JP5450025B2 - How to create press line transfer motion - Google Patents

Description

  The present invention relates to a conveyance motion creation method for a press line. Specifically, the present invention relates to a method for creating a transfer motion of a duplicate press line using the same die as that of an existing press line.

  2. Description of the Related Art Conventionally, in a press line in which a plurality of press machines are arranged, a transport device that transports a workpiece between press machines is provided. A press line manufactures a product of a predetermined shape from a plate-shaped workpiece through a plurality of pressing processes by each pressing machine. Each press is assigned a different pressing process.

  On the other hand, the conveying device provided between the pressing machines is configured such that, for each pressing machine that moves up and down at a predetermined cycle, the conveying path from the pressing machine that performs the previous pressing process to the pressing machine that performs the next pressing process. A workpiece is conveyed using a conveying device along Therefore, it is necessary to set the transport motion of such a transport device so as not to interfere with the upper mold and the lower mold, which are the molds of each press machine that moves up and down.

For example, Patent Document 1 discloses a method for creating a transport motion of such a transport device. In this transport motion creation method, a plurality of transport motion reference forms are prepared in advance. When actually creating a transport motion, one is selected from a plurality of prepared reference forms, and a start position and an end position of the transport apparatus are designated.
According to this transport motion creation method, it is only necessary to select the reference form and specify the start position and end position of the transport apparatus, so the time required for creating the transport motion of the transport apparatus can be reduced.

Japanese Patent Application Laid-Open No. 2004-228561 discloses a transport motion of the transport device. In this transport motion, the timing at which the transport device reaches the press machine is sequentially provided with a phase difference from the upstream press machine to the downstream press machine, and the above timing is sequentially set from the upstream press machine to the downstream press machine. Delay.
According to this conveyance motion, the raising / lowering speed of a press machine can be raised, without raising the conveyance speed of a conveying apparatus.

Patent Document 3 discloses a method for creating a transport motion of the transport device. In this conveyance motion creation method, an interference check is performed using the shape data of each press and conveyor, workpiece and mold, and the motion of each press and conveyor is adjusted to create a conveyance motion.
According to this conveyance motion creation method, it is possible to obtain a phase adjustment result that increases line production efficiency while avoiding interference between each press and conveyance device, workpiece, and mold in a short adjustment operation.

JP 2004-255419 A JP 2005-74476 A JP 2008-240554 A

By the way, an existing press line that is already in operation may be relocated and constructed as a duplicate press line. In the duplicate press line, the mold of the existing press line is transferred, but the press machine and the conveying device are different from the existing press line. Moreover, since the distance between press machines differs from the existing press line, the duplication press line also differs in the conveyance distance of the workpiece | work by a conveying apparatus.
Therefore, in the duplicate press line, the transfer motion of the existing press line cannot be diverted, so the transfer motion of the transfer device can be changed so that the workpiece can be transferred as quickly as possible according to the cycle of the lifting and lowering operation of the mold and press machine. Need to create.

However, in the conveyance motion creation method disclosed in Patent Document 1, the conveyance motion of the conveyance device is created based on a reference form prepared in advance, so that the setting for optimizing the operation of each press machine and conveyance device is performed. There is a need to do.
In addition, in order to create the transport motion disclosed in Patent Document 2, it is necessary to set an optimal sequential phase difference in accordance with the operation of each press and transport device.
In addition, in the transport motion creation method disclosed in Patent Document 3, it is necessary to adjust the phase of the motion of each press and transport device so that the operation of each press and transport device is optimized.

  Therefore, in the techniques described in Patent Documents 1 to 3, even if the duplicate press line uses the same mold as the existing press line, the duplicate press line is actually operated, and the operation of each press machine and the conveying device is performed. It is necessary to create a new transfer motion by repeating the optimization process.

  It is an object of the present invention to provide a transport motion creation method that can reduce the number of transport motion creation steps when a duplicate press line using the same mold as that of an existing press line is constructed.

  The transfer motion setting method of the present invention uses an existing press line (for example, an existing transfer line (for example, an existing transfer path 3 to be described later)) to transfer a workpiece along an existing transfer path (for example, an existing transfer path C2 to be described later). The same mold (for example, an upper mold 22 described later) as the mold of the existing press line 1A described later is used, and a new transport path (for example, a new transport path C1 described later) different from the existing transport path. ) Along the new conveyance path of a duplication press line (for example, a duplication press line 1 described later) that conveys a workpiece using a new conveyance device (for example, a new conveyance device 3 described later) different from the existing conveyance device. In the transfer motion creation method by the calculation device (for example, motion data calculation device 5 to be described later) that creates the data, the data related to the existing transfer path and the existing shape indicating the shape of the existing transfer device An existing press line cut in advance by a duplication area set in an area including the upper die from the locus (for example, a locus L2A described later) of the existing conveying device viewed from the upper die, using feeder data. Data on an upper mold interference curve (for example, an existing press line upper mold interference curve L20, which will be described later), data on a new conveyance condition regarding the conveyance condition of the new conveyance path, and new conveyance apparatus data indicating the shape of the new conveyance apparatus are read. A data reading step (for example, step S1 in FIG. 4 described later) and a point sequence (for example, a later-described point sequence execution line L21 described later) by dividing the existing press line upper mold interference curve at a predetermined interval. ) Existing press line upper mold interference curve point sequence step (for example, step S115 in FIG. 9 described later), and the existing press line upper mold interference curve Using the data related to the new transport condition and the new transport device data, the new mold viewed from the upper mold with respect to the plurality of division points of the existing press line upper mold interference curve formed into a sequence of lines in a row process. A new upper interference curve individual setting step (for example, step S116 in FIG. 9 described later) for generating a new upper interference curve (for example, a new upper interference curve L22 described later) formed by the trajectory of the transfer device; A new upper interference curve (for example, a specific new upper interference curve L22a described later) that interferes with only one point (for example, an interference point P described later) of the plurality of division points among the new upper interference curves. The new upper mold interference curve selection step (for example, step S117 in FIG. 9 described later) to be selected and the new upper mold interference curve selected by the new upper mold interference curve selection step are moved in the direction away from the upper mold. Mold and predetermined clearer A new upper-type interference curve correction step (for example, described later) that generates a set new upper-type interference curve (for example, later-described set new-type interference curve L2). Step S118) of FIG. 9 and a transport motion creating method for creating the new transport path based on the new upper type interference curve.

  According to this invention, the same mold as the mold of the existing press line that transports the workpiece using the existing transport device along the existing transport path is used, and along a new transport path different from the existing transport path. Create a new transport path for the duplicate press line that transports workpieces using the new transport device. Here, the same mold includes both the case of the same mold product and the case of another mold product manufactured in the same shape.

  Then, the existing press line upper mold interference curve cut in advance by the duplication area set in the area including the upper mold is converted into a point sequence by a plurality of division points divided at a predetermined interval, and the upper side of the plurality of division points is displayed. A new upper type interference curve formed by the trajectory of the new conveyance device viewed from the mold is generated, and a new type upper type interference curve that interferes with only one point among the plurality of division points is selected. Thereby, the new upper mold | type interference curve of the new conveyance apparatus nearest to the existing press line upper model | mold interference curve can be selected.

  In addition, the selected new upper mold interference curve is generated by moving the selected new upper mold interference curve away from the upper mold so as to maintain a predetermined clearance with the upper mold. The trajectory of the new transfer device that does not interfere with can be set. And based on this new upper model interference curve, a new conveyance route can be created.

Therefore, since the trajectory of the new transfer device of the duplicate press line can be set so as not to interfere with the upper mold based on the trajectory of the existing transport device of the existing press line, when creating the transport motion of the duplicate press line, A new transfer path that does not interfere with the upper die can be created without repeating the process of optimizing the operation of each press and the new transfer device by operating a duplicate press line.
Therefore, it is possible to reduce the man-hours for setting the transport motion when constructing a duplicate press line having the same mold as the existing press line.

  ADVANTAGE OF THE INVENTION According to this invention, the construction of the conveyance motion which can reduce the preparation man-hour of conveyance motion can be provided in the case of construction of the duplication press line which uses the metal mold | die same as the metal mold | die of the existing press line.

It is a figure which shows schematic structure of the duplication press line to which the conveyance motion produced by the conveyance motion production method concerning one Embodiment of this invention was applied. It is a figure which shows schematic structure of the existing press line used in the conveyance motion production method which concerns on the said embodiment. It is a block diagram which shows the structure of the motion data calculating apparatus which concerns on the said embodiment. It is a flowchart which shows the procedure which produces | generates conveyance motion data by the motion data calculating apparatus which concerns on the said embodiment. It is a flowchart which shows the preparation procedure of the new lower type | mold interference curve by the motion data calculating apparatus which concerns on the said embodiment. It is a schematic diagram which shows the structure of the crossbar of the existing conveyance path | route of the existing press line which concerns on the said embodiment, and the existing conveyance apparatus which moves along this existing conveyance path | route. It is a schematic diagram which shows the structure of the crossbar of the new conveyance path | route of the replication press line which concerns on the said embodiment, and the new conveyance apparatus which moves along this new conveyance path | route. It is a figure which shows the locus | trajectory of the cross bar of the new conveying apparatus seen from the upper mold | die which raises / lowers which concerns on the said embodiment. It is a flowchart which shows the preparation procedure of the new upper type interference curve by the motion data calculating apparatus which concerns on the said embodiment. It is a figure which shows the locus | trajectory of the crossbar of the existing conveying apparatus seen from the upper mold | type in the existing press line which concerns on the said embodiment. In the replication press line which concerns on the said embodiment, it is a figure which shows the locus | trajectory of the crossbar of the new conveying apparatus seen from the upper mold | type.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a duplicate press line 1 to which a transport motion created by a transport motion creating method according to an embodiment of the present invention is applied.

  The duplicate press line 1 includes a plurality of press machines 2 that process the workpiece W, and a plurality of new transfer devices 3 that are attached to each press machine 2 and that transport the workpiece W between the press machines 2. , A duplicate press line control device 4 for controlling the operation of each press machine 2 and the operation of each new transport device 3, and motion data relating to the operation of each press machine 2 and the operation of each new transport device 3 to generate a duplicate press line A motion data calculation device 5 that outputs to the control device 4 and a duplicate press line press motion data output device 6 that outputs the press motion data of each press 2 to the duplicate press line control device 4 are provided.

  The duplicate press line 1 manufactures a product having a predetermined shape from a flat work through a plurality of press processes by each press machine 2. The plurality of pressing machines 2 are arranged in the same order as the progress of the pressing process, and each pressing process 2 is assigned to each pressing process. In the present embodiment, it is assumed that the pressing process proceeds in order from the left side to the right side in FIG. Further, it is assumed that the direction in which the pressing process proceeds and the conveyance direction Y in which each new conveyance device conveys the workpiece are the same.

  Each press 2 includes a lower die 21 disposed below the work W and on the bolster 24, an upper die 22 disposed opposite to the lower die 21, and an upper portion with respect to the lower die 21. A lifting mechanism 23 that moves the mold 22 closer to and away from the mold 22 and a controller (not shown) that controls the lifting mechanism 23 are provided. The above press machine 2 presses the workpiece W by moving the upper die 22 up and down relative to the lower die 21. In the present embodiment, the upper die 22 and the lower die 21 are the same as the upper die 22 and the lower die 21 of the existing press line 1A described later. Here, the upper die 22 and the lower die 21 are the same as the upper die 22 and the lower die 21 of the existing press line 1A. The upper die 22 and the lower die 21 of the existing press line 1A are removed, and the duplicate press line 1 In the duplicate press line 1, the upper mold 22 and the lower mold 21 having the same shape as the upper mold 22 and the lower mold 21 of the existing press line 1 A are newly manufactured. Either of the upper mold 22 and the lower mold 21 may be used.

  Each new conveyance device 3 includes a crossbar 32 to which a plurality of vacuum cups 31 are connected, a moving device (not shown) that moves the crossbar 32 along a new conveyance path C1 set between adjacent press machines, And a controller (not shown) for controlling the moving device.

  As shown in FIG. 1, the new conveyance path C1 of each new conveyance device 3 executes a new forward path CO1 extending from the press machine 2 that executes the previous press process to the press machine 2 that executes the next press process, and the next press process. And a new return path CB1 extending from the pressing machine 2 to the pressing machine 2 that executes the pre-pressing process. Each new conveyance device 3 moves the crossbar 32 along the new conveyance path C1 between the adjacent press machines 2, and works W processed by the press machine 2 corresponding to the previous press process, It conveys to the press 2 corresponding to the next press process. That is, the new transfer device 3 moves on the new forward path CO1 while holding the workpiece W, and runs idle without holding the workpiece W on the new return path CB1.

Each new conveyance device 3 operates as follows and conveys the workpiece W.
First, the cross bar 32 is moved along the new return path CB1 between the upper mold 22 and the lower mold 21 of the press machine 2 corresponding to the previous press process.
Next, the processed workpiece W is sucked by the vacuum cup 31 and is held.
Next, the cross bar 32 is moved along the new forward path CO1 while holding the workpiece W between the upper mold 22 and the lower mold 21 of the press machine 2 corresponding to the next press process.
Next, the held work W is placed on the lower mold 21 of the press machine 2.

  The duplicating press line control device 4 is based on the press motion data output from the duplicating press line press motion data output device 6 and the transport motion data transmitted from the motion data computing device 5. 3, the control signal is transmitted to the controller 3, the periodic lifting operation (hereinafter referred to as “press motion”) of each press machine 2, and the periodic transport operation (hereinafter referred to as “transport motion”) of each new transport device 3. Control).

  The motion data calculation device 5 generates transport motion data that defines the transport motion of each new transport device 3, and further transmits this transport motion data to the duplicate press line control device 4.

Here, the contents of the press motion data and the transport motion data will be described.
The press motion data that defines the press motion includes information on the press motion such as the speed, position, and time for driving the upper die 22 of each press machine 2. The speed at which the upper die 22 is driven is characterized as a processing speed indicating the processing capability of the workpiece of the press machine 2, that is, a press SPM. Accordingly, the larger the press SPM, the shorter the period for raising and lowering the upper die 22.

The transport motion data that defines the transport motion includes information on the new transport path C1 of each new transport apparatus 3 and the speed at which the new transport apparatus 3 is driven along the new transport path C1. In addition, the transfer motion data includes data related to the new lower mold interference curve serving as the new transfer path C1 and data related to the new upper mold interference curve set so that the upper mold and the new transfer device 3 maintain a predetermined clearance. .
The new transport path can be indicated by a locus of an arbitrary point in the new transport apparatus 3 viewed from a predetermined fixed point. In the present embodiment, the new transport path C1 of the new transport apparatus 3 is crossed in the three-dimensional space. This is defined as the locus of the center position of the bar 32.

  In addition, the conveyance motion data includes information on the line SPM as the line speed indicating the work production capacity, that is, the quantity that can be processed in one minute in the duplicate press line 1. That is, the production cycle in the duplicate press line 1 can be improved by setting this line SPM to a large value. Further, the speed and time for driving each new conveyance device 3 are determined in accordance with the line SPM.

In addition, in order to control a plurality of new transport apparatuses 3 that repeat a periodic transport motion, the transport motion data includes information on the phase difference of the transport motion between the new transport apparatuses 3.
Furthermore, in order to control each press machine 2 that repeats a periodic press motion and each new transport device 3 that repeats a periodic transport motion, the transport motion data includes the press motion and each new press machine 2. Information regarding the phase difference from the transport motion of the transport device 3 is included.

  The motion data calculation device 5 creates data relating to the new lower type interference curve and data relating to the new type interference curve included in the transport motion data, and transmits them to the duplicate press line control device 4.

  The duplicate press line press motion data output device 6 generates press motion data defining the press motion of each press machine 2, and further transmits this press motion data to the duplicate press line control device 4.

Here, the contents of the press motion data will be described.
The press motion data that defines the press motion includes information on the press motion such as the speed, position, and time for driving the upper die 22 of each press machine 2. The speed at which the upper die 22 is driven is characterized as a processing speed indicating the processing capability of the workpiece of the press machine 2, that is, a press SPM. Accordingly, the larger the press SPM, the shorter the period for raising and lowering the upper die 22.

  FIG. 2 is a diagram showing a schematic configuration of an existing press line 1A used in the transport motion creation method according to an embodiment of the present invention.

The existing press line 1 </ b> A is a press line in which the mold is transferred to the duplicate press line 1.
The existing press line 1A includes a plurality of press machines 2A for processing the workpiece W, and a plurality of existing conveyor devices 3A that are provided along with the respective press machines 2A and transport the workpiece W between the press machines 2A. .

The existing press line 1A manufactures a product having a predetermined shape from a flat workpiece through a plurality of pressing steps by each pressing machine 2A. The plurality of press machines 2A are arranged in the same order as the progress of the press process, and each press process is assigned to each press machine 2A. In the present embodiment, it is assumed that the pressing process proceeds in order from the left side to the right side in FIG. Further, it is assumed that the direction in which the pressing process proceeds and the conveyance direction Y in which each new conveyance device conveys the workpiece are the same.
A product of a predetermined shape manufactured by the existing press line 1A is the same as a product of a predetermined shape manufactured by the duplicate press line 1 (see FIG. 1). Moreover, the progress order of the press process of the existing press line 1A is the same as the progress order of the press process of the duplicate press line 1.

Each press machine 2A has a lower mold 21 arranged below the work W and above the existing bolster 24A, an upper mold 22 arranged opposite to the lower mold 21, and a lower mold 21. An elevating mechanism 23A that moves the upper mold 22 closer to and away from the upper mold 22 and a controller (not shown) that controls the elevating mechanism 23A are provided. The above press machine 2 </ b> A presses the workpiece W by moving the upper die 22 up and down relative to the lower die 21.
The upper mold 22 and the lower mold 21 of the existing press line 1A are transferred to the duplicate press line 1 and used as the upper mold 22 and the lower mold 21 of the duplicate press line 1.

  Each existing conveyance device 3A includes a crossbar 32A to which a plurality of existing vacuum cups 31A are connected, and a moving device (not shown) that moves the crossbar 32A along an existing conveyance path C2 set between adjacent press machines. And a controller (not shown) for controlling the moving device.

  As shown in FIG. 2, the existing conveyance path C2 of each existing conveyance device 3A executes the forward press process and the forward path CO2 extending from the press machine 2A that executes the previous press process to the press machine 2A that executes the next press process. And a return path CB2 extending from the pressing machine 2A to the pressing machine 2A that executes the pre-pressing process. Each existing conveyance device 3A moves the crossbar 32A along the existing conveyance path C2 between the adjacent press machines 2A, and works W processed by the press machine 2A corresponding to the previous press process, It conveys to the press 2A corresponding to the next press process. That is, the existing transfer device 3A moves on the forward path CO2 while holding the workpiece W, and runs idle without holding the workpiece W on the return path CB2.

Each existing conveyance device 3A of the existing press line 1A operates as follows in the same manner as each new conveyance device 3 (see FIG. 1) of the duplicate press line 1 to convey the workpiece W.
First, the cross bar 32A is moved along the return path CB2 between the upper die 22 and the lower die 21 of the press machine 2A corresponding to the previous press step.
Next, the processed workpiece W is sucked with the existing vacuum cup 31 </ b> A, and the workpiece W is held.
Next, the cross bar 32A is moved along the forward path CO2 while holding the workpiece W between the upper mold 22 and the lower mold 21 of the press machine 2A corresponding to the next press step.
Next, the held workpiece W is placed on the lower mold 21 of the press machine 2A.

In the present embodiment, the existing transport path C2 of the existing transport apparatus 3A is defined as a locus of the center position of the crossbar 32A in the three-dimensional space, like the new transport path C1 of the new transport apparatus 3.
Further, in the present embodiment, the duplicate press line 1 is the same mold (upper mold 22 and lower mold) as the mold of the existing press line 1A that transports the workpiece W using the existing transport device 3A along the existing transport path C2. The mold 21) is used, and the workpiece is conveyed along the new conveyance path C1 different from the existing conveyance path C2 by using the new conveyance apparatus 3 different from the existing conveyance apparatus 3A.
On the other hand, the new conveyance path C1 (see FIG. 1) of the duplicate press line 1 is different from the existing conveyance path C2 of the existing press line 1A because the distance between the existing press line 1A and each press, the conveyance conditions, and the like are different from each other.

FIG. 3 is a block diagram showing the configuration of the duplicate press line control device 4, the motion data calculation device 5, and the duplicate press line press motion data output device 6.
The motion data calculation device 5 includes an input device 51, a storage device 52, and a calculation device 53.

The input device 51 includes hardware such as a keyboard and a mouse that can be operated by an operator. Data and commands input by operating the input device 51 are input to the arithmetic device 53.
The storage device 52 is configured by hardware such as a hard disk or a CDROM. Various data are stored in the storage device 52, and the stored data is appropriately input to the arithmetic device 53.

The storage device 52 stores existing press line data relating to the existing press line and duplicate press line data relating to the duplicate press line.
The existing press line data includes the existing transfer device data indicating the shape of the existing transfer device, the existing press line required clearance data indicating the clearance between the upper mold and the existing transfer device set in the existing press line, the existing press line The existing bolster data indicating the width of the existing bolster defined as the specification, data on the existing press line lower mold interference curve (data on the existing conveyance path), and data on the existing press line upper mold interference curve are included.

Duplicate press line data includes new transport device data that indicates the shape of the new transport device, required clearance data for the duplicate press line that indicates the clearance between the upper die and the new transport device set in the duplicate press line, and specifications for the duplicate press line. Bolster data indicating the width of the bolster and the like, and data relating to the conveyance conditions of the new conveyance path are included.
The data related to the new transfer conditions include the height of the crossbar when the workpiece is sucked, the initial values of the lift and feed amount for the lower mold of the workpiece, and the amount related to the posture for holding the workpiece when transferring the workpiece. Contains setting values.

  The existing transfer device data and the existing bolster data stored in the storage device 52 are 2D data indicating a cross-sectional shape obtained by cutting them along a virtual vertical plane including the existing transfer path based on the 3D CAD data of the existing transfer device and the existing bolster in advance. Has been converted.

In addition, the 2D data indicating the cross-sectional shape may be a case where the new transport path is not necessarily the same as the existing transport path with respect to the mold. Therefore, assuming the difference, the width (for example, 100 mm on each side from the existing conveyance path), parallel to the virtual vertical plane including the existing conveyance path, and the most protruding among a plurality of cross-sectional shapes cut by a plurality of virtual vertical planes within this width A cross-sectional shape having such a portion may be selected and created.
Further, the 2D data indicating the cross-sectional shape is provided with a plurality of sections (for example, 10 mm) in the direction in which the existing conveyance device passes in the vicinity of the mold, and most of the plurality of cross-sectional shapes for each of the plurality of sections. Alternatively, cross-sectional shapes having protruding portions may be selected, and the selected cross-sectional shapes may be combined and created.
By performing such pre-processing, it is possible to reduce the load required for the calculation for creating the transport motion and improve the calculation speed.

  The arithmetic device 53 is configured by hardware such as a CPU, a ROM, and a RAM. The arithmetic device 53 includes a plurality of functional blocks realized by these hardware. The computing device 53 includes an existing press line computing unit 53a and a duplicate press line computing unit 53b.

  The existing press line calculation unit 53a stores in the storage device 52 data related to the existing press line lower mold interference curve and data related to the existing press line upper mold interference curve in advance. Specifically, the existing press line calculation unit 53 a includes a duplication area definition unit 530, an existing press line lower mold interference curve cutting unit 531, and an existing press line upper mold interference curve cutting unit 532. .

  The replication area definition unit 530 defines a replication area that is an area including the lower mold and the upper mold installed on the existing bolster with respect to the data related to the existing transport route (step S102 in FIG. 5 described later, FIG. 9 (see step S112).

  The existing press line lower mold interference curve cutout unit 531 cuts out the existing conveyance path in the duplication area as an existing press line lower mold interference curve using data relating to the existing conveyance path (see step S103 in FIG. 5 described later). . The existing press line lower mold interference curve cutting unit 531 stores the extracted existing press line lower mold interference curve in the storage device 52 as data relating to the existing press line lower mold interference curve (see step S104 in FIG. 5 described later).

  The existing press line upper mold interference curve cutting unit 532 uses the data related to the existing transport path and the existing transport apparatus data to cut the trajectory of the existing transport apparatus viewed from the upper mold in the replication area as the existing press line upper mold interference curve. (See step S113 in FIG. 9 described later). The existing press line upper mold interference curve cutting unit 532 stores the cut existing press line upper mold interference curve as data relating to the existing press line upper mold interference curve in the storage device 52 (see step S114 in FIG. 9 described later).

  Further, the duplicate press line calculation unit 53 b creates a new conveyance path, creates conveyance motion data using the new conveyance path, and transmits it to the duplicate press line control device 4. Specifically, the duplicate press line calculation unit 53b includes a calculation data reading unit 540, a new lower mold interference curve initial setting unit 541, a transport path setting unit 542, and an existing press line upper mold interference curve point sequence unit. 543, a new upper interference curve individual setting unit 544, a new upper interference curve selection unit 545, a new upper interference curve correction unit 546, and a motion data output unit 547.

  The calculation data reading unit 540 reads the duplicate press line data relating to the duplicate press line stored in the storage device 52 (see step S1 in FIG. 4, step S101 in FIG. 5, and step S111 in FIG. 9 described later). The calculation data reading unit 540 reads the conveyance conditions input from the input device 51.

  The new lower mold interference curve initial setting unit 541 uses the data related to the existing press line lower mold interference curve and the data related to the new conveyance conditions to temporarily move the upper lower mold interference curve upward from the existing press line lower mold interference curve. Is initialized (see step S105 in FIG. 5 described later).

  The conveyance path setting unit 542 provides a plurality of control points at a predetermined interval on the temporary lower mold interference curve, and each of the plurality of control points is directed to the existing press line lower mold interference curve, and the plurality of control points are the existing press line lower mold. A new lower interference curve is generated by moving the interference curve so as to have a predetermined minimum clearance (see step S106 in FIG. 5 described later).

  The existing press line upper mold interference curve point sequence forming unit 543 converts the existing press line upper mold interference curve into a point sequence using a plurality of division points obtained by dividing the existing press line upper mold interference curve at predetermined intervals (see step S115 in FIG. 9 described later).

  The new upper mold interference curve individual setting unit 544 applies the existing press line upper mold interference to a plurality of division points of the existing press line upper mold interference curve formed by the existing press line upper mold interference curve point sequence unit 543. Using the data relating to the curve, the data relating to the new conveyance conditions, and the new conveyance apparatus data, a new upper mold interference curve formed by the locus of the new conveyance apparatus viewed from the upper mold is generated (see step S116 in FIG. 9 described later). ).

  The new type interference curve selection unit 545 interferes with only one of the plurality of division points among the new type interference curves generated for the plurality of division points by the new type interference curve individual setting unit 544. The new upper type interference curve to be selected is selected (see step S117 in FIG. 9 described later).

  The new upper type interference curve correction unit 546 moves the new upper type interference curve selected in the new upper type interference curve selection step so as to maintain a predetermined clearance from the upper type in a direction away from the upper type. (See step S118 in FIG. 9 described later).

  The motion data output unit 547 transmits data relating to the new lower type interference curve created by the conveyance path setting unit 542 and the new type interference curve created by the new upper type interference curve correction unit 546 to the duplicate press line control device 4. (Refer to step S9 in FIG. 4 described later).

The duplicate press line press motion data output device 6 outputs the press motion data of the duplicate press line to the duplicate press line control device 4.
As described above, the duplicate press line control device 4 receives the new lower type interference curve and the new upper type interference curve from the motion data calculation device 5 and outputs the press motion data from the duplicate press line press motion data output device 6. . Thereby, the duplication press line control device 4 can operate the new transport device using the new lower mold interference curve as the new transport path. In addition, the duplicate press line control device 4 divides the existing press line upper mold interference curve into a plurality of divisions in the operation of the press machine based on the press motion data and the operation of the new conveyance apparatus using the new lower mold interference curve as the new conveyance path. By selecting a new upper mold interference curve that interferes with only one of the points, the duplicate press line can be operated so that the upper mold and the new transport apparatus do not interfere with each other.

  Next, with reference to the flowchart shown in FIG. 4, a procedure for creating a new lower type interference curve and a new upper type interference curve by the motion data calculation device and transmitting them to the duplicate press line control device 4 will be described. This procedure uses steps S2 to S4 using the various data read in step S1 and a new lower-type interference curve creation procedure S100 and steps S5 to S8 using the various data read in step S1. A new upper interference curve creation procedure S110 for processing, and a step S9 for transmitting the new lower interference curve and the new upper interference curve created in S100 and S110 to the duplicating press line control device 4.

In the new lower interference curve creation procedure S100, various data are read (S1), the existing lower interference curve is cut out in the replication area (S2), the new lower interference curve is initialized (S3), and the new transport path is created. Is set (S4).
The details of the new lower interference curve creation procedure S100 will be described with reference to the flowchart shown in FIG.

  In step S101, the press line data relating to the lower mold is read. In this step, the existing transfer device data, the existing bolster data, and the data related to the existing press line lower mold interference curve (data related to the existing transfer path) included in the existing press line data are read from the storage device. In this step, new transfer device data, bolster data, and data related to the transfer conditions of the new transfer path included in the duplicate press line data are read from the storage device. The data related to the existing transport path indicates the relative positional relationship between the existing transport apparatus moving along the existing transport path and the lower mold. The relative positional relationship between the existing transport device and the lower mold may be a relative positional relationship between an arbitrary point of the existing transport device and the lower mold, but in this embodiment, the crossbar of the existing transport device The relative positional relationship between the center and the lower mold is shown.

  In step S102, a replication area having a lower mold relationship is defined. In this step, a replication area that is set in an area including the lower mold placed on the existing bolster is defined. In this step, the defined duplication area is stored in the storage device as duplication area data relating to the duplication area. Specifically, the duplication area is a range obtained by adding, for example, the width of the transport machine as a margin width to the width of the bolster in which the lower mold is installed. That is, the duplication area is an area in which the lower mold and the new transport device may interfere with each other. Thus, by defining the duplication area, the new transport path can be adjusted only in the area where there is a possibility of interference.

  In step S103, an existing press line lower mold interference curve is cut out. In this step, the existing press line lower mold interference curve is cut out in advance by the duplication area based on the data relating to the existing conveyance path. That is, the existing press line lower mold interference curve is a part of the existing transport path of the existing press line. Further, the existing press line lower mold interference curve is a line that is set so that the lower mold and the existing transfer device do not interfere with each other in the existing press line.

In step S104, the existing press line lower mold interference curve is stored. In this step, the existing press line lower mold interference curve is stored in the storage device as data relating to the existing press line lower mold interference curve included in the duplicate press line data.
If the existing press line lower mold interference curve is already cut out and stored in the storage device, the processing of steps S102 to S104 is omitted by reading the existing press line lower mold interference curve in step S101. it can.

FIG. 6 is a schematic diagram showing the configuration of the existing transport path C2 of the existing press line 1A and the crossbar 32A of the existing transport apparatus 3A moving along the existing transport path C2, and the existing press line cut out in step S103. The lower mold | type interference curve L10 is shown.
As shown in FIG. 6, the lower mold 21 can ensure a predetermined clearance ΔD1 or ΔD2 so as not to interfere with the existing transfer device 3A or the workpiece W transferred by the existing transfer device 3A in the existing transfer path C2. It is made in.
The existing transport path C2 is set so that the clearance ΔD1 or ΔD2 between the existing transport device 3A or the workpiece W transported by the existing transport device 3A and the lower mold 21 is minimized.

In the return path CB2 of the existing transfer path C2, the existing transfer apparatus 3A runs idle without holding the workpiece W. For this reason, in the return path CB2, a clearance ΔD1 between the existing vacuum cup 31A and the lower mold 21 of the existing transfer device 3A is secured.
In the forward path CO2 of the existing transport path C2, the existing transport apparatus 3A moves while holding the workpiece W. For this reason, the clearance ΔD2 between the work W held by the existing transfer device 3A and the lower mold 21 is secured in the forward path CO2.

  In addition, a duplication area 25A including an existing bolster 24A in which the lower mold 21 is installed is defined in the existing transport path C2. And the existing conveyance path | route C2 in this duplication area 25A is cut out as the existing press line lower type | mold interference curve L10.

  Returning to FIG. 5, in step S105, a new lower interference curve of the duplicate press line is initialized. In this step, using the data relating to the existing press line lower mold interference curve read in step S101, the data relating to the existing press line lower mold interference curve cut out in step S103, and the data relating to the new transport conditions, the existing press line lower mold interference curve is used. The temporary interference curve is initially set at a position sufficiently away from the curve. That is, in the duplication area of the existing press line, the lower mold and the existing conveying device do not interfere with each other in the duplicating press line with the existing press line lower die interference curve set so that the lower die and the existing conveying device do not interfere with each other. The lowest line of the range is set, and this lowest line is compared with the initial provisional type interference curve.

  In step S106, a new lower interference curve of the duplicate press line is calculated. In this step, a plurality of control points are provided at a predetermined interval on the temporary lower mold interference curve, and each of the plurality of control points is directed to the existing press line lower mold interference curve, and the plurality of control points are connected to the existing press line lower mold interference curve. A new lower interference curve is generated by moving each to a predetermined minimum clearance. The new lower mold interference curve generated in this step is set as a new conveyance path in the vicinity of the lower mold.

  The plurality of control points are points provided on the temporary lower interference curve at arbitrary intervals, for example, 10 mm intervals. By moving the control point, the temporary interference curve follows the moved control point. Further, the existing press line lower mold interference curve and the predetermined minimum clearance are, for example, a range of approximately 5 mm above the existing press line lower mold interference curve.

  In this way, by creating a new lower mold interference curve so as to have a predetermined minimum clearance and an existing press line lower mold interference curve set so that the existing mold and the lower mold do not interfere with each other, A new transport path can be set so that the lower mold and the new transport device do not interfere with each other even in the duplicate press line.

FIG. 7 is a schematic diagram showing the configuration of the new conveyance path C1 of the duplication press line 1 and the crossbar 32 of the new conveyance apparatus 3 moving along the new conveyance path C1, and the new lower mold generated in step S4. The interference curve L1 is shown.
As shown in FIG. 7, the existing press line lower mold interference curve L10 cut out from the existing transport path C2 of the existing press line 1A is input to the area 25 where the bolster 24 is installed.

  In the area 25 where the bolster 24 is installed, a temporary lower mold interference curve L11 is initially set at a position sufficiently away from the existing press line lower mold interference curve L10. The temporary lower interference curve L11 is provided with a plurality of control points L11a at arbitrary intervals. A new lower interference curve L1 is generated by moving each of the plurality of control points L11a to have a predetermined minimum clearance. The new lower interference curve L1 is a new transport path in the area 25 where the bolster 24 is installed.

  As described above, in the existing press line 1A, based on the existing press line lower mold interference curve L10 that is a path that does not interfere with the lower mold 21, a new lower mold interference curve L1 is created and a new conveyance path is set. Thus, a new conveyance path that does not interfere with the lower die 21 can be created without repeating the process of optimizing the operation of each press machine and the new conveyance device by operating the duplicate press line 1.

Next, the case where the new transfer device or the work held by the new transfer device interferes with the upper mold will be described.
FIG. 9 is a diagram illustrating the trajectory of the cross bar 32 of the new transport device 3 as viewed from the upper mold 22 that moves up and down. More specifically, FIG. 9 is a view of the trajectory of the cross bar 32 that moves along the set new conveyance path when the upper die 22 is moved up and down, as viewed from the stationary system of the upper die 22.

In FIG. 9, depending on the trajectory of the new transfer device, the new transfer device or the work held by the new transfer device may interfere with the upper mold, as indicated by the “x” mark.
Returning to FIG. 4, a new upper mold interference curve creating procedure S110 for preventing the upper mold from interfering with the new transfer device or workpiece will be described.

In the new upper interference curve creation procedure S110, various data are read (S1), the existing upper interference curve is cut out in the replication area (S5), and the existing upper interference curve is formed into a sequence of points by a plurality of division points (S6). Then, a new upper type interference curve is generated, and a new upper type interference curve that interferes with only one point among a plurality of division points is selected from the new upper type interference curve (S7), and the selected new type The mold interference curve is corrected (S8).
Details of the new-type interference curve creation procedure S110 will be described with reference to the flowchart shown in FIG.

  In step S111, upper-type press line data is read. In this step, the existing transfer device data, the necessary clearance data of the existing press line, and the data relating to the existing press line upper interference curve included in the existing press line data are read from the storage device. Also, in this step, new transfer device data, required clearance data for the duplicate press line, and data related to the transfer conditions of the new transfer path included in the duplicate press line data are read from the storage device.

  In step S112, an upper mold-related replication area is defined. In this step, a duplication area that is an area including the upper mold is defined. In this step, the defined duplication area is stored in the storage device as duplication area data relating to the duplication area. Specifically, the duplication area is a range obtained by adding, for example, the width of the transport machine as a margin width to the width of the upper mold. That is, the duplication area is an area where the upper mold and the new transport device may interfere with each other. Thus, by defining the duplication area, the new transport path can be adjusted only in the area where there is a possibility of interference.

In step S113, an existing press line upper mold interference curve is cut out. In this step, the existing press line upper mold interference curve is cut out in advance from the trajectory of the existing transport apparatus viewed from the upper mold by the replication area using the data related to the existing transport path and the existing transport apparatus data. The existing press line upper mold interference curve is a line set in the existing press line so that the upper mold and the existing transfer device do not interfere with each other. In other words, the existing press line upper mold interference curve is a standard for guaranteeing that the upper mold and the existing transfer device do not interfere with each other in the existing press line. The upper mold of the existing press line is manufactured in compliance with this standard.
If the existing press line upper mold interference curve has already been cut out and stored in the storage device, the processing of steps S112 to S124 is omitted by reading this existing press line upper mold interference curve in step S111. it can.

  In step S114, the existing press line upper mold interference curve is stored. In this step, the existing press line upper mold interference curve is stored in the storage device as data relating to the existing press line upper mold interference curve included in the duplicate press line data.

  FIG. 10 is a diagram illustrating the trajectory of the crossbar 32A of the existing transport device 3A viewed from the upper die 22 that moves up and down in the existing press line 1A. More specifically, FIG. 10 shows a direction in which the upper die 22 of the press machine 2A is lowered under a predetermined press SPM of the existing press line 1A and away from the press machine 2A under the predetermined line SPM. It is a figure which shows locus | trajectory L2A of the crossbar 32A which moves to.

The locus L2A extends from the left side to the right side in FIG. 10 as the cross bar 32A moves away from the press machine 2A. Further, the locus L2A changes from the lower side to the upper side in FIG. 10 as the upper die 22 of the press machine 2A descends. Therefore, in FIG. 10, the upper die 22 of the press machine 2A is lowered and the crossbar 32A is moved away from the press machine 2A, so the locus L2A is a curve that rises to the right.
The shape of the locus L2A is determined by the predetermined press SPM and the predetermined line SPM of the existing press line 1A.

  As shown in FIG. 10, the upper mold 22 is manufactured so that a predetermined clearance ΔU1 can be secured so as not to interfere with the crossbar 32A of the existing conveyance device 3A viewed from the upper mold 22 that moves up and down in the existing conveyance path C2. Has been.

  In addition, a duplication area 25A including the upper mold 22 is defined in the locus L2A of the crossbar 32A of the existing transport apparatus 3A as viewed from the upper mold 22 that moves up and down. And the locus | trajectory L2A in this duplication area 25A is cut out as the existing press line upper type | mold interference curve L20.

  The existing press line upper mold interference curve L20 is a line in which the upper mold should not protrude downward set based on a predetermined rule. That is, the upper die 22 does not protrude downward from the existing press line upper die interference curve L20.

  Returning to FIG. 9, in step S <b> 115, the existing upper mold interference curve that has been cut out is converted into a point sequence. In this step, the existing press line upper mold interference curve is formed into a point sequence by a plurality of division points divided at a predetermined interval. In this way, by converting the existing press line upper mold interference curve into a point sequence, it is possible to determine whether the line is interfering with the line, rather than determining whether the line is interfering with the line. 53 processing load can be reduced. The predetermined interval is preferably narrow, for example, 10 mm.

  In step S116, a new upper interference curve is individually set. In this step, the data on the existing press line upper mold interference curve, the data on the new press line interference data, the data on the new transport conditions, and the new transport device data are used for a plurality of dividing points of the existing press line upper mold interference curve formed in step S115. Then, a new upper mold interference curve formed by the trajectory of the new transfer device viewed from the upper mold is generated. The new upper type interference curves generated for a plurality of division points have the same shape, and are different in height when viewed from the upper type. Further, the new upper mold interference curve shows the trajectory of the new transfer apparatus viewed from the upper mold that moves up and down.

  In this way, it is formed by the trajectory of the new transfer device of the duplicate press line with respect to the division point of the existing press line upper die interference curve set so that the upper die and the existing transfer device do not interfere with each other in the existing press line. By generating the new upper mold interference curve, it is possible to set the trajectory of the new transport apparatus in which the upper mold and the new transport apparatus do not interfere even in the duplicate press line.

In step S117, a new upper type interference curve is selected. In this step, a new type interference curve that interferes with only one point among the plurality of division points is selected from the new type interference curves generated for the plurality of division points.
In selecting a new type of interference curve that interferes with only one point among a plurality of dividing points, for example, the coordinates of each dividing point specified by two values, the value on the horizontal axis and the value on the vertical axis, It is determined whether or not it is included on each new upper interference curve extending on a plane defined by these horizontal and vertical axes.

  And it can be judged that the new upper type | mold interference curve containing only one division | segmentation point is in contact with the existing press line upper type | mold interference curve made into the point sequence. In addition, it is judged that the new upper mold | type interference curve containing 2 or more points exceeds the existing press line upper mold | type interference curve made into the point sequence. In this way, select the new upper-type interference curve that does not exceed the dotted line of the existing press-line upper-type interference curve that is set so that only one point of interference between the upper die and the existing transfer device in the existing press line Thus, it is possible to set the trajectory of the new conveyance device where the upper mold and the new conveyance device do not interfere with each other in the duplicate press line.

  In step S118, the new upper interference curve is corrected. In this step, the new upper interference curve selected in the new upper interference curve selection step is moved so as to maintain a predetermined clearance from the upper die in a direction away from the upper die, thereby generating a new upper interference curve. The new upper mold interference curve generated in this step is set as a trajectory of the end closest to the upper mold among the ends of the crossbar of the new conveying device of the duplicate press line. The predetermined clearance is a value determined in advance so as not to interfere with the new conveyance device for the upper mold in the replication press line. Specifically, the predetermined clearance is the difference between the clearance between the upper mold set on the existing press line and the existing transfer device, and the clearance required between the upper mold and the new transfer device on the duplicate press line. is there. As described above, the clearance can be optimally set according to the line capability by the correction of moving the new upper interference curve by a predetermined distance in the direction away from the upper die. In other words, the value of the line SPM can be increased by minimizing the clearance.

  FIG. 11 is a diagram showing the trajectory of the cross bar 32 of the new transport device 3 as viewed from the upper mold 22 that moves up and down in the replication press line 1. More specifically, FIG. 11 shows that the upper die 22 of the press machine 2 is lowered, and the new upper die interference curve L22 and the set new upper die interference that become the trajectory of the crossbar 32A moving in the direction away from the press machine 2A. It is a figure which shows the curve L2.

  The new upper interference curve L22 and the set new upper interference curve L2 extend from the left side to the right side in FIG. 11 as the cross bar 32 moves away from the press machine 2. Further, the new upper mold interference curve L22 and the set new upper mold interference curve L2 change from the lower side to the upper side in FIG. 11 as the upper mold 22 of the press 2 descends. Therefore, in FIG. 11, the upper die 22 of the press machine 2 is lowered and the crossbar 32 is moved away from the press machine 2, so that the new upper die interference curve L22 and the set new upper die interference curve L2 are The curve is going up to the right.

  As shown in FIG. 11, a new upper interference curve L22 is generated for a plurality of division points of the point line execution line L21 of the existing press line upper interference curve L20. And the specific new type | mold interference curve L22a which interferes only in the interference point P which is one point of the some division | segmentation points of the point sequence implementation line L21 is selected. The specific upper mold interference curve L22a is moved so as to maintain a predetermined distance ΔU2 in a direction away from the upper mold 22, and becomes a set new upper mold interference curve L2. The set new upper mold interference curve L2 is set as the locus of the end closest to the upper mold 22 among the ends of the cross bar 32 of the new conveying device 3 of the replication press line 1. The predetermined distance ΔU2 is, for example, that the clearance between the upper mold set in the existing press line and the existing transport apparatus is 100 mm, and the clearance required between the upper mold and the new transport apparatus in the duplicate press line is 180 mm. In this case, the difference between them is 80 mm.

  Thus, based on the existing press line upper mold interference curve L20 set as a line in which the upper mold 22 should not protrude according to a predetermined rule in the existing press line 1A, the locus of the new transfer device 3 of the duplicate press line 1 is set. By doing so, it is possible to create a new conveyance path that does not interfere with the upper mold 22 without actually repeating the operation of the duplicate press line 1 and repeating the process of optimizing the operation of each press and the new conveyance device.

  Returning to FIG. 4, in step S <b> 9, the motion data is transmitted to the control device, and this process ends. In this step, the data relating to the new lower interference curve generated in step S106 (see FIG. 5) and the data relating to the new upper interference curve generated in step S118 (see FIG. 9) are transmitted to the duplicate press line control device. The duplication press line control device operates the new transport device using the new lower interference curve as a new transport path. In addition, the duplicate press line control device is used in the operation of the press machine using the press motion data output from the duplicate press line press motion data output device and the operation of the new transfer device using the new lower mold interference curve as the new transfer path. By applying the mold interference curve, the duplicate press line is operated so that the upper mold and the new transfer device do not interfere with each other.

According to this embodiment, there are the following effects.
The upper mold 22 that is the same mold as the mold of the existing press line 1A that conveys the workpiece along the existing conveyance path C2 using the existing conveyance apparatus 3A is used, and a new conveyance different from the existing conveyance path C2. A new conveyance path C1 of the duplication press line 1 that conveys the workpiece using the new conveyance apparatus 3 along the path C1 is created.

  Then, the existing press line upper mold interference curve L20 cut out in advance by the duplication area 25A set in the area including the upper mold 22 is set as a point sequence execution line L21 by a plurality of dividing points divided at a predetermined interval. Specific upper-type interference that generates a new upper-type interference curve L22 formed by the trajectory of the new conveyance device 3 viewed from the upper mold 22 with respect to the divided points and interferes with only one of the plurality of divided points. The curve L22a is selected. Thereby, the new upper mold | type interference curve of the new conveyance apparatus nearest to the existing press line upper model | mold interference curve can be selected.

  In addition, the selected specific upper mold interference curve L22a is moved in a direction away from the upper mold 22 so as to maintain a predetermined distance ΔU2 to generate a set new upper mold interference curve L2, so that the upper The trajectory of the new transfer device can be set so that the mold and the new transfer device do not interfere with each other. And based on this new upper model interference curve, new conveyance course C1 can be created.

Accordingly, since the trajectory of the new transport device 3 of the duplicate press line 1 can be set so as not to interfere with the upper mold 22 based on the trajectory of the existing transport device 3A of the existing press line 1A, the transport motion of the duplicate press line is created. In this case, it is possible to create a new conveyance path that does not interfere with the upper die without repeating the process of actually operating the duplicate press line and optimizing the operation of each press and the new conveyance device.
Therefore, when constructing a duplicate press line that uses the same mold as the mold of the existing press line, it is possible to reduce the number of steps for creating the transfer motion.

It should be noted that the present invention is not limited to the above-described embodiment, and modifications, improvements, etc. within a scope that can achieve the object of the present invention are included in the present invention.
In the above-described embodiment, the method for creating the transfer motion of the duplicate press line 1 of the existing press line 1A including the four press machines 2, that is, the press machine 2 is described. The number is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Duplicating press line 1A ... Existing press line 22 ... Upper mold | type 3 ... New conveyance apparatus 3A ... Existing conveyance apparatus 5 ... Conveyance motion calculating apparatus C1 ... New conveyance path C2 ... Existing conveyance path L2 ... Set new upper type interference curve L2A ... Trajectory L20 ... Existing press line upper mold interference curve L21 ... Point line execution line L22 ... New upper mold interference curve L22a ... Specific new upper mold interference curve ΔU1 ... Clearance ΔU2 ... Predetermined distance P ... Interference point

Claims (1)

The same mold as the mold of the existing press line that transports the workpiece along the existing transport path using the existing transport apparatus, and the existing transport apparatus along a new transport path different from the existing transport path In a transfer motion creation method by an arithmetic unit that creates the new transfer path of a duplicate press line that transfers a workpiece using a new transfer device different from the above,
Using the existing transfer path data and the existing transfer apparatus data indicating the shape of the existing transfer apparatus, the area including the upper mold is set from the trajectory of the existing transfer apparatus viewed from the upper mold of the mold. Data reading step for reading data relating to the interference curve on the existing press line previously cut out by the duplication area, data relating to the new conveying condition relating to the conveying condition of the new conveying path, and new conveying device data indicating the shape of the new conveying device When,
An existing press line upper mold interference curve point sequence step of forming a point sequence by a plurality of division points obtained by dividing the existing press line upper mold interference curve at a predetermined interval;
With respect to the plurality of division points of the existing press line upper mold interference curve formed into a point sequence in the existing press line upper mold interference curve point sequence forming process, data on the new transport conditions and the new transport device data are used. , A new upper mold interference curve individual setting step for generating a new upper mold interference curve formed by a trajectory of the new transfer device viewed from the upper mold,
A new upper interference curve that selects a new upper interference curve that touches the existing upper press line interference curve that interferes with only one of the plurality of division points and forms a point sequence , among the new upper interference curves. A selection process;
The new upper interference curve selected by the new upper interference curve selection step is moved so as to maintain a predetermined clearance from the upper die in a direction away from the upper die, and a new upper interference curve is generated. A transfer motion creation method comprising: a mold interference curve correction step, and creating the new transport path based on the set new upper mold interference curve.

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