JPH05297949A - Positioning method for positioning device - Google Patents

Abstract

PURPOSE:To shorten the time required for restart of an interrupted positioning operation by regarding each position where a positioning subject equipment stops as a reference position and deciding the next stop position. CONSTITUTION:A blanking device is manually or automatically moved and positioned at the center position of the circle of a number 1. A positioning device regards the center position of the circle of the number 1 as a reference position and then calculates the center position of a circle of a number 2, i.e., the next stop position based on the relative relation set previously. Then the positioning device moves the blanking device to the next stop position. When it is confirmed that the blanking device stops at the center position of the circle of the number 2, this center position is regarded as a reference position. Thus the center position of the next circle of a number 3 is calculated. Thereafter the positioning device calculates the following stop positions for each stop of the blanking device and starts the next blanking operation. Therefore it is not required to change the set stop position since it is kept near the next stop position after the blanking operation is restarted even if the working of the blanking device is interrupted by a power failure, etc.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning method for a positioning device which is used at a punching position or the like and which moves to a predetermined position and stops.

[0002]

2. Description of the Related Art Conventionally, in a positioning apparatus, when an operator decides stop positions of equipment to be positioned, all stop positions are calculated in advance and a route for passing the stop positions is set. As a method of actually setting the stop position, a moving direction and a moving amount with respect to a predetermined reference position are set and input by numerical values. When the operator sets and inputs the movement direction and the movement amount in this way, the positioning device controls the movement to a predetermined stop position while detecting the position of the positioning target device during movement. However, in the conventional positioning device, if a power failure or the like occurs after the device starts moving, the device stops. Further, the information on the reference position and the current position stored in the positioning device is also lost. Therefore, the operator newly sets all the subsequent stop positions and restarts the operation of the positioning device.

[0003]

Therefore, at the time of interruption, the number of positions set by the operator increases as the number of remaining positionings increases, possibly resulting in the need to correct the control procedure for the positioning process. Therefore, the conventional positioning method has a problem to be solved that it takes time to restart the operation when the positioning operation is interrupted.

Therefore, in view of the above points, an object of the present invention is to provide a positioning method for a positioning device capable of shortening the time until the restart of the positioning operation after the interruption.

[0005]

In order to achieve the above-mentioned object, the present invention provides a positioning method of a positioning device, wherein a device to be positioned is moved along a predetermined path and positioning is performed at its stop position. Predetermining the relative relationship between adjacent stop positions, each time the device is stopped,
The stop position is regarded as a reference position, the next stop position along the route is calculated based on the relative relationship, and the device is moved to the calculated stop position.

[0006]

In the present invention, each time the device to be positioned stops, the next stop position is determined by regarding the stop position as the reference position. Even if the operation of the above equipment is interrupted due to a power failure, etc. during movement or positioning operation, the stop position of the equipment due to interruption is located near the next stop position after the operation is restarted. Only the initial movement to the stop position is required, and there is no need to change the setting processing procedure in the positioning device regarding positioning.

[0007]

Embodiments of the present invention will now be described in detail with reference to the drawings. A positioning method in this embodiment will be described with reference to FIG. FIG. 1 shows a path along which a punching device (equipment to be moved according to the present invention) is moved to perform punching and its stop position. In the figure, the symbol indicated by a circle represents a punched hole, and the center position of the circle is the stop position. The numbers in the circles indicate the stop order. When moving the punching device along such a path, the punching device is manually or automatically positioned at the center position of the circle number 1. From this position, the positioning device starts operation. Positioning device is number 1
The center position of the circle is regarded as the reference position, the center position of the circle of number 2, that is, the next stop position is calculated by a predetermined relative relationship, and the punching device is moved to this stop position.

When it is confirmed that the punching device has stopped at the center position of the circle number 2, the positioning device considers the center position of the circle number 2 as the reference position and calculates the center position of the next circle number 3. To go. Hereinafter, the positioning device calculates the next stop position each time the punching device stops for the punching operation, and then moves the punching operation. A positioning device to which such a positioning method is applied is shown in FIGS. 2 and 3.

FIG. 2 shows a side view of the positioning device, and FIG. 3 shows a top view of the positioning device. In the figure, 1 is a press support, and a press (punching device) 2 is a press support 1.
Move along. The press material is placed on the table 4, and the table 4 moves along the table support 6. The moving direction of the table 4 and the moving direction of the press 2 are orthogonal to each other when viewed from above. The positioning device is the press 2 and the table 4.
Are moved to position the press 2 at a predetermined position on the press material, and the blade 3 of the press 2 punches a hole in the press material. A well-known positioning mechanism may be used for this purpose, and detailed description thereof will be omitted.

FIG. 4 shows the circuit configuration of the control unit of the positioning device. In FIG. 4, a central processing unit (CPU) 10
Controls the positioning mechanism 14 according to a control program stored in a read only memory (ROM). A random access memory (RAM) 12 temporarily stores data used for the above-mentioned control-related calculation. Interface 1
Reference numeral 3 transfers a signal exchanged between the CPU 10 and the positioning mechanism 14. The input device 15 inputs operation instructions to the CPU 10 and numerical data regarding positioning.
A positioning control procedure in such a circuit configuration will be described with reference to FIG.

FIG. 5 shows the contents of the positioning control program stored in the ROM 11, which is executed by the CPU 10. In advance, the operator moves the press 2 to the first stop position, for example, the center position of the circle numbered 1 in FIG. 1 by an instruction to the CPU 10 from the input device. Next, the operator instructs the input device 15 to execute the procedure of FIG. In response to this instruction, the CPU 10 reads the procedure of FIG. 5 from the ROM 11 and starts its execution.

The CPU 10 first receives an input of an initial value from the input device 15. From the input device 15, as initial values, rows of stop positions, the numbers m and n in the column direction, distances between the stop positions in both directions (pitch—relative relationship between the stop positions of the present invention), and initial values of variables used for calculation are input. It is input (step S10 in FIG. 15). Next, CPU1
Zero determines whether the variable m indicating the number of movements in the row direction is an odd number or an even number. Since the press 2 is currently located on the first line, m = 1 is initially set, and an odd number is obtained as the determination result. Therefore, the CPU 10 determines that the moving direction of the press 2 is the left direction in FIG. 1, and calculates the next stop position, that is, the center position of the circle with the number 2 in FIG. 1 based on the input pitch data (FIG. 15). Steps S11 to S12).
After that, the CPU 10 moves the press 2 to the calculated stop position by the control procedure similar to the conventional one (step S13 in FIG. 5). The CPU 10 updates the variable n indicating the number of times of positioning in the column direction from "1" to "2", and returns the execution procedure to step S12 (step S15 → S12 in FIG. 5). As a result, the CPU 10 performs the loop process of steps S12 to S15 to sequentially move the press 2 to the left in FIG. 1 until it is determined in step S15 that the positioning for one line is completed. When the positioning for one row is completed (detection of n = 5), the CPU 10 updates the variable m from “1” to “2”, and the next stop position, that is,
While the position in the column direction is fixed, the position in the row direction for one line is moved up to calculate the stop position (steps S15 to S18 in FIG. 5). In this way, CP
When U10 calculates the new stop position, it moves the press 2 to the calculated position (the center of the circle with the number "6" in FIG. 1) (step S19 in FIG. 5).

Next, the CPU 10 executes a processing procedure (steps S20 to S23) for moving the press 2 in the right direction, which is opposite to the left direction. Since this procedure is almost the same as the above-mentioned leftward direction, detailed description thereof will be omitted, but it should be noted that the variable n is decremented by "1" in the rightward movement. In this embodiment, as shown in FIG. 1, the press 2 is moved in a single stroke so that the variable n is increased in the left direction and subtracted in the right direction. Therefore, positioning for one line is completed,
When the row is changed, it is not necessary to change the value of the variable n which also indicates the position in the column direction. Thereafter, the CPU 10 moves to the right (S20 to S23), moves to the upper side with the end of the line (S24 to S27), and moves to the left (S12 to S).
15) → Move upward with end of line (S16 to S1)
9) are sequentially executed, and when the end of all positioning is detected (step S24), this control procedure is ended. In this embodiment, when the positioning process is stopped due to a power failure near the circled number 8 in FIG. 1, for example, the operator sets and inputs the current values of the variables n and m used in the control procedure of FIG.
Start the control procedure of. Therefore, it is not necessary to set and input all the remaining stop positions as in the conventional case. In addition to this embodiment, the following example can be carried out. (1) In the present embodiment, the movement path of the press 2 is set to move along the row direction, but it may be moved in the column direction or diagonally as shown in FIG. (2) In this embodiment, the control procedure for positioning is stored in the ROM.
In the case where the present invention is applied to a device such as a large-scale positioning device or a general-purpose positioning device in which the positioning position can be freely set, a floppy disk or the like is stored instead of the ROM for storing the control procedure. Can be used for.

[0014]

As described above, according to the present invention, the positioning process after interruption can be facilitated, and the control data relating to the positioning need not be backed up and saved, and the manufacturing cost of the device can be reduced. Can contribute.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a positioning procedure of the present invention.

FIG. 2 is a side view showing a side appearance of a positioning device to which the present invention is applied.

FIG. 3 is a top view showing the outer appearance of the top surface of the positioning device to which the present invention is applied.

FIG. 4 is a block diagram showing a circuit configuration of a control unit of the positioning device of the present invention.

5 is a flowchart showing a control procedure executed by the CPU 10 of FIG.

FIG. 6 is an explanatory diagram showing another movement route.

[Explanation of symbols]

 1 Press support 2 Press 3 Blade 4 Table 10 CPU 12 RAM

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Claims (1)

[Claims] 1. A positioning method of a positioning device, wherein a device to be positioned is moved along a predetermined path to perform positioning at a stop position thereof, a relative relationship between adjacent stop positions is predetermined, and Each stop, the stop position is regarded as a reference position, the next stop position along the path is calculated based on the relative relationship, and the device is moved to the calculated next stop position. Positioning method for positioning device.