Automated flat workpiece cutting machine and related method

Abstract

The invention relates to a cutting machine for automatically cutting at least one flat workpiece of deformable material. The machine includes: a cutting table supporting a cutting pad; a cutting unit provided with a blade and movable above the cutting pad to cut the flat workpiece into a certain shape and / or to cut the flat workpiece along a predetermined cutting path; an auxiliary machining unit provided with at least one auxiliary tool and movable at least over a portion of the cutting pad to perform auxiliary machining on the flat workpiece according to a predetermined auxiliary machining path; and an electronic control unit controlling the cutting unit and the auxiliary machining unit to simultaneously actuate the auxiliary machining unit and the cutting unit at least during the cutting step of the flat workpiece.

Description

Technical Field

[0001] The invention relates to the field of machines for the automated cutting of flat workpieces made of deformable material, in particular textiles. Background Art

[0002] The cutting machines to which the present invention refers are of the type that provide blade cutting along lines or shapes (e.g. a portion of a flat workpiece defined by a polygon) by importing the cutting path via software (known in the jargon as "nesting"). In addition to cutting, these machines can also perform auxiliary processing, such as die cutting or drilling holes (even holes of different sizes), or labeling the cut portions of the flat workpiece.

[0003] Thus, in some known embodiments, an automated cutting machine of the type described above comprises a cutting table that supports a cutting mat and that extends between an area for loading flat workpieces onto the cutting mat and an area for unloading the flat workpieces from the cutting mat. The cutting mat also acts as a conveyor belt and can therefore be translated on the cutting table to transport the flat workpieces from the loading area to the unloading area.

[0004] The machine is equipped with a cutting unit having a blade or cutter and movable over a cutting mat to perform flat workpiece cutting along a closed shape or other figure according to a predetermined cutting path, such as simple cutting along a line. For example, the cutting unit is mounted on a beam that can slide along the advancing direction of the cutting mat. The cutting unit can also slide along the beam and thus be orthogonal to the advancing direction of the cutting mat. In this way, the cutting blade can reach any position in the plane defined by the cutting mat.

[0005] In the automotive, aerospace, clothing and composites sectors, very long nests (e.g. 10-12 m) are often used, in which there are also many holes, e.g. the diameter of the holes can vary from 1 mm to 30 mm. The holes are required to fix the cut material to the support structure of the finished product, e.g. by means of clips.

[0006] For example, in a car, soft lining parts of the hood or luggage compartment are attached to the metal structure by buttons and clips that engage these holes; some deformable parts of the headrest also need holes as a circular reference in order to match them with trim parts, padding, etc.

[0007] Currently, in order to drill these holes during the working cycle of an automated cutting machine, it is necessary to equip the cutting head beam with one or more devices, such as a drill and / or a die, the diameter of which corresponds to the size of the hole.

[0008] During a working cycle, the material is advanced by the cutting pad (continuously or stepwise) and the material is alternately cut by the blade or drilled / pierced by the drill / die.

[0009] The alternating use of blades or drills / dies is caused by the coexistence of two devices on the same beam, and this inevitably introduces downtime that slows down the work cycle. For example, the longer the length of the nest and the more holes of different diameters, the longer the downtime experienced by the entire process due to the alternation between cutting and drilling. Summary of the invention

[0010] The object of the present invention is to solve the above limitations of textile cutting machines according to the prior art, and in particular to propose a flat workpiece cutting machine which is capable of shortening downtime and reducing the travel time of the flat workpiece on the cutting table, having obvious advantages in terms of work cycle productivity.

[0011] This object is achieved by an automated flat workpiece cutting machine according to claim 1 and a method according to claim 10. The dependent claims describe preferred or advantageous embodiments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The features and advantages of the machine and method according to the invention will become apparent from the following description of preferred exemplary embodiments thereof, which are provided purely by way of non-limiting examples, with reference to the accompanying drawings, in which:

[0013] - Figure 1 is a perspective view of a cutting machine according to one embodiment of the present invention;

[0014] - Figure 1a yes Figure 1 a front view of the machine in FIG. 1 ; and

[0015] - Figure 1b is from Figure 1 A plan view of the machine from the top, with two different working areas indicated by dotted lines;

[0016] - Figure 2 is a perspective view of a portion of the machine of the preceding figures showing a sensor positioned below the cutting mat for detecting translation of the cutting mat;

[0017] - Figure 3 yes Figure 1 A perspective view of only the drilling and / or die-cutting unit of the machine;

[0018] - Figure 4 yes Figure 3 A perspective view of an electromechanical component of a drilling and / or die-cutting unit in FIG. 1 , on which a die-cutting tool is mounted;

[0019] - Figure 4a is from Figure 4 A plan view of the electromechanical components as viewed from above;

[0020] - Figure 4b It is an axial cross-section of the electromechanical component and its die-cutting tool;

[0021] - Figure 5 is a perspective view of a separate die cutting tool in one embodiment;

[0022] - Figure 6 It is a flowchart related to an example of a control program of a cutting unit and a robot that performs auxiliary processing. DETAILED DESCRIPTION

[0023] In said drawings, 1 denotes as a whole a machine for the automatic cutting of flat workpieces made of deformable material, in particular but not exclusively textiles.

[0024] The cutting machine 1 is capable of processing a single flat workpiece (a single-ply machine in the case of textiles) or a plurality of superimposed flat workpieces (a multi-ply stack in the case of textiles). In the case of a stack, the processing unit described below is capable of processing all the superimposed flat workpieces (the stack) simultaneously, as if they were a single workpiece. In the remainder of this description, for ease of explanation, the term "flat workpiece" will therefore be used both for a single flat element and for several flat elements superimposed to form a stack.

[0025] The machine 1 comprises a cutting table 10 which supports a cutting mat 12. The cutting table 10 extends between a loading area 10a where flat workpieces are loaded onto the cutting mat 12 and an unloading area 10b where the flat workpieces are unloaded from the cutting mat 12.

[0026] Cutting mat 12 is made into for example needle mat (needle mat) or is made of felt material, and it allows cutting blade to pass specially.In addition, cutting mat 12 can be equipped with workpiece clamping device, such as suction device, is suitable for flat workpiece clamping on the surface of cutting mat 12.

[0027] In one embodiment, the cutting mat 12 can be translated on the cutting table 10 to transport the flat workpiece from the loading area 10a to the unloading area 10b (see Figure 1 and Figure 1b ). In the figure, X represents the translation axis of the cutting mat. For example, the cutting mat 12 can be moved as a conveyor belt (or several adjacent conveyor belts) and thus wound around two (or more) drive rollers placed at least at the loading area 10a and the unloading area 10b.

[0028] The machine 1 is equipped with a cutting unit 14. The cutting unit 14 is equipped with a blade or knife. The blade or knife can be fixed, such as in the case of single-layer cutting, or suitable for vertical movement to perform flat workpiece cutting, such as in the case of multi-layer textiles.

[0029] The cutting unit 14 may be of the type conventionally used in these automated textile cutting machines and therefore its structure and operation are known to those skilled in the art and require no further description.An example of a cutting head is described in WO2014064568A2 in the name of the same applicant.

[0030] The cutting unit 14 can move on the first area A1 of the cutting mat 12 (see Figure 1b ) to perform flat workpiece cutting according to a predetermined cutting path. Therefore, the coordinates (x i ,y i 、z i ) refers to the first area A1 of the cutting mat. For example, the coordinates of the cutting path are calculated relative to a reference point of the first area A1, for example coincident with a vertex of the first area A1.

[0031] In one embodiment, the first area A1 corresponds to the entire area of ​​the cutter that is engaged by the cutting mat 12 .

[0032] In one embodiment, the cutting unit 14 is mounted on a beam 16 that extends on the cutting table 10 perpendicular to the direction of advance (T) of the cutting mat 12 and is slidable along side guides 162 of the cutting table that extend parallel to the direction of advance of the cutting mat 12 .

[0033] The cutting unit 14 can also slide along the beam 16. Thus, the blade can reach any position in the plane defined by the first area A1.

[0034] The machine 1 is also equipped with at least one auxiliary machining unit 20, which is suitable for performing additional machining on the flat workpiece in addition to cutting. As will be described in more detail later, the auxiliary machining may be drilling or die cutting of the flat workpiece, or labeling of the polygonal part obtained from the cutting operation.

[0035] In a general embodiment, the auxiliary processing unit 20 is equipped with at least one auxiliary tool 22 and is movable on the second area A2 of the cutting mat 12. The auxiliary processing unit 20 is adapted to perform auxiliary processing on the flat workpiece according to a predetermined auxiliary processing path.

[0036] In one embodiment, the second area A2 coincides with the first area A1 , and thus may correspond to an area of ​​the cutter that is engaged by the cutting mat 12 .

[0037] In a variant embodiment, the second area A2 is an area within the area A1.

[0038] In a variant embodiment, the second area A2 is at least partially separated from the first area A1.

[0039] exist Figure 1b In the illustrated embodiment, the first area A1 and the second area A2 are two separate areas adjacent to each other.

[0040] Therefore, the coordinates (x j ,y j , z j ) may refer to a second area A2 of the cutting mat 12 .

[0041] It should be noted that if the cutting mat 12 is a movable conveyor for transporting flat workpieces, the first area A1 and the second area A2 of the cutting mat do not necessarily refer to physical parts of the cutting mat 12, but rather to the part of the surface of the cutting table 10 that is engaged by the side of the cutting mat facing outward (i.e. upward). On the other hand, if the cutting machine 1 is operated using a fixed cutting mat 12 and the flat workpiece is advanced along the cutting mat 12 by other processing devices, these first areas A1 and second areas A2 can also be considered as parts of the cutting mat 12.

[0042] In one embodiment, the auxiliary processing unit 20 may be movable over the second area A2 regardless of the movement of the cutting unit 14 over the first area A1.

[0043] However, the auxiliary machining unit 20 is a separate unit from the cutting unit 14 , ie, the auxiliary machining unit is placed on a support structure separate from a support structure supporting the cutting unit 14 .

[0044] The cutting unit 14 and the auxiliary machining unit 20 are controlled by an electronic control unit 30. In some embodiments, the electronic control unit 30 includes a cutting unit controller (such as a CNC) and an auxiliary machining controller that controls the auxiliary machining unit 20. If separate, these controllers can still be operatively linked to each other, for example, via a communication bus, so that synchronization between machining steps and / or between movements performed by the cutting unit and the auxiliary machining unit can be achieved.

[0045] The electronic control unit 30 is programmed to actuate the cutting unit 14 and the auxiliary machining unit 20 simultaneously, at least during the cutting step of the flat workpiece.

[0046] In the case where the first area A1 and the second area A2 are at least partially separated, the electronic control unit 30 is programmed to actuate the auxiliary machining unit 20 when the flat workpiece at least partially enters the second area A2 of the cutting mat 12 .

[0047] In the case where the first area A1 and the second area A2 coincide with each other, the electronic control unit 30 is programmed to manage the operation of the cutting unit 14 and the auxiliary machining unit 20 in such a way that the two units can operate simultaneously without interfering with each other.

[0048] Thus, the two processes can be carried out simultaneously (at least during one phase of the machine's working cycle), i.e. in parallel, instead of alternating with each other as in current machines. The simultaneous operation of the cutting unit and the auxiliary processing unit during the working cycle of the material results in reduced downtime and less time spent passing through the material to be cut and to be drilled (or to be otherwise processed), with clear advantages in terms of working cycle productivity.

[0049] Furthermore, a cutting unit which is not loaded with components required for drilling or other machining, for example, is lighter and therefore more efficient.

[0050] In some embodiments, the machine 1 is provided with a position sensor adapted to provide the electronic control unit 30 with information about the position of the flat workpiece relative to the first area A1 and the second area A2 of the cutting mat 12. In this way, the electronic control unit 30 actuates the auxiliary machining unit 20, for example, when a portion of the flat workpiece undergoing auxiliary machining enters the second area A2.

[0051] In one embodiment, the machine 1 includes a mat actuator (not shown) that is controllable by the electronic control unit 30 for automatically translating the cutting mat 12 on the cutting table 10 .

[0052] In one embodiment, the electronic control unit 30 is programmed to drive the mat actuator in such a way that translation of the cutting mat 12 occurs intermittently, ie, in steps.

[0053] In a variant embodiment, the electronic control unit 30 is programmed to drive the pad actuator so that the translation of the cutting pad 12 occurs continuously. In this case, the cutting unit 14 and the auxiliary processing unit 20 are controllable so that during the translation of the cutting pad 12, cutting is performed and auxiliary processing is performed.

[0054] More specifically, in one embodiment, during a partial procedure of the machining operation, there are exchange commands between the two controllers of the cutting unit and the auxiliary machining unit, which allows the machining operation to be synchronized at any time; these commands can actuate certain functions in the cutting unit and the auxiliary machining unit.

[0055] Therefore, during the auxiliary processing, the machine can perform graphic cutting while the cutting pad 12 is moving. At the same time, the auxiliary processing unit can perform an operation on another previously cut part again while the cutting pad 12 is moving, such as labeling, drilling, and die cutting.

[0056] exist Figure 2 In the illustrated embodiment, the synchronization of the cutting unit 14 and the auxiliary processing unit 20 with the movement of the cutting mat 12 uses continuous detection of the position of the cutting mat, such as obtained from an encoder 122 or other mat position sensor placed inside the cutting mat. The position of the cutting mat 12 is continuously transmitted to the electronic control unit 30 (or to both the cutting unit controller and the auxiliary processing unit controller).

[0057] For example, assuming that the auxiliary machining unit moves in a space defined by three orthogonal axes X, Y, and Z, where X is the translation axis of the cutting mat 12 (coinciding with the advancing direction T), the control unit 30 is programmed to convert the coordinate x of the auxiliary machining unit to j is linked to the position of the cutting mat 12 along the axis X. In practice, when machining is performed by the auxiliary machining unit, the programming coordinate y j and z j (ie, the coordinate along the axis orthogonal to the translation axis X of the cutting mat 12) remains unchanged, while the coordinate x j Continuously updated under the control of the auxiliary processing unit, the difference is x j,w =x j -w, where x j is the coordinate along the programmed axis X, and w is the actual position of the cutting mat 12 .

[0058] In other words, the electronic control unit 30 is programmed to obtain the current position w of the cutting mat 12 from the mat position sensor and to command the cutting unit 14 and the auxiliary machining unit 20 to follow the cutting and auxiliary machining paths. i,w 、x j,w By the predetermined coordinate x i 、x j The difference between the current position w of the cutting mat 12 is given.

[0059] In one embodiment, the cutting path is described in a CAD file, which also includes a description of auxiliary processing. The electronic control unit 30 receives the CAD file and uses the coordinates of the cutting path and the auxiliary processing path to provide command instructions for actuating the cutting unit 14 and the auxiliary processing unit 20.

[0060] As described above, when processing is performed during the translation of the cutting pad, the coordinates of the cutting path and the auxiliary processing path along the pad translation axis X are changed in real time by the electronic control unit 30 according to the position of the cutting pad (i.e., the height of the cutting pad along the translation axis X relative to the initial reference height).

[0061] In one embodiment, the second area A2 of the cutting mat is defined downstream or upstream of the first area A1 of the cutting mat along the advancing direction (T) of the flat workpiece.

[0062] More specifically, in the case where the portion of the cutting table engaged by the cutting mat 12 has a rectangular area, Figure 1b In the embodiment shown, the first area and the second area are two substantially continuous and adjacent rectangular portions. In other words, the first area and the second area are two subareas of the rectangular area of ​​the cutting mat 12.

[0063] As mentioned above, in one embodiment, the auxiliary machining unit 20 is a unit for drilling and / or die cutting a flat workpiece.

[0064] Described below is a specific drilling and die-cutting unit 20 which is released from the cutting unit 14 and which can be designed to make holes in flat workpieces very accurately and quickly, even holes of different diameters.

[0065] In one embodiment, the drilling and / or die-cutting unit 20 includes a robot arm 24 placed downstream or upstream of the cutting unit 14 along the advancing direction (T) of the flat workpiece on the cutting table. An electromechanical component 26 is mounted on a wrist 24' of the robot arm 24, which is suitable for operatively supporting the drilling bit or die-cutting bit 22.

[0066] For example, the robotic arm 24 is supported by an arm beam 28 that is secured to the cutting table 10 and extends between opposite sides thereof, perpendicular to the direction of advancement (T) of the flat workpiece.

[0067] In an alternative embodiment, the robotic arm 24 may also be attached to a structure located above the cutting machine 1 .

[0068] In one embodiment, the electromechanical member 26 comprises an annular motor assembly 300 (also referred to as a “torque” motor), ie, it extends coaxially about a motor axis of rotation. The motor assembly 300 is provided with means for coupling to the drilling or die cutting drill bit 22 .

[0069] In one embodiment, these coupling means are adapted to support the drilling or die cutting drill bit 22 coaxially with the motor rotation axis. In other words, advantageously, the motor assembly 300 can be mounted on the wrist 24' of the robot arm 24 in such a way that the motor rotation axis is oriented vertically, thereby being coaxial with the direction in which the drilling or die cutting drill bit 22 is inserted into a flat workpiece.

[0070] In one embodiment, the motor assembly 300 is attached to the lower end of the screw rod 32 supported by the wrist 24' of the robot arm 24 in such a way that its rotation controlled by the wrist motor housed in the wrist 24' corresponds to its translation in the vertical direction, and therefore corresponds to the movement of the motor assembly 300 in the vertical direction, and thereby corresponds to the movement of the drilling bit or die-cutting drill bit 22 attached thereto in the vertical direction.

[0071] Figure 4b and Figure 5 An example of a tool assembly 40 is shown that includes a drilling bit or a die cutting bit 22. A die cutting bit differs from a drilling bit in that it consists of a hollow tubular body that ends in a sharp edge.

[0072] The drilling and die cutting drill bit 22 terminates at a top portion having a ring gear 222 adapted for rotational coupling with a corresponding ring gear of the rotor of the motor assembly 300 .

[0073] Each drilling or die-cutting drill bit 22 is rotatably supported by a tool holding plate 42 to which is attached a cone 44 which houses a ball bearing 46 (or an equivalent means of rotational support) for rotating the drilling or die-cutting drill bit 22. The upper portion of the supporting ring gear 222 of the drilling or die-cutting drill bit protrudes above the cone 44. The cone 44 is adapted to be coupled with the lower portion of the body of the motor assembly 300 by geometrical shape.

[0074] In one embodiment, once the motor assembly 300 is in contact with the cone 44 of the tool holding plate 42, the rotation of the screw rod 32 and the rotation of the body of the motor assembly 300 cause an axial lock between the motor assembly 300 and the cone 44. For example, this rotation of the screw rod 32 is 45°. Due to this rotation, one or more locking pins or balls or other radial locking means supported by the motor assembly 300 engage in corresponding recesses obtained in the collar 44' extending from the top of the cone 44.

[0075] In a variant embodiment, the body of the motor assembly 300 includes or supports a pneumatic coupling device (eg, a device in the form of a clamp) suitable for providing a connection between the motor assembly 300 and the tool assembly 40 .

[0076] At the bottom, the drilling or die cutting drill bit 22 is slidably guided into a lower workpiece support plate 48. The lower plate 48 is resiliently connected to the tool holding plate 42, for example by means of a pair of resilient elements 50, such as helical springs wound around respective side guide posts 52. The lower plate 48 fits over the flat workpiece, holding it in place, as the drilling or die cutting drill bit 22 is lowered to drill through the flat workpiece.

[0077] In one embodiment, the tool retaining plate 42 forms an anchor extension 42 ′ that is adapted to couple to a support bracket 54 for the tool assembly 40 .

[0078] In one embodiment, a support bracket 54 for the tool assembly 40 is mounted on the arm beam 28 that supports the robotic arm 24 .

[0079] Thus, the arm beam 28 also functions as a tool holder magazine to support tool assemblies 40 having drilling or die cutting bits 22 of varying diameters.

[0080] exist Figure 4b In one particularly illustrated embodiment, the robotic arm 24 includes an ejector bar 60 that is translatable within the die cutter head 22 to eject cut material from the die cutter head 22 .

[0081] In one embodiment, the ejector rod 60 is connected to a piston rod 62 of a pneumatic cylinder 64 mounted on top of the screw rod 32. In this embodiment, the screw rod 32 is hollow and slidably receives the piston rod 62.

[0082] In other embodiments, the ejector motor drilling tool assembly does not work coaxially with the robot's screw, but may be secured thereto with side brackets and thereby work in an "offset" manner.

[0083] In a variant embodiment, the auxiliary processing unit 20 is a labeling unit suitable for attaching labels to the polygonal shapes cut by the cutting unit 24 .

[0084] Likewise, in this case, the labeling unit may comprise a robot arm on the wrist of which a label picking tool is mounted, such as a suction cup or a system based on the Venturi effect.

[0085] The invention also relates to a method for cutting in closed shapes and / or along lines according to a predetermined cutting path and for performing auxiliary machining on at least one flat workpiece made of a deformable material by means of an automated cutting machine 1 as described above.

[0086] This method allows the flat workpiece to be advanced from the loading area to the unloading area, for example by actuating the cutting mat 12 if it is of the conveyor type.

[0087] When the flat workpiece is located only in the first area (A1) or the second area (A2) of the cutting mat, the cutting unit 24 or the auxiliary processing unit 20 is activated, respectively.

[0088] On the other hand, when the flat workpiece is at least partially located within the first area ( A1 ) and the second area ( A2 ) of the cutting mat, the electronic control unit 30 actuates the cutting unit 14 and the auxiliary machining unit 20 simultaneously.

[0089] In one embodiment, the auxiliary processing is drilling or die cutting of the flat workpiece or labeling of the shape or pattern obtained by cutting the flat workpiece.

[0090] In one embodiment, the cutting path is described in a CAD file, which also includes a description of auxiliary processing.

[0091] In this case, the method involves acquiring said CAD file by means of an electronic control unit of the cutting machine.

[0092] The electronic control unit 30 then transmits the coordinates of the cutting path to the electronic driver of the cutting unit 14 and the coordinates of the auxiliary machining to the electronic driver of the auxiliary machining unit 20 .

[0093] In one embodiment, the translation of the cutting mat occurs continuously, and the cutting unit and the machining unit perform cutting and auxiliary machining during the translation of the cutting mat. The electronic control unit calculates the coordinates of the cutting path and the path of the auxiliary machining unit along the mat translation axis X as the difference between the predetermined coordinates and the current position of the cutting mat.

[0094] In the case of a drilling / die cutting unit, the software defines which tool should be used to make the first hole.

[0095] The robotic arm 24 is commanded to proceed with coupling of the tool assembly 40 .

[0096] In particular, the screw rod 32 is placed above the tool assembly 40 together with the motor assembly 300; the screw rod 32 is commanded to descend to a position defined by the connection between the cone 44 of the tool holding plate and the body of the motor assembly 300. At this point, the means for connecting to the tool assembly are actuated. For example, the screw rod 32 is rotated by an angle of, for example, 45° to provide a connection between the motor assembly 300 and the tool assembly 40. In other embodiments, as described above, a pneumatic connection means (such as a device in the form of a clamp) is actuated to clamp and lock the tool assembly 40.

[0097] Once the tool assembly 40 is coupled, the robotic arm 24 is commanded to bring the tool assembly 40 to a position where a hole is to be drilled in the flat workpiece.

[0098] The method for making the holes by die cutting is as follows.

[0099] The rotation of the motor assembly 300 is started, which in turn also causes the die-cutting drill 22 to rotate; the screw rod 32 is lowered so that the cutting edge of the die-cutting drill 22 penetrates the material of the flat workpiece, for example by causing it to exceed the thickness of the processed material by about one centimeter. After a predetermined time interval (for example, half a second), the screw rod 32 is returned to the inactive raised position. During this step of raising the screw rod 32, the ejector cylinder 64 placed above the screw rod 32 is actuated. The cylinder 64 actuates the associated piston 62 and then the ejector rod 60 connected thereto, so that the cut material is ejected from the die.

[0100] Drilling of a hole with the aid of a drilling bit is performed in the same manner, the only difference (apart from the higher rotational speed of the torque motor) being that the ejector rod 60 remains in an idle, raised position since no material is being cut inside the drilling bit.

[0101] The machining cycle consists of drilling all holes in sequence where the same die or drilling bit is required, otherwise a tool change is performed.

[0102] If a tool change is required, the robotic arm 24 is commanded to position itself over the empty tool assembly 40 support bracket 54. The screw rod 32 is lowered until the coupling extension 42' of the tool holding plate 40 couples with the support bracket 54. At this point, the motor assembly 300 can be disengaged from the tool assembly 40, such as by a 45° rotation of the screw rod 32. The screw rod is then lifted and repositioned on top of the tool assembly 40 for coupling using the procedure described above.

[0103] In the case of labeling, the machine's control software sends the part code to be printed to the printer. The label is ready.

[0104] The robot arm engages a tool, such as a suction cup, to pick up the label.

[0105] The wrist of the robotic arm positions itself over the printed label and engages the label.

[0106] The robot arm is commanded to position itself over the workpiece to be labeled and then lowers to release the label; since the label is adhesive, it remains attached to the workpiece.

[0107] Figure 6 is a flow chart example 500 of a control procedure for a cutting unit and a robot driver that moves an auxiliary machining unit in one embodiment.

[0108] When the processing has started, the electronic control unit 30 sends the work program to the cutting unit and the robot (step 502).

[0109] The cutting unit 14 starts the cutting operation (step 503).

[0110] In one embodiment, the cutting mat 12 is commanded to advance (step 504).

[0111] The program checks whether there are any graphics to be cut during the advancement of the cutting mat (step 506).

[0112] If yes, the cutting unit continues cutting (step 508).

[0113] Otherwise, the cutting unit waits for the pattern to enter the working area (step 510).

[0114] After the graphics are cut, the program checks whether there are graphics to be cut that have not yet entered the cutting area (step 512).

[0115] If so, the cutting mat is commanded to advance (step 504), and it continues to step 506 to check whether there is a pattern to be cut during the advancement of the cutting mat.

[0116] Otherwise, the cutting operation control program ends (step 514).

[0117] As the cutting mat 12 advances, the program checks to see if the pattern enters the robot's work area (step 516).

[0118] If so, the robot is commanded to perform processing of the available graphics (step 518).

[0119] Otherwise, the program waits for the pattern to enter the robot's work area (step 520).

[0120] When the robot has completed processing the graphics, the program checks whether there are graphics to be processed that have not entered the robot's working area (step 522).

[0121] If so, the cutting mat is commanded to advance (step 504), and it continues with step 516 to check whether there is a pattern to be processed during the advancement of the cutting mat.

[0122] Otherwise, the robot's machining control program ends (step 524).

[0123] In addition to the above-mentioned drilling and labeling, the cutting machine according to the present invention can also be used to perform other auxiliary processing.

[0124] For example, the means of the auxiliary processing unit may be a printing head suitable for printing information directly in a cartene provided at the top of the closed shape, replacing the labelling operation.

[0125] In another embodiment, the auxiliary tool may be a fixed blade or an ultrasonic blade adapted to form a small cut in the contour of a closed shape, which serves as a reference point between the various shapes in subsequent post-cutting assembly steps.

[0126] In addition to fixed blades, dies with "V" shapes at various angles may be used which form "V" shape references rather than simple cuts, so they are easier to see for the assembly operator than simple cuts.

[0127] In order to meet possible needs, those skilled in the art may make changes, adjustments and substitutions of functionally equivalent elements to the embodiments of the method and cutting machine according to the invention without departing from the scope of the appended claims. Each of the features described as belonging to possible embodiments can be obtained independently of the other described embodiments.

Claims

1. A cutting machine for automatically cutting at least one flat workpiece made of a deformable material, the cutting machine comprising: a cutting table supporting a cutting mat and extending between a loading area for loading the flat workpiece onto the cutting mat and an unloading area for unloading the flat workpiece from the cutting mat, the flat workpiece being translatable on or together with the cutting mat from the loading area to the unloading area; a cutting unit provided with a blade and movable on the cutting mat to cut the flat workpiece into shapes according to a predetermined cutting path and / or to cut the flat workpiece along a line; - an auxiliary machining unit provided with at least one auxiliary tool and movable at least over a portion of the cutting mat to perform auxiliary machining on the flat workpiece according to a predetermined auxiliary machining path; - an electronic control unit controlling said cutting unit and said auxiliary machining unit, said electronic control unit being programmed to actuate said auxiliary machining unit and said cutting unit simultaneously at least during the cutting step of said flat workpiece.

2. The machine according to claim 1, wherein: The cutting unit is movable over a first region of the cutting mat, the auxiliary machining unit is movable over a second region of the cutting mat at least partially separated from the first region, and wherein the electronic control unit is programmed to simultaneously actuate the auxiliary machining unit and the cutting unit when the flat workpiece at least partially enters the second region of the cutting mat.

3. Machine according to claim 1 or 2, comprising a mat actuator controllable by the electronic control unit to perform automatic translation of the cutting mat on the cutting table.

4. The machine according to claim 3, wherein: The electronic control unit is programmed to actuate the mat actuator such that translation of the cutting mat occurs in an intermittent manner.

5. The machine according to claim 3, wherein: The electronic control unit is programmed to actuate the pad actuator so that translation of the cutting pad occurs continuously, the cutting unit and the auxiliary machining unit are controllable to cut and perform auxiliary machining during translation of the cutting pad, wherein the machine includes a pad position sensor, which is suitable for continuously sensing the position of the cutting pad along the translation axis, and wherein the electronic control unit is programmed to obtain the current position of the cutting pad from the pad position sensor and command the cutting unit and the auxiliary machining unit to follow a cutting path and an auxiliary machining path, wherein the coordinates of the path along the pad translation axis are given by the difference between predetermined coordinates and the current position of the cutting pad.

6. A machine according to any one of the preceding claims, wherein: The auxiliary processing unit is a unit for drilling and / or die cutting the flat workpiece.

7. The machine according to claim 6, wherein: The drilling and / or die-cutting unit comprises a robotic arm placed downstream or upstream of the cutting unit along the advancing direction of the cutting pad on the cutting table, wherein an electromechanical component is mounted on the wrist of the robotic arm, the electromechanical component being suitable for operatively supporting a drilling bit or a die-cutting bit.

8. The machine according to claim 7, wherein: The electromechanical member comprises an annular motor assembly extending around a motor rotation axis and provided with coupling means to a drilling or die-cutting drill bit, the coupling means being suitable for supporting the drilling or die-cutting drill bit coaxially with the motor rotation axis.

9. A machine according to claim 7 or 8, wherein: The robot arm includes an ejector rod, which can translate inside the die-cutting drill bit to eject the cut material inside the die-cutting drill bit.

10. A method for cutting and auxiliary machining in closed shapes and / or along lines according to a predetermined cutting path on at least one flat workpiece made of a deformable material by means of an automated cutting machine, the automated cutting machine comprising: a cutting table supporting a cutting mat and extending between a loading area for loading the flat workpiece onto the cutting mat and an unloading area for unloading the flat workpiece from the cutting mat, wherein the flat workpiece can be translated on or together with the cutting mat from the loading area to the unloading area; - a cutting unit provided with a blade and movable on the cutting mat to cut the flat workpiece; - an auxiliary machining unit provided with at least one auxiliary tool and movable on the cutting mat to perform auxiliary machining of the flat workpiece; The method comprises the following steps: - advancing the flat workpiece from the loading area to the unloading area; - The cutting unit and the auxiliary machining unit are actuated simultaneously at least during the cutting step of the flat workpiece.

11. The method according to claim 10, wherein: - the cutting unit is movable over a first area of ​​the cutting mat to cut the flat workpiece; - the machining unit is movable over a second area of ​​the cutting mat at least partially separated from the first area of ​​the mat in order to perform an auxiliary machining of the flat workpiece; And wherein the method comprises the following steps: - actuating the cutting unit or the auxiliary machining unit when the flat workpiece is located only in the first area or the second area of ​​the cutting mat; - simultaneously actuating the cutting unit and the auxiliary machining unit when the flat workpiece is at least partially located in the first and second areas of the cutting mat.

12. The method according to claim 10 or 11, wherein: The auxiliary processing is drilling or die cutting of the flat workpiece, or labeling of a shape obtained by cutting the flat workpiece.

13. The method according to any one of claims 10 to 12, wherein: The cutting path is described in a CAD file, and the CAD file also includes a description of the auxiliary processing. The method includes the following steps: - obtaining the CAD file through the electronic control unit of the cutting machine; - The coordinates of the cutting path are transmitted to the electronic driver of the cutting unit by the electronic control unit, and the coordinates of the auxiliary machining are transmitted to the electronic driver of the auxiliary machining unit.

14. The method according to any one of claims 10 to 13, wherein: The flat workpiece is advanced in an intermittent manner.

15. The method according to any one of claims 10 to 13, wherein: The flat workpiece is continuously advanced, wherein the cutting unit and the auxiliary processing unit are controlled to perform the cutting process and the auxiliary processing during the translation of the cutting mat, the method further comprising the steps of: - obtaining the current position (w) of the cutting mat from a mat position sensor; - Get the coordinates of the cutting path (x i ,y i , z i ) and the coordinates (x j ,y j , z j ); - calculating updated coordinates of the cutting path and the auxiliary machining path, wherein the coordinates (x) of the cutting path and the auxiliary machining path along the translation axis (X) of the cutting mat i,w , x j,w ) is obtained from the coordinates (x i , x j ) and the current position (w) of the cutting mat; - transmitting updated coordinates of the cutting path and the auxiliary machining path to the cutting unit and the auxiliary machining unit.

16. The method according to any one of claims 10 to 15, wherein: The second area of ​​the cutting mat is defined downstream or upstream of the first area of ​​the cutting mat along the advancing direction of the flat workpiece from the loading area to the unloading area.

17. The method according to any one of claims 10 to 16, wherein: The portion of the cutting table engaged by the cutting mat has a rectangular area, and wherein the first area and the second area are two continuous and adjacent rectangular subdivisions of the rectangular area.

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