JP5054779B2 - Transfer press equipment - Google Patents

Description

  The present invention performs press work of a work piece by a slide that performs reciprocal movement, and conveys the work piece by a feeder that performs a clamp operation, a lift operation, an advance operation, a down operation, an unclamp operation, and a return operation. The present invention relates to a transfer press apparatus.

  2. Description of the Related Art Conventionally, there is known a transfer press apparatus that repeatedly executes a pressing cycle in which a workpiece is pressed and the workpiece is conveyed to a next processing position or the like.

  In such a transfer press apparatus, the slide movement (rising and descending) for pressing and the feeder movement (clamping, lifting, advance, down) for conveying the workpiece to the next machining position, etc. , The unclamping operation and the return operation) are controlled so as to be completely synchronized so that the slide and the feeder cooperate without interference (contact, collision, etc.).

  For example, in a servo press device, one method for completely synchronizing the movements of both the slide and the feeder is to rotate the crankshaft to lower and raise the slide and to move the slide. There is a method of moving the movement of the feeder based on the press angle.

  On the other hand, a technique is known in which the movement of the feeder and the slide is not completely synchronized in the operation section of the advance operation and return operation of the feeder during each press working cycle (Patent Document). 1).

JP 2005-262285 A

  During repeated execution of the press processing cycle by the transfer press device, for example, for the maintenance of the die, the confirmation of the product by press processing, the replacement of the die, etc. It is done to stop.

  In a conventional transfer press apparatus in which the slide and the feeder are perfectly synchronized, when a stop instruction is given from the user, for example, the press angle is in the vicinity of 290 ° (the top dead center of the slide is 0 °). To stop both the slide and feeder at the same time. Therefore, the slide stops at a position slightly higher than the midpoint between the top dead center and the bottom dead center during ascent, and the feeder clamps the workpiece after returning to the position corresponding to this standby position of the slide, that is, the return. It stops and waits in the vicinity of the position to perform.

  In this standby state, since the slide position is lower than the top dead center and the feeder is positioned to clamp the workpiece on the mold, maintenance such as wiping the mold, replacement of the mold, When performing operations such as confirmation, slides and feeders may get in the way. In addition, when it is desired to move the feeder alone in order to confirm the operation of the feeder, it may be necessary to move the slide to the top dead center in order to prevent the slide from interfering with the feeder. In addition, when it is desired to perform the pressing process by moving only the slide alone, it may be necessary to move the feeder at the clamp position to a position that does not interfere with the pressing process. In addition, when the slide is locked for safety at this time, since the slide is rising at a certain speed in the vicinity of the slide standby position, variation in the slide stop position becomes large, and one slide standby position is provided. It is difficult to lock in a specific position.

  Also, once the press cycle is stopped in this way, when starting the press cycle again, a slow start, i.e., to ensure that the feeder position clamps the workpiece and proceeds to the subsequent operation, i.e. There is the problem that the movement of the device has to start at a slower speed than in normal operation.

  Incidentally, the technique described in Patent Literature 1 relates to a routine in each press processing cycle and a release of synchronization for a temporary stop of a slide, and occurs with the stop of the press processing cycle itself. No solution is disclosed for the above problem.

  The present invention has been made in view of the above circumstances, and one of its purposes is that maintenance and other optional operations can be easily performed without being interrupted by a slide or a feeder when the press cycle is stopped. Is to do so. Another object of the present invention is to facilitate the activation of the slide and the feeder and to smoothly start the synchronization of the operation of the slide and the feeder when the once stopped press working cycle is started. .

  The transfer press device according to the present invention includes a slide that performs a reciprocating operation to press the workpiece, and a clamping operation, a lift operation, an advance operation of the workpiece when the workpiece is not pressed by the slide, A feeder that performs a down operation and an unclamp operation and performs a return operation when the workpiece is pressed by the slide. The transfer press device further includes a stop input means for inputting a stop instruction for the press work cycle during execution of a continuous press work cycle consisting of repetition of the reciprocating motion of the slide, and a response to the stop input means. Slide control means for moving the slide to a predetermined slide standby position and stopping it; and feeder control means for moving the feeder to a predetermined feeder standby position and stopping it in response to the stop input means The slide standby position is a position where the feeder can be transported alone, and the feeder standby position is a position where the slide can be independently pressed.

  According to the transfer press device according to the present invention, it is easy to perform, for example, a slide-only press operation or a feeder-only transfer operation after stopping the press processing cycle, Even in operations such as confirmation, the slide and the feeder are less likely to get in the way.

  In a preferred embodiment, the slide standby position is a position where the slide is at top dead center, and the feeder standby position is a position where the return is completed. Thereby, in operations such as wiping the mold and confirming the product, the slide and the feeder are hardly disturbed.

  In the transfer press device according to the present invention, the slide standby position and the feeder standby position are independently determined at their optimum positions without interdependence. Therefore, after the stop instruction is input, the slide control means performs the operation of the slide regardless of whether or not the feeder is stopped until the slide reaches the slide standby position. It may be configured to continue from the execution of the machining cycle and stop the slide when the slide reaches the slide standby position. Alternatively, after the stop instruction is inputted, the feeder control means performs the operation of the feeder regardless of whether or not the slide is stopped until the feeder reaches the feeder standby position. It may be configured to continue from the execution of the cycle and stop the feeder when the feeder reaches the feeder standby position.

  In a preferred embodiment, after the stop instruction is input, the slide control means continues the operation of the slide from the execution of the press work cycle until the slide reaches the slide standby position. The slide is stopped when the slide reaches the slide standby position. On the other hand, after the stop instruction is input, the feeder control means performs the operation of the feeder so that the slide and the operation of the feeder are synchronized until the slide reaches the slide standby position. Continue from the time of execution of the press cycle, and after the slide stops at the slide standby position, until the feeder reaches the feeder standby position, the operation of the feeder is continued independently, Stops the feeder when it reaches the feeder standby position.

  Therefore, when a cycle stop instruction is input, the slide first comes to the slide standby position and stops, and then the feeder continues to operate independently and reaches the feeder standby position and stops. When the press working cycle is stopped in this way, when the press working cycle is resumed after that, the operation of the feeder (that is, the preparation of the workpiece) has already advanced ahead of the slide, so that the slide can be started smoothly. .

  The transfer press apparatus according to the present invention further comprises start input means for inputting a press cycle start instruction when the slide and the feeder are stopped at the slide standby position and the feeder standby position, respectively. The means may be configured to start the operation of the feeder when the position of the slide reaches a position corresponding to the feeder standby position after the operation of the slide is started. Alternatively, if the slide and the feeder are stopped at the slide standby position and the feeder standby position, respectively, start input means for inputting an instruction to start a press working cycle, and the feeder is synchronized with the slide An assumed press angle generating device for generating an assumed press angle at which the slide should currently exist, and the slide control means is configured such that the assumed press angle is set to the slide standby position after the operation of the feeder is started. When the press angle corresponding to is reached, the operation of the slide may be started.

  According to this configuration, when the press work cycle is resumed after the press work cycle is temporarily stopped, the operations of the feeder and the slide can be smoothly resynchronized.

  For example, when resuming the press processing cycle, first, the slide is activated independently, and then the feeder is activated when the slide reaches the position corresponding to the feeder standby position. Thereafter, the slide and the feeder operate synchronously. In this case, the slow start as in the case of the prior art in which the slide and the feeder are simultaneously started in synchronization as in the conventional case is unnecessary.

It is a rough plane lineblock diagram of the principal part of the transfer press apparatus concerning one embodiment of the present invention. It is a block diagram of the control system which the transfer press apparatus concerning one Embodiment of this invention has. It is a figure explaining operation | movement of the feeder which concerns on one Embodiment of this invention. It is a figure explaining operation | movement of the slide which concerns on one Embodiment of this invention, and operation | movement of a feeder. It is a flowchart of the control processing of the transfer press apparatus which concerns on one Embodiment of this invention. It is a flowchart of the press feeder synchronous control process (step S5 of FIG. 5) of the transfer press apparatus which concerns on one Embodiment of this invention.

Explanation of symbols

  1 transfer press device, 2 press machine, 3 feeder, 4 bolster, 5 slide, 6 finger, 7L, 7R bar, 11 press control circuit, 11A cycle start button, 11B cycle stop button, 12 feeder control circuit, 13 NC controller, 14 encoder, 15 main communication line, 16 feeder-press communication line, 17 feeder communication line, 18A-18F servo amplifier, 19A-19F motor, 20A-20F encoder, 21 press communication line, 22A, 22B I / F unit, 23A to 23D encoder, 24A to 24D encoder, 25A to 25F PDM device, 26A to 26F servo amplifier, 27A to 27F servo motor, 28A to 28F encoder.

  Embodiments of the present invention will be described with reference to the drawings. The embodiments described below do not limit the invention according to the claims, and all the elements and combinations thereof described in the embodiments are essential for the invention according to the claims. Not necessarily.

  A transfer press apparatus according to an embodiment of the present invention will be described.

  FIG. 1 is a schematic plan view of the main part of a transfer press apparatus according to an embodiment of the present invention.

  The transfer press apparatus 1 includes a press machine 2 that presses a workpiece (not shown) set at each of a plurality of machining positions P2 to P4, and sequentially conveys the workpiece to each workpiece. A feeder 3 for sequentially setting an object to a plurality of processing positions P2 to P4 of the press machine 2;

  The press machine 2 includes a bolster 4 to which a lower mold is attached at each of a plurality of processing positions P2 to P4, and an upper side of each of the positions opposed to the plurality of processing positions P2 to P4. It has the slide 5 which can be moved up and down to which the mold is attached, and servo motors 27A to 27F (see FIG. 2) as power sources for moving the slide 5. Instead of the servo motors 27A to 27F, a hydraulic actuator such as a hydraulic cylinder or a hydraulic motor, or a flywheel driven by a motor belt may be used as a power source. Different press processes can be sequentially performed on each workpiece at each of the plurality of processing positions P2 to P4.

  The slide 5 is connected to a plurality of crankshafts (not shown) via connecting rods. When the crankshaft is rotated, the slide 5 repeats reciprocation, that is, descending and ascending sequentially above the bolster 4. Here, the rotation angle of the crankshaft is referred to as a press angle, and in this embodiment, the top dead center of the slide 5 is defined as the press angle origin (0 °). The crankshaft is rotated by servo motors 27A to 27F.

  The feeder 3 sequentially passes the processing positions P2 to P4 on the bolster 4 from the feed position P1 on the upstream side (left side of the drawing) of the press machine 2 to the ejection position P5 on the downstream side (right side of the drawing). Transport. In the present embodiment, the feeder 3 performs a series of operations such as a clamp operation, a lift operation, an advance operation, a down operation, and an unclamp operation, which will be described later (see FIG. 3), so that a DF (Destack Feeder: not shown) ) Is transferred to the first processing position P2, and the workpiece placed at the processing position P2 is simultaneously transferred to the processing position P3, and at the same time to the processing position P3. The mounted workpiece is transported to the processing position P4, and at the same time, the workpiece (processed product) placed at the processing position P4 is transported to an ejection position P5 outside the bolster 4. Thereafter, the feeder 3 performs a return operation and returns to the original position for executing the above-described series of operations again. While the pressing cycle is continuously repeated, the feeder 3 repeats a series of operations such as the above-described clamping operation, lifting operation, advance operation, down operation, unclamping operation, and return operation.

  The feeder 3 is attached to the two bars 7R and 7L arranged on both sides of the above-described row of the positions P1 to P5, and these bars 7R and 7L, and simultaneously clamps a plurality of workpieces on the positions P1 to P4. .., And motors 19A to 19F (see FIG. 2) for generating power for moving the bars 7R and 7L. The bars 7R, 7L clamp a plurality of workpieces on the positions P1 to P4 at the same time with the fingers 6, 6,... Of the opposing bar 7R and the fingers 6, 6,. Operated to transport to P2-P5. That is, the bars 7R and 7L are driven by the motors 19A to 19F, and the feed axis (X axis) direction related to the advance operation and the return operation, the clamp axis (Y axis) direction related to the clamp and unclamp operations, the lift and the down It moves in the direction of the lift axis (Z axis) related to the operation.

  FIG. 2 is a configuration diagram of a control system included in the transfer press apparatus according to the embodiment of the present invention.

  A press control circuit 11 that inputs / outputs instructions for starting and stopping a press work cycle executed by the transfer press device 1, a feeder control circuit 12 that controls the operation of the feeder 3, and an NC (Numerical) that controls the movement of the slide 5 A controller 13 is connected via a main communication line 15 such as a signal bus line or a LAN (Local Area Network).

  The press control circuit 11 has a user interface (not shown) having buttons (cycle start button 11A and cycle stop button 11B) for starting and stopping the press working cycle, and the like from the user via the user interface. These instructions are input to control the entire transfer press apparatus 1 in an integrated manner. For example, the press control circuit 11 inputs a press work cycle start instruction from the user via the cycle start button 11 </ b> A, and transmits the start instruction to the feeder control circuit 12 and the NC controller 13. In addition, the press control circuit 11 inputs a stop instruction for the press working cycle from the user using the cycle stop button 11 </ b> B, and transmits the stop instruction to the feeder control circuit 12 and the NC controller 13.

  The feeder control circuit 12 counts a pulse signal corresponding to the rotational position of a certain representative crankshaft among the above-described plurality of crankshafts to thereby represent a representative crankshaft press angle (hereinafter referred to as a representative press). Is connected to a rotary encoder 14 that detects a position) and generates a position signal indicating a representative press angle. The feeder control circuit 12 receives a position signal from the encoder 14. The feeder control circuit 12 is connected to the servo amplifiers 18 </ b> A to 18 </ b> F via the feeder communication line 17. Motors 19A to 19F are connected to the servo amplifiers 18A to 18F.

  The motor 19A generates power for moving the upstream portions of both the bars 7R and 7L of the feeder 3 in the clamp axis direction (that is, the clamping operation and the unclamping operation). The motor 19B generates power for moving the downstream portions of the bars 7R and 7L in the direction of the clamp axis (that is, the clamping operation and the unclamping operation). The motor 19C generates power for moving the upstream portions of both the bars 7R and 7L in the lift axis direction (that is, lift operation and down operation). The motor 19D generates power for moving the downstream side of the bars 7R and 7L in the lift axis direction (that is, lift operation and down operation). The motor 19E is a linear motor, and generates power for moving the bar 7L in the feed axis direction (that is, advance operation and return operation). The motor 19F is a linear motor, and generates power for moving the bar 7R in the feed axis direction (that is, advance operation and return operation).

  For the servo amplifiers 18A to 18F, the feeder controller 12 controls the control commands (for example, the targets of the motors 19A to 19F) to move the bars 7R and 7L in the respective directions of the feeder shaft, the clamp shaft, and the lift shaft. Rotation speed).

  Encoders 20A to 20F that generate signals corresponding to the rotation or linear movement positions of the motors 19A to 19F are provided. Signals from the encoders 20A to 20F are input to servo amplifiers 18A to 18F that control the corresponding motors.

  The servo amplifiers 18A to 18F control the operation of the motors 19A to 19F, that is, the operation of the bars 7R and 7L, based on the control command received from the feeder control circuit 12 and the signals from the encoders 20A to 20F.

  The feeder control circuit 12 stores a feeder time schedule 12T in which specific operations to be performed by the feeder 3 (bars 7R, 7L) are defined along the time axis during execution of the press working cycle. In the feeder time schedule 12T, for example, the control to be supplied to the servo amplifiers 18A to 18F at each time point on the time axis with the time point when the detected representative press angle becomes a predetermined reference angle (reference position) as the origin. A command (for example, target speeds of the motors 19A to 19F) is defined.

  Here, the feeder 3 operates according to the feeder time schedule 12T, the slide 5 operates according to the slide schedule 13T described later, and the time axes of the feeder time schedule 12T and the slide schedule 13T are shifted from each other. Otherwise, the schedules 12T and 13T are created in advance so that the operations of the feeder 3 and the slide 5 are synchronized as a result.

  When the feeder control circuit 12 receives an instruction to start a press machining cycle from the press control circuit 11, the representative press angle indicated by the position signal from the encoder 14 is set to the reference angle (the time axis origin of the feeder time schedule 12T). Wait until it is detected that the corresponding press angle is reached, and at each time point after the detection time of the reference angle, control commands corresponding to each time point are acquired from the feeder time schedule 12T, and the servo It transmits to amplifier 18A-18F. As the reference angle, for example, when the feeder 3 and the slide 5 are synchronized, the position where the slide 5 should exist when the return of the feeder 3 has just ended, that is, the slide 5 is dead from the bottom dead center. The press angle can be about 240 ° in the middle of rising to the point.

  The feeder control circuit 12 also has a slide present if the representative press angle indicated by the position signal from the encoder 14 and the feeder 3 and the slide 5 are synchronized at each time point during execution of the press working cycle. Compared with the position (assumed press angle) to be performed, if the representative press angle is ahead of the assumed press angle, an instruction to reduce the speed of the slide 5 (hereinafter referred to as the press speed) (in other words, , An instruction to delay the press angle) is transmitted to the NC controller 13 via the feeder-press communication line 16, and if the representative press angle is delayed from the assumed press angle, an instruction to increase the press speed ( In other words, an instruction to advance the press angle) is transmitted to the NC controller 13 via the feeder-press communication line 16. The assumed press angle may be defined for each time point on the time axis on the feeder time schedule 12T, or the current position of the feeder 3 detected from signals from the encoders 20A to 20F of the feeder 3 May be calculated based on

  When the feeder control circuit 12 receives an instruction to stop the press working cycle from the press control circuit 11 during execution of the press working cycle, the feeder control circuit 12 performs control to move the feeder 3 to a predetermined feeder standby position and stop there. . Here, the feeder standby position can be a position between after the feeder 3 finishes the unclamping operation and before starting the clamping operation. In this embodiment, the feeder standby position is the same as the return operation. The finished position (see FIG. 3). As will be described later, when the stop instruction is issued, the slide 5 stops at the top dead center in this embodiment (that is, the standby position of the slide 5 is the top dead center). After receiving the stop signal, the feeder 3 is operated so that the feeder 3 and the slide 5 are synchronized based on the feeder time schedule 12T until the time when the slide 5 reaches the top dead center (it is assumed). Then, after the slide 5 reaches the top dead center (assumed), even if the slide 5 stops, only the feeder 3 is further operated according to the feeder time schedule 12T to the feeder standby position. And the feeder 3 is stopped at the feeder standby position.

  The NC controller 13 is connected with I / F (interface) units 22A and 22B and PDM (Pulse Density Modulation) units 25A to 25F via a press communication line 21. The PDM devices 25A to 25F are connected to the servo amplifiers 26A to 26F. Motors 27A to 27F are connected to the servo amplifiers 26A to 26F.

  The motors 27A and 27B generate power for raising and lowering the upstream right side portion of the slide 5. The motors 27C and 27D generate power for raising and lowering the upstream left side portion of the slide 5. The motor 27E generates power for raising and lowering the downstream right portion of the slide 5. The motor 27F generates power for raising and lowering the downstream left portion of the slide 5.

  The NC controller 13 outputs a press speed command for each part of the slide 5 (for example, a target motor rotation speed corresponding to the target press speed, and any motor may have the same value) to the servo amplifiers 26A to 26F.

  The PDM units 25A to 25F perform pulse density modulation on the press speed command output from the NC controller 13, and transmit the modulated signals to the servo amplifiers 26A to 26F.

  Encoders 28A to 28F that emit signals according to the operating positions of the motors 27A to 27F are provided. The output signals of the encoders 28A to 28F are input to servo amplifiers 26A to 26F that control the corresponding motors, respectively.

  The servo amplifiers 26A to 26F control the operations of the motors 27A to 27F based on the signals received from the PDM 25A to PDM 25F and the signals from the encoders 28A to 28F.

  The I / F unit 22A includes an encoder 23A that generates a signal for detecting the press angle by the upstream right motors 27A and 27B, and an encoder 23B that generates a signal for detecting the press angle by the upstream left motors 27C and 27D. The encoder 23C that emits a signal for detecting the press angle of the downstream right motor 27E and the encoder 23D that emits a signal for detecting the press angle of the downstream left motor 27F are connected. The I / F unit 22A inputs the detection results of the encoders 23A to 23D to the NC controller 13.

  The I / F unit 22B includes an encoder 24A that issues a signal for detecting the height position of the upstream right portion of the slide 5 and an encoder 24B that issues a signal for detecting the height position of the upstream left portion of the slide 5. And an encoder 24C that emits a signal for detecting the height position of the downstream right portion of the slide 5 and an encoder 24D that emits a signal for detecting the height position of the downstream left portion of the slide 5 are connected. . The I / F unit 22B inputs the detection results of the encoders 24A to 24D to the NC controller 13.

  Instead of the encoders 24A, 24B, 24C, and 24D, linear sensors that detect the height position of the slide 5 in each portion may be provided.

  The NC controller 13 stores a slide time schedule 13T in which specific operations to be performed by the slide 5 during execution of the press working cycle are defined along the time axis. The slide time schedule 13T is, for example, a press speed command (for example, each of the press time commands to be supplied to the PDM devices 25A to 25F at each time point on the time axis with the origin when the slide 5 starts to descend at the top dead center. Define the target motor rotation speed corresponding to the target press speed at the time.

  The NC controller 13 transmits the press speed command at each time point defined in the slide time schedule 13T to the PDM units 25A to 25F at each time point during execution of the press work cycle.

  As will be described later, the slide 5 stands by at the top dead center before the start of the press working cycle. In this state, as soon as the NC controller 13 receives an instruction to start a press work cycle from the press control circuit 11, the NC controller 13 acquires the press speed command at each time point from the slide time schedule 13T as described above, and the PDM devices 25A to 25F. The process to send to is started.

  When the NC controller 13 receives an instruction to stop the press work cycle from the press control circuit 11 during the press work cycle, the NC controller 13 thereafter moves the slide 5 to the top dead center (slide standby position) according to the slide time schedule 13T. And control to stop the slide 5 at the top dead center (slide standby position).

  FIG. 3 is a diagram for explaining the operation of the feeder according to the embodiment of the present invention. In the figure, the operation will be described focusing on the finger 6 of the feeder 3 that conveys the workpiece at one machining position P2 among the plurality of machining positions P2 to P4 to the next machining position P3. The operation of the bars 7L and 7R is the same as that of the finger 6.

  As shown in the movement lines FML and FMR, the movement operation of the feeder 3 includes a clamping operation (closing operation) for holding the workpiece by clamping the workpiece to be conveyed at the processing position P2 with the fingers 6 on both sides. A lift (lift) operation for lifting the workpiece held by the finger 6 to a position higher than the mold, an advance operation for moving the workpiece held by the finger 6 forward to the next processing position P3, and a finger The workpiece held in 6 is lowered onto the mold at the machining position P3 and set there, and the unclamping operation that opens the finger 6 away from the workpiece set in the mold (opening operation) ) And a return operation to return the finger 6 separated from the workpiece back to the original processing position P2. While the press work cycle is continuously repeated, the feeder 3 repeats a series of operations including the above-described clamp operation, lift operation, advance operation, down operation, unclamp operation, and return operation.

  Here, a region PR indicated by a one-dot chain line indicates a region where the slide 5 is located when the workpiece is pressed, and the slide 5 moves in the press working in a space above the region PR. Here, the space above the region PR is referred to as a press working space. In the present embodiment, for example, in the latter half of the clamp operation, the lift operation, the advance operation, the down operation, and the first half of the unclamp operation, a part of the feeder 3 (for example, at least a part of the finger 6) is in the press working space. Will exist.

  In this embodiment, when an instruction to stop the press working cycle is input, the feeder 3 moves to a position where the return operation has just ended (feeder standby position), stops there, and thereafter inputs an additional instruction. It waits in the feeder standby position until it is done. The feeder standby position is the retracted end (the most retracted position) along the feed axis of the feeder 3 and the open end along the clamp axis (that is, the gap between the fingers 6 of both bars 7L and 7R is the most open). Position) and the lower end along the lift axis (the lowest position, that is, a so-called pass line). At this feeder standby position, the feeder 3 exists outside the press working space described above and does not hold a workpiece.

  FIG. 4 is a diagram for explaining the slide operation and the feeder operation according to the embodiment of the present invention along the same time axis. 4A shows the operation of the slide 5, and FIG. 4B shows the operation of the feeder 3.

  In the present embodiment, the standby position (slide standby position) of the slide 5 is the top dead center (it may not be a strict top dead center or may be near the top dead center). As shown in FIG. 4A, when the press work cycle is started, the slide 5 descends from the top dead center and approaches the bottom dead center as shown by the curve PP, and the workpiece near the bottom dead center. Is actually pressed, and then rises from the bottom dead center to reach the top dead center. In order to move the slide 5 in this way, the motor rotation speed of each of the motors 27A to 27F is controlled as indicated by a curve RS, for example.

  In this embodiment, the time point (left end in FIG. 4) at which the slide 5 starts to descend from the top dead center (slide standby position) is taken as the origin of the time axis, and control commands ( For example, a target rotation speed as shown by the curve RS) is defined in the slide time schedule T13.

  The specific operation mode of the slide 5 can be arbitrarily defined by the user. In particular, the mode of the press operation in the vicinity of the bottom dead center varies depending on the specifications of the press work, and for example, it can be defined as indicated by the curve PPa instead of the curve PP. Incidentally, when operating the slide 5 as shown by the curve PPa, a motor target rotation speed as shown by the curve RSa is defined on the slide time schedule T13.

  In each pressing cycle, the operation of the feeder 3 is controlled as shown in FIG. 4B in synchronization with the operation of the slide shown in FIG. 4A. That is, the feeder 3 performs the advance operation when the slide 5 is located near the top dead center, finishes the down operation before the slide 5 descends to a relatively low height, and proceeds to the unclamping operation. When the slide 5 is located near the bottom dead center, control is performed to execute a return operation. Further, the feeder 3 finishes the return operation, and after the slide 5 starts to rise, the feeder 3 proceeds to the clamping operation, and after the slide 5 rises to a relatively high height, the feeder 3 performs the lift operation and starts the advance operation. To be controlled. And while a press work cycle is repeatedly performed, the feeder 3 is controlled to repeatedly perform the said operation | movement.

  In the present embodiment, the feeder time schedule T12 for controlling the feeder 3 includes the time when the feeder 3 has just completed the return operation (the time when the feeder standby position (reverse end, open end and low end position)). As the axis origin, control commands (for example, target speeds) are defined for the motors 19A to 19F for causing the feeder 3 to execute various operations as shown in FIG. 4B at various points on the time axis. ing.

  Thus, the operation of the slide 5 and the operation of the feeder 3 are defined separately on each time axis. As shown by the broken line connecting FIG. 4A and FIG. 4B, if the two time axes are not shifted from each other, the operation of the slide 5 and the operation of the feeder are consequently synchronized. It is also easy to control the operation of the slide 5 and the operation of the feeder 3 separately without synchronizing them.

  Therefore, in the present embodiment, as described above, when an instruction to stop the press work cycle is input during execution of the press work cycle (when the slide 5 and the feeder 3 are operating in synchronization), the slide 5 is thereafter executed. When the robot reaches the top dead center (slide standby position), only the slide 5 is stopped, and then only the operation of the feeder 3 is continued (by separating the operation of the feeder 3 from the operation of the slide 5). Control is performed to stop the feeder 3 when 3 finishes returning (that is, when it reaches the feeder standby position). Further, when the press operation cycle start instruction is input again after the press process cycle stop instruction is input, first, only the operation of the slide 5 is started and the slide 5 is lowered from the top dead center. When 5 comes to the position corresponding to the feeder standby position (the press angle is near 240 degrees) (until this time, the slide 5 and the feeder 3 are not synchronized), the operation of the feeder 3 is started, Control that the slide 5 and the feeder 3 are operated in synchronization is performed. Further, the specific mode of the pressing operation in the vicinity of the bottom dead center of the slide 5 can be arbitrarily defined regardless of the moving operation of the feeder 3.

  As can be seen from the above description, the standby position of the slide 5 and the standby position of the feeder 3 are determined independently without depending on each other. In other words, in this embodiment, the slide standby position is the top dead center (meaning that the vicinity can be included), and the feeder standby position is the position where the return operation has just ended (the position of the backward end, the open end, and the low end) Meaning that it can also include neighborhoods. As a result, it is easy to perform maintenance of the mold while the transfer press apparatus 1 is on standby, and it is easy to lock the slide 5 at the standby position. When resuming the machining cycle, it is not necessary to start the slide 5 and the feeder 3 in synchronization at the same time, and the feeder 3 can be started later than the slide 5, so that the possibility of the feeder 3 failing to clamp the workpiece is reduced. There is no need for a slow start.

  Incidentally, according to the prior art that controls the position or movement of the feeder 3 according to the press position of the slide 5, as described above, the operation of the slide 5 and the operation of the feeder 3 cannot be easily synchronized or separated. Also, it is difficult to determine the slide standby position and the feeder standby position independently. Further, in such a conventional technique, when vibration occurs at the position of the slide 5 due to an impact at the time of collision of the slide 5 with the workpiece, the position of the feeder 3 also follows that, so that hunting of the feeder 3 occurs. Although there is a problem, in this embodiment, even if the position of the slide 5 vibrates, the position of the feeder 3 is not affected.

  Next, processing of the transfer press apparatus according to one embodiment of the present invention will be described.

  FIG. 5 is a flowchart of the control process of the transfer press apparatus 1 according to an embodiment of the present invention.

  When the cycle start button 11A of the press control circuit 11 is pressed by the user (step S1), the press control circuit 11 transmits an instruction to start the press working cycle to the feeder control circuit 12 and the NC controller 13. The NC controller 13 starts a press working cycle in response to the start instruction from the press control circuit 11 (step S2). The NC controller 13 acquires a press speed command from the slide time schedule 13T and transmits it to the PDM devices 25A to 25F in each press processing cycle. As a result, the PDM devices 25A to 25F perform pulse density modulation on the press speed command output from the NC controller 13, and transmit the modulated signals to the servo amplifiers 26A to 26F. The servo amplifiers 26A to 26F are motors 27A to 27F. Is controlled in accordance with the modulation signal.

  In parallel with this, when the feeder control circuit 12 receives a start instruction from the press control circuit 11, the representative press angle detected by the signal of the encoder 14 is a predetermined reference angle (for example, 240 °, This determines whether or not the feeder standby position has been reached (corresponding to the position where the return has just ended), that is, whether or not the slide 5 of the press has come to a position corresponding to the feeder standby position (step S3). As a result, while the representative press angle has not yet reached the reference angle, the feeder control circuit 12 maintains the feeder 3 in a standby state, and when the representative press angle reaches the reference angle, the feeder control circuit 12 Then, the feeder 3 is activated (step S4), and the press / feeder synchronization control process (step S5) is performed.

  In the press-feeder synchronous control process (step S5), the feeder control circuit 12 sends a control command corresponding to each time point from the feeder time schedule 12T at each time point after the time point when the representative press angle reaches the reference angle. Obtain it and send it to the servo amplifiers 18A-18F. At the same time, the feeder control circuit 12 performs the representative press angle detected by the signal of the encoder 14 at each of the above time points and the position of the feeder 3 at each time point (the actual current position or the position based on the time schedule). If the representative press angle is ahead of the assumed press angle, an instruction to reduce the press speed (press speed reduction instruction) is sent to the NC controller. 13, when the representative press angle is delayed from the assumed press angle, an instruction to increase the press speed (press speed increase instruction) is sent to the NC controller 13. Processing to transmit via the feeder-press communication line 16 is started. When the time axis for controlling the operation of the feeder 3 and the time axis for controlling the operation of the slide 5 are deviated and the operation of the feeder 3 and the operation of the slide 5 are not synchronized, the above-described press speed The shift is corrected by the decrease / increase instruction, and the operation of the feeder 3 and the operation of the slide 5 are substantially synchronized.

  Accordingly, when an instruction to start the press working cycle is entered, first, the slide 5 starts its operation from the top dead center, and then the slide 5 corresponds to the standby position of the feeder 3 (the position where the return operation has just ended). The operation of the feeder 3 starts from the time when the slide 5 comes to, and thereafter, the operations of the slide 5 and the feeder 3 are synchronized.

  While such a press-feeder synchronization control process is being executed, the press control circuit 11 detects whether or not the cycle stop button 11B is pressed by the user (step S6), and the cycle stop button 11B is pressed. If it is detected that it is not present (step S6: No), the press-feeder synchronization control process is continued.

  On the other hand, when it is detected that the cycle stop button 11B is pressed (step S6: Yes), the press control circuit 11 notifies the feeder control circuit 12 and the NC controller 13 of an instruction to stop the press working cycle.

  When the NC controller 13 receives an instruction to stop the press working cycle from the press control circuit 11, the NC controller 13 then controls according to the slide time schedule 13T as described above until the slide 5 reaches the slide standby position (top dead center). The operation of the slide 5 is continued, and when the slide 5 reaches the slide standby position (top dead center), the slide 5 is stopped at the top dead center (step S7).

  When the feeder control circuit 12 receives an instruction to stop the press working cycle from the press control circuit 11, thereafter, the feeder control circuit 12 is used for the feeder as described above until the feeder 3 reaches the feeder standby position (position where the return operation has just ended). The operation of the feeder 3 controlled according to the time schedule 12T is continued, and when the feeder 3 reaches the feeder standby position (the position where the return operation has just ended), the feeder 3 is stopped at the feeder standby position (step S8). Therefore, when an instruction to stop the press working cycle is entered, the slide 5 is first stopped when it reaches the top dead center, and then the feeder 3 continues to operate independently and when the return operation is finished, the feeder 3 is stopped. Will stop.

  FIG. 6 is a flowchart of the press feeder synchronization control process (step S5 in FIG. 5) of the transfer press apparatus according to the embodiment of the present invention.

  In the press-feeder synchronous control process (step S5 in FIG. 5), the NC controller 13 determines a press speed command at each time point based on the slide time schedule 13T at each time point (step S11). Further, the NC controller 13 determines whether or not a press speed decrease instruction or an increase instruction is received from the feeder control circuit 12 (steps S12 and S14), and if a decrease instruction or an increase instruction is received, The target speed value indicated by the determined press speed command is decreased or increased by the decrease value or the increase value indicated by the press speed decrease instruction or increase instruction (steps S13 and S15). Thereby, the press speed command at that time is determined.

  Next, the NC controller 13 transmits the press speed command determined in steps S11 to S15 to the PDM units 25A to 25F. Thereby, the PDM devices 25A to 25F perform pulse density modulation in accordance with the press speed command output from the NC controller 13, and transmit the modulation signals to the servo amplifiers 26A to 26F. The servo amplifiers 26A to 26F are connected to the motors 27A to 27F. The speed is controlled according to the modulation signal.

  On the other hand, in parallel with the control operation of the NC controller 13 as described above, the feeder control circuit 12 performs the following control operation. That is, the feeder control circuit 12 acquires a control command to the feeder 3 at each time point from the feeder time schedule 12T and transmits it to the servo amplifiers 18A to 18F at each time point (step S17). As a result, the servo amplifiers 18A to 18F control the motors 19A to 19F.

  Further, the feeder control circuit 12 compares the representative press angle detected by the encoder 14 at each time point with the assumed press angle corresponding to the position of the feeder 3 at each time point, and the representative press angle becomes the assumed press angle. It is determined whether it is ahead or behind (steps S18 and S20). If the representative press angle is ahead of the assumed press angle, the feeder control circuit 12 sends a press speed reduction instruction to the NC controller 13 (step S19), while the representative press angle is delayed from the assumed press angle. If so, a press speed increase instruction is transmitted to the NC controller 13 (step S21).

  As described above, according to the transfer press device 1 of the present embodiment, when the cycle stop button 11B is pressed, the slide 5 is stopped at the slide standby position at the top dead center (including the vicinity thereof), and the feeder 3 Is stopped at the feeder standby position at the return operation end position (including the vicinity thereof).

  Therefore, even if the slide 5 is independently operated by pressing after the pressing cycle of the transfer press apparatus 1 is stopped, it does not interfere with the feeder and the feeder 3 does not get in the way. In addition, since the distance between the mold after the cycle is stopped and the slide 5 is the maximum, it is possible to easily and quickly wipe the mold and confirm the product. Further, even if the feeder 3 is transported alone, it does not interfere with the slide 5 and the slide 5 does not get in the way.

  Further, in the case of the press machine 2 that reciprocally moves the slide 5 by the crankshaft rotated by the motor as in this embodiment, the slide standby position is the top dead center, so that the motor stop position is also reached at the top dead center. Even if there is some variation, the stop position of the slide 5 hardly varies, so that the slide 5 can be accurately stopped at the top dead center. For this reason, a mechanism for locking the slide 5 at its top dead center for safety after the cycle is stopped (typically, a hole formed in a fixed object such as a frame of the press machine 2 and a hole formed in the slide 5. In addition, the slide 5 can be easily locked and the slide 5 can be reliably locked at the top dead center.

  Moreover, according to the transfer press apparatus 1 of this embodiment, since the operation of the feeder 3 is controlled according to a time schedule that does not depend on the position of the slide 5, even if the position of the slide 5 fluctuates due to an impact during pressing, The feeder 3 can operate without being affected by the position variation of the slide 5.

  Further, according to the transfer press device 1 of the present embodiment, when the movement of the slide 5 is started, it is not necessary to consider the movement of the feeder 3, so that the movement of the slide 5 and the movement of the feeder 3 are completely synchronized. As in the case of the prior art, there is no need for a slow start, and the operation can be suddenly started at a steady operation speed.

  Moreover, according to the transfer press apparatus 1 of this embodiment, since the slide 5 starts operation from a state in which the workpiece is not clamped, the slide 5 starts operation from the state in which the workpiece is clamped. In addition, the possibility of a so-called tooth-missing operation that fails to clamp the workpiece from the DF at the start of operation is reduced.

  Further, according to the transfer press apparatus 1 of the present embodiment, the operation of the slide 5 is corrected in accordance with the position of the feeder 3 as a method of synchronizing the operation of the slide 5 and the feeder 3. Compared with the prior art that controls the operation of the feeder 3 depending on the position of the slide 5, the control is easier (because the operation of the slide 5 is simpler than the operation of the feeder 3).

  As mentioned above, although embodiment of this invention was described, this embodiment is only the illustration for description of this invention, and is not the meaning which limits the application range of this invention only to this embodiment. The present invention can be implemented in various other modes without departing from the gist thereof.

  For example, in the above embodiment, the slide standby position is set to the top dead center (or the vicinity thereof), but the present invention is not limited to this, and the feeder 3 contacts the feeder 3 at any position in the movement range. If it is a position sufficiently away from the feeder 3 (for example, a position where the slide 5 and the upper mold exist outside the movement range of the feeder 3), the slide standby position is a position other than the top dead center (for example, , Any position higher than the maximum height of the feeder 3).

  In the above embodiment, the feeder standby position is set as the end position of the return operation (may be in the vicinity thereof), but the present invention is not limited to this, and the slide 5 can be positioned at any position within the moving range. The feeder standby position is a position other than the return operation end position if the position does not hinder the press work of the workpiece (for example, the position where the feeder 3 exists outside the movement range of the slide 5 and the upper mold). (For example, an arbitrary position from the start to the end of the return operation) may be used.

  In the above embodiment, when the cycle is stopped, the slide 5 is stopped first at the slide standby position, and then the feeder 3 is stopped at the feeder standby position. At the start of the cycle, the slide 5 is moved first from the slide standby position. The feeder 3 is activated and then the feeder 3 is activated from the feeder standby position. However, the present invention is not limited to this, and the stop sequence or activation sequence of the slide 5 and the feeder 3 is a situation such as a press angle at the time of cycle stop or cycle start. Depending on or always regardless of the situation, the above embodiment may be reversed. For example, when a cycle stop is entered during the return of the feeder 3, the feeder 3 is first stopped when the return of the feeder 3 is completed, and then the slide 5 is moved when the slide 5 reaches the top dead center. You may stop. Further, at the time of activation, the feeder 3 may be activated, and then the slide 5 may be operated. In this case, if the feeder 3 is synchronized with the slide 5, the slide 3 is present. The NC controller 13 is provided with an assumed press angle generating device for generating an assumed press angle, and the NC controller 13 slides the slide 5 when the assumed press angle reaches the press angle corresponding to the slide standby position after the operation of the feeder 3 is started. The operation may be configured to start.

  In the above embodiment, the press control circuit 11 inputs a stop instruction and / or a start instruction from the user. However, the present invention is not limited to this. For example, the press control circuit 11 is connected to an external device. A stop instruction and / or a start instruction may be input from the apparatus, and the press control circuit 11 may input a stop instruction and / or a start instruction generated inside the transfer press apparatus.

  In the above-described embodiment, an example in which the present invention is applied to a transfer press apparatus that moves a slide by rotating a crankshaft has been described. However, the present invention is not limited thereto, and for example, a ball screw is rotated. The present invention can also be applied to a transfer press apparatus in which a slide is moved by the above, a slide is moved by a hydraulic cylinder, and a slide is moved by a flywheel driven by a motor belt.

In the above embodiment, the feeder time schedule 12T defines the target rotational speeds of the motors 19A to 19F that drive the feeder 3 along the time axis, and the slide schedule 13T drives the press machine 2. The target rotational speeds of the motors 27A to 27F are defined along the time axis. However, the present invention is not limited to this. For example, the feeder time schedule 12T may define a target position in the axial direction of the bars 7R and 7L of the feeder 3 along the time axis. In this case, a detector for detecting the positions of the bars 7R and 7L in the respective axial directions is provided, and a speed command is calculated from the difference between the detected value from the detector and the target position, and transmitted to the servo amplifiers 18A to 18F. Become. Further, the slide schedule 13T may define the target position of the slide 5 along the time axis. In this case, a slide position detection device is provided, and a speed command is calculated from the difference between the detection value from the detection device and the target position, and is transmitted to the PDM devices 25A to 25F.

Claims (8)

A slide (5) for reciprocating and pressing the workpiece;
When the workpiece is not pressed by the slide (5), the workpiece is clamped, lifted, advanced, down and unclamped, and the workpiece is moved to the slide (5). In a transfer press device (1) comprising a feeder (3) that performs a return operation when being pressed by
Stop input means (11B) for inputting an instruction to stop the press working cycle during execution of a continuous press working cycle consisting of repetition of the reciprocating motion of the slide (5);
The operation of the slide (5) is controlled according to the slide time schedule (13T) that defines the control content for the slide (5) at each time point on the first time axis, and the stop input means (11B) In response, slide control means (13) for moving and stopping the slide (5) to a slide standby position where the feeder (3) can be moved alone .
The operation of the feeder (3) is controlled according to the feeder time schedule (12T) that defines the control contents for the feeder (3) at each time point on the second time axis, and the stop input means (11B) In response, feeder control means (12) for moving and stopping the feeder (3) to a feeder standby position, which is a position where the slide (5) can be independently pressed ,
The transfer press device further includes a start input means for inputting an instruction to start a press work cycle when the slide (5) and the feeder (3) are stopped at the slide standby position and the feeder standby position, respectively. 11A)
An assumed press angle generator for generating an assumed press angle at which the slide (5) should currently exist if the feeder (3) is synchronized with the slide (5);
With
The slide control means (13) starts the operation of the slide (5) when the assumed press angle reaches a press angle corresponding to the slide standby position after the operation of the feeder (3) is started. <br/> Transfer press machine. The transfer press device according to claim 1, wherein the slide standby position is such that the slide (5) is a top dead center. The transfer press device according to claim 1, wherein the feeder standby position is a position where the return operation is completed. Regardless of whether the feeder (3) stops or not until the slide (5) reaches the slide standby position after the stop instruction is input, the slide control means (13) The operation of the slide (5) is continued from the time of execution of the press working cycle, and the slide (5) is stopped when the slide (5) reaches the slide standby position. The transfer press apparatus according to Item. Regardless of whether or not the slide (5) is stopped until the feeder (3) reaches the feeder standby position after the stop instruction is input, the feeder control means (12) The operation of the feeder (3) is continued from the time of execution of the press working cycle, and the feeder (3) is stopped when the feeder (3) reaches the feeder standby position. The transfer press apparatus according to Item. After the stop instruction is input, the slide control means (13) performs the operation of the slide (5) from the execution of the press working cycle until the slide (5) reaches the slide standby position. The slide (5) is stopped when the slide (5) reaches the slide standby position,
After the stop instruction is input, the feeder control means (12) synchronizes the operation of the slide (5) and the feeder (3) until the slide (5) reaches the slide standby position. In this manner, the operation of the feeder (3) is continued from the time of execution of the pressing cycle, and after the slide (5) stops at the slide standby position, the feeder (3) waits for the feeder. The operation of the feeder (3) is continued independently until reaching the position, and the feeder (3) is stopped when the feeder (3) reaches the feeder standby position. A transfer press apparatus according to claim 1.   The slide time schedule (13T) and the feeder time schedule (12T) result in the operation of the slide (5) and the operation of the feeder (3) unless the first and second time axes are shifted from each other. Each control is defined to synchronize automatically
The transfer press apparatus as described in any one of Claims 1-6.   The feeder control means (12) detects a press angle corresponding to the position of the slide (5) during execution of the press cycle, and a deviation between the detected press angle and the assumed press angle is detected. When there is a deviation, a speed increase / decrease instruction for increasing or decreasing the operation speed of the slide (5) is transmitted to the slide control means (13).
  The slide control means (13) increases or decreases the operating speed of the slide (5) in response to the speed increase / decrease instruction.
The transfer press apparatus according to claim 7.

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