WO2008013138A1

WO2008013138A1 - Method and device for automatic three-dimensional cutting

Info

Publication number: WO2008013138A1
Application number: PCT/JP2007/064428
Authority: WO
Inventors: Shimaki Hori
Original assignee: Rosecc Co Ltd; Shimaki Hori
Priority date: 2006-07-25
Filing date: 2007-07-23
Publication date: 2008-01-31
Also published as: JPWO2008013138A1; JP5344918B2

Abstract

[PROBLEMS] To provide a method and a device for efficiently and three-dimensionally cutting a work such as woven fabric, film, sheet, and block. [MEANS FOR SOLVING THE PROBLEMS] This method and the device are usable for cutting the work by using a cutting blade supported on a three-dimensionally movable drive unit. The cutting blade is reciprocated at a high speed in the direction orthogonal to the surface of the work secured onto a jig by controlling the drive unit with use of a predetermined computer program, and the work is cut by that the cutting blade is moved forward in relative to the work in the cutting direction.

Description

Specification

3D automatic cutting method and apparatus

Technical field

[0001] The present invention relates to a three-dimensional automatic cutting method and apparatus intended to automatically cut a woven fabric, a sheet, a block or other workpiece in three dimensions.

Background art

[0002] Conventionally, in order to cut foam rubber or the like, the wire is moved at high speed in the axial direction to generate frictional heat and fusing. In addition, when sufficient heat could not be generated, there was a case where the wire was electrically connected to generate heat.

[0003] In addition, a conventional saw that moves linearly in the axial direction is generally used to cut wood into a predetermined shape.

[0004] Next, there has been a proposal for an automatic cutting device using high-pressure water or a laser beam.

[0005] The conventional high-speed cutting method or apparatus proposed or implemented has been two-dimensional cutting. For example, the workpiece is moved toward the cutting blade while being supported on a flat surface, and the cutting blade is reciprocated at a high speed at a fixed position.

[0006] Accordingly, there is no known three-dimensional automatic cutting of workpieces.

Patent Document 1: JP-A 56-89500

Patent Document 2: JP 2000-35500

Disclosure of the invention

Problems to be solved by the invention

[0007] In the conventional cutting apparatus, in the case of foam rubber cutting, because of heat and fusing, force S that can be cut efficiently by heating S, woven fabric and other cuts that cannot be heat fusing, The cutting method as described above cannot be employed. In the case of cutting using high-pressure water, there is a problem that not only the workpiece gets wet, but the price of the high-pressure device becomes too large.

[0008] In other cutting devices, a wire or the like is moved in the axial direction at a fixed position, or Since the workpiece was reciprocated at a fixed position, there was a problem that the workpiece had to be moved horizontally.

[0009] Further, the conventional cutting apparatus has a problem that only the two-dimensional cutting can be performed because the workpiece is moved horizontally as described above. In addition, the reduction in cutting efficiency has a problem that the wire must be replaced in a short time when the wire is worn.

Means for solving the problem

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

[0011] The three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a driving unit that moves three-dimensionally, and is driven by a predetermined computer program. By controlling the unit, the cutting blade is reciprocated at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig, and the cutting blade is moved forward in the cutting direction with respect to the workpiece. It is characterized by cutting the workpiece.

[0012] Another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a driving unit that moves three-dimensionally, and the driving is performed by a predetermined computer program. By controlling the unit, the cutting blade is reciprocated at high speed from a right angle with respect to the surface of the workpiece fixed on the jig, and the cutting blade is advanced in the cutting direction with respect to the workpiece. The workpiece is cut by slightly vibrating back and forth in parallel with the forward direction.

[0013] Still another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally! / By controlling the drive unit with a combinational tablature, the cutting blade can be reciprocated at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig, and the cutting blade can be used as a workpiece. On the other hand, the workpiece is cut by applying ultrasonic vibration to the cutting blade while being advanced in the cutting direction.

[0014] Another three-dimensional automatic cutting method of the present invention is a method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally. ! /, Rukon By controlling the drive unit with a computer program, the cutting blade is reciprocated at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig, and ultrasonic vibration is applied to the cutting blade. The cutting blade is advanced with respect to the workpiece in the cutting direction, and the workpiece is cut by slightly vibrating back and forth in parallel with the advance direction.

[0015] In any of the three-dimensional automatic cutting methods of the present invention, after the step of cutting the workpiece, the step of polishing the cutting blade, the step of replacing the cutting blade, or the drive unit with the cutting blade The process of replacing can be included.

[0016] In any of the three-dimensional automatic cutting methods of the present invention, after the step of cutting the workpiece, the cutting blade is polished, and the polished cutting blade and the drive unit are cleaned with pressurized air. Steps may be included.

[0017] In these cases, a step of detecting the wear state of the blade portion of the cutting blade can be performed before the step of polishing the cutting blade.

[0018] In any of the three-dimensional automatic cutting methods of the present invention, the surface of the jig fixing the workpiece can be a two-dimensional or three-dimensional surface.

[0019] In this case, the cutting along the curved line is performed by applying the control force by the drive unit so as to cut by rotating the cutting blade.

[0020] In any of the three-dimensional automatic cutting methods of the present invention, the control of the drive unit by the predetermined computer program refers to information obtained by a sensor attached to the drive unit. Can be executed

[0021] In any of the three-dimensional automatic cutting methods of the present invention, the cutting with the cutting blade can be performed by continuously cutting the workpiece.

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

[0023] In any of the three-dimensional automatic cutting methods of the present invention, a force S can be included so as to include a step of automatically refueling the drive unit.

Next, the three-dimensional automatic cutting apparatus proposed by the present invention is a work fixed on a jig. An apparatus for cutting the blade by reciprocating the cutting blade at a high speed in a direction perpendicular to the surface of the cutting blade, comprising: a reciprocating means for the cutting blade for causing the cutting blade to reciprocate at high speed; and a guide means for the cutting blade. A cutting unit provided, a three-dimensional moving unit in which the cutting unit is fixed to a robot arm, and a control unit for controlling the operation of each unit! /. .

[0025] Here, the three-dimensional moving means may be configured to apply a rotational force to the cutting unit to rotate the cutting unit.

Alternatively, the robot arm is a robot arm of a multi-axis robot, and the three-dimensional moving means attaches the cutting unit to the robot arm of the multi-axis robot and applies rotation to the cutting unit. It is also possible to cause the cutting blade to perform a three-dimensional movement.

[0027] In any of the three-dimensional automatic cutting devices of the present invention, the reciprocating means of the cutting blade is attached to the rotating disk so that the base end portion of the cutting blade is eccentric and rotatable, and the cutting blade is guided by a guide roller. It can be sandwiched so as to be freely reciprocated.

[0028] In any of the three-dimensional automatic cutting devices of the present invention, the cutting unit is configured to move the cutting blade back and forth in parallel with a forward direction in which the cutting blade advances in the cutting direction with respect to the workpiece. Further, it is possible to further include a longitudinal vibration means of the cutting blade to be vibrated.

[0029] Here, the front-rear vibration means of the cutting blade may be provided with an exciter that vibrates the cutting blade in the front-rear direction on the cutting blade or a support member of the cutting blade.

[0030] In any of the three-dimensional automatic cutting apparatuses of the present invention, the cutting unit further includes ultrasonic vibration means for the cutting blade that applies ultrasonic vibration to the cutting blade.

T Talk with that power s.

[0031] Here, the means for applying the ultrasonic vibration is determined by the force S provided that an ultrasonic horn is attached to the support member of the cutting blade.

[0032] By installing an ultrasonic horn on the support portion of the cutting blade, ultrasonic vibration is applied to the cutting blade. For example, 30kHz-50kHz. Also, the amplitude is 20% ~; 100% variable. 1S Adjust normally 20% ~ 30%. The frequency of the ultrasonic wave varies depending on the nature of the workpiece. Force that can be used Usually around 40kHz is used.

[0033] In any of the three-dimensional automatic cutting apparatuses of the present invention, the cutting unit may further include a cutting blade rotating means for rotating the cutting.

[0034] In any of the three-dimensional automatic cutting devices of the present invention, a cutting blade automatic polishing means for automatically polishing the cutting blade, a cutting blade replacement means for automatically replacing the cutting blade, or the The force S is further provided with a cutting unit replacement means for replacing the cutting unit.

[0035] Here, the automatic polishing means may be configured such that a polishing disk is fixed in parallel on two parallel vertical axes at predetermined intervals, and a part of each of the polishing disks is slightly crossed.

[0036] Any of the three-dimensional automatic cutting devices of the present invention may further include an automatic cleaning means for cleaning the cutting blade and the cutting unit with pressurized air.

[0037] In any of the three-dimensional automatic cutting devices of the present invention, the cutting unit further includes fixing means for fixing the vicinity of the cutting portion of the work on the jig. Touch with S.

[0038] Here, the workpiece fixing means is configured such that a guide piece that contacts the workpiece is attached to the guide rod.

The guide rod can be slidably attached to the machine frame of the cutting unit, and the guide piece can be biased toward the workpiece.

[0039] pressure fixing of the workpiece in said Since kill at achieving the object if the work is displaced at the time of cutting, pressure is sufficient ^² ~0. 2kg / cm ² of about 0. lkg / cm.

[0040] In any of the three-dimensional automatic cutting apparatuses of the present invention, the cutting unit may support the cutting blade in a cantilever manner.

[0041] In any of the three-dimensional automatic cutting devices of the present invention, the cutting unit is

Further, it is assumed that the cutting blade is further provided with a heating means for heating the cutting blade to a temperature at which the workpiece can be melted.

[0042] The heating temperature of the cutting blade by the heating means varies depending on the material of the workpiece, but is preferably within the melting temperature of the workpiece. For example, when the melting temperature of the synthetic resin workpiece is 150 ° C, the temperature of the cutting blade is 110 ° C ~; 150 ° C is preferred 120 ° C ~; 140 ° C is more preferred (softening) And cut). When cutting the workpiece as described above, the force S can be used to drastically reduce the lifting speed of the cutting blade.

[0043] For example, when a workpiece is cut by raising and lowering the cutting blade, the workpiece can be cut with high efficiency by raising and lowering 5000 times to 1000 times per minute. On the other hand, when the workpiece is heated to an appropriate temperature, the force S can be cut at the same efficiency as the ultra-high speed cutting by raising and lowering 200 to 500 times per minute.

[0044] Further, the durability of the cutting blade is different depending on the material of the workpiece and the cutting blade. In the conventional method, the cutting blade is replaced or polished in 10 to 20 hours. A durability of at least 60 hours is recognized.

[0045] Further, since it is not necessary to polish in the case of heating !, the overall cutting efficiency is recognized to be improved by 20% or more.

[0046] Further, since the restrictions on the shape of the cutting blade and the thickness of the blade portion are greatly reduced (for example, the blade can be cut even if the blade is thick), the durability is further improved. With an appropriate shape and structure, durability can be expected 5 to 10 times that without heating. By improving the durability as described above, the replacement time of the cutting blade or the polishing time can be greatly reduced, so that the efficiency is improved accordingly.

[0047] In order to heat the cutting blade by the heating means, various methods such as a method of directly energizing or laminating a current-carrying material are conceivable, but taking into consideration that it can be heated to an appropriate temperature and that there is no hindrance to cutting movement. Determine appropriately.

[0048] According to the present invention, with respect to the wear of the wire as described above with respect to the prior art, the use of a cutting blade makes it possible to polish and maintain the cutting ability, thereby dramatically improving the service life. I was able to S In addition, since the cutting is performed with a cutting blade, it is possible to perform the necessary cold cutting using a hot wire.

[0049] Further, in order to cut using a high pressure such as the use of high pressure water (eg 3000 kg / cm ² ), special equipment for high pressure is required. In the present invention, the cutting blade is moved to cut. Therefore, high-voltage equipment is unnecessary. And as a result of adopting the conduction system and power system that are normally used as they are, the object can be achieved with a relatively inexpensive device.

[0050] As described above, the present invention supports the cutting blade in a cantilever shape, and the cutting blade Since the device that reciprocates in the direction is attached to the robot arm, the workpiece is placed on a jig, and only the cutting blade is moved in the two-dimensional direction or the three-dimensional direction. Dimensional cutting is facilitated to solve the conventional problems.

[0051] Since the present invention uses a cutting blade to cut a woven fabric, sheet, block or other workpiece, even if the blade is 0.1 mm thick, continuous operation is possible if the blade width is 5 mm. Sufficient cutting ability can be maintained for 50 hours.

[0052] Further, since polishing is performed as necessary (polished once every 5 hours to 10 hours of continuous use), the same cutting efficiency can always be maintained, and a good cross section can be maintained at all times.

[0053] For example, the cutting efficiency can be kept good by raising and lowering the cutting blade 5000 times to 10,000 times a minute.

[0054] The cutting efficiency of the present invention can cut 50 cm by 200 cm per minute in the case of a synthetic resin woven fabric or sheet having a force thickness lmm that varies depending on the part to be cut.

[0055] When the cutting blade is lost in the above, this can be detected and used as it is according to its state, and the use state such as use or replacement can be selected by polishing.

[0056] Since there is no limitation on the shape of the cutting blade in the invention, there are various types such as a wide thin blade, a circular or square wire in cross section, a semicircular strip, an arc-shaped blade that forms a part of a conical wall, and the like. Use each one.

[0057] The stroke of the cutting blade is changed when the rotary disk is used, the distance from the rotation axis is changed, the arm angle is adjusted when the arm is reciprocated, and the eccentric amount of the cam is set when the cam is used. All known stroke conversion means, such as changing, can be used.

[0058] Even if the stroke of the cutting blade is constant, the cutting depth can be adjusted by adjusting the axial movement amount of the holding piece to regulate the protruding amount of the cutting blade.

[0059] In the above invention, the cutting blade is based on a reciprocating motion, but imparts an ultrasonic vibration to the reciprocating motion (for example, around 40 kHz) or a slight back-and-forth motion (to move back and forth with respect to the traveling direction of the cutting blade) May be added. Therefore, there are four types of cutting blades: reciprocating motion or reciprocating motion and ultrasonic vibration, reciprocating motion and ultrasonic vibration, longitudinal vibration or reciprocating motion, and longitudinal vibration. Since there are, select and use as appropriate. In the above description, when reciprocating only, the reciprocating motion is 4000 to 800 times. However, when ultrasonic vibration is used together, the reciprocating motion frequency is 400 to 800 times.

[0060] Further, the forward and backward micro-vibration may have an amplitude of 5 mm to 10 mm and 60 to 600 times per minute. Since front and rear micro vibrations are usually used together with reciprocating motion, it is natural to adopt a format that does not hinder reciprocating motion. For example, vibration is effectively transmitted even if only the back of the cutting blade is in contact with the projection of the vibrator.

[0061] The work fixing means in the invention relates exclusively to whether or not the work is attached (fixed). For example, when the work is securely fixed to the jig, the fixing means is unnecessary. It is preferable that the jig in the above is not cut or damaged by the cutting blade! /. For example, a brush jig in which elastic bristles are implanted is used.

[0062] According to the method of the present invention, the cutting blade is fast reciprocated in a direction perpendicular to the fixed surface of the workpiece with the cutting blade fixed on the base of a two-dimensional or three-dimensional surface, or longitudinal vibration or ultrasonic vibration. And move the cutting blade in the 2D or 3D direction to match the cut surface. By cutting in this way, even if the shape of the workpiece changes, it can be controlled to cope with this and cutting can be continued with high enough efficiency.

[0063] In the apparatus of the present invention, the cutting blade is cantilevered and reciprocated at high speed in a direction perpendicular to the cutting surface of the workpiece. In order to generate the reciprocating motion in this case, for example, the upper end of the cutting blade is rotatably attached to the eccentric position of the rotating disk, and the cutting blade of the cutting blade is moved by interlocking the shaft of the rotating disk with the shaft of the motor. High-speed reciprocating motion (for example, 3000 to 4500 times per minute, but 300 to 450 times per minute when used in combination with ultrasonic vibration), and if necessary, cutting can be performed with back-and-forth vibration attached.

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

[0065] Further, since the state of the cutting blade is detected and polished appropriately (or automatically polished or detected every predetermined time and replaced as necessary), automatically controlled according to a predetermined program, The cutting operation can be continued for a long time.

[0066] The workpiece to be cut in this invention is a woven fabric, a film, a sheet, a synthetic resin, or the like. There are no restrictions on its shape and material. Therefore, it is possible to give the best cutting conditions according to the material by setting to predetermined conditions.

[0067] For example, the cutting blade material, shape, dimensions, replacement frequency, reciprocating speed, polishing interval, polishing time, replacement time, etc. are determined by a predetermined program, and the cutting blade can be automatically replaced by a sensor. It is possible to control properly based on detection.

The invention's effect

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

[0069] If a cutting blade is used and polished, it can be cut continuously for a long time, and the accuracy and cutting efficiency of the cut surface can always be kept the same. Next, although the cutting blade reciprocates at high speed, the heat generated at the cutting edge at the time of cutting is dissipated throughout the cutting blade, so there is no risk of local overheating, and naturally there is no risk of alteration of the blade material such as annealing. There are various effects.

[0070] By replacing the cutting blade with a cutting punch, a small hole can be cut.

[0071] Further, by combining the reciprocating motion with the longitudinal vibration or the ultrasonic vibration, the cutting blade has an effect that a good cutting result can be obtained even if the reciprocating speed is remarkably slowed.

[0072] Next, the cutting blade makes full use of polishing means, exchanging means, etc. for continuous long-time cutting work (10 hours

~ 20 hours) is also possible, and the same cutting effect can be maintained.

[0073] Also, when cutting the workpiece by heating the cutting blade, the number of reciprocating motions of the cutting blade can be drastically reduced, and the durability of the cutting blade can be improved by 5 to 10 times, and the efficiency can be remarkably improved. effective.

BEST MODE FOR CARRYING OUT THE INVENTION

[0074] Hereinafter, preferred embodiments of the present invention will be described by way of a plurality of examples with reference to the accompanying drawings.

Example 1

[0075] This will be described with reference to FIGS. 1 (a) and 1 (b).

[0076] The workpiece W is transported to the machining site by the turntable T. Robot RO with cutting blade drive unit U attached to robot arm A is set at the machining position (Fig. 1 (a)) [0077] In the above, when the workpiece W is sent on the turntable T as indicated by arrow B and stops at the machining position, the robot RO is started by sensing the robot RO sensor, and the robot RO drive unit U Bring to the cutting position as shown by arrow E and start cutting. In this case, the robot arm A makes the cutting blade align with the cutting position of the workpiece, and starts cutting by applying ultrasonic vibration.

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

[0079] After stopping the cutting blade of the robot RO, the robot arm A can be moved to move the cutting blade to the polishing position of the polishing wheel S (arrow C). In this case, here, the polishing wheel S is rotated and the cutting blade is reciprocated to start polishing. Then, after polishing for a predetermined time (for example, 0.1 seconds to 3 seconds), move the robot RO arm A, return the cutting blade drive unit U to the original position as shown by arrow D, and cut again. Start.

[0080] Cutting, processing, polishing of the cutting blade, and the like by the transfer robot RO of the workpiece W in the above are all program-controlled and are usually fully automatic, but may be partially manual. Example 2

[0081] An embodiment of the apparatus of the present invention will be described with reference to Figs.

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

[0083] The bottom plate 11a of the machine frame 11 has an upper portion of the housing 99 locked so as to be movable up and down (for example, lowering is limited by a nut), and the lower end of the housing 99 is a woven cloth 1 or the like. It is fixed to the holding piece 7 of the workpiece. A spring 8 8 is fitted to the housing 9 9, and the spring 8 8 Push the holding piece 7 downward!

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

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

[0086] In Figs. 2, 3, 4, and 5, the robot 5 is operated (Fig. 2), the arm 3 is opposed to the slope of the woven fabric 1, and the pressing piece 7 is brought into contact with the woven fabric 1 to Move 10 as shown by arrow 29 (Fig. 5). Since the spring 8 is compressed, the presser piece 7 holds the woven fabric 1 under pressure.

[0087] When the motor 15 is started (Fig. 4), the pulley 17 is rotated via the V-belt 18, and the rotation plate 14 is rotated by the rotation. Therefore, the cutting blade 4 is as shown by arrows 22 and 23 in Fig. 4. Reciprocate and cut with the blade 4a. Next, if the arm 3 is moved (Fig. 3), the device 10 also moves as indicated by arrow 29, the cutting blades also move as indicated by 22 and 23, and the woven fabric 1 arranged three-dimensionally is moved. Cut in 3D at the same position. Next, when the motor 26 is started, the pulley 25 can be rotated via the pulley 27 and the belt 28, so that the cutting blade 4 is also rotated as shown in FIG. ). The motor 26 uses a stepping motor and rotates by a necessary angle whenever necessary, so that when the cutting blade 4 cuts a circle or an arc, the blade side 4a always faces the forward direction. Since the arm 3 of the robot 5 and the mounting portion of the machine casing 11 in the above-described manner are configured to rotate in any direction as indicated by arrows 32 and 33 in FIG. 3, it is easy to perform three-dimensional cutting. There is no risk of following up and causing trouble. The machine frame 11 can be moved in the direction of arrows 20, 24 and 30 by the arm 3 (Fig. 3).

FIG. 5 (b) is an explanatory diagram in the case of changing the cutting depth. Force that the cutting blade 4 moves in the direction of the arrow 40 while reciprocating against the block 39. In this case, if the stroke of the cutting blade 4 in the direction of the arrow 41 is changed according to a predetermined program (for example, the stroke Puncture d— e— d) Can cut with arcuate depth.

[0089] Further, when the blade shape as shown in Fig. 3 (b) (for example, a shape obtained by cutting a part of a conical wall) is rotated and reciprocated while rotating, the arc of the arcuate blade 42 in contact with the workpiece is obtained. Circular cutting can be performed as a part. Accordingly, circular cutting with various diameters can be performed using the same cutting blade. If the diameter is small! /, (For example, 5mm or less), use a punch blade instead of a cutting blade ( (Figure 10).

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

[0091] For polishing, support shafts 36 and 36 are vertically mounted in parallel on the upper and lower supports 35a and 35b of the frame 35, and polishing disks 37 and 37 (grinding stones) are fixed in parallel to the support shafts 36 and 36, respectively. And slightly crossed alternately. This polishing disc 37 is for polishing the blade part, and if the blade part 4a of the cutting blade 4 is brought close as shown by arrow 38 in FIG. 2 (c) and the cutting blade 4 is moved up and down, It can be polished in a short time.

[0092] As described above, immediately before the cutting efficiency is deteriorated by the sensor 34, this is detected and polished. Alternatively, polishing is performed when the need for polishing is generated for a pre-measured time. If the polishing is sufficiently performed, this is detected and the frame 35 is retracted. Alternatively, move the device away from the frame 35 force to return to the original cutting position and continue the cutting process (Figure 5).

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

[0094] If the wear of the blade reaches the limit as a result of detection by the sensor, the control system that receives the output of the sensor is activated, and the device 10 is moved to the blade replacement place, and the entire cutting blade is moved. Change body automatically (Figure 9).

[0095] The automatic exchange can be easily performed by adopting a structure that can automatically attach and detach the base 4d of the cutting blade 4 and the support shaft 19 (Fig. 9).

Hereinafter, a description will be given based on FIG.

[0097] After setting the woven fabric 1 on the jig 2, the arm 3 of the robot 5 is operated so that the cutting blade 4 is opposed to the woven fabric 1 at a right angle (Fig. 5). When the switch of the cutting device 10 (not shown! /,) Is inserted, the cutting blade 4 reciprocates in the direction perpendicular to the woven fabric 1 as indicated by arrows 22 and 23. Cut fabric 1 sequentially (Figure 5). In this case, when the woven fabric 1 is set in a three-dimensional shape, the arm 3 is moved as shown by arrow 6 by the operation of the robot 5, and the force and the angle of the arm 3 are adjusted. Since the reciprocating direction of the cutting blade 4 is always kept perpendicular to the surface of the woven fabric 1 by adjusting, the woven fabric 1 is cut under the same conditions and the same efficiency. In the figure, 7 is the press of woven fabric 1. A piece (guide piece) 8 is a pressurizing spring fitted to a case 9 (Fig. 3).

[0098] If the cutting operation is continued for a predetermined time (for example, 5 hours) as described above, the cutting blade 4 is moved to the grinding stone side, polished for, for example, 3 seconds, and then returned to the cutting position and cut again. Continue work. The polishing interval varies depending on the material, shape (particularly thickness), and cutting speed of the woven fabric 1 (workpiece), and is programmed in advance, stored in the robot 5, and automated by using the force S.

[0099] In the above-described embodiment, the vibrator 81 of the electric vibrator 79 is brought into contact with the rear side wall of the cutting blade 4 on the lower surface of the bottom plate 11a of the machine frame 11, and the vibrator 81 is vibrated in the entrance / exit direction. (For example, an amplitude of 0.5 cm), it is possible to impart a longitudinal vibration to the cutting blade. In this case, since the cutting blade is guided and moves up and down, there is no problem even if electric vibration of about 60 times per second is applied. Therefore, the cutting blade is given a fine vibration of 60 times per second while moving up and down (4000 times to 8000 times per minute).

[0100] The connection pipe 100 of the punch blade 99 of the robot arm is fitted to the connection ring 101 at the base end of the punch blade 99 of the present invention, and the projection 102 of the connection ring 101 is formed on the side wall of the connection pipe 100. The groove 105 is inserted and locked, and the spring 105 fitted to the connecting shaft 104 of the connecting ring 101 is used to lock the protrusion 102 to the locking portion 103a of the hook groove 103. To do. Accordingly, the protrusion 102 and the locking portion 103a are stably locked as shown in FIG. 9 (b), and there is no possibility that the projection 102 and the locking portion 103a are detached due to an unexpected external force.

In the above description, the large-diameter connecting pipe 106 is connected to the head of the punch blade 99, and the shaft rod 107 having the connecting ring 101 is fitted into the connecting pipe 106 and fixed with the bolts 108. In the above, if the punch blade 99 (same for the cutting blade 4) is put in a support material and supported in parallel, it can be automatically replaced by operating the robot arm, so the cutting blade can be cut, polished, replaced, etc. It is possible to automate all S.

[0102] Figs. 10 and 11 are illustrations of the punch blade 99, in which (a) is a side wall provided with an elliptical hole 109 (for example, for discharging chips), (b) is a partial cross-sectional view, c) has a saw blade 89 at the tip.

Example 3

[0103] The detection of the cutting blade 4 in the apparatus of the present invention will be described with reference to Fig. 6 (a). [0104] A laser beam is projected from the projection port 91 of the detector 90 as shown by arrow 92, and the reflected light (arrow 92a) from the cutting blade 4 is received by the light receiving rod 93, and the image is preliminarily detected by the detector 90. Compared to the image stored in the image, if it is the same, it is not necessary to replace the cutting blade. If it is found that the image is missing 1S, for example, 10% or more, the replacement is instructed.

[0105] Fig. 6 (b) shows that a cutting blade 4 is interposed between the laser beam projector 94 and the light receiver 95, and the light projection amount (shape) as shown by arrow 97 is shown. When the difference in the amount of light received due to the above reaches a predetermined amount, the replacement of the cutting blade 4 is instructed. The above is performed by moving the cutting blade 4 during the polishing operation, or by moving the measuring head of the measuring device provided with the projector 94 and the light receiver 95 to the cutting blade portion.

Example 4

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

[0107] The connecting cylinder 41 is connected to the tip of the robot arm 3, and the snap ring cylinder 43 is connected to the connecting cylinder 41 with the connecting tool 63. Snap electrodes 44a and 44b are fixed to the snap ring cylinder 43 and connected to the cords 45a and 45b. A bracket 46 is installed at the lower end of the snap ring cylinder 43, a drive motor 48 is fixed to the upper plate 47 of the bracket 46, and a bevel gear 49 is fixed to the shaft of the drive motor 48 (FIG. 13).

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

[0109] Between the upper plate 47 of the bracket 46 and the lower plate 50, guide rods 51 and 51 are installed in parallel on both sides, and the guide block 52 is mounted on the guide rods 51 and 51 so as to be movable up and down. The shaft body 53 of the cutting blade 4 is fixed to the lower part of the block 52, and the ultrasonic horn 54 is attached to the shaft body 53 (FIGS. 6, 13, and 14).

In this embodiment, when the switch of the drive motor 48 is turned on, the bevel gear 49 is rotated by the rotation of the motor shaft, and the bevel gear 58 is thereby interlocked, so that the force wheel 57 rotates. Therefore, as the cam wheel 57 rotates, the cam roll 59 moves up and down according to the eccentric amount L of the cam groove 56 through the cam roll 59 inserted into the eccentric cam groove 56. Accordingly, since the block 52 moves up and down as indicated by an arrow 60, the shaft 53 fixed to the lower surface of the block 52 and the cutting blade 4 also move up and down in the direction of the arrow 67. In other words, the cutting blade can move up and down at the same cutting efficiency even if it is considerably slow (for example, 1/10) by adding ultrasonic vibration.

[0111] Moreover, if the ultrasonic horn 54 oscillates, for example, 39.5 kHz ultrasonic waves, the cutting blade 4 also vibrates at the same frequency, so the cutting blade 4 eventually becomes high speed (for example, 400 to 800 times / minute). As it moves up and down, it vibrates at 39.5kHz and cuts workpiece 1.

The ascending / descending speed of the cutting blade is determined by the force depending on the material of the work 1 The lifting / lowering movement of the cutting blade 4 and the vibration of the ultrasonic waves allow the work 1 to be cut quickly and easily.

[0113] In the figure, 70 is ultrasonic wiring, 71 is motor wiring, and 77 is a bearing.

[0114] Next, an embodiment in the case of transmitting power to the rotating unit will be described. In Fig. 8, the rotating cylinder

The snap ring 1 1 la, 11 lb is fixed up and down on the upper side wall of 110, and the tip of the sliding contact 112 £ 1, 112b is brought into contact with the snap ring 11 1a, 11113, and the sliding contact 112a, 112b is Then, it is slidably installed in the support cylinder 113 in the axial direction, and the leading ends of the lead wires 114a and 114b are fixed to the rear ends of the sliding contact rods 112a and 112b. The sliding contact rods 112a and 112b are housed in the cylindrical cavities 115a and 115b of the support tube 113, and the rings 116a and 116b are received in the sliding contact rods 112a and 112b, and are used as springs for the springs 117a and 117b. .

[0115] The springs 112a, 112bi, and Jogichi springs 117a, 117bi are biased in the direction indicated by arrow 118, so the snap rings ll la, 111b,杆 It is always in contact with 112a and 112b. Therefore, electricity is reliably supplied from the fixed part to the rotating part.

Example 5

With reference to FIG. 12, a jig for fixing a workpiece in the present invention will be described.

[0117] Work 1 (for example, sheet, cloth, etc.) is three-dimensionally supported on jig 2 (Fig. 5), but if the support surface is plate-shaped, work 1 and the support surface are cut simultaneously. As a result, the supporting force decreases with cutting. Therefore, the support surface of the jig must be constantly replaced. However, the replacement efficiency is unavoidable due to frequent replacement.

[0118] Therefore, elastic wires 121 (for example, made of synthetic rubber, having a diameter of 1 mm to 2 mm and a length of 3 cm to 5 cm) are planted on the base plate 120 at intervals of 2 to 3 mm to form a workpiece 1 jig. Is. The length of the elastic wire 121 is the cutting length of the cutting blade, and the interval between the elastic wires is the clearance space of the cutting blade. It is preferable to restore the original shape after passing through the cutting blade. Therefore, on average, the dimensions are the same. It is preferable to provide an arcuate portion 121a at the tip of the elastic wire 121.

Example 6

[0119] Another embodiment of the present invention will be described with reference to Figs.

[0120] At the tip of the robot arm 3, an upper support plate 61 and a lower support plate 62 are provided in a cantilever manner with a predetermined distance therebetween.

[0121] On the upper support plate 61, a motor 63 for rotating the tool is installed downward, and the flat gear 64 is fixed to the shaft of the motor 63 that passes through the upper support plate 61. Align with the flat gear 66 fixed to the base shaft 65 installed vertically on the upper plate 47 of the bracket 46.

[0122] The drive motor 48 is fixed vertically to the lower surface of the upper plate 47 of the bracket 46, and the bevel gear 49 is fixed to the shaft of the drive motor 48.

[0123] A support frame 55 is provided vertically on the lower surface of the upper plate 47 of the bracket 46, and a turntable 57 having an eccentric cam groove 56 on one side is installed vertically on the support frame 55 in a freely rotatable manner. A bevel gear 58 is fixed to the horizontal shaft at the other central portion of the rotating disk 57, and a cam wheel 59 protruding from the side wall of the guide block 52 is rotatably inserted into the cam groove 56.

[0124] Between the upper plate 47 and the lower plate 50 of the bracket 46, guide rods 51 and 51 are installed in parallel on both sides, and the guide block 52 is mounted on the guide rods 51 and 51 so as to be movable up and down. The shaft body 53 of the cutting blade 4 is fixed to the lower part of the block 52, and the ultrasonic horn 54 is attached to the shaft body 53.

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

[0126] If 39.5 kHz ultrasonic waves are oscillated by the ultrasonic horn 54, the cutting blade 4 also vibrates at the same frequency, so that the cutting blade 4 is eventually at a high speed (for example, 400 to 800 times / min). As it moves up and down, it vibrates at 39.5kHz and cuts workpiece 1. (When combined with ultrasonic vibration, reciprocation can be slowed (for example, 1 / 10th). Force due to workpiece material [0127] The workpiece is cut quickly and easily by the up-and-down movement of the cutting blade and the vibration of ultrasonic waves.

[0128] In Fig. 7, reference numeral 72 (snap ring cylinder, 73a, 73bi snap electrode, 74a, 74bi cord

75 is a cord of the motor 48, 76 is a cord of the ultrasonic horn 54, 79 is an electric vibrator, and 81 is a vibrator.

[0129] In this embodiment, when the switch of the motor 63 is turned on (not shown), the base shaft 65 rotates through the flat gears 64 and 66, so that the bracket 46 rotates and the blade of the cutting blade 4 rotates. The direction of part 4a can be changed. For example, when the traveling direction of the cutting device 80 is changed by the robot arm 3, the blade portion 4a of the cutting blade 4 also faces the traveling direction of the cutting device 80. In Fig. 11, 77 and 78 are bearings.

Example 7

[0130] The driving of the cutting blade 4 will be described with reference to FIG.

[0131] The base of the cutting blade 4 is connected to the lower end of the lifting rod 122, the lower end of the crank rod 123 is rotatably connected to the upper end of the lifting rod 122, and the upper end of the crank rod 123 is connected to the rotating plate 124. It is mounted rotatably via a shaft 135 eccentric to the center. A pulley 126 is fixed to the shaft 125 of the rotating disk 124, and the pulley 126 is interlocked with a pulley 128 fixed to the vehicle 127 of the motor 127 by a timing valve 129. In the figure, 130 is a guide for the lift 122.

[0132] In this embodiment, when the motor 127 is started and the pulley 128 is rotated in the direction of the arrow 136, the timing belt 129 moves in the direction of the arrow 137, and accordingly, the pulley 126 is moved in the direction of the arrow 133. Rotate in the direction, and the rotary table 124 also rotates in the direction of arrow 133 via the shaft 125. Ascend and descend as indicated by arrow 134. Eventually, the rotation of the turntable 124 raises and lowers the lifting rod 122 corresponding to twice the amount of eccentricity 2h, and thereby the cutting blade 4 can be raised and lowered (Fig. 15).

Example 8

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

[0134] A rotating plate 141 is rotatably installed in the fixing ring 140, and the pulley 143 is fixed to the shaft 142 of the rotating plate 141. The mounting shaft 144 is eccentrically projected from the rotating plate 141, and the The upper end portion of the link rod 145 is rotatably attached to the attachment shaft 144, and the upper end portion of the knife 146 or the upper end portion of the knife connecting rod is fixed to the lower end portion of the link rod 145, thereby constituting an up-and-down motion mechanism of the knife 146. The pulley 143 is rotated by a timing belt 154 (FIG. 16 (b)).

[0135] In the above description, the connecting shaft 144 and the connecting portion at the upper end of the link rod 145 are always rotating and sliding, and therefore must be refueled. However, the connecting portion moves up and down while rotating and revolving. As a result, refueling is extremely difficult. Therefore, when the connecting portion reaches the bottom dead center (or may be the top dead center), a device for supplying oil by spraying oil as indicated by an arrow 148 from the nozzle 147 set to face the position is provided. The nozzle 147 is as close to the connecting portion as possible, and sprays instantaneously when passing through the connecting portion.

[0136] In the above, the outside of the nozzle 147 is covered with the hood 149, and the excess oil mist is removed by suction (exhaust fan etc.) as indicated by the arrow 150 through the exhaust pipe 149a. There is no danger of spreading any more!

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

[0138] In this embodiment, the lubrication of the connecting portion has been described, but the same lubrication method can be used for the lubrication of other portions.

Example 9

[0139] Another embodiment of the present invention will be described with reference to FIG.

[0140] An example of cleaning of the holder 155 of the knife 156 will be described. Since the knife 156 cuts cloth, sheets, and other objects to be cut at high speed, countless amounts of dust adheres to the holder 155 of the knife 156. However, when the holder 155 is used continuously, the dust is In addition, there were problems such as adherence to the work piece and other objects and fouling or adhesion to the joints of the robot causing trouble. Therefore, the holder 155 of the knife 156 is periodically cleaned, or the amount of dust attached is detected by a sensor, and when a predetermined amount of attachment is reached, it is cleaned by an instruction from a controller such as a computer. This solves the conventional problems.

[0141] That is, the robot holder 157 accommodates the knife holder 155 in the cleaning hood 158. At the same time, the holder 155 is cleaned by blowing pressurized air from the nozzle 159 of the pressurized air. In this case, the holder 155 is moved up and down as indicated by an arrow 160 by the robot node 157, rotated, and cleaned all over the top and bottom and the four sides.

[0142] In the above, there is an entrance / exit at the top of the cleaning hood 158, and an opening / closing lid 161 is attached. When the holder 155 comes close, it automatically opens, and when the holder 155 is taken out, it automatically closes. Also, one side of the cleaning hood 158 is connected to a ventilation fan (not shown) via an exhaust pipe 162 and is always exhausted as indicated by an arrow 163 in the figure, so that the separated dust is reattached to the holder 155. It is not. The holder 155 has anti-static measures to prevent dust from reattaching. In the figure, 164 is an air supply pump.

[0143] The force described above for cleaning the holder 155 If the cleaning hood 158 is set in the cutting chamber, a plurality of knife holders operating in the cutting chamber can be efficiently cleaned. However, it does not prevent the cleaning hood 158 from being provided for each knife holder. In addition, as described above for cleaning the knife holder !, the cleaning hood can also be used to clean the deposits of other equipment.

Example 10

[0144] Another embodiment of the present invention will be described with reference to FIG.

[0145] This shows a method of replacing the holder 155 with the knife 156 when the holder 155 with the knife 156 is set in the holder rack 165 and the knife 156 needs to be replaced.

[0146] In this way, the knife 156 can be easily replaced in a short time, and the force S can be used to improve work efficiency.

[0147] Conventionally, since the knife was replaced by attaching / detaching the knife 156 to / from the holder 155, not only did the replacement take a long time, but the mounting structure of the knife 156 was also limited (for example, screwing was adopted) However, as described above, it was possible to securely fix the knife 156, which can be secured by screwing the hono-redder 155 and the knife 156. For example, it takes at least 1 minute to replace the knife 156, and about 30 seconds is sufficient to replace the holder 155.

Example 11 [0148] Another embodiment of the present invention will be described with reference to FIG.

[0149] The shaft 83 of the cutting blade 4 is passed through the component 82 fixed to the robot so as to be movable up and down. On the other hand, guide rods 85 and 85 are erected on the work presser 84, and the guide rods 85 and 85 pass through the guide plate 86 and the guide frame 87, and the upper portion thereof is fitted to the part 82 so as to be movable up and down. In the figure, 119 is a spring for lowering the work presser, and 138 is a guide cylinder of the shaft 83.

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

[0151] The lower pressure of the work retainer 84 is determined by the position of the spring receiver 165. That is, if the spring receiver 165 is raised (arrow 201), it becomes weaker (arrow 202) weaker.

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

In FIG. 22, if air is supplied to or discharged from the pressurized chamber in the cylinder 187 with the supply / discharge pipes 185 and 186, the U-shaped locking plate 189 and the U-shaped portion 189a are indicated by arrows through the rod 188. The cutting blade mute 184 can be attached to and detached from the connecting shaft of the robot arm by moving forward and backward as in 190 and locking (or releasing) the part 82 in FIG. 19 (FIG. 20).

[0154] Another embodiment of the cutting blade of the present invention will be described with reference to Figs. 19 (b), (c) and (d). An insulating layer 68 is provided on the surface of the cutting blade 4, and an electrothermal layer 69a is provided thereon. And an insulating layer 68 is provided on the outer side to form a heating layer 69. The cutting blade 4 can be heated to a predetermined temperature by adjusting the amount of electricity to the electrothermal layer 69a (FIG. 19 (c)).

[0155] Further, a structure (FIG. 19 (d)) in which the heating layer 69 is embedded by the cutting blade 4 and the pressing member 4a may be employed. Further, the heating layer 69 can be embedded in the groove 4a of the cutting blade 4 (FIG. 19 (b)).

[0156] The electric heating structure is an example, and other methods (for example, encapsulating or layering an electric heating material on a part of the cutting blade) can also be used.

[0157] In short, the temperature-variable electric heating method is adopted, and workpieces of different materials are cut at high speed with the same cutting blade. (For example, the heating temperature is set to 150 ° C to 200 ° C).

Example 12

[0158] Another embodiment of the present invention will be described with reference to Figs.

[0159] The cutting blade 4 is fixed to a mounting shaft 169 with a mounting screw 170. The mounting shaft 169 is provided with a flange 171 connected to the upper portion, and a sliding shaft 172 is connected to the upper center of the flange 171. The upper end of the sliding shaft 172 is formed in a cylindrical shape, and a through hole 173 is provided in the side wall to accommodate the steel ball 174 and the spring 175. The steel ball 174 is biased in the direction of arrow 176 by the spring 175. Has been. This is covered with a cover cylinder 182 to constitute a holder 184 for the cutting blade 4. The through hole 173 has a small inner hole diameter to prevent the steel ball 174 from falling inside, and the spring 175 is supported by the plug 173a (FIG. 21).

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

[0161] A connecting member 180 is fixed to the connecting shaft 177 with a set screw 181, and the protrusion 177a of the connecting shaft 177 is fitted and locked in the groove 180a of the connecting member 180. A projecting piece 180b is provided on the lower surface of the outer periphery of the connecting member 180, and is fitted and locked into a notch 182a of the cover cylinder 182 of the sliding shaft 172. In the figure, reference numeral 183 denotes a spring fitted on the sliding shaft 172 between the flange 171 and the lower surface of the cover cylinder 182, and reference numeral 182 b denotes a protrusion provided on the lower outer periphery of the cover cylinder 182.

[0162] In this embodiment, when the connecting shaft 177 of the robot arm is lowered as indicated by an arrow 179 and fitted to the upper portion of the sliding shaft 172, a steel ball 174 is added to the annular groove 178 of the connecting shaft 177. The connecting shaft 177 and the sliding shaft 172 are connected by press fitting.

[0163] As described above, the connecting shaft 177 and the sliding shaft 172 are connected by the annular groove 178 and partial insertion of steel balls (giving elasticity), so the holder 184 is held and the connecting shaft If a downward or upward external force is applied to 177, the connecting shaft 177 can be connected or detached (automatic attachment / detachment). Example 13

[0164] Referring to FIGS. 23, 24, etc., the holder for replacing the cutting blade in the apparatus of the present invention An example of attaching and detaching will be described.

[0165] When replacing the cutting blade for changing the workpiece, or for replacing the cutting blade, the force S may be changed when only the cutting blade is replaced or the holder with the cutting blade is replaced. The replacement of the holder with a cutting blade will be described.

In the present invention, the holder 185 having the cutting blade 4 fixed therein is set in the holding hole 191 of the set base 190 of the honorder 185 fixed to the substrate 200. Next, after setting the Honoreder 185 fixed to the robot hand to the holding rod L191 of the set stand 190, the abutment 197 is supported by the rod, 19 5 and the hose 193 of the cylinder 199 of the rod 195 is indicated by the arrow 194. Caro compressed air is sent in as shown, and rod 195 is raised as shown by arrow 196. Since the rod 195 is fixed to the abutment 197, when the rod 195 is raised as shown by an arrow 196, the abutment 197 is also raised and placed on the one-side protrusion 197a of the abutment 197. As the holder 185 is lifted through the ridge 171 that is positioned, the spring 183 is compressed (FIG. 20 (b)). Next, when the connecting shaft 177 of the robot is lifted as shown by arrow 198 (Fig. 20 (a)), the connection between the shaft 177 of the connecting vehicle 177 and the Maoka ball 174 is released, and the connecting shaft 177 Moves away from the holder 185 (Fig. 20 (b)). In the above, the cutting blade 4 is threaded into the cylindrical hole 197c of the protrusion 197a, so there is no risk of damage or the like. In the figure, 197b is a mounting hole for the rod 195.

[0167] Therefore, if the connecting shaft 177 of the robot is inserted into the central hole of the connecting member 180 of another holder (fixed with the cutting blade), the annular groove 178 of the connecting shaft 177 and the steel ball 174 are locked. The connecting shaft 177 of the robot and the other holder 185 are connected. Therefore, if the robot arm is moved, the holder 185 is also followed.

[0168] As described above, according to the present invention, the cutting blade can be replaced together with the holder 185, so that the efficiency can be further improved compared to the attachment and detachment of each cutting blade (the mounting time is set to 1 for example). Can be shortened by a minute).

[0169] Furthermore, since no human hands are added, that is, it is automatic, it is safe.

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

Brief Description of Drawings [Fig. L] (a) A conceptual diagram for explaining a three-dimensional automatic cutting method according to the present invention, (b) a conceptual diagram for explaining a robot in FIG. 1 (a).

[FIG. 2] (a) Front view showing an example of the three-dimensional automatic cutting apparatus of the present invention, (b) Partial enlarged front view of the polishing apparatus in the apparatus of FIG. 2 (a), (c) FIG. 2 (a) FIG. 4 is an enlarged plan view of a part of the polishing apparatus in the apparatus of FIG.

3] (a) An enlarged front view showing an example of the three-dimensional automatic cutting device of the present invention, with a part omitted, (b) A partial perspective view of a cutting blade in the device of FIG. 3 (a), (c) FIG. 4 is a partial perspective view of another cutting blade in the apparatus of FIG.

[Fig. 4] (a) Partial cross-sectional enlarged view showing an example of the three-dimensional automatic cutting device of the present invention, (! ^ Fig. ^

) Is an explanatory view showing rotation of the abutment (for rotating the cutting blade) in the apparatus of FIG.

FIG. 5 (a) A diagram for explaining an example of a cutting state by the three-dimensional automatic cutting device and cutting method of the present invention, and (b) a diagram for explaining a state in which the cutting depth is changed in FIG. 5 (a).

[Fig. 6] (a) Conceptual diagram for explaining the state of inspecting the cutting blade in the three-dimensional automatic cutting apparatus and cutting method of the present invention, and (b) Explaining the state of inspecting the cutting blade. (C) The further another conceptual diagram explaining the state which test | inspects a cutting blade.

FIG. 7 is an enlarged view showing a part of the three-dimensional automatic cutting apparatus according to the present invention.

FIG. 8 is a conceptual diagram illustrating a power supply brush unit in the three-dimensional automatic cutting apparatus shown in FIG.

[FIG. 9] (a) An enlarged front view for explaining a state in which the punch cutting blade employed in the three-dimensional automatic cutting device of the present invention is disconnected, (b) The punch cutting blade shown in FIG. The side enlarged view of the connected state.

[FIG. 10] (a) A partially enlarged view of a punch cutting blade employed in the three-dimensional automatic cutting device of the present invention, (b) a partial sectional view of another punch cutting blade, (c) yet another punch cutting. The front view of a part of a blade.

FIG. 11 is a front view of a part of the cutting process according to the three-dimensional automatic cutting apparatus and cutting method of the present invention in which a punch cutting blade is employed, with a part omitted.

[FIG. 12] (a) A partially enlarged perspective view for explaining an example of a jig for fixing a workpiece in the three-dimensional automatic cutting apparatus and cutting method of the present invention. (B) FIG. ) Enlarged partial cross-section of the illustrated jig.

[FIG. 13] A part of the three-dimensional automatic cutting apparatus of the present invention to which ultrasonic processing means is added The enlarged view which cut | disconnected.

14) (a) An enlarged view showing the relationship between the guide rod and the guide block in the three-dimensional automatic cutting device of the present invention, (b) An enlarged view showing the relationship between the cam wheel and the cam roll in the three-dimensional automatic cutting device of the present invention. Figure.

15] (a) A side view with a part omitted showing the lifting and lowering conduction system of the cutting blade in the three-dimensional automatic cutting apparatus of the present invention, (b) a front view with part of FIG. 15 (a) omitted.

FIG. 16 (a) A side view showing an example of refueling in the three-dimensional automatic cutting apparatus of the present invention, (b) a front view with part of FIG. 16 (a) omitted.

17] A front view of the three-dimensional automatic cutting apparatus and cutting method according to the present invention with a part of the explanation of cleaning with pressurized air omitted.

18] A front view showing a rack when the holder is replaced in the three-dimensional automatic cutting apparatus of the present invention.

19] (a) An enlarged perspective view showing an example of a holder in the three-dimensional automatic cutting device of the present invention, (b) a partially enlarged sectional view of the cutting blade in FIG. 19 (a), (c) FIG. 19 (a) FIG. 20 is a partially enlarged cross-sectional view of the cutting blade in FIG. 19, (d) a partially enlarged cross-sectional view of the cutting blade in FIG. 19 (a).

(20) (a) An enlarged perspective view of the three-dimensional automatic cutting device according to the present invention with a part of the holder omitted, (b) An enlarged perspective view with part of FIG. 20 (a) disassembled and part omitted. Figure.

(21) (a) Partial cut, partly omitted front view showing the connection state with the connecting shaft of the robot in the three-dimensional automatic cutting device of the present invention, (b) Steel ball and annular groove in FIG. The partially expanded sectional view which shows the latching of (c), (c) The partially expanded sectional view which shows arrangement | positioning of the steel ball in Fig.21 (a). 22] An enlarged perspective view of an instrument used when the holder is disassembled in the three-dimensional automatic cutting apparatus of the present invention.

(23) (a) A plan view in which a part of the cradle in the three-dimensional automatic cutting apparatus of the present invention is omitted, (b) A part of the relationship between the cradle and the cutting blade holder shown in FIG. (C) Cross-sectional view in which the cutting blade holder is rotated 90 degrees in FIG. 23 (b) and partly omitted.

[FIG. 24] (a) An explanatory diagram when the connecting shaft of the robot is pulled out in the three-dimensional automatic cutting apparatus of the present invention. (B) A perspective view of the lifting platform in FIG. 24 (a).

Explanation of symbols Woven fabric

jig

Robot arm Cutting blade π Box Holding piece Pressure spring Housing

Equipment Machine frame Abutment Horizontal axis Turntable Motor shaft

Pulley V Venolet Support shaft Motor Frame Polishing disk Block Bracket Upper plate Lower plate Guide rod Block Ultrasonic horn Cam wheel Cutting device Punch blade Connecting tube Support cylinder Honoreda

Claims

The scope of the claims

[1] A method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, on the jig by controlling the drive unit with a predetermined computer program. The cutting blade is reciprocated at a high speed from the direction perpendicular to the surface of the workpiece fixed to the workpiece, and the cutting blade is advanced in the cutting direction with respect to the workpiece to cut the workpiece. Automatic cutting method.

[2] A method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, on the jig by controlling the drive unit with a predetermined computer program. The cutting blade is reciprocated at a high speed from the direction perpendicular to the surface of the workpiece fixed to the workpiece, and the cutting blade is moved forward and backward in the cutting direction with respect to the workpiece while being slightly vibrated back and forth in parallel with the forward direction. A three-dimensional automatic cutting method characterized by cutting a workpiece.

[3] A method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, on the jig by controlling the drive unit with a predetermined computer program. The cutting blade is reciprocated at a high speed from a right angle direction with respect to the surface of the workpiece fixed to the workpiece, and ultrasonic vibration is applied to the cutting blade while the cutting blade is advanced in the cutting direction with respect to the workpiece. A three-dimensional automatic cutting method characterized by cutting the workpiece.

[4] A method of cutting a workpiece using a cutting blade supported by a drive unit that moves three-dimensionally, on the jig by controlling the drive unit with a predetermined computer program. The cutting blade is reciprocated at high speed from a right angle with respect to the surface of the workpiece fixed to the workpiece, and ultrasonic vibration is applied to the cutting blade to advance the cutting blade relative to the workpiece in the cutting direction. A three-dimensional automatic cutting method characterized in that the workpiece is cut by slightly vibrating back and forth in parallel with the forward direction.

[5] The method of claim 1, further comprising: a step of polishing the cutting blade, a step of replacing the cutting blade, or a step of replacing a drive unit with a cutting blade after the step of cutting the workpiece. 5. The three-dimensional automatic cutting method according to any one of 4 above.

[6] After cutting the workpiece, the cutting blade is polished, and the polished cutting blade and drive are polished The three-dimensional automatic cutting method according to any one of claims 1 to 4, further comprising a step of cleaning the unit with pressurized air.

[7] The three-dimensional automatic cutting method according to [5] or [6], wherein a step of detecting a wear state of the blade portion of the cutting blade is performed before the step of polishing the cutting blade.

[8] The three-dimensional automatic cutting method according to any one of [1] to [7], wherein the surface of the jig to which the workpiece is fixed is a two-dimensional or three-dimensional surface.

9. The three-dimensional automatic cutting method according to claim 8, wherein the driving unit controls the cutting along the curve so as to cut by rotating the cutting blade.

10. The control of the drive unit by the predetermined computer program is executed with reference to information obtained by a sensor attached to the drive unit. The three-dimensional automatic cutting method according to any one of the above.

[11] The cutting by the cutting blade is to cut the workpiece continuously.

The three-dimensional automatic cutting method according to any one of 1 to 10.

12. The three-dimensional automatic cutting method according to any one of claims 1 to 11, wherein the cutting blade is a cutting punch blade, and the cutting is perforation cutting.

13. The three-dimensional automatic cutting method according to any one of claims 1 to 12, further comprising a step of automatically refueling the drive unit.

[14] A device that cuts the cutting blade by reciprocating at a high speed from a right angle with respect to the surface of the workpiece fixed on the jig,

A cutting unit comprising reciprocating means for a cutting blade for causing the cutting blade to reciprocate at high speed, and guide means for the cutting blade;

A three-dimensional moving means in which the cutting unit is fixed to a robot arm; and a control means for controlling the operation of each means;

A three-dimensional automatic cutting device characterized by comprising

15. The three-dimensional automatic cutting apparatus according to claim 14, wherein the three-dimensional moving means applies a rotational force to the cutting unit to rotate the cutting unit.

[16] The robot arm is a robot arm of a multi-axis robot, and the three-dimensional moving means is

The cutting unit is attached to the robot arm of the multi-axis robot, and the cutting unit 15. The three-dimensional automatic cutting device according to claim 14, wherein a rotation is applied to the cutting blade to cause the cutting blade to perform a three-dimensional movement.

[17] The reciprocating means of the cutting blade is characterized in that the base end portion of the cutting blade is eccentrically attached to the rotating disk and is rotatably mounted, and the cutting blade is sandwiched in a reciprocating manner by a guide roller. The three-dimensional automatic cutting device according to any one of claims 14 to 16.

[18] The cutting unit further includes a longitudinal vibration means of the cutting blade that slightly vibrates the cutting blade back and forth in parallel with a forward direction in which the cutting blade advances in the cutting direction with respect to the workpiece. The three-dimensional automatic cutting device according to any one of claims 14 to 17, wherein the three-dimensional automatic cutting device is characterized in that:

[19] The three-dimensional structure according to claim 18, wherein the longitudinal vibration means of the cutting blade is provided with a vibration exciter that vibrates the cutting blade in the front-rear direction on the cutting blade or a support member of the cutting blade. Automatic cutting device.

[20] The cutting unit according to any one of claims 14 to 19, wherein the cutting unit further includes ultrasonic vibration means for the cutting blade that applies ultrasonic vibration to the cutting blade. 3D automatic cutting device.

21. The three-dimensional automatic cutting apparatus according to claim 20, wherein the means for applying ultrasonic vibration includes an ultrasonic horn attached to a support member of the cutting blade.

22. The three-dimensional automatic cutting device according to any one of claims 14 to 21, wherein the cutting unit further includes a cutting blade rotating means for rotating the cutting.

[23] A cutting blade automatic polishing unit that automatically polishes the cutting blade, a cutting blade replacement unit that automatically replaces the cutting blade, or a cutting unit replacement unit that replaces the cutting unit is further provided. The three-dimensional automatic cutting device according to any one of claims 14 to 22, wherein

[24] The automatic polishing means is characterized in that a polishing disk is fixed in parallel on two parallel vertical axes at predetermined intervals, and a part of each of the polishing disks is slightly crossed. The three-dimensional automatic cutting device described.

[25] The automatic cleaning means for cleaning the cutting blade and the cutting unit with pressurized air is further provided! /, According to any one of claims 14 to 24. Dimensional automatic cutting equipment Place.

[26] The cutting unit according to any one of claims 14 to 25, wherein the cutting unit further comprises a fixing means for fixing the vicinity of the cutting portion of the work on the jig! The 3D automatic cutting device described.

[27] The work fixing means includes a guide piece that contacts the work is attached to a guide rod, the guide rod is slidably attached to the machine frame of the cutting unit, and the guide piece is urged toward the work side. 27. The three-dimensional automatic cutting device according to claim 26, wherein:

28. The three-dimensional automatic cutting apparatus according to any one of claims 14 to 27, wherein the cutting unit supports the cutting blade in a cantilever manner.

[29] The three-dimensional automatic according to any one of claims 14 to 28, wherein the cutting unit further includes heating means for heating the cutting blade to a temperature at which the workpiece can be melted. Cutting device.