Cutting system and cutting device

Abstract

[Problem] To realize a technique for more suitably cutting a sheet-like member. [Solution] A cutting system 1 comprises a multi-joint robot 10 and a cutting device 20. The cutting device 20 comprises a body 20A and a guide unit 20B. The body 20A has an ultrasonic vibrator 30 that imparts ultrasonic vibrations to a cutting blade 21. The guide unit 20B comprises a guiding unit 22 that accommodates a tip of the cutting blade 21 protruding from the body 20A, and a linking unit 23 that links the guiding unit 22 to the body 20A. A portion of the guiding unit 22 has a cutting space S into which an object to be cut is introduced, and a portion of the cutting blade 21 is exposed in the cutting space S. The multi-joint robot 10 causes the cutting device 20 and the object to be cut to move relative to each other.

Description

Cutting system and cutting device

[0001] The present invention relates to a cutting system and a cutting device.

[0002] Conventionally, cutting devices are known that cut resin films or the like that are attached to workpieces such as substrates. For example, such cutting devices include a device that cuts a laminate film to fit the length of a substrate when attaching the laminate film to the substrate. Technology related to cutting devices is described, for example, in Patent Document 1.

[0003] JP 2010-208311 A

[0004] However, in recent years, substrates having complex shapes, such as curved shapes, have come to be used, and when cutting a film attached to such a substrate, it is difficult to properly cut the film using conventional methods such as continuously cutting with a cutter roller or cutting the film by moving a cutter in a straight line. Furthermore, when cutting a film that is attached to a substrate with a complex shape and that extends beyond the edge of the substrate, if one end of the film is a free end, methods that assume cutting the film by applying tension cannot be used. In other words, conventional techniques for cutting sheet-like materials such as films have sometimes failed to properly cut the sheet-like material.

[0005] An object of the present invention is to realize a technology for more appropriately cutting sheet-like members.

[0006] In order to solve the above problem, a cutting system according to one embodiment of the present invention is characterized by comprising: a cutting device comprising: a main body having a vibrator that applies ultrasonic vibrations to a cutting blade; a guide portion that houses the tip of the cutting blade protruding from the main body; and a connecting portion that connects the guide portion to the main body, wherein a part of the guide portion has a cutting space into which an object to be cut is introduced and a part of the cutting blade is exposed in the cutting space; and a conveying device that moves the cutting device and the object to be cut relatively.

[0007] According to the present invention, a technique for more appropriately cutting a sheet-like member can be realized.

[0008] 1 is a schematic diagram showing the overall configuration of a cutting system 1 according to the present invention. FIG. 1 is a schematic diagram (side view) showing a specific configuration example of a cutting device 20. FIG. 2 is a schematic diagram (perspective view) showing a configuration example of a guide unit 20B. FIG. 3 is a schematic diagram showing an example of a coupling angle of the guide unit 20B to the main body 20A (standard position). FIG. 4 is a schematic diagram showing an example of a coupling angle of the guide unit 20B to the main body 20A (retracted position). FIG. 5 is a schematic diagram showing an example of a coupling angle of the guide unit 20B to the main body 20A (acute-angle cutting position). FIG. 6 is a schematic diagram showing an example of an object to be cut. FIG. 7 is a schematic diagram showing the action when an object to be cut is cut by the guide unit 20B set to the standard position (before guiding the film 110). FIG. 8 is a schematic diagram showing the action when an object to be cut is cut by the guide unit 20B set to the standard position (when cutting the film 110). FIG. 9 is a schematic diagram (side view) showing the action when an object to be cut is cut by the guide unit 20B set to the retracted position. 1 is a schematic diagram (rear view) showing the action when a cutting object is cut by a guide unit 20B set to a retracted posture. FIG. 2 is a schematic diagram showing a configuration example of a cutting device 20 in which a cutting space S is formed only on the upstream side of a cutting blade 21. FIG. 3 is a schematic diagram showing a configuration example in which a guide unit 20B is set to a retracted posture by translating a guide portion 22.

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. [First Embodiment] [Configuration] Fig. 1 is a schematic diagram showing the overall configuration of a cutting system 1 according to the present invention. The cutting system 1 is an apparatus for cutting a film 110, and is particularly configured to be able to easily cut a film 110 attached to a workpiece 100 having a three-dimensional shape (such as a curved shape) along the workpiece 100 in any orientation. In the following description, the member referred to as the film 110 includes various materials that are attached to the workpiece 100, such as adhesive materials called films, stickers, sheets, webs, etc.

[0010] 1, the cutting system 1 includes an articulated robot 10 and a cutting device 20. The articulated robot 10 (transport device) is configured, for example, by a six-axis vertical articulated robot or the like, and by mounting the cutting device 20, the cutting device 20 is controlled to any position and posture to cut the film 110 to which the workpiece 100 is attached. The cutting device 20 has a cutting blade 21 to which ultrasonic vibrations are applied by an ultrasonic vibrator, and cuts the film 110 while guiding it to the cutting blade 21.

[0011] In the cutting device 20, the cutting blade 21 is covered by a guide unit 20B (described below), and a portion of the guide unit 20B is open, exposing a portion of the cutting blade 21 that is covered by the guide unit 20B through the open portion. When the film 110 is cut, the articulated robot 10 equipped with the cutting device 20 moves the cutting device 20 while changing its posture. This allows the film 110 to be cut by the cutting blade 21 while being guided into the open portion of the guide unit 20B.

[0012] Fig. 2 is a schematic diagram (side view) showing a specific configuration example of the cutting device 20. As shown in Fig. 2, in the cutting system 1, the cutting device 20 includes a main body 20A and a guide unit 20B, and the guide unit 20B is rotatably connected to the main body 20A. The main body 20A incorporates an ultrasonic vibrator 30 that applies ultrasonic vibrations to the cutting blade 21, and the cutting blade 21 is installed at the tip of the ultrasonic vibrator 30. When ultrasonic vibrations are applied to the cutting blade 21 by the ultrasonic vibrator 30, the cutting blade 21 reciprocates in the direction protruding from the main body 20A, cutting the object to be cut (here, the film 110).

[0013] 3 is a schematic diagram (perspective view) showing an example configuration of the guide unit 20B. As shown in FIGS. 2 and 3, the guide unit 20B includes a guide portion 22 and a connecting portion 23. The guide portion 22 includes a groove portion 221 that accommodates the tip of the cutting blade 21 protruding from the main body 20A, and the groove portion 221 is shaped so that the guide portion 22 does not interfere with the reciprocating motion of the cutting blade 21 caused by ultrasonic vibration. The guide portion 22 also includes a cutting space S into which an object to be cut is introduced, and a portion of the cutting blade 21 is exposed in the cutting space S.

[0014] In a side view, the guide portion 22 has a bifurcated structure at one end (the right end in FIGS. 2 and 3 ) consisting of an upper branch B1 and a lower branch B2. Between the upper branch B1 and the lower branch B2 is a cutting space S into which the object to be cut is introduced, and between the tip of the upper branch B1 and the tip of the lower branch B2 is an opening E for receiving the object to be cut. The tips of the upper branch B1 and the lower branch B2 of the guide portion 22 are tapered, and the opening E of the cutting space S is shaped so that its opening width increases toward the tips of the upper branch B1 and the lower branch B2. This facilitates the introduction of the object to be cut into the cutting space S. The opening E is desirably shaped so that a human finger or the like will not come into contact with the cutting blade 21 to prevent the operator's body from coming into contact with the cutting blade 21. A portion of the cutting blade 21 housed in the groove 221 is exposed in the cutting space S. Therefore, when the object to be cut is introduced into the cutting space S through the opening E, the object comes into contact with the cutting blade 21 while being guided by the upper branch B1 and the lower branch B2, and is cut by the cutting blade 21 to which ultrasonic vibrations have been applied.

[0015] The connecting part 23 connects the guide part 22 and the main body 20A, and is installed rotatably relative to the main body 20A via a rotating part 231. That is, the guide unit 20B can change its connected posture at different connecting angles by rotating around the rotation axis of the rotating part 231 relative to the main body 20A.

[0016] 4 to 6 are schematic diagrams showing an example of the connection angle of the guide unit 20B relative to the main body 20A. FIG. 4 shows a position in which the guide portion 22 faces the main body and accommodates the tip of the cutting blade 21 in the groove portion 221 (hereinafter referred to as the "standard position"). FIG. 5 shows a position in which the guide portion 22 has retracted from the position in which the tip of the cutting blade 21 is accommodated and does not interfere with the object to be cut by the cutting blade 21 (hereinafter referred to as the "retracted position"). FIG. 6 shows a position in which the guide portion 22 has rotated to the opposite side from the retracted position (the side to which the object to be cut is introduced) and the cutting blade 21 cuts into the object to be cut at an acute angle (hereinafter referred to as the "acute-angle cutting position").

[0017] As shown in Figures 4 to 6, by rotating the connecting part 23 around the rotation axis of the rotating part 231, the guide part 22 rotates in the opposite direction from the retracted position (the side where the object to be cut is introduced), and the position of the guide unit 20B can be maintained in any position between an acute-angle cutting position in which the cutting blade 21 cuts into the object to be cut at an acute angle, through a standard position in which the guide part 22 accommodates the tip of the cutting blade 21 in the groove part 221, and a retracted position in which the guide part 22 retracts from the position in which the tip of the cutting blade 21 is accommodated and does not interfere with the object to be cut by the cutting blade 21.

[0018] By holding the guide unit 20B at various angles relative to the main body 20A, it is possible to change the intersection angle between the cutting blade 21 and the guide portion 22 (specifically, the upper branch B1 and the lower branch B2) in the cutting space S. For example, in the standard position shown in Fig. 4, the intersection angle between the cutting blade 21 and the lower branch B2 of the guide portion 22 in the cutting space S is 80 degrees, and in the acute-angle cutting position shown in Fig. 6, the intersection angle between the cutting blade 21 and the lower branch B2 of the guide portion 22 is 60 degrees. This makes it possible to change the angle at which the cutting blade 21 cuts into the workpiece depending on the characteristics of the workpiece.

[0019] [Operation] Next, the operation of cutting an object to be cut using the cutting system 1 according to this embodiment will be described. FIG. 7 is a schematic diagram showing an example of an object to be cut. In the example shown in FIG. 7, a resin film 110 is attached to a workpiece 100, which is a glass substrate, and the periphery of the workpiece 100 has convex and concave bends. In FIG. 7, region A1 is a region where the film 110 protrudes from the workpiece 100 and one end is a free end. Region A2 is a region where the film 110 is supported by the workpiece 100 near the periphery of the workpiece 100. Region A3 is a region where the periphery of the workpiece 100 is bent concavely, and where the cutting device 20 and the workpiece 100 are likely to interfere with each other when cutting the film 110.

[0020] 8 and 9 are schematic diagrams showing the action when an object to be cut is cut by the guide unit 20B set to the standard posture, with Fig. 8 showing the state before the film 110 (object to be cut) is guided into the cutting space S of the guide section 22, and Fig. 9 showing the state after the film 110 has been guided into the cutting space S of the guide section 22 and is being cut by the cutting blade 21. In the cutting system 1, a cutting device 20 is attached as a tool of the articulated robot 10, and the object to be cut (film 110) can be cut while the position and posture of the cutting device 20 is arbitrarily controlled by the articulated robot 10.

[0021] When the cutting system 1 cuts the film 110, the workpiece 100 to which the film 110 is attached is held in a space that is the operating range of the articulated robot 10, for example by suctioning the workpiece 100. At this time, one end of the peripheral portion of the film 110 that protrudes from the workpiece 100 is a free end and is not subjected to tension. With the guide unit 20B set to the standard position, as shown in FIG. 8 , the cutting device 20 is moved to guide the film 110 from the opening E into the cutting space S with respect to the peripheral portion of the film 110 that is now a free end.

[0022] At this time, the opening width of opening E increases toward the end, allowing easy introduction of film 110. Then, as shown in Figure 9, film 110 comes into contact with cutting blade 21 while being supported by upper branch B1 and lower branch B2 of guide section 22. This allows film 110 with a free end such as region A1 to be properly cut.

[0023] 10 and 11 are schematic diagrams showing the action of cutting an object by using guide unit 20B set to the retracted posture, with Fig. 10 being a side view of the state in which film 110 is being cut near the periphery of workpiece 100, and Fig. 11 being a rear view of the state in which film 110 is being cut near the periphery of workpiece 100. As shown in Figs. 10 and 11 , near the periphery of workpiece 100, film 110 is attached to workpiece 100, so a certain supporting force acts on film 110. Therefore, it is possible to cut film 110 without using the supporting force of guide unit 20B.

[0024] At this time, because the guide unit 20B is in the retracted position, the unused guide unit 20B is prevented from interfering with the workpiece 100 or the film 110 being cut, allowing the film 110 to be properly cut. That is, the film 110 near the periphery of the workpiece 100, such as in region A2, can be properly cut. Furthermore, when the guide unit 20B is in the retracted position, even in areas such as region A3 where the periphery of the workpiece 100 is bent concavely and where interference between the cutting device 20 and the workpiece 100 is more likely, the guide unit 20B is prevented from interfering with the workpiece 100, allowing the film 110 to be properly cut. Furthermore, the traveling direction of the cutting blade 21 can be easily changed to cut the film 110 along the periphery of the workpiece 100. That is, the film 110 in areas such as region A3 where interference between the cutting device 20 and the workpiece 100 is more likely can be properly cut.

[0025] Furthermore, when guide unit 20B is in the retracted position, the tip of cutting blade 21 is exposed, so cutting can be started by piercing the tip of cutting blade 21 into the cutting position of film 110 (near the periphery of workpiece 100, etc.) without cutting into film 110 from the periphery. This allows for flexible selection of the cutting method when cutting film 110.

[0026] Instead of setting guide unit 20B to the standard position, it is also possible to set guide unit 20B to an acute-angle cutting position to cut film 110. When guide unit 20B is set to the acute-angle cutting position, the effect of clamping film 110 between cutting blade 21 and lower branch B2 of guide portion 22 is enhanced, making it possible to cut film 110 while applying higher tension to the cut portion.

[0027] As described above, in the cutting system 1 according to this embodiment, the cutting device 20 is attached to the articulated robot 10, and the articulated robot 10 controls the cutting device 20 to any position and posture, while the cutting blade 21, a portion of which is exposed in the cutting space S of the guide unit 20B, cuts off unnecessary portions of the object to be cut (film 110) attached to the workpiece 100. Furthermore, because the opening E of the cutting space S has an enlarged opening width, the object to be cut can be easily introduced into the cutting space S. The object to be cut that comes into contact with the cutting blade 21 to which ultrasonic vibrations have been applied is cut while being supported by the upper branch B1 and the lower branch B2 of the guide unit 22. Therefore, the cutting system 1 enables sheet-like materials to be cut more appropriately.

[0028] Furthermore, by setting the guide unit 20B to a standard posture, the tip of the cutting blade 21 is accommodated in the guide portion 22, and only a portion of it is exposed to the cutting space S, thereby preventing the cutting blade 21 from coming into contact with the worker's body (fingers, etc.).

[0029] Furthermore, the cutting system 1 is configured to prevent interference between the cutting device 20 and the workpiece 100. That is, in the standard position and the acute-angle cutting position, the main body 20A of the cutting device 20 is positioned offset to the opposite side of the rotating part 231 (e.g., the upper side in FIG. 2 ) with respect to the position of the cutting space S. Therefore, according to the cutting system 1, in the standard position and the acute-angle cutting position, it is possible to cut the film 110 at a position close to the edge of the workpiece 100.

[0030] Furthermore, according to the cutting system 1, when cutting the end of the film 110 attached to one side of a workpiece 100 such as a substrate having film 110 attached to both sides, only the film 110 to be cut, among the films 110 attached to the adjacent surfaces (front and back), can be reliably guided into the cutting space S through the opening E, thereby properly cutting the film 110.

[0031] [Variation 1] In the above-described embodiment, the cutting space S of the guide part 22 is formed to extend to the side opposite the opening E of the cutting blade 21 in the standard position, and a configuration example (see FIG. 2) has been described in which there is also a space downstream of the movement of the object to be cut (film 110) relative to the cutting blade 21. However, this is not limited to this. FIG. 12 is a schematic diagram showing a configuration example of the cutting device 20 in which the cutting space S is formed only upstream of the cutting blade 21. In the configuration example shown in FIG. 12, the cutting space S of the guide part 22 is formed from the opening E to the position of the cutting blade 21, without extending downstream of the movement of the object to be cut (film 110) relative to the cutting blade 21 in the standard position. This makes it possible to prevent the object to be cut from entering the space downstream of the cutting blade 21 after cutting.

[0032] [Variation 2] In the above embodiment, a configuration example in which the rotating portion 231 is rotated to move the guide portion 22 to the rear position of the main body 20A to place the guide unit 20B in the retracted position has been described. However, this is not limiting. For example, a configuration in which the guide unit 20B is placed in the retracted position by translating the guide portion 22 may also be adopted. FIG. 13 is a schematic diagram showing a configuration example in which the guide portion 22 is translated to place the guide unit 20B in the retracted position. As shown in FIG. 13, the cutting device 20 in this variation includes a horizontal movement actuator M1 (e.g., an air cylinder or an electric motor) installed on the main body 20A side and moving the guide portion 22 in the horizontal direction (the direction along the relative movement direction of the object to be cut), and a vertical movement actuator M2 (e.g., an air cylinder or an electric motor) installed on the guide portion 22 side and moving the guide portion 22 in the vertical direction (the direction perpendicular to the relative movement direction of the object to be cut). Specifically, the support member H on which the vertical movement actuator M2 is installed is installed on the movable part of the horizontal movement actuator M1, and the guide part 22 is installed on the movable part of the vertical movement actuator M2. With this configuration, the guide unit 20B can also be set to the retracted position.

[0033] The present invention is not limited to the above-described embodiment and may be modified or improved as long as the effects of the present invention are achieved. For example, a conveying device such as the articulated robot 10 can cut an object (such as the film 110) by moving the cutting device 20. The conveying device can also cut the object by moving the object relative to the cutting device 20 in various ways, such as moving the object relative to the cutting device 20 or moving both the object and the cutting device 20.

[0034] Furthermore, in the above-described embodiment, an actuator for changing the angle of the guide unit 20B relative to the main body 20A (such as the standard position, retracted position, and acute-angle cutting position) may be provided. For example, an actuator for rotating the rotating part 231 may be installed in the cutting device 20, and the angle of the guide unit 20B relative to the main body 20A may be changed by driving the actuator. This makes it possible to cut the object while appropriately adjusting the angle of the guide unit 20B relative to the main body 20A (i.e., the intersection angle between the cutting blade 21 and the lower branch B2 of the guide part 22) depending on the characteristics of the object. In addition to providing an actuator for rotating the rotating part 231, the angle of the guide unit 20B relative to the main body 20A may be changed by rotating the guide unit 20B around the rotating part 231 using the operation of the articulated robot 10 or a separately provided robot arm. For example, the angle of the guide unit 20B relative to the main body 20A may be changed by operating the articulated robot 10 to press the guide unit 20B against a predetermined fixed member or the like. In addition, the cutting device 20 held by the articulated robot 10 can be operated to rotate the guide unit 20B using a mechanism such as a separately provided robot arm, thereby changing the angle of the guide unit 20B relative to the main body 20A.

[0035] In the above embodiment, a configuration example (see FIG. 2, etc.) has been described in which a portion of the cutting blade 21 is exposed between the main body 20A and the guide portion 22 when the guide unit 20B is in the standard position or the acute-angle cutting position, but this is not limiting. That is, the cutting blade 21 between the main body 20A and the guide portion 22 may be covered by a member such as the connecting portion 23. Furthermore, a configuration in which the configurations of the above embodiment and modified examples are appropriately combined may be used.

[0036] As described above, the cutting system 1 of this embodiment includes the articulated robot 10 and the cutting device 20. The cutting device 20 includes the main body 20A and the guide unit 20B. The main body 20A has an ultrasonic vibrator 30 that applies ultrasonic vibrations to the cutting blade 21. The guide unit 20B includes a guide portion 22 that accommodates the tip of the cutting blade 21 protruding from the main body 20A and a connecting portion 23 that connects the guide portion 22 to the main body 20A. A cutting space S into which the object to be cut is introduced is defined in a portion of the guide portion 22, and a portion of the cutting blade 21 is exposed in the cutting space S. The articulated robot 10 moves the cutting device 20 and the object to be cut relative to each other. By introducing the film 110 into the cutting space S, the film 110 can be supported by the guide portion 22, allowing the film 110 to be properly cut even when no tension is applied to the film 110. Therefore, the cutting system 1 enables more proper cutting of sheet-like materials.

[0037] The opening E of the cutting space S in the guide unit 20B has an opening width that increases toward the opening end, thereby making it possible to easily introduce the workpiece into the cutting space S.

[0038] The guide unit 20B can be switched between a position in which the tip of the cutting blade 21 protruding from the main body 20A is accommodated and a position in which the tip of the cutting blade 21 protruding from the main body 20A is exposed and retracted to a position where it does not interfere with the workpiece being cut. This makes it possible to avoid the guide unit 20B interfering with the workpiece 100 even in areas where the cutting device 20 and the workpiece 100 are more likely to interfere with each other, and to properly cut the film 110.

[0039] When the guide unit 20B is in a position where the tip of the cutting blade 21 protruding from the main body 20A is accommodated, the intersection angle between the cutting blade 21 exposed in the cutting space S and the guide portion 22 can be adjusted. This makes it possible to change the angle at which the cutting blade 21 cuts into the object to be cut, depending on the characteristics of the object to be cut.

[0040] When the guide unit 20B is in a position where the tip of the cutting blade 21 protruding from the main body 20A is accommodated, the cutting blade 21 exposed in the cutting space S intersects with the guide part 22 at an acute angle on the side where the material to be cut is introduced. This increases the effect of pinching the film 110 between the cutting blade 21 and the lower branch B2 of the guide part 22, making it possible to cut the film 110 while applying a higher tension to the cutting portion.

[0041] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. Furthermore, the effects described in the present embodiments are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the present embodiments.

[0042] 1 Cutting system, 10 Articulated robot (transport device), 20 Cutting device, 20A Main body, 20B Guide unit, 21 Cutting blade, 22 Guide portion, 221 Groove portion, 23 Connecting portion, 231 Rotating portion, 30 Ultrasonic vibrator, 100 Work, 110 Film, S Cutting space, B1 Upper branch, B2 Lower branch, E Opening, M1 Horizontal movement actuator, M2 Vertical movement actuator, H Support member

Claims

1. A main body having a vibrator that imparts ultrasonic vibration to the cutting blade; a guide unit including a guide portion for receiving a tip portion of the cutting blade protruding from the main body and a connecting portion for connecting the guide portion to the main body, the guide portion having a cutting space into which an object to be cut is introduced, and a portion of the cutting blade being exposed in the cutting space; A cutting device comprising: A conveying device that moves the cutting device and the object to be cut relatively to each other; A cutting system comprising:

2. 2. The cutting system according to claim 1, wherein the opening of the cutting space in the guide unit has an opening width that increases toward an opening end.

3. The cutting system according to claim 1 or 2, characterized in that the guide unit is switchable between a position in which the tip of the cutting blade protruding from the main body is accommodated and a position in which the tip of the cutting blade protruding from the main body is exposed and retracted to a position where it does not interfere with the object to be cut.

4. The cutting system according to claim 1 or 2, characterized in that the guide unit is capable of adjusting the intersection angle between the cutting blade exposed in the cutting space and the guide portion when in a position in which the tip portion of the cutting blade protruding from the main body is accommodated.

5. The cutting system according to claim 1 or 2, characterized in that, when the guide unit is in a position in which the tip portion of the cutting blade protruding from the main body is accommodated, the cutting blade exposed in the cutting space intersects with the guide portion at an acute angle on the side where the object to be cut is introduced.

6. A main body having a vibrator that imparts ultrasonic vibration to the cutting blade; a guide unit including a guide portion for receiving a tip portion of the cutting blade protruding from the main body and a connecting portion for connecting the guide portion to the main body, the guide portion having a cutting space into which an object to be cut is introduced, and a portion of the cutting blade being exposed in the cutting space; A cutting device comprising: