JPH03110032A - Work feeder controller - Google Patents

Abstract

PURPOSE:To obtain the feeder device without emergency stop by comparatively evaluating the calculated allowable max. moving stroke number with the set stroke number and confirming whether the movable shaft motor is forced beyond its motor specifications or not. CONSTITUTION:The allowable max. driving stroke number of the pressing machine 1 to satisfy the motion of the work feeder is arithmetically calculated with the set value of an optional movable shaft which constitutes the work feeder and with each specification of respective motors. This allowable max. moving stroke number and the set stroke number are compared and evaluated. Whether the motor of the prescribed movable shaft is forced beyond its specification or not is confirmed at the time of setting each value which is necessary for the pressing work. Therefore, the feeder device that does not force the press and the feeder to drive and does not generate emergency stop is obtain.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a work feeder device for automatically loading and unloading workpieces in conjunction with the movement of the press machine in an automatic press machine. This invention relates to a work feeder control device with good performance.

[Prior Art] Conventionally, automatic loading and unloading of workpieces in an automated press system has been operated by a contact signal from a rotary cam switch that rotates mechanically in conjunction with the crank rotation of the press, and a mechanical link structure. It moved left and right, moved up and down, and performed the functions of a clamping and unclamping mechanism. That is, according to a preset motion curve, for example, a work feeder (hereinafter referred to as a feeder) is started by a signal from a limit throat switch that is activated when the crank angle of a press machine reaches a predetermined angle, and the feeder is activated. The workpiece is carried in and carried out in accordance with the control of the rotational speed of the motor so as to draw a predetermined motion curve. Furthermore, when the feeder operation has reached a predetermined position, it is detected by the rim, note switch, edge, etc., and the information is transmitted to the press machine to start the next operation of the press machine.

In another method, each shaft of the work feeder is driven in conjunction with a mechanical operation that combines a cam mechanism that is linked to the rotation of the crank of the press machine.

However, with the limit switch described above, it is necessary to take into account temporal variations in mechanical motion and confirm that a given motion has been completed before moving on to the next motion. Since there is a limit to the speed, in order to increase the operating speed of the press machine system and achieve highly reliable control, it is necessary to make the movement of the feeder device correspond more precisely to the crank angle of the press. Sensors that accurately detect the crank angle of a press, such as a servo mechanism that electrically controls the position of a predetermined feeder mechanism in response to the crank angle measured by a synchronizer, have come to be used. .

Next, a circuit for controlling the above movement will be explained with reference to FIG.

In Fig. 8, 82 is a synchro transmitter that is attached to the crank rotating shaft of the press and can measure the rotation angle of the crank in absolute terms, and 83 is a conversion circuit for converting the angle information from the synchro transmitter into a digital code. The measured value of the crank angle of the press converted into a certain 9 digital code is input to the control computer 81. Reads the position information of the axis and clamp axis and creates a position command signal.

Reference numeral 88 denotes a synchronized transmitter for position detection attached to each of the three moving axes of the feeder. In the figure, only one axis is shown and the other two axes are omitted because they are the same.

For example, the position information of the feed axis measured by the synchro transmitter is converted into a digital code by a conversion circuit 89 for converting the angle information from the synchro transmitter into a digital code, and is input to a control computer 81. Ru.

The position information of the feed axis input to the computer 81 is compared with the position command signal created in advance as described above.
A difference signal is created I7, and the speed of the feed shaft drive motor corresponding to the deviation signal predetermined and recorded in the storage device in the same way as the feed shaft position information recorded in the storage device in advance corresponding to the crank angle. The speed command signal for the feed shaft drive motor output from the computer 8 which creates and outputs the command signal in digital code is converted into an analog signal by the digital-to-analog converter circuit 84, and then sent to the servo amplifier 85 to send an appropriate The power is amplified to a maximum power and drives the servo motor 86. The servo motor drive 86 drives the feed shaft, and the rotational speed of the servomotor is measured by a mechanically coupled tacho generator 87, and the measured rotational speed is returned to the servo amplifier 85 to form a feedback loop. to control stable motor rotation.

The feed shaft driven by the servo motor 86 is coupled with a synchro transmitter 88 for detecting the position information of the feed shaft.

Since the correct current position of the feed shaft is measured and input to the control computer, the feeder can be controlled according to the crank angle of the press according to predetermined conditions.

The operating stroke of each axis of the above-mentioned L IQ work feeder is variable in the electrically synchronized type, but is semi-fixed in the mechanical drive method 6, so conversely, the operating stroke of each axis of the L IQ work feeder is variable. There were restrictions on the optimal drive of the

In other words, while taking into account interference with the mold, the operating angle of each axis should be set as early as possible after the press passes the bottom dead center, and the operating angle of each axis should be set as late as possible before the bottom dead center. The load on the shaft drive motor is reduced, which is preferable from the viewpoint of control and production costs. Therefore, it is advantageous in mold design if the operating angle of each axis can be set according to the shape and size of the mold. The performance of each axis motor can be utilized to the maximum without any restrictions. Therefore, there is something that can change the operating angle according to the shape and dimensions of the mold. .

[Problem M to be Solved by the Invention] If the operating angle can be made variable as described above, there is a risk that the specifications of the drive motor of the press machine may be exceeded. In other words, by controlling the movement of the feed shaft so that it moves at a predetermined position and speed, it is possible to perform efficient work without wasting time during processing operations by the press machine. However, if the interval between operating angles is narrow, the motor rotation speed may exceed the maximum permissible rotation speed, and the required acceleration torque may exceed the motor instantaneous permissible torque. Therefore, if the press crank is operated at a predetermined rotational speed according to the set operating angle data and the stroke/output/output value data of each axis, the motor performance will not be able to keep up with the feeder drive position and press crank rotation. Avoid the problem of a remoter that has made an emergency stop due to a 3114 deviation between the two angles and stops due to overload.

Moreover, there was a problem in that it was difficult to investigate the cause of the stoppage, and it took a lot of time to investigate.

In response to the above-mentioned conventional problems, the present invention aims to detect whether or not unreasonable operating conditions are set when operating conditions are set.

[Means for Solving the Problems] In order to solve the above-mentioned problems, a workstation based on the present invention is provided.
The feeder control device moves in a three-dimensional direction in response to the crank rotation angle of the press machine to automatically transport the workpiece to be processed by the press machine to a predetermined processing position on the press machine. In an automatic press processing system that includes a work feeder consisting of at least two or more feed shafts that can be set with a similar mora curve and a press machine that can set the number of operating strokes, each feed corresponding to a predetermined workpiece is A means for setting and storing a motion curve of an axis and a stroke value of the motion curve, a means for setting and storing a specification value of each feed axis drive motor, and an arbitrary feed axis forming and forming the work feeder starts operation. a press crankshaft rotation angle value setting means for timing, a press crankshaft rotation angle value setting means for timing to end the operation of the feed shaft, the set operation start angle value and operation end angle value, and each of the stored values. means for calculating the maximum allowable operating stroke number of the press machine from the stroke value of the feed shaft and the specification value of the feed shaft drive motor; and means for comparing and evaluating the calculated maximum allowable operating stroke number with the set stroke number. and
In addition, at least one similar motion curve is set for moving in a three-dimensional direction and automatically carrying in and out a workpiece to be processed by the press machine to a predetermined processing position on the press machine in accordance with the crank rotation angle of the press machine. In an automatic press processing system including a work feeder configured with at least two or more feed axes and a press 1a machine with a settable number of operating strokes, the motion curve of each feed axis corresponding to a predetermined workpiece and the corresponding means for setting and storing the stroke value of the motion curve; means for setting and storing the specification value of the feed shaft drive motor; means for setting and storing the motor specification value of the press machine; means for setting and storing required load conditions; means for setting a press crankshaft rotation angle value at the timing when any feed axis constituting the work feeder starts operating; and press at the timing when the feed axis ends its operation. A crankshaft rotation angle value setting means, the set operation start angle value and operation end angle value, the stored stroke value of each feed axis, the motor specification value of the press machine, and the necessary one corresponding to the workpiece. The present invention includes means for calculating the maximum allowable operating stroke number of the press machine from the load conditions, and means for comparing and evaluating the calculated allowable maximum operating stroke number and the set stroke number.

[Operation] In the present invention, the maximum allowable operating stroke number of the press machine that satisfies the movement of the work feeder is calculated from the setting values of arbitrary movable axes that make up the work feeder and the specification values of each motor. Since the calculated maximum allowable operating stroke number and the set stroke number are compared and evaluated, it is possible to check whether the motor of a given movable axis is forced to meet the specifications of the motor, which is necessary for press processing. Since each value can be confirmed at the time of setting, it is possible to obtain a feeder device that does not cause the press and feeder to operate forcibly and have to stop in an emergency.

[Embodiment] Hereinafter, an embodiment of a work feeder control device according to the present invention will be described with reference to the drawings. Fig. 1 is a diagram in which an automatic press machine and a work feeder device are combined, and Fig. 2 is a schematic diagram of the feed section of the work feeder taken out.
The figure shows an example of the movement, and FIG. 4 shows the movement of each axis of the feeder corresponding to the crank angle of the press. Moreover, FIG. 5 shows a block diagram of the circuit of the work feeder control device based on the present invention, and FIG. An example of a curve table is shown. In addition, in Fig. 7, the computer in the work feeder control device calculates the maximum allowable operating stroke number, compares and evaluates the calculated allowable maximum operating stroke number with the set stroke number, and checks the suitability of each set value. A flowchart diagram shows an example of a flow related to a function to perform a function.

In Fig. 1, 1 is a press body, and 2 is an upper die that is suspended from the crankshaft and presses the workpiece by applying force to the workpiece placed between it and a lower die 3 provided at the bottom. , 4 is an instrument that displays the crank angle of the press, and is operated by a signal from a synchro transmitter attached to the crankshaft to detect the crank angle and generate a command signal to the feeder. .

5 is a feeder that moves left and right on the drawing to carry in and take out workpieces, 6.7 is a cylinder that moves the feeder up and down, and 6-b, 7=b indicates that the cylinder is the feeder. 5J shows the feeder 5 raised by the cylinder 6.7 and moved to the left by a mechanism for moving the frame left and right (not shown in the drawing). In Fig. 2, 5-1.5-2 indicates the feeder 5 which is provided two rows after the feeder 1/P, which is not explained in Fig. 1. The workpiece to be processed is carried in and carried out while being held by iron hands 10-1.10-2.10-3 provided opposite each of the two feeders 5-1.5-2. Ru. A driving body for moving the feeder vertically and horizontally and a driving body for clamping and unclamping the workpiece are omitted in the drawing.

The figure shows three pairs of iron hands 10-1, 10-2, ]-0-3 attached to the feeder at equal intervals. The reason why the iron hand has three pairs is because it moves three workpieces at the same time with one movement.

FIG. 3 shows an example of the movement of the double mechanical feeder on the large side. That is, in <A), the clamped workpiece is moved to the right on the drawing and carried between the molds of the press, and after the clamp is removed, it is placed sideways (and then returned to the left and returned to the clamping position after being unclamped). In the figure (B), the movement in figure (A) is a movement for when the work interferes with the mold, and is clamped. Move the mold to the right number and move it to the -L of the next mold.
Lower the workpiece with 1- and unclamp it! (A>
As shown in the figure, it returns to the initial clamp position after escaping sideways.

The four sides JJ from Figure (C) to Figure (F): xi shows the movement when the workpiece is held by vacuum rather than clamping. In other words, (C) the workpiece is not held by the vacuum and held in ).
Raise it up, move to the next mold position, and lower it to release the workpiece. (I) or F) Figures also show a movement in which the workpiece is moved up and down in the mold to be held by a baggy person, and the movement in between corresponds to the shape of the press, the mold, and the workpiece. An example is shown in which the setting is made so that the route passes through the closest route without mutual interference. Fourth
In the explanation of the figure, it was explained that the workpiece is moved between the molds, but the feeder is of course not only moved between the molds.
It is possible to set the movement required to move the workpiece between predetermined equipment, such as between a carry-in device and a mold, or between a mold and a carry-out device.

FIG. 4 shows the interlocking operation between the movement of the two-legged feeder and the movement of the press.

That is, in FIG. 4, the curve d shows the stroke of the press slide corresponding to the crank angle of the press, where 0 degrees is the top dead center, 180 degrees is the bottom dead center, and the mold is closed at the bottom dead center. is driven to the lowest point, force is applied to the workpiece, and the workpiece is processed.

Curve a shows the movement of the feeder to feed the workpiece, and a-1 is the forward direction of the feeder.

q'2f, 1 shows the movement of the footer in the return direction.

The curved line shows the downward movement of the feeder at -L.
indicates movement in the downward direction. That is, feeder 31
[[-] The mechanical hand that clamps the workpiece starts descending slightly before reaching the predetermined position (part of curve a-1) Fl, and just before completely reaching the lowest point, the mechanical hand that clamps the workpiece moves to curve c-1. As shown in curve a-2, the feeder starts its return movement as shown in curve a-2, and the mechanical hand unclamps the workpiece and places it on the mold. When the press returns to an appropriate position J: that does not interfere with the workpiece, the press reaches the crank angle of 180 degrees, that is, the bottom dead center, completes 8 machining operations on the workpiece, and the L-shape of the press begins to rise and connects with the feeder. When the feeder rises to a position where there is no interference, the clamping operation begins as shown by curve c-2.As shown in Figure 3a, the feeder is equipped with multiple mechanical hands spaced apart by a feed distance M, so the workpiece is placed first. The positive mechanical hand that feeds the machine clamps the finished workpiece, and the mechanical hand that previously fed the workpiece returns to its original position and clamps the next workpiece to be machined. The moment the workpiece is clamped, the feeder moves upward as shown in curve b-2, and when the workpiece rises to a position where it does not interfere with the mold, the feeder starts moving forward again as shown in curve a-3, and the press crank At the position of 360 degrees, this explanation begins, that is, the crank angle is 0 degrees.

Each of the curves a, b, and c is set in accordance with the crank angle so as to be an appropriate curve so that unnecessary acceleration is not applied because the feeder holds the workpiece and moves at high speed.

Next, a circuit for controlling the above-mentioned operation will be explained with reference to FIG.

In FIG. 5, reference numeral 11 denotes an operation panel, on which various conditions to be input into the press system are set in accordance with the workpiece to be machined, such as a predetermined motion curve, start angle, and end angle. These set values are input to a computer (hereinafter referred to as CPU) 13 via an interface circuit 12.

A storage device 14 is connected to the CPo 13, and the storage device 14 has an area 14a for recording the specifications of each motor of the press machine and the feeder, and the limit specifications of each axis of the feeder, and the input conditions and corresponding information. It includes an area 14b for calculating and recording, for example, a motion curve table for each axis of the feeder as a result of calculations performed by the CPU 13 according to various conditions.

The CPU 13 performs calculations according to input conditions and pre-recorded conditions, calculates a motion curve table for each axis of the feeder, and uses these conditions to determine whether each set value is appropriate using evaluation and determination means, which will be described later. If it is not appropriate, a warning is displayed on the operation panel 11, and if it is appropriate, operation is started according to the start signal.

The measured value of the crank angle sensor 17 of the press is input to the CPU 13 via the interface circuit 18.
Corresponding to the measured value of the crank angle sensor 17, each feeder axis 15a is adjusted according to the above-mentioned motion curve table.
A position command signal is issued to ~15i~15n, and each feeder axis executes the commanded motion.

Next, the feeder control operation of this circuit will be explained in detail. On the operation panel 11, a predetermined motion curve button is selected and set according to the conditions of the workpiece and mold to be machined from among various motion curve buttons as shown in FIG. 3, and as shown in FIG. Set the operating angle corresponding to the crank angle of the press using the start angle value and end angle value. Each set value set on the operation panel 11 is converted into a code suitable for input to the CPU by the interface circuit 12 and input to the CPU 13. When the start angle value and end angle value of the motion curve are set in the CPU 13 for the various motion curves described above, each motion curve corresponds to the crank angle of the press necessary for the feeder movement to trace correctly. Since a program has been recorded to calculate the position of each axis of the feeder, a motion curve table is created according to the program according to the motion curve button inputted above and the start angle value and end angle value of the motion curve. and is stored in the storage device 14.

The program that creates the motion curve table is designed to create a curve that allows each axis of each feeder to move smoothly, for example, in a cycloidal curve, and the calculated results are as follows: For example, a table as shown in FIG. 6 is obtained.

In FIG. 6, the crank angle of the press is written on the right end in the vertical direction, and on the left side, the position of each axis of the feeder is written as a stroke value from a reference position determined for each axis. However, in FIG. 6, the table is shown as a normal table for the convenience of visual inspection, but in the actual storage device 14, the address corresponding to each entry column is designated and stored in digital code.

Next, when the press working system is started, the crank angle sensor 17 measures the current angle of the crank of the press machine, and the measured value is sent to the CPU by the interface circuit 18.
The code is converted into a code suitable for input into the CPU 1.3.

In the CP rJ i 3, data is stored in the above-mentioned storage device 14 (, 115) according to the input crank angle value from the common curve table.
Index the command position of ~15r1 to a-15i, and further,
Each drive signal is created by comparing with the position information of each feeder axis described in f&, and the drive signal is supplied as a digital value to the control circuit of 15n to each feeder axis 15a to 15i.

Next, the movement of each feeder will be explained using the feed shaft 15a as a representative.

A digital-to-analog conversion circuit (hereinafter referred to as DAC) 51 is provided at the input part of the control circuit of the feed axis 1.5a, and the DAC 5) converts the drive signal for the feed axis input in the form of a digital value. is converted into an analog value and inputted to the servo amplifier 52.The servo amplifier 52 compares the input drive signal with the value of the tachogenerator 1/-, which will be described later, to obtain a voltage with a 1-1 difference. The servo motor 53 is driven. A tacho generator 54 is attached to the servo motor 53.
is connected to h2 to detect the rotational speed of the servo motor 1, and the detected rotational speed is described above: servo amplifier 5
2, the servo motor 53 becomes CP [
It rotates at the commanded rotational speed according to the drive signal input from J13.

Therefore, the feed shaft connected to the servo motor moves at the commanded speed.

A feed shaft position sensor 55 is coupled to the feed shaft to detect the current position of the feed shaft. The measured value of the position sensor 55 is sent to the interface circuit 16.
Convert it to a code suitable for input to the CPU and send it to the CPU 13
Enter.

The CPUs II and 3 compare the input position information of the feed axis with the command position of the feed axis indexed from the motion curve table mentioned above, and create a drive signal corresponding to the magnitude of the deviation. Next, the means for determining whether each setting value in the present invention is appropriate, which is supplied to the control circuit of the feed axis, will be explained in detail with reference to the flowchart shown in FIG.

In FIG. 7, regarding a predetermined specific motion of the feed shaft, in the first step, the slot per minute is calculated from the specifications for the number of rotations of the motor of the feed shaft and the amount of movement of the feed shaft. upper limit of the number of
P M ) is calculated using the following calculation formula, and the calculation result (2) is recorded in the storage device 14b.

■= (Kn xNmxKl xθ bush)/(360XL
, iXVm) However, Kn2 safety factor, θI: Operating angle (deg), Nln
: Motor rated rotation speed (rpm), Kl : Feed axis movement amount per motor rotation (m / r ev ]
, Ll: feed axis movement distance (rn), Vm: dimensionless maximum velocity [-].

Next, from the specifications regarding the motor's possible acceleration torque, the time [
] The upper limit of the permissible slot talk count (SPM) is calculated using the following calculation formula, and the calculation result ■ is stored in the storage device 14b.
to be recorded.

Ignoring the load torque due to gravity, (2) = (15't /6)
rs -TLI)XK2/ (JTXLI xAm))
"However, KpS: safety factor 5θl: operating angle (ae g),
T: Motor instantaneous maximum torque (Kg -tn), Tt
l: Friction load torque (K g -m), K2 ・Feed axis movement amount per 1 r a - d of motor rotation (m
/ rad ), JT total inertia (Kg-rn
-5ec2) L[: feed axis movement distance [m], Artl: dimensionless maximum acceleration (-)l.

Next, the time [
Two-limit limit on the number of slot talks per minute (S P
M) is calculated using the following calculation formula, and the result of operation r1 is recorded in the storage device], 4b.

■-(θcut/6) ×(αvax/(Am m-sec), Am: dimensionless maximum acceleration [-], Next, detect the minimum number of strokes per time [minute] in the motion of the feed axis from the calculation results of the above ■, ■, ■, The detection result ■ is recorded in the storage device 14b.

The time determined by the minimum number of strokes per time (minutes) allowed in the motion of the feed shaft and the rotational speed of the drive motor during actual operation of the press, or set in the storage device 14a [ Calculate and compare the number of strokes per minute.

As a result of the comparison, the minimum number of strokes per time [minutes] permissible in the motion of the feed axis is determined by the rotational speed of the drive motor during actual operation of the press, or the time [minutes] set in the storage device 14a. ] is equal to or greater than the number of strokes per stroke,
Since there is no command from the crank angle of the press machine to move faster than the allowable drive speed of the feeder during actual operation, proceed to the next step, but conversely, the minimum number of strokes per allowable time [minutes] is determined by the rotational speed of the drive motor during actual operation of the press, or is smaller than the number of strokes per minute set in the storage device 14a, the movement commanded from the crank angle of the press machine with respect to the feed axis. Since the speed exceeds the above-mentioned conditions permissible for the feed shaft, the following error message is displayed on the operation panel to issue a warning.

In other words, depending on the feed axis name and motion name that correspond to the condition, and whether the condition (■) above corresponds to (■, ■, or ■), the condition or the set stroke number will be automatically lowered. indicate.

As a result of the above comparison, the minimum number of strokes per time (minutes) at which the motion of the feed shaft is allowed is determined by the rotational speed of the drive motor during actual operation of the press, or the time set in the storage device 14a. If it is equal to or greater than the number of strokes per [minute], then
Moving on to checking the next motion of the feed axis, the above calculations and comparative evaluations are repeated.

As a result, during the motion of any of the feed axes,
The minimum allowable number of strokes per time [minute] is determined by the rotational speed of the drive motor during actual operation of the press, or the time set in the storage device 14a [
If the number of strokes per minute is smaller than the number of strokes per minute, the movement speed commanded from the crank angle of the press machine for the feed shaft will be greater than the above conditions allowed for the feed shaft, so an error will be displayed on the operation panel as described above. Display a message and issue an alert.

In other words, depending on the feed axis name and morsilon name that correspond to the condition, and whether the condition (■) above corresponds to (■, ■, or ■), the condition or the set stroke number will be automatically lowered. indicate.

As a result of the above comparative evaluation, if it is determined that the motion settings of all the feed axes satisfy the specifications and conditions, the next step is to calculate the time [minutes] from the effective torque in the feed axis motor specifications. ] The upper limit (SPM) of the number of strokes per stroke is calculated using the following calculation formula, and the calculation result (2) is recorded in the storage device 14b.

■= [(60X KcNX TcP42TLI2/6
However, KG: safety factor, θ1: operating angle (deg), TG:
Motor rated torque (Kg-m), Tt, t: Friction load torque (Kg-m), Ki: Feed shaft movement amount per motor rotation (m/rev), JT: Total inertia arcKg-m, 5ec2) Ll:
Feed axis movement distance (m), Tl: Acceleration/deceleration torque during operation (Kg-rn).

tl: Operating time (S e C), the upper limit of the number of stroke talks per time [minute] from the effective I・lux in the specifications of each feed axis motor mentioned above.
Compare the calculation result (SPM) with the number of strokes per time [minute] that is determined by the rotational speed of the drive motor during actual operation of the press or is set in the storage device ff, 4a. The calculation result for either feed axis is determined by the rotation speed of the drive motor during actual operation of the press, or the storage device], 4a
If the number of strokes per time [minutes] set in is equal to or greater than the number of strokes per time [minutes] determined from the effective torque in the specifications of the feed shaft motor, the feeder is allowed to drive during actual operation. Since a movement faster than the speed J is not commanded from the crank angle of the press machine, there is no problem in actually operating the feed shaft. Therefore, for each of the other feeder axes, that is, for each of the other feed, clamp, lift, etc. axes, the predetermined order is 1. Second, a comparative evaluation is performed using the above flow.

However, the calculation result of one of the feeder axes is
The number of strokes per time [minute] is determined by the rotational speed of the drive motor during actual operation of the press, or the number of strokes per time [minute] set in the storage device 14a is determined by the effective torque in the motor specifications of the feed shaft. If you are arrogant, the movement speed commanded from the crank angle of the press machine for the feed shaft will be greater than the above conditions allowed for the feed shaft, and the following error message will appear on the operation panel. will be displayed and alerted.

In other words, depending on the name of the feeder axis that corresponds to the condition and whether the condition (■) above corresponds to (■, ■, or ■), the condition or the set stroke number is automatically displayed to be lower. .

By the operation of the above check flow, if it is confirmed that all the 5 motors of all axes are OK, a message indicating that the check of each motion of each axis of the feeder is completed is displayed. The number of strokes per minute performed by the motion is displayed.

In addition to the above-mentioned judgment conditions in the present invention, the press machine's morsigine curve corresponding to the load processing conditions and motor specifications, the load processing conditions and the specifications of each feeder axis and drive motor, etc. It is possible to set and store necessary conditions and to arbitrarily define judgment conditions in accordance with the performance and function of the press machine and the mechanical structure, performance and function of the work feeder.

[Effects of the Invention] As explained above, according to the present invention, the tolerance of the press machine that satisfies the movement of the work feeder is determined from the set values of arbitrary movable axes that constitute the work feeder and the specification values of each motor. The maximum number of operating strokes is calculated, and the calculated maximum number of operating strokes and the set stroke number are compared and evaluated. You can check whether the press and feeder are being forced to use p! when setting each value required for press processing. i: An excellent effect can be obtained in that a feeder device can be operated properly without causing an emergency stop.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of a press machine and a feeder device according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a feeder device according to an embodiment of the present invention. FIG. 3 is an explanatory diagram of the operation of the feeder device in one embodiment based on the present invention. FIG. 4 is a detailed explanatory diagram of the operation of the feeder device according to an embodiment of the present invention. FIG. 5 is a block diagram of a feeder control device according to an embodiment of the present invention. FIG. 6 is a motion curve table diagram of an embodiment based on the present invention. FIG. 7 is a flow chart diagram of an embodiment based on the present invention. FIG. 8 is a block diagram of a conventional feeder control device. 1...Press 2...Upper die 3...Lower die 4...Crank angle meter 5.5-b, 5-1.5-2. ...Feeder 6.
6-b...Cylinder 7.7-b...Cylinder 10-1...Iron hand 10-2...Iron hand 10-3...Iron hand 11-... ...Operation panel 12...Interface circuit 13...Computer 14...Storage devices 15a, 15i, 15n...Feed axis 16
...Interface circuit 17 ...Angle sensor 18 ...Interface circuit 51 ...Digital-analog conversion circuit 52 ...
... Servo amplifier 53 ... Servo motor 54 ... Tacho generator 55 ... Position sensor 81 ... Computer 82 ... Synchro transmitter 83... Conversion circuit 84... Digital analog conversion circuit 85...
... Servo amplifier 86 ... Servo motor 87 ... Tacho generator 88 ... Synchro transmitter 89 ... Conversion circuit

Claims (1)

[Claims] 1. Automatically transporting a workpiece to be processed by the press machine to a predetermined processing position on the press machine by moving in a three-dimensional direction in accordance with the crank rotation angle of the press machine;
In an automatic press processing system including a work feeder configured with at least two or more feed axes for which at least one kind of similar motion curve can be set, and a press machine for which the number of operating strokes can be set, each A means for setting and storing a motion curve of a feed axis and a stroke value of the motion curve, a means for setting and storing a specification value of each feed axis drive motor, and an arbitrary feed axis forming the work feeder starts operation. a press crankshaft rotation angle value setting means for timing, a press crankshaft rotation angle value setting means for timing to end the operation of the feed shaft, the set operation start angle value and operation end angle value, and each of the stored values. means for calculating the maximum allowable operating stroke number of the press machine from the stroke value of the feed shaft and the specification value of the feed wheel drive motor; and means for comparing and evaluating the calculated maximum allowable operating stroke number and the set stroke number. and a work feeder control device. 2. Corresponding to the crank rotation angle of the press machine, the workpiece to be processed by the press machine is automatically carried in and out of a predetermined processing position on the press machine by moving in a three-dimensional direction;
In an automatic press processing system including a work feeder configured with at least two or more feed axes for which at least one kind of similar motion curve can be set, and a press machine for which the number of operating strokes can be set, each means for setting and storing the motion curve of the feed axis and the stroke value of the motion curve; means for setting and storing the specification values of each feed axis drive motor; means for setting and storing the motor specification values of the press machine; means for setting and storing required load conditions corresponding to the workpiece to be machined; means for setting a rotation angle value of a press crankshaft at a timing when an arbitrary feed axis constituting the workpiece feeder starts operating; means for setting a press crankshaft rotation angle value at a timing to end the press;
The tolerance of the press machine is determined from the set operation start angle value and operation end angle value, the stored stroke value of each feed axis, the motor specification value of the press machine, and the required load conditions corresponding to the workpiece. A work feeder control device comprising means for calculating a maximum number of operating strokes, and means for comparing and evaluating the calculated allowable maximum number of operating strokes and the set number of strokes.