JP4921259B2 - Method and apparatus for controlling multiple press machines - Google Patents

Description

  The present invention relates to a control method and a control apparatus for a so-called tandem (series) press working line configured to include a plurality of press machines and materials or workpiece supply / conveyance / discharge devices attached thereto.

  Conventionally, when producing products (workpieces) formed by multi-step pressing, the multi-step process is shared by multiple press machines and processed (configured as a tandem line). ing.

  That is, a tandem type press working line is configured including a plurality of press machines and a transport device for carrying materials into and out of the press machines, and from the press machine on the upstream side of the process. It is known that a finished product is produced by sequentially forming a workpiece by flowing the workpiece toward a press machine on the downstream side of the processing.

  In this case, it is necessary for such a press processing line to have, for example, the number of steps necessary to produce a product that requires the most possible processing steps (or press machines). Here, the number of processes in the press working line means the number of press machines constituting the press working line. That is, normally, one press machine is responsible for processing related to one process.

By the way, although the number of steps required for machining differs depending on the type of workpiece, it is necessary for machining when machining a workpiece that has been machined with a smaller number of steps on a press line having a larger number of steps. Since there are surplus processes (press machine and transport apparatus), the functions of the surplus processes (press machine and transport apparatus) are stopped while the processing is being performed. Therefore, in such a case, even when the workpiece is being processed, the operation rate of the press machine and the transfer device decreases because there are stopped press machines and transfer devices in the entire press processing line. Productivity will be reduced.

  For this reason, for example, in Patent Document 1, a plurality of cells including a press machine, a handling robot corresponding to the press machine, and a control device that controls these operations based on a program are provided. In a robot line equipped with a centralized control device that collectively controls operations, a plurality of operation patterns based on cell combinations are stored in the pattern storage unit, and when one of the operation patterns is selected by the operator, the line setting unit The line configuration can be changed in accordance with the selected operation pattern, for example, if the entire line is composed of a part of the cells of the entire line, and the line composed of other cells. It is easy to switch between and improve productivity of the entire line. It has been.

  Patent Document 1 also describes that the work loading machine and the work unloading machine are manually installed so as to correspond to the operation pattern of the cell.

  Here, each of the plurality of press machines constituting the press working line has a configuration as shown in FIG. 6 and includes a control command from a control device 50 including information input means such as an operation panel. Accordingly, the main motor 40 of the press machine 1 is rotationally driven to rotate the flywheel 41 that is rotationally connected to the main motor 40, and the rotational force (rotational energy) stored in the flywheel 41 is supplied at a predetermined timing. It is transmitted to the main gear 43 and the crankshaft 44 via the clutch mechanism 42, and the slide 45 is moved up and down by the conversion action from the rotational motion by the crankshaft 44 to the reciprocating linear motion to perform press working.

  Here, if the press work is performed by simultaneously lowering the slides 45 of the plurality of press machines constituting the press work line from the top dead center at the same speed, the slides 45 are moved upward by one stroke. If the timing of returning to the dead center is the same, there is no problem, but in reality the timing is off.

  For this reason, when the press processing line is operated continuously, deviations in the press processing timing between the press machines are accumulated and increased, so that the work is unloaded from the upstream press machine and the work of the downstream press machine is loaded. However, there is a possibility that the production efficiency may be lowered due to a situation in which it is necessary to stop the process once in spite of the continuous operation of the press working line.

  Such a shift in the timing of the press work between the press machines is caused by the fact that the amount of slowdown differs for each press machine, and therefore the cycle of the press operation differs among the press machines. Here, the slowdown refers to a phenomenon in which the rotational energy of the flywheel 41 is consumed during press working and the rotational speed (rotational speed) of the flywheel 41 is temporarily reduced. The amount of slowdown varies depending on the amount of energy required, the capacity of the main motor 40, the size of the flywheel 41, etc., and these factors differ for each press machine, so the amount of slowdown varies for each press machine. It will be.

In order to solve the phenomenon that continuous press work cannot be efficiently performed due to different slowdown amounts of a plurality of press machines constituting such a press work line, for example, in Patent Document 2, press work is performed. A method for synchronizing the operations of a plurality of press machines constituting a line has been proposed.
JP-A-8-202408 JP 2005-52855 A

  Incidentally, among the operation patterns shown in FIG. When 4 is selected, a workpiece machined in a 3-step cell from a 1-step cell and a workpiece machined in a 4-step cell from a 5-step cell in the opposite direction are both a 3-step cell and a 4-step cell. It will be conveyed in between.

  However, as described above, in Patent Document 1, there is only a description that a material or a work loader and a work unloader are manually installed so as to correspond to the operation pattern of the cell. How to unload workpieces processed from 1-step cell to 3-step cell and workpieces processed from 5-step cell to 4-step cell from between 3-step cell and 4-step cell Was an issue to be considered.

  In addition, between the 3-step cell and the 4-step cell, a discharge device for discharging a workpiece processed in the 3-step cell from the 1-step cell to the outside of the line, and a workpiece processed in the 4-step cell from the 5-step cell. It is conceivable to dispose both a discharge device for discharging the gas to the outside of the line, but in such a case, a sufficient space for installing these two discharge devices is required. And in this way, in order to process various workpieces in the press processing line and increase the operating rate of the press machine that constitutes the entire line, it is necessary to support various operation patterns. Therefore, it is necessary to install two discharge devices between the process cells. Therefore, a space for installing the two discharge devices between all the process cells is required.

However, if there is a space for installing two discharge devices between all the process cells, the total length of the press processing line will increase and a relatively large occupation area will be required. In addition to the decrease, there is a possibility that the work conveyance distance between the process cells becomes long and the production efficiency of the press working line is lowered.
Accordingly, it is desirable to keep the process cell interval as long as necessary and sufficient for maintenance of the press machine.

  Moreover, the synchronization method of the press machine described in patent document 2 is an example about the case where the several press machine which comprises a tandem type press work line is operated by a series of press operation | movements, and a some press machine is predetermined. It is not adapted to the case where the press operation is performed for each group.

  The present invention has been made in view of such circumstances, while maintaining productivity without extending the line length of a tandem press processing line configured to include a plurality of press machines with a simple and inexpensive configuration, It is an object of the present invention to provide a control method and a control device for a press working line capable of easily and flexibly grouping a plurality of press machines and efficiently performing press processing.

For this reason, the control method of the press line according to the present invention is as follows:
Press processing in which at least a part of the plurality of press machines in a tandem press processing line that performs press processing by interlocking a plurality of press machines is selectively grouped to perform predetermined press processing for each group A line control method,
The press machine group belonging to the one group is operated synchronously, the press machine group belonging to the other group is operated synchronously, and the press operation is adjusted between the groups.

In the present invention, the grouped group is pressed from the opposite direction,
Discharging workpieces after pressing from the press machine at the most downstream of one group and the press machine at the most downstream of the other group adjacent to the press machine to the outside of the press line. Can be a feature.

  According to the present invention, the press operation is performed between the groups so that the synchronous operation in the press machine group belonging to the one group and the synchronous operation in the press machine group belonging to the other group have a predetermined phase difference. It can be characterized by adjusting.

  In the present invention, the predetermined phase difference is a workpiece that is unloaded from the press machine at the most downstream side of the one group of machining steps, and a workpiece that is unloaded from the press machine at the most downstream side of the other group of machining steps. It can be characterized in that it is set so as not to interfere.

  The present invention is characterized in that at least one of the synchronous operation in the press machine group belonging to the one group or the synchronous operation in the press machine group belonging to the other group includes a step of changing a synchronization target of the synchronous operation. It can be.

Further, the control method of the press working line according to the present invention is as follows:
Selectively grouping at least some of the plurality of press machines in a tandem press working line that presses the plurality of press machines in conjunction with each other;
According to the mode of grouping, a process of automatically configuring each group by selecting a press machine, an intermediate transfer device between the press machines, a material supply device that supplies material, and a discharge device that discharges the workpiece after pressing,
A step of performing predetermined pressing for each group from the opposite direction;
Including
The discharging device removes a workpiece after pressing from the press machine line between the press machine at the most downstream of one group and the press machine at the most downstream side of the other group adjacent to the press machine. In the case of a device that discharges to
The press machine group belonging to the one group is operated synchronously, the press machine group belonging to the other group is operated synchronously, and the press operation is adjusted between groups.

  In the present invention, the discharge device is automatically moved by retracting an intermediate conveying device between the press machine at the most downstream side of the processing group of the one group and the press machine at the most downstream side of the process step of the other group. It is characterized by including the process arrange | positioned.

  The present invention provides a press working line control device for executing the above-described press working line control method.

  According to the present invention, the plurality of press machines can be easily made while maintaining productivity without extending the line length of a tandem press processing line including a plurality of press machines with a simple and inexpensive configuration. In addition, it is possible to provide a control method and a control device for a pressing line that can be flexibly divided into groups and efficiently pressed.

  Hereinafter, an embodiment showing an example of a control method for a tandem press working line including a plurality of press machines according to the present invention will be described with reference to the accompanying drawings. The present invention is not limited to the embodiments described below.

(First embodiment)
When the tandem press working line according to the first embodiment of the present invention is used as a normal tandem press working line as shown in FIG. an intermediate transfer unit 30 which is disposed between the press machine 5, using, right against the material (blank) supplied from the material supply device a, from the left side in FIG. 1 (a) A series of press work is performed toward the side, and the finished product (work after press work) is discharged out of the press work line via the material discharge device 10.

  In the present embodiment, the plurality of press machines 1 to 5 in the tandem press processing line are divided into at least two groups, the materials are supplied to each group, the press work is performed, and the processed work is discharged to the outside. It is configured to be able to.

Here, as an example of the grouping, for example, as shown in FIG.
1B includes a NO1 press machine 1, a NO2 press machine 2, and a NO3 press machine 3 that press the material supplied from the material supply apparatus A in the forward direction (from left to right) in FIG. 1 press machine group 100;
A direction (reverse direction, opposite to the forward direction in FIG. 1B) with respect to the material supplied from the material supply device B arranged instead of the material discharge device 10 shown in FIG. A second press machine group 200 including a NO5 press machine 5 and a NO4 press machine 4 for pressing from the right side to the left side);
The case where it is divided will be described.

  Note that a normal tandem press processing line is provided between the NO3 press machine 3 at the most downstream side of the first press machine group 100 and the NO4 press machine 4 at the most downstream side of the second press machine group 200. 1 is moved upward (to the left in the forward direction of the press line) in FIG. 1B, the intermediate conveying device 30 for carrying the work unloaded from the NO3 press machine 3 into the NO4 press machine 4 is moved. Thus, the discharge device 300 is disposed in the corresponding portion instead of the intermediate transfer device 30. Note that, as shown by a broken line in FIG. 1B, the discharge device 300 is retracted from the press processing line when the press processing line is used as a normal tandem press processing line. Note that the moving direction, the retracting direction, and the like are not limited thereto.

  As shown in FIG. 1B, the discharge device 300 is disposed between the first press machine group 100 and the second press machine group 200, and the NO3 press machine 3 of the first press machine group 100. 1B is discharged downward (on the right side in the forward direction of the press processing line) in FIG. 1B and is pressed from the NO4 press machine 4 of the second press machine group 200. The workpiece that is finished and carried out is configured to be discharged downward in FIG. It should be noted that the discharge direction of the workpiece is not limited to this.

Here, when the press processing line is used as a tandem press processing line, the control device 50 includes a plurality of press machines 1 to 5 in the press processing line, each intermediate transfer device 30, the material supply device A, and the material discharge device 10. To control the operation.
In addition, when the control device 50 divides the press work lines into groups and executes desired press work for each group, the control device 50 selects each element constituting each group according to the grouping mode and realizes each group. In addition, various operations (including a retraction operation) of the plurality of press machines 1 to 5 in the press processing line, each intermediate transfer device 30, the material supply device A, and the material discharge device 10 are controlled. That is, the control device 50, for example, when the press processing lines are grouped and used for the first press machine group 100 and the second press machine group 200, the replacement operation of the corresponding intermediate transport device 30 and the discharge device 300, While controlling the replacement operation of the material discharge device 10 and the material supply device B, the press operation of the press machine belonging to each group, the material supply device A, the material supply device B, and the discharge device 300 according to the grouping mode. Various operations are controlled.

  The grouping is not limited to the one illustrated in FIG. 1B, and the NO1 press machine 1 to the NO5 press machine 5 can be arbitrarily grouped. The intermediate transfer device 30 to be retracted from the press working line is selected according to the grouping mode of the group including the press machine and the group including a plurality of press machines. Then, while the selected intermediate transport device 30 is retracted, the transport device 301, 302, 303, 304 is configured to include a slide rail, a drive unit, and the like and can self-run the discharge device 300. The control device 50 controls each part so as to convey the discharge device 300 between the corresponding press machines.

  Thus, according to the present embodiment, for example, when an operator or the like inputs a grouping mode via information input means such as an operation panel (or can be automatically input from a personal computer or the like) In response to the input, the control device 50 operates the press machine groups 1 to 5, the intermediate transfer device 30, the material supply devices A and B, the material discharge device 10, and the discharge device 300 so as to realize the grouping. Since the elements that make up each group are selected and each group is made up, the tandem press line that includes multiple press machines can be easily and flexibly grouped with a simple and inexpensive structure. The press working can be executed separately for each group.

  In the present embodiment, as shown in FIG. 1B, the discharge device 300 is moved from the NO3 press machine 3 of the first press machine group 100 after the press work is carried out, and the second The workpieces that are unloaded from the NO4 press machine 4 of the press machine group 200 after being pressed are illustrated as configurations that can be discharged independently, but the present invention is not limited to this, and the first press machine group 100 and the second press machine group 200 can use a common discharge device, and, for example, can sort the workpieces into groups on the downstream side in the discharge direction of the discharge device.

  Here, each of the plurality of press machines 1 to 5 constituting the press working line according to the present embodiment has a configuration as shown in FIG. 6 as in the prior art, and follows a control command from the control device 50. By rotating the main motor 40, the flywheel 41 that is rotationally connected to the main motor 40 is rotated, and the rotational force (rotational energy) stored in the flywheel 41 is transmitted through the clutch mechanism 42 at a predetermined timing. Are transmitted to the main gear 43 and the crankshaft 44, and the slide 45 is moved up and down by a converting action from a rotational motion by the crankshaft 44 to a reciprocating linear motion to perform press working.

  When the grouped first press machine group 100 is continuously operated, the difference in timing of the press operations of the NO1 press machine 1 to the NO3 press machine 3 is accumulated due to the fact that the slowdown amount described above is different for each press machine. As a result, the timing of unloading the work from the upstream NO1 press machine 1 (or NO2 press machine 2) and the unloading of the work from the downstream NO2 press machine 2 (or NO3 press machine 3) cannot be taken. However, there is a possibility that the press processing line must be stopped halfway, and the production efficiency may be reduced. The same applies to the second press machine group 200.

  For this reason, the control device 50 performs synchronous control (or synchronous control to synchronize) that synchronizes the forward press work of the NO1 press machine 1 to the NO3 press machine 3 belonging to the first press machine group 100, and the first press. Synchronous control is performed to synchronize the reverse press work of the NO5 press machine 5 and the NO4 press machine 4 belonging to the second press machine group 200 facing the machine group 100.

  That is, as shown in the control block diagram shown in FIG. 2, the control device 50 includes the press machines 1 to 3 of the first press machine group 100 and the press machines 5 and 4 of the second press machine group 200. Each is configured to be synchronously controllable.

  More specifically, the first group command speed (production speed) for the first press machine group 100 and the second group command speed for the second press machine group 200 (manual input by an operator, a personal computer, etc.) Production speed) can be input independently, and in accordance with these command speeds, the setting unit 51 of the control device 50 sets Spm (Stroke per minute: number of strokes / minute of the slide 45) (target speed). At the same time, a target coordinate position (target crank angle position) of the slide 45 at a predetermined timing is generated based on the Spm.

  Then, based on the set Spm, the Spm can be achieved (in other words, desired rotational energy can be stored in the flywheel 41). A speed command for the motor 40 is generated and sent to a feedback control unit 52 provided in the control device 50, and the feedback control unit 52 gives it to the main motor 40 as a speed command.

  The main motor 40 is provided with a PG (pulse generator) 60 configured to include an encoder for detecting the rotational angle position of the main motor 40, and a pulse signal generated for each predetermined rotational angle is provided. Based on this, the actual rotational speed of the main motor 40 is detected, and the feedback control unit 52 compares the actual rotational speed with the speed command, and corrects the current command to the main motor 40 based on the deviation. So-called feedback control is performed.

  Further, a slide position detecting means for detecting an actual position of the slide 45 (for example, a PG (pulse) including an encoder or the like that generates a pulse in accordance with the rotation of the crankshaft 44 connected to the slide 45. Generator) 70 or a position sensor) is provided, and the feedback control unit 52 turns on the synchronization switch 53 to execute the actual slide position (obtained from the PG 70) when executing the synchronization control. (Crank angle position) and the target coordinate position (target crank angle position) generated based on Spm in the setting unit 51 are compared by the deviation counter 54, and the deviation is differentiated and converted into a speed component. Based on this, the speed command for the main motor 40 is corrected.

  As a result, the actual movement of each slide 45 of the press machines 1 to 3 (or 5 and 4) in the group can be controlled to follow the target coordinate position. Can perform synchronous control to synchronize the press operation between the press machines 1 to 3 (or 5 and 4), thus avoiding a situation where the press line is stopped halfway. Stable pressing can be provided while maintaining high efficiency.

Here, for example, in the discharging device 300 as shown in FIG. 1B, the size of the workpiece is relatively large, and the workpiece that is unloaded after the press working from the NO3 press machine 3 of the first press machine group 100 is removed. The unloading timing of the workpiece and the unloading timing of the workpiece unloaded from the NO4 press machine 4 of the second press machine group 200 do not match well, and both workpieces interfere with each other, so that the workpiece is well out of the line. In the case of a phenomenon in which discharge cannot be performed or a configuration in which a work is sorted by group on the downstream side of the discharge device using a common discharge device, press working is performed from the NO3 press machine 3 of the first press machine group 100. The unloading timing of the work to be unloaded and the unloading tie of the work unloaded after finishing the press work from the NO4 press machine 4 of the second press machine group 200 And ring, will not match well, there is a possibility that it is a phenomenon that can not occur where two workpieces are discharged effectively to the outside line the workpiece interfere.

  For this reason, in the present embodiment, the sliding operation (pressing operation) of the NO1 to NO3 press machines 1 to 3 belonging to the first press machine group 100 and the NO5 and NO4 press machines 5 and 4 belonging to the second press machine group 100 are described. It is possible to adjust the unloading timing of the work unloaded to the discharge device 300 between the groups by giving a predetermined phase difference between the sliding operation (pressing operation) of the two (ie, synchronizing the pressing operation between the groups). By adopting a configuration in which the press operation can be adjusted between the groups, such as aiming, it becomes possible to eliminate the phenomenon that both workpieces interfere with each other and the workpiece cannot be discharged well out of the line. ing.

Specifically, for example, as shown in the control block diagrams shown in FIGS. 3 and 4, in order to give a predetermined phase difference between the groups, the crankshaft 44 that linearly reciprocates the slide 45 for each group to be synchronized. A phase angle command unit 55 for each synchronization group for setting a phase angle is provided. Based on a command from the phase angle command unit 55 for each synchronization group, each setting unit 51 considers the phase angle for each group. It is configured to generate a target coordinate position (target crank angle position) of the slide 45 of each press machine 1-5.
Here, the target coordinate position (target crank angle position) corresponds to the synchronization target according to the present invention (hereinafter the same).

According to the present embodiment having such a configuration, the sliding operation (pressing operation) of the NO1 to NO3 press machines 1 to 3 belonging to the first press machine group 100 and the NO5 and NO4 presses belonging to the second press machine group 100 are provided. Since a predetermined phase difference can be given between the slide operation (press operation) of the machines 5 and 4, both workpieces carried out from the first press machine group 100 and the second press machine group 200 interfere with each other. Therefore, it is possible to eliminate the phenomenon that it cannot be carried out well.

Therefore, even if the discharge device 300 is formed compactly in the line length direction of the press processing line and the interval between the press machines 1 to 5 is maintained at a necessary and sufficient length for maintenance or the like as in the prior art, the first press machine group Without interfering with each other, workpieces unloaded from the opposite direction between the NO3 press machine 3 at the most downstream of the 100 processing steps and the NO4 press machine 4 at the most downstream of the second press machine group 200 in the processing step. It can be discharged well outside the press processing line, and therefore the press processing can be performed efficiently without causing a decrease in productivity due to the extension of the press processing line length.
The predetermined phase difference can be manually input by an operator or the like, or can be automatically set by the control device in accordance with the line operating conditions.

  By the way, depending on the situation, it may be assumed that the two works carried out to the discharge device 300 do not interfere even if the predetermined phase difference is not given. As in such a case, maintaining the work carry-out timing so that both works carried to the discharge device 300 do not interfere with each other means that the work carry-out timing of the work carried out to the discharge device 300 is adjusted between groups. Therefore, regardless of whether or not to give a phase difference, the unloading timing of the work unloaded to the discharge device 300 is adjusted between groups (that is, the press operation is synchronized between groups, for example, between groups) The press operation is adjusted).

  Here, when a plurality of press machines in the tandem press processing line are grouped and the line speeds (production speeds) of the first press machine group 100 and the second press machine group 200 are set to different values, the press operation is performed. As described above, even if a predetermined phase difference is first given between the groups as described above, both workpieces carried out from the first press machine group 100 and the second press machine group 200 interfere with each other at a predetermined cycle. As a result, a phenomenon may occur in which the workpiece cannot be discharged well through the discharge device 300.

  For this reason, in the present embodiment, the unloading timing of the work to the discharge device 300 is predicted for each group based on the production speed and the predetermined phase difference is achieved so that the unloading timings of both groups do not overlap. It can be set as the structure controlled to change next.

  In addition, when the unloading timing of the workpieces is predicted based on the production speed for each group and the unloading timings of both groups overlap, in order to avoid the phenomenon, It is also possible to perform control such as temporarily canceling the pressing operation.

(Second Embodiment)
The second embodiment of the present invention will be described below. The overall configuration of the second embodiment is the same as that of the first embodiment, and only the control part performed by the control device 50 is different, so only the difference will be described in detail.

  In the present embodiment, the phase difference given by the above-described synchronization group-specific phase angle command unit 55 is stably held (the phase difference may change with time, and the workpiece unloading timing may interfere). The following control is performed so that the press operations of the press machines in the same group can be well synchronized.

  That is, in this embodiment, as shown in FIGS. 3 and 4, the line speed (production speed) of the press working line is set, and the Spm (target speed) of the slide 45 is calculated from the set line speed. The target coordinate position (target crank angle position) of the slide 45 for a predetermined time is generated based on the Spm. Then, based on the set Spm, the Spm can be achieved (rotational energy can be stored in the flywheel 41), the target rotational speed of the main motor 40 is calculated, and the speed command for the main motor 40 is calculated. Is generated and sent to the feedback control unit 52 provided in the control device 50, and the feedback control unit 52 gives it to the main motor 40 as a speed command. The main motor 40 is provided with a PG 60 including an encoder for detecting the rotational angle position of the main motor 40, and the actual rotation of the main motor 40 based on a pulse signal generated at every predetermined rotational angle. The speed is detected, and the feedback control unit 52 performs so-called feedback control for comparing the actual rotational speed with the speed command and correcting the current command to the main motor 40 based on the deviation. Yes.

  The target coordinate position and the actual coordinate position (crank angle position) of the slide 45 detected by the PG 70 are compared by the deviation counter 54, and the deviation (ABS (absolute) position) is differentiated. Feedback control is performed such that the speed is converted into a speed and added to or subtracted from the speed command for the main motor 40 (see FIGS. 3, 4, and 5A).

  However, if the press operation is continued, there is a possibility that a press machine that inevitably lags behind the target coordinate position will appear, and it may become impossible to follow the target coordinate position.

  For this reason, in this embodiment, the actual speed (coordinate position or crank) of each slide 45 of all press machines (here, for example, the NO1 press machine 1 to the NO3 press machine 3) operating in the target group. In the calculation means 56, it is determined whether the angle position) is advanced by a predetermined value or more than a predetermined value relative to Spm (target coordinate position or target crank angle position).

Based on the result of the determination, the calculation means 56 determines that all the press machines (NO1 press machine 1 to NO3 press machine 3) in the first press machine group 100 when the calculation means 56 has advanced more than a predetermined value or delayed more than a predetermined value. ) Among the actual positions (or crank angle positions) of the slides 45) with respect to the reference position (or reference crank angle position), the position (or crank angle position) that is the most advanced with respect to the reference position (or the crank angle position). Alternatively, a half position (or a predetermined distribution position) is obtained (see (B) in FIG. 5), and this value is sent to the target coordinate position (master position) adjustment circuit 57.
In the target coordinate position (master position) adjustment circuit 57, this value is set as a virtual master (virtual coordinate position or virtual crank angle position), and this virtual master is successively set as a new target coordinate position (or target crank angle position). The setting is made (see FIGS. 3, 4 and 5B).

  That is, in the present embodiment, the synchronization target (target coordinate position or target crank angle position) in the synchronous operation of at least one group can be changed.

Here, when the control for following the press operation of each press machine in the same group to the target coordinate position reaches a predetermined limit as described above, the press operation of each press machine is forcibly corrected to the target coordinate position. It is also assumed.
However, it is relatively difficult to forcibly correct the press operation of each press machine to the target coordinate position, and the control is sophisticated and complicated. Therefore, in this embodiment, the control is made easier and more reliable and the control is complicated at high speed. Therefore, a more reliable method, that is, a unique method of correcting the target coordinate position side to a virtual master that easily synchronizes the press operations of the press machines in the same group is adopted.

  The virtual master is considered so as to give a predetermined phase difference (for example, a command in which the target coordinate (crank angle) position is shifted between the groups) so that the workpiece unloading timing does not overlap between the groups. Can.

  For example, the timing of unloading workpieces to the discharge device 300 is predicted for each group based on the production speed, etc., and a phase difference (for example, a target coordinate (crank angle) position between each group is set so that the unloading timing of both groups does not overlap. A virtual master for each group can be set so that a shifted command is given between the groups.

  Alternatively, when the unloading timing of the workpieces to the discharge device 300 is predicted based on the production speed for each group and the unloading timings of both groups overlap, in order to avoid the phenomenon, It is also possible to perform control such as temporarily canceling the pressing operation.

  Thereby, while having the same effect as each embodiment mentioned above, both the workpieces carried out from the 1st press machine group 100 and the 2nd press machine group 200 interfere with each other, and the press work line is excellent. While eliminating the phenomenon of being unable to discharge to the outside, it is possible to stably maintain the phase difference between groups for a long time, and to perform synchronous control within the group satisfactorily. Even when the press machines are divided into groups and the pressing process is performed for each group, the pressing process can be executed continuously for a long time.

3 and 4, the line speed (production speed) is input in parallel between the first press machine group 100 and the second press machine group 200, but the present invention is not limited to this. Not
Different line speeds can be given to the first press machine group 100 and the second press machine group 200.

  Here, in the intermediate conveyance device 30 according to each of the above-described embodiments, for example, a drive signal for the intermediate conveyance device 30 that belongs to the second press machine group 200 and conveys a workpiece in the direction opposite to the press working forward direction is, It is possible to use a signal obtained by mirror-reversing a drive signal for conveying a workpiece in the forward direction.

In each of the above embodiments, the case where predetermined pressing is performed from the direction in which two adjacent groups face each other has been described, but the present invention is not limited to this, and the two adjacent groups are The present invention is also applicable when performing predetermined pressing in the same direction or in opposite directions.
In such a case, the supply device that supplies the material to one group and the discharge device that discharges the workpiece from another adjacent group are disposed between the common press machines, or The material supply device for supplying the material and the material supply device for supplying the material to other adjacent groups are disposed between the common press machines. It is possible to adjust the press operation between the two groups and adjust the material supply timing and workpiece discharge timing. Therefore, even in such a case, the installation space for the material supply device and discharge device can be made compact in the line length direction. As a result, the same effects as those described in the embodiments can be obtained.

By the way, in each of the above embodiments, a press machine that performs press processing by transmitting the rotational energy of the flywheel 41 to the crankshaft 44 via the clutch mechanism 42 and reciprocating the slide 45 has been described as an example. The invention is not limited to this type of press machine, but is used when a plurality of press processing lines composed of a plurality of press machines are divided into a plurality of groups and predetermined press processing is performed for each group. If so, it can be applied to other types of press machines.
In addition, various modifications can be made without departing from the scope of the present invention.

It is a figure explaining the whole press work line composition concerning a 1st embodiment of the present invention. It is a figure which shows the control block diagram performed in embodiment same as the above. It is a figure (1st press machine group side) which divides and shows the control block diagram performed in the 1st and 2nd embodiment of the present invention. It is a figure (2nd press machine group side) which divides and shows the control block diagram performed in an embodiment same as the above. It is a figure for demonstrating the control performed in the 2nd Embodiment of this invention using the schematic diagram of a slide (crankshaft). It is a schematic diagram for demonstrating the structural example of the press machine which concerns on this invention.

Explanation of symbols

1-5 NO1-NO5 press machine 10 Material discharge device 30 Intermediate transfer device 40 Main motor 41 Flywheel 42 Clutch mechanism 43 Main gear 44 Crankshaft 45 Slide 50 Control device 100 First press machine group 200 Second press machine group 300 Discharge device

Claims (8)

Press processing in which at least a part of the plurality of press machines in a tandem press processing line that performs press processing by interlocking a plurality of press machines is selectively grouped to perform predetermined press processing for each group A line control method,
A method of controlling a press working line, wherein the press machine group belonging to the one group is operated synchronously, the press machine group belonging to the other group is operated synchronously, and the press operation is adjusted between the groups. Pressing the grouped group from the opposite direction,
Discharging workpieces after pressing from the press machine at the most downstream of one group and the press machine at the most downstream of the other group adjacent to the press machine to the outside of the press line. The method for controlling a press working line according to claim 1, characterized in that:   Adjusting the press operation between the groups so that the synchronous operation in the press machine group belonging to the one group and the synchronous operation in the press machine group belonging to the other group have a predetermined phase difference. The method for controlling a press working line according to claim 1 or 2, characterized in that:   The predetermined phase difference does not interfere with the work unloaded from the press machine at the most downstream of the one group of machining steps and the work unloaded from the press machine at the most downstream of the other group of machining steps. 4. The method for controlling a press working line according to claim 3, wherein the press working line is set.   The synchronous operation in the press machine group belonging to the one group or the synchronous operation in the press machine group belonging to the other group includes a step of changing a synchronization target of the synchronous operation. The control method of the press work line as described in any one of Claims 1-4. Selectively grouping at least some of the plurality of press machines in a tandem press working line that presses the plurality of press machines in conjunction with each other;
According to the mode of grouping, a process of automatically configuring each group by selecting a press machine, an intermediate transfer device between the press machines, a material supply device that supplies material, and a discharge device that discharges the workpiece after pressing,
A step of performing predetermined pressing for each group from the opposite direction;
Including
The discharging device removes a workpiece after pressing from the press machine line between the press machine at the most downstream of one group and the press machine at the most downstream side of the other group adjacent to the press machine. In the case of a device that discharges to
A press comprising the steps of synchronously operating a press machine group belonging to the one group, synchronously operating the press machine group belonging to the other group, and adjusting a press operation between the groups. Processing line control method.   The discharge device is automatically arranged by retracting an intermediate transfer device between the press machine at the most downstream side of the one group and the press machine at the most downstream side of the other group. The method according to claim 6, further comprising a step. The press processing line control apparatus which performs the control method of the press processing line as described in any one of Claims 1-7.