JPH0570729U - Drive device for loader / unloader for press machines - Google Patents

Abstract

(57) [Abstract] Drive device for loader / unloader for press machines [Purpose] The relationship between the operation of the loader and the unloader, and the relationship between the operation of the loader and unloader and the slide are set to the limit where interference does not occur, and the cycle time is reduced. Shorten. [Configuration] Loader operation data and unloader operation data for each predetermined interval obtained from a preset loader operation cycle diagram and unloader operation cycle diagram are stored in a storage means 55 in the order of addresses. The crank angle detector 60 detects the crank angle. An address signal converter 62 converts the crank angle into an address signal. The loader operation data and the unloader operation data of the address corresponding to the address signal are read by the control means 71 to 76, and the loader servo motors 31, 32, 36 and the unloader servo motor are controlled based on the read data.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a drive device for a loader and an unloader used for loading and unloading a work into a press machine.

[0002]

[Prior Art]

 Examples of this type of drive device include an unloader start signal output device that outputs an unloader start signal by detecting that the slide has risen to outside the interference zone with the unloader after machining the work piece, and the loader after the unloader picks up the work piece. The loader start signal output unit that detects that the loader has started to move out of the interference zone and outputs the loader start signal, and the slide start signal that detects that the loader has moved back to the outside of the interference zone after the work is inserted. It is known to include a slide start signal output device that outputs the slide start signal output device, and a control device that controls the slide, unloader, and loader to operate one cycle at a time based on the output signals of these start signal output devices. ..

[0003]

[Problems to be solved by the device]

 In the above-mentioned conventional apparatus, the operations of the slide, unloader and loader are synchronized with each other only when each cycle is started by the start signal. After start-up, the slide, unloader and loader operate separately in each cycle. Therefore, the slide, unloader, and loader may interfere with each other. In order to prevent this, it was necessary to delay the activation timing of the slide, unloader and loader to widen the mutual operation intervals. If so, the entire cycle time of press working becomes longer, which is an obstacle to improving productivity.

When checking the interference between the slide, unloader and loader at the time of setup, it is necessary to operate the slide, unloader and loader at low speed, but if the operating speed is changed, The operation timing also changed, making it difficult to check interference.

An object of the present invention is to provide a drive device for a loader / unloader for a press machine that solves the above problems.

[0006]

[Means for Solving the Problems]

 The drive device for a loader / unloader for a press machine according to the present invention comprises a loader servomotor for driving the loader, an unloader servomotor for driving the unloader, a preset loader operation cycle diagram and an unloader operation cycle. Storage means for storing loader operation data and unloader operation data at predetermined intervals obtained from the diagram in the order of addresses, a crank angle detector that outputs a crank angle detection signal, and a crank angle detection signal An address signal converter that converts the input crank angle detection signal into an address signal, and the address signal is input, and the loader operation data and unloader operation data at the address corresponding to the input address signal is read and the read data is added. Based on loader servo motor and unlock Ru der made from the more control means for controlling the servomotor.

[0007]

[Action]

 The loader / unloader drive device for a press machine according to the present invention includes a loader servomotor for driving the loader, an unloader servomotor for driving the unloader, a preset loader operation cycle diagram, and an unloader operation cycle. A storage means for storing the loader operation data and the unloader operation data at predetermined intervals obtained from the diagram in the order of addresses, a crank angle detector for outputting a crank angle detection signal, and a crank angle detection signal are input and input. An address signal converter that converts the input crank angle detection signal into an address signal and the address signal is input.The loader operation data and unloader operation data at the address corresponding to the input address signal are read and the read data Based on loader servo motor and Since the loader and unloader operate synchronously over the entire area of each stroke, the loader and unloader synchronize with the slide over the entire area of each stroke. Operate.

[0008]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings.

<Loader / Unloader> Referring to FIG. 1, a loader 12 is provided on the workpiece loading side of the press machine 11, and an unloader 13 is provided on the workpiece unloading side. The press machine 11 has a slide 14 and a bolster 15. An upper die 16 is attached to the lower surface of the slide 14 and a lower die 17 is attached to the upper surface of the bolster 15.

The loader 12 and the unloader 13 have opposite structures but have the same structure. Therefore, only the structure of the loader 12 will be described below. Further, in the following description, the front and rear sides mean the side closer to the center of the press machine is the front side, and the opposite side is the rear side, and the left and right sides are the left and right sides toward the front.

As shown in FIGS. 1 to 3, the loader 12 is attached to an upright of the press machine 11 via a horizontal bar 21 and has a hollow casing 23 in which a ball screw 22 is housed. A movable frame 25 integrated with a nut and having a vertical slide rail 24, a slider 26 slidably fitted to the slide rail 24, a parallel link mechanism 27 having an upper end attached to the slider 26, An arm tilt unit 28 attached to the lower end of the link mechanism 27, and a workpiece suction arm 30 which is undulated by the arm tilt unit 28 and has a suction member 29.

A lift operation servomotor 31 is attached to the upper end of the casing 23 so as to face downward. The output shaft of the servo motor 31 is connected to the upper end of the vertical screw rod of the ball screw 22.

At the lower end of the movable frame 25, a servomotor 32 with a speed reducer for feed operation is attached to the right. A horizontal rotation shaft 33 is connected to the output shaft of the servo motor 32. The right end of the rotary shaft 33 projects from the movable frame 25, and the link swing arm 34 having the tip connected to one link of the parallel link mechanism 27 is fixed to the projecting end. Further, a sub arm 35 is arranged in parallel with the arm 34.

<Tilt Arm> As shown in detail in FIG. 4, the arm tilt unit 28 includes a housing 37 in which a servomotor 36 with a speed reducer for tilt operation is mounted in a forward direction, and a horizontal cylindrical shape extending in a forward direction from the housing 37. It is composed of a connecting pipe 38 and a gear box 39 attached to the front end of the connecting pipe 38.

The output shaft of the servomotor 36 is connected to the rear end of the transmission shaft 41 extending along the axial center of the connecting pipe 38. The front end of the transmission shaft 41 projects from the connecting pipe 38 and enters the gear box 39, and the drive bevel gear 42 is attached to the projecting end. In the gear box 39, a rotation support shaft 43 extending in the left-right direction is arranged so as to be orthogonal to the axial center front extension line of the transmission shaft 41, and a driven bevel gear 44 meshed with the drive bevel gear 42 is arranged therein. Installed. Both ends of the support shaft 43 project from the gear box 39, and a pair of left and right swing arms 45 are fixed to both projecting ends thereof. A mounting bracket 46 is attached to the tip of each swing arm 45, and a pair of left and right arms 30 are detachably attached to the swing bracket 45 via a one-touch holder 47.

When the screw rod of the ball screw 22 is normally or reversely rotated by the operation of the lift operation servomotor 31, the nut of the ball screw 22 is moved up and down, and the movable frame 25 is also moved up and down. As a result, the lift-down operation of the arm 30 is performed.

When the rotary shaft 33 is rotated in the forward and reverse directions by the operation of the feed operation servomotor 32, the link swing arm 34 swings, and the parallel link mechanism 27 swings the slider 26 while moving the slider 26 up and down. To be made. As a result, the arm tilt unit 28 reciprocates substantially in a straight line in the front-back direction, and the feed operation of the arm 30 is performed.

When the transmission shaft 41 is normally and reversely rotated by the operation of the tilt operation servomotor 36, the support shaft 43 is normally and reversely rotated via both bevel gears 42 and 44. Then, both swing arms 45 swing, and the arm 30 is undulated about the support shaft 43, whereby the tilt operation of the arm 30 is performed.

5 and 6 showing the loading operation of the work W by the loader 12, the work W, the slide 14, the bolster 15, the upper mold 16, the lower mold 17, the intermediate transfer shuttle feeder F, and the arm 30 are schematically shown, respectively. Is indicated. Further, in both figures, the position of the slide 14 at the time of loading the work is shown by a solid line, and the position of the bottom dead center of the slide 14 is shown by a chain double-dashed line.

FIG. 5 shows a case where the arm 30 does not perform the tilting operation. In this case, the shuttle feeder F causes one flat plate portion of the work W to be horizontal and the other flat plate portion to be inclined while the work W is tilted. It will be carried. In this case, the height of the work is h1. The arm 30 adsorbs and lifts the horizontal flat plate portion of the work. The lifting height is such that the inclined flat plate portion of the work W can avoid interference with the lower die 17. When the work W is carried in between the upper mold 16 and the lower mold 17, the height H1 from the bottom dead center of the slide 14 when the work W and the upper mold 16 can avoid the interference is the solid line described above. Is the position indicated by.

FIG. 6 shows a case where the arm 30 performs a tilting operation. In this case, the shuttle feeder F carries the work W in a state where both flat plate portions of the work W are inclined. In this case, the height of the work W is h2, but h2 <h1. The arm 30 adsorbs and lifts one of the inclined flat plate portions of the work W in a tilted posture, carries it in as it is between the upper mold 16 and the lower mold 17, and performs the tilting operation to load the work W. The height H2 from the bottom dead center of the slide 14 when the work W is loaded between the upper mold 16 and the lower mold 17 may be smaller than H1 by the height h2 of the work being smaller than h1. Therefore, the loading operation by the loader 12 has a time margin only for the time during which the slide 14 descends from the height H1 to H2. Further, it becomes possible to process with a press having a short stroke.

<Loader / Unloader Control Device> FIGS. 7 and 8 show a configuration of the loader / unloader control device.

The control device includes input memories 52 and 53 for storing data and the like input from the keyboard 51, a calculator 54 for calculating loader / unloader operation motion based on the input data, An output memory 55 for storing the calculation result and a display device 56 for displaying the input data, the calculation result and the like are provided.

Signals from the product number designating device 57, the operation mode setting device 58, the operation start switch 59, and the crank angle detector 60 are input to the calculator 54, and the calculator 54 outputs the address signal generator 61, Signals are output to the address signal converter 62, the changeover switch 63, and the press start switch 64. Further, the display device 56 is provided with a display data memory 65 and an address update signal generator 66.

The loader 12 is driven by three drive circuits 71 to 73 including the above-described feed, lift and tilt operation servomotors 31, 32 and 36, respectively. Similarly, the unloader 13 is not described. It is driven by three drive circuits 74 to 76 each including servo motors for feed, lift and tilt operations. Since these six drive circuits 71 to 76 have the same configuration, control of the loader / feed operation servomotor 31 will be described here with reference to FIG.

The rotation angle position and speed of the servo motor 31 are detected by the encoder 81, and the detected position signal is fed back to the subtracter 82 in the drive circuit 71 and the speed signal is fed back to the driver 83 in the drive circuit 71. To be done.

The output memory 55 stores the operating position data and the operating speed data in the order of addresses based on the calculation result of the calculator 54. The position and speed data are read from the output memory 55 based on the signal sent from the changeover switch 63, and the read data is output to the drive circuit as a command signal. The command signal is processed by the D / A converters 84A and 84B, and then input to the subtractor 82 and the adder 85. A signal corresponding to the position deviation and the speed data is output from the adder 85, and the driver 83 drives the servo motor 31 so that the output signal and the detected speed signal of the encoder 81 become equal.

Data specific to the mechanical system of the loader / unloader and the press is input to the input data memory 52. The mechanical system-specific data of the loader / unloader is the maximum speeds of the feed, lift, and tilt operations of the loader 12 and the unloader 13, respectively. The mechanical data unique to the press are the number of strokes, the stroke, the bolster size, and the stroke amount with respect to the crank angle.

The input parameter memory 53 is input with parameters necessary for creating operation motion of the loader / unloader for each product number. As shown in FIG. 9, the first parameter is data of position, height, distance, tilt angle, time and speed at a required position on the moving route of the loader / unloader. L0 to L19, and U0 to U19 in the unloader. In FIG. 9, the position means the horizontal distance from the center of the bolster as indicated by the arrow X, and the height means the vertical distance from the upper surface of the bolster as indicated by the arrow Z. The speed is shown as a percentage of the maximum speed input to the data memory. The reference speed is the whole motion and the load speed is the one during work transfer. The second parameter is related to the mold and the loader / unloader arm, as shown in FIG. In FIG. 10, parameters relating to the dimensions of the mold are indicated by 01 to 11, and parameters relating to the arm are indicated by 12 to 20.

<Operation Mode> The operation mode setter 58 is set to a synchronous continuous mode, a synchronous intermittent 1 mode, a synchronous intermittent 2 mode, and an asynchronous intermittent mode (single mode).

In the synchronous continuous mode (see FIG. 11), the loader and unloader and the slide operate synchronously over the entire range of the crank angle of 360 degrees.

In the synchronous intermittent 1 mode (see FIG. 12), the loader that has adsorbed the work at the backward limit (point A) starts to move forward from the backward limit and reaches the time B until the loader, unloader, and All of the slides operate synchronously, while the loader and unloader operate synchronously at other times, but the loader and unloader and the slide operate asynchronously.

In the synchronous intermittent 2 mode (see FIG. 13), the work load is started at the forward limit and the loader starts to move backward (point F). Then, the work is sucked at the backward limit, and then the loader starts moving forward. However, only until the time point B, the loader, unloader, and slide all operate in synchronization, and in other cases, the loader and unloader operate in synchronization, but the loader, unloader, and slide operate asynchronously.

In the asynchronous intermittent mode (see FIG. 14), the loader and the unloader operate synchronously over the entire range of 360 degrees of the crank angle, but the loader and the unloader and the slide operate asynchronously.

In the synchronous on / off 1 mode and the synchronous on / off 2 mode, the loader and the unloader are asynchronous with the loader and the unloader within the safe interference range where there is no risk of the loader and the unloader interfering with the slide. The synchronous gating 1 mode mode is suitable for machining a workpiece with a deep drawing depth, and the synchronous gating 2 mode can shorten the cycle time more than the synchronous gating 1 mode. It is not possible to process a work with a deep drawing depth.

When the product number is designated in the product number designating device 57 and the operation mode is set in the operation mode setting device 58, the computing unit 54 reads out the data from the data memory 52 and sets the parameter corresponding to the specified product number. It is read from the parameter memory 53 and the calculation corresponding to the set mode is performed. After the calculation, if the calculation result is good, the calculation result is stored in the output memory 55 as operating position data and speed data. If the calculated number of strokes exceeds the minimum number of strokes, an error message is output and the operation mode is changed or the parameter is changed and the calculation is performed again.

11 to 14 show the calculation results for each operation mode. 11 to 14, LD is a loader and UL is an unloader. Further, FIGS. 15 and 16 show positions corresponding to the positions indicated by A to I in FIGS. 11 to 14 during the der / unloader operation motion.

<Example of Calculation of Operation Motion> Here, a specific example of the case where the operation motions of the slide, the loader, and the unrotor are calculated based on the input data and the parameters will be described for each mode.

First, before explaining each mode, the association between the loader and the unloader is common to each mode, and this will be described (FIGS. 10 to 14).

The operation motion of the unloader is calculated in the order of B → C → D → H → I. Next, the operation motion B → C of the loader is calculated so as to match the operation motion B → C of the unloader. Subsequently, the operation motion D → E → F → I of the loader is calculated. At this time, the feed amount D → E of the loader is set with reference to the feed position of the unloader so as to be equal to or larger than the feed position interval between the unloader and the loader at point D. As a result, the positional relationship between the unloader and the loader when they are closest to each other is kept constant. In FIG. 11, the unloader I and the loader I match, but this point does not have to match. Next, a certain origin stop time is set based on the one after the unloader I and the one after the loader I, the point A is determined, and the unloader operation motion A → B and the loader operation motion A → A ′ → Calculate B. In the above, B of the unloader is a position where the arm of the unloader does not interfere with the die, and D of the loader is a position where the work adsorbed by the arm of the loader does not interfere with the die.

In the case of the synchronous continuous mode (FIG. 11), the crank angle at which the slide rises from the bottom dead center to the second origin position obtained by adding the unloader upper die clearance in FIG. 10 to the unloader origin A (hereinafter referred to as slide / unloader interference) Called point angle). Next, find the crank angle at which the slide descends from top dead center to the second origin position (hereinafter referred to as the slide loader crossing angle). The required time from the unloader B point to the intermediate point position in the middle of the loader F → I (the same stroke position as the loader D point) is calculated, and at this time, the press moving from the slide unloader interference point angle to the slide loader interference angle is performed. Find the speed (revolutions per minute). Create a stroke-crank angle diagram of the slide at the calculated rotation speed, and write the operation motion diagram of the loader / unloader on it. At this time, the slide and the loader / unloader are associated so that the slide / unloader interference point angle matches the unloader B and the slide / loader interference angle matches the intermediate point position of the loader. As a result, one slide cycle and one loader / unloader cycle are matched.

In the synchronous intermittent 1 mode (FIG. 12), when the loader retracts to the midpoint G of the backward stroke, the calculator 54 outputs a start signal to the press start switch 64. Determine the sled loader and unloader interference point angles. The required time from the loader G point to the next cycle unloader B point is calculated, and the press speed for moving from top dead center to B point is calculated at this time. Write the operation motion of the slide at the obtained speed on the operation motion diagram of the loader / unloader. At this time, the top dead center is made to coincide with G, and the sliding / unloader interference angle is made to coincide with B.

In the synchronous intermittent 2 mode (FIG. 13), the loader activates the press at point F. Determine the slide loader and unloader interference angle points. Calculate the required time from loader F point to unloader B point, and calculate the press speed to move from top dead center to B point at this time. Write the slide motion at the calculated speed on the loader / unloader motion motion diagram. At this time, the top dead center is made to coincide with F, and the slide unloader interference angle is made to coincide with B. At this time, if the slide descends to the loader interference angle before the loader retreats to the intermediate point of loader F → I (the same position as D), it is not possible to operate in synchronous intermittent mode 2 and an error occurs. Becomes

In the case of asynchronous interruption (FIG. 14), only the operation motion of the above-mentioned loader / unloader is calculated. At point A, the signal from the press activates the loader / unloader, and at point G, the signal from the loader / unloader activates the press. The operator decides when to send the signal.

<Operation by Operation Mode> When the start switch 59 is turned on during the machining of the work, the operation is performed by the mode set in the operation mode setter 58. During operation, the slide switch and loader / unloader are returned to the home position by operating the inching switch 67.

When the operation mode setting unit is set to the asynchronous intermittent mode, the changeover switch 63 is switched to the a contact side by the signal from the arithmetic unit 54. A search start / end address and a search speed are set in the calculator 54. An address signal is output from the address signal generator 61 in response to a start signal from the calculator 54. The address signal is input to the output memory 55, the position data and the velocity data in the output memory 55 corresponding to the address signal are read from the output memory 55, and the loader / unloader operates. When the synchronous continuous mode is set, the switching switch 63 is switched to the b-contact based on the signal from the arithmetic unit 54. A detection signal from the crank angle detector 60 is input to the address signal converter 62. The search start crank angle (point A in FIG. 11) is set in advance in the computing unit 54, and when the detection signal reaches the same angle, an address signal is output from the converter 62 and the loader / unloader operates. ..

When either the synchronous on / off 1 mode or the synchronous on / off 2 mode is set in the operation mode setting unit 58, the changeover switch 63 is switched to the b contact based on the signal from the arithmetic unit 54. The search start crank angle (point A in FIGS. 12 and 13) is preset in the calculator 54. Then, from the time when the detection signals have the same angle, the loader / unloader operates in the same manner as in the synchronous continuous mode.

The crank angle is input to the calculator 54, and when the input crank angle reaches the slide synchronization end angle, a signal is output from the calculator 54 and the changeover switch 63 is switched to the a contact side, and the address signal is output. The loader / unloader is operated based on the address signal output from the creator 61. At the same time, the search start / end address and the search speed are set in the calculator 54 (point B in FIGS. 12 and 13).

The address signal from the address signal generator 61 is input to the computing unit 54, and when the address signal reaches the search end address, a signal is output from the computing unit 54 and the switching switch 63 switches to the b contact side. Be done. At the same time, the next search start crank angle is set in the calculator 54 (point A in FIG. 12 and point F in FIG. 13).

<Operation Simulation> The display 56 can display data and the like input through the keyboard 51. Further, the calculation result of the calculator 54 is stored in the display data memory 65 as the position data and the speed data in the order of address, like the output memory 55. The data in the display data memory 65 is sequentially read by the output signal of the address update signal generator 66 and displayed on the display 56.

FIG. 17 shows a screen of the display 56, and the loader 12 is shown as a model diagram on the screen together with the work W, the slide 14, the bolster 15 and the molds 16 and 17. The model diagram moves as the output signal of the address update signal generator 66 changes. In this way, by checking the operation motion of the loader on the screen of the display unit 56, if there is a problem such as interference with the slide 14, correct the input parameter, check it again, and then check again to obtain a good result. If is obtained, it is stored in the parameter memory 53.

[0052]

[Effect of the device]

 According to this invention, the loader and the unloader operate synchronously over the entire area of each stroke, and the loader and the unloader and the slide operate synchronously over the entire area of each stroke. Also, the relation between the operation of the loader and the unloader can be limited to the limit where interference does not occur, and the cycle time can be shortened. Also, the relation between the specified loader / unloader and slide operation is constant regardless of the operating speed.Therefore, check the operation at a low speed, and in order to extend the life of the machine, operate it at a low speed at startup. It is possible to adopt a method of gradually accelerating and high-speed conveyance.

[Brief description of drawings]

FIG. 1 is a perspective view of a loader and an unloader.

FIG. 2 is a front view of a loader.

FIG. 3 is a side view of the loader.

FIG. 4 is a plan view including a crushing section of an arm tilt unit of a loader.

FIG. 5 is an operation explanatory diagram of the loader when the tilt operation is not performed.

FIG. 6 is an operation explanatory diagram of a loader when performing a tilt operation.

FIG. 7 is a block diagram showing an electrical configuration of a drive device of a loader / unloader.

FIG. 8 is a block diagram showing an electrical configuration of a part of the driving device of the loader / unloader different from FIG. 7.

FIG. 9 is an explanatory diagram of loader / unloader operation motion calculation parameters.

FIG. 10 is an explanatory diagram of another loader / unloader operation motion calculation parameter.

FIG. 11 is an operation cycle time diagram of the synchronous continuous mode.

FIG. 12 is an operation cycle time diagram of the synchronous intermittent 1 mode.

FIG. 13 is a diagram showing an operation cycle time of the synchronous intermittent 2 mode.

FIG. 14 is an operating cycle time diagram of the asynchronous intermittent mode.

FIG. 15 is a diagram illustrating an operation motion of the loader.

FIG. 16 is a diagram illustrating an operation motion of the unloader.

FIG. 17 is an explanatory diagram illustrating an example of a screen of the display device.

[Explanation of symbols]

 12 Loader 13 Unloader 31, 32, 36 Servo motor 55 Storage means 60 Crank angle detector 62 Address signal converter 71 to 76 Control means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Shinya Yamazaki No. 8 Asahi 100, Kanazu-cho, Sakai-gun, Fukui Prefecture Fukui Machinery Co., Ltd. (72) Masaki Nakayama No. 8 Asahi 100, Kanazu-cho, Sakai-gun, Fukui Prefecture Fukui Machine Incorporated (72) Inventor Akihiro Yamamoto 8 Asahi 100, Kanazu-cho, Sakai-gun, Fukui Prefecture Fukui Machinery Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. A loader servomotor 31, 32, 36 for driving a loader 12, an unloader servomotor for driving an unloader 13, and a preset loader operating cycle diagram and an unloader operating cycle diagram. The storage means 55 for storing the obtained loader operation data and unloader operation data for each predetermined interval in the order of address, the crank angle detector 60 for outputting the crank angle detection signal, and the crank angle detection signal are inputted and inputted. Address signal converter that converts crank angle detection signal to address signal
62, an address signal is input, the loader operation data and the unloader operation data at the address corresponding to the input address signal are read, and the loader servo motors 31, 32, 36 and the unloader servo motor are controlled based on the read data. A drive device for a loader / unloader for a press machine, which comprises: