JP2011143474A - Method and device for controlling conveying robot for reciprocating operation type machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for controlling a conveying robot, by which the interference with a reciprocating operation type machine when conveying a workpiece is surely prevented by simple control. <P>SOLUTION: The method and the device are related to the control method for controlling the operation of the conveying robot so that the conveying parts 36, 38 or the like of the conveying robot and the die 19 of the press do not interfere with each other when conveying the workpiece w between adjacent presses of a plurality of presses 10-1A, 10-1B, ... which are arranged in a line-shape, with the conveying robot 30. The positions of the die when working the workpiece with the presses are successively detected and the operation of the conveying part of the conveying robot is controlled on the basis of the data table 54 on which the relationship between the respective positions of the die and the respective positions of the conveying part which does not interfere with the die in the respective positions is stored. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control method and a control device for a reciprocating machine transfer robot for transferring a workpiece between adjacent press machines and the like.

  For example, when one workpiece is sequentially processed by a plurality of press machines, the transfer (delivery) of workpieces between adjacent press machines may be performed by a transfer robot. Various types of press machines and transfer robots are known. Any type of press machine and transfer cycle time of the press machine are short (first requirement), and the transfer robot interferes with the press machine. No (second request) is required.

  The above two requirements are contrary to each other. If priority is given to shortening the cycle time, the risk of interference between the press machine and the transport robot increases. If priority is given to avoiding interference, the cycle time becomes longer. In order to satisfy both requirements, the point is how to synchronize the operation of the press machine, that is, the opening and closing of the upper and lower molds, and the operation of the transfer robot, that is, the entry and exit of the transfer arm to and from the press machine. Therefore, an interlock mechanism or a playback mechanism may be employed.

  A conventional synchronizer (see Patent Document 1) between a press machine and a robot will be described with reference to FIGS. As shown in FIG. 6, the robot 100 includes a carry-in arm unit 101 and a carry-out arm unit 102 that rotate around the twist shaft 103. The press machine 105 includes a fixed lower mold 106 and an upper mold 107 that moves up and down by rotation of a crank.

  The carry-in arm unit 101 is located between the press machine 105 and a press machine (not shown) on the left side, and carries a workpiece processed by the left press machine into the press machine 105. The carry-in arm unit 101 needs to enter the press machine 105 after the upper die 107 is lifted. If the entry is earlier than that, the carry-in arm unit 101 interferes with the press machine 105. On the other hand, the carry-out arm portion 102 is positioned between the press machine 105 and a press machine (not shown) on the right side, and the work machined by the press machine 105 is carried out from the press machine 105 to the right press machine. Carry in. The carry-out arm portion 102 needs to be withdrawn from the press machine 105 before the upper die 107 is lowered, and if the withdrawal is slower than that, it interferes with the press machine 105.

  In order to synchronize the operation of the press machine 105 and the operation of the transfer robot 100, information on the crank angle of the press machine 105 and the movement position of the robot 100 is input to the robot controller 110 as shown in FIG. 8.

  The robot controller 110 determines the position of the press machine 105 (particularly the upper die 107) based on the input crank angle information. In FIG. 9, when the crank angle of the press machine is in the robot inaccessible zone A, the upper mold 107 and the carry-in unit 101 may interfere with each other, but when in the robot intrusive zone B, there is no possibility of interference.

  Further, based on the positional information of the loading arm unit 101 and the unloading arm 102 of the robot 100 input to the robot controller 110, the loading control unit 111 controls the operation of the loading arm 101, and the unloading control unit 112 operates the loading arm 102. To control. In FIG. 7, OP1 is a movement start position, OP2 is a position outside press interference, and OP3 is a mold upper position. Between the positions OP1 and OP2, there is no possibility that the robot 100 interferes with the press machine 105 even if the press machine 105 is operated. On the other hand, between the positions OP2 and OP3, when the crank angle is in the robot accessible zone B, the robot 100 can enter the press machine 105, but enters the robot inaccessible zone A. You cannot enter when you are.

JP-A-8-202419

  In the conventional example, the control for synchronizing the press machine 105 and the robot 100 is complicated. The reason is that the robot controller 110 collates the crank angle information from the press machine 105 with the position information of the loading arm 101 of the robot 100.

  More specifically, for example, when the movement of the robot 100 is too early than the movement of the press machine 105 and the position of the loading arm 101 is OP2, if the crank angle is not in zone B, the robot is stopped at OP2, and the crank angle Wait until it becomes zone B. In other words, when the robot 100 enters the press machine 105, the crank angle at that time, that is, the position of the upper die 107 is confirmed, and the machine cannot enter the press machine 105 until non-interference is confirmed.

  Therefore, the control by the robot controller 110 is complicated. That is, the robot controller 110 needs a part for receiving the crank angle information of the press machine 105, a part for receiving the position information of the robot 100, a part for collating both, and the like.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control method and a control device for a transfer robot capable of reliably preventing interference with a reciprocating machine during workpiece transfer while being simple control. To do.

  The basic technical idea of the present invention is to operate the transport robot based on a data table prepared in advance, in which the positions of the robot that do not interfere with the positions of the reciprocating machine are tabulated.

(1) The reciprocating machine transport robot control method according to the first invention of the present application is as described in claim 1, wherein a plurality of press machines arranged in a line form between adjacent reciprocating machines. When the workpiece is transferred by the transfer robot, the operation of the transfer robot is controlled so that the transfer portion of the transfer robot and the operation portion of the reciprocating machine do not interfere with each other. In this reciprocating machine transfer robot control method, as a transfer robot, a guide member fixedly disposed between adjacent reciprocating machines, a first transfer unit mounted on the guide member and sliding on the guide member, A transport unit having a second transport unit pivotally supported by one transport unit and swinging in a direction connecting adjacent reciprocating machines, the transport unit moving trajectory of the first transport unit and the travel trajectory of the second transport unit Using an object that moves along a two-dimensional trajectory and is arranged at a position represented by two-dimensional coordinates, and sequentially detects the operating position of the operating part during workpiece machining by a reciprocating machine; Based on only the position data of the data table storing the position data consisting only of the relationship between each position of the operating part and each position of the transport part that does not interfere with the operating part at each position, and the operating position, the operating part And interference Obtain the position of the free transport section, to control the operation of the transport section of the transport robot, the relationship between the position of the transport unit which does not interfere with the operation unit in the respective positions and the respective position of the actuating portion, the actuating portion and the conveying portion Is a predetermined positional relationship obtained in advance so as not to interfere .

  The control method according to claim 2 uses a data table different from that at the time of unloading the workpiece from the first reciprocating machine and the loading of the workpiece into the second reciprocating machine.

(2) A control device for a reciprocating machine transport robot according to a second invention of the present application is mounted on a guide member and a guide member fixedly disposed between adjacent reciprocating machines as described in claim 3. A first transfer unit that slides on the guide member , a second transfer unit that is pivotally supported by the first transfer unit and swings in a direction connecting adjacent reciprocating machines, and a free end of the second transfer unit. Controlling the operation of the transfer robot so that the crossbar and the operating part of the reciprocating machine do not interfere with each other when transferring workpieces between adjacent reciprocating machines using a holding robot that includes a crossbar that holds and moves It is.

The control device for the reciprocating machine transfer robot includes a position detecting unit for sequentially detecting the operating position of the operating unit during workpiece machining by the reciprocating machine, and each position of the operating unit and an interference with the operating unit at each position. A first conversion unit that includes a data table in which position data consisting only of the relationship with the position of the crossbar that is not stored is stored , and that determines the position of the crossbar that does not interfere with the operating unit based only on the position data and the operating position When; as crossbar position obtained by the first conversion unit is moved, a driving means for moving the first conveyor and the second conveyor section; formed Ri from the crossbar, the movement trajectory of the first conveyor Is moved along a two-dimensional trajectory by combining the movement trajectory of the second transport unit and disposed at a position represented by two-dimensional coordinates, and interferes with each position of the operating unit and the operating unit at each position. Do not cross The relationship between the positions of over, operating unit and the cross bar is a previously determined predetermined positional relationship so as not to interfere.

According to a fourth aspect of the present invention, there is provided the control device according to the third aspect, wherein the first transport unit and the second transport unit move the crossbar in the XY plane, and the data table stores the X direction position and the Y direction position that do not interfere with the crossbar. Has been. According to a fifth aspect of the present invention, in the control device according to the fourth aspect, the position detecting unit detects the position of the operating unit by detecting the rotational phase of the rotating member that rotates to move the operating unit up and down.

The control device according to claim 6 is the control device according to claim 4, wherein the data table tabulates the X-axis coordinate and the Y-axis coordinate of the crossbar for each predetermined phase angle of the rotating member, and sets the phase angle between the predetermined phase angles. The X-axis coordinate and Y-axis coordinate of the corresponding crossbar are obtained by proportional calculation. According to a seventh aspect of the present invention, the control device according to the third aspect further includes a second conversion unit that converts the position of the crossbar obtained by the first conversion unit into operation information of the driving means.

  (1) According to the control method for the reciprocating machine transport robot according to the first aspect of the present invention, the position of the transport section of the transport robot that does not interfere with the position of the operating section of the reciprocating machine that is sequentially detected is determined. Selected by data table. It is only necessary to detect the position of the operating unit, and the position of the transport unit is not required to be detected. The data table can determine in advance the position of the conveyance unit that does not interfere with the position of the mold at each phase angle, and the data table once prepared can be used repeatedly. As a result, the control of the operation of the transfer unit of the transfer robot is simplified.

  According to the control method of claim 2, a certain transfer robot, an operation unit of the first reciprocating machine that carries the workpiece by the transfer robot, and an operation of the second reciprocating machine that carries the workpiece by the transfer robot. Interference with the part can be prevented.

  (2) According to the control device for the reciprocating machine transport robot according to the second aspect of the invention, the transport robot that moves to transport the workpiece between the first reciprocating machine and the second reciprocating machine. By controlling the operation of the crossbar based on the data table, it is possible to prevent interference between the crossbar and the operating portion of the first reciprocating machine and the second reciprocating machine. The effect of using the data table was explained in the control method column. Although the transfer robot including the crossbar has a compact structure, it can carry out the work from the first reciprocating machine and carry the work into the second reciprocating machine.

  According to the control device of the fourth aspect, the crossbar can be moved in the XY plane without interfering with the operating portion. According to the control device of the fifth aspect, the position of the operating portion can be detected by detecting the phase of the rotating member, and the detection can be performed easily and accurately. According to the control device of the sixth aspect, the position of the rotating member can be detected more accurately, whereby the crossbar is moved along a trajectory that does not interfere with the operating portion more reliably. According to the control device of the seventh aspect, the first transport unit and the second transport unit are reliably driven by the driving means.

It is a plane explanatory view of a press line to which the present invention is applied. It is a front view of one press machine 10-1B of the said press lines. It is a front view of the conveyance robot by 1st Example of this invention which conveys a workpiece | work between press machine 10-1A and press machine 10-1B with the said press line. It is explanatory drawing of the control apparatus 50 which controls the action | operation of the conveyance robot 30 of FIG. (A) is a front view which shows the press machine of 2nd Example, (b) is explanatory drawing which shows the relationship between a conveyance robot and a detector. It is a front view of the conventional press machine. It is a top view of the conventional press machine. It is explanatory drawing of the control part of a prior art example. It is explanatory drawing of the crank angle of a prior art example.

<Reciprocating machine>
Examples of the reciprocating machine that reciprocates include a press machine, an injection molding machine, and a lathe, and the present invention can be applied to all of them. In the press machine, the moving mold (usually the upper mold) corresponds to the operating part. In the injection molding machine, the moving mold corresponds to the operating portion, and the transfer robot transfers the workpiece between the adjacent first injection molding machine and second injection molding machine. In the lathe, the blade holding portion corresponds to the operating portion, and the transfer robot transfers the workpiece between the adjacent first lathe and second lathe. The following description will be focused on the press machine.

  As the press machine, a general-purpose press machine having a fixed part, a movable part and a drive part can be used. A lower die (die) is fixed to the fixed portion, and an upper die (punch) is fixed to the movable portion that can be raised and lowered relative to the fixed portion. For example, the drive unit converts the rotation of the main gear into a vertical movement (lifting movement) of the slide by a crank. A plurality of press machines (first press machine, second press machine, third press machine,...) That sequentially process the workpiece constitute one press line. The first press machine performs the first process, the second press machine performs the second process subsequent to the first process, and the third press machine performs the third process subsequent to the second process.

  The press line includes a tandem press line and a transfer press line. When a plurality of press lines having the same configuration are arranged in parallel to each other, the plurality of first press machines perform the same first processing, and the plurality of second press machines perform the same second processing.

<Transport robot>
The transfer robot of the present invention transfers a workpiece between reciprocating machines such as adjacent press machines. Between adjacent press machines means between the first press machine and the second press machine of the first press line, between the second press machine and the third press machine,. The transfer robot transfers the workpiece with two-dimensional coordinates (XY plane) .

  A typical transfer robot includes a one-side drive unit arranged on one side of an adjacent press machine, an other-side drive unit arranged on the other side, and extends between adjacent press machines to connect both drive units to each other. And a cross bar provided with a holding portion. The cross bar reciprocates between the first press machine and the second press machine, and the work carried out from the first press machine is carried into the second press machine. That is, the cross bar enters and exits the mold of the first press machine and enters and exits the mold of the second press machine.

<Control of transfer robot>
The control device includes at least a position detection unit of an operation unit such as a mold, a first conversion unit including a data table, and a driving unit, and may further include a second conversion unit. The position detector that detects the position of the mold (upper mold) may detect, for example, the rotation phase of the main gear or the crank angle (crank angle).

  The first conversion unit converts the position information of the mold (upper mold) detected by the position detection unit into the position information of the transfer robot (particularly the crossbar). The position information of the upper mold and the position information of the crossbar And a data table stored in a RAM or the like. The position detection of the upper mold has been described above. For example, when the slide makes one reciprocation by one rotation of the main gear, the phase angle is selected for every fixed value (for example, 1 °), and the X coordinate and Y coordinate of the crossbar are determined. The X coordinate and Y coordinate of the crossbar with respect to the phase angle between the constant value and the constant value are obtained by proportional calculation.

  It is necessary to determine the operation of the transfer robot between the first press machine and the second press machine in relation to the operation of both. However, the first press machine and the second press machine are different in the distance between the lower die and the upper die, the lifting stroke of the upper die, etc., and the relationship between the first press machine and the transfer robot, the second press machine and the transfer The relationship with the robot is controlled by a separate data table. The second conversion unit converts the crossbar position information into driving information for moving the crossbar, that is, operation information about the conveyance unit, the motor, and the like.

<Related matters>
Although the present invention relates directly to the operation of a transfer unit for preventing interference between a reciprocating machine such as a press machine and a transfer robot, there is a difference between a transfer robot on a carry-in side and a transfer robot on a carry-out side of a press machine. Also related to interference prevention. This is because non-interference between the carry-in transfer robot and the press machine and non-interference between the carry-out transfer robot and the press robot lead to interference between the carry-in transfer robot and the carry-out transfer robot.

  Further, since the transfer robot moves to a position corresponding to the phase angle of the press machine, the transfer robot operates faster if the stroke cycle of the press machine is made faster, and slower if it is made slower. It can be automatically and easily controlled without controlling the operation speed and timing of the transfer robot so as not to interfere with the press machine.

Embodiments of the present invention will be described below with reference to the accompanying drawings.
<First embodiment>
(Constitution)
a. Overall As shown in FIG. 1, a plurality of press machines 10-1A, 10-1B, 10-1C,... Arranged in a straight line constitutes a first tandem press line, and sequentially processes one workpiece. In other words, one workpiece is sequentially processed by a plurality of press machines. And the conveyance robot 30 conveys a workpiece | work between adjacent press machine 10-1A, 10-1B, 10-1C ....

b. Press machines The plurality of press machines 10-1A, 10-1B, 10-1C,... Have basically the same configuration except that the shape, size and stroke of the mold are different. For example, the central press machine 10-1B includes a fixed portion 11, a movable portion 17, a drive portion 21, a phase angle detector 25, and the like as shown in FIG.
More specifically, the fixing portion 11 is fixed to the base portion (bolster) 12, the columnar portion (upright) 13 erected on the base portion 12, the ceiling portion (crown) 14 fixed to the upper end of the columnar portion, and the upper surface of the base portion 12. And a lower die 15 having a predetermined processing surface. The movable portion 17 includes a slide 18 that can move up and down, and an upper mold 19 that is fixed to the lower surface of the slide and has a predetermined processing surface. The drive unit 21 includes a main gear 22 that is rotated by a drive source (not shown), and a crank mechanism 23 that converts the rotation of the main gear 22 into the vertical movement of the slide 18. A phase angle detector 25 arranged adjacent to the main gear 22 detects the rotational phase of the main gear 22.

c. Transport Robot As shown in FIGS. 1 and 3, the transport robot 30 is disposed between the adjacent press machines 10-1A and 10-1B, and the work unloaded from the left press machine 10-1A is moved to the right. Carry it into the press 10-1B. Between one side drive unit 31 located on one side of the press machines 10-1A and 10-1B, the other side drive unit 41 located on the other side of the press machine, and between the adjacent press machines 10-1A and 10-1B And a cross bar 45 that extends both spaces and couples both driving units. The one-side drive unit includes a guide member 32, a travel member 34, and two swing members 36 and 38. The other side drive unit 41 has a configuration symmetrical to the one side drive unit 31 with respect to the press machine 10.

  The guide member 32 of the one-side drive unit 31 is fixedly disposed between adjacent press machines and has a predetermined length. The traveling member 34 mounted on the guide member 32 is driven by a motor 35 provided at one end thereof, and can reciprocate linearly on the guide member 32. One end of the first swing member 36 is pivotally supported by the traveling member 34 and is driven by a motor 37 so as to be swingable in the workpiece transfer direction. One end of a second oscillating member 38 is pivotally supported on the other end of the first oscillating member 36 and is driven by a motor 39 to be oscillated in the workpiece conveying direction. The other end of the cross bar 45 whose one end is coupled to the other end of the second swing member 38 is coupled to the other end of the second swing member 38 of the other-side drive unit 41. The cross bar 45 includes a holding portion 46 for holding the workpiece w at an intermediate portion thereof.

  The cross bar 45 is obtained by combining the travel (linear movement) of the travel member 34 with respect to the guide member 32, the swing of the first swing member 36 with respect to the travel member, and the swing of the second swing member 38 with respect to the first swing member. It moves along the determined trajectory a to f. However, since it does not move in the longitudinal direction (direction perpendicular to the paper surface of FIG. 3), the movement is a two-dimensional movement in the plane including the guide member 32, that is, the vertical plane. Therefore, the position of the crossbar 45 can be represented by two-dimensional coordinates.

d. Control Device FIG. 4 shows a control device 50 that controls the operation of the transfer robot. The control device 50 includes a phase angle input unit 51, a first conversion unit 52, a second conversion unit 56, and an amplifier unit 58. The phase angle input unit 51 receives the phase angle of the main gear 22 from the phase angle detector 25. The first conversion unit 52 that converts the phase angle signal into the robot position signal includes an interpolation calculation unit 53 and a data table 54.

  The data table 54 is a table in which the X-axis direction position (X coordinate) and the Y-axis direction position (Y coordinate) of the crossbar 45 of the transfer robot that does not interfere with the phase angle 0 ° to 360 ° of the main gear 22 are 1 °. And stored in the RAM. For example, when the phase angle of the press machine 10-1A is 175 °, if the X-axis direction position of the cross bar 45 of the transfer robot 30 is x1 and the Y-axis direction position is y1, the upper die 28 and the cross bar 45 There is no risk of interference. The relationship between this phase angle and the position in the X-axis direction and the Y-axis direction is obtained by calculating in advance the shortest position that does not interfere with the slide position and the upper die dimensions at each phase angle of the press machine. It is.

  The interpolation calculation unit 53 calculates an X-axis direction position and a Y-axis direction position corresponding to a phase angle not stored in the data table 54 based on the stored phase angle. For example, when the X-axis direction position with respect to the phase angle of 175 ° is x1 and the X-axis direction position with respect to the phase angle of 176 ° is x2, the X-axis direction position with respect to the phase angle of 175.5 is obtained from (x1 + x2) / 2.

(Function)
Next, the operation, that is, the control method of this embodiment will be described. In FIG. 3, the cross bar 45 of the transfer robot is driven along the locus a to f between the first press machine 10 </ b> A- 1 and the second press machine 10-1 </ b> B by the driving of the one-side driving unit 31 and the other-side driving unit 41. The workpiece w is moved along with the movement. That is, the cross bar 45 approaches the first press machine 10-1A mainly by the travel of the travel member 34 in the left direction (linear movement) with respect to the guide member 32.

a. After the upper die 19 of the first press machine 10-1A is lifted (and travel of the travel member relative to the guide member) f, the cross bar 45 is moved to the first press machine. The workpiece that has entered the space between the lower die 15 and the upper die 19 of the machine and has been processed by the first press machine 10-1A is held by the holding portion 46. The cross bar 45 is moved along a locus indicated by a by a combined movement of the swing of the first swing member 36 with respect to the traveling member 34 and the swing of the second swing member 38 with respect to the first swing member 36. Moved.

  More specifically, when the cross bar 45 enters the first press machine 10-1A, the one side drive unit 31 and the other side drive unit 41 are based on the position information of the first press machine 10-1A. Drive. That is, the phase angle of the main gear 22 detected by the phase angle detector 25 (that is, the position information of the upper mold 19) is converted into the position information of the crossbar 45 by the first converter unit 52. In the data table 54, the X coordinate and the Y coordinate corresponding to the phase angle are selected, and the result is converted into the position information of the transport robot by the second conversion unit 56. Based on this, the traveling member 34 travels by driving the motor 35, the first swinging member 36 swings by driving the motor 37, and the second swinging member 38 swings by driving the motor 39. Thus, the cross bar 45 enters between the lower mold 15 and the upper mold 19 along the trajectory indicated by f.

  Before the upper mold 19 is lowered, the cross bar 45 mainly moves between the swing of the first swing member 36 relative to the traveling member 34 and the swing of the second swing member 38 relative to the first swing member 36. Due to the combined motion, as shown by a, the space between the lower mold 15 and the upper mold 19 is withdrawn. Even when the cross bar 45 is withdrawn from the first press machine 10-1A, the one-side drive unit 31 and the other-side drive unit 41 drive the cross bar 45 based on the position information of the first press machine 10-1A. .

  Thereafter, the work taken by the cross bar 45 from the first press machine is conveyed to the second press machine 10-1B as indicated by b mainly by the travel (linear movement) of the travel member 34 in the right direction with respect to the guide member 32. .

b. Before and after the upper die 19 of the second press machine 10-1B descends, the travel of the travel member 34, the swing of the first swing member 36, and the second swing member 38 As shown by c, the cross bar 45 enters the space between the lower die 15 and the upper die 19 of the second press machine 10-1B by the combined motion with the swing, and the workpiece w held by the holding portion 46 is retained. Is placed in the space between both molds. Then, before the upper mold 19 is lowered, as shown by d, the crossbar is moved by the combined movement of the travel of the travel member 34, the swing of the first swing member 36, and the swing of the second swing member 38. 45 exits from the space between the lower mold 15 and the upper mold 19. When the cross bar 45 enters the second press machine 10-1B and when the cross bar 45 leaves the second press machine 10-1B, the one-side drive unit 31 and the other-side drive unit 41 are connected to the second press machine 10-1B. The cross bar 45 is driven based on the position information.
Thereafter, the cross bar 45 moves to the left as indicated by e mainly by the travel of the travel member 34 in the left direction with respect to the guide member 32 (linear movement).

(effect)
According to this embodiment, the following effects can be obtained.
a. Regarding the avoidance of the interference between the cross bar 45 and the upper die 19 First, when the work w is unloaded from the first press machine 10-1A by the transfer robot 30, the interference between the cross bar 45 and the upper die 19 is surely avoided. it can. Based on the data table 54 storing the relationship in which the phase angle of the main gear 22, that is, the position of the upper mold 19 and the position (X coordinate and Y coordinate) of the crossbar 45 do not interfere with each other, the one side drive unit 31 and the other side drive unit This is because the motors 35, 37 and 39 of 41 are driven to determine the position of the crossbar 45.
For example, when the cross bar 45 enters the first press machine 10-1A and the upper die 19 is not lifted to a predetermined position for some reason, the cross bar 45 interferes with the upper die 19 when it normally enters. In this embodiment, based on the data table 54, the position of the cross bar 45 that does not interfere with the upper mold 28 located below the normal position (position farther from the upper mold 19 than the normal position) is determined. The motors 35, 37 and 39 move the cross bar 45 only to its safe position.
Secondly, the position of the upper mold 19 and the position of the crossbar 45 can be made to correspond with high accuracy by the interpolation calculation unit 53 and the data table 54.

b. Regarding the control of the transfer robot 30 by the control device 50, the configuration of the control device 50 is simple and the control is also simple. Essential to the control device are a phase angle input unit 51, a first conversion unit 52 and a second conversion unit 56. The first conversion unit 52 and the second conversion unit 56 need only convert the phase angle signal → the robot position signal → the motor position signal. When the detected phase angle is not a predetermined value, that is, when the upper mold 19 is not raised to a predetermined position, the cross bar 45 is automatically moved to a position corresponding to the upper angle. At that time, a sensor or the like for detecting the phase of the crossbar 45 is unnecessary.

c. Regarding the operation cycle of the press machine and the transfer robot First, the cycle time required for the transfer robot to transfer the workpiece w between the first press machine 10-1A and the second press machine 10-1B can be shortened. This is because the cross bar 45 can enter the first press machine 10-1A immediately after the upper die 19 reaches a position where there is no possibility of interference, and no standby is required to avoid interference with the upper die 19.
Secondly, even if the processing cycle of the press machine is accelerated, that is, regardless of the processing cycle of the press machine, the transfer robot can transfer the workpiece without interfering with the press machine, so that the cycle time of the press line can be shortened.
Thirdly, even if the cycle of the press machine is reversed, it can be synchronized without interfering with the transfer robot. That is, if the slide of the press machine stops due to a workpiece loading error, the slide is reversed from that state, the position of the workpiece that has been loaded incorrectly is corrected, and the workpiece is processed again. Conventionally, after the transfer robot is moved and retracted alone, the press machine is reversed, but in this embodiment, if the press machine is reversed without performing this operation, the transfer robot follows the phase angle. Yes (synchronize).

<Second embodiment>
An embodiment in which the present invention is applied to a transfer press is shown in FIG. As shown in FIG. 5 (a), the press machine 10 includes press units 10A, 10B, 10C,... Arranged in parallel, and drives the slide 18 of each press unit with a single drive unit 21. ing. A plurality of such presses 10 are juxtaposed in parallel. The conveyance robots 30A, 30B,... Similar to those in the first embodiment carry the workpieces between the adjacent press units 10A and 10B and between the press units 10B and 10C. For example, the second transport robot 30B transports the workpiece between the press section 10A in the first process and the press section 10B in the second process.

  The operations of all the transport robots are controlled by a detector 25 attached to the drive unit 21. Therefore, as shown in FIG. 5B, for example, the positions of the dies of the press sections 10A, 10B,... Are input to the detector 25, and the detector 25, based on this input information, transfers the robots 30A, 30B,.・ Synchronize and drive. The same applies to the relationship between the other press machines (not shown) and the transfer robots 50A, 50B... And the transfer robots 51A, 51B.

  In the second embodiment, the same effect as in the first embodiment can be obtained. In addition, an effect peculiar to the transfer press, such as a high conveying speed, can be obtained.

10-1A: 1st press machine 10-1B: 2nd press machine 11: Fixed part 15: Lower mold 17: Movable part 19: Upper mold 21: Drive part 25: Each phase detector 30: Conveying robot 31: One side Drive unit 34: first transport unit 36, 38: second transport unit 41: other side drive unit 45: crossbar 50: control device 52: first conversion unit 54: data table 56: second conversion unit

Claims (7)

When transferring workpieces between adjacent reciprocating machines among a plurality of reciprocating machines arranged in a line with a transfer robot, the transfer part of the transfer robot and the operating part of the reciprocating machine should not interfere with each other. A control method for controlling the operation of a transfer robot,
Sequentially detecting the position of the working part during workpiece machining by the reciprocating machine;
Controlling the operation of the transfer unit of the transfer robot based on a data table storing the relationship between each position of the operation unit and each position of the transfer unit that does not interfere with the operation unit at each position;
A control method for a reciprocating machine transfer robot.   2. The control method according to claim 1, wherein the data table is used differently when the workpiece is unloaded from the first reciprocating machine and when the workpiece is loaded into the second reciprocating machine. A first transport unit that moves in a direction connecting adjacent reciprocating machines between adjacent reciprocating machines, and a second that pivots on the first transport unit and swings in a direction connecting adjacent reciprocating machines. When a workpiece is conveyed by a conveyance robot including a conveyance unit and a crossbar coupled to the free end of the second conveyance unit and holding and moving the workpiece, the crossbar and the operation unit of the reciprocating machine do not interfere with each other. A control device for controlling the operation of the transfer robot,
A position detection member for sequentially detecting the operation position of the operation unit during workpiece machining by the reciprocating machine;
Including a data table storing a relationship between each position of the operating unit and the position of the crossbar that does not interfere with the operating unit at each position, and converts the position information of the operating unit into position information of the crossbar A first converter to
Driving means for moving the first transport unit and the second transport unit so that the crossbar moves to a position determined based on the data table;
A control device for a reciprocating machine transfer robot characterized by comprising:   The first transport unit and the second transport unit of the driving unit move the cross bar in the XY plane, and the data table stores the X-axis direction position and the Y-axis direction position of the cross bar that do not interfere with the operating unit. The control device according to claim 3.   The control device according to claim 4, wherein the position detection member detects a position of the operation unit by detecting a rotation phase of a rotation member that rotates to raise and lower the operation unit.   The data table tabulates the X-axis coordinate and Y-axis coordinate of the crossbar for each predetermined phase angle of the rotating member, and the X-axis coordinate of the crossbar corresponding to the phase angle between the predetermined phase angles The control device according to claim 4, wherein the Y-axis coordinates are obtained by proportional calculation.   The control device according to claim 3, further comprising a second conversion unit that converts position information of the data table into operation information of the driving unit.

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