JPH09300290A - Punching device for web made of resin - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute punching on a correct position without causing enlargement of the device or increase of the initial cost by providing punching mechanisms and cameras photographing punching marks on robot arms, and processing the pickup signal of the camera so as to control the position of the robot arm. SOLUTION: In a small hole punching part 3, the punch marks Ma-Md of a resin tape W are photographed by video cameras 36A-36D so as to output the pickup signals to an image process controller, and the image process controller computes the positions of the punch marks Ma-Md based on the pickup signals of the cameras 36A-36D so as to output the actual position data to a robot controller. The robot controller moves robot arms 30A-30D so that punches 37 are on the positions directly over the marks Ma-Md based on the position data from the image process controller, and a machine conroller outputs a drive command so as to operate cylinders for forming holes on the resin sheet by the punches 37.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a punching device for a resin web, and more particularly to a punching device suitable for punching a resin sheet having a large strain.

[0002]

2. Description of the Related Art In a heat-sealed connector, a circuit pattern or the like is printed on a long resin sheet and dried by a dryer or the like, and then a hole is formed at a predetermined position by a punching device and then a predetermined pattern is formed. It is manufactured by punching into a shape or punching into a predetermined shape and then forming a hole with a punching device. As a punching device used for manufacturing such a heat-seal connector, conventionally, a punching die (pierce type) is driven by a hydraulic mechanism or the like for punching, and a biku type (Victoria punching type) is used. It is known to drive by a hydraulic mechanism or the like for punching.

In the former punching device using a punching die, a positioning hole is preliminarily formed at an end position of the resin sheet, and a positioning pin or the like on the mold frame of the die is inserted into this hole to form the resin sheet. Punch all or part. In the latter type of punching device, positioning holes are formed in advance in the corners of the resin sheet, and a positioning pin or the like is inserted into the hole to position the resin sheet to form holes.

[0004]

However, in the former piercing type punching device, the piercing type is expensive and the die cost is large, so that it cannot be applied to the production of a wide variety of products in a small lot. In order to do that, you have to move the entire large and heavy piercing type,
There is a problem in that the size of the device is increased and the initial cost is increased.

In addition, in the latter type of punching device of the punch type, since the punched dust of the hole remains on the cushion material after punching, the problem of processing the punched dust must be solved in automation. It is extremely difficult to automate and unmanned, and because the punch hits the cushion material,
There is a problem that the punch has a short life and a hole having a clear contour cannot be formed.

Further, in any of the above-described punching devices, the positioning pin is inserted into the positioning hole for positioning, and a plurality of holes within a predetermined range are collectively formed, so that the positioning hole is separated from the positioning hole. There is a problem that the drilling position of the drilled hole deviates from the specified design position, and the drilling cannot be performed at an accurate position. In particular, in the above-mentioned resin sheet for heat-seal connector, although high accuracy is required for the position of the hole, the accuracy is significantly reduced due to thermal distortion caused by drying by the dryer after printing, The solution was strongly demanded. The present invention has been made in view of the above problems, and an object of the present invention is to provide a punching device that can be automated without increasing the size of the device and increasing the initial cost, and that can punch at an accurate position.

[0007]

In order to achieve the above object, the present invention intermittently runs a resin web having perforation marks, and a plurality of resin webs are separated from each other in the longitudinal direction and the width direction. Is a punching device for a resin web that forms a hole at the position of the perforation mark as a reference, and a plurality of robot arms capable of moving a predetermined range in the longitudinal direction and the width direction of the resin web are provided in the resin web. The robot arms are provided separately from each other in the traveling direction, and a punching mechanism having a punch, a die and an actuator for driving the punches is attached to and supported by each robot arm, and a camera for photographing the punching marks is provided for each robot arm. The position control is performed by processing the image pickup signal of the corresponding camera.

The resin web is a sheet (film) made of a resin such as polyethylene terephthalate (PET),
For example, it is a resin sheet having a thickness of about 15 μm to 1 mm, and is represented by the resin sheet for manufacturing the heat seal connector described above. A perforation mark is formed on the resin web at a position close to the perforation position, preferably at the perforation position. This perforation mark is previously formed in the previous step,
For example, different symbols or the like are used depending on the type (diameter, shape, etc.) of holes to be formed by printing at the same time as pattern printing such as circuit patterns.

The robot arm comprises at least a two-dimensionally movable robot, for example, an XYθ robot,
It is installed on the side of the running path of the resin web and the position is controlled based on the image pickup signal of the camera. A plurality of robot arms are set apart from each other in the traveling direction of the resin web, and in a preferred mode, a plurality of punching mechanisms are attached to one robot arm (claim 3). The punching mechanism includes a punch, a die, and an actuator for driving the punch. Desirably, the punch is configured as one, and the punch is provided with an outlet for compressed air, and the die is provided with a negative pressure suction port to remove the scraps. Is possible.

A CCD video camera or the like is used as the camera, and the camera is fixed to a frame or the like at a predetermined position, or is provided on the robot arm in parallel with the punching mechanism (claim 2). This camera is connected to an image processing device, and its image pickup signal is image-processed by the image processing device. The image processing device
The punching position or the like is calculated based on the image pickup signal of the camera, and the calculation result is output to the robot controller or the like as a control signal (position data) of the robot arm.

[0011]

In the punching device according to the present invention, the punching mark on the resin web is photographed by the camera, and the image pickup signal of the camera is processed to calculate the punching position. Then, the robot arm is moved to the calculated punching position and the holes are individually formed in the resin web by the punching mechanism, that is, the punch is driven by the actuator toward the die to individually form the holes in the resin web. To do. Therefore, a plurality of holes having different sizes and shapes can be punched at an accurate position without increasing the size and weight of the device, and the processing of the scraps can be easily performed, which enables long-term unmanned continuous operation. It will be possible.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 8 show a punching device according to an embodiment of the present invention, FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a front view of a main part, and FIG. 4 is A- in FIG. A
3 is a view of the control system, FIG. 7 is a plan view of the resin web, and FIG. 8 is a partially enlarged plan view of the web.

1 and 2, reference numeral 1 denotes a trimming device used in the trimming process which is the final process of the heat seal connector described above. The trimming device 1 is an unwinding / laminating unit 2 and a small hole punching corresponding to a punching device. It has a portion 3, an outer shape punching portion 8 and a sheet cutting portion 9.

In the unwinding / laminating section 2, a work unwinding roll 21 wound and holding a long resin sheet W, a release sheet unwinding roll 22 holding and holding a release sheet S, and these sheets W and S. A pair of laminating rolls 2
It has a traveling drive mechanism 24 for intermittently traveling driving the three sheets and the stacked sheets W and S. Although detailed description and illustration are omitted, the traveling drive mechanism 24 sandwiches the seat between members such as slides, and reciprocally drives these members in a predetermined range to intermittently travel the seat. The traveling drive mechanism 24 is controlled by a machine controller 70 described later. Incidentally, 25 is a cleaning roll and 26 is a guide roll.

The resin sheet W is a sheet such as PET having a thickness of about 15 μm to 1 mm, the release sheet S is a protective film made of synthetic paper, and the release sheet S is laminated with the resin sheet W. And a thickness of 75 μm or more is used. As shown in FIGS. 7 and 8, in the printing process of the previous process, the resin sheet W has a plurality of external shapes and circuit patterns (hereinafter referred to as heat patterns) of the heat-seal connector in the width direction at a predetermined interval in the longitudinal direction. The seal connector C) is also provided with perforation marks Ma, Mb, Mc, Md at the center positions of the four holes Ha, Hb, Hc, Hd to be perforated for each heat seal connector C.

The small hole punching section 3 has robot arms 30A, 30B, 30C and 30D capable of XYθ movement 4
The base robot is installed in the traveling direction T of the resin sheet W at a predetermined interval. These robot arms 30A, 30
3, B, 30C, and 30D, as shown in FIGS. 3, 4, and 5, an upper member 31 and a lower member 32 are connected to each other by a spacer member 33 in a substantially U-shape.
The resin sheet W runs between them. Two support rods 34L and 34R spaced apart in the longitudinal direction penetrate through the upper member 31 in a vertically slidable manner through bushes 35L and 35R, and one video camera 36 is provided between these support rods 34L and 34R. Is fixed. These robots are connected to a robot controller 72 which will be described later, and the robot controller 72 allows the robot arms 30A, 30B,
The movement (position) of 30C and 30D is controlled.

Each robot arm 30A, 30B,
Since the configurations related to 30C and 30D are the same,
Description will be made by using numbers without subscripts as a representative, and subscripts A to D are sequentially added to the traveling direction T to distinguish them as necessary. Similarly, since the configurations of the two support rods 34L, 34R, etc. of each robot arm 30 are the same, the description will be made by using the numbers without subscripts as a representative, and the subscripts L, R will be added to distinguish them if necessary. To do.

A punch 37 is fixed to a lower end of the support rod 34 by an attachment 38, and an air passage 34a is formed in a lower portion in a substantially hook shape. The punch 37 has an air blowing passage (not shown) formed therethrough, and one of the punches 37 attached to the robot arm 30A (for convenience, the suffix L is attached) is inserted into the hole Ma described above in the robot arm 30B.
The robot arm 30 is attached to the hole Mb.
What is attached to C is the hole Mc, and the robot arm 3
What is attached to OD has a sectional shape corresponding to the hole Md. The other punch 3 of the robot arm 30
Although 7R is not particularly mentioned, it may be the same as the punch 37L or may be for forming another hole.

The air passage 34a has one end open to the peripheral surface and communicates with a compressed air source (not shown) via a control valve or the like, and the other end opens to the lower end surface to communicate with the air blowing passage of the punch 37.
Compressed air is supplied to the air passage 34a in synchronization with the vertical movement of the support rod 34, and the compressed air is ejected from the air blowing passage of the punch 37.

A cylinder 39 is connected to the upper end of the support rod 34 via a floating joint 40,
The detent arm 41 is fixed to the upper peripheral surface. Cylinder 3
9 is a two-position air cylinder, and the bracket 42
Attached to the robot arm 30. The cylinder 39 is controlled by the machine controller 70 and drives the support rod 34 up and down. Non-rotating arm 4
A guide rod 42 is connected to an end of the guide member 1, and the guide rod 42 slidably inserts the upper member 31 via a bush 43. This detent arm 41 is a support rod 3
Prohibit rotation of 4. In addition, a spline or the like is formed on the support rod 34 to prevent the rotation preventing arm 41 or the guide rod 42.
It is also possible to substitute for

The video camera 36 has an image pickup device such as a CCD and is connected to an image processing controller 71 described later. The video camera 36 captures an image of a predetermined area on the surface of the traveling laminated sheet and outputs an image capturing signal to the image processing controller 71. The video camera 36 can be fixed to the device frame without being attached to the robot arm 30.

Dies 45 are fixed on the upper surface of the lower member 32 at positions directly below the support rods 34, respectively.
A suction passage 46 is formed corresponding to the die 45. As is well known, the die 45 is formed with a hole 45a for punching into which the punch 37 can be inserted. One end of the suction passage 46 is opened to the upper surface of the lower member 32 and communicates with the suction passage 46 of the die 45, and the other end is opened to the side surface of the lower member 32 and a suction of a vacuum pump or the like (not shown) is performed via a control valve. The device is contacted. A negative pressure is applied to the suction passage 46 in accordance with the vertical movement of the support rod 34, and the scraps are sucked and discharged.

The outer shape punching section 8 includes a punching device 81 and a traveling drive mechanism 82, which are machine controller 70.
Controlled by. The punching device 81 punches out the outer shape of the heat seal connector C from the resin sheet W punched in the small hole punching part 3 (not punching completely, leaving a part thereof so that the heat seal connector C is not scattered). Without)
I do. The traveling drive mechanism 82 is the traveling drive mechanism 2 described above.
In synchronization with 4, the laminated sheet is run intermittently in the same manner as the mechanism 24. The sheet cutting unit 9 has a sheet cutter, and the sheet cutter is controlled by the machine controller 70 to cut release sheets for each running length and stack them. The illustration and description of the outer shape punching section 8 and the sheet cutting section 9 are omitted.

As shown in FIG. 6, the machine controller 7
0 is connected to the robot controller 72, and the image processing controller 71 is connected to the robot controller 72. The machine controller 70 outputs control commands to the traveling drive mechanisms 24 and 82, the cylinder 39, the punching device 82, and the sheet cutter, respectively, and controls them comprehensively, and when the drive command is input from the robot controller 72, the machine controller 70 is operated. Drive and also the robot controller 72
The punching position data and the like are output to.

The image processing controller 71 is connected to the video camera 36 and processes an image pickup signal output from the video camera 36. The image processing controller 71 identifies the punching mark M from the image pickup signal of the video camera 36, calculates the position of the punching mark M, and outputs the position data to the robot controller 72. The robot controller 72 moves the robot arm 30 to the drilling position based on the position data input from the image processing controller 71, and when the robot arm 30 reaches the drilling position, outputs a drive command to the machine controller 70.

In this embodiment, the resin sheet W is drawn out from the work unwinding roll 21, the release sheet S is unwound from the release sheet unwinding roll 22, and the sheets W, S are laminated by the laminating roll 23. The sheets are laminated to form a laminated sheet, which is intermittently traveled by the traveling drive mechanisms 24 and 82,
That is, the laminated tape is run and driven by repeating running for a predetermined distance and stopping for a predetermined time.

Here, in the small hole punching unit 3, the robot controller 72 causes the robot arms 30A, 30B, 30C and 30D to move the video cameras 36A, 36B, 36C and 36D into holes Ha, based on the design position data.
The marks Ma, Mb, Mc, and Md of Hb, Hc, and Hd are moved in advance to positions where they can be photographed, and they are on standby. Then, the video cameras 36A, 36B, 36C, 36D photograph the perforation marks Ma, Mb, Mc, Md of the resin tape W and output the image pickup signal to the image processing controller 71. 36B, 36C,
Based on the 36D image pickup signal, the perforation marks Ma, Mb, M
The positions of c and Md are calculated and the actual position data is output to the robot controller 72.

Next, the robot controller 72 causes the robot arms 30A, 30B, 30C and 30D to actually drill positions based on the position data input from the image processing controller 71. In other words, the punch 37 marks M.
It is moved to a position directly above a, Mb, Mc, and Md. After that, when the robot arm 30 reaches the punching position, the machine controller 70 outputs a drive command and each cylinder 39 operates to form a hole M in the resin sheet W by the punch 37.

That is, the punch 37 of the robot arm 30A forms a hole Ha at a position determined based on the image pickup signal of the camera 36A, and so on.
Punch 37 of the robot arm 30C punches a hole Hb at a position determined based on the image pickup signal of the camera 36B.
7 forms a hole Hc at a position determined based on the image pickup signal of the camera 36C, and the punch 37 of the robot arm 30D forms a hole Hd at a position determined based on the image pickup signal of the camera 36D. Therefore, even if the resin sheet W is distorted, it can be punched at an accurate position. In particular, this embodiment is
Since the mark M is formed at the center of the hole H to be drilled, the hole can be drilled with higher accuracy.

At this time, the air passage of the support rod 34 is connected to the compressed air source so that the air blowing passage 3 of the punch 37 is connected.
7a, compressed air is introduced into the lower member 32, and at the same time, the suction passage 46 of the lower member 32 is connected to a suction device so that the hole 45a of the die 45 is formed.
A negative pressure is applied to. Therefore, the scraps can be reliably discharged, and the scraps do not become an obstacle.

In the above-described embodiment, the two punches 37L, 3L provided on the robot arm 30 are used.
Although it is not specified which of 7R is used for perforation, which is used can be appropriately selected according to the type of the work, and the perforation mark of the resin sheet W has a different shape depending on the diameter or shape of the hole, for example, It is also possible to distinguish between the double circles and the black circles, and recognize the shape of the mark to determine which of the punches 37L and 37R is to be used.

Further, in the above-described embodiment, the four robot arms 30A, 30B, 30C, 3 are arranged in the traveling direction T.
Although 0D is provided, the number to be installed can be arbitrarily determined, and one unit or two units are configured as a unit that can be separated / divided, and the number of units can be changed according to the type of work and the number of holes to be drilled. It is also possible to increase or decrease the number.

[0033]

As described above, according to the punching device of the present invention, a plurality of robot arms that can move within a predetermined range with respect to the traveling resin sheet are installed separately in the traveling direction. The arm is equipped with a punching mechanism equipped with a punch and a die, and each robot arm is provided with a camera capable of photographing the punching mark on the resin sheet, and the position of each robot arm is controlled based on the image pickup signal of the corresponding camera to enable the punching mechanism to operate. Since holes are formed in the resin sheet, it can be punched with high precision with inexpensive and simple equipment, and it has excellent durability such as punches, can easily process scraps, and can be operated continuously for a long time unattended. It will be possible.

[Brief description of drawings]

FIG. 1 is a schematic front view of a trimming device for a heat seal connector to which a punching device according to an embodiment of the present invention is applied.

FIG. 2 is a schematic plan view of the trimming device.

FIG. 3 is a front view of a portion corresponding to a punching device of the trimming device.

FIG. 4 is a view on arrow AA of FIG.

FIG. 5 is a view taken in the direction of arrows BB in FIG. 3;

FIG. 6 is a block diagram of a control system of the trimming apparatus.

FIG. 7 is a plan view of a part of the resin sheet for manufacturing the heat seal connector.

FIG. 8 is an enlarged view of a part of FIG. 7.

[Explanation of symbols]

 1 Trimming Device 3 Small Hole Punching Part (Punching Device) 30 Robot Arm 36 Video Camera 37 Punch 39 Cylinder 45 Die 70 Machine Controller 71 Image Processing Controller 72 Robot Controller C Heat Seal Connector Ha, Hb, Hc, Hd Hole Ma, Mb, Mc, Md Perforation mark S Release sheet W Resin sheet

Claims (3)

[Claims] 1. A resin web which intermittently runs on a resin web having perforation marks and forms holes on the resin web at a plurality of positions spaced apart in the longitudinal direction and the width direction with reference to the perforation marks. A web punching device, wherein a plurality of robot arms capable of moving within a predetermined range in the longitudinal direction and the width direction of the resin web are provided separately in the traveling direction of the resin web, and the robot arms are respectively punched, A punching mechanism having an actuator for driving a die and a punch is attached and supported, and a camera for photographing the punching mark is provided for each robot arm, and position control of the robot arm is performed by processing an image pickup signal of the corresponding camera. A punching device for a resin web, which is characterized in that 2. The punching device for a resin web according to claim 1, wherein the camera is attached to the robot arm. 3. The resin web punching device according to claim 1, wherein a plurality of punching mechanisms are attached to the robot arm.