JPS6211102A - Material position detector for material supply apparatus - Google Patents

Abstract

PURPOSE:To save detecting time and improve productivity, by detecting deviation of the mark center position representing a positioning correction by a visual means in process of quick-feed of material. CONSTITUTION:A material block 1 bearing a printed mark M for positioning is driven by X-axis and Y-axis driving members 44, 45, and each press piercing printing member 1a is positioned at the piercing center W of the press. A flash lamp 12 flash a beam of light when the mark M plunges into the view field of a camera 11 during the course of quick-feeding motion of the material block 1. The camera 11 develops an image of the mark in the two dimensions at the time of flashing of the lamp 12. A CPU obtains deviation of the central position of the mark relative to the reference position on the basis of a signal for an image picked up. And, on the basis of this result, amount of displacement of the material block 1 is corrected under controls of members 44, 45.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for detecting the position of a material in a material supply device that supplies material to a press machine.

[Conventional technology]

In recent years, when press punching parts such as printed nameplates are used to precisely punch out a large number of printed materials using a press machine,
A material supply system has been proposed in which each press punched print part of the material is successively positioned and supplied to a press machine using visual means (Japanese Patent Application No. 57-170611).

To explain this material supply method, as shown in Figure 1,
The material supply device 20 positions the material 1t on the jigless machine 10 by moving it in the X-axis direction and the Y-axis direction.In other words, this material supply device 20 moves the material 1t in the X-axis direction and the Y-axis direction. According to the rotation of the screw 23, the beam 22 is moved to the rail 21m,
21b (in the Y direction), while the clamper carrier 24 is suspended on the beam 22, and the clamper carrier 24
is configured to move along the beam 22 (in the X direction).

Further, the clamper carrier 24 is provided with a clamper # (not shown), which can clamp the material 1. Therefore, this material supply device 20 can move the material l along the support table 25 in the XY direction.

Now, when positioning this material 1, rough positioning is first performed so that the mark M is within the field of view of the camera 11, as shown in FIG. Next, material 1 is fed in the X-axis direction from position Xs to X-axis (sub-scanning)
, main scanning is performed with a predetermined field of view V in the Y-axis direction by a visual sensor (line image sensor).

Then, the center position of the sub-scanning X6%, the center position C of the mark M
The amount of deviation X in the X-axis direction is determined by the average value of the sub-scanning position Detection is based on the difference between In addition, the amount of deviation y in the Y-axis direction between the center position Yg of main scanning and the center position C of reference mark M is the distance t from the upper limit of the field of view to reference mark M during main scanning.
1 and the reference mark Mt - distance t from the deviation to the lower limit of the field of view
It is detected by the average value of the difference with c.

Here, since the positional relationship between the camera 11 and the punching center W of the press machine 10 is set in advance, when feeding the material to the punching center W, the preset movement it and the detected deviation in the X-axis direction Amount ΔX and deviation amount Δ in Y-axis direction
The amount of movement is corrected by Y, and the material is supplied with the corrected movement amount.

[Problem that the invention seeks to solve]

The sub-scanning had to be performed at a rate of about 300 to 1500 Q/min due to constraints such as sensitivity and response time of the line image sensor. That is, the main scanning interval of the camera requires a time of about 1 to 5 msec due to sensitivity, and on the other hand, the resolution is about 25 μm/line in terms of detection accuracy, so the feed rate is 300 to 1500 wa1.
It will be a minute.

On the other hand, the material positioning speed is approximately 40 m/fJ- in order to improve cycle time.

Therefore, the transport speed must be slowed down each time a visual detection is made, which increases cycle time and adversely affects productivity. For example, in the case where no detection is performed and the case where all detection is performed, the cycle time is simply doubled and the productivity is halved, excluding the time for setting materials, etc.

Therefore, Japanese Patent Application No. 59-192284 attempts to solve the above problem by providing a method for storing visual detection data. This method is good for cases where the reproducibility of a single print is extremely high, such as printed nameplates, but for printed wiring boards such as Bakelite that are heated and marked, the material expands and contracts depending on the temperature. It is not appropriate to do so.

The present invention has been made in view of the above-mentioned circumstances, and can provide a method for detecting the position of a material in a material supply device, which can perform visual detection while feeding the material at high speed.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

In FIG. 3, a large number of pairs of press punched printed parts 1a and their positioning marks M are printed on the material 1. This material 1 is set by being clamped by the clamper 426. Cranno mother carrier 24
As mentioned above, since it is movable in the X-axis direction and the Y-axis direction, each press punching printing part 1a can be positioned at the punching center W of the press machine by controlling the position of this cranometer mother carrier 24. can do.

FIG. 4 is a schematic diagram showing one embodiment of a control device for controlling the press machine 10 and material supply device 20 according to the present invention. In the figure, a magnetic card reader 60 and an operation button J? The channel 61 receives the input of the control glodarum of this device and the data regarding the material 1, that is, the material 1 is connected to the clamper 26.
This is to input the X-coordinate data and Y-coordinate data of the cranno mother carrier 24 and other machine data when each mark M of the material 1 enters the field of view of the camera 11 when the material 1 is gripped at a predetermined location by the These glomodrums and data are stored in the memory 54.

Further, the contents can be displayed on the CRT display gray 62.

The X-axis drive unit 44 drives the clamper 9 carrier 24 in the X-axis direction, and includes a drive shaft 44 and a drive shaft 44 that screws into a threaded portion 24m provided on the clamper 4 carrier 24 to move the clamper carrier 24. shaft 44m') rotating motor 44b1; a pulse encoder 44c1 whose shaft is interlocked with the drive shaft 44m to generate two pulse signals pl and p having the same waveform and different phases;
The motor 44b is provided with a speed detector 44d which outputs a signal proportional to the rotational speed thereof, and a sensor 44e which provides a drive signal to the motor 44b.

The Y-axis drive unit 45 drives the beam 22 shown in FIG. 2, and its axis is interlocked with the axis of the motor 45m, which drives the drive pulley 23ai, and generates two waves of the same waveform with different phases. A pulse encoder 45b generates pulse signals Ps and P4k.

Speed detector 45 that detects the rotational speed of the motor 45a
c, and a sub-an 7'45d that provides a drive signal to the motor 45m.

The speed detector 44d and the surge amplifier 44e and the speed detector 45e and the serge amplifier 45d constitute a speed feed barracks.

The output/f pulse signals of the pulse encoders 44c and 45d are applied to forward/reverse discrimination circuits 46 and 47, respectively. The forward/reverse rotation determination circuits 46 and 47 determine whether the motors 44 and 45 are rotating in the normal direction or in the reverse direction based on the phase relationship between the pulse signals P1 and P8 and the phase relationship between the pulse signals pm and P4, respectively. , when it is determined that the motor is rotating in the normal direction, outputs signals s3 and S4 of logic level "H", and also outputs the above-mentioned pulse signal Pt.
(or Pg) and the reference pulse signal Ps (or P4) are input for a predetermined number of times, the X-axis and Y-axis move one step.

! Movement pulse signals P and P
Output each @. Thus, the signal S3 and the Noyals signal Ps are applied to the control input terminal U/D and the clock input terminal CK of the up/down counter 48, and the signal S4 and the pulse signal P6 are applied to the control input terminal U/D of the up/down counter 49. '5 and black input terminal C
are respectively added to K.

The outputs of the up/down counters 48 and 49 are applied to the CPU 43 via the pass line 42 as X-axis position data and Y-axis position data, respectively. CPU
43 calculates positional deviation data for each axis based on the X-axis position data and Y-axis position data, and transmits this to the pass line 42 and the digital-to-analog converter 5.
0.51 and the preamplifiers 52 and 531 to the above-mentioned third circuits 44 and 45. Also, CPU
43 performs positioning control of the material 1 in synchronization with the operation of the press machine 10 based on crank angle rotation data applied from the press machine 10 via the input interface 56 and the pass line 42, and also controls the positioning of the material 1 when the press machine 10 stops at the top dead center. Command data is passed through the pass line 42 and the output interface 5.
7 to the press machine 10, and the press machine 10t-crank is stopped so that it is located at the top dead center.

Next, material position detection control according to the present invention will be explained. First, to explain the principle of the present invention, in order to instantly capture the mark M of the material 1 moving at high speed as a still image, a two-dimensional camera 11 (matrix image sensor) is used, and a xenon Flash illumination using Lang et al.

For example, if the illumination time is 10 μs, the lighting time will be 1 m7 seconds (=
Even if the material 1 is moving at a high speed (60 m/min), marks can be detected with a predetermined distance of at most 10 μm.

Also, the timing of the illumination is such that the mark on the material is the camera 11.
This timing is based on the position data (when the mark on the material enters the field of view of the camera 11).
The X-coordinate data and Y-coordinate data corresponding to each of the marks described above may be stored in advance, and when the material is being rapidly fed, the time point may be set such that the feeding position data matches the pre-stored position data.

Note that the X-coordinate data and Y-coordinate data corresponding to each of the above marks are such that if there is no setting error of material 1, dimensional error of material, printing misalignment, etc., the center of the mark is located at camera 11.
This is determined to coincide with the reference position (center position) of the field of view. Further, the accuracy required for positioning during press punching is, for example, about ±25 μm.

Now, to explain the case of detecting the positions of the six marks M in the first row of the material 1 shown in FIG. (all Y coordinate data are the same), positioning of the crane and the carrier 24 in the Y-axis direction is performed.

Thereafter, the crane carrier 24 is rapidly moved in the X-axis direction according to the NC program shown in FIG.

In other words, G10 is a continuous fast-forward command that continues to execute the next process before entering positioning deceleration when the master pulse distribution for that process is completed; in this example, N100 →Fast forward continuously until N160 and do not stop.

On the other hand, GOO is a discontinuous fast-forward command that positions the object one by one, stops once, and then moves on to the next step.

It goes without saying that the six marks M in the first row pass through the field of view of the continuous camera 11 during the continuous fast-forward movement. Further, M2S indicates a visual detection command, MO3 indicates a punch execution command, X indicates an absolute position on the X axis, and U indicates a relative position on the X axis.

When starting position detection, the CPU 43 outputs a signal S8 to the position comparator 721C to enable the position comparator 72. Further, the position data (X coordinate data) when each mark enters the field of view of the camera 11 is set in the illumination position renostaff 1 from time to time.

For example, when decoding and executing the positioning commands X30000 and M2S of the NC program in step N100, the illumination position register 71K30000'ik is set, and the signal Sa is output.

The position comparator 72 receives X-coordinate data indicating the position to be illuminated from the illumination position register 71, and X-coordinate data indicating the current X-axis position from the up-down counter 48. The device 72 outputs a signal LTRG when the two match.

The drive circuit 73 is driven by this signal LTRG, and the flash lamp '12 emits flash light to illuminate the field of view of the camera 11. Further, this signal LTRG is applied to the image detection processing control circuit 74. The image detection processing control circuit 74
When this signal LTRG is added, the illuminated camera 11
The entire control signal is output to the camera 11 in order to capture the image data of the field of view, and while the camera 11 completes one scan, the signal from the camera 11 is captured for one screen, and the interrupt signal ITs f7r is sent to the CPU 43. It outputs and interrupts the CPU 43.

When the CPU 43 is interrupted by the interrupt signal IT, the CPU 43 receives image data, uses the image data to determine the center position of the mark on the screen, and calculates the amount of deviation of the center position from the screen center position. . The amount of deviation obtained in this way is stored as a correction value when positioning the press.

Furthermore, when the image data has been captured, the X coordinate data of the next mark is set in the illumination position renostaff 1 in preparation for detecting the position of the next mark.

The amount of deviation of each mark obtained in the above manner is
It is used as a correction value for positioning data when performing positioning punching of NCf programs of 60 to N210.

〔Effect of the invention〕

As explained above, according to the present invention, it is possible to detect the amount of deviation of the mark center position, which is the positioning correction value, by visual means while the material is being rapidly transported. can be substantially omitted and productivity can be improved.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an outline of a material supply device and a press machine to which the method of the present invention is applied, and Fig. 2 is a partial plan view of the vicinity of the mark on the material used to explain the conventional visual detection method. , FIG. 3 is a diagram used to conceptually explain the material supply method, FIG. 4 is a block diagram showing an embodiment of the control device according to the method of the present invention, and FIG. 5 is a diagram showing the operation according to the method of the present invention. FIG. 3 is a diagram showing an example of an NC program for executing. DESCRIPTION OF SYMBOLS 1... Material, 10... Press machine, 11... Camera, 12... Flash rung, 20... Material supply device, 43... Central processing unit (CPU), 44-...
-X-axis drive unit, 45...Y-axis drive unit, 54...memory, 71...illumination position register, 72...position comparator, 73...drive circuit, 74...image detection Processing control circuit. , -, F Applicant Agent Takahisa Kimura ゛°′; Figure 2 W Figure 3 Figure 5

Claims (1)

[Claims] A material in which a large number of pairs of press-cutting printed parts and positioning marks near the printed parts are printed is clamped by a clamper, and the clamper is moved in the X-axis direction and the Y-axis direction. A device for supplying the material to a press machine, the apparatus sequentially positioning the material so that the positioning mark enters the field of view of a visual means disposed at a predetermined position with respect to the press machine, and positioning the material with respect to a reference position of the field of view. In a material supply device that calculates the amount of deviation of the center position of the mark for use in the X-axis direction and the Y-axis direction, and sequentially positions and supplies the press punched printing part of the material to the press machine based on the amount of deviation, as the visual means. Using a two-dimensional visual means, continuous fast-forwarding is carried out so that the positioning marks on the material sequentially pass through at least the field of view of the two-dimensional visual means, and during the fast-forwarding operation, the positioning marks are visible on the two-dimensional visual means. A method for detecting a material position in a material supply device, characterized in that the amount of deviation is determined based on a signal for one screen in the two-dimensional visual means photographed at the time of flash illumination at an appropriate timing when the field of view is entered.