An automatic edge removing system and method for a rubber plug

Abstract

The application discloses a kind of automatic edge removal system and edge removal method of rubber plug, and automatic edge removal system of rubber plug includes punch, and punch is equipped with punching die and waste removal device;Waste removal device includes first base, and first base is equipped with fixed rod, and fixed rod is equipped with slidable and rotatable fixed block;Fixed block is equipped with slidable adjusting rod, and adjusting rod is installed with air nozzle, and air nozzle is used to blow waste produced by cutting edge;Robot, robot is used to adsorb rubber sheet and transfer rubber sheet to punching die;The movable arm of robot is equipped with bottom plate, and bottom plate is equipped with adsorption plate for adsorbing rubber sheet, and adsorption plate is equipped with profiled suction hole matched with rubber plug on rubber sheet.The automatic edge removal system of rubber plug of the application can realize the automatic punching cutting of rubber sheet, save effort, and is convenient, efficient, can improve rubber sheet punching quality, and improve punching cutting qualified rate.

Description

Technical Field

[0001] This invention relates to the field of rubber stopper edge removal technology, and more specifically to an automatic rubber stopper edge removal system and method. Background Technology

[0002] The manufacturing process of rubber stoppers includes vulcanization molding and edge trimming. The edge trimming process requires the use of a rubber stopper punching die to cut the rubber sheet. The vulcanized rubber sheet is a whole sheet composed of multiple rubber stoppers arranged in an array. This sheet needs to be fed into the punching die to separate the rubber sheets between the rubber stoppers, complete the edge trimming, and obtain the rubber stopper.

[0003] Existing solutions for rubber stopper edge removal systems typically suffer from the following drawbacks: low efficiency and low pass rate. For example, a robotic arm is usually used to remove the rubber sheets one by one from the feeding frame and place them onto the corresponding punching die. Punching and trimming. Existing robotic arms typically have the following drawbacks: low precision, inability to determine or guarantee that all the rubber plugs on the film fit perfectly into the die hole of the punching die, resulting in low punching efficiency and low punching pass rate.

[0004] In addition, the waste material left on the punching die after the edges are removed needs to be removed in time so that the punching operation can proceed smoothly. Existing technology cannot guarantee that the waste material can be removed conveniently and efficiently, which is time-consuming and laborious, resulting in low punching efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic edge removal system for rubber stoppers to improve punching efficiency and punching pass rate.

[0006] To address this, the present invention provides an automatic edge removal system for rubber stoppers, comprising a punch press equipped with a punching die and a waste removal device; the waste removal device includes a first base, a fixing rod on the first base, a slidable and rotatable fixing block on the fixing rod; a slidable adjusting rod on the fixing block, and an air nozzle mounted on the adjusting rod for blowing air onto the waste generated during the punching edge removal; a robot for adsorbing the film and transferring the film to the punching die; a base plate on the robot's movable arm, an adsorption plate on the base plate for adsorbing the film, and a contoured suction hole on the adsorption plate that mates with the rubber stopper on the film; The base plate is provided with a first detection element, which is used to determine whether the rubber plugs on the film are all fitted into the mold hole of the punching die.

[0007] Preferably, the fixing block is provided with a first fixing groove and a second fixing groove, both of which are open grooves, and the axial directions of the first fixing groove and the second fixing groove are perpendicular to each other.

[0008] Preferably, the fixing rod is fitted with a clearance within the first fixing groove, and the fixing block is provided with a first fastening bolt for fastening the fixing rod within the first fixing groove.

[0009] Preferably, the adjusting rod is fitted with a clearance within the second fixing groove, and the fixing block is provided with a second fastening bolt for fastening the adjusting rod within the second fixing groove.

[0010] Preferably, the robot's movable arm is equipped with a vacuum assembly, which is connected to the contour suction hole.

[0011] Preferably, the robot's movable arm is provided with a connecting plate, the connecting plate is provided with a positioning hole, and the base plate is provided with a positioning post that cooperates with the positioning hole.

[0012] Preferably, one end of the base plate is provided with a nozzle, which is used to spray lubricant onto the die hole of the punching die.

[0013] Preferably, one end of the base plate is provided with a vertical plate, the vertical plate is provided with a long strip-shaped first connecting hole, and the nozzle is provided with a bolt that is connected to the first connecting hole.

[0014] Preferably, a mounting cover is fastened to the base plate, and an avoidance groove is provided at the end of the mounting cover for avoiding the nozzle.

[0015] The present invention also provides a method for removing the edges of the aforementioned automatic rubber stopper edge removal system, comprising the following steps: (1) The film is adsorbed by an adsorption device and transferred to the punch press by a robot; first, lubricant is sprayed onto the die hole of the punching die by a nozzle, and then the film is placed on the punching die so that the rubber plug on the film fits into the die hole of the punching die. (2) By inspecting the height of the four corners of the film through the first inspection piece, it can be determined whether all the rubber plugs on the film are fitted into the mold hole, so as to avoid generating waste as much as possible; (3) The punch press drives the punching die to punch off the edges of the film; (4) The waste on the punching die is blown off by the waste removal device.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The present invention provides an automatic edge removal system and method for rubber stoppers. The automatic edge removal system includes a punch press, which is equipped with a punching die and a waste removal device. The waste removal device includes a first base, on which a fixed rod is provided. The fixed rod is equipped with a slidable and rotatable fixed block. The fixed block is equipped with a slidable adjusting rod, on which an air nozzle is installed. The air nozzle is used to blow air onto the waste generated by punching and cutting the edge. A robot is used to pick up the film and transfer it to the punching die. The robot's movable arm is equipped with a base plate, on which an adsorption plate is provided for adsorbing the film. The adsorption plate is provided with a contoured suction hole that matches the rubber stopper on the film. The base plate is equipped with a first detection element, which is used to determine whether all the rubber stoppers on the film are fitted into the die hole of the punching die. The automatic edge trimming system for rubber stoppers of this invention can automatically punch off edges from rubber sheets, saving time and effort, and is convenient and efficient, improving the punching quality and edge trimming pass rate. The waste removal device can conveniently and efficiently blow away and thoroughly remove waste from the punching die, improving the efficiency of edge trimming. The first detection element can determine whether all rubber stoppers on the rubber sheet fit within the die hole of the punching die, improving the punching quality and edge trimming pass rate. The contour suction hole adsorbs the rubber stoppers, improving the positioning accuracy of the stoppers, reducing positional offset during loading and unloading, and further improving the edge trimming pass rate.

[0017] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of one embodiment of the automatic edge removal system for rubber stoppers of the present invention; Figure 2 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 3 yes Figure 2 Enlarged view of part A in the middle Figure 4 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 5 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 6 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 7 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 8 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 9 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 10 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 11 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 12 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 13 This is a partial structural schematic diagram of one embodiment of the automatic rubber stopper removal system of the present invention; Figure 14 This is a partial structural schematic diagram of one embodiment of the automatic edge removal system for rubber stoppers of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0020] like Figures 1-14 As shown, the automatic edge removal system for rubber stoppers of the present invention includes a punch press 10, on which a punching die 11 and a waste removal device 12 are provided. The waste removal device 12 includes a first base 121, on which a fixing rod 124 is provided. A fixing block 125 is provided on the fixing rod 124, which can rotate and slide along the fixing rod 124. A slidable adjusting rod 122 is provided on the fixing block 125, and an air nozzle 123 is installed on the adjusting rod 122. The air nozzle 123 is used for counteracting the impact. The waste material generated from the edge cutting is blown with air; robot 20 is used to pick up the film and transfer the film to the punching die 11; the movable arm of robot 20 is provided with a base plate 30, the base plate 30 is provided with an adsorption plate 31 for adsorbing the film, the adsorption plate 31 is provided with a contoured suction hole 32 that matches the rubber plug on the film; the base plate 30 is provided with a first detection element 35, the first detection element 35 is used to determine whether the rubber plug on the film is matched in the die hole of the punching die 11.

[0021] The automatic edge trimming system for rubber stoppers of this invention can automatically punch off edges from the film, saving time and effort, and is convenient and efficient, improving the punching quality and edge trimming pass rate. The waste removal device 12 can conveniently and efficiently blow away and thoroughly remove waste from the punching die 11, improving the efficiency of edge trimming. The first detection element 35 can determine whether all the rubber stoppers on the film fit within the die hole of the punching die 11, improving the punching quality and edge trimming pass rate. The contour suction hole 32 adsorbs the rubber stoppers, improving the positioning accuracy of the stoppers, reducing the positional offset of the stoppers during loading and unloading, and improving the edge trimming pass rate.

[0022] The robot 20 can be a six-axis robot commonly used in this technical field, and no specific limitation is made here. The robot 20 of this invention can drive the film to move freely and flexibly in multiple directions, and can quickly and accurately transfer the film to the punching die 11.

[0023] The robot 20 has a vacuum assembly 23 installed on its movable arm. The vacuum assembly 23 is connected to the contour suction hole 32 on the adsorption plate 31. When the vacuum assembly 23 is connected to the contour suction hole 32, it can adsorb the film. When the vacuum is released, the film can be removed from the contour suction hole 32.

[0024] The vacuum assembly 23 is mounted on the movable arm of the robot 20, rather than on the base plate 30 or the adsorption plate 31. This is to ensure that the vacuum assembly 23 is not too far from the adsorption plate 31, which would increase the gripping time, and to simplify the shape and structure of the base plate 30 and the adsorption plate 31.

[0025] The robotic arm 20 has a connecting plate 21 with multiple positioning holes 22 arranged in a circle. The other end of the base plate 30 has multiple positioning posts 34, which are perpendicular to the base plate 30 and also arranged in a circle. Each positioning post 34 fits into one of the positioning holes 22. Through the positioning engagement of the positioning posts 34 and the positioning holes 22, the base plate 30 can be securely, reliably, conveniently, and quickly installed on the robotic arm 20, thus achieving rapid installation of the base plate 30.

[0026] In other preferred embodiments, the base plate 30 may also be mounted on the movable arm of the robot 20 in other ways common in the art, without specific limitations.

[0027] Four first detection elements 35 are provided on the base plate 30, located at the four corners of the adsorption plate 31. The first detection elements 35 can detect the height of the four corners of the film to determine whether the film is on the same plane. This allows them to determine whether all the rubber plugs on the film are properly fitted into the die holes when the film is placed on the punching die, thus improving the quality of the punched edges and increasing the pass rate. If all the rubber plugs are properly fitted into the die holes of the punching die 11, the first detection element 35 sends a signal to the control program, which then proceeds to the next step. If some rubber plugs are not properly fitted into the die holes of the punching die 11, the first detection element 35 sends a signal to the control program, which then activates an alarm device to issue an alarm signal, allowing the film to be repositioned until all the rubber plugs are properly fitted into the die holes.

[0028] The first detection element 35 is a proximity switch commonly used in this technical field, and no specific limitations are imposed here.

[0029] A nozzle 33 is provided at one end of the base plate 30. The nozzle 33 is used to spray lubricant onto the punching die 11. By spraying lubricant onto the die holes on the punching die 11 through the nozzle 33, the quality of the punched edges can be improved and the yield rate can be increased.

[0030] One end of the base plate 30 is provided with a vertical plate 36, which can be an L-shaped integral piece. The vertical plate 36 includes a horizontal plate and a vertical plate that are perpendicular to each other. The horizontal plate can be welded or bolted to the base plate 30, without specific limitations. The vertical plate can be connected to the spray head 33. Specifically, the vertical plate is provided with a long strip-shaped first connecting hole 37, and the spray head 33 is provided with a bolt corresponding to the first connecting hole 37. The bolt passes through the first connecting hole 37 and is tightened with a nut, thereby connecting the spray head 33 to the vertical plate 36. The first connecting hole 37 is a long strip-shaped through hole. By adjusting the connection position of the bolt in the first connecting hole 37, the extension length and pitch angle of the spray head 33 can be adjusted, which facilitates on-site debugging and makes it easier for the spray head 33 to be aligned with the punching die 11 for spraying.

[0031] A mounting cover 38 is fastened to the base plate 30. The mounting cover 38 has a symmetrical structure, and an avoidance groove 39 is provided at the end of the mounting cover 38. The avoidance groove 39 is used to avoid the nozzle 33. The pipes connecting the vacuum assembly 23 to the contour suction hole 32 and the pipes connecting to the nozzle 33 can be set between the mounting cover 38 and the base plate 30.

[0032] The edge of the adsorption plate 31 is provided with a sealing gasket 39, and the edge of the adsorption plate 31 can be bolted to the base plate 30. By setting the sealing gasket 39, the sealing performance can be improved, ensuring stable and reliable adsorption of the film.

[0033] Multiple contoured suction holes 32 are evenly spaced on the adsorption plate 31. These holes, equivalent to planar suction cups, are adapted to the shape and structure of the rubber stopper, improving its positioning accuracy, reducing positional shift during loading and unloading, and increasing the yield rate of the cut edges of the rubber sheet. The edges of the contoured suction holes 32 have inclined guide angles, facilitating the adsorption and alignment of the rubber stopper.

[0034] Instead of using a soft suction cup structure, the adsorption plate 31 of the present invention has a contoured suction hole 32 for adsorbing the film. On the one hand, this simplifies the shape and structure of the adsorption plate 31 and reduces the processing difficulty; on the other hand, it avoids the problem of interference between the adsorption plate 31 and the die hole or rubber plug on the die-cutting mold 11 when adsorbing the small film after punching. This can improve the qualified rate of the punched edge of the film, reduce the generation of waste film, and minimize the waste of film.

[0035] This invention calibrates the coordinate system of the edge removal system in the following manner: After the adsorption plate 31 is installed on the base plate 30, a calibration plate is installed on the adsorption plate 31. By running the robot 20 and using the vision recognition system, the horizontal position coordinate system for picking up the film and the horizontal motion coordinate system of the adsorption plate 31 are established. After the coordinate system is established and the control program is entered, the calibration plate on the adsorption plate 31 can be removed.

[0036] A calibration needle is provided on the base plate 30, and a calibration needle is set at the film feeding point. By running the robot 20, the tips of the two calibration needles are aligned and overlapped. By moving the robot around the needle tips, the three-dimensional motion of the robot around a certain point can be determined, thereby determining the vertical motion coordinate system of the adsorption plate 31. The coordinate system is entered into the control system. After the coordinate system entry control program is established, the calibration needle can be removed.

[0037] A calibration plate is placed on the punching die 11. The robot 20 is operated, and the alignment is manually adjusted so that the adsorption plate 31 picks up the calibration plate and places it in the designated material picking position. The coordinate position of the calibration plate is recorded by the vision recognition system, thus establishing the coordinate system of the punching die 11. By comparing it with the standard coordinate system of the film picking position, the deviation is adjusted to ensure that the two coordinate systems are consistent.

[0038] Through the integrated linkage of the calibration plate and calibration needle, the robot can accurately move to the film picking area, ensuring that the adsorption plate 31 can be aligned with the film and achieve precise and rapid gripping and adsorption of the film. It can also accurately move the robot to the position of the punch press 10 and accurately transfer the film onto the punching die 11, ensuring that the rubber plugs on the film are precisely fitted into the die hole, thereby improving the efficiency and pass rate of film punching and cutting edges.

[0039] The waste removal device 12 can conveniently, efficiently, and thoroughly remove waste. The height and blowing direction of the air nozzle 123 can be adjusted by sliding and rotating the fixed block 125. The distance between the air nozzle 123 and the punching die 11 can be adjusted by sliding the adjusting rod 122. Through the above adjustments, the air nozzle 123 can be aimed at the punching die 11 to blow air, thus thoroughly removing the waste on the punching die 11.

[0040] like Figure 11 and Figure 12 As shown, the waste removal device 12 includes a first base 121, a fixing rod 124 on the first base 121, a fixing block 125 on the fixing rod 124, a first fixing groove 126 and a second fixing groove 127 on the fixing block 125, both the first fixing groove 126 and the second fixing groove 127 being open grooves, the axes of the first fixing groove 126 and the second fixing groove 127 being perpendicular to each other, and a first fastening bolt 128 and a second fastening bolt 129 respectively fastening the first fixing groove 126 and the second fixing groove 127 on the fixing block 125.

[0041] The fixing rod 124 is fitted into the first fixing groove 126 with a clearance fit, allowing the fixing block 125 to slide and rotate on the fixing rod 124. The fixing block 125 can slide up and down and rotate along the fixing rod 124. The height of the adjusting rod 122 and the air nozzle 123 can be adjusted by sliding the fixing block 125 up and down, and the orientation of the adjusting rod 122 and the air nozzle 123 can be adjusted by rotating the fixing block 125, thus facilitating the blowing of air from the air nozzle 123 onto the waste material. After adjusting the height and orientation of the adjusting rod 122 and the air nozzle 123, the fixing rod 124 and the first fixing groove 126 can be fastened together by the first fastening bolt 128, thereby securing the fixing block 125 to the fixing rod 124, preventing the fixing block 125 from sliding or rotating.

[0042] The adjusting rod 122 is slidably fitted within the second fixing groove 127, and can be fastened within the second fixing groove 127 by the second fastening bolt 129. The distance between the air nozzle 123 and the punching die 11 can be adjusted by sliding the adjusting rod 122, thus facilitating the blowing of air from the air nozzle 123 onto the waste material. Waste material generated during punching will remain on the punching die 11; air can be blown onto this waste material through the air nozzle 123, causing it to be removed from the punching die.

[0043] The first base 121 can be fixed to the punch press 10 by a magnetic structure, which can facilitate the fixing and adjustment of the waste removal device 12 and avoid the problem of difficulty in drilling and tapping on the punch press 10.

[0044] like Figure 13 As shown, the edge removal detection device 13 includes a second base 131, a vertical rod 132 on the second base 131, a second detection element 133 and a first protective cover 134 on the vertical rod 132; the first protective cover 134 is used to protect the second detection element 133, avoiding problems such as dirt and bumps on the second detection element 133. The second detection element 133 can be a proximity quick-close device. The second detection element 133 detects the position of the punching die 11 to determine whether the punching die 11 has punched the film in place, whether the punching die 11 has returned to its original position after punching, and determines whether the punching die 11 has completed the edge removal action and proceeds to the next step through signal feedback.

[0045] like Figure 14 As shown, the waste detection device 14 includes a third detection element 141 and a second protective cover 142. The second protective cover 142 is used to protect the third detection element 141, which can prevent the third detection element 141 from getting dirty, bumped, or damaged. The third detection element 141 can be a through-beam detection component with a large detection height range and a moderate detection spacing density, which can more accurately detect whether waste has been removed from the punching die 11.

[0046] The edge removal method of the automatic edge removal system for rubber stoppers of the present invention can achieve convenient and efficient automatic punching of rubber sheets, improve the punching efficiency of rubber sheets, and improve the punching qualification rate.

[0047] The edge removal method of the automatic edge removal system for rubber stoppers of the present invention includes the following steps: (1) The robot 20 moves to the film picking area, adsorbs the film through the adsorption plate 31, and then the robot 20 transfers the film to the punch press 10; first, the lubricant is sprayed onto the mold hole of the punching die 11 through the nozzle 33, and then the film is placed on the punching die 11 so that the rubber plug on the film fits into the mold hole of the punching die 11. (2) The height of the four corners of the film is checked by the first test piece 35, thereby determining whether the rubber plugs on the film are all fitted into the mold hole of the punching die 11; (3) The punch press 10 drives the punching die 11 to punch off the film edge, and the edge removal detection device 13 performs edge removal detection to determine whether the punching die 11 punches off the film in place. (4) The waste on the punching die 11 is blown off by the waste removal device 12, and the waste detection device 14 is used to detect whether the waste has been completely removed from the punching die 11.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. An automatic edge removal system for rubber stoppers, characterized in that, include A punch press, the punch press being equipped with a punching die and a waste removal device; the waste removal device includes a first base, the first base being equipped with a fixing rod, the fixing rod being equipped with a slidable and rotatable fixing block; the fixing block being equipped with a slidable adjusting rod, the adjusting rod being equipped with an air blowing nozzle, the air blowing nozzle being used to blow air onto the waste generated by punching the edge; A robot is used to pick up the film and transfer it to the punching die; The robot's movable arm is equipped with a base plate, and the base plate is equipped with an adsorption plate for adsorbing the film. The adsorption plate is equipped with a contoured suction hole that matches the adhesive plug on the film. The base plate is provided with a first detection element, which is used to determine whether the rubber plugs on the film are all fitted into the mold hole of the punching die; one end of the base plate is provided with a spray nozzle, which is used to spray lubricant onto the mold hole of the punching die; The base plate is provided with four first detection elements, which are located at the four corners of the adsorption plate. The first detection elements can detect the height of the four corners of the film and determine whether the film is on the same plane. Thus, it can be determined whether the rubber plugs on the film are all fitted into the mold hole when the film is placed on the punching die. If all the rubber plugs fit into the mold hole, the first detection element sends a signal to the control program, which then controls the next step. If some of the rubber plugs do not fit into the mold hole, the first detection element sends a signal to the control program, which then controls the alarm device to issue an alarm signal to warn the user and to reposition the rubber sheet until all the rubber plugs fit into the mold hole. The first detection element is a proximity switch; The fixing block is provided with a first fixing groove and a second fixing groove, both of which are open grooves, and the axes of the first fixing groove and the second fixing groove are perpendicular to each other. The fixing rod is fitted with a clearance within the first fixing groove, and the fixing block is provided with a first fastening bolt for fastening the fixing rod within the first fixing groove; The adjusting rod is fitted with a clearance within the second fixing groove, and the fixing block is provided with a second fastening bolt for fastening the adjusting rod within the second fixing groove.

2. The automatic edge removal system for rubber stoppers as described in claim 1, characterized in that, The robot's movable arm is equipped with a vacuum assembly, which is connected to the contour suction hole.

3. The automatic edge removal system for rubber stoppers as described in claim 1, characterized in that, The robot's movable arm is equipped with a connecting plate, the connecting plate has positioning holes, and the base plate has positioning pins that cooperate with the positioning holes.

4. The automatic edge removal system for rubber stoppers as described in claim 1, characterized in that, One end of the base plate is provided with a vertical plate, the vertical plate is provided with a long strip-shaped first connecting hole, and the nozzle is provided with a bolt that is connected to the first connecting hole.

5. The automatic edge removal system for rubber stoppers as described in claim 1, characterized in that, A mounting cover is fastened to the base plate, and an avoidance groove is provided at the end of the mounting cover for avoiding the nozzle.

6. A method for removing the edges of an automatic rubber stopper edge removal system as described in any one of claims 1-5, characterized in that, Includes the following steps: (1) The film is adsorbed by the adsorption plate and transferred to the punch press by the robot; first, the lubricant is sprayed onto the die hole of the punching die by the nozzle, and then the film is placed on the punching die so that the rubber plug on the film fits into the die hole of the punching die. (2) By detecting the height of the four corners of the film through the first test piece, it can be determined whether all the rubber plugs on the film are fitted into the mold hole, so as to minimize the generation of waste. (3) The punch press drives the punching die to punch off the edges of the film; (4) The waste on the punching die is blown off by the waste removal device.

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