JP7264677B2 - Robot, dust collector and dust collection method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a robot, a dust collector, and a dust collection method.

Patent Literature 1 listed below discloses a printed circuit board dividing device. In this printed circuit board dividing apparatus, a flat plate parallel to the printed circuit board is arranged in a receiving jig portion for holding the printed circuit board. An air outlet is provided on one side of the gap formed by the printed circuit board and the flat plate, and an air suction port is formed in the flat plate near the other side facing the air outlet.
In the printed circuit board dividing apparatus configured in this manner, air blowing and air suction are performed at the same time, and chips generated when cutting the printed circuit board can be effectively removed. Furthermore, it is possible to sufficiently secure the holding force of the printed circuit board to the receiving jig portion.

Japanese Patent Application Laid-Open No. 2002-36182

Since the printed circuit board dividing apparatus includes at least a flat plate having a size comparable to the planar size of the printed circuit board, the size of the apparatus for collecting chips becomes large. As an industrial robot, for example, when a printed circuit board dividing device is mounted on a desktop robot, the entire system including the desktop robot is enlarged. Therefore, there is room for improvement.

SUMMARY OF THE INVENTION In view of the above facts, the present invention provides a robot, a dust collector, and a dust collection method that can improve dust collection efficiency and achieve downsizing.

In order to solve the above-described problems, a robot according to a first aspect of the present invention includes a first movement mechanism disposed on a base body for moving an object to be cut in a first axial direction, and a support portion interposed between the base body and the base body. a second moving mechanism supported by a second moving mechanism for moving the cutting body in a second axial direction perpendicular to the first axial direction; a dust collecting portion for collecting cutting waste; a dust collecting portion moving mechanism for moving the dust collecting portion between a first position close to an object to be cut and a second position remote from the object to be cut; a driven body that is driven by the movement of the cutting body relative to the body and that disposes the dust collecting part at a position facing the cutting body, one end of the driven body supporting the dust collecting part moving mechanism. At the same time, the dust collecting section is supported via the dust collecting section moving mechanism, and cutting chips collected by the dust collecting section are discharged to the outside in a cavity formed at one end of the driven body. and a fluid supply hose connected to the dust collecting portion moving mechanism to move the dust collecting portion and supplying a fluid.

In the robot according to the second aspect of the present invention, in the robot according to the first aspect, the dust collecting portion moving mechanism moves the dust collecting portion to the first position when the cutting body cuts the object to be cut. .

In the robot according to the third aspect of the present invention, in the robot according to the first aspect or the second aspect, the dust collecting part moving mechanism moves the dust collecting part before or after cutting the object to be cut by the cutting body. Move to the second position.

A robot according to a fourth embodiment of the present invention is the robot according to any one of the first to third embodiments, wherein the dust collector is arranged in the first axial direction and the second axial direction. The cutting body is connected to a driving source for driving the cutting body. It is set to be smaller than the area of , and larger than the area of the cutting body.

A robot according to a fifth aspect of the present invention is the robot according to any one of the first to fourth aspects, wherein the dust collecting portion moving mechanism is connected to the dust collecting portion and moves in the first axial direction, It is composed of an actuator for reciprocating the dust collection section along a third axial direction orthogonal to each of the second axial directions.

In a robot according to a sixth aspect of the present invention, in the robot according to the fifth aspect, the dust collection section is arranged below the cutting body in the third axial direction.

In the robot according to the seventh aspect of the present invention, in the robot according to the first aspect, the intermediate portion of the driven body is formed in a shape that allows the object to be cut to go around.

Advantageous Effects of Invention According to the present invention, it is possible to provide a robot, a dust collector, and a dust collection method capable of improving dust collection efficiency and realizing miniaturization.

BRIEF DESCRIPTION OF THE DRAWINGS It is the front perspective view which looked at the whole structure of the robot which concerns on one embodiment of this invention, and the structure of the main part of the dust collector from diagonally upper right of the front side. It is the right view which looked at the structure of the robot shown by FIG. 1, and a dust collector from the right side. FIG. 3 is a rear perspective view of the structure of a part of the robot and the structure of the main part of the dust collector shown in FIGS. FIG. 4 is an enlarged rear perspective view of the configuration of the main parts of the dust collector shown in FIGS. FIG. 5 is an enlarged rear perspective view of the structure in a remote operation state of the dust collector and the moving mechanism, which are the main parts of the dust collector shown in FIGS. FIG. 6 is an enlarged rear perspective view corresponding to FIG. 5 , in which the configuration in which the dust collecting section and the moving mechanism shown in FIG. 5 are in close proximity is viewed obliquely from above on the rear side; FIG. 6 is an enlarged cross-sectional front view showing the cutting body of the robot shown in FIGS. 1 and 2 and the cross section of the dust collector in the remote operation state of the dust collector shown in FIGS. 1 to 5, further enlarged; Corresponding to FIG. 7, which shows a further enlarged cross-section of the cutting body of the robot shown in FIGS. It is an enlarged cross-sectional front view. (A) is a table showing the relationship between the clearance between the dust collecting portion and the object to be cut and the dust collection efficiency of the dust collector according to the present embodiment, and (B) is shown in the table of (A). This is a graph created from the relationship (A) is a table showing the relationship between the suction port diameter of the dust collecting part of the dust collector according to the present embodiment and the dust collection efficiency, and (B) is created from the relationship shown in the table of (A). is a graph.

1 to 10, a robot, a dust collector, and a dust collection method according to an embodiment of the present invention will be described below.
Here, in the drawings, the arrow X shown as appropriate indicates the X-axis direction of the three-dimensional coordinates, the arrow Y indicates the Y-axis direction, and the arrow Z indicates the Z-axis direction. The Y-axis direction is orthogonal to the X-axis direction in the horizontal plane, and the Z-axis direction is orthogonal to the X-axis direction and the Y-axis direction. These directions are directions used for convenience in describing the embodiments, and do not limit the directions in the present invention.

(Overall Configuration of Robot 1 and Dust Collector 7)
As shown in FIG. 1, the robot 1 according to the present embodiment is configured as a desktop robot with a three-axis specification and a substrate division specification. That is, the robot 1 includes a first movement mechanism 3 that moves in the X-axis direction as the first axis direction, a second movement mechanism 4 that moves in the Y-axis direction as the second axis direction, and a and a third moving mechanism 5 that moves in the Z-axis direction. The first moving mechanism 3 , the second moving mechanism 4 and the third moving mechanism 5 are arranged on the base body 2 .
A dust collector 7 is installed in the robot 1 . This dust collecting device 7 is attached to and fixed to the robot 1 .
Each component will be described in detail below.

(Configuration of robot 1)
(1) Configuration of the base body 2 As shown in FIGS. 1 and 2, the base body 2 of the robot 1 has the same length in the Y-axis direction as the length in the X-axis direction in a plan view. Alternatively, they are configured by a rectangular parallelepiped housing 21 which is set substantially identically and whose thickness direction (here, height direction) is the Z-axis direction. The upper surface of the housing 21 is formed as a base surface 21A having a flat horizontal surface.
Here, in FIG. 2, the left side of the base body 2 is the front side of the robot 1 where the operator performs operations and the like to perform work work. On the other hand, the right side of the base body 2 is the rear side of the robot 1 .

Returning to FIGS. 1 and 2, the front end of the housing 21 includes an operation surface 21B inclined downward from a base surface 21A and an operation surface 21B extending downward from the front end of the operation surface 21B. and a signal port surface 21C.
The operation unit 22 is arranged on the right side of the operation surface 21B as viewed from the front side. The operation unit 22 is connected to a control unit (not shown) arranged inside the base body 2 .
Various connection ports connected to the control unit are arranged on the signal port surface 21C. The connection ports here include a memory port, a LAN (Local Area Network) port, a teaching pendant connection port, a COM (Communication) port, and the like. The connection port connects the controller and an external device of the robot 1 .
A signal port surface is also arranged on the back side (not shown) of the housing 21, and various connection ports such as a COM port and an I/O port are arranged on this signal port surface.

(2) Configuration of First Moving Mechanism 3 The first moving mechanism 3 is arranged on the base surface 21A of the base body 2 . The first moving mechanism 3 includes a slide rail 31 and a slider (X-axis moving body) 32 .
The slide rail 31 is arranged on the base surface 21A at an intermediate portion in the Y-axis direction so as to protrude from the base surface 21A, and extends in the X-axis direction as a longitudinal direction. The slide rail 31 is formed as a structure fixed to the base surface 21A.

The slider 32 is formed along the upper surface of the slide rail 31 and both side surfaces of the slide rail 31 and is slidably disposed on the slide rail 31 . That is, the slider 32 is configured to reciprocate along the longitudinal direction of the slide rail 31 in the forward and reverse directions in the X-axis direction. The slider 32 can be moved at high speed by a moving mechanism that combines an electric motor (not shown) provided under the slide rail 31 or inside the housing 21 and a belt mechanism (not shown) that moves the slider 32 by rotating the electric motor. It is configured as follows.

As shown in FIG. 2, the workpiece 8 to be cut by the robot 1 is held by the slider 32 with a holding jig (not shown) interposed therebetween. That is, the first moving mechanism 3 is configured to move the object 8 to be cut in the X-axis direction.
Here, although a detailed description of the configuration is omitted, for example, a printed circuit board (PCB) is used as the object to be cut 8 . The printed circuit board uses a glass epoxy resin substrate as an insulating substrate, and copper wiring for connecting circuits is formed on the insulating substrate. Electronic components such as integrated circuits, resistors, and capacitors are mounted on the printed circuit board.
A plurality of printed circuit boards having the same function are formed in a repeated pattern on the printed circuit board as the object to be cut 8, and the robot 1 performs a work operation of dividing the object to be cut 8 into pieces by cutting. . Thereby, a plurality of subdivided printed circuit boards can be produced from the object 8 to be cut.
In addition, the robot 1 can perform not only subdivision of the object 8 to be cut, that is, substrate division, but also cutting operations such as straight line cutting, curved line cutting, right angle cutting, corner chamfering, and the like.

(3) Configuration of Second Moving Mechanism 4 As shown in FIGS. 1 and 2, the second moving mechanism 4 is arranged above the base surface 21A of the base body 2 and above the first moving mechanism 3. is set. Specifically, the second moving mechanism 4 includes a pair of support portions 41 and 42 , a slide rail (horizontal arm) 43 , and a slider (Y-axis moving body) 44 .

One of the pair of support portions 41 is arranged at the rear end portion of the left side surface of the housing 21 of the base body 2 when viewed from the front side, and stands upward from the base body 2 in the Z-axis direction. It is formed in a rectangular pillar shape provided. The other support portion 42 is disposed at the rear end portion of the right side surface of the housing 21 and, like the support portion 41, has a rectangular columnar shape that stands upward from the base body 2 in the Z-axis direction. formed.
The slide rail 43 is formed in a rectangular columnar shape extending with the Y-axis direction as the longitudinal direction, and extends from one support portion 41 to the other support portion 42 of the pair. That is, one end of the slide rail 43 is connected to the upper end of the support portion 41 and the other end of the slide rail 43 is connected to the upper end of the support portion 42 .

A structure assembled by a pair of left and right support portions 41 and 42 and a slide rail 43 extending from the upper end of the support portion 41 to the upper end of the support portion 42 is the base body 2 side when viewed from the front side. The lower side is released and the upper side is connected. Assuming that the lower end surface of the slide rail 43 is the position where the downward movement of the third moving mechanism 5 starts, at least the lower portion of the slide rail 43 corresponding to the movement amount (stroke) of the third moving mechanism 5 in the Z-axis direction. The end face is arranged at a position spaced apart from the slider 32 in the Z-axis direction.

The slider 44 is formed along the side surface and upper surface of the slide rail 43 on the front side, and is disposed slidably along the slide rail 43 . That is, the slider 44 is configured to reciprocate along the longitudinal direction of the slide rail 43 in the forward and reverse directions in the Y-axis direction. The slider 44 is configured to be capable of high-speed movement by a moving mechanism that combines an electric motor (not shown) provided in the slide rail 43 and a belt mechanism that moves the slider 44 by rotation of the electric motor. Since the slider 44 has the third moving mechanism 5 inside, it is formed in a rectangular columnar shape with the Z-axis direction as the longitudinal direction.
In the second moving mechanism 4 configured as described above, the slide rail 43 is supported by the base body 2 via a pair of support portions 41 and 42 by a double-end support beam structure. Further, the second moving mechanism 4 is arranged on the base body 2 independently and separated from the first moving mechanism 3 .

As shown in FIG. 1 , one end of Cableveyor (registered trademark) 45 is connected to the upper end of slider 44 . The other end of the cableveyor 45 extends in the Y-axis direction on the slide rail 43 . Although the detailed structure is omitted, the cableveyor 45 includes signal wiring for connecting the control unit and the second moving mechanism 4 and the third moving mechanism 5, respectively, a power supply circuit (not shown), the second moving mechanism 4, the 3, power supply wiring is routed to connect each of the moving mechanisms 5 .

(4) Configuration of Third Moving Mechanism 5 The third moving mechanism 5 is arranged inside the slider 44 of the second moving mechanism 4 . The third moving mechanism 5 includes a slide rail (not shown) arranged inside the slider 44 and a slider (Z-axis moving body) 51 . The slider 51 is slidably disposed along the slide rail and configured to reciprocate in the forward and reverse directions in the Z-axis direction. That is, the slider 51 is configured to move up and down in the vertical direction.

(5) Configuration of Cutting Body 6 A cutting body 6 for subdividing the body 8 to be cut is attached to the third moving mechanism 5 as a tool for performing work work. The cutting body 6 is attached to the lower portion of the slider 51 .
In this embodiment, the cutting body 6 uses router bits as a cutting tool. More specifically, here, a straight type router bit is used in which a cutting edge is formed in the Z-axis direction on a cylindrical circumferential surface extending in the Z-axis direction. A drive source 62 for rotating the cutting body 6 is connected to the cutting body 6 through a collet chuck (not shown). A router is used as the driving source 62 , and the router rotates the cutting body 6 by rotating the rotating shaft of an electric motor whose axial direction is parallel to the Z-axis direction.
The cutting body 6 is held by the holding portion 61 with the drive source 62 interposed therebetween, and the cutting body 6 and the drive source 62 are mounted on the slider 51 with the holding portion 61 interposed therebetween.

The cutting body 6 is not limited to a router bit, and may be a cutting tool such as a drill or a cutting tool, depending on the type of work to be performed on the body 8 to be cut. For example, when a drill is used as the cutting body 6, a drilling operation can be performed on the body to be cut 8 as the content of the work operation. Further, when a cutting tool is used as the cutting body 6, grooving work can be performed on the body to be cut 8 as the content of the work work.
Furthermore, the object to be cut 8 as well as the object to be cut 6 is not limited to a printed circuit board. For example, the object to be cut 8 may be a paper phenolic substrate in which phenolic resin is permeated into paper as an insulator. Also, the object to be cut 8 may be a block-shaped work material made of resin or metal.

In this embodiment, the cutting body 6 (and the drive source 62) is attached to the third moving mechanism 5 and moves in the Z-axis direction. As a result, the second moving mechanism 4 moves the cutting body 6 in the Y-axis direction.

(Configuration of dust collector 7)
As shown in FIGS. 1 to 3, the robot 1 has a dust collector 7. As shown in FIG. The dust collector 7 has the function of collecting dust from the object 8 to be cut using the cutting object 6 . For example, as described above, in the case where the object to be cut 8 is a printed circuit board, shavings of a glass epoxy resin substrate and shavings of copper wiring are produced by fragmentation. be dusted.
The dust collecting device 7 is assembled integrally with the robot 1 using, for example, a fastening member, and is attached to the robot 1 in advance. It may be configured in any of the formats.

The dust collector 7 includes a dust collector 71, a dust collector moving mechanism 72, and a driven body 73 as main components. The dust collector 7 is configured to be connected to an external dust collector (not shown) which is separate from the robot 1 and has a suction device, a filter, a dust collector, etc. via a dust collection hose. ing. Description of this external dust collector is omitted.
The constituent elements of the dust collector 7 will be described in detail below.

(1) Configuration of Dust Collection Unit 71 As shown in FIGS. 2 and FIG. 7, the cutting body 6 is arranged with the body to be cut 8 interposed therebetween. That is, in the present embodiment, the dust collecting portion 71 is arranged directly below the cutting body 6 .
As shown in FIGS. 1 to 4, 5, and 7, the dust collecting part 71 is made of metal or resin with the Z-axis direction perpendicular to the X-axis direction and the Y-axis direction being the tube axis direction. It is formed in a tubular shape. The dust collecting part 71 sucks cutting chips from an opening at the upper end into an inner part 71A (see FIG. 8).
In the present embodiment, the dust collecting portion 71 is formed in a tubular shape. In the dust collecting portion 71 configured in this manner, the distance between the cut portion of the object to be cut 8 and the opening edge portion at the upper end of the dust collecting portion 71 is constant in any direction on the X-axis-Y-axis horizontal plane. , the variation in dust collection efficiency can be effectively suppressed.

As shown in FIG. 7, in the dust collecting portion 71, the opening area A3 of the tubular upper end opening is on the same plane as the upper end opening (the X axis-Y axis plane indicated by a dashed line with reference symbol S for convenience). is set smaller than the area A1 of the driving source 62 projected on the parallel plane). In addition, the opening area A3 of the dust collection part 71 is set larger than the area A2 of the cutting body 6 projected on the plane S. In other words, the opening area A3 is set to be smaller than the area A1 and larger than the area A2 when viewed from the tube axis direction of the dust collecting portion 71 . In other words, when viewed from the side, the opening size (diameter size) of the dust collecting portion 71 is set within a range from the outer diameter size (diameter size) of the cutting body 6 to the outer diameter size (diameter size) of the drive source 62 . be.
In this embodiment, the size of the opening of the dust collecting portion 71 is set to 4 mm to 8 mm, preferably 6 mm. A router bit with a diameter of 0.6 mm to 1.0 mm is used here as the cutting body 6 . Therefore, in an area that is extremely smaller than the overall planar size of the object to be cut 8 and is slightly wider than the cut portion of the object to be cut 8, the dust collector 7 uses the dust collecting portion 71 to Chips can be collected by points.

As shown in FIGS. 4 and 5, the dust collecting portion 71 is arranged on a dust collecting portion base 711 formed in a rectangular parallelepiped shape made of metal or resin. The dust collecting portion 71 is assembled by penetrating the inside of the dust collecting portion base 711 from the upper end to the lower end of the dust collecting portion base 711 . An upper portion of the dust collecting portion 71 protrudes from the upper surface of the dust collecting portion base 711 , and a lower portion of the dust collecting portion 71 protrudes from the lower surface of the dust collecting portion base 711 . A joint 712 is attached to the lower portion of the dust collecting portion 71 . A coupler socket, for example, is used for the joint 712 .
Further, the dust collecting part base 711 is integrally formed with a connecting part 710 projecting toward the front side of the robot 1 in the X-axis direction. This connecting portion 710 is used for connecting with the dust collecting portion moving mechanism 72 .

(2) Configuration of Dust Collecting Section Moving Mechanism 72 As shown in FIGS. is set. The dust collecting portion moving mechanism 72 is configured as an actuator that vertically moves the dust collecting portion 71 along the Z-axis direction in the direction of arrow Z1 (see FIG. 6) with a connecting portion 710 interposed therebetween.

As shown in FIGS. 5 and 6, in this embodiment, the dust collecting portion moving mechanism 72 includes a piston rod 72P and a cylinder 72C. The piston rod 72P is formed in a cylindrical shape (round bar shape) with the Z-axis direction as the axial direction. The upper portion of the piston rod 72P is connected to the connecting portion 710. As shown in FIG. A lower portion of the piston rod 72P is connected to a piston (not shown), which is slidable in the Z-axis direction inside the cylinder 72C. Here, a plurality of, specifically three, piston rods 72P are arranged in the X-axis direction.

On the other hand, the cylinder 72C is configured as a rectangular parallelepiped block. Inside the cylinder 72C, a cylindrical internal space is formed (not shown) that allows the piston to slide vertically. A first fluid port 722A that communicates with the internal space at the top of the piston is provided in the upper portion of one side surface of the cylinder 72C, and a joint 723 is attached to the first fluid port 722A. A second fluid port 722B is provided at the bottom of one side of the cylinder 72C and communicates with the internal space at the bottom of the piston. A joint 724 is attached to the second fluid port 722B. A coupler socket, for example, is used for each of the joints 723 and 724 .
When the fluid flows into the internal space of the cylinder 72C from the first fluid port 722A, the piston is pushed downward and the piston rod 72P descends. Further, when the fluid flows into the internal space of the cylinder 72C from the second fluid port 722B, the piston is pushed upward and the piston rod 72P is lifted.
Here, compressed air is used as the fluid. That is, in this embodiment, the dust collecting portion moving mechanism 72 is configured by an air cylinder mechanism. Compressed air is supplied from a compressor (not shown) installed outside the robot 1 .
A solenoid valve, for example, is used for switching between the supply of fluid to the first fluid port 722A and the supply of fluid to the second fluid port 722B. Although FIG. 1 only shows the cover 729 covering the solenoid valve, the solenoid valve is mounted on the support portion 42 and covered with the cover 729 .

In the dust collecting portion moving mechanism 72 configured in this way, the second position remote from the lower surface of the object to be cut 8 shown in FIGS. 5 and 7 and the lower surface of the object to be cut 8 shown in FIGS. The upper end face of the dust collection part 71 can be moved between the first position close to the .
As shown in FIG. 8, in the first position, the distance (clearance) L1 from the lower surface of the object to be cut 8 to the upper end surface of the dust collecting portion 71 is 1 mm to 2 mm, preferably 1 mm. is set. Further, the moving distance (vertical stroke of the dust collecting portion 71) L2 from the first position to the second position is set to 10 mm here.

(3) Configuration of Follower 73 As shown in FIGS. 1 to 4, the follower 73 includes one end portion 731, the other end portion 732, and an intermediate portion 733.

As shown in FIG. 4, one end portion 731 includes a rectangular box-shaped housing 731A with an open top and a rectangular box-shaped lid 731B with an open bottom that is slightly larger than the housing 731A. It is composed by superimposing the Each of the housing 731A and the lid 731B is formed with the X-axis direction as the longitudinal direction, the Y-axis direction as the lateral direction, and the Z-axis direction as the thickness direction. Both the housing 731A and the lid 731B are made of metal having high mechanical strength, for example.
At one end portion on the front side of the one end portion 731, the lid 731B is formed with an opening portion 731C that is notched toward the back side in the X-axis direction. Inside the opening 731C (or in a region coinciding with the opening 731C), the housing 731A of the one end portion 731 is assembled with the dust collecting portion moving mechanism 72 . Further, the housing 731A supports a dust collecting portion 71 protruding upward from an opening 731C with a dust collecting portion moving mechanism 72 interposed therebetween. The dust collecting section 71 is arranged directly below the cutting body 6 as described above.

One end portion 731 overlaps a housing 731A and a lid 731B to form a hollow interior 731D, and a dust collection hose 713, a fluid supply hose 725, and a fluid supply hose 727 are arranged in the interior 731D. .
One end of the dust collection hose 713 is connected to a joint 712 attached to the lower end of the dust collection portion 71 , and the other end of the dust collection hose 713 is connected to a joint 714 provided on the back side of the one end 731 . ing. The joint 714 can be connected to an external dust collector through a dust collection hose (not shown).
One end of the fluid supply hose 725 is connected to a joint 723 attached to the cylinder 72C of the dust collecting section moving mechanism 72, and the other end of the fluid supply hose 725 is connected to a joint 726 provided on the back side of the one end 731. It is connected. One end of the fluid supply hose 727 is connected to a joint 724 attached to the cylinder 72C, and the other end of the fluid supply hose 727 is connected to a joint 728 provided on the rear side of the one end 731. FIG. Each of the joints 726 and 728 can be connected to the compressor through the electromagnetic valve described above.

As shown in FIGS. 1 to 3, the other end 732 is attached to the slider 44 of the second moving mechanism 4. As shown in FIGS. The other end portions 732 are arranged in pairs at both ends of the slider 44 in the Y-axis direction, and are formed of metal plate-like members having the longitudinal direction in the Z-axis direction and the plate thickness direction in the Y-axis direction. there is Moreover, in order to further increase the mechanical strength, the other end portion 732 may be formed of an angle member. The other end 732 is attached to the slider 44 using a fastening member.

The intermediate portion 733 is configured such that one upper end portion is integrally or integrally connected to the lower portion of the other end portion 732 and the other lower end portion is connected to the rear side of the one end portion 731 . The intermediate portions 733 are arranged in a pair so as to correspond to the pair of other end portions 732 and are spaced apart in the Y-axis direction.
Here, the term "integral" is used in the sense that the other end portion 732 and the intermediate portion 733 are formed in a state of being connected from the same material. In addition, "integrally" means that the other end portion 732 and the intermediate portion 733 are made of the same material or different materials, and are connected by using joining means such as welding or fastening means such as bolts and nuts. used in meaning.

As shown in FIG. 2, the intermediate portion 733 extends in the X-axis direction from a connection point with the other end portion 732 toward the back side of the robot 1, and extends downward from this extended end portion. It is formed in a shape extending in the Z-axis direction. The intermediate portion 733 is formed of a metal plate having a plate thickness direction in the Y-axis direction. That is, the intermediate portion 733 is formed in an inverted L shape by rotating an L-shaped plate material by 180 degrees with the Y-axis direction as the rotation axis direction.
The intermediate portion 733 configured in this way is formed in a shape that allows the object to be cut 8 to detour along the surface (upper surface) of the object to be cut 8 on the side of the object to be cut 6 toward the back side of the robot 1 .

As shown in FIGS. 1 and 3 , a connecting portion 734 is provided on the upper portion of the pair of intermediate portions 733 extending toward the rear side so as to straddle the both. The connecting portion 734 is formed in a rectangular shape in a plan view, and is formed of a metal or resin plate having a plate thickness direction in the Z-axis direction. The connecting portion 734 connects the pair of intermediate portions 733 to improve the mechanical strength.

The driven body 73 configured as described above supports the dust collecting portion moving mechanism 72 and the dust collecting portion 71 at one end portion 731 and connects the other end portion 732 to the second moving mechanism 4 . Therefore, the driven body 73 is driven by the movement of the cutting body 6 with respect to the body to be cut 8 so that the dust collecting part 71 can always be arranged at a position facing the cutting body 6 .

(Dust collection method of robot 1)
A dust collection method for the robot 1 according to the present embodiment will be briefly described with reference to FIGS. 1 to 8 described above.

First, the object to be cut 8 is held by the slider 32 of the first moving mechanism 3 with a holding jig (not shown) interposed therebetween (see FIGS. 1 and 2). When the slider 32 is moved in the X-axis direction by the first moving mechanism 3, the object to be cut 8 is moved in the X-axis direction following the movement of the slider 32. As shown in FIG.
On the other hand, a drive source 62 as a tool is attached to the slider 51 of the third moving mechanism 5 with a holding portion 61 interposed therebetween. The cutting body 6 is connected to the drive source 62 . Since the third moving mechanism 5 is arranged on the slider 44 of the second moving mechanism 4, when the slider 44 is moved in the Y-axis direction, the cutting body 6 moves in the Y-axis direction following the movement of the slider 44. Moving.
By moving the cutting body 6 in the Y-axis direction before or after the movement of the body to be cut 8 in the X-axis direction, or at the same time, the cutting body is moved to the cutting position of the body to be cut 8 on the X-Y-axis plane. 6 can be moved.

When the object to be cut 8 or the object to be cut 6 is being moved, the dust collecting portion moving mechanism 72 of the dust collector 7 moves the upper end surface of the dust collecting portion 71 to the second position as shown in FIGS. is moving to That is, the dust collector 71 is remote from the surface of the object 8 to be cut.
Although not shown in FIG. 7, a printed circuit board is used for the object 8 to be cut here. Electronic components such as integrated circuits, resistors, and capacitors are actually mounted on the printed circuit board. Since the upper end surface of the dust collecting portion 71 is arranged at the second position remote from the object to be cut 8 , when the dust collecting portion 71 is moving relative to the object to be cut 8 , the above electronic component contact and interference with the dust collector 71 are effectively eliminated.

The slider 51 of the third moving mechanism 5 is moved downward in the Z-axis direction to move the cutting body 6 toward the cut body 8 . Before or after the movement of the cutting body 6 is started, or at the same time as the movement of the cutting body 6 is started, as shown in FIGS. Dust collection is started using the device 7 . That is, the dust collection part 71 is brought close to the object 8 to be cut when the object 8 to be cut is started to be cut using the cutting object 6 .

When the cutting of the object 8 to be cut using the cutting object 6 is started, the shavings generated by the cutting are collected into the inside 71A of the dust collecting portion 71 as indicated by the arrow in FIG. . Even if the cutting portion of the object to be cut 8 moves, in the dust collecting device 7, the dust collecting part 71 is always pinpointed directly below the cutting object 6 by the driven member 73, so dust collection continues. is done.

When the cutting operation of the object 8 to be cut is finished and the object to be cut 8 is subdivided into a plurality of printed circuit boards here, the slider 51 of the third moving mechanism 5 is moved upward in the Z-axis direction to finish cutting the object 8 to be cut. The cutting body 6 moves from the point. Before, after, or at the same time as the start of movement of the cutting body 6, the dust collecting portion moving mechanism 72 of the dust collector 7 moves the upper end face of the dust collecting portion 71 as shown in FIGS. Move to the second position. That is, the dust collector 71 is remote from the surface of the object 8 to be cut. In this state, the cutting body 6 and the dust collection section 71 move with respect to the body 8 to be cut. This completes the dust collection method of the robot 1 .

(Effect)
As described above, the robot 1 according to this embodiment includes the first moving mechanism 3 and the second moving mechanism 4, as shown in FIGS. The first moving mechanism 3 is arranged on the base body 2 and moves the object to be cut 8 (see FIG. 2) in the X-axis direction as the first axial direction. The second moving mechanism 4 is supported by the base body 2 via the supporting portion 41 and the supporting portion 42, and moves the cutting body 6 in the Y-axis direction as the second axial direction perpendicular to the X-axis direction.

Here, the robot 1 is further equipped with a dust collector 7 . The dust collector 7 includes a dust collector 71 and a dust collector moving mechanism 72, as shown in FIGS. As shown in FIGS. 2, 7 and 8, the dust collection part 71 is disposed facing the cutting body 6 with the object to be cut 8 interposed therebetween. Collect the shavings generated. The dust collection part moving mechanism 72 moves the dust collection part 71 between a first position close to the object to be cut 8 and a second position remote from the object to be cut 8, as shown in FIGS. Let

In the robot 1 configured as described above, the dust collection section 71 collects cutting chips in a state of being close to the object to be cut 8 using the dust collection section moving mechanism 72 . It is possible to improve the suction power of dust and improve dust collection efficiency.
FIG. 9A shows the distance (clearance) L1 [mm] from the lower surface of the object to be cut to the upper end surface of the dust collecting portion 71 (see FIG. 8) and the measured dust collection efficiency [%]. It is shown. A graph created based on these measured values is shown in FIG. 9(B). In FIG. 9B, the horizontal axis indicates the distance L1 [mm], and the vertical axis indicates the dust collection efficiency [%].
As shown in FIGS. 9A and 9B, when the distance L1 is 4 [mm], the dust collection efficiency is 82.5 [%], and when the distance L1 is 3 [mm], the dust collection efficiency is 82.5 [%]. The efficiency is 90.1 [%], and the dust collection efficiency is 96.7 [%] when the distance L1 is 2 [mm]. That is, when the distance L1 is reduced during cutting, the dust collection efficiency is increased in inverse proportion to the distance L1. When the distance L1 becomes 1 [mm], the dust collection efficiency reaches 99.5 [%], which is the highest in the measured range.

As described above, in the robot 1, the dust collecting section 71 can be brought close to the object to be cut 8 to improve the dust collection efficiency. Then, the dust collecting portion 71 can be used to reliably collect the cutting waste. Therefore, the size of the dust collector 71, that is, the size of the dust collector 7 can be reduced, so that the size of the robot 1 can be reduced.

In addition, in the robot 1, the dust collection part moving mechanism 72 can be used to move the dust collection part 71 to a second position remote from the object to be cut 8 before or after cutting. Even if there is a protruding part on the lower surface of the object to be cut 8, for example, even if electronic parts are mounted on a printed circuit board, contact or interference between the electronic parts and the dust collection part 71 can be effectively suppressed or prevented. can do.
Therefore, the dust collecting portion 71 can be moved without detouring around the mounted parts, so that the time required for cutting including the moving time of the dust collecting portion 71 can be shortened.

Furthermore, in the robot 1, since the dust collector 71 is pinpointed at the cutting location of the object 8 to be cut, the load on the drive of the first moving mechanism 3 is reduced compared to the case where the entire surface of the object 8 to be cut is sucked. can be reduced. As a result, the driving force of the first moving mechanism 3 can be reduced, so that the size of the robot 1 can be reduced in this respect as well.

In addition, in the robot 1, the dust collector 71 is pinpointed at the cutting location of the object 8 to be cut. can be effectively reduced. As a result, the suction capacity of the external dust collector can be reduced, so that the size of the entire system including the robot 1 and the external dust collector can be reduced.

Furthermore, in the robot 1, since the dust collecting part 71 is pinpointed at the cutting part of the object 8 to be cut, a dust collecting box that encloses the entire object 8 to be cut and enhances the degree of airtightness is not required. Therefore, it is possible to further reduce the size of the robot 1 .

In addition, in the robot 1 according to the present embodiment, as shown in FIGS. 4 to 8, the dust collecting section 71 is arranged such that the Z-axis direction perpendicular to the X-axis direction and the Y-axis direction is the tube axis direction. It is formed in a tubular shape. A driving source 62 for driving the cutting body 6 is connected to the cutting body 6, as shown in FIGS. As shown in FIG. 7, when viewed from the tube axis direction, the opening area A3 of the dust collector 71 is projected onto the area A1 of the drive source 62 on the same plane S set for convenience as the opening. It is set to be small in comparison and large in comparison with the area A2 of the cutting body 6 . That is, these areas are related by the following inequality.
Area A1 of drive source 62 > opening area A3 of dust collecting portion 71 > area A2 of cutting body 6

FIG. 10A shows the measured values of the opening diameter of the dust collection part 71, that is, the suction diameter [mm] (corresponding to the width dimension indicated as opening area A3 in FIG. 7) and the dust collection efficiency [%] of the cutting chips. It is shown. A graph created based on these measured values is shown in FIG. 10(B). In FIG. 10B, the horizontal axis indicates the suction port diameter [mm], and the vertical axis indicates the dust collection efficiency [%].
As shown in FIGS. 10(A) and 10(B), the dust collection efficiency is 97.3 [%] when the suction port diameter is 2 [mm], and the dust collection efficiency is 97.3 [%] when the suction port diameter is 4 [mm]. The efficiency is 96.7[%]. When the suction port diameter is increased from 2 [mm] to 4 [mm], the dust collection efficiency is slightly lowered. However, when the suction port diameter is 6 [mm], the dust collection efficiency is the highest in the measured range of 99.5 [%]. When the suction port diameter is 8 [mm], the dust collection efficiency is 98.8 [%], which is slightly lower than when the suction port diameter is 6 [mm].
Therefore, compared to the case where the entire surface of the object to be cut 8 is sucked, the size of the drive source 62 as a tool, which is a router in this case, can be smaller than the size of the dust collecting section 71, so that the size of the robot 1 can be reduced. It can be realized even more.

Furthermore, in the robot 1 according to the present embodiment, the dust collecting portion moving mechanism 72 of the dust collector 7 is connected to the dust collecting portion 71 as shown in FIGS. It is composed of an actuator for reciprocating the dust collecting part 71 along the Z-axis direction orthogonal to each of the directions.
For this reason, the dust collecting portion moving mechanism 72 can be configured with a simple structure that reciprocates the dust collecting portion 71 only in the Z-axis direction, and with a small actuator. Further miniaturization can be achieved.
More specifically, in this embodiment, as shown in FIG. 6, the dust collecting portion moving mechanism 72 includes a piston rod 72P connected to a piston (not shown) and a fluid that moves the piston rod 72P through the piston to a Z direction. and a cylinder 72C that slides in the axial direction. That is, the dust collecting portion moving mechanism 72 is configured by a simple structure and a small pneumatic cylinder mechanism. Therefore, it is possible to further reduce the size of the dust collector 7 and the robot 1 .

In addition, in the robot 1 according to the present embodiment, as shown in FIGS. 2, 7 and 8, the third axial direction is the Z-axis direction, which is the vertical direction, and the cutting body 6 is positioned on the upper side in the Z-axis direction. , and the dust collector 71 of the dust collector 7 is disposed below the cutting body 6 in the Z-axis direction. In other words, the robot 1 employs a downward suction dust collection system in which dust is collected from the lower side of the object 8 to be cut.
For this reason, the chips produced by cutting the object to be cut 8 do not go against the force of gravity, but fall downward according to the force of gravity.
Furthermore, in the robot 1, as described above, the bottom suction dust collection method is adopted, and the top suction dust collection method, in which dust is collected by suction from above the cut portion of the object 8 to be cut, is not adopted. Lifting of the object to be cut 8 can be effectively suppressed or prevented. In order to prevent the object to be cut 8 from floating, a jig for pressing and holding the object to be cut 8 downward is required, but the robot 1 according to the present embodiment does not require such a jig. Therefore, further miniaturization can be achieved. In addition, the robot 1 does not require a special cutting tool for guiding cutting waste upwards.
In addition, since the robot 1 can prevent the object to be cut 8 from floating, bending of the object to be cut 8 and generation of stress can be effectively suppressed or prevented.

Further, the robot 1 according to this embodiment includes a follower 73 in the dust collector 7, as shown in FIGS. The driven body 73 supports the dust collecting part moving mechanism 72 and follows the movement of the cutting body 6 relative to the object to be cut 8 to dispose the dust collecting part 71 at a position facing the cutting body 6 .
Therefore, the dust collecting part 71 can always be arranged at a position facing the cutting body 6 by following the movement of the cutting body 6 with respect to the cutting body 8, so that the power of sucking the chips is stabilized. can be increased, and the dust collection efficiency can be improved.
As described above, in the robot 1 , the dust collecting section 71 is always arranged at the cutting location of the object 8 to be cut, so that the dust collection efficiency can be improved. If the dust part 71 is arranged, the dust can be reliably collected using the dust collecting part 71 . Therefore, the size of the dust collector 71, that is, the size of the dust collector 7 can be reduced, so that the size of the robot 1 can be reduced.

In addition, in the robot 1 according to the present embodiment, as shown particularly in FIG. The other end 732 is attached to the second moving mechanism 4 . Specifically, the other end 732 is attached to the slider 44 of the second moving mechanism 4 .
Therefore, since the other end 732 of the driven body 73 is attached to the second moving mechanism 4 , the dust collecting part 71 can be moved by following the movement of the second moving mechanism 4 . The dust collector 71 can always be arranged at the facing position. As a result, the robot 1 can be improved in dust collection efficiency and downsized.

Furthermore, in the robot 1 according to the present embodiment, as shown in FIGS. It is formed in a shape that bypasses 8.
For this reason, even if the cutting body 6 moves with respect to the cutting body 8, contact or interference between the cutting body 8 and the driven body 73 can be avoided, and the cutting body 6 is always concentrated at the position facing the cutting body 6. A dust section 71 can be arranged.

Further, the robot 1 according to this embodiment includes a first moving mechanism 3 and a second moving mechanism 4, as shown in FIGS. The first moving mechanism 3 is arranged on the base body 2 and moves the object to be cut 8 (see FIG. 2) in the X-axis direction. The second moving mechanism 4 is supported by the base body 2 via the supporting portion 41 and the supporting portion 42, and moves the cutting body 6 in the Y-axis direction perpendicular to the X-axis direction.
Here, the robot 1 is further equipped with a dust collector 7 . The dust collector 7 includes a dust collector 71 and a driven member 73, as shown in FIGS. As shown in FIGS. 2, 7 and 8, the dust collecting part 71 is arranged with the object to be cut 8 interposed with respect to the cutting object 6, and when the object to be cut 8 is cut with the cutting object 6, Collect the generated cutting waste. As shown in FIGS. 1 to 3, the driven body 73 is driven by the movement of the cutting body 6 relative to the body to be cut 8, and arranges the dust collecting part 71 at a position facing the cutting body 6. As shown in FIGS.
Therefore, the dust collecting part 71 can always be arranged at a position facing the cutting body 6 by following the movement of the cutting body 6 with respect to the cutting body 8, so that the power of sucking the chips is stabilized. can be increased, and the dust collection efficiency can be improved.
As described above, in the robot 1 , the dust collecting section 71 is always arranged at the cutting location of the object 8 to be cut, so that the dust collection efficiency can be improved. If the dust part 71 is arranged, the dust can be reliably collected using the dust collecting part 71 . Therefore, the size of the dust collector 71, that is, the size of the dust collector 7 can be reduced, so that the size of the robot 1 can be reduced.

Furthermore, the dust collector 7 according to this embodiment is used as a dust collector for the robot 1 having the first moving mechanism 3 and the second moving mechanism 4 shown in FIGS. In other words, the dust collector 7 is configured as a dust collector that can be attached to the robot 1 . In the robot 1, the first moving mechanism 3 is arranged on the base body 2 and moves the object to be cut 8 (see FIG. 2) in the X-axis direction. The second moving mechanism 4 is supported by the base body 2 via the supporting portion 41 and the supporting portion 42, and moves the cutting body 6 in the Y-axis direction perpendicular to the X-axis direction.

The dust collector 7 includes a dust collector 71 and a dust collector moving mechanism 72, as shown in FIGS. As shown in FIGS. 2, 7 and 8, the dust collection part 71 is disposed facing the cutting body 6 with the object to be cut 8 interposed therebetween. Collect the shavings generated. The dust collection part moving mechanism 72 moves the dust collection part 71 between a first position close to the object to be cut 8 and a second position remote from the object to be cut 8, as shown in FIGS. Let
In the dust collector 7 configured as described above, the dust collector 71 collects cutting chips in a state of being close to the object to be cut 8 by using the dust collector moving mechanism 72 . It is possible to improve the dust collection efficiency by improving the suction power of cutting chips in the.
As described above, in the dust collecting device 7, the dust collecting section 71 can be brought close to the object to be cut 8 to improve the dust collection efficiency. With such arrangement, the dust collecting portion 71 can be used to reliably collect cutting debris. Therefore, the size of the dust collector 71, that is, the size of the dust collector 7 can be reduced. By using the dust collector 7 in the robot 1, the size of the robot 1 can be reduced.

In addition, in the dust collector 7, the dust collector 71 can be moved to the second position remote from the object to be cut 8 by using the dust collector moving mechanism 72, so that the dust collector 71 and the object to be cut 8 can effectively suppress or prevent contact or interference with the protruding portion of the

Further, in the dust collector 7 according to the present embodiment, the dust collector 7 is provided with a driven body 73 as shown in FIGS. The driven body 73 supports the dust collecting part moving mechanism 72 and follows the movement of the cutting body 6 relative to the object to be cut 8 to dispose the dust collecting part 71 at a position facing the cutting body 6 .
Therefore, the dust collecting part 71 can always be arranged at a position facing the cutting body 6 by following the movement of the cutting body 6 with respect to the cutting body 8, so that the power of sucking the chips is stabilized. can be increased, and the dust collection efficiency can be improved.
As described above, in the dust collector 7 , the dust collecting section 71 is always arranged at the cutting location of the object 8 to be cut to improve the dust collection efficiency. If the dust collecting portion 71 is disposed at the position of the dust collecting portion 71, the dust can be reliably collected using the dust collecting portion 71. As shown in FIG. Therefore, the size of the dust collector 71, that is, the size of the dust collector 7 can be reduced. By using the dust collector 7 in the robot 1, the size of the robot 1 can be reduced.

In the dust collection method according to the present embodiment, the object to be cut 8 is moved in the X-axis direction by the first moving mechanism 3 shown in FIGS. to move the cutting body 6 in the perpendicular Y-axis direction. Then, the body 8 to be cut is cut using the cutting body 6 .
Here, in the dust collection method, as shown in FIG. The dust collector 71 is moved to a first position close to the cutting body 8, and the dust generated by cutting is collected using the dust collector 71. FIG. Then, the dust collector 71 is moved to a second position remote from the object 8 to be cut.
According to such a dust collection method, the dust collection section 71 collects the cutting chips in the state of being close to the object to be cut 8 by using the dust collection section moving mechanism 72 of the dust collector 7. It is possible to improve the suction power of the cutting waste in the dust portion 71 and improve the dust collection efficiency.

Furthermore, in the dust collection method according to the present embodiment, as shown in FIGS. The dust collecting portion 71 is arranged at a position where the cutting chips are collected using the dust collecting portion 71 .
According to such a dust collecting method, the dust collecting part 71 can always be arranged at a position facing the cutting body 6 by following the movement of the cutting body 6 with respect to the object to be cut 8. It is possible to stably increase the suction force of the dust collector and improve the dust collection efficiency.

[Other embodiments]
The present invention is not limited to the above embodiments, and can be modified in various ways without departing from the scope of the invention.
For example, the present invention may be applied to a robot with four or more axes. The 4-axis robot has a rotation mechanism that rotates a tool (cutting body) by a rotation axis whose rotation axis direction is the same as the Z-axis direction in the slider of the third movement mechanism. Further, the 5-axis specification robot includes a tilting mechanism for tilting the tool with a tilting axis whose tilting axis direction is the same as the X-axis direction in the rotating mechanism.
Further, the present invention may be applied to a robot having a cantilever support beam structure in which the slide rail of the second moving mechanism is supported by one supporting portion.

Further, according to the present invention, the dust collecting part of the dust collector may be formed in a square tube shape with a rectangular opening shape, a polygonal tube shape with a pentagonal or larger opening shape, or an elliptical tube shape with an elliptical opening shape.
Further, according to the present invention, actuators such as a hydraulic cylinder mechanism, an electric cylinder mechanism, and an electromagnetic solenoid may be used to configure the dust collecting portion moving mechanism of the dust collector.
Furthermore, according to the present invention, the driven body of the dust collector may be formed in a shape that detours along the Y-axis direction.
In addition, the present invention provides a horizontal plane moving mechanism (first moving mechanism) for moving an object to be cut in the horizontal plane directions (first axis direction) of the X-axis direction and the Y-axis direction, and It can be applied to a robot dust collector equipped with a vertical movement mechanism (second movement mechanism) for moving the cutting body. In addition, the present invention can be applied to a dust collector for a machine tool having a mechanism similar to that of the robot provided with the horizontal movement mechanism and the vertical movement mechanism.
Further, the present invention includes a vertical plane moving mechanism (first moving mechanism) for moving the object to be cut in the vertical plane direction of the X-axis direction and the Z-axis direction (first axis direction), and a Y-axis direction (second axis direction). ) and a horizontal movement mechanism (second movement mechanism) for moving the cutting body. Similarly, the present invention can be applied to a dust collector for a machine tool having a mechanism similar to that of the robot provided with the vertical plane movement mechanism and the horizontal movement mechanism.

1 robot 2 base main body 21 housing 21A base surface 3 first movement mechanism 31, 43 slide rail 32, 44, 51 slider 4 second movement mechanism 41, 42 support part 5 third movement mechanism 6 cutting body 62 drive source 7 collection Dust device 71 Dust collector 72 Dust collector movement mechanism 72P Piston rod 72C Cylinder 73 Follower 731 One end 732 Other end 733 Intermediate part 8 Object to be cut

Claims (7)

a first moving mechanism disposed on the base body for moving the object to be cut in the first axial direction;
a second moving mechanism supported by the base body via a support portion and configured to move the cutting body in a second axial direction orthogonal to the first axial direction;
a dust collection unit arranged opposite to the cutting body for collecting cutting debris generated by cutting the body to be cut with the cutting body;
a dust collector moving mechanism for moving the dust collector between a first position close to the object to be cut and a second position remote from the object to be cut;
a driven body that is driven by the movement of the cutting body relative to the body to be cut and arranges the dust collecting part at a position facing the cutting body;
with
one end of the driven body supports the dust collecting portion moving mechanism and supports the dust collecting portion via the dust collecting portion moving mechanism;
Inside the cavity formed at one end of the driven body,
a dust collecting hose for discharging the cutting chips collected by the dust collecting part to the outside;
a fluid supply hose connected to the dust collecting part moving mechanism to supply a fluid for moving the dust collecting part;
A robot being routed . The dust collection unit moving mechanism is
The robot according to claim 1, wherein the dust collector is moved to the first position when the cutting body cuts the object to be cut. The dust collection unit moving mechanism is
3. The robot according to claim 1, wherein the dust collector is moved to the second position before or after cutting the object to be cut by the cutting body. The dust collection part is formed in a tubular shape having a pipe axial direction perpendicular to each of the first axial direction and the second axial direction,
A driving source for driving the cutting body is connected to the cutting body,
When viewed from the direction of the tube axis, the area of the opening of the dust collecting section is set to be smaller than the area of the drive source and larger than the area of the cutting body. The robot according to any one of 1. The dust collection unit moving mechanism is
It is configured by an actuator connected to the dust collection section and reciprocating the dust collection section along a third axial direction orthogonal to each of the first axial direction and the second axial direction. Item 5. The robot according to any one of Item 4. The robot according to claim 5, wherein the dust collector is arranged below the cutting body in the direction of the third axis. 2. The robot according to claim 1 , wherein the intermediate portion of the driven body is formed in a shape that bypasses the body to be cut.

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