JPH10118995A - Punching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support a punch while taking consideration of straight advancing precision only by allowing swing of an image photographing unit in the horizontal direction between a punch and a die and relieving the image photographing unit horizontally by means of its swing action from a coaxial position with the punch and die after centering of a mark. SOLUTION: A workpiece Y is fed by a taught fixed quantity by means of X-Y axis moving mechanism 1 so as to send respective marks (y) just below a punch 2, that is, just below a photographing unit 4. The photographing unit 4, which is arranged coaxially between the punch 2 and the die 6, receives an image of the mark (y), and the mark (y) is centered on the basis of a binarized image by means of an image processing device 3. After centering, the workpiece Y is moved for correction by the error quantity via the X-Y axis moving mechanism 1, and the center of the mark (y) is matched with the centering position, while the die 6 is lifted to the same plane as the working table (x), and then, the photographing unit 4 is swung in the horizontal direction so that it escapes from the coaxial position with the die 6, and consequently, the punch 2 is operated so as to perform perforation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a punching device,
More specifically, the mark of the workpiece sent through the X / Y axis moving mechanism is received by the image pickup unit, the image signal is binarized by the image processing device, the mark is centered, and the centering position is punched. The present invention relates to a punching device for piercing with a punching device.

[0002]

2. Description of the Related Art Conventionally, there is a punching device of a type called a swing type. In this swing type, as shown in FIG.
The imaging unit 4 for centering marks supported by the upper half a1 ′ of the punch unit a1 is positioned coaxially with the die 6 provided on the work table x on the upper surface of the lower half a1 ″. 4 is connected to the image processing apparatus 3 and a punch mechanism 32 is provided so as to be able to swing horizontally in such a manner that the punch 2 is positioned coaxially between the dice 6 provided on the work table x and the imaging section 4. In this punching device, the mark attached to the work Y is moved based on the teaching data by the X / Y axis moving mechanism 1 so as to be located immediately below the image pickup unit 4, and the mark is picked up by the image pickup unit 4. At the same time, the image signal is binarized by the image processing device 3, the mark is centered from the binarized image, and the work Y is corrected and moved by the X / Y axis moving mechanism 1 by an amount of error from the centering position. After, the pan at the tip of the punch mechanism 32 The swing type 2 is configured to rotate in the horizontal direction so as to be coaxial with the imaging unit 4 and the dice 6, and to operate the striking means 22 provided in the punch mechanism 32 to perform punching. A conventional punching device having an imaging unit for mark centering fixedly provided at a distance from the punch supported by the unit (Japanese Patent Publication No. 8-3)
98, etc.), it is not necessary to feed the work in accordance with the separation distance (offset amount) of the punch from the imaging unit after correcting and moving the work by the amount of error from the detected mark centering position. As a result, a workpiece movement error due to a feed error of the XY axis moving mechanism does not occur, and it is possible to pierce the mark centering position with higher accuracy.
Incidentally, in the case shown in FIG. 8 in which a plurality of punch units a1 each having a punch 2 having a different cross-sectional shape are provided adjacent to the imaging unit 4 and the punch unit has a plurality of cross-sectional shapes different from the imaging unit. Are different from each other with respect to the imaging unit 4, the distance (offset) between the punches 2... Differs from the imaging unit 4 by the amount of error from the detected mark centering position. After the Y is corrected and moved by the XY axis moving mechanism 1, the separation distance (offset amount) between the punches 2.
When the workpiece Y is fed so as to conform to the above, the feeding error of the XY axis moving mechanism 1 is greatly affected, so that it is more difficult to perform the drilling with high precision.

[0003]

The swing type punch mechanism 32 has a swinging means (air cylinder) 22 connected to a rotating body 32a capable of swinging in the horizontal direction as shown in FIG. , The arm from the rotating body 32a
A punch 2 is provided at the tip of the arm 32b, and when the mark is received by the image pickup unit 4 and the mark is centered in the binarized image, the arm 32b is rotated to rotate the punch 2b. Is escaped from the coaxial position, and after centering, the arm 32b is rotated to move the punch 2 to the imaging unit 4 and the die 6
And return to coaxial. However, the punch mechanism 32
Is supported in a cantilever manner, so that the upward lifting force, which is a reaction force, acts intermittently on the rotating portion via the arm 32b every time the hole is punched (pushed) to generate a minute play. However, this may cause an accuracy error when returning to coaxial. In order to prevent this, it is necessary to make the structure of the rotating part more precise or to make the shape of the arm 32b highly rigid.
High cost.

[0004] The present invention has been made in view of the conventional circumstances, and the technical problem is that the need to support the punch in a cantilever manner is eliminated, and that the punch is supported by a support method that takes into account only the straight traveling accuracy. is there.

[0005]

According to the present invention, there is provided an XY-axis control system for moving a workpiece to be gripped in a X-axis or Y-axis direction along a work table.
An axis moving mechanism, a die provided replaceably on the work table, a punch provided above the work table facing the die, and a coaxial position between the punch and the die between the punch and the die. An image pick-up unit for centering a mark on a workpiece configured to be swivelable in the horizontal direction so as to cause the image processing apparatus to center the mark by binarizing an image signal received by the image pick-up unit; The gist of the invention is to provide a control unit which is connected to the apparatus and the XY-axis moving mechanism and corrects and moves the XY-axis moving mechanism so that the mark of the work coincides with the centering position. According to a second aspect of the present invention, the workpiece to be gripped is moved along the X-axis and Y-axis along the work table.
An X / Y-axis moving mechanism for moving in the axial direction, a punch unit provided above the work table and having a plurality of punches at regular intervals, and a die provided on the work table facing the punch, A pair of dies between a punch and a die, an imaging unit holder provided with a plurality of imaging units for centering coaxially located with the punches and provided so as to be capable of linearly moving along the direction in which the punches are arranged; and A moving mechanism, a punch through hole provided in an imaging unit holder portion at a fixed interval on either the front side or the rear side along the linear movement direction with respect to each imaging unit, and an image receiving unit by the imaging unit. And an image processing apparatus for binarizing the image signal of the above and aligning the mark, and communicating with the image processing apparatus, the XY axis moving mechanism, and the moving mechanism so that the mark of the work is aligned with the centering position.・ Y axis movement It is summarized as that and the punch holes is correct kinematic the structure is provided with a control unit for moving the moving mechanism so as to be located immediately below the punch.

According to the above technical means, the following effects are obtained. (Claim 1) An image pickup section is configured to be swingable in a horizontal direction between a punch and a die, and the image pickup section is swung horizontally from a coaxial position with respect to a punch and a die after centering of a mark. Because it is a swing type, there is no need to support the punch with a cantilever type in which the lifting force, which is the reaction force at the time of punching (hitting), acts on the rotating part. Can support the punch. (Claim 2) In addition to claim 1, after the imaging unit holder is linearly moved by a moving mechanism, each imaging unit is coaxially positioned between the corresponding punch and die, and the mark is centered.
The X / Y-axis moving mechanism moves the work by the amount of error so as to coincide with the centering position, and feeds the imaging section holder by a fixed amount so that the punch through-hole is located immediately below each punch. .

[0007]

Next, an embodiment of the present invention will be described with reference to the drawings. 1 to 5 show an embodiment of a punching device, and FIG. 6 shows an embodiment of another punching device.

Referring to FIGS. 1 to 5, reference numeral A indicates a punching device, and B indicates a control unit.

In the punching apparatus A, a punch unit a1 having a U-shape in a side view is provided on a machine base C. The punch unit a1 has a central portion serving as a carry-in space 100 for a work Y or a work holder X moved by an XY-axis moving mechanism 1. In addition to supporting the punch 2 in the upper half a1 'of the punch unit a1 and providing the image processing device 3, the imaging unit 4 is supported so as to be able to swing in the horizontal direction, and the upper surface of the lower half a1 "is worked. In the lower half a1 "of the table x, LEDs 5 are arranged side by side along the inner periphery of a hole 15 opened in a portion of the work table x corresponding to the punch 2 and a die is formed in a central space 25 surrounded by the LEDs 5 group. 6, and the die 6 can be moved up and down with its position as the upper limit.

The X-axis moving section 11 of the X / Y-axis moving mechanism 1 straddles two guide sections 11a, 11a provided on the upper surface of the machine base C and parallel to the Y-axis direction as shown in FIG. Table 11 mated
b. A servo motor 11c is attached to one end of the table, and the servo motor 11c is rotatably supported at the other end of the base 11b.
e, a moving body 11f for clamping a work or a work holder is screwed into the screw 11e, and the moving body 11f is rotated by the rotation of the screw 11e driven by the servo motor 11c.
It moves in the axial direction, and the Y-axis moving unit 21
Is formed by screwing a screw 21b extending in the Y-axis direction, which is connected to a servo motor 21a provided on the machine base C, into the base 11b, and the base 11b itself is guided by the rotation of the screw 21b driven by the servo motor 21a. , 11a in the Y-axis direction.

The imaging unit 4 is a CCD camera, which is connected to the image processing device 3, and swings horizontally between the punch 2 and the die 6 and between the coaxial position and other escape positions. It is configured to move.

The punch 2 is simply supported by a ram 12, and the ram 12 is vertically movably inserted into an upper half portion a1 'of a punch unit a1 via a retainer (not shown), and is provided with air, a solenoid or the like. Of the striking means 22.

The mechanism 14 for supporting the imaging unit 4 in the horizontal direction includes
As shown in FIG. 2, the upper half a of the punch unit a1
At 1 ', an air cylinder
14a, the lower wall of the air cylinder 14a extends downward to form a bearing 14b, and a piston rod 14c guided by the bearing 14b projects downward to form a bearing 14b.
The lower end of the piston rod 14c is clamped and fixed to the lower end of a support 14e which is fitted on the outer periphery of the support so as to be vertically movable and swingable via a retainer 14d, and an arm is attached to the support 14e.
14f, a piston of an air cylinder 14g for swinging the head, which supports the imaging unit 4 at its tip and supports the imaging unit 4 at its tip, and pivotally supports its rear end at the upper half a1 'of the rear part of the support 14e. The end of the rod 14h is connected to the support 14e. This mechanism 14 is an air cylinder for swinging the head.
When the support 14e is rotated by operating 14g, the length of the arm 14f is set so that the imaging unit 4 at the tip is coaxial between the punch 2 and the die 6, and the piston rod 14h is extended. Then, the imaging unit 4 comes off (escapes) from the coaxial position of the punch 2 and the die 6. Then, the punch 2 is moved up and down by the operation of the hitting means 22 to pierce. The air cylinder 14a has a function of causing the imaging unit 4 to approach the work table x.

As shown in FIG. 2, a vertical movement means 16 for the die 6 is provided with a die pad 16a for supporting the die 6 at its tip so as to be detachable.
And a fixing plate in the lower half a1 ″ of the punch unit a1.
It comprises a bearing guide 16c fixed to 16b to guide the die pad 16a to be able to move up and down, and an air cylinder 16d provided below the die pad 16a and connecting a piston rod 16e to the die pad 16a. LED5
The group is specifically supported by a holder 35 formed of a translucent material whose upper surface is closed and whose upper surface is a part of the work table x, and the central space 25 is opened at the center of the holder 35. ing. The vertically moving means 16 includes a piston rod 16e.
The die 6 is raised in the central space 25 surrounded by the LED 5 group so as to be flush with the upper surface of the work table x and conversely lowered to release the die 6 from the central space 25 downward. . Symbol 16f is a bearing guide 16
This is a compression spring interposed between c and the lower end of the die pad 16a, and ensures the lowering of the die 6.

The image processing device 3 binarizes the transmitted image of the mark y of the work Y received by the image pickup section 4 by irradiating the LEDs 5 with light from below, and displays the binarized image on a monitor screen. Is to search and center the mark.

The control unit B includes an X / Y axis moving mechanism 1, an image processing device 3, an imaging unit 4, and an air cylinder 14g for swinging the head.
The work Y is fixedly fed to the imaging unit 4 immediately below the imaging unit 4 via the XY axis moving mechanism 1 with a feed amount corresponding to each mark y. Input the taught data and mark y
And the same X as the error amount from the centering position of mark y.
A predetermined program for correcting the workpiece Y in the X and Y axes via the Y-axis moving mechanism 1 and swinging and punching the punch 2 is incorporated.

Next, the operation of this embodiment will be described.
X with the feed amount as work Y was taught
-The mark y is fed by the Y-axis moving mechanism 1 so as to reach each mark y directly below the punch 2, that is, directly below the imaging unit 4. Imaging unit 4
Is positioned coaxially between the punch 2 and the die 6, receives the mark y, and centers the mark y on the basis of the binarized image in the image processing device 3. Die 6 for this centering
Is in the descending state and is not blocked by dice 6
The ED5 group emits light toward the mark y from below. After the centering, the workpiece Y is corrected and moved by the error amount via the XY-axis moving mechanism 1 so that the center of the mark y coincides with the centering position, and the die 6 is raised to be flush with the work table x. As shown in FIG. 4, the image pickup unit 4 swings in the horizontal direction so as to escape from a position coaxial with the punch 2 and the die 6, and the punch 2 is hit and punched.

Next, a punching apparatus A shown in FIG. 6 is an embodiment in which a punch unit a1 has a plurality of punches (punches having different cross-sectional shapes) 2...

The punch unit a1 has a U-shape in a side view in which the central portion is a carry-in space 100 for the work Y or the work holder X, similarly to the above-described embodiment. The punches 2 are supported at regular intervals and an image processing device 3 is provided.
The upper surface of 1 "is a work table x, and LEDs 5 are arranged side by side on the inner periphery of a hole formed in a portion corresponding to the punches 2... In the work table x, and each die 6 is placed in a central space surrounded by the LED 5 group. An image pickup unit holder which is arranged and supports a die 6 so that the position of the die 6 can be moved up and down so as to be vertically movable, and which has an image pickup unit 4 corresponding to the punch 2 in the carry-in space 100
24 can be moved via the moving mechanism 34 in the direction in which the two groups of punches are arranged.

Note that each punch 2, each corresponding die 6, L
Since the ED 5 and the like are supported by the same structure as in the above-described embodiment, the same reference numerals are given and the description is omitted.

The imaging unit holder 24 is a thin plate as shown. The moving mechanism 34 supports a front end of a piston rod 34b protruding from an air cylinder 34a pivotally supported on a lower surface of the upper half portion a1 'of the punch unit a1 at a rear end thereof, and extends the length along the lower surface of the punch unit a1. It is configured to be able to move linearly in the direction. Reference numeral 34c is a guide for movably guiding the punch unit a1 in the longitudinal direction.

The imaging unit holder 24 is positioned at a position coaxial with each of the paired die 6 and punch 2 as described above.
A punch through hole 24a is provided at a position at a fixed interval on the same side of either the front side or the rear side along the linear movement direction with respect to each of the imaging units 4 provided with the imaging units 4 formed of CDs. I have.

The control section B communicates with the X / Y axis moving mechanism 1, the image processing device 3, the image pickup section 4, the moving mechanism 34, the punching means 22 of the punch 2, and the like. The teaching data for moving the workpiece Y by the X / Y axis moving mechanism 1 and positioning a predetermined mark immediately below the predetermined imaging unit 4 is input, and the mark is centered and the mark is aligned with the detected centering position. The workpiece Y is moved in the X and Y axis directions by the amount of error via the X and Y axis moving mechanism 1 and the moving mechanism 34 is controlled so that the punch through holes 24a are located immediately below each punch 2. A predetermined program for moving the imaging unit holder 24 forward or backward by a fixed amount and hitting with the selected punch 2 coaxial with the predetermined imaging unit 4 is incorporated.

Next, the operation of this embodiment will be described.
X with the feed amount as work Y was taught
-The marks are fed in a fixed amount by the Y-axis moving mechanism 1 so that each mark reaches directly below the corresponding punch 2, that is, directly below the corresponding imaging unit 4. The imaging unit 4 is coaxially located between the punch 2 and the die 6, receives the mark, and centers the mark on the basis of the binarized image in the image processing device 3. At the time of centering, the die 6 is in a lowered state, and irradiates light toward the mark portion from below with the group of LEDs 5. After centering,
The work Y is corrected and moved by the amount of error via the XY axis moving mechanism 1 so that the center of the mark coincides with the centering position, and the die 6 is raised to be flush with the work table x. The imaging unit holder 24 moves linearly forward or backward by a fixed amount via the moving mechanism 34 to position the punch through holes 24a... Coaxially with the punch 2 and the die 6, and the predetermined punch 2 is driven through the punch through holes 24a. Pierced.

[0025]

Since the present invention is constructed as described above, it is not necessary to support the punch in a cantilever manner, and it is possible to support the punch by a support system considering only the straight traveling accuracy. A small force generated by the upward lifting force, which is the reaction force, is intermittently concentrated on the rotating part via the arm every time the hole is punched (hitting), as in the case where the hole is punched (hitting). Since it is not necessary to consider a play, a high-precision drilling can be performed without incurring a cost increase such as a purpose of increasing the structure of the rotating portion or increasing the rigidity of the arm. Further, the same number of image pickup units as the punches are supported at a punch interval in an image pickup unit holder configured to be linearly movable between the punch and the die as described in claim 2, and the punches are passed through the image pickup units at a constant interval. If a hole has been opened, the moving mechanism positions each imaging unit coaxially with the corresponding punch and dice to center the mark, and the X / Y axis moving mechanism moves the mark by the amount of error from the centering position. After correcting the workpiece, the imaging unit holder is fixedly fed so that the punch holes are positioned coaxially with the corresponding punches and dies, and the holes are punched. Therefore, as in a conventional punching apparatus, the work is corrected and moved by the X / Y-axis moving mechanism by an amount of error from the centering position, and then the work is fed in accordance with the separation distance (offset amount) from the imaging unit to each punch. It is not affected by the work feed error by the X / Y axis moving mechanism.
Punches of various cross-sectional shapes can be drilled with high accuracy at the centering position of a target mark.

[Brief description of the drawings]

FIG. 1 is a plan view of a punching device.

FIG. 2 is a partially cutaway side view of a main part.

FIG. 3 is a cross-sectional view of a main part.

FIG. 4 is a partially cutaway front view showing a perforated state.

FIG. 5 is a perspective view of a punching device.

FIG. 6 is a partially cutaway side view of another punching device.

FIG. 7 is a partially cutaway side view of a conventional punching device.

FIG. 8 is a perspective view of another conventional punching device.

[Explanation of symbols]

A: Punching device 1: X / Y axis moving mechanism 6: Dice 2: Punch Y: Work 4: Image pickup unit 3: Image processing unit B: Control unit a1: Punch unit 24: Image pickup unit holder 24a: Punch through hole 34: Moving mechanism y: mark

Claims (2)

[Claims] An X / Y-axis moving mechanism for moving a workpiece to be gripped along an X-axis / Y-axis direction along a work table, a die provided on the work table, and a work table facing the die. A punch provided above, an image pickup unit for centering a mark on a workpiece, which is swingable in a horizontal direction so as to be positioned coaxially with the die and the punch between the punch and the die, and an image of the image pickup unit An image processing device that binarizes an image signal received by the unit to center the mark;
A control unit that is connected to the image processing apparatus and the XY-axis moving mechanism and that corrects and moves the XY-axis moving mechanism so that the mark of the work coincides with the centering position. Punching device. 2. An X / Y-axis moving mechanism for moving a workpiece to be gripped along an X-axis / Y-axis direction along a work table, and a plurality of punches provided above the work table at regular intervals. A punch unit, a die provided on a work table facing the punch, a pair of dies between the punches and the dies, and a plurality of imaging units for centering coaxially located with the punches. An imaging unit holder and a moving mechanism provided linearly movable along the direction in which the punches are arranged, and a fixed interval on the same side of the front or rear along the linear movement direction with respect to each imaging unit. A punch through hole provided in the imaging unit holder portion, an image processing device for binarizing an image signal of an image received by the imaging unit and centering a mark, the image processing device, the XY axis moving mechanism, Contact the moving mechanism A control unit that corrects and moves the X / Y-axis moving mechanism so that the mark of the workpiece coincides with the centering position, and moves the moving mechanism so that the punch through-hole is located immediately below each punch. A punching device.