JP4542862B2 - Drive command generation device for work transfer device - Google Patents

Description

  The present invention relates to a drive command generation device for a workpiece transfer device, and more particularly to a drive command generation device for a workpiece transfer device used in a press line composed of a plurality of servo presses.

  In recent years, it has been proposed to configure a press line using a plurality of servo presses. With the servo press, the slide motion can be set arbitrarily, so the optimal slide motion can be set according to the processing conditions at each processing station, and the finished product is good. Moreover, in such a press line, in order to drive a workpiece conveyance apparatus without interfering with the mold of each servo press, it is required to synchronize each servo press (Patent Document 1).

  In other words, Patent Document 1 detects a servo press having the slowest slide movement speed from the plurality of servo presses to the workpiece transfer operation allowable position, and performs a speed reduction correction operation with respect to other servo presses. By performing the above, it is disclosed that all the servo presses reach the workpiece transfer operation allowable position in synchronization.

JP 2003-191096 A

  However, according to Patent Document 1, there is a possibility that the SPM (Stroke Per Minute) is lowered in order to match the speed of the other press with the slowest servo press. In order to maintain the SPM, the speed is increased in the workpiece transfer area. However, since the speed cannot be increased beyond the limit speed of the workpiece transfer apparatus, it is difficult to maintain the SPM as a result.

  In addition, because the movement of the slide is managed at that speed, even if the speed is controlled according to the target, if there is a situation where the actual height of the slide does not meet the target, that amount It is necessary to drive the work transfer device in consideration of the possibility of interference, and there is a problem that movement is wasted.

  An object of the present invention is to provide a drive command generation device for a work transfer device that can avoid interference with a mold and can efficiently drive the work transfer device without lowering the SPM.

  A drive command generation device for a workpiece transfer device according to claim 1 of the present invention is a drive command generation device for a workpiece transfer device used in a press line constituted by a plurality of presses, and the movement of the plurality of presses and the movement Input setting means for inputting an interference area where the movement of the workpiece transfer device interferes or a non-interference area where the work does not interfere, a detection means for detecting the slide position of each press, and the slide based on the detected slide position In the non-interference area, an area determination means for determining whether or not the area is, a minimum press selection means for selecting the lowest press with the lowest slide position in each of the interference area when the slide is lowered and the interference area when the slide is raised Interpolation value calculation means for calculating an interpolation value in the non-interference area based on the slide position, and the lowest press slide in the interference area A virtual master slide motion that follows the movement, and in the non-interference area, the virtual master slide motion is interpolated based on the interpolation value, and a drive command for the workpiece transfer device is issued based on the virtual master slide motion. Command value generating means for generating is provided.

  According to the present invention, an optimal virtual master slide motion that passes through the interference area and the non-interference area is created, the movement of the workpiece transfer device is controlled by a drive command generated based on the virtual master slide motion, and the mold Interference with such as can be prevented. Therefore, unlike the conventional method in which the other presses are synchronized with the slowest press movement to the workpiece transfer operation allowable position, there is no fear that the SPM is lowered. In addition, since the drive command for the workpiece transfer device is generated based on the optimal virtual master slide motion, the workpiece transfer device can be reliably driven at a timing and movement that does not cause interference with the press side, eliminating unnecessary movement and improving efficiency. Is.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is an overall perspective view schematically showing a transfer press 1 to which a drive command generation device 10 (FIG. 2) according to an embodiment of the present invention is applied. In the present embodiment, a transfer feeder is used as the work transfer device. FIG. 2 is a block diagram showing the drive command generation device 10.

  In FIG. 1, a transfer press 1 has a configuration in which a plurality of modular servo presses (hereinafter may be simply abbreviated as “presses”) P1 to P7 are arranged along the workpiece conveyance direction. A series of transfer press lines are formed with processing stations corresponding to P1 to P7. The transfer press 1 includes a controller 2 (FIG. 2) that controls the servo presses P1 to P7 in an integrated manner, a stacker device for supplying workpieces (not shown), and a pair of transfer bars 3A and 3B across all processing stations. The provided transfer feeder 3 etc. are installed. In such a transfer press 1, the workpiece is conveyed from the left front side in the drawing to the right back side (the left front side in the drawing is upstream and the right back side is downstream).

  Each of the servo presses P1 to P7 constituting the transfer press 1 includes a servo motor (not shown), a crown 4 incorporating a main crank driven by the servo motor, a main crank connected to the main crank via a plunger, and an upper die. The slide 5 to be attached and the bed 6 that can accommodate the moving bolster to which the lower mold is attached are configured as one set. However, a normal bolster fixed to the bed 6 may be used instead of the moving bolster. The servo presses P1 to P7 are provided with a rotary encoder (detection means) 8 capable of detecting the main crank angle as the position of the slide 5 as shown in FIG.

  The controller 2 is constructed by a control technique using a computer, and is provided so as to generate a drive command for controlling the movement of the slide 5 of the servo presses P1 to P7 and for controlling the movement of the transfer feeder 3. Yes. Among them, in order to generate a drive command, the controller 2 uses a region determination unit 11, a minimum press selection unit 12, a most advanced press selection unit 13, a latest press selection unit 14, an interpolation value calculation unit 15, and a command value generation. Hardware and software that function as the means 16 are provided. The drive command is generated as a main crank angle for driving the transfer feeder 3 and is output to the controller 3B of the transfer feeder 3.

  The controller 2 is connected to an operation panel (input setting means) 9 operated by a user. The operation panel 9 can input and set an interference area where the movement of the slide 5 (the mold provided on it) and the movement of the transfer feeder 3 interfere with each other or a non-interference area where the movement does not interfere with each other as the slide height (stroke). Is provided. The operation panel 9, the rotary encoder 8, and the controller 2 are included to form the drive command generation device 10 of the present invention.

  In FIG. 3, the slide motions of the servo presses P1 to P3 are representatively shown, and the interference area and the non-interference area are shown. Here, for the sake of simplicity of explanation, the case of three servo presses P1 to P3 will be described. These interference areas and non-interference areas are common to the servo presses P1 to P3, and are determined in advance as design matters. In addition, as the interference area, there are a carry-in interference area A when the slide 5 is lowered and a carry-out interference area B when the slide 5 is raised, and the non-interference area is when the slide 5 changes from being lowered to ascending. There is a bottom dead center side non-interference area C and a top dead center side non-interference area D when turning from ascending to descending. Here, in particular, the carry-in side interference area A means that the workpiece is carried into the machining station when the slide 5 is in this area, and the carry-out side interference area B is the machining station when the slide 5 is in this area. It means that the work is carried out from inside.

  Hereinafter, a method for specifying these interference areas and non-interference areas will be described with reference to FIG. FIG. 3 shows one cycle of the slide motion of the servo presses P1 to P3. During one cycle of the slide motion, the interference area (the carry-in side interference area A and the carry-out side interference area B) or non-interference is shown. If one of the areas (the bottom dead center side non-interference area C and the top dead center side non-interference area D) is determined, the other can be determined. That is, when the interference area is designated, the area from the end of the carry-in interference area A to the start of the carry-out interference area B through the bottom dead center is defined as the bottom dead center non-interference area C and the carry-out interference. The area from the end of area B to the start of carry-in interference area A through the top dead center may be defined as top dead center side non-interference area D. If a non-interference area is designated, The area between the end of the dead center side non-interference area D and the start of the bottom dead center side non-interference area C is defined as the carry-in interference area A, and the end of the bottom dead center side non-interference area C to the top dead center side non-interference area. The area up to the start of D may be the carry-out side interference area B. Therefore, either one of the interference area (the carry-in side interference area A and the carry-out side interference area B) or the non-interference area (the bottom dead center side non-interference area C and the top dead center side non-interference area D) is designated. Thus, all interference areas and non-interference areas can be designated.

  Furthermore, if it demonstrates using FIG. 3, if it is the slide 5 of the servo press P1 that passes the carrying-in side interference area A earliest and all the slides 5 exist in this carrying-in side interference area A, The height of the slide 5 of the servo press P1 is the lowest. Therefore, it is necessary to drive the transfer feeder 3 that performs the same movement with respect to the three servo presses P1 to P3 in accordance with the movement of the slide 5 of the servo press P1. The reason why the servo presses P2 and P3 are driven is that the slide 5 of the servo press P1 is already lowered when the work is carried in, and cannot be carried in due to interference.

  On the other hand, the slide 5 of the servo press P3 that passes through the unloading side interference area B is the slowest, and if all the slides 5 are in the unloading side interference area B, the height of the slide 5 of the servo press P3 is high. Is the lowest. Therefore, it is necessary to drive the transfer feeder 3 in accordance with the movement of the slide 5 of the servo press P3. The reason why the servo presses P1 and P2 are driven is that the slide 5 of the servo press P3 is not fully raised when the work is carried out, and the work cannot be taken due to interference.

  Therefore, in the present embodiment, the respective means 11 to 16 of the controller 2 are caused to function, and in the carry-in interference area A, the carry-out interference area B is based on the slide motion of the servo press P1 where the height of the slide 5 is minimum. Then, based on the slide motion of the servo press P3 where the height of the slide 5 is the lowest, the slide heights of the servo presses P1 to P3 are set in the bottom dead center side non-interference area C and the top dead center side non-interference area D. The transfer feeder 3 is moved based on the slide motion based on the interpolation method based on the length. That is, a continuous optimal virtual master slide motion (two-dot chain line in FIG. 3) is created by connecting slide motions in each region, and the transfer feeder 3 is moved in accordance with this. Below, each means 11-16 of the controller 2 is demonstrated.

  The area determination means 11 derives the actual height of the slide 5 for each of the servo presses P1 to P7 based on the main crank angle sequentially detected by the rotary encoder 8 of each servo press P1 to P7. It is determined whether it is in A and B or in non-interference areas C and D. Further, when it is determined that they are in the non-interference areas C and D, whether the slide 5 is in the bottom dead center side non-interference area C going from descending to rising, or the top dead center side non-interference area going from rising to descending Determine whether it is in D.

  The lowest press selection means 12 selects the servo press having the lowest slide 5 height as the lowest press in the carry-in side interference area A and the carry-out side interference area B, and calculates the main crank angle of this lowest press as an interpolation value calculation means. 15 and the command value generation means 16. As described above, in FIG. 3, for example, the lowest press in the carry-in side interference area A is the servo press P1, and the lowest press in the carry-out side interference area B is the servo press P3.

  The most advanced press selection means 13 selects the most advanced servo press as the most advanced press in the top dead center side non-interference area D. The most advanced press in this embodiment that is synchronized at the top dead center is the servo press P1 or servo press P2 having the highest slide height before the top dead center (refer to FIG. 3). In the embodiment, the servo presses P1 to P3 have the lowest slide height after top dead center (however, in the present embodiment, they are all at the same slide height).

  The slowest press selection means 14 selects the servo press that is most delayed in the bottom dead center side non-interference area C as the slowest press, and outputs the main crank angle and angular velocity to the interpolation value calculation means 15. In this embodiment in which the slide motion is arbitrarily set within one synchronized period, the slowest press is a servo press P3 that turns from the bottom dead center to the slowest rise with reference to FIG. .

  In the bottom dead center side non-interference area C, the interpolation value calculation means 15 is based on the difference in main crank angle between the lowest press and the slowest press and the angular velocity of the slowest press, and the slide motion of the slowest press. Sequentially calculates the time it takes to catch up to the continuous virtual master slide motion (described later) from the carry-in interference area A, calculates the angular velocity for moving at a constant speed until it catches up as an interpolation value, and instructs this interpolation value Output to the value generation means 16. In one top dead center side non-interference area D, the highest angular velocity is output as an interpolated value so that the virtual master slide motion (described later) side continuous from the carry-out side interference area B catches up with the slide motion of the most advanced press. . The fastest angular velocity is the maximum angular velocity at which the transfer feeder 3 can follow the transfer press 1.

  The command value generation means 16 has a function of creating a continuous virtual master slide motion for one cycle and a function of generating a drive command using this virtual master slide motion.

Specifically, the command value generation means 16 determines the virtual master slide motion so as to follow the slide motion of the lowest press in the carry-in interference area A (during the most advanced follow-up in FIG. 3).
In the bottom dead center side non-interference area C, based on the interpolation value calculated by the interpolation value calculation means 15, the continuous virtual master slide motion from the carry-in side interference area A is made the catch-up position of the slide motion of the latest press. The slide motion of the latest press is merged with the virtual master slide motion (moving from the fastest to the slowest in FIG. 3).
In the carry-out side interference area B, the virtual master slide motion is determined so as to continue following the slide motion of the lowest press (during the latest follow-up in FIG. 3).
In the top dead center side non-interference area D, the fastest angular velocity is set as an interpolation value, and based on this, the continuous virtual master slide motion from the carry-out side interference area B is guided to be combined with the slide motion of the most advanced press ( The latest to the most advanced transition in FIG. 3).

  The command value generation means 16 derives the main crank angle in real time from the slide height (position) on the virtual master slide motion, and outputs the main crank angle to the controller 3B of the transfer feeder 3 as a drive command. .

  Here, FIG. 4 shows a stroke diagram in which the horizontal axis is the main crank angle and the vertical axis is the stroke. This stroke diagram shows the relationship between the stroke (slide height) of the slide 5 and the main crank angle. That is, the main crank angle is uniquely derived from the slide height on the virtual master slide motion described above, and this main crank angle is output as a drive command to the controller 3B on the transfer feeder 3 side.

  Further, according to the stroke diagram, the three-dimensional movement of the transfer feeder 3 corresponding to the main crank angle can be understood. That is, such a stroke diagram is stored in the controller 3B as a map for controlling the drive of the transfer feeder 3, and based on the main crank angle received from the controller 2 on the press 1 side, the clamp of the transfer feeder 3 ( An unclamping operation, a lift (down) operation, and a feed (return) operation are controlled.

Hereinafter, the process until the main crank angle as the drive command is output will be described with reference to the flowchart shown in FIG.
First, interference areas A and B (actually the same area) or non-interference areas C and D are input using the operation panel 9 and stored in a storage means (not shown) (S1). Next, the operation start operation is performed (S2). During actual operation, the main crank angles of the servo presses P1 to P7 that change from moment to moment are detected by the respective rotary encoders 8, and the slide is started from the detected main crank angle. The current value of height is acquired in real time (S3, S4).

  Then, the region determination unit 11 determines in which region each slide 5 of the servo presses P1 to P7 is located (S5). If the slide 5 is in the interference areas A and B, the lowest press selection means 12 selects the lowest press with the lowest slide height, and outputs the slide height to the command value generation means 16 (S6). The command value generation means 16 creates a virtual master slide motion from the received slide height, and derives the main crank angle from the received slide height as a drive command. However, in the interference areas A and B, since the slide motion of the lowest press is handled as a virtual master slide motion, the main crank angle at the time of detection with the lowest press is output as it is as a drive command (S7). Note that the slide height in S6 is also used to calculate an interpolation value, and is therefore also output to the interpolation value calculation means 15.

  In S5, when the slide 5 is in the non-interference areas C and D, the area determination means 11 determines whether it is in the bottom dead center side non-interference area C or the top dead center side non-interference area D ( S8). In the bottom dead center side non-interference area C, that is, the area where the slide 5 turns from descending to ascending, the latest press selecting means 14 selects the latest delayed press as the latest press (S9), and the slide motion of the latest press is selected. In order to smoothly merge with the virtual master slide motion, the angular velocity on the virtual master slide motion side is calculated as an interpolation value (S10). Thereafter, in S7, the virtual master slide motion is formed to be guided toward the merged position based on the interpolated value, the main crank angle is derived from the slide height on the induced virtual master slide motion, and the drive is performed. Output as a command.

  On the other hand, the top dead center side non-interference area D, that is, the area in which the slide 5 turns from ascending to descending, the most advanced press selecting means 13 selects the most advanced press as the most advanced press (S11). The fastest angular velocity is output as an interpolation value so that the slide motion can catch up with the slide motion of the most advanced press. In S7, based on the interpolation value, the virtual master slide motion following the latest press in the ascending interference region B is merged with the slide motion of the most advanced press in the top dead center side non-interfering region D. To guide. Then, the main crank angle is derived from the slide height on the induced virtual master slide motion, and is output as a drive command.

  As described above, in this embodiment, a virtual master slide motion is created based on the position of the slide 5 of each servo press P1 to P7, and the movement of the transfer feeder is controlled by the main crank angle obtained from the virtual master slide motion. This prevents interference with the slide 5 and the mold. Therefore, unlike the conventional method in which the other presses are synchronized with the slowest press movement to the workpiece transfer operation allowable position, there is no fear that the SPM is lowered. Since the main crank angle for the transfer feeder 3 is output based on the best virtual master slide motion, the transfer feeder 3 can be reliably driven at a timing and movement that does not interfere with the servo presses P1 to P7, and there is no wasteful movement and efficiency. Is.

  In addition, combining the other presses with the slowest press means that the slide motions of all presses are almost the same, so the characteristics of the servo press that allows individual slide motions to be set freely are sufficient. Although there is a possibility that the servo presses P1 to P7 need only be substantially synchronized within one period, individual motion curves can be arbitrarily set within one period. The workpiece can be processed satisfactorily by taking advantage of the advantages of the servo presses P1 to P7.

In addition, this invention is not limited to the said embodiment, Including other structures etc. which can achieve the objective of this invention, the deformation | transformation etc. which are shown below are also contained in this invention.
In the above embodiment, the main crank angle is detected by the rotary encoder 8 to derive the actual slide height for each of the servo presses P1 to P7. However, if the slide height in one cycle of motion can be specified. The slide height may be obtained by detection by other detection means. For example, Japanese Patent Application Laid-Open No. 2004-58152 uses a position sensor such as a linear scale to slide during one cycle from a preset upper limit position of a slide motion through a lower limit position to an upper limit position during a press operation. Is disclosed. In this case, the linear scale that directly detects the slide height is the detection means according to the present invention.

In the servo press described in the above publication, a power transmission mechanism to the slide is configured by an eccentric shaft driven by a servo motor and a toggle link mechanism connected to the eccentric shaft. In the configuration, since the rotation angle of the eccentric shaft corresponds to the main crank angle in the above embodiment, the rotation angle of the eccentric shaft may be detected by detection means such as a rotary encoder, and the slide height may be derived from this rotation angle. .
Furthermore, as a mechanism for transmitting power to the slide, the toggle link mechanism is driven by using a ball screw in addition to the configuration described in the above publication in which the toggle link mechanism is driven by an eccentric shaft, or the configuration of the embodiment using the main crank. It is also possible to move the slide directly up and down with a ball screw. Any detection means for detecting the slide position can be used in accordance with these power transmission mechanisms.

  In the above-described embodiment, the transfer feeder 3 is used as the work transfer device. However, the work transfer device is not limited to this, and can be controlled based on the main crank angle received from the controller 2 of the press 1. It may be a workpiece transfer device. For example, in Japanese Patent Application Laid-Open No. 2001-212781, a transfer robot is used as a work transfer device, and development data including position data in which a locus of movement of the robot is plotted is stored in a storage unit, and a crank angle of a press machine is stored. It is disclosed that a plurality of robots and a press machine are operated synchronously by outputting unfolded data to a positioning controller by a data output means in accordance with an encoder signal for detecting. In this case, the created virtual master slide motion may be used instead of the encoder signal for detecting the crank angle.

In addition, the best configuration, method and the like for carrying out the present invention have been disclosed in the above description, but the present invention is not limited to this. That is, the invention has been illustrated and described primarily with respect to particular embodiments, but may be configured for the above-described embodiments without departing from the scope and spirit of the invention. Various modifications can be made by those skilled in the art in terms of quantity, other details, and the like.
Therefore, the description limited to the shape, quantity and the like disclosed above is an example for easy understanding of the present invention, and does not limit the present invention. The description by the name of the member which remove | excluded the limitation of one part or all of such restrictions is included in this invention.

  The present invention can be used for a work transfer device or the like used in a press line constituted by a plurality of presses.

1 is an overall perspective view schematically showing a transfer press to which a drive command generation device according to an embodiment of the present invention is applied. The block diagram which shows a drive command production | generation apparatus. The figure which shows the slide motion of a press, and an interference area and a non-interference area. Stroke diagram of press and transfer feeder. The flowchart which shows the process until it produces | generates a drive command.

Explanation of symbols

  P1, P2, P3, P4, P5, P6, P7 ... Servo press (press), 3 ... Transfer feeder (work transfer device), 5 ... Slide, 8 ... Rotary encoder (detection means), 9 ... Operation panel (input setting) Means) 10 ... Drive command generation device 11 ... Area determination means 12 ... Minimum press selection means 15 ... Interpolation value calculation means 16 ... Command value generation means A ... Bring-in side interference area B ... Buck-out side interference area , C ... bottom dead center side non-interference area, D ... top dead center side non-interference area.

Claims (1)

A drive command generation device (10) of a work transfer device (3) used in a press line composed of a plurality of presses (P1 to P7),
An input setting means (9) for inputting an interference area where the movement of the plurality of presses (P1 to P7) and the movement of the work transfer device (3) interfere or a non-interference area where the movement does not interfere;
Detection means (8) for detecting the position of the slide (5) of each press (P1 to P7);
A region determination means (11) for determining in which region the slide (5) is based on the detected slide position;
Lowest press selection means (12) for selecting the lowest press with the lowest slide position in each of the interference area (A) when the slide (5) is lowered and the interference area (B) when the slide is raised;
Interpolation value calculation means (15) for calculating an interpolation value in the non-interference area (C, D) based on the slide position in the non-interference area (C, D);
In the interference area (A, B), a virtual master slide motion that follows the slide motion of the lowest press is created, and in the non-interference area (C, D), the virtual master slide motion is based on the interpolation value. And a command value generating means (16) for interpolating and generating a drive command for the workpiece transfer device (3) based on the virtual master slide motion. A drive command for the workpiece transfer device (3) Generator (10).

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