WO2008013138A1 - Procédé et dispositif de découpe automatique en trois dimensions - Google Patents

Procédé et dispositif de découpe automatique en trois dimensions Download PDF

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Publication number
WO2008013138A1
WO2008013138A1 PCT/JP2007/064428 JP2007064428W WO2008013138A1 WO 2008013138 A1 WO2008013138 A1 WO 2008013138A1 JP 2007064428 W JP2007064428 W JP 2007064428W WO 2008013138 A1 WO2008013138 A1 WO 2008013138A1
Authority
WO
WIPO (PCT)
Prior art keywords
cutting
cutting blade
workpiece
blade
unit
Prior art date
Application number
PCT/JP2007/064428
Other languages
English (en)
Japanese (ja)
Inventor
Shimaki Hori
Original Assignee
Rosecc Co Ltd
Shimaki Hori
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rosecc Co Ltd, Shimaki Hori filed Critical Rosecc Co Ltd
Priority to JP2008526757A priority Critical patent/JP5344918B2/ja
Publication of WO2008013138A1 publication Critical patent/WO2008013138A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
    • B26D3/10—Making cuts of other than simple rectilinear form
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/26—Means for mounting or adjusting the cutting member; Means for adjusting the stroke of the cutting member
    • B26D7/2614—Means for mounting the cutting member
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
    • B26F1/38—Cutting-out; Stamping-out
    • B26F1/3806—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface
    • B26F1/3813—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface wherein the tool head is moved in a plane parallel to the work in a coordinate system fixed with respect to the work
    • B26F1/382—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface wherein the tool head is moved in a plane parallel to the work in a coordinate system fixed with respect to the work wherein the cutting member reciprocates in, or substantially in, a direction parallel to the cutting edge
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/08—Means for actuating the cutting member to effect the cut
    • B26D5/14—Crank and pin means

Definitions

  • 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.
  • a conventional saw that moves linearly in the axial direction is generally used to cut wood into a predetermined shape.
  • the conventional high-speed cutting method or apparatus proposed or implemented has been two-dimensional cutting.
  • 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.
  • Patent Document 1 JP-A 56-89500
  • Patent Document 2 JP 2000-35500
  • 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.
  • the reduction in cutting efficiency has a problem that the wire must be replaced in a short time when the wire is worn.
  • the present invention proposes a three-dimensional automatic cutting method and apparatus described below.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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! /
  • 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.
  • the workpiece is cut by applying ultrasonic vibration to the cutting blade while being advanced in the cutting direction.
  • 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
  • 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.
  • the step of polishing the cutting blade 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.
  • the cutting blade is polished, and the polished cutting blade and the drive unit are cleaned with pressurized air. Steps may be included.
  • 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.
  • the surface of the jig fixing the workpiece can be a two-dimensional or three-dimensional surface.
  • 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.
  • 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
  • the cutting with the cutting blade can be performed by continuously cutting the workpiece.
  • the cutting blade can be a cutting punch blade, and the cutting can be perforated cutting.
  • a force S can be included so as to include a step of automatically refueling the drive unit.
  • 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! /. .
  • the three-dimensional moving means may be configured to apply a rotational force to the cutting unit to rotate the cutting unit.
  • the robot arm is a robot arm of a multi-axis robot
  • 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.
  • 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.
  • 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.
  • 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.
  • the cutting unit further includes ultrasonic vibration means for the cutting blade that applies ultrasonic vibration to the cutting blade.
  • 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.
  • ultrasonic vibration is applied to the cutting blade.
  • 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.
  • the cutting unit may further include a cutting blade rotating means for rotating the cutting.
  • 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.
  • 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.
  • 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.
  • the cutting unit further includes fixing means for fixing the vicinity of the cutting portion of the work on the jig. Touch with S.
  • 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.
  • the cutting unit may support the cutting blade in a cantilever manner.
  • the cutting unit is
  • 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.
  • 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.
  • 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).
  • the force S can be used to drastically reduce the lifting speed of the cutting blade.
  • the workpiece 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.
  • the force S 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.
  • the durability of the cutting blade is different depending on the material of the workpiece and the cutting blade.
  • the cutting blade is replaced or polished in 10 to 20 hours. A durability of at least 60 hours is recognized.
  • the durability is further improved.
  • durability can be expected 5 to 10 times that without heating.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cutting efficiency can be kept good by raising and lowering the cutting blade 5000 times to 10,000 times a minute.
  • 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.
  • the shape of the cutting blade in the invention 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cutting blade is cantilevered and reciprocated at high speed in a direction perpendicular to the cutting surface of the workpiece.
  • 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
  • cutting can be performed with back-and-forth vibration attached.
  • 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.
  • 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.
  • 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 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.
  • a cutting blade 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.
  • 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.
  • the cutting blade has an effect that a good cutting result can be obtained even if the reciprocating speed is remarkably slowed.
  • the cutting blade makes full use of polishing means, exchanging means, etc. for continuous long-time cutting work (10 hours
  • 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.
  • Robot RO with cutting blade drive unit U attached to robot arm A is set at the machining position (Fig. 1 (a))
  • 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.
  • the robot arm A makes the cutting blade align with the cutting position of the workpiece, and starts cutting by applying ultrasonic vibration.
  • the robot arm A 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.
  • a predetermined time for example, 0.1 seconds to 3 seconds
  • 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.
  • 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.
  • 21 and 21 are guide guides for the cutting blade 4.
  • 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.
  • a predetermined program for example, the stroke Puncture d— e— d
  • Fig. 3 (b) for example, a shape obtained by cutting a part of a conical wall
  • the arc of the arcuate blade 42 in contact with the workpiece is obtained.
  • Circular cutting can be performed as a part.
  • 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).
  • 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).
  • polishing disks 37 and 37 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.
  • 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).
  • the blade portion 4a can be reciprocated while being in contact with the polishing disc 37 to be polished (FIGS. 2 and 3).
  • 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).
  • FIG. 7 is the press of woven fabric 1.
  • a piece (guide piece) 8 is a pressurizing spring fitted to a case 9 (Fig. 3).
  • 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.
  • 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.
  • 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.
  • an amplitude of 0.5 cm it is possible to impart a longitudinal vibration to the cutting blade.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 70 is ultrasonic wiring
  • 71 is motor wiring
  • 77 is a bearing.
  • 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. .
  • 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, ⁇ It is always in contact with 112a and 112b. Therefore, electricity is reliably supplied from the fixed part to the rotating part.
  • 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.
  • an upper support plate 61 and a lower support plate 62 are provided in a cantilever manner with a predetermined distance therebetween.
  • 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.
  • 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.
  • 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.
  • the cutting blade 4 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.
  • reference numeral 72 sekunder 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
  • 81 is a vibrator.
  • 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.
  • the blade portion 4a of the cutting blade 4 also faces the traveling direction of the cutting device 80.
  • 77 and 78 are bearings.
  • 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.
  • 130 is a guide for the lift 122.
  • 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)).
  • 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.
  • the connecting portion moves up and down while rotating and revolving.
  • 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.
  • 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.
  • the robot holder 157 accommodates the knife holder 155 in the cleaning hood 158.
  • the holder 155 is cleaned by blowing pressurized air from the nozzle 159 of the pressurized air.
  • 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.
  • the knife 156 can be easily replaced in a short time, and the force S can be used to improve work efficiency.
  • Example 11 [0148] Another embodiment of the present invention will be described with reference to FIG.
  • 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.
  • 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.
  • 119 is a spring for lowering the work presser
  • 138 is a guide cylinder of the shaft 83.
  • the cutting blade 4 moves up and down as indicated by an arrow 139.
  • 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.
  • 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.
  • 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).
  • FIG. 19 (b), (c) and (d) 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.
  • 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)).
  • FIG. 19 (d) a structure 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)).
  • 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.
  • the temperature-variable electric heating method is adopted, and workpieces of different materials are cut at high speed with the same cutting blade.
  • the heating temperature is set to 150 ° C to 200 ° C).
  • 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.
  • 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).
  • 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.
  • 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.
  • 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
  • reference numeral 182 b denotes a protrusion provided on the lower outer periphery of the cover cylinder 182.
  • 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
  • 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.
  • 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.
  • 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.
  • 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).
  • FIG. L A conceptual diagram for explaining a three-dimensional automatic cutting method according to the present invention
  • FIG. 1 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.
  • 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. ⁇
  • 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
  • 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
  • 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.
  • FIG. 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.
  • FIG. 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).
  • 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).

Abstract

L'invention concerne un procédé et un dispositif permettant de découper efficacement et en trois dimensions une pièce telle qu'un tissu, un film, une feuille et un bloc. Ce procédé et ce dispositif peuvent être utilisés pour découper la pièce à l'aide d'une lame de découpe supportée sur une unité d'entraînement mobile en trois dimensions. La lame de découpe est animée d'un mouvement de va-et-vient à une vitesse élevée dans la direction orthogonale par rapport à la surface de la pièce fixée sur un gabarit, en contrôlant l'unité d'entraînement à l'aide d'un programme informatique prédéterminé. La pièce est découpée afin que la lame de découpe soit déplacée vers l'avant par rapport à la pièce dans la direction de découpe.
PCT/JP2007/064428 2006-07-25 2007-07-23 Procédé et dispositif de découpe automatique en trois dimensions WO2008013138A1 (fr)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202008003104U1 (de) * 2008-03-05 2009-08-06 Weeke Bohrsysteme Gmbh Schneidaggregat
JP2012106329A (ja) * 2010-04-27 2012-06-07 Adwelds:Kk 振動切断装置
JP2012187696A (ja) * 2011-03-14 2012-10-04 Rezakku:Kk カッティングツールおよびカッティングツールを備えた切断装置
JP2015085460A (ja) * 2013-10-31 2015-05-07 株式会社島精機製作所 裁断機のブラシ構造
JP2018001322A (ja) * 2016-06-30 2018-01-11 株式会社ハシマ 裁断ヘッド
CN108149466A (zh) * 2018-01-17 2018-06-12 银川滨河如意服装有限公司 一种前身定型装置
JP2020023042A (ja) * 2018-07-31 2020-02-13 株式会社Ｊｌｓ 発泡プラスチック製面材の切断装置
FR3106079A1 (fr) * 2020-01-15 2021-07-16 HOLDING FINANCIERE CIUCH En abrégé "H.F.C." Installation et procede de decoupe et/ou de predecoupe de boîtes par perforation
WO2021187351A1 (fr) * 2020-03-17 2021-09-23 パナソニック株式会社 Dispositif de coupe
CN114952980A (zh) * 2022-04-01 2022-08-30 深圳市世椿智能装备股份有限公司 一种大通量ro膜卷膜设备及其制作工艺
WO2022239874A1 (fr) * 2021-05-14 2022-11-17 株式会社エム・シー・ケー Système de coupe et dispositif de coupe
WO2023218147A1 (fr) * 2022-05-13 2023-11-16 Lectra Dispositif de maintien d'une lame vibrante sur un porte-lame d'une machine de coupe et lame destinée à coopérer avec un tel dispositif

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3068457B1 (fr) * 2017-06-30 2019-08-16 Lectra Procede de determination d'une dimension entre le dos et le fil tranchant d'une lame vibrante montee sur un outil de coupe

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Publication number Priority date Publication date Assignee Title
DE202008003104U1 (de) * 2008-03-05 2009-08-06 Weeke Bohrsysteme Gmbh Schneidaggregat
JP2012106329A (ja) * 2010-04-27 2012-06-07 Adwelds:Kk 振動切断装置
JP2012187696A (ja) * 2011-03-14 2012-10-04 Rezakku:Kk カッティングツールおよびカッティングツールを備えた切断装置
JP2015085460A (ja) * 2013-10-31 2015-05-07 株式会社島精機製作所 裁断機のブラシ構造
JP2018001322A (ja) * 2016-06-30 2018-01-11 株式会社ハシマ 裁断ヘッド
CN108149466A (zh) * 2018-01-17 2018-06-12 银川滨河如意服装有限公司 一种前身定型装置
JP2020023042A (ja) * 2018-07-31 2020-02-13 株式会社Ｊｌｓ 発泡プラスチック製面材の切断装置
EP3851259A1 (fr) * 2020-01-15 2021-07-21 HOLDING FINANCIERE CIUCH En abrégé "H.F.C." Installation et procede de decoupe et/ou de predecoupe de boîtes par perforation
FR3106079A1 (fr) * 2020-01-15 2021-07-16 HOLDING FINANCIERE CIUCH En abrégé "H.F.C." Installation et procede de decoupe et/ou de predecoupe de boîtes par perforation
WO2021187351A1 (fr) * 2020-03-17 2021-09-23 パナソニック株式会社 Dispositif de coupe
JP2021146412A (ja) * 2020-03-17 2021-09-27 パナソニック株式会社 切断装置
JP7153683B2 (ja) 2020-03-17 2022-10-14 パナソニックホールディングス株式会社 切断装置
WO2022239874A1 (fr) * 2021-05-14 2022-11-17 株式会社エム・シー・ケー Système de coupe et dispositif de coupe
CN114952980A (zh) * 2022-04-01 2022-08-30 深圳市世椿智能装备股份有限公司 一种大通量ro膜卷膜设备及其制作工艺
WO2023218147A1 (fr) * 2022-05-13 2023-11-16 Lectra Dispositif de maintien d'une lame vibrante sur un porte-lame d'une machine de coupe et lame destinée à coopérer avec un tel dispositif
FR3135409A1 (fr) * 2022-05-13 2023-11-17 Lectra Dispositif de maintien d’une lame vibrante sur un porte-lame d’une machine de coupe et lame destinée à coopérer avec un tel dispositif

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