JPWO2021090085A5 - - Google Patents

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JPWO2021090085A5
JPWO2021090085A5 JP2022523271A JP2022523271A JPWO2021090085A5 JP WO2021090085 A5 JPWO2021090085 A5 JP WO2021090085A5 JP 2022523271 A JP2022523271 A JP 2022523271A JP 2022523271 A JP2022523271 A JP 2022523271A JP WO2021090085 A5 JPWO2021090085 A5 JP WO2021090085A5
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Prior art keywords
extruded rubber
needle
front surface
rubber element
die cutter
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JP2022523271A
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JP2023500803A (en
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Priority claimed from IT102019000020260A external-priority patent/IT201900020260A1/en
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Claims (15)

ダイカッタ（４）に押出ゴム要素（７）を自動的に適用する装置（１）であって、針グリッパ（６）を備えたマニピュレータ（５）を備え、
前記針グリッパ（６）が、
－前面（１４）と、
－前記前面（１４）に対して移動可能な複数の針（１５）であって、前記針（１５）が前記前面（１４）から片持ち状に延伸し、取出し対象の押出ゴム要素（７）に穿通する引出し位置と、前記針（１５）が前記前面（１４）と同一面を維持し、ダイカッタ（４）にリリースされた前記押出ゴム要素（７）から離れる後退位置との間で移動可能な複数の針（１５）と、を備える装置（１）において、
前記針（１５）を前記引出し位置と前記後退位置との間の中間位置に停止させて、前記押出ゴム要素（７）から離れることなく、前記押出ゴム要素（７）を前記前面（１４）に横たえることができることを特徴とする装置（１）。 Apparatus (1) for automatically applying extruded rubber elements (7) to a die cutter (4), comprising a manipulator (5) with a needle gripper (6),
The needle gripper (6)
- the front (14);
- a plurality of needles (15) movable with respect to said front surface (14), said needles (15) extending cantilevered from said front surface (14), said extruded rubber elements (7) to be removed; movable between a withdrawn position in which the needle (15) pierces the die and a retracted position in which the needle (15) remains flush with the front surface (14) and leaves the extruded rubber element (7) released into the die cutter (4). A device (1) comprising a plurality of needles (15),
The needle (15) is stopped at an intermediate position between the withdrawn position and the retracted position, and the extruded rubber element ( 7 ) is moved to the front surface (14) without leaving the extruded rubber element (7). A device (1) characterized in that it can be laid down. 前記前面（１４）に対して移動可能であり、前記針（１５）が単一の前記押出ゴム要素（７）をグリップしている状態で、作業面（３）に静止する押出ゴム要素（７）のシート（２）に圧力を加える押圧要素（１３）を備える、ことを特徴とする請求項１に記載の装置（１）。 an extruded rubber element (7) movable relative to said front surface (14) and stationary on the working surface (3) with said needle (15) gripping a single said extruded rubber element (7); 2. Device (1) according to claim 1, characterized in that it comprises a pressing element (13) for exerting pressure on the sheet (2) of the sheet (2). 前記押圧要素（１３）は、前記前面（１４）に対して、
－前記押圧要素（１３）が、前記前面（１４）から、前記引出し位置における前記針（１５）の長さよりも離れた遠端位置であって、前記針（１５）が、前記シート（２）の単一の前記押出ゴム要素（７）を穿通する間、または前記針グリッパ（６）が持ち上げられている間、前記押出ゴム要素（７）の前記シート（２）を維持する遠端位置と、
－前記押圧要素（１３）が前記前面（１４）の後方または同一平面となる基端位置と、の間で移動可能である、ことを特徴とする請求項２に記載の装置（１）。 The pressing element (13) is arranged against the front surface (14);
- said pressing element (13) is in a distal end position farther from said front surface (14) than the length of said needle (15) in said withdrawn position, said needle (15) being located in said sheet (2); a distal end position of maintaining the sheet (2) of the extruded rubber element (7) during piercing of the single extruded rubber element (7) or while the needle gripper (6) is lifted; ,
Device (1) according to claim 2, characterized in that the pressure element (13) is movable between a proximal position behind or flush with the front surface (14). 前記押圧要素（１３）は、前記前面（１４）を少なくとも部分的に囲んでいる、ことを特徴とする請求項２または３に記載の装置（１）。 Device (1) according to claim 2 or 3, characterized in that the pressing element (13) at least partially surrounds the front surface (14). 前記針（１５）は、前記押出ゴム要素（７）に対するグリップを最大化するための肉厚部を備えている、ことを特徴とする請求項１～４のいずれか１項に記載の装置（１）。 5. The needle (15) according to any one of claims 1 to 4 , characterized in that the needle (15) is provided with a thickened section to maximize its grip on the extruded rubber element (7). Device (1). 画像を取得および処理する取得および処理手段（１０）を備えた、プログラム可能な制御ユニットおよび光学認識ステーション（８）を備え、前記制御ユニットは、
ａ）取り出された前記押出ゴム要素（７）を前記前面（１４）に対して整列させ、
ｂ）前記押出ゴム要素（７）を前記光学認識ステーション（８）に配置して画像を取得し、
ｃ）前記針（１５）によって取り出された前記押出ゴム要素（７）それぞれの取得した画像を、押出ゴム要素（７）のテンプレートの仮想ライブラリからの画像と比較して対応するテンプレートを識別し、および／または、ソフトウェアによって作成され、正しくセンタリングされ配向された押出ゴム要素のテンプレートを描写する画像と比較し、および／または、前記画像を処理して取り出された前記押出ゴム要素（７）を計測し、
ｄ）前記比較および／または前記処理に基づいて、マニピュレータの移動を制御し、前記ダイカッタ（４）上の切断ルール（７’）または折り目加工ルール（７’）の対応部分の隣に前記押出ゴム要素（７）を載置する、ようにプログラムされている、ことを特徴とする請求項１～５のいずれか１項に記載の装置（１）。 comprising a programmable control unit and an optical recognition station (8) comprising acquisition and processing means (10) for acquiring and processing images, said control unit comprising:
a) aligning the extracted extruded rubber element (7) with respect to the front surface (14);
b) placing said extruded rubber element (7) on said optical recognition station (8) and acquiring an image;
c) comparing the acquired image of each of said extruded rubber elements (7) retrieved by said needle (15) with images from a virtual library of templates of extruded rubber elements (7) to identify the corresponding template; and/or comparing with an image created by software and depicting a template of a correctly centered and oriented extruded rubber element, and/or processing said image to measure the extracted extruded rubber element (7). death,
d) Based on said comparison and/or said processing, controlling the movement of the manipulator to place said extruded rubber next to the corresponding part of the cutting rule (7') or creasing rule (7') on said die cutter (4); Device (1) according to any one of the preceding claims , characterized in that it is programmed to place an element ( 7 ). 前記ステップｄ）は、前記針（１５）がゴムを穿通する間の降伏挙動に起因する、前記前面（１４）に平行な面における前記針（１５）および前記押出ゴム要素（７）のあらゆるズレを補償することが含まれている、ことを特徴とする請求項６に記載の装置（１）。 Said step d) eliminates any deviation of said needle (15) and said extruded rubber element (7) in a plane parallel to said front surface (14) due to yielding behavior while said needle (15) penetrates the rubber. 7. Device (1) according to claim 6, characterized in that it comprises compensating for. 前記マニピュレータに搭載され、前記前面（１４）と、例えば組み立てられる前記ダイカッタ（４）が載置される作業面である作業面（３）、または前記作業面に配置される組立対象の前記ダイカッタの上面との間の点距離を検出する検出手段を備える、ことを特徴とする請求項１～７のいずれか１項に記載の装置（１）。 Mounted on the manipulator, the front surface (14) and, for example, a work surface (3) on which the die cutter (4) to be assembled is placed, or the die cutter to be assembled placed on the work surface. Device (1) according to any one of claims 1 to 7 , characterized in that it comprises detection means for detecting the point distance between it and the top surface. 前記検出手段は、前記マニピュレータに搭載される例えばレーザ手段またはタッチプローブ等の光学手段を備える、ことを特徴とする請求項８に記載の装置（１）。 9. Device (1) according to claim 8, characterized in that the detection means comprises optical means, for example laser means or touch probes, mounted on the manipulator. 前記ステップｄ）はさらに、凸部に起因する、前記作業面（３）と前記ダイカッタ（４）との間の共平面性の、前記作業面（３）と直交する方向の考え得る誤差を補償することを含む、ことを特徴とする請求項６に従属する請求項８または請求項９に記載の装置（１）。 Said step d) further comprises compensating for possible errors in the coplanarity between said working surface (3) and said die cutter (4) in a direction perpendicular to said working surface (3) due to convexities. Device (1) according to claim 8 or 9 as dependent on claim 6, characterized in that the device (1) comprises: ダイカッタに１以上の押出ゴム要素を装着する方法であって、
ａ’）複数の切断済み押出ゴム要素（７）を含むゴムシート（２）を用意し、前記ゴムシート（２）を作業面（３）に載置し、
ｂ’）支持体と、前記支持体に挿入された複数の切断ルール（７’）、および／または、折り目加工ルール（７’）を備えたダイカッタ（４）を用意し、
ｃ’）請求項１～１０のいずれか１項に記載の装置（１）を用意し、前記装置を介して少なくとも自動で、
ｄ’）単一の押出ゴム要素（７）に前記引出し位置の針（１５）を挿入し、前記マニピュレータを持ち上げて、前記ゴムシート（２）から前記押出ゴム要素（７）を分離させ、
ｅ’）前記針（１５）を前記中間位置まで部分的に後退させて、前記押出ゴム要素（７）の面を前記前面（１４）に預けることにより、前記装置（１）の前記前面（１４）に前記押出ゴム要素（７）を整列させ、その位置の前記押出ゴム要素（７）の画像を取得し、
ｆ’）前記押出ゴム要素（７）を前記ダイカッタ（４）にリリースする、ことを行わせる、ことを特徴とする方法。 1. A method of mounting one or more extruded rubber elements on a die cutter, the method comprising:
a') preparing a rubber sheet (2) containing a plurality of cut extruded rubber elements (7), placing said rubber sheet (2) on a work surface (3);
b') providing a die cutter (4) comprising a support and a plurality of cutting rules (7') and/or creasing rules (7') inserted into said support;
c') providing a device (1) according to any one of claims 1 to 10, at least automatically via said device;
d') inserting the needle (15) in the withdrawn position into a single extruded rubber element (7) and lifting the manipulator to separate the extruded rubber element (7) from the rubber sheet (2);
e') said front surface (14) of said device (1) by partially retracting said needle (15) to said intermediate position, resting the face of said extruded rubber element (7) on said front surface (14); ), aligning the extruded rubber element (7) at that position and acquiring an image of the extruded rubber element (7) at that position;
f') releasing said extruded rubber element (7) into said die cutter (4). ｇ’）前記前面（１４）に預けられた前記押出ゴム要素（７）の画像を取得し、当該画像を、押出ゴム要素（７）のテンプレートの仮想ライブラリからの画像と比較して対応するテンプレートを識別し、および／または、ソフトウェアによって作成され、正しくセンタリングされ配向された押出ゴム要素のテンプレート描写する画像と比較し、および／または、前記画像を処理して前記押出ゴム要素（７）を計測する、
ことを特徴とする請求項１１に記載の方法。 g') obtaining an image of said extruded rubber element (7) deposited on said front face (14) and comparing said image with an image from a virtual library of templates of extruded rubber elements (7) to the corresponding template; and/or comparing with an image created by software depicting a template of a correctly centered and oriented extruded rubber element, and/or processing said image to measure said extruded rubber element (7). do,
12. The method according to claim 11. 前記ステップｆ’）は、前記比較および／または前記ステップｇ’）の処理に基づいて、前記ダイカッタ（４）上の切断ルール（７’）または折り目加工ルール（７’）の一義的に対応する部分の隣に前記押出ゴム要素（７）を載置するように実施される、ことを特徴とする請求項１２に記載の方法。 The step f') uniquely corresponds to the cutting rule (7') or the creasing rule (7') on the die cutter (4) based on the comparison and/or the processing of the step g'). 13. The method according to claim 12, characterized in that it is carried out in such a way as to place the extruded rubber element (7) next to the part. ｈ’）例えばタッチプローブまたは光学装置等の手段によって、前記前面（１４）と前記作業面（３）との距離、および前記前面（１４）と前記ダイカッタ（４）の上面との距離を計測し、前記ステップｆ’）において、前記ダイカッタ（４）と前記作業面（３）との共平面性のあらゆる誤差を補償する、
ことを特徴とする請求項１１～１３のいずれか１項に記載の方法。 h') measuring the distance between the front surface (14) and the working surface (3) and the distance between the front surface (14) and the top surface of the die cutter (4) by means such as a touch probe or an optical device; , in step f'), compensating for any errors in the coplanarity of the die cutter (4) and the working surface (3);
The method according to any one of claims 11 to 13, characterized in that: 前記比較または取得した画像の処理は光学認識ソフトウェアを用いて行われる、ことを特徴とする請求項１２～１４のいずれか１項に記載の方法。
Method according to any one of claims 12 to 14, characterized in that the comparison or processing of the acquired images is carried out using optical recognition software.
JP2022523271A 2019-11-04 2020-10-06 Apparatus and method for automatic application of rubber elements to die cutters Pending JP2023500803A (en)

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IT102019000020260 2019-11-04
IT102019000020260A IT201900020260A1 (en) 2019-11-04 2019-11-04 Apparatus and method for automatically applying rubber elements to a die
PCT/IB2020/059374 WO2021090085A1 (en) 2019-11-04 2020-10-06 Apparatus and method for applying in an automatic way foam elements on a die cutter

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JPWO2021090085A5 true JPWO2021090085A5 (en) 2023-10-02

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US (1) US20220288804A1 (en)
EP (2) EP4079464B1 (en)
JP (1) JP2023500803A (en)
KR (1) KR20220091486A (en)
CN (1) CN114616079A (en)
IT (1) IT201900020260A1 (en)
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