CUTTING MACHINE AND METHOD FOR ADJUSTING THE OPTIMIZED CUTTING MACHINE HEAD PATH

Abstract

A cutting machine according to the present invention comprises a cutting table including a vacuum-setup part on which a sheet material is placed to be cut under vacuum; a head carrying a cutting tool; a displacement mechanism moving the head in first and second directions;and a control device setting a path to an optimized path by means of a path search in order to reduce a distance of the head's path, the control device being configured, when setting the optimized path, to optimize the path in order to adjust a return path distance, which is a head path distance during a return path in a direction opposite to a direction along a cutting flow going from one side to the other side in the second direction, to a value not exceeding a threshold of the return path distance that regulates the return path. Abstract figure: Figure 1;

Description

Title of the invention: CUTTING MACHINE AND METHOD FOR ADJUSTING THE OPTIMIZED PATH OF THE CUTTING MACHINE HEAD technical field

[0001] The present invention relates to a cutting machine and a method for adjusting the optimized path of a cutting machine head, in particular a cutting machine and a method for adjusting the optimized path of a cutting machine head to optimize a path of a head when cutting a plurality of parts from a sheet material. Previous technique

[0002] Cutting machines that optimize the path lengths of a cutting head when cutting a plurality of parts from a sheet material are known in the art. Such a cutting machine is described in LIAO Yi-hui, YANG En-ju, An-dong and Yu Li, Path Optimization in CNC Cutting Machine Based on Modified Variable Neighborhood Search, Computer Science, 2020, vol. 47, no. (10): 233-239, doi: 10.11896.jskx.l90800035 (hereinafter "non-patent document"), for example.

[0003] The above non-patent document discloses a method for optimizing a cutting tool path in order to shorten the tool path used to cut a plurality of parts from a sheet material when cutting the plurality of parts. More specifically, the above non-patent document discloses a method for shortening a blade path by optimizing the cutting path of the blade used for cutting, by means of a path search such as the 2-opt function.

[0004] In this case, although not disclosed in the above non-patent document, the plurality of parts are cut from the sheet material while it is held on a suction-supported part to prevent any positional deviation of the sheet material during cutting in certain cases. Since a leak forms at the cut point in the sheet material during suction-supported cutting, air can escape through the leak, thereby reducing the suction force applied to the sheet material, which can in some cases lead to said positional deviation of the sheet material. In other words, depending on the path of the blade-supporting head (cutting tool), it may be difficult in some cases to stably suction the sheet material. In this case, in the process disclosed in the above non-patent document, It is not assumed that the plurality of parts are cut from the sheet material under vacuum. Therefore, when the cutting head path is optimized to shorten it according to the method disclosed in the non-patent document above, the resulting path may not be suitable for cutting the sheet material held under vacuum, which could potentially lead to drawbacks in certain cases. For this reason, it is desirable to have a technology capable of shortening the cutting head path while adjusting the path to an optimized path suitable for cutting sheet material held under vacuum. Exposed

[0005] The present invention aims to solve the above problem, and an object of the present invention is to provide a cutting machine and a method for adjusting the optimized path of a cutting machine head capable of shortening a path of a head during the adjustment of its path on an optimized path adapted to cutting a sheet material held under suction.

[0006] A cutting machine method according to a first aspect of the present invention comprises a cutting table including a vacuum-setup part on which a sheet material is placed under vacuum, a plurality of cutting zones being defined on the sheet material at positions corresponding to parts to be cut; a head carrying a cutting tool which cuts the sheet material; a support beam movably supporting the head in first directions in a horizontal plane; a displacement mechanism moving the head in the first directions on the support beam and moving the head in second directions perpendicular to the first directions in the horizontal plane;and a control device that, during a head travel path, adjusts the travel path to an optimized path by means of a path search in order to reduce a distance of the deactivation movement during which the head is moved to avoid contact of the cutting tool with the sheet material when the head is moved to pass through a plurality of passage positions corresponding to the plurality of cutting zones of the sheet material, the control device being configured, during the adjustment of the optimized travel path, to optimize the travel path in order to adjust a return travel distance, which is a travel distance of the head during a return travel in a direction opposite to a cutting flow along a flow going from one side to the other side in the second direction, to a value not exceeding a threshold of the return travel distance that regulates the return travel. ;

[0007] In the cutting machine according to the first aspect of the present invention, as described above, the proposed control device regulates, during a travel The head travel path is optimized using path search to reduce the deactivation travel distance, during which the head is moved while deactivated. Therefore, since the head travel path is optimized using path search to reduce the deactivation travel distance, it is possible to shorten the head travel path.Furthermore, it is possible to prevent an increase in the head's return travel distance by optimizing the travel path. This allows adjusting the return travel distance—the distance the head travels back in the opposite direction to a cutting flow moving from one side to the other in the second direction—to a value no higher than a threshold that regulates the return path. Consequently, it is possible to prevent a situation where a predetermined cutting zone is surrounded by cutting zones that have already been cut. For this reason, it is possible to prevent the setting of a travel path that would cause the sheet material to be cut while air is leaking through the sheet material, which would reduce the suction force applied to the sheet material and make stable suction difficult.Consequently, it is possible to adjust the cutting head path to suit cutting sheet material held under vacuum. Based on these results, it is possible to adjust the cutting path to an optimized path suitable for cutting sheet material held under vacuum while shortening the overall cutting head path.

[0008] In the cutting machine according to the first aspect, it is preferable that the control device be configured, after setting an initial path on a path which passes through center of gravity positions of the plurality of cutting zones as a plurality of passage positions along the cutting flow going from said side to the other side in the second direction, to optimize the path by means of path search, on the basis of the initial path when optimizing the path by means of path search.According to this configuration, since the path along the cutting flow from one side to the other in the second direction is defined as the initial path based on the center of gravity positions of the plurality of cutting zones, it is possible to optimize the initial path set to pass through the average positions of the plurality of cutting zones as transit positions. Consequently, it is easy to adjust the path to a route suitable for cutting sheet material held under vacuum while shortening the head's path.

[0009] In the cutting machine according to the first aspect, it is preferable that the path search include the 2-opt function; and that the control device be configured to set the optimized path by optimizing the initial path using the 2-opt function. According to this configuration, since the initial path is optimized using the 2-opt function, the head path can be easily optimized.

[0010] In the configuration which optimizes the initial path set on the basis of the center of gravity position of each of the plurality of cutting zones above, it is preferable that each of the plurality of cutting zones includes a plurality of candidate positions, which are candidates for a cutting start position where the cut starts; and that the control device is configured, after setting the optimized path, to further optimize the optimized path by means of path search by changing each center of gravity position as corresponding passage position among the plurality of passage positions for the cutting start position which is chosen from the plurality of candidate positions.According to this configuration, since the path optimized using path search is further optimized based on the plurality of cutting start positions, each of which is chosen from the plurality of candidate positions for a corresponding cutting zone within the plurality of cutting zones, the head path can be shortened even further. In this disclosure, further optimization of the path optimized using path search refers to optimization aimed at further shortening the optimized path.

[0011] In the cutting machine according to the first aspect, it is preferable that the control device be configured to optimize the path in order to adjust the return path distance between two adjacent passage positions, among the plurality of passage positions, through which the head passes, as well as the return path distance for three or more adjacent passage positions, among the plurality of passage positions, through which the head passes, to a value not exceeding the threshold when optimizing the path.In this disclosure, in a case where the return travel distance is compared to the threshold based solely on two adjacent passage positions, when the return travel distance between two adjacent passage positions does not exceed the threshold, even if the return travel distance for three or more adjacent passage positions (between the first and last of the three or more passage positions) exceeds the threshold, the setting of such a travel path (first travel path) cannot be regulated. Similarly, in a case where the return travel distance is compared to the threshold based solely on three or more adjacent passage positions, even when... If the return path distance between two adjacent passage positions exceeds the threshold, and the return path distance between the first and last of three or more passage positions does not exceed the threshold, the setting of such a path (second path) cannot be regulated. To remedy this, according to the aforementioned configuration, both when the return path is such that the return path distance between two adjacent passage positions exceeds the threshold and when the return path distance for three or more adjacent passage positions exceeds the threshold, the setting of such paths (first and second paths) can be regulated.Consequently, when optimizing the route, it is possible to effectively prevent the setting of a route that includes a return route with a return route distance that exceeds the threshold.

[0012] In the cutting machine according to the first aspect, it is preferable that the control device be configured to optimize the travel path so as to allow a head path that includes a return travel distance greater than the threshold without regulation when the head advances a distance not less than a predetermined distance in a forward direction in the first directions. According to this configuration, since the head path that includes the return travel distance is permitted without regulation even if the return travel distance is greater than the threshold when the head advances a distance not less than the predetermined distance in the forward direction in the first directions, excessive regulation of the return path can be avoided during the optimization of the head travel path.Therefore, even if the head returns in the second direction, when the head moves forward a distance no less than the predetermined distance in the forward direction in the first directions, it is possible to prevent a situation where a predetermined cutting zone is surrounded by cutting zones that have already been cut. Depending on the configuration in which the travel distance is permitted without regulation even in such a case, it is possible to further optimize the head's path while preventing the situation where a predetermined cutting zone is surrounded by cutting zones that have already been cut. In this disclosure, the optimized path is set to move the head back and forth in the first directions.For this reason, the direction of advance in the first directions can be a direction going from one side to another in the first directions or a direction going from the other side to said side in the first directions.

[0013] A method for adjusting the optimized path of a cutting machine head according to a second aspect of the present invention is a method for adjusting an optimized path of a head in a cutting machine comprising the a head carrying a cutting tool that cuts a sheet material placed under suction, a plurality of cutting zones being set on the sheet material at positions corresponding to parts to be cut, and a support beam mobilizing the head in first directions in a horizontal plane by optimizing a path of the head by means of a path search in order to reduce a distance of the deactivation movement during which the head is moved to avoid contact of the cutting tool with the sheet material when the head is moved in the first directions and second directions perpendicular to the first directions in the horizontal plane to pass through a plurality of passage positions corresponding to the plurality of cutting zones of the sheet material, the path being optimized to adjust a return path distance,which is a quantity of head travel returning in a direction opposite to a cutting flow going from one side to the other in the second direction, to a value not exceeding a threshold of the return travel distance that regulates the return travel when setting the optimized travel path.

[0014] In the method of setting the optimized path of the cutting machine head according to the second aspect of the present invention, during a path of the head, the path is set to an optimized path by means of a path search in order to reduce a distance of the deactivation movement during which the head is moved to avoid contact of the cutting tool with the sheet material when the head is moved in the first directions and the second direction perpendicular to the first directions in order to pass through a plurality of passage positions corresponding to the plurality of cutting zones of the sheet material;and the cutting path is optimized to adjust the return path distance, which is the distance the cutting head travels back in the opposite direction to a cutting flow going from one side to the other in the second direction, to a value not exceeding a threshold for the return path distance that regulates the return path. Therefore, similarly to the cutting machine described in the first aspect mentioned above, it is possible to propose a method for adjusting the optimized cutting path of the cutting machine head capable of adjusting the cutting head's path to a path suitable for cutting sheet material held under suction while shortening the head's travel distance. Brief description of the drawings; Fig. 1

[0015] [Fig.1] is a side view of a cutting machine according to one embodiment. Fig. 2

[0016] [Fig.2] is a plan view of the cutting machine according to the embodiment. Fig. 3

[0017] [Fig.3] is a functional diagram of the cutting machine according to the embodiment. Fig. 4

[0018] [Fig.4] is a schematic view illustrating a configuration in which a cutting machine control device regulates an initial path of a cutting head according to the embodiment. Fig. 5

[0019] [Fig.5] is a schematic view illustrating the initial path set by the cutting machine control device. Fig. 6

[0020] [Fig.6] is a schematic view illustrating a post-optimization path of the cutting head in a comparative example. Fig. 7

[0021] [Fig.7] is a schematic view illustrating a post-optimization path of the cutting head according to the embodiment. Fig. 8

[0022] [Fig.8] is a schematic view illustrating a configuration in which the cutting machine control device according to the embodiment optimizes the path by means of a threshold. Fig. 9

[0023] [Fig.9] is a schematic view illustrating a configuration in which the control device regulates the path to allow a return path of the cutting head whose return path distance is greater than the threshold without regulation according to the embodiment. Fig. 10

[0024] [Fig. 10] is a schematic view illustrating a path after the change of passage positions during the post-optimization path of the cutting head for the cutting start position according to the embodiment. Fig. 11

[0025] [Fig. 11] is a process diagram for optimizing a path of the cutting head, executed by the control device of the cutting machine according to the embodiment. Description of the implementation methods

[0026] The following description describes an embodiment implementing the present invention with reference to the drawings.

[0027] A cutting machine 100 and a method for adjusting a path 83 (see [Fig.8]) of a cutting head 40 of the cutting machine 100 according to this embodiment of the present invention are described with reference to Figures 1 to 11. A configuration of the cutting machine 100 according to this embodiment is first described with reference to Figures 1 to 10.

[0028] (Complete configuration of the cutting machine)

[0029] The cutting machine 100 illustrated in Figures 1 and 2 is an apparatus for cutting sheet material 9, such as clothing fabrics, leather, paper, and plastics. Furthermore, the cutting machine 100 is configured to perforate the sheet material 9 to indicate sewing positions on fabrics, button fastening positions, and other markings before and after the cutting process. Following the perforation, a plurality of holes are formed at predetermined positions in the sheet material 9, and these holes are used as guides during a post-cutting process.

[0030] The cutting machine 100 is driven by a CAD / CAM (computer-aided design / computer-aided manufacturing) system. More specifically, users input cutting shapes and punching positions of the sheet material 9 into the CAD system of the cutting machine 100. In addition, users input toolpaths (toolpaths) to move a cutting head 40 and a punching head 50, which will be described later, into the CAM system of the cutting machine 100. The aforementioned cutting head 40 is an example of a "cutting tool" in the claims.

[0031] In this disclosure, in the drawings, the Y directions indicate the extension directions of the support beams 21 and 31 in a horizontal plane; the X directions indicate directions perpendicular to the Y directions in the horizontal plane; and the Z directions indicate vertical directions. One direction is defined as direction Y1, and another direction is defined as direction Y2 in the Y directions. In the X directions, direction XI indicates a feed direction for the sheet material 9, which is a target to be cut by the cutting machine 100, while direction X2 indicates a direction opposite to the feed direction. In the Z directions, direction Z1 indicates an upward direction, and direction Z2 indicates a downward direction. In this disclosure, the Y and X directions are respectively examples of "first directions" and "second directions" in the claims.

[0032] A spreading machine (not shown) is arranged on one feed side (X2 direction side) of the cutting machine 100, and a pickup table (not shown) is arranged on one outfeed side (XI direction side) of the cutting machine 100. In this disclosure, the cutting machine may include either the spreading machine or the pickup table, or neither the spreading machine nor the pickup table. According to a Alternatively, the sheet material may not be fed onto a cutting table of the cutting machine, but may be placed on the cutting table by some setup device or a user.

[0033] As shown in Figures 1 and 2, the cutting machine 100 comprises a cutting table 1, a cutting head moving mechanism 20, a punching head moving mechanism 30, a cutting head 40, a punching head 50, a sealing sheet drive mechanism 60, a sealing sheet support 61, a control device 2 and a storage 3.

[0034] (Cutting table configuration)

[0035] The cutting table 1 includes a vacuum-operated positioning section 10 onto which the sheet material 9 is placed for cutting under vacuum. In short, the cutting table 1 is a workbench for the cutting process of the sheet material 9. Furthermore, punching processes of the sheet material 9 are performed on the cutting table 1. By way of illustration, the vacuum-operated positioning section 10 has a sheet material 9 positioning surface shaped like a brush, but not limited to this. The cutting table 1 is configured to press the sheet material 9 onto the vacuum-operated positioning section 10 by vacuuming the sheet material 9 from the underside of the brush-shaped vacuum-operated positioning section 10 in order to maintain contact between the sheet material 9 and the vacuum-operated positioning section 10.Therefore, the positional deviation of the sheet material 9 due to the cutting process can be avoided. The cutting table 1 has a conveyor function that feeds the sheet material 9 in the feeding direction (X direction). The two end portions 11 in the Y direction of the cutting table 1 extend in the X direction and serve as guides for the cutting head movement mechanism 20 and the punching head movement mechanism 30 in the X directions during the movement of the mechanisms. By way of illustration, the two end portions 11 have guide grooves lia extending in the X direction, but not limited to it.

[0036] (Cutting head movement mechanism configuration)

[0037] As shown in Figures 1 and 2, the cutter head movement mechanism 20 is arranged above the cutting table 1. The cutter head movement mechanism 20 is configured to move the cutter head 40 in horizontal directions. More specifically, the cutter head movement mechanism 20 is configured to move the cutter head 40 in the Y directions on the support beam 21 and to move the cutter head 40 in the X directions perpendicular to the Y directions in the horizontal plane. The cutter head movement mechanism 20 comprises the support beam 21, support parts 22, and a part movable in the Y direction 23 (see [Fig.3]) and a movable part in the X direction 24 (see [Fig.3]).

[0038] The support beam 21 is spaced a predetermined distance above and away from the suction-feed positioning portion 10 of the cutting table 1. The support beam 21 consists of a beam element extending linearly in the Y direction. The support beam 21 is designated the "Y-beam." The support beam 21 is configured to support the cutting head 40 in a movable manner in the Y directions in the horizontal plane. The support beam 21 is a guiding element that guides the movement of the cutting head 40 mounted on the support beam 21 in the Y directions.

[0039] The support parts 22 are a pair of structures supporting the two ends of the support beam 21 in the Y direction. The lower ends of the pair of support parts 22 are installed from the upper side on the two extreme parts 11 of the cutting table 1 in the Y direction. The pair of support parts 22 (cutting head 40) is configured to be movable along the guide grooves lia on the two extreme parts 11 in the X direction. The cutting head movement mechanism 20 is shaped into an arc (door shape), when viewed in the X direction, by the support beam 21 and a pair of support parts 22, such that the sheet material 9 can pass through an inner side of the arc shape.

[0040] The movable part in the Y direction 23 (see [Fig.3]) is configured to move the cutting head 40 in the Y directions along the support beam 21, which extends in the Y direction. In short, the movable part in the Y direction 23 is a linear displacement device for the cutting head 40. The movable part in the Y direction 23 can be configured by means of a mechanism selected from various drive mechanisms, such as a ball screw drive mechanism, a cylinder drive mechanism, a rack and pinion drive mechanism, a roller (wheel) drive mechanism, or a belt drive mechanism.

[0041] The movable part in the X direction 24 (see [Fig. 3]) is configured together with the pair of support parts 22 and the support beam 21 to move the cutting head 40 in the X directions along the guide grooves 11 of the two end parts 11, which extend in the X direction from the cutting table 1. In short, the movable part in the X direction 24 is a linear movement device for the cutting head 40. The movable part in the X direction 24 can be configured by means of a mechanism selected from various drive mechanisms, such as a ball screw drive mechanism, a cylinder drive mechanism, a rack and pinion drive, roller (wheel) drive mechanism or belt drive mechanism.

[0042] (Cutting head configuration)

[0043] The cutting head 40 is configured to cut the sheet material 9. The cutting head 40 is installed on the support beam 21. The cutting head 40 holds a cutting device 4L. The cutting device 41 is an example of a "cutting tool" in the claims.

[0044] (Cutting device configuration)

[0045] The cutting device 41 is configured to cut the sheet material 9. The cutting device 41 includes a reciprocating cutting knife N moving up / down to cut the sheet material 9. In this disclosure, the cutting device 41 may include a rotating blade rotating to cut the sheet material, instead of the cutting knife N. In addition, the cutting device 41 includes a rotating part (not shown) changing the orientation of the cutting knife N in a horizontal plane, and an up / down movement switching part (not shown) moving the cutting knife N up / down to switch between a cutting position and a retracted position.

[0046] (Punching head displacement mechanism configuration)

[0047] As shown in Figures 1 and 2, the punching head movement mechanism 30 is arranged above the cutting table 1 and on the XI side relative to the cutting head movement mechanism 20. The punching head movement mechanism 30 cannot move beyond the cutting head movement mechanism 20 towards the X2 side relative to the cutting head movement mechanism 20. Indeed, if the punching head movement mechanism 30 were to move towards the X2 side of the cutting head movement mechanism 20, the punching head movement mechanism 30 would interfere with the cutting head movement mechanism 20. The punching head movement mechanism 30 is configured to move the punching head 50 in the horizontal directions.The punching head displacement mechanism 30 comprises a single punching head 50, which does not cut the sheet material 9, the support parts 32 of the support beam 31 supporting the two ends of the support beam 31 in the Y direction, a movable part in the Y direction 33 (see [Fig.3]) and a movable part in the X direction 34 (see [Fig.3]).

[0048] (Punching head configuration)

[0049] The punching head 50 is installed on the support beam 31. The head The punching device 50 includes a punching device 51. The punching device 51 is configured to punch the sheet material 9. The punching device 51 includes a punching drill bit Dr which pierces the sheet material 9 while rotating to punch the sheet material. In this disclosure, the punching device 51 may include a punching needle that pierces the sheet material 9 in order to punch the sheet material, instead of the punching drill Dr.

[0050] The support beam 31, the support parts 32, the Y-direction moving part 33 and the X-direction moving part 34 of the punching head movement mechanism 30 have the same configuration as the support beam 21, the support part 22, the Y-direction moving part 23 and the X-direction moving part 24 of the cutting head movement mechanism 20, and their description is omitted.

[0051] (Sealing sheet drive mechanism)

[0052] The sealing sheet drive mechanism 60 is configured to rotate a roller 60a of the sealing sheet 12, as illustrated in [Fig. 1]. The sealing sheet drive mechanism 60 is configured to be moved in the X directions by the punching head movement mechanism 30. The sealing sheet 12 is a sheet that is placed on the cut sheet material 9 from the upper side in order to maintain the suction force of the sheet material 9 after cutting. The sealing sheet 12 is made, for example, of an air-impermeable synthetic resin film.

[0053] The sealing sheet support 61 is configured to hold an edge of the sealing sheet 12 that is not held by the sealing sheet drive mechanism 60. With the edge of the sealing sheet 12 held by the sealing sheet support 61, the sealing sheet drive mechanism 60, which is moved in the X direction by the punching head movement mechanism 30, rotates the sealing sheet roller 12 in order to cover the upper side of the sheet material 9 with the sealing sheet 12 or to remove the sealing sheet from the sheet material 9.

[0054] (Control device configuration)

[0055] The control device 2 illustrated in Figures 1 to 3 implements a control to execute the cutting and punching processes. By way of illustration, the control device 2 includes a CPU, a ROM 2a storing a program executing the cutting and punching processes, and a RAM serving as temporary storage, but not limited to these. The ROM 2a also stores cutting information to identify a cutting shape of the sheet material 9, punching position information to identify punching positions, and other information. In addition, the ROM 2a stores an optimization program P to optimize the path 83 (see [Fig. 8]) of the cutting head 40.

[0056] In addition, the storage 3 stores a threshold Th used to optimize the path 83 of the cutting head 40. Furthermore, the storage 3 stores a post-optimization path 84. The storage 3 is a non-volatile storage device, such as an HDD or an SSD, for example.

[0057] In this embodiment, the control device 2 is configured to adjust, during the path 83 of the cutting head 40, the path to an optimized path 84 by means of a path search in order to reduce a distance of the deactivation movement during which the cutting head 40 is moved to avoid contact of the cutting device 41 with the sheet material 9 when the cutting head 40 is moved to pass through a plurality of passage positions corresponding to a plurality of cutting zones 70 of the sheet material 9. The control device 2 optimizes the path 83 by executing the optimization program P.In this disclosure, the path 83 of the cutting head 40 refers to a deactivation movement path during which the cutting head 40 is moved to avoid contact between the cutting device 41 (cutting knife N) and the sheet material 9. When the sheet material 9 is actually cut, each cutting zone 70 is cut by moving the cutting head 40 along the path 83 and along the contour of each cutting zone 70. For this reason, when cutting the sheet material 9, the cutting head 40 moves along a path longer than the path length of the path 83.

[0058] In this embodiment, the path search includes a 2-opt function. In the present disclosure, the 2-opt function is an algorithm for optimizing a path by repeatedly swapping two arbitrarily chosen edges on a predefined path and adopting the new path if the total distance becomes shorter than before the swap. For this reason, when the 2-opt function is used to optimize the path, an initial traversal path 83a (see [Fig. 5]) is required.

[0059] (Setting the initial path)

[0060] A configuration in which the control device 2 (see [Fig.3]) regulates the initial path 83a is described with reference to Figures 4 and 5.

[0061] As shown in [Fig. 4], the plurality of cutting zones 70 are positioned on the sheet material 9 at locations corresponding to the parts to be cut. Furthermore, each of the plurality of cutting zones 70 includes a cutting start position 72 from which the cut begins. In addition, each of the plurality of cutting zones 70 includes a plurality of candidate positions 73, which are candidates for the cutting start position 72. In this disclosure, Some of the cutting start positions 72 and the plurality of candidate positions 73 are illustrated as examples in [Fig.4] for convenience.

[0062] The control device 2 sets a plurality of scanning zones 90, which are areas to be scanned to detect detection points in the cutting zones 70 in the sheet material 9, and sets the initial path 83a by detecting detection points in each of the set scanning zones 90. The detection points are, for example, the center of gravity positions 71 of the cutting zones 70.

[0063] The control device 2 first determines whether the center of gravity positions 71 of the cutting zones 70 are detected within a zone of predetermined width (e.g., 5 mm) from an edge of the sheet material 9 on the XI direction side towards the X2 direction side. If the center of gravity positions 71 are detected within the zone of predetermined width, the control device 2 uses the positions where the center of gravity positions 71 are detected as positions of an edge 90a on one side (XI direction side) of the scanning zone 90 in the X direction when setting the initial path 83a. If no center of gravity position 71 is detected within the zone of predetermined width, the control device 2 moves another zone within the predetermined width towards the X2 direction side and determines whether the center of gravity positions 71 are detected. Control device 2 repeats the same process.

[0064] After determining the edge 90a on the direction XI side of the scanning area 90, the control device 2 uses the positions which are spaced a predetermined length apart (e.g. 100 mm) in the direction X from the edge as edge 90b on another side (direction X2 side) of the scanning area 90.

[0065] Next, the control device 2 determines whether the center of gravity position 71 is detected at predetermined distance increments (e.g., 10 mm) from edge 90a to edge 90b of the scanning area 90, as indicated by arrows 80a. The control device 2 sets the initial path 83a based on the detection order of the center of gravity positions 71.

[0066] Next, as shown by arrows 80b and 80c, the control device 2 moves the position in the Y direction to scan from the direction XI side to the direction X2 side in the scanning area 90 over a predetermined length (e.g. 100 mm) in order to detect the center of gravity positions 71 in the X direction. The control device 2 performs the same process along an arrow 81 towards one end (direction Y1 side) of the scanning area 90 in the Y direction.

[0067] The control device 2 sets the initial travel path 83a by repeating the aforementioned processes. In this disclosure, at the end of the operation of determining whether the center of gravity positions 71 are detected, said From side to side in the Y direction within the 90° sweep zone, the control device 2 determines a subsequent 90° sweep zone in the X2 direction. Then, the control device 2 detects the center of gravity positions 71 in the next 90° sweep zone in the X2 direction. In this case, the control device 2 changes the direction of movement of the position to be swept from one Y direction to another. For example, when the center of gravity positions 71 are detected from the Y2 direction to the Y1 direction in a given 90° sweep zone, the center of gravity positions 71 are detected from the Y1 direction to the Y2 direction in the subsequent 90° sweep zone. In other words, the control device 2 alternates the direction of movement of the position to be scanned between one and the other of the Y directions for each successive 90 scan zone, switching the direction between odd order of 90 scan zones and even order of 90 scan zones.Therefore, the control device 2 detects the center of gravity positions 71 by scanning the scanning areas 90 along a path which meanders between said side and the other side in the direction Y, from side direction XI to side direction X2, as indicated by an arrow 82.

[0068] In the present disclosure, the control device 2 does not alternate the scanning direction for the plurality of scanning zones 90 in the X direction. In other words, the control device 2 detects the center of gravity positions 71 while moving the position to be scanned from the direction XI side to the direction X2 side for the plurality of scanning zones 90.

[0069] (Initial route path)

[0070] Figure 5 illustrates the initial path 83a. In this embodiment, the control device 2 (see [Fig.3]) is configured, during the optimization of the path 83 (see [Fig.8]) by means of path search, to set an initial path 83a on a path which passes through the center of gravity positions 71 of the plurality of cutting zones 70 as the plurality of passage positions along the cutting flow from said side to the other side in the X direction.

[0071] In this embodiment, the control device 2 optimizes the initial path 83a in order to shorten the path 83. More specifically, the control device 2 is configured to optimize the path 83 by means of path search based on the initial path 83a. In detail, the control device 2 is configured to adjust the optimized path 84 (see [Fig. 7]) by optimizing the initial path 83a using the 2-opt function.

[0072] (Post-optimization path of a comparative example)

[0073] Figure 6 illustrates an example of a post-optimization path 183 of a comparative example. In the comparative example, the initial path 83a is optimized using the 2-opt function to shorten the path 183. As shown in [Fig.6], during the post-optimization path 183 of the comparative example, the cutting head 40 (see [Fig.1]) starts from a center of gravity position 171a of a cutting zone 170a and moves to a center of gravity position 171b of a cutting zone 170b.

[0074] As shown in [Fig. 6], the path 183 of the comparative example has a greater return path distance from the direction side X2 to the direction side XI over the path passing through three adjacent center-of-gravity positions 171 indicated by arrows 190a and 190b. Furthermore, when the head passes through the center-of-gravity position 171c of the cutting zone 170c, the area surrounding the cutting zone 170c has already been cut. Consequently, when the cutting head 40 moves along such a path, air leaks through the vents in the sheet material 9 and reduces the suction force applied to the sheet material 9. Therefore, the sheet material 9 is cut under conditions where stable suction of the sheet material 9 proves difficult.

[0075] (Post-optimization path)

[0076] The path 84 optimized by the control device 2 (see [Fig.3]) according to the embodiment is described with reference to [Fig.7]. The post-optimization path 84 illustrated in [Fig.7] is a path along which the cutting head 40 (see [Fig.1]) is moved from a center of gravity position 71a of a cutting zone 70a to a center of gravity position 71b of a cutting zone 70b, in the center of gravity positions 71 of the plurality of cutting zones 70. Moreover, a situation in which a predetermined cutting zone 70 is surrounded by cutting zones 70 that have already been cut does not appear on the optimized path 84 in the different embodiment of the comparative example illustrated in [Fig.6], where the path 183 includes the cutting zone 170c surrounded by the cutting zones 170 that have already been cut.

[0077] (Optimization of the path in the embodiment)

[0078] A configuration in which the control device 2 (see [Fig. 3]) according to the embodiment optimizes the initial path 83a (see [Fig. 5]) is described with reference to Figures 8 and 9. In this embodiment, the control device 2 is configured, during the setting of the optimized path 84, to optimize the path 83 in order to adjust a return path distance, which is a path distance of the cutting head 40 during a return path in a direction opposite to a direction along a cutting flow from one side to the other in the X direction, to a value not exceeding a threshold Th (see [Fig. 3]) of the return path distance that regulates the return path. In this embodiment, the control device 2 optimizes the path 83 in order to adjust A return travel distance, which is the travel distance of the cutter head 40 from the X2 direction side to the XI direction side, must be set to a value not exceeding the threshold Th. For example, the threshold Th is set within a range of 0 mm to 500 mm. Preferably, the threshold Th is set within a range of 50 mm to 300 mm. Even more preferably, the threshold Th is set within a range of 100 mm to 200 mm. In this disclosure, the threshold value can be adjusted appropriately according to the sizes and arrangements of the cutting areas. Furthermore, if the threshold Th value is too high, a situation may arise in which a predetermined cutting area 70 is surrounded by cutting areas 70 that have already been cut. For this reason, it is preferable that the threshold Th value be set appropriately.

[0079] In this embodiment, as shown in [Fig. 8], during the optimization of the path 83 which goes from a center of gravity position 71c to a center of gravity position 7If, the control device 2 (see [Fig. 3]) determines whether a return path distance between two adjacent passage positions (center of gravity positions 71) and a return path distance for three or more adjacent passage positions (center of gravity positions 71) are greater than the threshold Th. In the present disclosure, the return path distance for three or more adjacent passage positions (center of gravity positions 71) refers to a distance between the first passage position (center of gravity position 71) and the last passage position (center of gravity position 71) among the three or more adjacent passage positions (center of gravity positions 71).In other words, in an illustrative example shown in [Fig. 8], on a path that passes through three passage positions with center of gravity positions 71c to 71e (center of gravity positions 71), the return path distance between three or more adjacent passage positions (center of gravity positions 71) is defined as a distance DI between center of gravity positions 71c and 71e. Furthermore, on a path that passes through four passage positions with center of gravity positions 71c to 71f (center of gravity positions 71), the return path distance between three or more adjacent passage positions (center of gravity positions 71) is defined as a distance D2 between center of gravity positions 71c and 71f.In other words, the return travel distance for three or more passing positions (center of gravity position 71) is defined as the distance between the first passing position (center of gravity position 71) and the last passing position (center of gravity position 71) as a pair in an arbitrary number (chosen from numbers not less than three) of passing positions (center of gravity positions 71).

[0080] In the present disclosure, for example, even if a distance D3 between the center of gravity position 71c and the center of gravity position 71d and the distance D4 between If the center of gravity positions 71d and 71e are not greater than the threshold Th, and the distance DI between the three consecutive center of gravity positions 71 from center of gravity positions 71c to 71e is greater than the threshold Th, it is necessary to regulate the setting of the travel path 83 along which the cutter head 40 moves from center of gravity position 71c to center of gravity position 71e. Conversely, if the control device 2 determines whether the return travel distance exceeds the threshold Th based solely on the two adjacent passing positions (center of gravity positions 71), the control device cannot regulate the setting of the travel path 83 along which the cutter head moves from center of gravity position 71c to center of gravity position 71e.

[0081] For example, if the distance D5 between center of gravity position 71d and center of gravity position 7If is not greater than the threshold Th, and the distance D4 between center of gravity position 71d and center of gravity position 71e is greater than the threshold Th, the control device 2 necessarily regulates the setting of the travel path 83 along which the cutter head moves from center of gravity position 71d to center of gravity position 7If. However, if the control device determines whether the return travel distance exceeds the threshold Th based solely on three or more adjacent travel positions, the control device cannot regulate the setting of the travel path 83 along which the cutter head moves from center of gravity position 71d to center of gravity position 7If.

[0082] To remedy this, in this embodiment, the control device 2 is configured, during the optimization of the path 83, to optimize the path 83 in order to adjust a return path distance when the cutter head 40 passes through two adjacent passage positions among a plurality of passage positions and a return path distance when the cutter head 40 passes through three or more adjacent passage positions to a value not exceeding the threshold Th.

[0083] For example, when the control device 2 optimizes the path 83 to adjust a return path distance when the cutter head passes through two adjacent passage positions (center of gravity positions 71) and a return path distance when the cutter head passes through three or more adjacent passage positions (center of gravity positions 71) to a value not exceeding the threshold Th, the distances between the center of gravity positions 71 are compared to the threshold Th as follows. Namely, the control device 2 first compares the distance D3 between center of gravity position 71c and center of gravity position 71d to the threshold Th. Then, the control device 2 compares the distance D4 between center of gravity position 71d and center of gravity position 71e to the threshold Th. At this stage, the control device 2 also compares the distance The distance between center of gravity position 71c and center of gravity position 71e at threshold Th is considered a return path. In this disclosure, the path along which the cutter head moves from center of gravity position 71e to center of gravity position 7If is a path from side XI to side X2. In other words, the path from center of gravity position 71e to center of gravity position 7If is not considered a return path, so the control device 2 does not compare the distance between center of gravity position 71e and center of gravity position 7If at threshold Th. On the other hand, the path along which the cutter head moves from center of gravity position 71d, via center of gravity position 71e, to center of gravity position 7If is clearly considered a return path from side X2 to side XI.For this reason, the control device 2 compares the distance D5 between the center of gravity position 71d and the center of gravity position 7If at the threshold Th. In this embodiment, the control device 2 treats, in three or more adjacent passage positions, a predetermined number (e.g. three) of passage positions as pairs, and compares the distance between each pair of the predetermined number of passage positions at the threshold Th by changing one pair for another.

[0084] In the present disclosure, in this embodiment, when two edges (line segments) on the path 83 are swapped by means of the 2-opt function, the control device 2 determines whether the swapped path 83 includes a return path greater than the threshold Th. At this stage, the control device 2 applies the determination that the swapped path includes a return path greater than the threshold Th to a path that is modified by swapping two edges (line segments) on the path 83. Furthermore, if a path without swapping two edges (line segments) on the path 83 is the shortest, the control device 2 determines whether the path without swapping includes a return path greater than the threshold Th.In other words, both when two edges (line segments) on the path 83 are swapped and when they are not swapped, the control device 2 determines whether regulation must necessarily be applied to the path to which the swap determination is applied.

[0085] Furthermore, in this embodiment, the control device 2 is configured to optimize the path 83 to allow a path of the cutter head 40 that includes a return path distance greater than the threshold Th without regulation when the cutter head 40 advances a distance not less than a predetermined distance in a forward direction in the Y directions. More specifically, as shown in [Fig. 9], even if a distance D6 of the path 83b in the X direction between the center of gravity position 71h and the center of gravity position If the gravity 7li is greater than the threshold Th, and a distance D7 of the cutter head 40 in the forward direction in the Y directions between the center of gravity position 71h and the center of gravity position 71i is greater than the predetermined distance, the control device 2 allows adjustment of the travel path 83 that passes through a path 83b between the center of gravity position 71h and the center of gravity position 71i without regulation. In this disclosure, if the cutter head 40 moves a distance not less than the predetermined distance in a direction opposite to the forward direction in the Y directions, the control device 2 regulates the travel path of the cutter head 40 that includes a return travel distance greater than the threshold Th without permission.Furthermore, the predetermined distance of the cutting head 40 advancing in the Y direction can be adjusted appropriately according to the sizes and arrangements of the cutting areas.

[0086] Furthermore, the control device 2 determines the direction of advance in the Y direction of the cutter head 40 along the path 83 based on the coordinates in the Y direction of the front and rear center of gravity positions 71. For example, when determining the feed direction in the Y directions of the path 83b between the center of gravity position 71h and the center of gravity position 7li, the control device 2 determines the feed direction of the cutter head 40 in the Y directions of the path 83b based on the Y coordinate of the center of gravity position 7Ij, which precedes the center of gravity position 71h, and the Y coordinate of the center of gravity position 71k, which follows the center of gravity position 71i. In the case example of [Fig.9], as the Y coordinate of the center of gravity position 7 Ij is positioned on the Y1 direction side relative to the Y coordinate of the center of gravity position 71k, the control device 2 determines the direction from the Y1 direction side to the Y2 direction side as the advance direction in the Y directions of the cutter head 40.

[0087] Furthermore, during the optimization of the traversal path 83 by swapping two edges (line segments) on the traversal path 83 using the 2-opt function, even if two edges (line segments) on the traversal path 83 are swapped or if the two edges (line segments) on the traversal path 83 are not swapped, if the traversal path includes a return path greater than the threshold Th, the control device 2 cancels the previous swap with one edge (line segment). The control device 2 then performs a swap with another edge (line segment) that is different from the aforementioned edge (line segment) of the previously canceled swap.

[0088] For example, when adjusting the path 83b between the center of gravity position 71h and the center of gravity position 7li, if an edge (line segment) towards the center of gravity position 71i is swapped with another edge towards another position If the center of gravity is 71 and the edge (line segment) from center of gravity position 71h to center of gravity position 7li is not swapped with the other edge, and if the distance in the X direction of path 83b exceeds the threshold Th, the control device 2 returns the edge (line segment) swap to center of gravity position 7Ij and applies the swap to center of gravity position 7Ij to avoid adjusting path 83c. Thus, the control device 2 optimizes the initial path 83a (see [Fig. 5]).

[0089] In the present disclosure, each of the plurality of cutting zones 70 comprises a plurality of candidate positions 73 (see [Fig. 4]), which are candidates for the cutting start position 72. Therefore, the control device 2 changes the center-of-gravity positions 71 on the post-optimization path 84 illustrated in [Fig. 7] to the cutting start positions 72, as shown in [Fig. 10]. This change can further optimize the post-optimization path 84 when the passage positions on the post-optimization path 84 are changed, in some cases, from each center-of-gravity position 71 to one of the plurality of candidate positions 73.For example, when changing each of the plurality of passage positions on the optimized path 84 from the center of gravity position 71 to the cutting start position 72, the control device 2 can further shorten the post-optimization path 84 by changing each of the plurality of passage positions for the cutting start position 72 which is chosen from the plurality of candidate positions 73 in each of the plurality of cutting zones 70 in order to minimize the path 83.From this point of view, in this embodiment, the control device 2 is configured to further optimize the optimized path 84 by means of path search by changing each center of gravity position 71 as a corresponding passage position among the plurality of passage positions for the cutting start position 72 which is chosen from the plurality of candidate positions 73 after setting the optimized path 84.

[0090] (Method for adjusting the path of the cutting head)

[0091] The method for adjusting the path of the cutting head 40 of the cutting machine 100 according to this embodiment of the present invention is described with reference to [Fig. 11]. More specifically, a process diagram of a path adjustment process 83 carried out by the control device 2 is described with reference to [Fig. 11].

[0092] At step SI, the control device 2 sets the initial path 83a of the cutting head 40. More specifically, the control device 2 sets the path 83 which passes through the center of gravity positions 71 of the cutting zones 70 as the initial path 83a, as shown in Figures 4 and 5.

[0093] Then, during the setting of the optimized path 2 in step S2, the control device 2 optimizes the path 83 in order to adjust a return path distance, which is a path distance of the head 40 during a return path in a direction opposite to the cutting flow going from one side to another side in the X direction, to a value not exceeding a threshold Th of the return path distance which regulates the return path.

[0094] Next, in step S3, the control device 2 changes the center of gravity position 71 of each cutting zone 70 on the optimized path 84 for the cutting start position 72, which is chosen from the plurality of candidate positions 73, as shown in [Fig. 10]. The procedure then ends.

[0095] (Advantages of the embodiment)

[0096] In the aforementioned embodiment, the following advantages are obtained.

[0097] According to the configuration in the aforementioned embodiment, such as the path The path 83 of the cutter head 40 is optimized by means of path search in order to reduce the path 83 of the cutter head 40 (distance of the deactivation movement), it is possible to reduce the path 83 of the cutter head 40. In addition, it is possible to prevent an increase in the return path of the cutter head 40 by optimizing the path 83 in order to adjust the return path distance, which is a distance of the cutter head 40 returning in a direction opposite to a cutting flow direction going from one side to the other side in the X direction, to a value not exceeding the threshold Th of the return path distance which regulates the return path.Therefore, since it is possible to prevent a situation in which a predetermined cutting zone 70 is surrounded by cutting zones 70 that have already been cut, it is possible to prevent the adjustment of the cutting path 83 that would result in the cutting of the sheet material 9 while air is flowing through a leak in the sheet material 9. This would reduce the suction force applied to the sheet material 9 and make stable suction of the sheet material 9 difficult. Consequently, it is possible to adjust the cutting path 83 of the cutting head 40 to be suitable for cutting sheet material 9 held under suction. Based on these results, it is possible to adjust the cutting path 83 to a path suitable for cutting sheet material 9 held under suction while shortening the cutting path 83 of the cutting head 40.

[0098] Furthermore, according to the configuration in the aforementioned embodiment, given that the path along the cutting flow from said side to the other side in the X direction is defined as the initial path 83a based on the center of gravity positions 71 of the plurality of cutting zones 70, it is possible to optimize the initial path 83a set to pass through the average positions of the A plurality of cutting zones 70 as passage positions. Consequently, it is possible to easily adjust the path 83 to a path that is suitable for cutting the sheet material 9 held under suction while shortening the path 83 of the cutting head 40.

[0099] Furthermore, according to the configuration in the aforementioned embodiment, since the initial path 83a is optimized by means of the 2-opt function, the path 83 of the cutting head 40 can be easily optimized.

[0100] Furthermore, according to the configuration in the aforementioned embodiment, in each of the plurality of cutting zones 70, the corresponding passage position among the plurality of passage positions on the optimized path 84 using the path search is changed from the center of gravity position 71 corresponding to the cutting start position 72. Since the cutting start position 72 is chosen from the plurality of candidate positions 73 in each of the plurality of cutting zones 70 in order to reduce the path 83 to the shortest possible distance, it is possible to further optimize the path 83 of the cutting head 40.

[0101] In the present disclosure, in a case where the return travel distance is compared to the threshold Th on the basis of only two adjacent passage positions, when the return travel distance between two adjacent passage positions is not greater than the threshold Th, even if the return travel distance for three or more adjacent passage positions (between the first and last of the three or more passage positions) exceeds the threshold Th, the setting of such a travel path 83 (first travel path) cannot be regulated.Similarly, in a case where the return path distance is compared to the threshold Th on the basis of only three or more adjacent passage positions, even when a return path is made in such a way that the distance between two adjacent passage positions exceeds the threshold Th, if the return path distance between the first and last of the three or more passage positions is not greater than the threshold Th, the setting of such a path 83 (second path) cannot be regulated.To remedy this, according to the configuration in the aforementioned embodiment, both when the return path is executed such that the return path distance between two adjacent passage positions exceeds the threshold Th, and when the return path distance for three or more adjacent passage positions exceeds the threshold Th, the tuning of such paths 83 (first path and second path) can be regulated. Consequently, during the optimization of path 83, it is possible to effectively prevent the tuning of a path 83 that includes a return movement with a return path distance exceeding the threshold Th.

[0102] Furthermore, according to the configuration in the aforementioned embodiment, since the path of the cutter head 40 is permitted without regulation of the return path distance even if the return path distance is greater than the threshold Th when the cutter head 40 advances a distance not less than the predetermined distance in the advance direction in the Y directions, excessive regulation of the return path can be avoided when optimizing the path 83 of the cutter head 40.Furthermore, even if the cutter head 40 returns in the X direction, when the cutter head 40 advances a distance not less than the predetermined distance in the direction of advance in the Y directions, it is possible to prevent the occurrence of a situation in which a predetermined cutting zone 70 is surrounded by cutting zones 70 that have already been cut, and depending on the configuration in which the distance of movement is permitted without regulation even in such a case, it is possible to further optimize the path 83 of the cutter head 40 while preventing the occurrence of the situation in which a predetermined cutting zone 70 is surrounded by cutting zones 70 that have already been cut.

[0103] Furthermore, according to the configuration in the aforementioned embodiment, it is possible to propose the method for adjusting a path of the cutting head 40 of the cutting machine 100 capable of adjusting the path 83 of the cutting head on a path adapted to cutting the sheet material 9 held under suction while shortening the path 83 of the cutting head 40 in a similar manner to the aforementioned cutting machine 100.

[0104] (Modified embodiment)

[0105] It should be noted that the embodiment described herein is to be considered illustrative in all respects and not restrictive. The scope of the present invention is not limited to the above description of embodiments, but is limited to the scope of the patent claims, and all modifications (modified examples) whose meaning and scope are equivalent to the scope of the patent claims are also included.

[0106] For example, although the example in which the control device 2 included in the cutting machine 100 sets the path 83 passing through the center of gravity positions 71 as the initial path 83a was illustrated in the aforementioned embodiment, the present invention is not limited to that. In the present invention, the control device can be configured to set a path passing through the cutting start positions as the initial path.

[0107] Furthermore, although the example in which the control device 2 included in the cutting machine 100 optimizes the initial path 83a by means of the While the 2-opt function as a pathfinding method has been illustrated in the aforementioned embodiment, the present invention is not limited to it. In the present invention, the control device can optimize the initial path using a technique other than the 2-opt function. For example, the control device can be configured to optimize the initial path using other types of pathfinding, such as 3-opt. In this disclosure, the 3-opt function is an algorithm for optimizing a path by repeatedly swapping three arbitrarily chosen edges along a predefined path and adopting the new path if the total distance becomes shorter than before the swap.

[0108] Furthermore, although the example in which, when changing, in each of the plurality of cutting zones 70, the corresponding passage position among the plurality of passage positions on the path 84 optimized by means of the path search of the center of gravity position 71 corresponding to the cutting start position 72, the control device 2 included in the cutting machine 100 chooses the cutting start position 72 from among the plurality of candidate positions 73 in each of the plurality of cutting zones 70 in order to minimize the path 83 has been illustrated in the aforementioned embodiment, the present invention is not limited to it.In the present invention, when changing, in each of the plurality of cutting zones, the corresponding passage position among the multiple passage positions on the optimized path by means of the path search of the center of gravity position corresponding to the cutting start position, the control device may not change each of the plurality of passage positions for the cutting start position which is chosen from the plurality of candidate positions in order to minimize the path.However, when changing, in each of the plurality of cutting zones, the corresponding passage position among the multiple passage positions on the optimized path by means of the path search of the center of gravity position corresponding to the cutting start position, if the control device does not change each of the plurality of passage positions for the cutting start position which is chosen from the plurality of candidate positions in order to minimize the path, the path of the cutting head can no longer be shortened.For this reason, when changing, in each of the plurality of cutting zones, the corresponding passage position among the multiple passage positions on the optimized path by means of the path search of the center of gravity position corresponding to the cutting start position, the control device is preferably configured to change each of the plurality of passage positions. for the cutting start position which is chosen from the plurality of candidate positions in order to minimize the path of travel.

[0109] Furthermore, although the example in which the control device 2 included in the cutting machine 100 optimizes the path 83 in order to adjust a return path distance when the cutting head 40 passes through two adjacent passage positions among a plurality of passage positions and a return path distance when the cutting head 40 passes through three or more adjacent passage positions to a value not exceeding the threshold Th has been illustrated in the above embodiment, the present invention is not limited to it.In the present invention, the control device can perform an optimization between an optimization of the path in order to adjust a return path distance when the cutting head passes through two adjacent passage positions to a value not greater than the threshold and an optimization of the path in order to adjust a return path distance when the cutting head passes through three or more adjacent passage positions to a value not greater than the threshold.However, if the control device only performs one optimization among two: one optimization of the path to adjust a return path distance when the cutter head passes through two adjacent passage positions to a value not exceeding the threshold, and one optimization of the path to adjust a return path distance when the cutter head passes through three or more adjacent passage positions to a value not exceeding the threshold, it is difficult to effectively prevent the setting of a path that includes a return movement with a return path distance exceeding the threshold.For this reason, the control device is preferably configured to optimize the path by adjusting the return path distance when the cutter head passes through two adjacent passage positions from a plurality of passage positions, and the return path distance when the cutter head passes through three or more adjacent passage positions to a value not exceeding the threshold.

[0110] Furthermore, although the example in which the control device 2 included in the cutting machine 100 regulates the path 83 to allow a path of the cutting head 40 that includes a return path distance exceeding the threshold Th without regulation when the cutting head 40 advances a distance not less than a predetermined distance in a forward direction in the Y directions has been illustrated in the aforementioned embodiment, the present invention is not limited to it. In the present invention, the control device can be configured to regulate the path of the cutting head that includes a return path distance exceeding the threshold even when the cutting head advances a distance not less than the predetermined distance in the forward direction in the Y directions.

[0111] Furthermore, although the example in which the center of gravity positions 71, which are first detected in the area of ​​predetermined width in direction X2 from the edge of the sheet material 9 on the direction XI side, are determined to be the edge 90a on the direction XI side of the scanning area 90, has been illustrated in the aforementioned embodiment, the present invention is not limited to it. In the present invention, the edge of the sheet material on the direction XI side can be determined to be the edge on the direction XI side of the scanning area.

[0112] Furthermore, the center of gravity position 71 of each cutting zone 70 in the aforementioned embodiment may not correspond strictly to the actual center of gravity of each cutting zone 70. For example, a center of gravity of a rectangle that circumscribes each cutting zone may be used as the center of gravity position.

[0113] Furthermore, although the processing operations of the control device 2 have been described by way of example using a flow-centered process diagram in which the processes are carried out sequentially according to a processing flow for the sake of simplicity of illustration in the aforementioned embodiment, the present invention is not limited to this. According to one embodiment, in the present invention, the processing operations of the control device can be carried out in an event-centered process, in which the processes are executed event by event. In this case, the processes can be executed entirely within the event-centered process or within a combination of event-centered and step-flow-centered processes.

Claims

Demands

1. Cutting machine (100), comprising: a cutting table (1) including a vacuum setup part (10) on which a sheet material (9) is placed under vacuum, a plurality of cutting zones (70) being defined on the sheet material at positions corresponding to parts to be cut; a head (40) carrying a cutting tool which cuts the sheet material; a support beam (21) movably supporting the head in first directions in a horizontal plane; a displacement mechanism (20) moving the head in the first directions on the support beam and moving the head in second directions perpendicular to the first directions in the horizontal plane;and a control device (2) regulating, during a head travel path (83), the travel path on an optimized path (84) by means of a path search in order to reduce a distance of the deactivation movement during which the head is moved to avoid contact of the cutting tool with the sheet material when the head is moved to pass through a plurality of passage positions corresponding to the plurality of cutting zones of the sheet material, the control device being configured, during the setting of the optimized travel path, to optimize the travel path in order to adjust a return travel distance, which is a travel distance of the head during a return travel in a direction opposite to a cutting flow along a flow going from one side to the other side in the second direction, to a value not exceeding a threshold of the return travel distance (Th) which regulates the return travel.;

2. Cutting machine (100) according to claim 1, the control device (2) being configured, after setting an initial path (83a) on a path that passes through center of gravity positions (71) of the plurality of cutting zones (70) as a plurality of passage positions along the cutting flow going from said side to the other side in the second direction, to optimize the route path using route search, based on the initial route path during route optimization using route search.

3. Cutting machine (100) according to claim 2, the path search comprising the 2-opt function; and the control device (2) being configured to set the optimized path (84) by optimizing the initial path (83a) by means of the 2-opt function.

4. Cutting machine (100) according to claim 2 or 3, each of the plurality of cutting zones (70) comprising a plurality of candidate positions, which are candidates for a cutting start position (72) where the cutting starts; and the control device being configured, after setting the optimized path (84), to further optimize the optimized path by means of path search by changing each center of gravity position (71) as a corresponding passage position among the plurality of passage positions for the cutting start position which is chosen from the plurality of candidate positions.

5. Cutting machine (100) according to any one of claims 1 to 4, the control device (2) being configured to optimize the path (83) in order to adjust the return path distance between two adjacent passage positions, among the plurality of passage positions, through which the head (40) passes, as well as the return path distance for three or more adjacent passage positions, among the plurality of passage positions, through which the head passes, to a value not exceeding the threshold (Th) when optimizing the path.

6. Cutting machine (100) according to any one of claims 1 to 5, the control device (2) being configured to optimize the travel path (83) to permit a head (40) travel that includes the return travel distance not less than the threshold (Th) without regulation when the head advances a distance not less than a predetermined distance in a forward direction in the first directions.

7. A method for adjusting the optimized path of a cutting machine head for setting an optimized path (84) of a head (40) in a cutting machine (100) comprising the head carrying a cutting tool that cuts a sheet material (9) placed under suction, a plurality of cutting zones (70) being set on the sheet material at positions corresponding to parts to be cut, and a support beam (21) movably supporting the head in first directions in a horizontal plane by optimizing a path (83) of the head by means of a path search in order to reduce a distance of the deactivation movement during which the head is moved to avoid contact of the cutting tool with the sheet material when the head is moved in the first directions and second directions perpendicular to the first directions in the horizontal plane to pass through a plurality of passage positions corresponding to the plurality of cutting zones of the sheet material, the path being optimized to adjust a return path distance,which is a quantity of head travel returning in a direction opposite to a cutting flow going from one side to the other in the second direction, to a value not exceeding a threshold (Th) of the return travel distance that regulates the return travel when setting the optimized travel path.

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