WO2009096271A1

WO2009096271A1 - Servo press line, and method for controlling the same

Info

Publication number: WO2009096271A1
Application number: PCT/JP2009/050805
Authority: WO
Inventors: Takeshi Takahashi; Motonao Niizuma; Dai Onishi
Original assignee: Ihi Corporation
Priority date: 2008-01-28
Filing date: 2009-01-21
Publication date: 2009-08-06
Also published as: JP2009172662A; JP5234320B2

Abstract

Provided is a press line control apparatus (40), which comprises a master signal generator (32) for outputting a master signal (1), a plurality of individual master generators (42) for outputting individual master signals (4) synchronized with the master signal (1), and stop control devices (50) for stopping, if a press or a carrier device becomes abnormal at a portion thereof, the devices individually. The individual master generators (42) of the devices, which may interfere with the device having abnormally stopped, are stopped at a position to avoid the interference, and the individual master generators (42), which do not interfere, are run to and stopped at the ordinary stop position.

Description

Servo press line and its control method

Background of the Invention

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo press line including a servo press device that drives a slide with a servo motor and a transport device that loads and / or unloads workpieces on the device, and a control method thereof.

Description of Related Art When a conveyance device for loading / unloading a workpiece is attached to a press device, it is necessary to synchronize the movements so that a mold for molding the workpiece and the conveyance device do not collide (interfere).

The conventional control method mainly targets mechanical presses (crank press, knuckle press, crankless press, link press, etc.), and the operation of the press itself is the master. That is, for example, in the case of a crank press, a configuration is adopted in which the transport device operates in synchronization with the rotation of the crankshaft (main drive shaft) that drives the slide. An example of such control means is disclosed in Patent Document 1.

On the other hand, in recent years, a servo press device that drives a slide with a servo motor has been developed. (For example, patent document 2).

The “automatic transfer control method and apparatus for press” of Patent Document 1 is a method in which a position curve is created by a program based on the number of pulses generated by a press pulse encoder, and the transfer apparatus operates following the position curve.

The "servo motor drive type link press" of Patent Document 2 is capable of processing with a high press load and improving the cycle time of processing even with a relatively small output motor, and has excellent controllability. As shown in FIG. 1, a servomotor c is provided with a link mechanism a that converts a rotational motion into a linear motion, and a ram b that moves up and down for press working by the linear motion. A drive transmission system e for transmitting the drive from the shaft mechanism d to the crankshaft d of the link mechanism a. The drive transmission system e is capable of transmitting the controllable movement of the ram b by controlling the rotation of the servo motor c. Servo motor control means f for controlling the servo motor c so as to stop the ram b at an arbitrary position within the range of the lift stroke is provided.

Patent No. 3340095, “Automatic conveyance control method and apparatus for press” Japanese Patent Application Laid-Open No. 2003-320489, “Servo Motor Driven Link Press”

Servo press devices that drive slides with servo motors are not limited to link presses, and other types of mechanical presses (crank presses, knuckle presses, crankless presses, screw presses, etc.) can be converted into servo presses. These servo press devices are being developed.

However, in the case of a servo press line that combines a plurality of pressing devices and a plurality of conveying devices that carry workpieces into and out of the pressing device, in the past, if an abnormality occurred in one of the devices that make up the line, the line immediately The whole had to be urgently stopped.
For this reason, the entire line is stopped due to an abnormality of one apparatus, so that the restoration work becomes complicated and the productivity of the line cannot be improved.

In other words, the conventional servo press line has a problem in that defective products are generated because the panel molding is interrupted in other devices that were press-molding the panel due to an abnormality in one press device or transport device. It was.
In addition, since normal press equipment and transport equipment are also stopped at locations other than the normal stop position, it is necessary to visually check whether there is a problem in each process, and operation is resumed unless manual recovery work is performed. There was a problem that it took time to resume operation.

Summary of invention

The present invention was created to solve the various problems described above. That is, an object of the present invention is to avoid an emergency stop of a device during normal operation even when an abnormality occurs in a part of a press device or a conveyance device that constitutes a servo press line, and a defective panel by a device during normal operation. It is an object of the present invention to provide a servo press line and a control method for the servo press line that can prevent the occurrence of occurrence, improve the work efficiency of the entire line recovery work, and reduce the time required for restarting operation.

According to the present invention, a servo press line in which a plurality of presses that drive a slide with a servo motor and a plurality of conveying devices that carry in and / or carry out workpieces to the press are continuously arranged,
A press line control device for controlling the entire servo press line;
The press line control device includes a master signal generator that outputs a master signal serving as a reference for the entire servo press line;
A plurality of individual master generators for outputting individual master signals synchronized with the master signal;
A plurality of press control devices that uniquely output the command value of the slide position of the press in synchronization with the change of the corresponding individual master signal;
A plurality of transfer control devices that uniquely output a command value of the operation position of the transfer device in synchronization with a change in the corresponding individual master signal;
A servo press line is provided that includes a stop control device that individually stops the press or the transport device when an abnormality occurs in a part of the press or the transport device.

According to a preferred embodiment of the present invention, the stop control device immediately stops the individual master generator of the device in which the abnormality has occurred, and the individual master generator of the device that may interfere with the device in which the abnormality has occurred. Stop at a position that avoids interference, and run the individual master generator of the device that has no possibility of interference to the normal stop position and stop.

Further, the stop control device detects a press abnormality and outputs a plurality of press abnormality detectors,
It consists of a plurality of transfer device interference determiners that determine the interference between each press and the adjacent transfer device,
When the press abnormality detector outputs an abnormal signal, the transfer device interference determiner determines whether or not there is interference between the press and the slide portion of the adjacent transfer device,
In case of interference, the individual master generator of the transport device is desynchronized from the master signal generator, the individual master signal is decelerated and stopped,
If there is no interference, the individual master signal is kept synchronized with the master signal and desynchronized and stopped when the operation start position is reached.

Further, from the value of the master signal, the angle of the crankshaft encoder attached to the crankshaft of the press, the attitude of the slide drive system of the press, or the slide slide position command value and the position command value of the transport device, It is preferable to determine the presence or absence of interference with the slide portion of the adjacent press.

The stop control device includes a plurality of conveyance device abnormality detectors that detect abnormality of each conveyance device and output an abnormality signal;
It consists of a plurality of press interference determiners that determine the interference between each press and the adjacent transport device,
The press interference determination device, when the conveyance device abnormality detector outputs an abnormal signal, determines the presence or absence of interference between the conveyance device and the adjacent slide portion of the press,
In case of interference, the individual master generator of the press is desynchronized from the master signal generator, the individual master signal is decelerated and stopped,
If there is no interference, the individual master signal is kept synchronized with the master signal, and desynchronized and stopped when the top dead center position is reached.

Further, it is adjacent to the transport device from the value of the master signal, the angle of the crankshaft encoder attached to the crankshaft of the press, the attitude of the slide drive system of the press, or the target position of the transport device and the slide target position of the press. It is preferable to determine the presence or absence of interference with the slide portion of the press.

Further, according to the present invention, there is provided a control method for a servo press line in which a plurality of presses that drive a slide by a servo motor and a plurality of conveying devices that carry in and / or carry out workpieces are continuously arranged. And
A master signal serving as a reference for the entire servo press line is output,
For each press and each transport device, output an individual master signal synchronized with the master signal,
A command value for the slide position of the press is uniquely output in synchronization with the change in the corresponding individual master signal,
Synchronously output the command value of the operating position of the transfer device in synchronization with the change of the corresponding individual master signal,
There is provided a control method of a servo press line, characterized in that, when an abnormality occurs in the press or a part of the transport device, the press or the transport device is individually stopped.

According to a preferred embodiment of the present invention, the individual master generator of an apparatus in which an abnormality has occurred is immediately stopped, and the individual master generator of an apparatus that may interfere with the apparatus in which an abnormality has occurred is stopped at a position that avoids interference. Then, the individual master generator of the device that has no possibility of interference is driven to the normal stop position and stopped.
[The invention's effect]

According to the apparatus and method of the present invention described above, a master signal serving as a reference for the entire servo press line is prepared in the servo press line, and an individual master generator that outputs an individual master signal synchronized with the master signal is used as a master signal. Since each of the devices to be operated following is provided, if an abnormality occurs in some devices, the individual master generator of the device that may interfere with the abnormally stopped device is stopped at a position to avoid interference and interferes An individual master generator of a device that is not possible can be operated and stopped to the normal stop position of the device.

Therefore, since the device that reliably prevents interference with the abnormally stopped device and that has no possibility of interfering with the abnormally stopped device stops at the normal position, only the abnormal portion is required to return the entire line to the normal state. Recovery work can be performed and efficient production can be realized.

FIG. 10 is a schematic diagram of “servo motor drive type link press” of Patent Document 2. It is a control system block diagram of the servo press line used as the base of this invention. It is a schematic diagram of the press line control apparatus in an unpublished patent application. It is a 1st embodiment figure of a press line control device by the present invention. The target value (A) of the slide position of the first process press 10A with respect to the master signal, the target value (B) of the horizontal position and the vertical position of the transfer device 20B between the first process and the second process, and the second It is a figure which shows the timing relationship of the target value (C) of the slide position of the process press 10B. It is a figure which shows the timing relationship when abnormality generate | occur | produces immediately after the 1st process press 10A complete | finishes press molding. It is a figure which shows the timing relationship when abnormality generate | occur | produces immediately after the slide part of the 2nd process press 10B started a fall. It is a figure which shows the timing relationship when abnormality generate | occur | produces just before the 1st process press 10A completes a slide raise. It is a schematic diagram which shows the positional relationship of the conveying apparatus between the 1st, 2nd processes represented with the master signal (theta). It is a schematic diagram which shows the positional relationship of the conveying apparatus between the 1st, 2nd processes represented with the signal value E of the crankshaft encoder. It is a flowchart of a conveyance apparatus interference determination device. It is 2nd Embodiment figure of the press line control apparatus by this invention. It is 3rd Embodiment figure of the press line control apparatus by this invention. It is a 4th embodiment figure of a press line control device by the present invention. It is a figure which shows the timing relationship when abnormality generate | occur | produces immediately after the conveying apparatus 20B carries in the panel in the 2nd process. It is a figure which shows the timing relationship when the conveying apparatus 20B starts a movement from a standby position, and stops abnormally before carrying out a panel from 10A of 1st process presses. It is a flowchart of a press interference determination device. It is a 5th embodiment figure of a press line control device by the present invention.

DESCRIPTION OF PREFERRED EMBODIMENTS

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 2 is a configuration diagram of a control system of a servo press line that is a base of the present invention.
This servo press line is based on an unpublished patent application (Japanese Patent Application No. 2006-322836: filed on Nov. 30, 2006).
In this figure, 9 is a panel, 13 is a crankshaft encoder, 14 is a press main motor, 22 is a conveyor motor, and 16 and 26 are motor drives. The press main motor 14 is a servo motor.
Hereinafter, the press main motor and the conveyance device motor are simply referred to as “motors”.

The servo press line in FIG. 2 includes a combination of a servo press device 10 (10A to 10C) that performs a pressing operation for forming and processing the panel 9, and a transport device 20 (20A to 20D) that transports the panel 9. .
Hereinafter, the servo press apparatus is simply referred to as “press”.

The number of the presses 10 and the conveying devices 20 is determined by the number of processes necessary to form and complete one panel 9 in order, and usually 3 to 5 presses 10 are used in a large press line. FIG. 2 shows three presses 10 (10A to 10C).
In the servo press line, the crankshaft of the press 10 is driven by the motor 14, and the slide position of the press 10 and the angle of the crankshaft for moving the slide up and down can be precisely controlled by servo control.
The conveying device 20 is arranged before and after the press 10 (left and right in the drawing) or between the presses, and the position of the panel support portion with the panel suction vacuum cup and the gripping tool is controlled by the motor 22 so that the panel 9 is moved from the previous process to the subsequent process. Transport. The transport device motor 22 may also be a servo motor.

In order to increase the productivity of the entire line in the press line constituted by the plurality of presses 10 and the conveying device 20 as described above, the panel 9 which has been press-molded by a certain press 10 is immediately conveyed to the next process. However, it is necessary to control the press timing of the press body 10 and the transport timing of the transport device 20 in synchronization so that press molding is performed without interruption.

In the unpublished patent application described above, one master signal 1 is generated by the press line control device 30 as means for synchronizing the press body 10 and the conveying device 20, and all the presses 10 are based on the master signal 1. In addition, by making the operation of the transfer device 20 follow the master signal 1, the transfer timing of the entire line can be synchronized.

FIG. 3 is a schematic diagram of a press line control device in the above-mentioned unpublished patent application.
The press line control device 30 includes a master signal generator 32, a plurality of press control devices 34, a plurality of transport control devices 36, and a motor position controller 38.
The master signal generator 32 outputs a master signal 1 serving as a reference for the entire servo press line.
The plurality of press control devices 34 uniquely output the command value 2 of the slide position of the press 10 in synchronization with the change of the corresponding master signal 1.
The conveyance control device 36 uniquely outputs the command value 3 of the operation position of the conveyance device 20 in synchronization with the change of the corresponding master signal 1.
The motor position controller 38 controls the motor drives 16 and 26 in response to the command values 2 and 3.

The press line control device 30 described above can exhibit optimum performance during normal operation. However, if an abnormality or failure occurs somewhere on the press line, it is necessary to immediately stop the master signal 1 and stop the entire line in order to avoid interference between the press body 10 and the conveying device 20.
For example, when an abnormality is detected by the motor 14 of the press 10A in the first step, it is necessary to stop the master signal 1 in order to avoid interference with the front and rear conveying

devices

20A and 20B. However, in that case, the

presses

10B and 10C in the second process and the third process also stop urgently. At that time, if the

presses

10B and 10C in the second step and the third step are press-molding the panel 9, the panel molding is not uniform and defective products are generated.
Moreover, since the normal press main body 10 and the normal conveyance apparatus 20 are also stopped at a place other than the normal stop position, it is necessary to visually check whether there is a problem in each process, and manual recovery work is performed. Otherwise, the operation cannot be resumed and work efficiency is reduced.

FIG. 4 is a diagram showing a first embodiment of a press line control device according to the present invention.
In this figure, the servo press line of the present invention includes a plurality of presses 10 (10A, 10B) for driving a slide by a servo motor 14 and a plurality of transfer devices 20 (into and / or from the

presses

10A, 10B). 20A, 20B, 20C) are servo press lines arranged continuously.

The servo press line includes a press line control device 40 that controls the entire servo press line.
The press line control device 40 includes a master signal generator 32, a plurality of press control devices 34, a plurality of transport control devices 36, a motor position controller 38, a plurality of individual master generators 42, and a stop control device 50.

As in FIG. 3, the master signal generator 32 outputs a master signal 1 serving as a reference for the entire servo press line.
The plurality of individual master generators 42 outputs the individual master signal 4 synchronized with the master signal 1.

The plurality of press control devices 34 uniquely output the command value 2 of the press slide position in synchronization with the change of the corresponding individual master signal 4. 3 is different from the press control device 34 of FIG. 3 in that it synchronizes with the corresponding individual master signal 4 instead of the master signal 1.
The plurality of transfer control devices 36 uniquely output the command value 3 of the operation position of the transfer device in synchronization with the change of the corresponding individual master signal 4. 3 is different from the conveyance control device 36 in FIG. 3 in that it synchronizes with the corresponding individual master signal 4 instead of the master signal 1.
The motor position controller 38 controls the motor drives 16 and 26 corresponding to the command values 2 and 3 as in FIG.

The stop control device 50 has a function of individually stopping the press 10 or the conveyance device 20 when an abnormality occurs in a part of the press 10 or the conveyance device 20.

As described above, the press line control device 40 of the present invention has the master signal generator 32 as a reference for the entire line as in FIG. 3, and outputs the individual master signal 4 synchronized with the master signal 1 individually. Individual master generator 42.
In this figure, the individual master generator 42 corresponds to “conveyance device master 1”, “press master 1”, “conveyance device master 2”, and “press master 2”.

The individual master generator 42 outputs the individual master signal 4 in synchronization with the master signal 1 when no abnormality has occurred in the motor drives 16 and 26. Therefore, the line synchronization effect exactly the same as that shown in FIG.

On the other hand, when an abnormality occurs in a part of the press line, the behavior of the individual master signal 4 changes based on the position of the master signal 1.
For example, when an abnormality occurs in the motor drive 16 of the first process press 10A in FIG. 4, the press line control device 40 uses the press abnormality detector 52 to indicate that an abnormality has occurred in the motor drive 16 of the first process press 10A. The detected information is transmitted to the conveyance device interference determination unit 54 connected to the individual master generator 42 of the

conveyance devices

20A and 20B before and after the first process press 10A.
The stop control device 50 described above includes a press abnormality detector 52 and a conveyance device interference determination device 54 in this example.

When the conveyance device interference determination unit 54 continues the operation from the position of the master signal 1 when the abnormality information is received, the

conveyance devices

20A and 20B interfere with the slide portion (including the upper mold) of the first process press 10A. Determine whether to do.
When the conveying

devices

20A and 20B continue to the operation start position, when it is determined that “interference occurs” with the slide portion (including the upper die) of the first process press 10A that has stopped abnormally, the conveyance device interference determination The device 54 desynchronizes the individual master generator 42 of the transport device from the master signal generator 32 and decelerates and stops the individual master signal 4. That is, the value of the individual master signal is made constant by lowering the time change rate of the individual master signal to zero. Thereby, the conveying

devices

20A and 20B are stopped.
If it is determined that “there is no interference” with the slide portion (including the upper die) of the first process press 10A that has stopped abnormally even if the

transport devices

20A and 20B continue to operate to the operation start position, the transport device interference determination unit 54 Continues to synchronize the individual master signal 4 with the master signal 1 and de-synchronizes and stops when the operation start position is reached.
The individual master signal 4 of the first process press 10A in which the abnormality has occurred is immediately stopped when the abnormality is detected.

Since the press 10B after the second step is in a normal state, the synchronization with the master signal generator 32 is continued as it is. Similarly, the conveyance devices other than those before and after the first step continue to synchronize with the master signal generator 32.
As a result, even if an abnormality occurs in the first process press 10A, it is possible to continue the pressing operation and the conveying operation normally in the subsequent process, and when all the unformed panels remaining in the line have been produced. , Stop.

Next, a method for determining whether or not the press slide and the transfer device interfere with each other by the transfer device interference determination unit 54 will be described in more detail.

FIG. 5 shows a target value (A) of the slide position of the first process press 10A with respect to the master signal 1, and a target value (B) of the horizontal position and the vertical position of the transfer device 20B between the first process and the second process. FIG. 6 is a diagram showing a timing relationship between target values (C) of slide positions of the second process press 10B.
When the press molding of the first process press 10A is completed (a in the figure), the transfer device 20B between the first process and the second process moves to take the molded panel in the first process press (in the figure). b). When the panel is adsorbed (c in the figure), the transfer device 20B moves with the panel to the second process press as it is (d in the figure). When the panel is carried into the second process press (e in the figure), the transfer device 20B moves to the standby position (f in the figure), and the next press molding of the first process press 10A is completed (in the figure). Stop until a).

FIG. 6 is a diagram showing a timing relationship when an abnormality occurs immediately after the first process press 10A finishes press molding.
When an abnormality occurs in the motor drive 16 of the first process press 10A (a ₁ in the figure), the motor 14 becomes free running, and the first process press 10A is stopped by a dynamic brake or a normal brake (in the figure). a _2).
The idle running distance of the press slide when the brake is operated by detecting an abnormality can be predicted from the characteristics of the brake and the speed of the master signal 1 (that is, the time change rate). In the case of this figure, the first process press 10A stops in the middle of the slide rise, so if the operation of the conveying device 20B is continued as it is, the press slide (including the upper mold) of the first process press 10A and the conveying device 20B. Will interfere mechanically. Accordingly, in the case as shown in this figure, the transport apparatus interference determination unit 54 stops the individual master signal 4 of the transport apparatus 20B simultaneously with the abnormality detection (b1 in the figure). That is, the individual master signal 4 is decelerated to a constant value.
On the other hand, since there is no interference with the slide of the pressing device after the second step, there is no need to stop the individual master signal 4.

FIG. 7 is a diagram showing a timing relationship when an abnormality occurs immediately after the slide portion of the second process press 10B starts to descend.
When an abnormality occurs (e ₁ in the figure), the motor 14 of the second process press 10B becomes a free run and stops with a dynamic brake or a normal brake (e ₂ in the figure) as in FIG. is there.
In this case, since the second process press 10B runs idle in the slide lowering direction, when the conveying device 20B is stopped, the second process press 10B mechanically interferes with the slide (including the upper die) of the second process press 10B. Accordingly, the individual master signal 4 of the transfer device 20B is not stopped but is operated until it moves to the standby position (f in the figure) and then stopped.

FIG. 8 is a diagram illustrating a timing relationship when an abnormality occurs immediately before the first process press 10A completes the slide ascent.
In this case, if an abnormality occurs (b ₂ in the figure), the first process press 10A stops before top dead center (c ₁ in the figure), and mechanical interference occurs between the press slide and the conveying device 20B. do not do. Therefore, it is not necessary to stop the individual master signal 4 of the transport device 20B, but the panel is transported to the second process press 10B and stopped when it returns to the standby position (f in the figure).

As described above, the presence or absence of interference between the slide of the abnormal press and the conveying device can be determined based on the relationship between the value of the master signal 1 when the abnormality is detected and the pressing process in which the abnormality is detected. Whether the signal 4 should be continued or immediately stopped can be determined by the transfer device interference determination unit 54.

Next, the details of the operation of the interference determination device will be described. Here, the interference determination of the transfer device 20B between the first and second steps is taken as an example.

FIG. 9A is a schematic diagram illustrating the positional relationship of the transfer device 20B between the first and second steps.
The horizontal position command value X (θ) and the vertical position command value Y (θ) of the transport device 20B can be expressed as a function of the master signal θ as shown in FIG. Similarly, the slide position L ₁ (θ) of the first process press and the slide position L ₂ (θ) of the second process press can also be expressed as a function of the master signal θ as shown in FIGS.

In FIG. 9A, the horizontal movable range of the transfer device 20B is defined as 0 ≦ X (θ) ≦ _XL.
... (1)
And the vertical movable range is 0 ≦ Y (θ) ≦ Y _L
... (2)
And Where X _L is the maximum horizontal position of the transport apparatus, Y _L is the maximum raised position.
The horizontal range corresponding to the die area (die range) of the first process press 10A is now 0 ≦ X (θ) ≦ X ₁
... (3)
And then, a horizontal direction range corresponding to the die area of the second step pressing _{X 2 ≦ X (θ) ≦} X L ··· (4)
And

In normal conveying operation, the conveying device 20B stands by at the intermediate position X _H of the first step and the second step, the press molding of the first step is completed, and starts to move to the first process side, of the panel At the pick-up position (X (θ) = 0), the panel is sucked or gripped. Then, the panel is transported to the second step, the panel is released at the panel release position (X (θ) = X _L ), and the standby position (X (θ) = X before the second step presses down). Return to _H ) and wait for the next press cycle.

Intermediate position X _H the value of the master signal corresponding to theta _H, _P values of the master signal corresponding to the pick-up position _theta, the value of the master signal which corresponds to the release position and theta _L.
Further, a master signal corresponding to a range in which the transfer device 20B enters the die area (formula (3)) of the first step is _expressed as θ _IN1 ≦ θ ≦ θ _OUT1 (5)
And the master signal corresponding to the range entering the die area (formula (4)) in the second step is θ _IN2 ≦ θ ≦ θ _OUT2 (6)
And

Start master signal from theta _H, when to be a theta _{H +} T in one cycle, it holds the following magnitude relation.
θ _H <θ _IN1 <θ _P <θ _OUT1 <θ _IN2 <θ _L <θ _OUT2 <θ _H + T (7)
Note that T is 360 ° when θ is an angle signal, one cycle time [sec] when θ is time, and one cycle count value when θ is a counter count value.

When the occurrence of abnormality is notified from the press abnormality detector 52, the conveyance device interference determination unit 54 stores the value θ _e of the master signal 1 and the amount of change ω _e (= dθ _e / dt) when the abnormality occurs. The individual master signal 4 of the press 10A in which the abnormality has occurred is immediately desynchronized from the master signal 1 and stopped, but the press machine body continues to move with inertia until it is decelerated by the brake. The idle running distance of this press depends on the speed of the press when an abnormality occurs.

The expected stop value of the master signal corresponding to the press stop position is expressed as θ _e ′ = θ _e + θ _R (θ _e , ω _e ) (8)
And θ _R (θ _e , ω _e ) is an increment value of the master signal corresponding to the idle running distance of the press, and is a function of the master signal value θ _e and the amount of change ω _e when an abnormality occurs.

FIG. 10 is a flowchart of the transfer device interference determination unit. Details will be described below.
Assume that an abnormality has occurred in the first process press 10A (S1, S2, S10). The expected stop value θ _e ′ at that time is obtained from the equation (8).
(1) The expected stop value θ _e ′ is θ _H ≦ θ _e ′ ≦ θ _IN1 (9)
In this case (S11), since the transfer device 20B is before entering the die area of the first process press 10A, the individual master generator 42 of the transfer device 20B should be immediately stopped (S12) to avoid interference. good. That is, it is better to stop the individual master signal of the individual master generator 42 immediately.
(2) The expected stop value θ _e ′ is θ _IN1 ≦ θ _e ′ ≦ θ _OUT1 (10)
In this case (S12), since the conveying device 20B has entered the die area of the first process press 10A, it is necessary to switch the movement of the individual master generator 42 of the conveying device 20B in consideration of interference with the slide. is there.

If the predicted slide stop position L ₁ (θ _e ′) is the maximum ascending position Y _L <predicted slide stop position L ₁ (θ _e ′) (11)
In this case (S14), since the slide is located outside the movable range of the transport device 20B, there is no need to stop the individual master generator 42 of the transport device 20B because interference does not occur (S15).
vice versa,
Anticipated slide stop position L ₁ (θ _e ′) ≦ maximum lift position Y _L (12)
If this is the case (S16), there is a possibility that the conveying device 20B and the slide may interfere if the operation is continued, so the individual master generator 42 needs to be stopped at the expected stop value θ _e ′ (S17).

(3) The expected stop value θ _e ′ is θ _OUT1 ≦ θ _e ′ ≦ θ _H + T (13)
In the case of (S18), since the transfer device 20B has already passed through the die area of the first process press 10A, it is not necessary to stop the individual master generator 42 until θ _H + T (S19).

Next, it is assumed that an abnormality has occurred in the second process press 10B (S20).
(4) The expected stop value θ _e ′ is θ _H ≦ θ _e ′ ≦ θ _IN2 (14)
In this case (S21), since the transfer device 20B is before entering the die area of the second process press, in order to avoid interference, the individual master generator 42 of the transfer device is in the range of θ _OUT1 ≦ θ ≦ θ _IN2 . It is necessary to stop at (S22).
(5) The expected stop value θ _e ′ is θ _IN2 ≦ θ _e ′ ≦ θ _L (15)
In this case (S23), since the transfer device 20B has entered the die area of the second process press, it is necessary to switch the movement of the individual master generator 42 of the transfer device in consideration of interference with the slide.

If the predicted slide stop position L ₂ (θ _e ′) is the maximum ascending position Y _L <slide stop predicted position L ₂ (θ _e ′) (16)
In this case (S24), since the slide is located outside the movable range of the transport device 20B, there is no need to stop the individual master generator 42 of the transport device because no interference occurs (S25).
vice versa,
Anticipated slide stop position L ₂ (θ _e ′) ≦ maximum lift position Y _L (17)
If this is the case (S26), there is a possibility that the conveyance device and the slide may interfere if the operation is continued, so the individual master generator 42 needs to be stopped at the expected stop value θ _e ′ (S27).
The reason why the individual master generator 42 is not immediately stopped is that in the second step, the conveying device enters while the press slide is descending. It is because there is a possibility that it will end.

(6) The expected stop value θ _e ′ is θ _L ≦ θ _e ′ ≦ θ _H + T (18)
In this case (S28), since the transfer device 20B is in the process of escaping from the die area of the second process press, it is not necessary to stop the individual master generator 42 until θ _H + T (S29).

FIG. 11 is a diagram showing a second embodiment of a press line control device according to the present invention.
In this example, the stop control device 50 described above includes a press abnormality detector 52, a transport device interference determination device 54, and a crankshaft encoder 18.

In the first embodiment diagram of FIG. 4, the transfer device interference determination unit 54 determines whether to stop the individual master generator 42 of the transfer device based on the master signal 1, but in the second embodiment, the transfer of the master signal 1 is determined. Instead, the presence or absence of interference is determined by the angle of the crankshaft encoder 18 attached to the crankshaft of each servo press. The motion of the servo press can be freely changed by a slide position command, but the crank angle at the bottom dead center and the crank angle at the top dead center are determined mechanically. Therefore, it can be determined from the crank angle whether the press slide is moving up or down when an abnormality occurs, and can be used to determine whether or not it interferes with the motion of the transport device.

FIG. 9B is a schematic diagram illustrating a positional relationship of the transfer device 20B between the first and second steps.
The specific example of the interference determination of the conveying apparatus 20B between the 1st process and 2nd process in 2nd Embodiment is shown below.

The value of the crank shaft encoders 18 of the first step pressing 10A _{E 1,} the value of the crank shaft encoders 18 of the second step pressing 10B and _{E 2.}
Further, the signal of the crankshaft encoder 18 of the first process press 10A corresponding to the range in which the conveying device 20B enters the die area of the first process press 10A is _expressed as E _IN1 ≦ E ₁ ≦ E _OUT1.
... (19)
And the signal of the crankshaft encoder 18 of the second process press corresponding to the range in which the conveying device 20B enters the die area of the second process press 10B is E _IN2 ≦ E ₂ ≦ E _OUT2
... (20)
And

The signal value of the first step press 10A of the crankshaft encoder 18 corresponding to the standby position _{X H} _{E H1,} the signal value of the crank shaft encoder 18 in the second step pressing 10B and _{E H2.} The first step signal value E _P of the press 10A of the crankshaft encoder 18 corresponding to the pick-up _position, the signal value of the crank shaft encoder 18 in the second step pressing 10B corresponding to the release position and E _L.

First, an operation when an abnormality occurs in the first process press 10A will be described. When the occurrence of an abnormality is notified from the press abnormality detector 52, the conveyance device interference determination unit 54 detects the signal value E _1e of the crankshaft encoder 18 of the first process press 10A and the amount of change V _1e (= dE _1e) when the abnormality occurs. / Dt). The idle running distance of the press in which an abnormality has occurred depends on the press crankshaft angle E _1e and speed V _1e at the time of occurrence of the abnormality. E _1e '= E _1e + E _1R (E _1e , V _1e ) is the expected stop value of the crank angle corresponding to the press stop position.
... (21)
And

(1) The expected stop value E _1e ′ is E _1H ≦ E _1e ′ ≦ E _IN1
(22)
In this case, since the transfer device 20B is before entering the die area of the first process press 10A, it is better to stop the individual master generator 42 of the transfer device 20B immediately in order to avoid interference.
(2) The expected stop value E _1e ′ is E _IN1 ≦ E _1e ′ ≦ E _OUT1
... (23)
In this case, since the transfer device has entered the die area of the first process press 10A, it is necessary to switch the movement of the individual master generator 42 of the transfer device 20B in consideration of interference with the slide.

If the predicted slide stop position L ₁ (E _1e ′) is the maximum ascending position Y _L <the predicted slide stop position L ₁ (E _1e ′) (24)
In this case, since the slide is located outside the movable range of the transport device 20B, there is no need to stop the individual master generator 42 of the transport device because no interference occurs.
vice versa,
L ₁ (E _1e ′) ≦ Y _L
... (25)
In such a case, if the operation is continued, the conveyance device and the slide may interfere with each other. Therefore, the individual master generator 42 needs to be stopped at the timing when the slide is stopped.

(3) The expected stop value E _1e ′ is E _OUT1 ≦ E _1e ′ ≦ E _1H (26)
In this case, since the transfer device 20B has already passed through the die area of the first process press 10A, it is not necessary to stop the individual master generator 42 until θ _H + T.
The flowchart in the above-described interference determiner is the same as S1 to S19 in FIG.

Subsequently, an operation when an abnormality occurs in the second process press 10B will be described.
When the occurrence of an abnormality is notified from the press abnormality detector 52, the conveyance device interference determination unit 54 determines the signal value E _2e of the crankshaft encoder 18 of the second step press 10B and the amount of change V _2e (= dE _2e) when the abnormality occurs. / Dt). E _2e '= E _2e + E _2R (E _2e , V _2e ) is the expected stop value of the crank angle corresponding to the press stop position.
... (27)
And

(4) The expected stop value E _2e ′ is E _2H ≦ E _2e ′ ≦ E _IN2
... (28)
In this case, since the transfer device 20B is before entering the die area of the second process press 10B, in order to avoid interference, the individual master generator 42 of the transfer device 20B is set in the range of θ _OUT1 ≦ θ ≦ θ _IN2 . It needs to be stopped.
(5) The expected stop value E _2e ′ is E _IN2 ≦ E _2e ′ ≦ E _L
... (29)
In this case, since the transport device has entered the die area of the second process press 10B, it is necessary to switch the movement of the individual master generator 42 of the transport device 20B in consideration of interference with the slide.

If the predicted slide stop position L ₂ (E _2e ′) is the maximum ascending position Y _L <the predicted slide stop position L ₂ (E _2e ′) (30)
In this case, since the slide is located outside the movable range of the transport apparatus 20B, there is no interference, so there is no need to stop the individual master generator 42 of the transport apparatus 20B.
vice versa,
Expected slide stop position L ₂ (E _2e ′) ≦ maximum lift position Y _L (31)
In such a case, if the operation is continued, the conveyance device 20B and the slide may interfere with each other. Therefore, the individual master generator 42 needs to be stopped at the timing when the slide is stopped.

(6) The expected stop value E _2e ′ is E _L ≦ E _2e ′ ≦ E _2H
... (32)
In this case, since the transfer device 20B is in the process of escaping from the die area of the second process press 10B, it is not necessary to stop the individual master generator 42 until θ _H + T.
The flowchart in the above-described interference determiner is the same as S20 to S29 in FIG.

FIG. 12 is a diagram showing a third embodiment of a press line control device according to the present invention.
In this example, the stop control device 50 described above includes a press abnormality detector 52 and a conveyance device interference determination device 54.

In the third embodiment, instead of the master signal 1, the interference stop is determined by the slide position command 2 of the upstream press 10A, the position command 3 of the conveying device, and the slide position command 2 of the downstream press 20B.
If the stop position of the press in which an abnormality has occurred and the position of the transport device are known, it can be determined whether the master of the transport device must be stopped immediately or whether it can be operated to the standby position.

The specific example of the interference determination of the conveying apparatus 20B between the 1st process and 2nd process in 3rd Embodiment is shown below.
A command value of the slide position instruction 2 of the first step pressing 10A _{S 1,} a command value of the slide position instruction 2 in the second step pressing 10B and _{S 2.}

First, an operation when an abnormality occurs in the first process press 10A will be described. When the occurrence of an abnormality is notified from the press abnormality detector 52, the transfer device interference determination unit 54 causes the slide position command value S _1e of the first process press 10A and the amount of change υ _1e (= dS _1e / dt) when the abnormality occurs. Remember. Further, the horizontal position command value Xe of the conveying device 20B at that time and the change amount V _xe (= dXe / dt) are simultaneously stored.

The idle running distance of the press in which an abnormality has occurred depends on the position S _1e of the press slide and the speed υ _1e at the time of the occurrence of the abnormality. Estimated press slide stop value S _1e ′ = S _1e + S _1R (S _1e , υ _1e ) (33)
And

(1) V _xe <0 and X ₁ ≦ X _e ≦ X _H (34)
In this case, in FIG. 9A, since the transfer device 20B is before entering the die area of the first process press 10A, it is better to stop the individual master generator 42 of the transfer device 20B immediately in order to avoid interference.
(2) horizontal position command value _{X e} is _{_{0 ≦ X e ≦ X 1 ···}} (35)
In this case, in FIG. 9A, since the conveying device 20B has entered the die area of the first process press 10A, it is necessary to switch the movement of the individual master generator 42 of the conveying device 20B in consideration of interference with the slide. There is.

If the predicted slide stop position S _1e ′ is the maximum ascending position Y _L <slide stop predicted position S _1e ′ (36)
In this case, since the slide is located outside the movable range of the transport apparatus 20B, there is no interference, so there is no need to stop the individual master generator 42 of the transport apparatus 20B.
vice versa,
Slide stop expected position S _1e '≦ maximum ascending position Y _L (37)
In such a case, if the operation is continued, the conveyance device 20B and the slide may interfere with each other. Therefore, the individual master generator 42 needs to be stopped at the timing when the slide is stopped.

(3) V _xe ≧ 0 and X ₁ ≦ X _e ≦ X _H (38)
Or, V _xe is arbitrary X _H ≦ X _e ≦ X _L (39)
In this case, in FIG. 9A, since the conveying device 20B has already passed through the die area of the first process press 10A, it is not necessary to stop the individual master generator 42 until θ _H + T.
The flowchart in the above-described interference determiner is the same as S1 to S19 in FIG.

Subsequently, an operation when an abnormality occurs in the second process press 10B will be described.
When abnormality occurs from the press abnormality detector 52 is notified, the transport device interference determiner 54 when abnormality occurs in the second step pressing 10B slide position instruction value _{S 2e} and its variation _{_{υ 2e (= dS 2e / dt}} ) Remember. Further, the horizontal position command value Xe of the conveying device 20B at that time and the change amount Vxe (= dXe / dt) are also stored simultaneously.

Empty run length of the second step pressing 10B abnormality occurs depends on the position S _2e and velocity upsilon _2e at the time of occurrence of an abnormality of the press slide. The expected stop value of the press slide is S _2e ′ = S _2e + S _2R (S _2e , υ _2e ) (40)
And

(4) V _xe <0 and 0 ≦ X _e ≦ X _H (41)
Or V _xe ≧ 0 and 0 ≦ X _e ≦ X ₂ (42)
In this case, in FIG. 9A, since the conveying device 20B is before entering the die area of the second process press 10B, in order to avoid interference, the individual master generator 42 of the conveying device 20B is set to θ _OUT1 ≦ θ ≦ θ. It is necessary to stop within the range of _IN2 .
(5) V _xe ≧ 0 and X ₂ ≦ X _e ≦ X _L (43)
In this case, in FIG. 9A, since the transfer device 20B has entered the die area of the second process press 10B, it is necessary to switch the movement of the individual master generator 42 of the transfer device 20B in consideration of interference with the slide. There is.

If the predicted slide stop position S _2e ′ is the maximum ascending position Y _L <slide stop predicted position S _2e ′ (44)
In this case, since the slide is located outside the movable range of the transport apparatus 20B, there is no interference, so there is no need to stop the individual master generator 42 of the transport apparatus 20B.
vice versa,
Anticipated slide stop position S _2e ′ ≦ maximum lift position Y _L (45)
In such a case, if the operation is continued, the conveyance device 20B and the slide may interfere with each other. Therefore, the individual master generator 42 needs to be stopped at the timing when the slide is stopped.

(6) V _xe <0 and X _H ≦ X _e ≦ X _L (46)
In this case, in FIG. 9A, the conveyance device 20B is in the process of escaping from the die area of the second process press 10B, so it is not necessary to stop the individual master generator 42 until θ _H + T.
The flowchart in the above-described interference determiner is the same as S20 to S29 in FIG.

The above description is for a case where an abnormality has occurred in the motor drive 16 of the press. Similarly, when an abnormality has occurred in the motor drive 26 of the transport apparatus, the interference determination device can be applied.

FIG. 13 is a diagram of a fourth embodiment of the press line control device according to the present invention for realizing non-interference stop of the transport device.
In this example, the stop control device 50 described above includes a conveyance device abnormality detector 56 and a press interference determination device 58.

In the fourth embodiment, when an abnormality occurs in the motor drive 26 of the conveyance device 20B between the first step and the second step, the press line control device 40 uses the conveyance device abnormality detector 56 to detect the first and second steps. It is detected that an abnormality has occurred in the motor drive 26 of the conveying device 20B, and information about the press interference determination unit 58 connected to the individual master generator 42 of the first process press 10A and the individual of the press in the second process. This is transmitted to the press interference determination unit 58 connected to the master generator 42.

The first step press interference determination unit 58 determines whether or not the first step press 10A interferes with the conveying device 20B when the operation is continued from the position of the master signal 1 when the abnormality information is received. The press interference determiner 58 in the second process determines whether the second process press 10B interferes with the transport apparatus 20B.

When the first step press interference determination unit 58 determines that interference occurs with the first and second inter-process transfer devices 20B that are abnormally stopped when the first step press 10A continues to the top dead center position, The individual master generator 42 of the first process press 10A is desynchronized from the master signal generator 32 of the entire line, and the individual master signal 4 of the individual master generator 42 of the first process press 10A is decelerated and stopped.

If it is determined that the first process press 10A does not interfere with the abnormally stopped transport device 20B even if the operation continues to the top dead center position, the press interference determination unit 58 masters the individual master signal 4 of the individual master generator 42. It continues to synchronize with the signal 1 and when it reaches the top dead center position, it is desynchronized and stopped.
Note that the individual master generator signal of the conveyance device in which an abnormality has occurred is immediately stopped upon detection of the abnormality.

Since the press after the third step is in a normal state, the synchronization with the master signal generator 32 is continued as it is. Similarly, the conveyance devices after the third step continue to synchronize with the master signal generator 32.
Thus, even if an abnormality occurs in the first and second inter-process transfer device 20B, it is possible to continue the press operation and the transfer operation normally after the third process, and the unmolded panel remaining in the line Can be stopped when all the production is completed.

Next, a method for determining whether or not the press and the conveying device interfere with each other by the “press interference determination device” will be described in more detail.

FIG. 14B is a diagram illustrating a timing relationship when an abnormality occurs immediately after the transport device 20B carries the panel into the second process.
When an abnormality (e ₃ in the figure) of the motor 26 of the transport device 20B is detected, the motor 26 of the transport device 20B becomes a free run and enters an idle state. Thereafter, the mechanical brake is operated to stop the mechanical system, but the conveying device stops within the die area of the second process press 10B (e ₄ in the figure).
At this time, the slide of the second process press 10B is descending, and if it continues to descend as it is, the stopped conveying device 20B and the slide interfere with each other. Therefore, in such a case, the “press interference determination device 58” desynchronizes the individual master generator 42 of the second process press 10B from the master signal generator 32 and immediately stops it (f ₁ in the figure).

FIG. 15A shows the timing relationship when the conveying device 20B starts moving from the standby position and abnormally stops (b ₄ in the figure) before carrying out the panel from the first process press 10A (b ₃ in the figure). FIG.
In this case, the transfer device 20B stops in the die area of the first process press 10A. In this case, the slide of the first step press 10A is rising after finishing the press, and if it stops at the top dead center (c ₂ in the figure), no interference with the transport device 20B occurs. Therefore, the individual master generator 42 of the first process press 10A is not desynchronized with the master signal generator 32, and moves to the top dead center (c ₂ in the figure) before stopping the individual master generator 42.
Since the first and second inter-process transfer device 20B is stopped in the die area of the first process press 10A, the transfer device 20A before the first process cannot carry in the panel. Therefore, the individual master generator 42 of the transport apparatus 20A before the first process must also be stopped at the timing when the individual master generator 42 of the first and second inter-process transport apparatus 20B is stopped.

The details of the operation of the press interference determination device will be described below. Here, the press interference determination in the first step is taken as an example.

The horizontal position command value X ₀ (θ) and the vertical position command value Y ₀ (θ) of the first pre-process transport device 20A can be expressed as a function of the master signal θ. The same applies to the horizontal position command value X ₁ (θ) and the vertical position command value Y ₁ (θ) of the first and second inter-process transfer device 20B.
The slide position L ₁ (θ) of the first process press 10A can also be expressed as a function of θ.

The horizontal movable range of the first pre-process transport device 20A is defined as 0 ≦ X ₀ (θ) ≦ X _0L (47)
And the vertical movable range is 0 ≦ Y ₀ (θ) ≦ Y _0L (48)
And The horizontal range corresponding to the die area of the first process press 10A is defined as X ₀₁ ≦ X ₀ (θ) ≦ X _0L (49)
To do.
Similarly, the horizontal direction movable range of the first and second inter-process transfer device 20B is defined as 0 ≦ X ₁ (θ) ≦ X _1L (50)
And the vertical movable range is 0 ≦ Y ₁ (θ) ≦ Y _1L (51)
And The horizontal range corresponding to the die area of the first process press 10A is defined as 0 ≦ X ₁ (θ) ≦ X ₁₁ (52)
And

The value of the master signal 1 corresponding to the bottom dead center of the first process press 10A is θ _BDC , and the value of the master signal 1 corresponding to the top dead center is θ _TDC .
A master signal 1 corresponding to a range in which the first pre-process conveyance device 20A enters the die area (formula (49)) of the first process press 10A,
θ _IN01 ≦ θ ≦ θ _OUT01 (53)
And Further, the master signal 1 corresponding to the range in which the first and second inter-process transfer device 20B enters the die area (formula (52)) of the first process press 10A,
_{_{θ IN11 ≦ θ ≦ θ OUT11 ···}} (54)
And
The value of the master signal 1 corresponding to the panel release position of the first pre-process transport apparatus 20A is θ _0L , and the value of the master signal 1 corresponding to the panel pickup position of the first and second inter-process transport apparatus 20B is θ _1P . .

When the occurrence of abnormality is notified from the conveyance device abnormality detector 56, the interference determination unit 58 stores the value θ _e of the master signal 1 and the amount of change ω _e (= dθ _e / dt) when the abnormality occurs. The individual master generators 42 of the

transport apparatuses

20A and 20B in which the abnormality has occurred are immediately desynchronized from the master signal generator 32 and stopped, but the transport apparatus main body continues to move by inertia until it is decelerated by the brake. The idle running distance of this conveying device also depends on the position and speed when an abnormality occurs, as in the press. With the idle running distance as a function of θ _e and ω _e , the idle running distance of the first pre-process transfer device 20A is θ _0R (θ _e , ω _e ), and the idle running distance of the first and second inter-process transfer device 20B is Let θ _1R (θ _e , ω _e ).

When an abnormality occurs in the pre-first transport apparatus 20A, the expected stop value of the master signal 1 corresponding to the stop position is expressed as θ _0e ′ = θ _e + θ _0R (θ _e , ω _e ) (55)
And
When an abnormality occurs in the first and second inter-process transfer device 20B, the expected stop value of the master signal 1 corresponding to the stop position is expressed as θ _1e ′ = θ _e + θ _1R (θ _e , ω _e ) ( 56)
And

FIG. 16 is a flowchart of the press interference determination device. Details will be described below.
Assume that an abnormality has occurred in the first and second inter-process transfer device 20B (T1, T2, T20). The expected stop value θ _1e ′ at that time is obtained from the equation (56).
(1) The expected stop value θ _1e ′ is θ _BDC ≦ θ _1e ′ ≦ θ _TDC (57)
In the case of (T21), since the press is in the middle of the ascending process, there is no interference between the conveying device 20B and the press slide, and the individual master generator 42 of the first process press 10A is operated to the top dead center. Then, it may be stopped (T22).
(2) The expected stop value θ _1e ′ is θ _TDC ≦ θ _1e ′ ≦ θ _BDC + T (58)
In this case (T23), since the press is in the middle of the downward stroke, the conveying device 20B interferes with the press slide. Therefore, the individual master generator 42 of the first process press 10A must be stopped immediately (T24).

In both cases (1) and (2)
θ _IN11 ≦ θ _1e ′ ≦ θ _OUT11 (59)
At this time (T25), since the first and second inter-process transfer device 20B stops in the die area of the first process press 10A, it interferes with the first pre-process transfer device 20A that enters later. End up. Therefore, in the case of the equation (59), the individual master generator 42 of the first pre-process transport apparatus 20A must also be stopped immediately (T26).

Next, it is assumed that an abnormality has occurred in the first pre-process transfer apparatus 20A (T1, T2, T10). The expected stop value θ _0e ′ at that time is obtained from Expression (55).
(3) The expected stop value θ _0e ′ is θ _BDC ≦ θ _0e ′ ≦ θ _TDC (60)
In this case (T11), since the press is in the middle of the ascending process, there is no interference between the conveying device 20A and the slide of the press 10A, and the individual master generator 42 of the first process press 10A operates to the top dead center. And then stop (T12).

(4) The expected stop value θ _0e ′ is θ _TDC ≦ θ _0e ′ ≦ θ _BDC + T (61)
In the case of (T13), since the press is in the middle of the downward stroke, the conveying device 20A interferes with the press slide. Therefore, the individual master generator 42 of the first process press 10A must be stopped immediately (T14).

In the case of the first pre-process transport apparatus 20A, for example, θ _0e ′ is θ _IN01 ≦ θ _0e ′ ≦ θ _OUT01 (62)
Even so, since the first and second inter-process transfer apparatuses 20B have escaped from the die area before the first pre-process transfer apparatus 20A enters the die area, no interference occurs. Therefore, it is not necessary to stop the individual master generator 42 of the first and second inter-process transfer device 20B.

FIG. 17 is a diagram of a fifth embodiment of the press line control device according to the present invention for realizing non-interference stop of the transport device.
In this example, the stop control device 50 described above includes a conveyance device abnormality detector 56 and a press interference determination device 58.

This fifth embodiment is an example in which the target position 6 of the transport device and the slide target position 4 of the press are used as the reference values for the interference determination. This also determines whether interference with the press occurs based on the relationship of the target position when an abnormality occurs, and stops the master signal.

When abnormality from the transport device abnormality detector 56 is notified, the press interference judgment unit 58 stores the abnormal conveyance apparatus target value X _e at the amount of change _{V xe (= dX e / dt} ). Further, the target value S _1e of the slide of the first process press 10A at the time of occurrence of the abnormality and the amount of change υ _e (= dS _1e / dt) are stored.
The individual master generators 42 of the

transport apparatuses

20A and 20B in which the abnormality has occurred are immediately desynchronized from the master signal generator 32 and stopped, but the transport apparatus main body continues to move by inertia until it is decelerated by the brake. The idle travel distance of the

transfer devices

20A and 20B depends on the speed of the transfer device when an abnormality occurs. As a function of the free running distance V _0xe or V _1xe , the idle running distance of the first pre-process transfer device 20A is X _0R (V _0xe ), and the idle running distance of the first and second inter-process transfer device 20B is X _1R. (V _1xe ).

When an abnormality occurs in the pre-first-process transport device 20A, the predicted stop position value is _X0e '= _X0e + _X0R ( _V0xe )
... (63)
And
First, when an abnormality occurs in the second step between transport device 20B, the stop position predicted value _{_{_{X 1e '= X 1e + X}}} 1R (V 1xe)
... (64)
And

Assume that an abnormality has occurred in the first and second inter-process transfer device 20B. The expected stop value X _1e ′ at that time is obtained from Expression (64).

(1) The expected stop value X _1e ′ is 0 ≦ X _1e ′ ≦ X ₁₁
... (65)
In this case, since the first and second inter-process transfer device 20B is stopped in the die area of the first press 10A, the individual master generation of the first process press 10A is performed in consideration of interference with the press slide. It is necessary to switch the movement of the device 42.

When υ _e ≦ 0, the slide is descending, and unless the press 10A is stopped, the abnormally stopped conveying device 20B interferes with the press slide. Therefore, it is necessary to immediately stop the individual master generator 42 of the first process press 10A.

When υ _e > 0, the slide is rising, so there is no possibility that the transport device 20B and the press slide interfere. Therefore, the individual master generator 42 of the first process press 10A may be stopped after operating up to θ _TDC .

(2) The expected stop value X _1e ′ is X ₁₁ <X _1e ′ (66)
In this case, since the first and second inter-process transfer device 20B is stopped outside the die area of the first press 10A, it is not necessary to consider interference with the slide of the first process press 10A. Therefore, the individual master generator 42 of the first process press 10A may be stopped after operating up to θ _TDC .

Next, it is assumed that an abnormality has occurred in the pre-first transport apparatus 20A. The expected stop value X _0e ′ at that time is obtained from the equation (63).

(3) The expected stop value X _0e ′ is X ₀₁ ≦ X _0e ′ ≦ X _0L
... (67)
In this case, since the first pre-process conveyance device 20A has stopped in the die area of the first press 10A, the interference with the press slide is taken into consideration and the individual master generator 42 of the first process press 10A It is necessary to switch the movement.

When υ _e ≦ 0, the slide is descending, and unless the press 10A is stopped, the conveying device 20A that has stopped abnormally interferes with the press slide. Therefore, it is necessary to immediately stop the individual master generator 42 of the first process press 10A.
When υ _e > 0, since the slide is rising, there is no possibility that the slide of the transport device 20A and the press 10A interfere. Therefore, the individual master generator 42 of the first process press 10A may be stopped after operating up to θ _TDC .

(4) The expected stop value X _0e ′ is X _0e ′ <X ₀₁ (68)
In this case, since the first pre-process conveyance device 20A is stopped outside the die area of the first press 10A, it is not necessary to consider interference with the slide of the first press 10A. Therefore, the individual master generator 42 of the first process press 10A may be stopped after operating up to θ _TDC .

According to the above-described apparatus and method of the present invention, the master signal 1 serving as a reference for the entire servo press line is prepared in the servo press line, and the individual master generator 42 that outputs the individual master signal 4 synchronized with the master signal 1 is prepared. Is provided for each of the devices that operate following the master signal 1, so that if an abnormality occurs in some of the devices, the position where the individual master generator 42 of the device that may interfere with the abnormally stopped device avoids the interference. The individual master generator 42 of the device that is stopped at and without the possibility of interference can be operated and stopped to the normal stop position of the device.

In addition, this invention is not limited to embodiment mentioned above, Of course, a various change can be added in the range which does not deviate from the summary of this invention.

Claims

A servo press line in which a plurality of presses that drive a slide with a servo motor and a plurality of conveying devices that carry in and / or carry out workpieces on the press are continuously arranged,
A press line control device for controlling the entire servo press line;
The press line control device includes a master signal generator that outputs a master signal serving as a reference for the entire servo press line;
A plurality of individual master generators for outputting individual master signals synchronized with the master signal;
A plurality of press control devices that uniquely output the command value of the slide position of the press in synchronization with the change of the corresponding individual master signal;
A plurality of transfer control devices that uniquely output a command value of the operation position of the transfer device in synchronization with a change in the corresponding individual master signal;
A servo press line, comprising: a stop control device that individually stops the press or the transport device when an abnormality occurs in the press or a part of the transport device.
The stop control device immediately stops the individual master generator of the device in which the abnormality has occurred, and stops the individual master generator of the device that may interfere with the device in which the abnormality has occurred in a position avoiding interference, thereby causing interference. 2. Servo press line according to claim 1, characterized in that the individual master generator of the unlikely device is operated to a normal stop position and stopped.
The stop control device includes a plurality of press abnormality detectors that detect abnormality of each press and output an abnormality signal;
It consists of a plurality of transfer device interference determiners that determine the interference between each press and the adjacent transfer device,
When the press abnormality detector outputs an abnormal signal, the transfer device interference determiner determines whether or not there is interference between the press and the slide portion of the adjacent transfer device,
In case of interference, the individual master generator of the transport device is desynchronized from the master signal generator, the individual master signal is decelerated and stopped,
3. The servo press line according to claim 2, wherein when there is no interference, the individual master signal is continuously synchronized with the master signal, and desynchronized and stopped when the operation start position is reached.
Adjacent to the transport device from the value of the master signal, the angle of the crankshaft encoder attached to the crankshaft of the press, the attitude of the slide drive system of the press, or the slide position command value of the press and the position command value of the transport device 4. The servo press line according to claim 3, wherein the presence or absence of interference with the slide portion of the press is determined.
The stop control device includes a plurality of transport device abnormality detectors that detect an abnormality of each transport device and output an abnormality signal;
It consists of a plurality of press interference determiners that determine the interference between each press and the adjacent transport device,
The press interference determination device, when the conveyance device abnormality detector outputs an abnormal signal, determines the presence or absence of interference between the conveyance device and the adjacent slide portion of the press,
In case of interference, the individual master generator of the press is desynchronized from the master signal generator, the individual master signal is decelerated and stopped,
3. The servo press line according to claim 2, wherein when there is no interference, the individual master signal is continuously synchronized with the master signal, and desynchronized and stopped when the top dead center position is reached.
The press adjacent to the transport device from the value of the master signal, the angle of the crankshaft encoder attached to the crankshaft of the press, the attitude of the slide drive system of the press, or the target position of the transport device and the slide target position of the press 6. The servo press line according to claim 5, wherein the presence or absence of interference with the slide portion is determined.
A servo press line control method in which a plurality of presses that drive a slide by a servo motor and a plurality of conveying devices that carry in and / or carry out workpieces in the press are continuously arranged,
A master signal serving as a reference for the entire servo press line is output,
For each press and each transport device, output an individual master signal synchronized with the master signal,
A command value for the slide position of the press is uniquely output in synchronization with the change in the corresponding individual master signal,
Synchronously output the command value of the operating position of the transfer device in synchronization with the change of the corresponding individual master signal,
A control method of a servo press line, wherein when an abnormality occurs in a part of the press or the transport device, the press or the transport device is individually stopped.
Immediately stop the individual master generator of the device in which the abnormality has occurred, stop the individual master generator of the device that may interfere with the device in which the abnormality has occurred, at a position that avoids interference, and 8. The servo press line control method according to claim 7, wherein the individual master generator is stopped by operating to a normal stop position.