JP6383506B1 - Cutting device - Google Patents

Abstract

A cutting device capable of obtaining high positioning accuracy without using positioning pins is provided. A cutting device includes a punch, a die, and a positioning device. The positioning device includes a support portion and a positioning driving portion. The positioning drive unit 5 moves the workpiece 2 to a predetermined position with respect to the support unit 4. The support portion 4 has an internal space 42 that communicates with the outside of the support portion 4 through an opening 41 formed in the support surface 40 that supports the workpiece 2. The positioning drive unit 5 includes a moving unit 51, an imaging unit 52, and a control unit 53. The moving unit 51 moves the position of the workpiece 2 supported by the support unit 4 with respect to the support unit 4. The imaging unit 52 fits the opening 41 and the inner wall surface 421 of the internal space 42 that is continuous with the edge 411 of the opening 41 in the imaging range. The control unit 53 controls the moving unit 51 so that the workpiece 2 is positioned at a predetermined position based on the positional relationship between the edge 411 and a part of the workpiece 2 in the image 6 captured by the imaging unit 52. [Selection] Figure 1

Description

The present invention relates to a disconnect device, more particularly, to a cutting device provided with a position-decided Me equipment Before moving the workpiece in a predetermined position.

  2. Description of the Related Art Conventionally, there is known a machining die in which a base material (workpiece) is disposed on a lower die, the base material is positioned at a predetermined position of the lower die, and punching is performed with a punch and a die (for example, see Patent Document 1). .

  In the working mold shown in Patent Document 1, the base material arranged in the lower mold cannot be positively moved with respect to the lower mold. For this reason, the positioning pin provided in the lower mold is inserted into the positioning hole formed in the base material, and the positioning to the lower mold of the base material arranged in the lower mold is performed.

  More specifically, the base material can be positioned at a predetermined position of the lower mold with a certain degree of accuracy by positioning using a conventional positioning pin and positioning hole. However, since the positioning pin can move within the range of play with respect to the positioning hole, it is difficult to keep the positioning error smaller than the range of play.

  Therefore, in the working die shown in Patent Document 1, the positioning pins have divided portions that are separated from and abutted with each other. The positioning pins inserted into the positioning holes are separated from each other, and play of the positioning pins in the positioning holes is reduced. For this reason, the positioning accuracy is improved as compared with the conventional positioning using the positioning pins and positioning holes.

JP 2007-21689 A

  However, in the working mold shown in Patent Document 1, the base material arranged in the lower mold cannot be positively moved with respect to the lower mold. Such a positioning pin is required.

The present invention was invented in view of the above problems, it is to provide a cutting device provided with a position-decided Me device that can be obtained with high positioning accuracy regardless of the positioning pin.

A cutting device according to the present disclosure includes a punch, a die, and a positioning device. The positioning device includes a support part and a positioning drive part. The said support part supports a workpiece | work. The positioning drive unit moves the workpiece to a predetermined position with respect to the support unit.

  The support portion has an internal space that communicates with the outside of the support portion through an opening formed in a support surface that supports the workpiece.

The positioning driving unit includes a moving unit, an imaging unit, and a control unit. The moving unit moves a position of the work supported by the support unit with respect to the support unit. The imaging unit stores an inner wall surface of the internal space that is continuous with the opening and an edge of the opening within an imaging range. The control unit is based on a positional relationship between the reference and a part of the workpiece with reference to the edge in an image containing the workpiece and the inner wall surface that are seen through the opening imaged by the imaging unit. In addition, the moving unit is controlled so that the workpiece is positioned at the predetermined position.

Before Symbol die alternate the supporting portion of the positioning device.

  In the cutting device according to the present disclosure, high positioning accuracy can be obtained regardless of the positioning pins.

FIG. 1 is a schematic cross-sectional view of a cutting device according to an embodiment of the present disclosure. FIG. 2 is a block diagram of a positioning drive unit in the above-described cutting apparatus. FIG. 3 is a side view of the moving unit of the positioning drive unit. FIG. 4 is a perspective view of a main part of a support part and a workpiece in the above-described cutting apparatus. FIG. 5 is a flowchart of positioning in the above-described cutting apparatus. FIG. 6 is a diagram illustrating an image captured by the imaging unit in the above-described cutting apparatus.

  The present disclosure relates to a positioning device and a cutting device, and more particularly, to a positioning device including a support portion that supports a workpiece and a positioning drive unit that moves the workpiece to a predetermined position, and a cutting device including the positioning device.

  Hereinafter, one embodiment of a cutting device 1 provided with positioning device 3 concerning this indication is described based on Drawings 1-6.

  As shown in FIG. 1, the cutting device 1 includes a punch 11 and a die 12. The cutting device 1 in the present embodiment is a so-called punching device that punches an object (work 2) mainly in the form of a sheet or film and separates a part from the whole. The work 2 is a printed circuit board mainly made of resin having a thickness of about 1 mm.

  The cutting device 1 has a mold composed of a lower mold 13 and an upper mold 14. The die 12 is configured by forming a hole 130 penetrating vertically in a part of the lower mold 13. Further, the upper die 14 is formed with a punch 11 protruding downward at a position corresponding to a hole 130 penetrating up and down the lower die 13 in plan view.

  The lower mold 13 is installed on a base 15 installed on the floor. The base 15 is installed on the floor via the legs 16, and a gap 17 is formed between the base 15 and the floor.

  A stripper plate 18 is provided below the upper mold 14 so as to be movable up and down with respect to the upper mold 14. The stripper plate 18 is attached to the upper die 14 via a biasing member (not shown) such as a spring, and suppresses the workpiece 2 from being lifted from the lower die 13.

  The upper die 14 is configured to be movable in the vertical direction by a drive mechanism (not shown) having a hydraulic cylinder or the like.

  The cutting device 1 (punching device) in the present embodiment is as described above. However, as such a cutting device 1, various conventionally known devices can be used as appropriate, and detailed description thereof is omitted. .

  The cutting device 1 includes a positioning device 3. The positioning device 3 includes a support unit 4 and a positioning drive unit 5. The support portion 4 supports the workpiece 2. In this embodiment, the lower mold 13 including the die 12 and the base 15 are integrated, and the periphery of the die 12 of the lower mold 13 and the base 15 and an internal space 42 described later. The part constitutes the support part 4. The upper surface of the lower mold 13 serves as a support surface 40 that supports the workpiece 2. The support surface 40 is configured by a flat surface except for a portion where holes are formed. The work 2 is placed on the support surface 40.

  The positioning drive unit 5 moves the workpiece 2 to a predetermined position with respect to the support unit 4. As shown in FIG. 2, the positioning drive unit 5 includes a moving unit 51, an imaging unit 52, and a control unit 53. The moving unit 51 moves the position of the workpiece 2 supported by the support unit 4 with respect to the support unit 4. In the present embodiment, the moving unit 51 is configured by a so-called robot arm 510. As shown in FIG. 3, the robot arm 510 is provided at the arm 511, the arm drive unit 512 that drives the arm 511, and the tip of the arm 511, and can adsorb the workpiece 2 or release the workpiece 2. A suction pad 513. The robot arm 510 moves the work 2 along two directions orthogonal to the support surface 40 (a direction orthogonal to the paper surface in FIG. 1 and a left-right direction). As the robot arm 510, various conventionally known ones can be used as appropriate, and detailed description thereof is omitted.

  The imaging unit 52 is a camera having an imaging element such as a charged-coupled devices (CCD) or a complementary metal-oxide-semiconductor (CMOS). The imaging unit 52 can capture either a moving image or a plurality of still images at different times.

  The control unit 53 has a microcomputer, for example, and controls the operation of each element by executing a program stored in a ROM (Read Only Memory). Various conventionally known ones can be used as appropriate. Detailed description will be omitted. The control unit 53 processes the image captured by the imaging unit 52 and controls the moving unit 51 based on the processing result.

  In the present embodiment, the positioning drive unit 5 further includes a storage unit 54. As the storage unit 54, various conventionally known devices such as a hard disk drive, a flash memory, and a random access memory (RAM) can be used as appropriate, and are not particularly limited. The storage unit 54 is controlled by the control unit 53 and stores an image captured by the imaging unit 52. The control unit 53 can appropriately use the storage unit 54 in various processes.

  The support portion 4 has an internal space 42 that communicates with the outside of the support portion 4 through an opening 41 formed in the support surface 40 that supports the workpiece 2. In the present embodiment, a hole 131 that penetrates up and down is formed in the lower mold 13 that becomes the support portion 4, and a hole 151 that penetrates up and down is formed in the base 15, thereby forming the internal space 42. The opening 41 formed in the support surface 40 is a circle having a diameter of 3 mm.

  In the present embodiment, the portion of the internal space 42 adjacent to the opening 41 (the hole 131 formed in the lower mold 13 extending vertically) has an opening in a cross section parallel to the support surface 40 as shown in FIG. It is formed in a truncated cone shape that becomes a larger circle as it goes away from 41.

  The imaging unit 52 fits the opening 41 and the inner wall surface 421 of the internal space 42 that is continuous with the edge 411 of the opening 41 in the imaging range. As shown in FIG. 1, the lower base 13 has a mounting base 19 projecting toward the gap 17 below the lower surface, and the imaging unit 52 is fixed to the mounting base 19. In the present embodiment, the imaging unit 52 is disposed in the internal space 42. More specifically, a light collecting unit 521 having a lens at the tip of the imaging unit 52 is disposed in the internal space 42. The imaging unit 52 has a condensing unit 521 at the tip attached to the support unit 4 via an elastic body 43 such as urethane.

  The imaging unit 52 images the workpiece 2 and the inner wall surface 421 of the internal space 42 seen through the opening 41 in a state where the workpiece 2 is supported so that the workpiece 2 closes the opening 41 of the support unit 4. The imaging unit 52 includes a light source 522 that irradiates the internal space 42. The light source 522 is provided in the vicinity of the light collecting unit 521 of the imaging unit 52.

  The control unit 53 processes the image containing the workpiece 2 and the inner wall surface 421 that are visible through the opening 41 imaged by the imaging unit 52, and moves so that the workpiece 2 is positioned at a predetermined position based on the processing result. The unit 51 is controlled. This will be described below.

  The workpiece 2 is placed on the support portion 4 manually or automatically. The workpiece 2 is placed so as to be close to a predetermined position of the support portion 4 with a certain degree of accuracy. The workpiece 2 placed and supported on the support unit 4 can be moved by the robot arm 510 of the positioning device 3.

  As shown in FIG. 4, the workpiece 2 placed on the support portion 4 in this manner is in a state of closing the opening 41, and the mark 21 included in the workpiece 2 is located in the opening 41. The mark 21 is formed smaller than the opening 41 and can be recognized in the image captured by the imaging unit 52. Specifically, the mark 21 of the workpiece 2 is configured by colors formed by coloring such as unevenness and printing formed on the surface of the workpiece 2, but is not particularly limited.

  Next, a positioning flow in the positioning device 3 will be described with reference to FIG.

  In (S <b> 1), the imaging unit 52 images the work 2 and the inner wall surface 421 of the internal space 42.

  In (S2), the control unit 53 obtains the center portion 410 in the opening 41 with reference to the edge 411 of the opening 41 in the image 6 (see FIG. 6) captured by the imaging unit 52 in (S1), 21 is the end point of movement (more precisely, the center 210 of the mark 21).

  In (S3), the direction and distance from the current position of the mark 21 to the end point obtained in (S2) are calculated. The direction and distance calculated in (S3) are the direction and distance to which the moving unit 51 should move the workpiece 2.

  Based on the flow of (S2) and (S3) described above, based on the positional relationship between the edge 411 of the opening 41 and a part of the workpiece 2 (the mark 21 in this embodiment) in the image 6 captured by the imaging unit 52. Thus, the direction and distance to which the work 2 should move can be calculated.

  In (S4), the control unit 53 determines whether or not the distance calculated by (S3) to which the mark 21 should move is within a preset allowable error (for example, 5 μm). This allowable error can be set as appropriate, such as 0.1 μm, 1 μm, 3 μm, 5 μm, 10 μm, 50 μm, and is not limited. In the case of this embodiment, it can be set with an accuracy of 0.1 μm or more.

  In (S4), when it is determined that the distance that the mark 21 should move is within a preset allowable error, the control unit 53 ends the positioning flow. Thereafter, cutting or the like by the cutting device 1 is performed.

  In (S4), if it is determined that the distance to which the mark 21 should move is not within the preset allowable error, the process proceeds to (S5).

  In (S5), the control unit 53 moves the moving unit 51 based on the direction and distance to which the mark 21 calculated in (S3) should move, and returns to (S1). That is, in this positioning flow, the processing is repeated until it is determined in (S4) that the distance that the mark 21 should move is within a preset allowable error.

  For this reason, the position of the workpiece 2 with respect to the support portion 4 can be reliably positioned to a predetermined position within a preset allowable error.

  In the present embodiment, the support portion 4 is formed with an internal space 42 that communicates with the outside of the support portion 4 through an opening 41 formed in the support surface 40. The imaging unit 52 images the work 2 that can be seen through the opening 41 and the inner wall surface 421 of the internal space 42. The imaging unit 52 images the workpiece 2 and the support unit 4 that supports the workpiece 2 from the lower side of the workpiece 2, not from the upper side of the workpiece 2. For this reason, the workpiece | work 2 and the support part 4 can be image | photographed from a near position compared with the case where the workpiece | work 2 is imaged from the upper side.

  That is, when the workpiece 2 is imaged from above, the imaging unit 52 cannot be disposed directly above the workpiece 2 because the upper mold 14 moves in the vertical direction above the workpiece 2. For this reason, the imaging unit 52 is disposed above the workpiece 2 and images the workpiece 2 and the support unit 4 from a distance. For this reason, the resolution of the part of the workpiece | work 2 and the support part 4 in the image 6 imaged by the imaging part 52 becomes low. Although the upper die 14 is close to the workpiece 2 and the support portion 4, the imaging portion 52 is provided in the upper die 14 because the distance between the workpiece 2 and the support portion 4 changes rapidly by moving in the vertical direction. Is not preferred.

  On the other hand, in the present embodiment, the workpiece 2 and the support part 4 can be imaged from a close range through the internal space 42 and the opening 41 formed in the support part 4, and are imaged by the imaging unit 52. The resolution of the work 2 and the support 4 portion in the image 6 is high. In the present embodiment, since the imaging unit 52 is disposed in the internal space 42, the imaging unit 52 can be particularly brought close to the imaging symmetrical workpiece 2 and the support unit 4.

  As a result, the positioning accuracy can be about 0.1 μm.

  Furthermore, in the present embodiment, the imaging unit 52 can be fixed to the support unit 4. Thereby, the relative positional relationship between the imaging unit 52 and the support unit 4 does not change or hardly changes, and the support unit 4 in the image 6 captured by the imaging unit 52 and the blur of the work 2 supported by the support unit 4 are displayed. Is suppressed. As a result, the positioning accuracy can be improved.

  In addition, since the imaging unit 52 is attached to the support unit 4 via the elastic body 43, the impact transmitted from the support unit 4 to the imaging unit 52 is reduced.

  Next, a modification of the above-described embodiment will be described.

  The cutting device 1 is not limited to the punching device including the punch 11 and the die 12, and may be a device having a blade that forms a cut at a predetermined position of the work 2 supported by the support portion 4, for example.

  The workpiece 2 is a printed board in the above-described embodiment, but is not limited to the printed board. The material of the workpiece 2 is not limited to resin, and may be a wood material, non-ferrous metal such as copper, ferrous metal, or the like. Further, the thickness, size, shape and color of the workpiece 2 are not particularly limited.

  The positioning device 3 according to the present disclosure is not limited to the cutting device 1. That is, as long as the apparatus includes the support unit 4 that supports the workpiece 2 and the positioning drive unit 5 that moves the workpiece 2 to a predetermined position, the positioning device 3 according to the present disclosure is provided even if it is not the cutting device 1. It is possible.

  The size, shape, material, and the like of the mold that the cutting device 1 has are not particularly limited.

  The support surface 40 that supports the workpiece 2 in the support portion 4 is not necessarily flat. In the above-described embodiment, the upper surface of the lower mold 13 is the support surface 40. However, the support surface 40 may not be the upper surface of the lower mold 13 or the like, and may be a vertical surface formed from the side surface of the mold. Good.

  As the moving unit 51 included in the positioning drive unit 5, various conventionally known devices including the above-described robot arm 510 can be used as appropriate, and are not particularly limited. That is, if the workpiece 2 supported by the support unit 4 can be moved to a desired position with respect to the support unit 4 along two directions orthogonal to each other along the support surface 40, the moving unit 51 is used. Is available as

  In the above-described embodiment, the imaging unit 52 is a camera having an imaging element such as a CCD or a CMOS, but is not particularly limited. Further, a camera having an infrared sensor may be used as the imaging unit 52.

  The shape of the opening 41 formed in the support surface 40 may be triangular or quadrangular, and is not particularly limited. Further, the size of the opening 41 is not particularly limited.

  The shape of the internal space 42 is a truncated cone shape in the above-described embodiment, but is not particularly limited. Further, the size of the internal space 42 is not particularly limited. Further, the color of the inner wall surface 421 of the internal space 42 is not particularly limited.

  In the above-described embodiment, the imaging unit 52 has the light collecting unit 521 at the front end disposed in the internal space 42, but it may not be disposed in the internal space 42.

  The elastic body 43 interposed between the imaging unit 52 and the support unit 4 is not limited to urethane. Further, such an elastic body 43 may not be particularly provided.

  In the above-described embodiment, the mark 21 is positively formed on a part of the workpiece 2. However, the mark 21 is not particularly positively formed but may be naturally formed.

  As described above, the positioning device 3 according to the first aspect includes the support unit 4 and the positioning drive unit 5 as is apparent from the above-described embodiment and its modifications. The support unit 4 supports the work 2. The positioning drive unit 5 moves the workpiece 2 to a predetermined position with respect to the support unit 4.

  The support portion 4 has an internal space 42 that communicates with the outside of the support portion 4 through an opening 41 formed in the support surface 40 that supports the workpiece 2.

  The positioning drive unit 5 includes a moving unit 51, an imaging unit 52, and a control unit 53. The moving unit 51 moves the position of the workpiece 2 supported by the support unit 4 with respect to the support unit 4. The imaging unit 52 fits the opening 41 and the inner wall surface 421 of the internal space 42 that is continuous with the edge 411 of the opening 41 in the imaging range. Based on the positional relationship between the edge 411 and a part of the workpiece 2 in the image 6 containing the workpiece 2 and the inner wall surface 421 that can be seen through the opening 41 imaged by the imaging unit 52, the control unit 53. Is controlled to move to a predetermined position. In the image 6, the edge 411 of the opening 41 appears as a boundary between the inner wall surface 421 and the workpiece 2.

  According to the first aspect, the workpiece 2 and the support portion 4 can be imaged from a close range through the internal space 42 and the opening 41 formed in the support portion 4, and the image 6 captured by the imaging unit 52 is captured. The resolution of the work 2 and the support 4 is high.

  The second aspect is realized by a combination with the first aspect. In the second aspect, the imaging unit 52 is disposed in the internal space 42.

  According to the 2nd aspect, the imaging part 52 can be made to adjoin especially to the workpiece 2 and the support part 4 which are symmetrical with imaging. In addition, the imaging unit 52 can be firmly fixed to the support unit 4.

  The third aspect is realized by a combination with the first or second aspect. In the third aspect, the imaging unit 52 is attached to the support unit 4 via the elastic body 43.

  According to the 3rd aspect, the impact transmitted to the imaging part 52 from the support part 4 is relieved.

  In a 4th aspect, it implement | achieves by the combination with a 1st-3rd aspect. In the fourth aspect, the portion of the internal space 42 adjacent to the opening 41 is formed in a truncated cone shape in which a shape in a cross section parallel to the support surface 40 becomes a larger circle as the distance from the opening 41 increases.

  According to the fourth aspect, when light is emitted from the imaging unit 52, the light is reflected by the inner wall surface 421 of the internal space 42, but the work is visible through the opening 41 because it is formed in a truncated cone shape. No light is scattered with respect to 2 and concentrated from one direction. Thereby, the image 6 in which the edge 411 and a part of the workpiece 2 are captured, which is captured by the imaging unit 52, becomes clear.

  The fifth aspect is realized by a combination with the first to fourth aspects. In the fifth aspect, the control unit 53 positions the mark 21 of the work 2 at the central portion 410 in the opening 41 so that the work 2 is positioned at a predetermined position.

  According to the fifth aspect, by obtaining the central portion 410 in the opening 41 as the end point of the movement of the mark 21, the control calculation process is simplified and the processing speed can be increased.

  In a 6th aspect, it implement | achieves by the combination with the 1st-5th aspect. In the sixth aspect, the moving unit 51 moves the work 2 along two directions orthogonal to each other along the support surface 40.

  According to the sixth aspect, the workpiece 2 can be moved to an arbitrary position on the support surface 40.

  The seventh aspect is realized by a combination with the first to sixth aspects. In the seventh aspect, the cutting device 1 includes the positioning device 3 according to any one of claims 1 to 6, a punch 11, and a die 12. The die 12 also serves as the support unit 4 of the positioning device 3, and the imaging unit 52 is attached to the die 12.

  According to the seventh aspect, even if the imaging unit 52 is attached to the die 12 to which the imaging unit 52 is not normally attached, accurate positioning is possible.

DESCRIPTION OF SYMBOLS 1 Cutting device 11 Punch 12 Die 2 Workpiece 21 Mark 3 Device 4 Support part 40 Support surface 41 Opening 410 Center part 411 Edge 42 Internal space 421 Inner wall surface 43 Elastic body 5 Drive part 51 Moving part 52 Imaging part 53 Control part 6 Image

Claims (6)

Punch and
Die,
A positioning device;
The positioning device includes:
A support part for supporting the workpiece;
A positioning drive unit that moves the workpiece to a predetermined position with respect to the support unit,
The support portion has an internal space that communicates with the outside of the support portion through an opening formed in a support surface that supports the workpiece.
The positioning drive unit is
A moving unit that moves the position of the workpiece supported by the support unit relative to the support unit;
An imaging unit that fits an inner wall surface of the internal space that is continuous with the opening and an edge of the opening in an imaging range;
Based on the positional relationship between the reference and a part of the workpiece, the workpiece is based on the edge in the image containing the workpiece and the inner wall surface viewed through the opening imaged by the imaging unit. possess a control unit for controlling the moving unit so as to be positioned at the predetermined position,
The cutting device according to claim 1, wherein the die also serves as the support portion of the positioning device . The cutting apparatus according to claim 1, wherein the imaging unit is disposed in the internal space. The cutting device according to claim 1, wherein the imaging unit is attached to the support unit via an elastic body. The portion of the internal space adjacent to the opening is formed in a truncated cone shape whose shape in a cross section parallel to the support surface becomes a larger circle as the distance from the opening increases. The cutting device according to any one of the above. The said control part positions the mark which the said workpiece | work has in the center part in the said opening so that the said workpiece | work may be located in the said predetermined position. The cutting device as described. The said moving part moves the said workpiece | work along two directions orthogonal to the said support surface . The cutting device as described in any one of Claims 1-5 characterized by the above-mentioned .

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