecting shaft 177 and the sliding shaft 172 are connected.

  As described above, the connecting shaft 177 and the sliding shaft 172 are connected by the annular groove 178 and partial insertion (elasticity imparting) of a steel ball, so that the holder 184 is held and the connecting shaft 177 is lowered or If a rising external force is applied, the connecting shaft 177 can be connected or detached (automatic attachment / detachment).

  With reference to FIGS. 23, 24, etc., an embodiment of attaching and detaching the holder for replacing the cutting blade in the apparatus of the present invention will be described.

  When replacing the cutting blade for changing the workpiece or replacing the cutting blade due to failure, there are cases where only the cutting blade is replaced or a holder with a cutting blade is replaced. Will be described.

  In the present invention, the holder 185 having the cutting blade 4 fixed thereto is set in the holding hole 191 of the set base 190 of the holder 185 fixed to the substrate 200. Next, after the holder 185 fixed to the robot hand is set in the holding hole 191 of the set stand 190, the abutment 197 is supported by the rod 195, and the hose 193 of the cylinder 199 of the rod 195 is as shown by an arrow 194. Pressurized air is sent in and the rod 195 is raised as shown by an arrow 196. Since the rod 195 is fixed to the abutment 197, when the rod 195 is lifted as indicated by an arrow 196, the abutment 197 is also lifted and placed on the one-side protrusion 197a of the abutment 197. Since the holder 185 is raised through the flange 171 that is present, the spring 183 is compressed (FIG. 20B). Next, when the connecting shaft 177 of the robot is raised as shown by an arrow 198 (FIG. 20A), the groove 178 of the connecting shaft 177 and the steel ball 174 are unlocked, and the connecting shaft 177 is a holder. It leaves | separates from 185 (FIG.20 (b)). In the above, the cutting blade 4 is inserted into the cylindrical hole 197c of the protrusion 197a, so there is no risk of damage or the like. In the figure, 197b is a mounting hole for the rod 195.

  Therefore, if the connecting shaft 177 of the robot is inserted into the central hole of the connecting member 180 of another holder (fixed with the cutting blade) and the annular groove 178 of the connecting shaft 177 and the steel ball 174 are locked, the connecting of the robot The shaft 177 and the other holder 185 are connected. Therefore, if the robot arm is moved, the holder 185 is also followed.

  As described above, according to the present invention, the cutting blade can be replaced together with the holder 185, so that the efficiency can be further improved than the attachment and removal for each cutting blade (reducing the attachment time, for example, by about 1 minute). Can do).

  Furthermore, since no human hands are added, that is, it is automatic, it is safe.

  The preferred embodiments and examples of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to such embodiments and examples, and is understood from the description of the claims. It can be changed into various forms within the scope.

(A) The conceptual diagram explaining the three-dimensional automatic cutting method by this invention, (b) The conceptual diagram explaining the robot in Fig.1 (a). (A) Front view showing an example of the three-dimensional automatic cutting apparatus of the present invention, (b) Partial enlarged front view of the polishing apparatus in the apparatus of FIG. 2 (a), (c) Polishing in the apparatus of FIG. 2 (a) The enlarged plan view which cut | disconnected a part of apparatus. (A) The enlarged front view which abbreviate | omitted a part showing an example of the three-dimensional automatic cutting device of this invention, (b) The partial perspective view of the cutting blade in the apparatus of Fig.3 (a), (c) Fig.3 (a) The partial perspective view of the other cutting blade in the apparatus of). (A) Partial cross-sectional enlarged view showing an example of the three-dimensional automatic cutting device of the present invention, (b) Explanatory drawing showing the rotation of the abutment (for rotating the cutting blade) in the device of FIG. 4 (a). (A) The figure explaining an example of the cutting state by the three-dimensional automatic cutting device and cutting method of this invention, (b) The figure explaining the state which changes a cutting depth in Fig.5 (a). (A) In the three-dimensional automatic cutting apparatus and cutting method of this invention, the conceptual diagram explaining the state which test | inspects a cutting blade, (b) The other conceptual diagram explaining the state which test | inspects a cutting blade, (c) Cutting blade The further another conceptual diagram explaining the state which test | inspects. The enlarged view which cut | disconnected a part showing an example of the three-dimensional automatic cutting device of this invention. FIG. 8 is a conceptual diagram illustrating a power supply brush unit in the three-dimensional automatic cutting apparatus illustrated in FIG. 7. (A) The enlarged front view explaining the state where the punch cutting blade employed in the three-dimensional automatic cutting device of the present invention is disconnected, (b) The punch cutting blade shown in FIG. 9 (a) is connected. The side enlarged view of a state. (A) A partially enlarged view of a punch cutting blade employed in the three-dimensional automatic cutting device of the present invention, (b) a partial sectional view of another punch cutting blade, (c) a part of another punch cutting blade Front view. The front view which abbreviate | omitted one part explaining the cutting process by the three-dimensional automatic cutting device and cutting method of this invention by which the punch cutting blade is employ | adopted. (A) In the three-dimensional automatic cutting device and cutting method of the present invention, a partially enlarged perspective view for explaining an example of a jig for fixing a workpiece, (b) a partially enlarged sectional view of the jig shown in FIG. Figure. The enlarged view which cut | disconnected a part of three-dimensional automatic cutting device of this invention to which the ultrasonic processing means was added. (A) The enlarged view which shows the relationship between the guide rod and guide block in the three-dimensional automatic cutting device of this invention, (b) The enlarged view which shows the relationship between the cam wheel and cam roll in the three-dimensional automatic cutting device of this invention. (A) The side view which abbreviate | omitted one part which shows the raising / lowering conduction system of the cutting blade in the three-dimensional automatic cutting device of this invention, (b) The front view which abbreviate | omitted a part of Fig.15 (a). (A) The side view which shows the example of oil supply in the three-dimensional automatic cutting device of this invention, (b) The front view which abbreviate | omitted a part of Fig.16 (a). The front view which abbreviate | omitted one part explaining the cleaning by pressurized air in the three-dimensional automatic cutting device and cutting method of this invention. The front view which shows the rack in the case of replacing | exchanging a holder in the three-dimensional automatic cutting device of this invention. (A) An enlarged perspective view showing an example of a holder in the three-dimensional automatic cutting device of the present invention, (b) a partially enlarged sectional view of the cutting blade in FIG. 19 (a), (c) a cutting blade in FIG. 19 (a) (D) The partial expanded sectional view of the cutting blade in Fig.19 (a). (A) The expansion perspective view which abbreviate | omitted a part of holder part in the three-dimensional automatic cutting device of this invention, (b) The disassembled perspective view which a part of FIG. (A) Partial cutting showing a state of connection with the connecting shaft of the robot in the three-dimensional automatic cutting device of the present invention, a partially omitted front view, (b) Locking of the steel ball and the annular groove in FIG. 21 (a) (C) The partial expanded sectional view which shows arrangement | positioning of the steel ball in Fig.21 (a). The expansion perspective view of the instrument used when disassembling a holder in the three-dimensional automatic cutting device of this invention. (A) The top view which abbreviate | omitted a part of the base in the three-dimensional automatic cutting device of this invention, (b) Cross-sectional view which abbreviate | omitted the part which shows the relationship between the base of FIG. (C) Sectional drawing which abbreviate | omitted one part which rotated the cutting blade holder 90 degree | times in FIG.23 (b). (A) Explanatory drawing when the connecting shaft of the robot is pulled out in the three-dimensional automatic cutting device of the present invention, (b) A perspective view of the lifting platform in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Woven cloth 2 Jig 3 Robot arm 4 Cutting blade 5 Robot 7 Pressing piece 8 Pressing spring 9 Housing 10 Apparatus 11 Machine frame 12 Abutment 13 Horizontal shaft 14 Rotary disk 15 Motor 16 Shaft 17 Pulley 18 V belt 19 Support shaft 26 Motor 35 Frame 37 Polishing disk 39 Block 46 Bracket 47 Upper plate 50 Lower plate 51 Guide rod 52 Block 54 Ultrasonic horn 57 Cam wheel 80 Cutting device 99 Punch blade 106 Connecting tube 113 Support cylinder 155 Holder

Claims (2)

A method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally,
By controlling the drive unit by a predetermined computer program, the cutting blade is reciprocated at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig,
Apply ultrasonic vibration to the cutting blade,
In the three-dimensional automatic cutting method of cutting the workpiece by moving the cutting blade forward and backward in parallel with the advance direction while moving the cutting blade forward in the cutting direction,
The high-speed reciprocation is 3000-4500 reciprocations per minute;
The surface of the jig to which the workpiece is fixed is a three-dimensional surface, and with respect to the surface of the workpiece fixed on the three-dimensional surface,
Control so that the reciprocating motion of the cutting blade is always perpendicular to the surface of the workpiece,
The guide piece in contact with the workpiece is pressed while pressing the workpiece and fixing the vicinity of the cutting portion of the workpiece on the jig, and the cutting is performed.
After the step of cutting the workpiece, the method includes a step of polishing the cutting blade, a step of replacing the cutting blade, or a step of replacing a drive unit with a cutting blade. A device that cuts the cutting blade by reciprocating at a high speed from a right angle direction with respect to the surface of the workpiece fixed on the jig,
Reciprocating means of the cutting blade for performing high speed reciprocating motion of the cutting blade at 3000-4500 times per minute ;
A cutting unit comprising a guide means for the cutting blade;
Three-dimensional moving means in which the cutting unit is fixed to the robot arm;
Control means for controlling the operation of each means,
The robot arm is a multi-axis robot arm,
The three-dimensional moving means attaches the cutting unit to a robot arm of the multi-axis robot, applies rotation to the cutting unit, and causes the cutting blade to perform three-dimensional movement,
The reciprocating means of the cutting blade is attached to the rotating disk so that the base end portion of the cutting blade is eccentric and rotatable, and the cutting blade is sandwiched reciprocally by a guide roller.
The cutting unit is a cutting blade front-rear vibration means that slightly vibrates the cutting blade back and forth in parallel with a forward direction in which the cutting blade advances in the cutting direction with respect to the workpiece, and the cutting blade or a support member for the cutting blade And a cutting blade longitudinal vibration means provided with a vibration exciter for vibrating the cutting blade in the front-rear direction, and a cutting blade ultrasonic vibration means for applying ultrasonic vibration to the cutting blade. And
A cutting blade automatic polishing means for automatically polishing the cutting blade, a cutting blade replacement means for automatically replacing the cutting blade, or a cutting unit replacement means for replacing the cutting unit is further provided.
The cutting unit is a fixing means for fixing the vicinity of the cutting part of the work on a jig, and a guide piece that comes into contact with the work is attached to a guide rod, and the guide rod can be slid to the machine frame of the cutting unit. And is further provided with a fixing means configured to urge the guide piece toward the workpiece side,
The surface of the jig to which the workpiece is fixed is a three-dimensional surface, and the reciprocating motion of the cutting blade is always on the surface of the workpiece with respect to the surface of the workpiece fixed on the three-dimensional surface. A three-dimensional automatic cutting device characterized by being controlled to be at right angles to.

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