JPH0571904U - Operation motion confirmation device for loaders and unloaders for press machines - Google Patents

Abstract

(57) [Summary] Device for confirming operation motion of loader / unloader for press machines [Purpose] Displaying operation motion of loader / unloader as a model diagram on the screen of the display device, and simulating operation motion of loader / unloader on the screen By doing so, the operation motion of the loader / unloader is confirmed offline. [Structure] Loader operation data and unloader operation data at predetermined intervals obtained from a preset loader operation cycle diagram / unloader operation cycle diagram are stored in a storage unit 65 in the order of addresses. An address update signal is generated by the signal generation 66 at an interval corresponding to the interval between the loader operation data and the unloader operation data stored in the storage means 65. The loader operation data / unloader operation data of the address corresponding to the address update signal is read out, and the loader / unloader is displayed as a model diagram on the screen of the display device 56 based on the read data.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

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

[0002]

[Prior Art]

 Conventionally, during setup, etc., to determine the operation motion of the loader / unloader according to the shape of the work, mold, etc., input the parameters required for determining the operation motion into the control panel, I was actually operating the loader / unloader to check the operating motion. Then, if there is a problem, it is general to correct and input the parameter, operate it, and repeat this until a good result is obtained.

[0003]

[Problems to be solved by the device]

 According to the above, since the confirmation is performed while the loader and the unloader are actually operated, it takes a long time for adjustment, and during that time, the press machine must be stopped, and there is a problem that productivity is reduced.

An object of the present invention is to provide a device for providing confirmation of operation motion of a loader / unloader for a press machine which solves the above problems.

[0005]

[Means for Solving the Problems]

 The operation motion confirmation device for a loader / unloader for a press machine according to the present invention is to loader operation data and unloader operation data at predetermined intervals obtained from a preset loader operation cycle diagram and unloader operation cycle diagram in the order of addresses. A memory means for storing, a signal transmitter for transmitting an address update signal at an interval corresponding to the interval between the loader operation data and the unloader operation data stored in the memory means, and the address update signal is input and corresponds to the address update signal. The display device reads the loader operation data and the unloader operation data of the address, and displays the loader and the unloader as a model diagram on the screen based on the read data.

[0006]

[Action]

 The loader unloader operation data of the press machine according to the present invention includes loader operation data and unloader operation data at predetermined intervals obtained from a preset loader operation cycle diagram and unloader operation cycle diagram. , A memory for storing the addresses in order, a signal transmitter for transmitting an address update signal at an interval corresponding to the interval between the loader operation data and the unloader operation data stored in the memory, and the address update signal being input to update the address. The loader operation data and the unloader operation data at the addresses corresponding to the signals are read out, and based on the read data, the loader and the unloader are displayed as a model diagram on the screen. Motion is displayed on the screen of the device It is displayed as Dell view, create dynamic motion of the loader and unloader is simulated on the screen.

[0007]

【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 work loading side of the press machine 11, and an unloader 13 is mounted on the work 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 the same structure although their directions are opposite to each other. 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 tilting 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 at the same time, the parallel link mechanism 27 swings while raising and lowering the slider 26. 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. 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 makes one flat plate portion of the work W horizontal, and the other flat plate portion is tilted so that the work W is not 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 with both flat plate portions of the work W being 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 computing unit 54, and from the computing unit 54, 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 the 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> In the operation mode setting device 58, a synchronous continuous mode, a synchronous intermittent 1 mode, a synchronous intermittent 2 mode and an asynchronous intermittent mode (single mode) are set.

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), from the time point (point F) where the loader, which has loaded the work in the forward limit, starts backward movement, the work is adsorbed in the backward movement limit, and then the loader starts forward movement. 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 the crank angle of 360 degrees, but the loader and unloader and the slide operate asynchronously.

In the synchronous on / off 1 mode and the synchronous on / off 2 mode, the loader and unloader are asynchronous with the loader and the unloader within the safe interference range where there is no risk of the loader and unloader interfering with the slide. The synchronous gating 1 mode mode is suitable for machining a workpiece with a deep drawing depth, while 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 in which 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, since the association between the loader and the unloader is common to each mode, 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 case of the synchronous intermittent 1 mode (FIG. 12), when the loader retreats to the intermediate point G of the backward stroke, the start signal is output from the calculator 54 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 discontinuity (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 setting device 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 device is set to the asynchronous intermittent mode, the changeover switch 63 is changed over 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.

A 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 calculator 54, and when the address signal reaches the search end address, a signal is output from the calculator 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 or 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.

[0051]

[Effect of the device]

 According to this invention, the operation motions of the loader and the unloader are displayed as a model diagram on the screen of the display device, and the operation motions of the loader and the unloader are simulated on the screen. You can check it offline. Therefore, it is possible to shorten the time for confirming the operation motion of the loader and the unloader by the actual operation, and it is possible to improve the productivity by shortening the press stop time.

[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]

 56 Display device 65 Storage means 66 Signal transmitter

Front page continuation (72) Inventor Shinya Yamazaki 8 Asahi 100, Kanazu-cho, Sakai-gun, Fukui Prefecture, Fukui Machinery Co., Ltd. (72) Inventor Masaki Nakayama 8 Asahi 100, Kanazu-machi, Sakai-gun, Fukui Prefecture Fukui Machinery Co., Ltd. (72) Creator Akihiro Yamamoto 8 Asahi 100, Kanazu Town, Sakai-gun, Fukui Prefecture Fukui Machinery Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. A storage unit 65 for storing loader operation data and unloader operation data at predetermined intervals obtained from a preset loader operation cycle diagram and unloader operation cycle diagram in an address order, and a storage unit 65. A signal transmitter 66 that transmits an address update signal at an interval corresponding to the interval between the stored loader operation data and unloader operation data, and the loader operation data and unloader operation of the address to which the address update signal is input and the address update signal is input. An operation motion confirmation device for a loader / unloader for a press machine, comprising: a display device 56 that reads data and displays a loader and an unloader as a model diagram on the screen based on the read data.