WO2011074616A1 - Procédé d'établissement de trajet de transport de ligne de presse, et procédé de création de mouvement de transport de ligne de presse dupliquée - Google Patents

Procédé d'établissement de trajet de transport de ligne de presse, et procédé de création de mouvement de transport de ligne de presse dupliquée Download PDF

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Publication number
WO2011074616A1
WO2011074616A1 PCT/JP2010/072588 JP2010072588W WO2011074616A1 WO 2011074616 A1 WO2011074616 A1 WO 2011074616A1 JP 2010072588 W JP2010072588 W JP 2010072588W WO 2011074616 A1 WO2011074616 A1 WO 2011074616A1
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WIPO (PCT)
Prior art keywords
new
press
existing
transport
interference curve
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PCT/JP2010/072588
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English (en)
Japanese (ja)
Inventor
耕宏 松井
竜也 佐藤
善浩 影山
佑輔 加澤
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from JP2009283983A external-priority patent/JP5450025B2/ja
Priority claimed from JP2009283979A external-priority patent/JP5450024B2/ja
Priority claimed from JP2009290667A external-priority patent/JP5450037B2/ja
Priority claimed from JP2009290666A external-priority patent/JP5306980B2/ja
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Publication of WO2011074616A1 publication Critical patent/WO2011074616A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/05—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work specially adapted for multi-stage presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02—Advancing work in relation to the stroke of the die or tool
    • B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
    • B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/14—Control arrangements for mechanically-driven presses
    • B30B15/146—Control arrangements for mechanically-driven presses for synchronising a line of presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/26—Programme control arrangements

Definitions

  • the present invention relates to a method for setting a conveyance path for a press line and a method for creating a conveyance motion for a duplicate press line using a mold having the same or the same shape as a mold of an existing press line.
  • a transport device for transporting a workpiece between the press machines is provided.
  • a press line manufactures a product of a predetermined shape from a plate-shaped workpiece through a plurality of pressing processes by each pressing machine. Each press is assigned a different pressing process.
  • the conveying device provided between the pressing machines is configured such that, for each pressing machine that moves up and down at a predetermined cycle, the conveying path from the pressing machine that performs the previous pressing process to the pressing machine that performs the next pressing process.
  • a workpiece is conveyed using a conveying device along Therefore, it is necessary to set the transport motion of such a transport device so as not to interfere with the upper mold and the lower mold, which are the molds of each press machine that moves up and down.
  • Patent Document 1 discloses a method for creating a transport motion of such a transport device.
  • a transport motion creation method a plurality of transport motion reference forms are prepared in advance.
  • a start position and an end position of the transport apparatus are designated.
  • this transport motion creation method it is only necessary to select the reference form and specify the start position and end position of the transport apparatus, so the time required for creating the transport motion of the transport apparatus can be reduced.
  • Patent Document 2 shows a transport motion of the transport device.
  • the timing at which the transport device reaches the press machine is sequentially provided with a phase difference from the upstream press machine to the downstream press machine, and the above timing is sequentially set from the upstream press machine to the downstream press machine. Delay. According to this conveyance motion, the raising / lowering speed of a press machine can be raised, without raising the conveyance speed of a conveying apparatus.
  • Patent Document 3 discloses a method for creating a transport motion of the transport device.
  • this conveyance motion creation method an interference check is performed using the shape data of each press and conveyor, workpiece and mold, and the motion of each press and conveyor is adjusted to create a conveyance motion.
  • this conveyance motion creation method it is possible to obtain a phase adjustment result that increases line production efficiency while avoiding interference between each press and conveyance device, workpiece, and mold in a short adjustment operation.
  • existing press lines that are already in operation may be relocated and built as duplicate press lines.
  • the mold of the existing press line is transferred, but the press machine and the conveying device are different from the existing press line.
  • the duplication press line also differs in the conveyance distance of the workpiece
  • One or more embodiments of the present invention provide a transfer path setting method that can set a transfer path of a transfer apparatus suitable for the shape of a mold.
  • one or more embodiments of the present invention provide an operating condition setting method that can efficiently set the operating conditions of the press line so that the upper mold that moves up and down does not interfere with the transfer device.
  • one or more embodiments of the present invention provide a transport motion creation method that can reduce the number of transport motion creation steps when constructing a duplicate press line that uses a mold having the same or the same shape as a mold of an existing press line. .
  • a method for setting a conveyance path for a press line includes: A temporary setting step for temporarily setting the position of the control point that defines the transport path of the transport device; A trajectory for calculating a trajectory of the holding unit when the transport device passes the control point based on the temporarily set position information and further moves the transport device along the transport path. A calculation process; While comparing the calculated trajectory of the holding portion and the shape of the lower mold, the trajectory is divided into a plurality of sections, and further, the interval between the trajectory and the lower mold approaches the target value set for each section.
  • a transport route determination step for adjusting the position of the control point including.
  • the press line operating condition setting method is: A candidate point extraction step for extracting a plurality of candidate points that may interfere with the transfer device or the workpiece from the upper mold surface based on the upper mold shape data; An upper interference curve generation step of generating a plurality of upper interference curves that respectively pass through a plurality of candidate points under temporarily set operation conditions; A gap is formed between one upper interference curve and a corresponding candidate point for one upper interference curve that interferes with only one candidate point with respect to the upper die among the plurality of upper interference curves.
  • an operation condition determining step for correcting the temporarily set operation condition including.
  • a method for creating a transport motion of a duplicate press line includes: A data reading process for reading data on an existing press line upper mold interference curve formed from the trajectory of an existing conveying apparatus with respect to the upper mold; An existing press line upper mold interference curve point sequence step of forming a point sequence by a plurality of dividing points obtained by dividing the existing press line upper mold interference curve at a predetermined interval; A new upper mold interference curve individual setting step for generating a new upper mold interference curve formed by the trajectory of the new transfer device with respect to the upper mold for each of a plurality of division points; A new-type interference curve selection step of selecting one new-type interference curve that interferes with only one of a plurality of division points among the new-type interference curves; The new upper interference curve selected by the new upper interference curve selection step is moved in a direction away from the upper die so as to maintain a predetermined clearance from the upper die, and the new upper interference curve is generated. Mold interference curve correction process, including.
  • a method for creating a transport motion of a duplicate press line includes: A data reading process for reading data on the existing press line lower mold interference curve formed from the existing conveyance path and new conveyance condition data regarding the conveyance condition of the new conveyance path; A new lower mold interference curve initial setting step for initial setting of the temporary lower mold interference curve at a position away from the existing press line lower mold interference curve based on the data on the existing press line lower mold interference curve and the new transport condition data; , A plurality of control points are provided in the temporary lower mold interference curve at predetermined intervals, and the plurality of control points are directed toward the existing press line lower mold interference curve, and the plurality of control points are defined by the existing press line lower mold interference curve and the predetermined clearance. A transfer path setting step for generating a new lower interference curve by moving each of the including.
  • FIG. 1 is a diagram illustrating a schematic configuration of a press line 101 according to a first exemplary embodiment.
  • the press line 101 includes a plurality of press machines 102 that process the workpiece W, a plurality of transport devices 103 that are provided along with the press machines 102 and transport the workpiece W between the press machines 102, and A control device 104 that controls the operation of the press machine 102 and the operation of each conveyance device 103 is provided.
  • the press line 101 manufactures a product having a predetermined shape from a flat work through a plurality of press processes by each press machine 102.
  • the plurality of press machines 102 are arranged in the same order as the progress of the press process, and each press process is assigned to each press machine 102.
  • the pressing process proceeds in order from the left side to the right side in FIG.
  • the direction in which the pressing process proceeds and the transport direction Y in which each transport device transports the workpiece are the same.
  • Each press machine 102 moves the upper mold 122 closer to and away from the lower mold 121, the lower mold 121 disposed below the workpiece W, the upper mold 122 disposed opposite to the lower mold 121, and the lower mold 121. It has an elevating mechanism 123 and a controller (not shown) that controls the elevating mechanism 123. The press machine 102 presses the workpiece W by moving the upper mold 122 up and down along the vertical direction Z with respect to the lower mold 121.
  • the conveyance device 103 includes a columnar crossbar 132, a movement device (not shown) that moves the crossbar 132 along a conveyance path C set between adjacent pressing machines, and a controller (not shown) that controls the movement device.
  • the cross bar 132 is provided with a plurality of holding portions that attract and hold the workpiece W in a predetermined posture.
  • a dish-like vacuum cup 131 as shown in FIG. 1 is used as the holding portion will be described.
  • the shape, position, number, and the like of the holding portions are limited to the following. Absent.
  • FIG. 2 is a view of the transport device 103 as viewed from above in the vertical direction.
  • the cross bar 132 extends in the direction X perpendicular to the transport direction Y.
  • a total of four vacuum cups 131 are provided on the cross bar 132 in the front and rear in the transport direction Y. These vacuum cups 131 have a perfect circle shape when viewed along the vertical direction Z.
  • each conveyance device 103 includes a forward path CO extending from the press machine 102 that executes the pre-press process to the press machine 102 that executes the next press process, and the press machine 102 that executes the next press process. And a return path CB extending to the press machine 102 that executes the pre-pressing process.
  • Each conveyance device 103 moves the cross bar 132 along the conveyance path C between the adjacent press machines 102, and the workpiece W processed by the press machine 2 corresponding to the previous press process is transferred to the next press. It conveys to the press 102 corresponding to a process. That is, the transfer device 103 moves on the forward path CO while holding the workpiece W with the vacuum cup 131, and runs idle without holding the workpiece W on the return path CB.
  • Each transport device 103 operates as follows to transport the workpiece W.
  • the cross bar 132 is moved along the return path CB between the upper mold 122 and the lower mold 121 corresponding to the previous press process.
  • the workpiece W after being processed is sucked by the vacuum cup 131 and the workpiece W is held.
  • the cross bar 132 is moved along the forward path CO while holding the workpiece W between the upper mold 122 and the lower mold 121 corresponding to the next press process.
  • the held workpiece W is placed on the lower mold 121 of the press machine 102.
  • the control device 104 transmits a control signal to the controllers of the respective press machines 102 and the respective transport devices 103 based on the predetermined press motion data and the transport motion data, and periodically raises and lowers each press machine 102 (hereinafter, “ As well as a periodic transport operation (hereinafter referred to as “transport motion”) of each transport apparatus 103.
  • the transport motion calculation device 105 reads the press motion data that defines the press motion of each press 102, generates transport motion data that defines the transport motion of each transport device 103, and further generates the press motion data and the transport motion data. To the control device 104.
  • the press motion data defining the press motion includes information about the press motion such as the speed, position, and time for driving the upper mold 122 of each press 102.
  • the speed at which the upper mold 122 is driven is characterized as a processing speed indicating the processing capability of the work of the press machine 102, that is, a press SPM. Therefore, the larger the press SPM, the shorter the period for raising and lowering the upper mold 122.
  • the transport motion data defining the transport motion includes information regarding the transport path C of each transport apparatus 103 and the speed at which the transport apparatus 103 is driven along the transport path C.
  • the conveyance path C of the conveyance device 103 is defined as a locus of the center position of the crossbar 132 in the three-dimensional space.
  • the transfer motion data includes information on the line SPM as the line speed indicating the work production capacity, that is, the quantity that can be processed in one minute in the press line 101. That is, the production cycle in the press line 101 can be improved by setting the line SPM to a large value. Further, the speed and time for driving each transport device 103 are determined in accordance with the line SPM.
  • the transfer motion data includes information on the phase difference of the transfer motion between the transfer apparatuses 103 (hereinafter referred to as “phase difference between transfer apparatuses”). included.
  • the transport motion data includes the transport motion of each press 102 and each transport device. Information regarding the phase difference between the transfer motions 103 (hereinafter referred to as “press-transfer phase difference”) is included.
  • the transport motion calculation device 105 transmits press motion data and transport motion data including the above information to the control device 104.
  • FIG. 3 is a block diagram showing the configuration of the transport motion arithmetic unit 105.
  • the transport motion calculation device 105 includes an input device 151, a storage device 152, and a calculation device 153.
  • the input device 151 includes hardware such as a keyboard and a mouse that can be operated by the operator. Data and commands input by operating the input device 151 are input to the arithmetic device 153.
  • the storage device 152 is configured by hardware such as a hard disk or a CDROM. Various types of data are stored in the storage device 152, and the stored data is appropriately input to the arithmetic device 153.
  • the arithmetic unit 153 is configured by hardware such as a CPU, a ROM, and a RAM.
  • the arithmetic device 153 includes a plurality of functional blocks realized by these hardware. More specifically, the arithmetic device 153 includes a calculation data reading unit 1531, a calculation data processing unit 1532, a conveyance path calculation unit 1533, a conveyance path evaluation unit 1534, and an inter-conveyer phase difference calculation unit 1535.
  • a workable range calculation unit 1536, a workable range evaluation unit 1537, and a motion data output unit 1538 are included.
  • the storage device 152 stores CAD data that defines the shapes of the upper and lower dies of each press, the shape of the workpiece in each process, and the shape and position of the crossbar and vacuum cup of each transport device. In addition to such CAD data, preset storage motion data is stored in the storage device 152.
  • the calculation data reading unit 1531 reads various CAD data stored in the storage device 152 (see step S201 in FIG. 4 described later).
  • the calculation data processing unit 1532 performs preprocessing on the CAD data read by the calculation data reading unit 1531 to reduce the load on calculation (see step S203 in FIG. 4 described later).
  • the conveyance path calculation unit 1533 calculates the conveyance path C of each conveyance apparatus based on the preprocessed CAD data and various conveyance conditions including the line SPM (see step S204 in FIG. 4 described later). .
  • the conveyance path evaluation unit 1534 evaluates the conveyance path C calculated by the conveyance path calculation unit 1533 and determines whether or not the workpiece can actually be conveyed along the conveyance device C (see FIG. 4 described later). (See step S205).
  • the inter-transport device phase difference calculation unit 1535 calculates the inter-transport device phase difference based on the transport path C calculated by the transport path calculation unit 1533 and the line SPM input from the input device 151 (see FIG. 13 described later). (See step S261).
  • the workable range calculation unit 1536 reads the press motion data stored in the storage device 152. Further, when the press line is operated with the read press motion data and the set transport path C and the phase difference between the transport devices, the upper mold and the transport device and the work transported by the transport device interfere with each other. First, the workable range in which the press-conveyance phase difference can be set is calculated (see step S265 in FIG. 13 described later).
  • the workable range evaluation unit 1537 evaluates the calculated workable range and determines whether or not the workable range has been secured for all the press machines. If the workable range can be secured, the press-conveyance phase difference is set within this range (see step S211 in FIG. 4 described later).
  • the motion data output unit 1538 transmits the press motion data and the transport motion data calculated as described above to the control device 104 (see step S216 in FIG. 4 described later).
  • step S201 various CAD data are read.
  • the shape of the upper die of each press machine, the shape of the lower die of each press machine and the shape of the lower die on which the workpiece is placed, the shape of the work in each pressing process, and the crossbar and vacuum cup of each conveyor CAD data defining the shape and position is read from the storage device.
  • a conveyance condition is input.
  • the conveyance conditions indicate various set values that are required when the workpiece is conveyed by the conveyance device.
  • the conveyance conditions include the height of the crossbar when the workpiece is sucked, the lift amount and the feed amount with respect to the lower mold of the workpiece, and the workpiece when the workpiece is conveyed.
  • a set value such as an amount related to the held posture is included.
  • the line SPM is provisionally set to the maximum value. The line SPM set to the maximum value here is reset to an appropriate value in the steps S261 to S267 of FIG.
  • step S203 calculation data processing is performed.
  • the CAD data that defines the shape of the upper mold and the lower mold read in step S201 is generally three-dimensional data. Although it is theoretically possible to perform the following various calculations based on such three-dimensional data, there is a possibility that the calculation takes a long time. Therefore, in this step, in order to reduce the load required for the calculation of the conveyance path C and the workable range described later, the three-dimensional CAD data read in step S201 is preprocessed, and various data used for the calculation are stored. Generate. As will be described in detail later, the shape data of the upper mold and the lower mold is used when inspecting interference with the transport apparatus moving along the transport path C.
  • the part that may interfere with the upper mold and the lower mold is limited according to the shape of the transport device. Therefore, in this data processing for calculation, a location that is highly likely to interfere is identified based on the shape of the transfer device among the upper mold and the lower mold, and a three-dimensional calculation is performed to perform calculation specialized for the location. Various data such as two-dimensional data and point cloud data are generated from the data.
  • FIG. 5 is a flowchart showing a detailed procedure of calculation data processing.
  • the data generated in steps S231 and S232 is mainly used in steps S262 and S263 of FIG. 13 described later, and the data generated in steps S233 and S235 is mainly used in steps of FIG. 10 described later. This is used in S245.
  • step S231 upper mold two-dimensional silhouette data is generated. Since the transport device is provided with the vacuum cup extending downward in the substantially vertical direction from the cross bar extending perpendicularly to the transport direction as described above, there is a high possibility that the cross bar interferes with the upper mold. There is a high possibility that the vacuum cup interferes with the lower mold.
  • the crossbar is columnar and extends in a direction perpendicular to the transport direction.
  • the upper die has a shape of the upper die when viewed along the extending direction X of the crossbar. That is, it is considered that the shape of the upper die when the upper die is projected onto a plane parallel to the conveyance path is mainly important. Therefore, in step S231, two-dimensional silhouette data as shown in FIG. 6 obtained by projecting the upper mold onto a plane parallel to the transport path of the transport apparatus is generated from the upper mold three-dimensional data.
  • step S232 based on the upper mold two-dimensional silhouette data generated in step S231, a plurality of interference candidate points that may interfere with the crossbar of the transport device are extracted from the upper mold surface.
  • a plurality of directions D1 to DL are set for each arbitrary direction interval.
  • the points where the perpendicular to the direction line extending along each of the directions D1 to DL and the outside of the upper die contact at only one point are extracted as a plurality of candidate interference points A1 to AN and B1 to BN.
  • interference candidate points on the right side with respect to the center of the upper die that is, on the side where the crossbar passes when the workpiece is unloaded are set as a plurality of interference candidate points A1 to AN at unloading.
  • interference candidate points on the left side with respect to the center of the upper mold, that is, the side through which the crossbar passes when the workpiece is loaded are set as a plurality of interference candidate points B1 to BN at the time of loading.
  • a perpendicular line LM is drawn with respect to a direction line extending along the direction DM.
  • this perpendicular LM is translated from the upper die outer side to the upper die inner side along the direction DM, the point where the perpendicular LM first contacts the contour of the upper die is extracted as an interference candidate point AM. To do.
  • the point where the perpendicular line LM is in contact with the contour line of the upper mold is the interference candidate point AM. It may be extracted.
  • step S233 at least four feature points are extracted for each vacuum cup.
  • the vacuum cup is dish-shaped as described above, and its suction portion is directed downward. Therefore, in the following calculation relating to the interference between the vacuum cup and the lower mold, in this step S233, at least four at the outer periphery of the annular suction portion are possible so that high-speed calculation is possible while maintaining the effectiveness of the calculation.
  • Feature points P1, P2, P3, and P4 are virtually set (see FIG. 8).
  • the trajectory of the vacuum cup when the crossbar is moved along the transport path is regarded as the trajectory of the feature points P1 to P4.
  • step S233 such a plurality of feature points are extracted for all vacuum cups.
  • step S234 a plurality of feature points P1 to P4 corresponding to each of the extracted vacuum cups are projected onto the workpiece placed on the lower mold.
  • step S235 two-dimensional data of a cross section including the trajectory of each feature point P1 to P4 of the lower mold on which the work is placed is generated.
  • the shape of the vacuum cup is simplified as the four feature points P1 to P4 in the two-dimensional plane, the shape of the lower mold can also be simplified. That is, as shown in FIG.
  • the shape of the lower mold includes these feature points P1 to Only the cross-sectional shape along each plane including the trajectory TR1, TR2, TR3, TR4 of P4 is considered to be mainly important. Therefore, in this step S235, the representative points P1 to P4 of the four vacuum cups are projected onto the workpiece placed on the lower die along the transport direction Y on the lower die, thereby causing each locus of the representative points P1 to P4. Two-dimensional data of the workpiece and the lower cross section along each plane including TR1 to TR4 is generated from the lower three-dimensional data.
  • the shape of the work is different before and after the press work. Accordingly, in the generation of the two-dimensional data of the cross section of the workpiece and the lower die, two types of two-dimensional, the lower die on which the workpiece before pressing is placed and the lower die on which the workpiece after pressing is placed. Generate data. Accordingly, the number of workpieces corresponding to (number of vacuum cups) ⁇ (number of feature points extracted from one vacuum cup) ⁇ 2 (work pieces before and after pressing) and the two-dimensional cross section of the lower die Data is generated. In addition, the conveyance apparatus (refer to conveyance apparatus 103A in FIG.
  • the conveyance apparatus (conveyance apparatus in FIG. 9 described later) for carrying the workpiece before pressing into the lower die
  • the conveyance apparatus conveying the workpiece after pressing from the lower mold.
  • the position and number of the vacuum cups are different from each other. Therefore, in this case, the position and number of the cross section of the lower die on which the workpiece before pressing is placed are different from the position and number of the lower die on which the workpiece after pressing is placed.
  • FIG. 9 is a schematic diagram illustrating the configuration of the transport path C and the transport apparatus 103 that moves along the transport path C.
  • FIG. 9 shows a transfer apparatus 103A that moves while holding the workpiece W along the forward path CO, and a transfer apparatus 103B that runs idle without holding the workpiece along the return path CB.
  • the distance between the transport device 103 or the work W transported by the transport device 103 and the lower mold 121 or the work W placed on the lower mold 121 is as small as possible. Is set to be
  • the transfer device 103B runs idle without holding a workpiece. For this reason, the return path CB is set such that the distance between the vacuum cup 131 of the transfer apparatus 103B, the workpiece W, and the lower mold 121 is small.
  • the forward path CO of the transport path C the transport apparatus 103A moves while holding the workpiece W. For this reason, the forward path CO is set so that the distance between the workpiece W held by the transfer apparatus 103A and the lower mold 121 is small. In this way, by setting the transport path C so that the distance from the lower mold 121 is small, it is possible to easily avoid interference between the upper mold 122 that moves up and down with respect to the lower mold 121 and the transport apparatus 103.
  • step S241 the position of the control point PC is temporarily set.
  • this control point PC defines the transport path C of the transport apparatus 103 as a point through which the crossbar 132 should pass, and is set in the vicinity of the lower mold.
  • the position of the control point PC is defined by coordinates (YPC, ZPC) with the predetermined reference point PLO of the lower mold as the origin. That is, the position of the control point PC is defined by two values: a distance YPC along the transport direction Y from the reference point PLO and a distance ZPC along the vertical direction Z from the reference point PLO. Note that when the control point PC is temporarily set in step S241, it is preferable to set the operation limit value of the transfer device farthest from the workpiece and the lower mold.
  • step S242 the conveyance path C passing through the temporarily set control point PC is calculated based on the control point position information (YPC, ZPC) (see FIG. 11).
  • the transport path of the transport device is defined by a predetermined function according to the transport speed, the operation range, and the like of the transport device. Therefore, by inputting the position information (YPC, ZPC) of the temporarily set control point PC as a point through which the crossbar should pass, as shown in FIG. 11, the transport direction Y and the vertical direction Z are used as the base.
  • the conveyance path C can be determined as a trajectory in the plane.
  • step S243 the transport path is divided into three sections (section 1, section 2, and section 3) according to the transport speed of the transport apparatus, excluding a predetermined minute section including the end of the path (see FIG. 12). .
  • the transfer speed of the transfer device is set to decrease as the end of the path is approached (from section 3 to section 1), assuming an emergency stop of the press line, a power failure, parts breakage, etc. Is done. Therefore, in the following, the transport path C is divided into three sections in order to set a transport path suitable for each section having different transport speeds.
  • the transport path in section 1 is C1
  • the transport path in section 2 is C2
  • the transport path in section 3 is C3.
  • the conveyance path is determined so that a predetermined distance is secured between the locus of the vacuum cup and the workpiece and the lower mold. Therefore, in order to prevent erroneous determination that the conveyance device and the workpiece interfere with each other in the following processing, as described above, the section 1 except for the minute section including the end of the path is excluded from the conveyance path. Define ⁇ 3.
  • step S244 the trajectories of all feature points of all vacuum cups when the transport device is moved along the transport path C set in step S242 are calculated. More specifically, each trajectory is calculated by translating the transport paths C1, C2, and C3 to the feature points.
  • the trajectories of all the feature points of all the vacuum cups are defined as a set of trajectories belonging to section 1 (hereinafter referred to as “C1 trajectory group”) and a set of trajectories belonging to section 2 (hereinafter referred to as “C2 trajectory”). And a set of trajectories belonging to the section 3 (hereinafter referred to as “C3 trajectory group”).
  • FIG. 12 shows only the locus of three feature points as an example.
  • step S245 the workpiece and lower mold are compared by comparing the two-dimensional data of the entire lower section of the lower mold generated in step S235 of the calculation data processing with the C1, C2, and C3 trajectory groups calculated in step S244. And the feature point trajectory are calculated for each trajectory group.
  • step S246 the measured value of the distance from the lower die for each trajectory group in step S245 is compared with a predetermined target value set for each section. More specifically, the difference between the measured value of the interval for each trajectory group and the target value is calculated.
  • the transport speed of the transport device is set to become slower as the end of the path is approached. In this way, since the transport speed of the transport device is set to be slower as the end of the path is approached, the target value of the interval between the workpiece and the lower mold and the trajectory increases from section 3 to section 1. It is set to be smaller.
  • step S247 the smallest one of the differences between the measured value and the target value for each trajectory group calculated in step S246 is selected.
  • step S248 by determining whether or not the difference between the measurement value selected in step S247 and the target value is within a predetermined allowable range, the distance between the vacuum cup trajectory and the workpiece and the lower mold is determined as the target. Determine if the value is close enough. If this determination is YES, the process is immediately terminated, and if NO, the process proceeds to step S249.
  • step S249 in response to determining that the difference between the vacuum cup trajectory and the target value is not within the allowable range, the position of the control point PC is adjusted so that the vacuum cup trajectory approaches the target value. Then, the process proceeds to step S242.
  • the measured value is larger than the target value, that is, when the locus of the vacuum cup is far away from the workpiece and the lower mold
  • the position of the control point PC is brought closer to the lower mold reference point PLO. It is preferable to adjust to.
  • the position of the control point PC is set to the lower mold. It is preferable to adjust the distance from the reference point PLO.
  • step S ⁇ b> 205 it is determined whether or not the workpiece can be conveyed along the set conveyance route C.
  • the work along the transport path C can be actually transported by calculating the load on the moving device that moves the crossbar. It is determined whether or not there is. If this determination is YES, the process proceeds to step S206, and if NO, the process proceeds to step S204 to reset the transport path C that can be transported.
  • step S206 press motion data is read.
  • the press SPM reads the maximum press motion data.
  • the press SPM is set to the maximum value as the provisional value.
  • the press SPM of each press is reset to an appropriate value in steps S212 to S214, which will be described in detail later.
  • step S207 a process of setting a phase difference between adjacent transfer devices and a line SPM is executed, and then the process proceeds to step S211.
  • FIG. 13 is a flowchart showing a detailed procedure for setting the phase difference between these transfer devices and the line SPM.
  • FIG. 14 is a diagram illustrating a state in which two transfer apparatuses 103A and 103B are simultaneously present in the mold of the press machine 102.
  • FIG. 14 shows a state in which after the workpiece WA is processed by the press machine 102, the workpiece WB before processing is carried in by the transfer device 103B while the processed workpiece WA is carried out by the transfer device 103A.
  • FIG. 14 shows a state in which after the workpiece WA is processed by the press machine 102, the workpiece WB before processing is carried in by the transfer device 103B while the processed workpiece WA is carried out by the transfer device 103A.
  • the time difference between the time when the workpiece WA after processing is unloaded from the press machine 102 and the time when the workpiece WB before processing is loaded into the press machine 102 is as much as possible. It is preferable to shorten it. That is, it is preferable to reduce the time spent in the molds of the two transfer apparatuses 103A and 103B as much as possible. Therefore, the phase difference between the transfer devices 103A and 103B is within the mold of the press machine 102 between the processed work WA unloaded from the press machine 102 and the unprocessed work WB loaded into the press machine 102.
  • the interval ⁇ YL along the transport direction Y is set to be minimum.
  • step S261 the phase difference between the conveying apparatuses adjacent to each other is set under the above policy.
  • step S262 for each of the candidate interference points A1 to AN during unloading and each of the candidate interference points B1 to BN during loading extracted in step S232 of the calculation data processing, these candidate interference points A1.
  • An upper interference curve passing through ⁇ AN and B1 ⁇ BN is generated under temporarily set operating conditions.
  • the upper mold interference curve refers to the trajectory of a crossbar interference point, which is a point that easily interferes with the upper mold 122, of the crossbar 132 that moves along the set conveyance path, under a predetermined condition set. It is the figure seen from the stationary system of the upper mold
  • the upper interference curve in the case where the cross bar 132 is moved along the path exiting from the lower mold in the return path CB is indicated by a solid line. In this case, the left point PA in FIG.
  • the function form of the upper mold interference curve changes according to the ratio of the upper mold pressing speed and the conveying speed of the conveying apparatus (pressing speed / conveying speed, hereinafter referred to as “PM ratio”).
  • PM ratio the ratio of the upper mold pressing speed and the conveying speed of the conveying apparatus
  • the upper interference curve tends to change so that the angle with respect to the horizontal direction becomes larger as shown by the alternate long and short dash line in FIG.
  • the PM speed is reduced by decreasing the press speed
  • the upper interference curve tends to change so that the angle with respect to the horizontal direction becomes smaller as shown by the two-dot chain line in FIG.
  • a plurality of interference candidate points A1 to AN, B1 to BN are extracted in advance, and each time the PM ratio is changed, the plurality of interference candidate points A1 are extracted as described in detail below.
  • a method is used in which optimum operating conditions are searched by selecting a point that is most likely to interfere from AN, B1, and BN.
  • step S262 after determining the function form of the upper mold interference curve under the temporarily set line SPM and press SPM, the upper mold interference curve is moved in parallel. An upper interference curve that passes through the extracted interference candidate points A1 to AN and B1 to BN is generated. Note that the operation of translating the upper mold interference curve while the function shape of the upper mold interference curve is fixed is equivalent to changing a later-described press-conveyance phase difference ⁇ TP. Further, in FIG. 16, illustration of the upper mold interference curve passing through the interference candidate points B1 to BN at the time of carrying in is omitted.
  • the upper mold is selected from the generated upper interference curve that passes through the interference candidate points A1 to AN at the time of carry-out and the upper mold interference curve that passes through the candidate interference points B1 to BN at the time of carry-in.
  • the upper interference curve that interferes only at the interference candidate point is selected.
  • the upper interference curve that interferes only with the interference candidate point with respect to the upper die means an upper interference curve that contacts with the upper die only with the interference candidate point. In the example shown in FIG. This corresponds to the upper interference curve passing through the candidate point A3.
  • step S264 a predetermined necessary clearance is secured between the upper mold interference curve and the upper mold by moving the upper mold interference curve selected in step S263 in a direction away from the upper mold.
  • step S265 the workable range of each press is determined based on the interference candidate point at the time of unloading and the interference candidate point at the time of loading selected in steps S263 and S264 and the upper mold interference curve passing through each interference candidate point. Calculate and move to step S266.
  • the workable range refers to the upper mold and the transfer device when the press line is operated under the set transfer path C, transfer device phase difference ⁇ TH, line SPM, and press SPM of each transfer device.
  • a range in which the press-conveyance phase difference ⁇ TP can be set without interference with the workpiece held by the conveying device is shown.
  • FIG. 17 is a diagram showing a workable range of press-conveyance phase difference.
  • the upper mold and the conveyance device interfere with each other, and there are an area where the workpiece cannot be unloaded and an area where the workpiece cannot be loaded. Therefore, the workable range is limited to an area where unloading and loading are possible.
  • step S265 a workable range in which a press-conveyance phase difference can be set is calculated for each press.
  • step S266 it is determined whether or not work is possible, that is, whether or not a workable range having a significant size has been secured. If this determination is NO, it is determined that the conveying device cannot be moved without interfering with the upper mold under the temporarily set line SPM or press SPM, and the process proceeds to step S267. In step S267, the line SPM is set to a smaller value, and then the process proceeds to step S261. That is, the line SPM is reduced until work is possible. On the other hand, if this determination is YES, the transport path, line SPM, and transport device are selected so that the upper interference curve selected in step S263 passes through the vicinity of the interference candidate point and passes near the interference candidate point. In order to determine the remaining operating conditions excluding the interphase difference, the process proceeds to step S211 in FIG. In step S246, the line SPM is reduced so that the work can be performed, and the process proceeds to step S241.
  • step S ⁇ b> 211 the workable range of each press machine calculated in step S ⁇ b> 265 is evaluated, and it is determined whether an appropriate workable range is secured for all the press machines. If it is determined that a sufficient workable range can be secured, for example, the press-conveyance phase difference ⁇ TP is set at the approximate center of the workable range, and the process proceeds to step S212.
  • step S212 it is determined whether or not there is a surplus in the workable range for each pressing machine calculated in step S208. If this determination is YES, that is, if there is a surplus in the workable range, the process proceeds to step S213, the press SPM in the press with surplus is set to a smaller value, and then the process proceeds to step S214. In step S214, the workable range is calculated again under the set press SPM, and the process proceeds to step S212. On the other hand, if this determination is NO, the setting of the press motion data and the transport motion data is terminated, and the process proceeds to step S215.
  • FIG. 18 is a diagram showing a change in the workable range when the press SPM is reduced. As shown in FIG. 18, if only the press SPM is reduced while keeping the line SPM, the workable range becomes narrower. This is because, when the press SPM is reduced as described above, the function shape of the upper mold interference curve changes, and as a result, the gap between the upper mold interference curve and the upper mold becomes narrow, and therefore, the surplus of the workable range described above. Corresponds to the gap between the upper mold interference curve and the upper mold.
  • the upper mold interference curve is set based on the set transport path C of each transport apparatus, each transport apparatus phase difference ⁇ TH, line SPM, and press-conveyance phase difference ⁇ TP. And the press SPM is reduced until the gap between the interference candidate points focused on when calculating the workable range in step S265 reaches a predetermined lower limit.
  • the lower limit of the gap between the upper mold interference curve and the interference candidate point is assumed to be the upper mold and the transfer device even in an emergency, assuming an emergency stop of the press line, a power failure, parts breakage, etc. Is set to a value that does not interfere with the equipment specifications.
  • step S215 an animation that reproduces the press motion of the press and the transport motion of the transport device is generated based on the set press motion data and transport motion data. The operator looks at this animation and finally confirms the press motion data and the transport motion data.
  • step S216 the press motion data and the transport motion data are transmitted to the control device, and this process is terminated.
  • the position of the control point PC that defines the transport path is temporarily set, and the transport apparatus 103 is based on the position information (YPC, ZPC) of the control point PC.
  • a transport path C that passes through the control point PC is calculated, and the locus of the vacuum cup 131 when the transport apparatus 103 is moved along the transport path C is calculated.
  • the trajectory of the vacuum cup 131 is compared with the shape of the lower mold 121, and the temporary setting is performed so that the distance between the trajectory and the lower mold 121 approaches the target value set for each of the sections 1 to 3.
  • the position of the control point PC is adjusted.
  • type 121 do not interfere can be set only by adjusting the position of the control point PC.
  • this makes it possible to set the conveyance path C so that the conveyance device 103 does not interfere with the lower mold 121 and becomes the lowest, and as a result, the production cycle of the entire press line can be improved.
  • a plurality of interference candidate points A1 to AN that may interfere with the upper mold 122 and the transfer apparatus 103 are extracted, and further, under the temporarily set operating conditions.
  • the operating condition temporarily set to generate the upper interference curve is corrected so that a gap is formed between the interference candidate points.
  • step S232 of the calculation data processing the upper mold 122 is generated by projecting the upper mold 122 onto a plane parallel to the conveyance path C as shape data of the upper mold 122 used when extracting a plurality of interference candidate points.
  • a perpendicular to the direction line extending every arbitrary azimuth interval and a point that contacts the outside of the upper mold 122 only at one point are extracted as interference candidate points.
  • a plurality of candidate points can be extracted by simple calculation.
  • types changes according to driving
  • FIG. 19 is a diagram showing a schematic configuration of the duplication press line 1 of the second typical embodiment.
  • the duplicate press line 1 includes a plurality of press machines 2 that process the workpiece W, and a plurality of new transfer devices 3 that are attached to each press machine 2 and that transport the workpiece W between the press machines 2.
  • a duplicate press line control device 4 for controlling the operation of each press machine 2 and the operation of each new transport device 3, and motion data relating to the operation of each press machine 2 and the operation of each new transport device 3 to generate a duplicate press line
  • a motion data calculation device 5 that outputs to the control device 4 and a duplicate press line press motion data output device 6 that outputs the press motion data of each press 2 to the duplicate press line control device 4 are provided.
  • the duplication press line 1 manufactures a product having a predetermined shape from a flat work through a plurality of press processes by each press machine 2.
  • the plurality of pressing machines 2 are arranged in the same order as the progress of the pressing process, and each pressing process 2 is assigned to each pressing process.
  • the pressing process proceeds in order from the left side to the right side in FIG.
  • the direction in which the pressing process proceeds and the conveyance direction Y in which each new conveyance device conveys the workpiece are the same.
  • Each press 2 includes a lower die 21 disposed below the work W and on the bolster 24, an upper die 22 disposed opposite to the lower die 21, and an upper portion with respect to the lower die 21.
  • a lifting mechanism 23 that moves the mold 22 closer to and away from the mold 22 and a controller (not shown) that controls the lifting mechanism 23 are provided.
  • the above press machine 2 presses the workpiece W by moving the upper die 22 up and down relative to the lower die 21.
  • the upper die 22 and the lower die 21 are the same as the upper die 22 and the lower die 21 of the existing press line 1A described later.
  • the upper die 22 and the lower die 21 are the same as the upper die 22 and the lower die 21 of the existing press line 1A.
  • the upper die 22 and the lower die 21 of the existing press line 1A are removed, and the duplicate press line 1 In the duplicate press line 1, the upper mold 22 and the lower mold 21 having the same shape as the upper mold 22 and the lower mold 21 of the existing press line 1 A are newly manufactured. Either of the upper mold 22 and the lower mold 21 may be used.
  • Each new conveyance device 3 includes a crossbar 32 to which a plurality of vacuum cups 31 are connected, a moving device (not shown) that moves the crossbar 32 along a new conveyance path C1 set between adjacent press machines, And a controller (not shown) for controlling the moving device.
  • each new conveyance path C1 of each new conveyance device 3 executes a new forward path CO1 extending from the press machine 2 that executes the previous press process to the press machine 2 that executes the next press process, and the next press process. And a new return path CB1 extending from the pressing machine 2 to the pressing machine 2 that executes the pre-pressing process.
  • Each new conveyance device 3 moves the crossbar 32 along the new conveyance path C1 between the adjacent press machines 2, and works W processed by the press machine 2 corresponding to the previous press process, It conveys to the press 2 corresponding to the next press process. That is, the new transfer device 3 moves on the new forward path CO1 while holding the workpiece W, and runs idle without holding the workpiece W on the new return path CB1.
  • Each new transfer device 3 operates as follows to transfer the workpiece W.
  • the cross bar 32 is moved along the new return path CB1 between the upper mold 22 and the lower mold 21 of the press machine 2 corresponding to the previous press process.
  • the processed workpiece W is sucked by the vacuum cup 31 and is held.
  • the cross bar 32 is moved along the new forward path CO1 while holding the workpiece W between the upper mold 22 and the lower mold 21 of the press machine 2 corresponding to the next press process.
  • the held work W is placed on the lower mold 21 of the press machine 2.
  • the duplicating press line control device 4 is based on the press motion data output from the duplicating press line press motion data output device 6 and the transport motion data transmitted from the motion data computing device 5. 3, the control signal is transmitted to the controller 3, the periodic lifting operation (hereinafter referred to as “press motion”) of each press machine 2, and the periodic transport operation (hereinafter referred to as “transport motion”) of each new transport device 3. Control).
  • the motion data calculation device 5 generates transport motion data that defines the transport motion of each new transport device 3, and further transmits this transport motion data to the duplicate press line control device 4.
  • the press motion data that defines the press motion includes information on the press motion such as the speed, position, and time for driving the upper die 22 of each press machine 2.
  • the speed at which the upper die 22 is driven is characterized as a processing speed indicating the processing capability of the workpiece of the press machine 2, that is, a press SPM. Accordingly, the larger the press SPM, the shorter the period for raising and lowering the upper die 22.
  • the transport motion data defining the transport motion includes information on the new transport path C1 of each new transport apparatus 3 and the speed at which the new transport apparatus 3 is driven along the new transport path C1.
  • the transfer motion data includes data related to the new lower mold interference curve serving as the new transfer path C1 and data related to the new upper mold interference curve set so that the upper mold and the new transfer device 3 maintain a predetermined clearance.
  • the new transport path can be indicated by a locus of an arbitrary point in the new transport apparatus 3 viewed from a predetermined fixed point.
  • the new transport path C1 of the new transport apparatus 3 is represented in a three-dimensional space. It is defined as the locus of the center position of the crossbar 32 inside.
  • the transfer motion data includes information on the line SPM as the line speed indicating the production capacity of the work, that is, the quantity that can be processed in one minute in the duplicate press line 1. That is, the production cycle in the duplicate press line 1 can be improved by setting this line SPM to a large value. Further, the speed and time for driving each new conveyance device 3 are determined in accordance with the line SPM.
  • the transport motion data includes information on the phase difference of the transport motion between the new transport apparatuses 3. Furthermore, in order to control each press machine 2 that repeats a periodic press motion and each new transport device 3 that repeats a periodic transport motion, the transport motion data includes the press motion and each new press machine 2. Information regarding the phase difference from the transport motion of the transport device 3 is included.
  • the motion data calculation device 5 creates data relating to the new lower interference curve and data relating to the new upper interference curve included in the transport motion data, and transmits them to the duplicate press line control device 4.
  • the duplicate press line press motion data output device 6 generates press motion data that defines the press motion of each press 2, and further transmits this press motion data to the duplicate press line control device 4.
  • the press motion data that defines the press motion includes information on the press motion such as the speed, position, and time for driving the upper die 22 of each press machine 2.
  • the speed at which the upper die 22 is driven is characterized as a processing speed indicating the processing capability of the workpiece of the press machine 2, that is, a press SPM. Accordingly, the larger the press SPM, the shorter the period for raising and lowering the upper die 22.
  • FIG. 20 is a diagram showing a schematic configuration of an existing press line 1A used in the transport motion creating method according to the second typical embodiment.
  • the existing press line 1A is a press line in which the mold is transferred to the duplicate press line 1.
  • the existing press line 1A includes a plurality of press machines 2A for processing the workpiece W, and a plurality of existing conveyor devices 3A that are provided along with the respective press machines 2A and transport the workpiece W between the press machines 2A. .
  • the existing press line 1A manufactures a product having a predetermined shape from a flat workpiece through a plurality of press processes by each press 2A.
  • the plurality of press machines 2A are arranged in the same order as the progress of the press process, and each press process is assigned to each press machine 2A.
  • the pressing process proceeds in order from the left side to the right side in FIG.
  • the direction in which the pressing process proceeds and the conveyance direction Y in which each new conveyance device conveys the workpiece are the same.
  • a product of a predetermined shape manufactured by the existing press line 1A is the same as a product of a predetermined shape manufactured by the duplicate press line 1 (see FIG. 19).
  • the progress order of the press process of the existing press line 1A is the same as the progress order of the press process of the duplicate press line 1.
  • Each press machine 2A has a lower mold 21 arranged below the work W and above the existing bolster 24A, an upper mold 22 arranged opposite to the lower mold 21, and a lower mold 21.
  • An elevating mechanism 23A that moves the upper mold 22 closer to and away from the upper mold 22 and a controller (not shown) that controls the elevating mechanism 23A are provided.
  • the above press machine 2 ⁇ / b> A presses the workpiece W by moving the upper die 22 up and down relative to the lower die 21.
  • the upper mold 22 and the lower mold 21 of the existing press line 1A are transferred to the duplicate press line 1 and used as the upper mold 22 and the lower mold 21 of the duplicate press line 1.
  • Each existing conveyance device 3A includes a crossbar 32A to which a plurality of existing vacuum cups 31A are connected, and a moving device (not shown) that moves the crossbar 32A along an existing conveyance path C2 set between adjacent press machines. And a controller (not shown) for controlling the moving device.
  • each existing transport path C2 of each existing transport apparatus 3A executes the forward press process and the forward path CO2 extending from the press machine 2A that executes the previous press process to the press machine 2A that executes the next press process. And a return path CB2 extending from the pressing machine 2A to the pressing machine 2A that executes the pre-pressing process.
  • Each existing conveyance device 3A moves the crossbar 32A along the existing conveyance path C2 between the adjacent press machines 2A, and works W processed by the press machine 2A corresponding to the previous press process, It conveys to the press 2A corresponding to the next press process. That is, the existing transfer device 3A moves on the forward path CO2 while holding the workpiece W, and runs idle without holding the workpiece W on the return path CB2.
  • Each existing conveyance device 3A of the existing press line 1A operates as follows in the same manner as each new conveyance device 3 (see FIG. 19) of the duplicate press line 1 to convey the workpiece W.
  • the cross bar 32A is moved along the return path CB2 between the upper die 22 and the lower die 21 of the press machine 2A corresponding to the previous press step.
  • the processed workpiece W is sucked with the existing vacuum cup 31 ⁇ / b> A, and the workpiece W is held.
  • the cross bar 32A is moved along the forward path CO2 while holding the workpiece W between the upper mold 22 and the lower mold 21 of the press machine 2A corresponding to the next press step.
  • the held workpiece W is placed on the lower mold 21 of the press machine 2A.
  • the existing transfer path C2 of the existing transfer apparatus 3A is defined as a locus of the center position of the crossbar 32A in the three-dimensional space, like the new transfer path C1 of the new transfer apparatus 3.
  • the duplicate press line 1 has the same mold (upper mold) as the mold of the existing press line 1A that transports the workpiece W using the existing transport apparatus 3A along the existing transport path C2. 22 and the lower die 21) are used, and the workpiece is transported along a new transport path C1 different from the existing transport path C2 using the new transport apparatus 3 different from the existing transport apparatus 3A.
  • the new conveyance path C1 (see FIG. 19) of the duplicate press line 1 is different from the existing conveyance path C2 of the existing press line 1A because the distance between the existing press line 1A and each press, the conveyance conditions, and the like are different from each other.
  • FIG. 21 is a block diagram showing the configuration of the duplicate press line control device 4, the motion data calculation device 5, and the duplicate press line press motion data output device 6.
  • the motion data calculation device 5 includes an input device 51, a storage device 52, and a calculation device 53.
  • the input device 51 is configured by hardware such as a keyboard and a mouse that can be operated by an operator. Data and commands input by operating the input device 51 are input to the arithmetic device 53.
  • the storage device 52 is configured by hardware such as a hard disk or a CDROM. Various data are stored in the storage device 52, and the stored data is appropriately input to the arithmetic device 53.
  • the storage device 52 stores existing press line data relating to existing press lines and duplicate press line data relating to duplicate press lines.
  • the existing press line data includes the existing transfer device data indicating the shape of the existing transfer device, the existing press line required clearance data indicating the clearance between the upper mold and the existing transfer device set in the existing press line, the existing press line
  • the existing bolster data indicating the width of the existing bolster defined as the specification, data on the existing press line lower mold interference curve (data on the existing conveyance path), and data on the existing press line upper mold interference curve are included.
  • Duplicate press line data includes new transport device data that indicates the shape of the new transport device, required clearance data for the duplicate press line that indicates the clearance between the upper die and the new transport device set in the duplicate press line, and specifications for the duplicate press line.
  • Bolster data indicating the width of the bolster and the like, and data relating to the conveyance conditions of the new conveyance path are included.
  • the data related to the new transfer conditions include the height of the crossbar when the workpiece is sucked, the initial values of the lift and feed amount for the lower mold of the workpiece, and the amount related to the posture for holding the workpiece when transferring the workpiece. Contains setting values.
  • the existing transfer device data and the existing bolster data stored in the storage device 52 are 2D data indicating a cross-sectional shape obtained by cutting them along a virtual vertical plane including the existing transfer path based on the 3D CAD data of the existing transfer device and the existing bolster in advance. Has been converted.
  • the 2D data indicating the cross-sectional shape may be a case where the new transport path is not necessarily the same as the existing transport path with respect to the mold. Therefore, assuming the difference, the width (for example, 100 mm on each side from the existing conveyance path), parallel to the virtual vertical plane including the existing conveyance path, and the most protruding among a plurality of cross-sectional shapes cut by a plurality of virtual vertical planes within this width A cross-sectional shape having such a portion may be selected and created.
  • the 2D data indicating the cross-sectional shape is provided with a plurality of sections (for example, 10 mm) in the direction in which the existing conveyance device passes in the vicinity of the mold, and most of the plurality of cross-sectional shapes for each of the plurality of sections.
  • cross-sectional shapes having protruding portions may be selected, and the selected cross-sectional shapes may be combined and created.
  • the arithmetic unit 53 is configured by hardware such as a CPU, a ROM, and a RAM.
  • the arithmetic device 53 includes a plurality of functional blocks realized by these hardware.
  • the computing device 53 includes an existing press line computing unit 53a and a duplicate press line computing unit 53b.
  • the existing press line calculation unit 53a stores in advance the data related to the existing press line lower mold interference curve and the data related to the existing press line upper mold interference curve in the storage device 52.
  • the existing press line calculation unit 53 a includes a duplication area definition unit 530, an existing press line lower mold interference curve cutting unit 531, and an existing press line upper mold interference curve cutting unit 532. .
  • the duplication area definition unit 530 defines a duplication area, which is an area including the lower mold and the upper mold installed on the existing bolster, with respect to the data related to the existing transport route (step S102 in FIG. 23 described later, FIG. 27 (see step S112).
  • the existing press line lower mold interference curve cutout unit 531 cuts out the existing conveyance path in the duplication area as an existing press line lower mold interference curve using data relating to the existing conveyance path (see step S103 in FIG. 23 described later). .
  • the existing press line lower mold interference curve cutting unit 531 stores the extracted existing press line lower mold interference curve in the storage device 52 as data relating to the existing press line lower mold interference curve (see step S104 in FIG. 23 described later).
  • the existing press line upper mold interference curve cutting unit 532 uses the data related to the existing transport path and the existing transport apparatus data to cut the trajectory of the existing transport apparatus viewed from the upper mold in the replication area as the existing press line upper mold interference curve. (See step S113 in FIG. 27 described later).
  • the existing press line upper mold interference curve cutting unit 532 stores the cut existing press line upper mold interference curve in the storage device 52 as data relating to the existing press line upper mold interference curve (see step S114 in FIG. 27 described later).
  • the duplicate press line calculation unit 53b creates a new conveyance path, creates conveyance motion data using this new conveyance path, and transmits it to the duplicate press line control device 4.
  • the duplicate press line calculation unit 53b includes a calculation data reading unit 540, a new lower mold interference curve initial setting unit 541, a transport path setting unit 542, and an existing press line upper mold interference curve point sequence unit. 543, a new upper interference curve individual setting unit 544, a new upper interference curve selection unit 545, a new upper interference curve correction unit 546, and a motion data output unit 547.
  • the calculation data reading unit 540 reads the duplicate press line data related to the duplicate press line stored in the storage device 52 (see step S1 in FIG. 22 described later, step S101 in FIG. 23, and step S111 in FIG. 27).
  • the calculation data reading unit 540 reads the conveyance conditions input from the input device 51.
  • the new lower mold interference curve initial setting unit 541 uses the data related to the existing press line lower mold interference curve and the data related to the new conveyance conditions to temporarily move the upper lower mold interference curve upward from the existing press line lower mold interference curve. Is initialized (see step S105 in FIG. 23 described later).
  • the conveyance path setting unit 542 provides a plurality of control points at a predetermined interval on the temporary lower mold interference curve, and each of the plurality of control points is directed to the existing press line lower mold interference curve, and the plurality of control points are the existing press line lower mold.
  • a new lower interference curve is generated by moving the interference curve so as to have a predetermined minimum clearance (see step S106 in FIG. 23 described later).
  • the existing press line upper mold interference curve point sequence unit 543 converts the existing press line upper mold interference curve point sequence into a sequence of points by dividing the existing press line upper mold interference curve at a predetermined interval (see step S115 in FIG. 27 described later).
  • the new upper mold interference curve individual setting unit 544 applies the existing press line upper mold interference to a plurality of division points of the existing press line upper mold interference curve formed by the existing press line upper mold interference curve point sequence unit 543. Using the data relating to the curve, the data relating to the new conveyance condition, and the new conveyance device data, a new upper mold interference curve formed by the trajectory of the new conveyance device viewed from the upper mold is generated (see step S116 in FIG. 27 described later). ).
  • the new type interference curve selection unit 545 interferes with only one of the plurality of division points among the new type interference curves generated for the plurality of division points by the new type interference curve individual setting unit 544.
  • the new upper type interference curve to be selected is selected (see step S117 in FIG. 27 described later).
  • the new upper type interference curve correction unit 546 moves the new upper type interference curve selected in the new upper type interference curve selection step so as to maintain a predetermined clearance from the upper type in a direction away from the upper type. (See step S118 of FIG. 27 described later).
  • the motion data output unit 547 transmits data relating to the new lower type interference curve created by the conveyance path setting unit 542 and the new type interference curve created by the new upper type interference curve correction unit 546 to the duplicate press line control device 4. (See step S9 in FIG. 22 described later).
  • the duplicate press line press motion data output device 6 outputs the duplicate press line press motion data to the duplicate press line control device 4.
  • the duplicate press line control device 4 receives the new lower type interference curve and the new upper type interference curve from the motion data calculation device 5 and outputs the press motion data from the duplicate press line press motion data output device 6. .
  • the duplication press line control device 4 can operate the new transport device using the new lower mold interference curve as the new transport path.
  • the duplicate press line control device 4 divides the existing press line upper mold interference curve into a plurality of divisions in the operation of the press machine based on the press motion data and the operation of the new conveyance apparatus using the new lower mold interference curve as the new conveyance path. By selecting a new upper mold interference curve that interferes with only one of the points, the duplicate press line can be operated so that the upper mold and the new transport apparatus do not interfere with each other.
  • This procedure uses the various data read in step S1 to create a new lower interference curve S100 for performing the processes in steps S2 to S4, and uses the various data read in step S1 to perform steps S5 to S8.
  • the new lower interference curve creation procedure S100 various data are read (S1), the existing lower interference curve is cut out in the replication area (S2), the new lower interference curve is initialized (S3), and the new transport path is created. Is set (S4).
  • S1 various data are read
  • S2 the existing lower interference curve is cut out in the replication area
  • S3 the new lower interference curve is initialized
  • S4 the new transport path is created. Is set (S4).
  • step S101 the press line data relating to the lower mold is read.
  • the existing transfer device data, the existing bolster data, and the data related to the existing press line lower mold interference curve (data related to the existing transfer path) included in the existing press line data are read from the storage device.
  • new transfer device data, bolster data, and data related to the transfer conditions of the new transfer path included in the duplicate press line data are read from the storage device.
  • the data related to the existing transport path indicates the relative positional relationship between the existing transport apparatus moving along the existing transport path and the lower mold.
  • the relative positional relationship between the existing transport device and the lower mold may be a relative positional relationship between an arbitrary point of the existing transport device and the lower mold, but in the second exemplary embodiment, The relative positional relationship between the center of the crossbar and the lower mold is shown.
  • a replication area related to the lower mold is defined.
  • a replication area that is set in an area including the lower mold placed on the existing bolster is defined.
  • the defined duplication area is stored in the storage device as duplication area data relating to the duplication area.
  • the duplication area is a range obtained by adding, for example, the width of the transport machine as a margin width to the width of the bolster in which the lower mold is installed. That is, the duplication area is an area in which the lower mold and the new transport device may interfere with each other.
  • the new transport path can be adjusted only in the area where there is a possibility of interference.
  • step S103 an existing press line lower mold interference curve is cut out.
  • the existing press line lower mold interference curve is cut out in advance by the duplication area based on the data relating to the existing conveyance path. That is, the existing press line lower mold interference curve is a part of the existing transport path of the existing press line. Further, the existing press line lower mold interference curve is a line that is set so that the lower mold and the existing transfer device do not interfere with each other in the existing press line.
  • step S104 the existing press line lower mold interference curve is stored.
  • the existing press line lower mold interference curve is stored in the storage device as data relating to the existing press line lower mold interference curve included in the duplicate press line data. If the existing press line lower mold interference curve is already cut out and stored in the storage device, the process of steps S102 to S104 is omitted by reading the existing press line lower mold interference curve in step S101. it can.
  • FIG. 24 is a schematic diagram showing the configuration of the existing transport path C2 of the existing press line 1A and the crossbar 32A of the existing transport apparatus 3A that moves along the existing transport path C2, and the existing press line cut out in step S103.
  • type interference curve L10 is shown.
  • the lower mold 21 can ensure a predetermined clearance ⁇ D1 or ⁇ D2 so as not to interfere with the existing transfer device 3A or the workpiece W transferred by the existing transfer device 3A in the existing transfer path C2. It is made in.
  • the existing transport path C2 is set so that the clearance ⁇ D1 or ⁇ D2 between the existing transport device 3A or the workpiece W transported by the existing transport device 3A and the lower mold 21 is minimized.
  • the existing transfer device 3A runs idle without holding the workpiece W. For this reason, in the return path CB2, a clearance ⁇ D1 between the existing vacuum cup 31A and the lower mold 21 of the existing transfer device 3A is secured. In the forward path CO2 of the existing transport path C2, the existing transport apparatus 3A moves while holding the workpiece W. For this reason, the clearance ⁇ D2 between the work W held by the existing transfer device 3A and the lower mold 21 is secured in the forward path CO2.
  • a duplication area 25A including an existing bolster 24A in which the lower mold 21 is installed is defined in the existing transport path C2. And the existing conveyance path
  • step S105 a new lower interference curve for the duplicate press line is initialized.
  • the existing press line lower mold interference curve is used.
  • the temporary interference curve is initially set at a position sufficiently away from the curve. That is, in the duplication area of the existing press line, the lower mold and the existing conveying device do not interfere with each other in the duplicating press line with the existing press line lower die interference curve set so that the lower die and the existing conveying device do not interfere with each other.
  • the lowest line of the range is set, and this lowest line is compared with the initial provisional type interference curve.
  • step S106 a new lower interference curve of the duplicate press line is calculated.
  • a plurality of control points are provided at a predetermined interval on the temporary lower mold interference curve, and each of the plurality of control points is directed to the existing press line lower mold interference curve, and the plurality of control points are connected to the existing press line lower mold interference curve.
  • a new lower interference curve is generated by moving each to a predetermined minimum clearance. The new lower mold interference curve generated in this step is set as a new conveyance path in the vicinity of the lower mold.
  • the plurality of control points are points provided on the temporary lower interference curve at arbitrary intervals, for example, 10 mm intervals. By moving the control point, the temporary interference curve follows the moved control point. Further, the existing press line lower mold interference curve and the predetermined minimum clearance are, for example, a range of approximately 5 mm above the existing press line lower mold interference curve.
  • a new transport path can be set so that the lower mold and the new transport device do not interfere with each other even in the duplicate press line.
  • FIG. 25 is a schematic diagram showing the configuration of the new transport path C1 of the duplication press line 1 and the crossbar 32 of the new transport apparatus 3 that moves along the new transport path C1, and the new lower mold generated in step S4.
  • the interference curve L1 is shown.
  • the existing press line lower mold interference curve L10 cut out from the existing transport path C2 of the existing press line 1A is input to the area 25 where the bolster 24 is installed.
  • a temporary lower mold interference curve L11 is initially set at a position sufficiently away from the existing press line lower mold interference curve L10.
  • the temporary lower interference curve L11 is provided with a plurality of control points L11a at arbitrary intervals.
  • a new lower interference curve L1 is generated by moving each of the plurality of control points L11a to have a predetermined minimum clearance.
  • the new lower interference curve L1 is a new transport path in the area 25 where the bolster 24 is installed.
  • a new lower mold interference curve L1 is created and a new conveyance path is set.
  • a new conveyance path that does not interfere with the lower die 21 can be created without repeating the process of optimizing the operation of each press machine and the new conveyance device by operating the duplicate press line 1.
  • FIG. 26 is a diagram illustrating the trajectory of the cross bar 32 of the new transport device 3 as viewed from the upper mold 22 that moves up and down. More specifically, FIG. 26 is a view of the trajectory of the crossbar 32 that moves along the set new conveyance path when the upper die 22 is moved up and down, as viewed from the stationary system of the upper die 22.
  • the new upper interference curve creation procedure S110 various data are read (S1), the existing upper interference curve is cut out in the replication area (S5), and the existing upper interference curve is formed into a sequence of points by a plurality of division points (S6). Then, a new upper type interference curve is generated, and a new upper type interference curve that interferes with only one point among a plurality of division points is selected from the new upper type interference curve (S7), and the selected new type The mold interference curve is corrected (S8). Details of the new-type interference curve creation procedure S110 will be described with reference to the flowchart shown in FIG.
  • step S111 press line data related to the upper mold is read.
  • the existing transfer device data, the necessary clearance data of the existing press line, and the data relating to the existing press line upper interference curve included in the existing press line data are read from the storage device.
  • new transfer device data, required clearance data for the duplicate press line, and data related to the transfer conditions of the new transfer path included in the duplicate press line data are read from the storage device.
  • an upper mold-related replication area is defined.
  • a duplication area that is an area including the upper mold is defined.
  • the defined duplication area is stored in the storage device as duplication area data relating to the duplication area.
  • the duplication area is a range obtained by adding, for example, the width of the transport machine as a margin width to the width of the upper mold. That is, the duplication area is an area where the upper mold and the new transport device may interfere with each other.
  • the duplication area is an area where the upper mold and the new transport device may interfere with each other.
  • an existing press line upper mold interference curve is cut out.
  • the existing press line upper mold interference curve is cut out in advance from the trajectory of the existing transport apparatus viewed from the upper mold by the replication area using the data related to the existing transport path and the existing transport apparatus data.
  • the existing press line upper mold interference curve is a line set in the existing press line so that the upper mold and the existing transfer device do not interfere with each other.
  • the existing press line upper mold interference curve is a standard for guaranteeing that the upper mold and the existing transfer device do not interfere with each other in the existing press line.
  • the upper mold of the existing press line is manufactured in compliance with this standard. If the existing press line upper mold interference curve is already cut out and stored in the storage device, the existing press line upper mold interference curve is read in step S111, thereby omitting steps S112 to S124. it can.
  • step S114 the existing press line upper mold interference curve is stored.
  • the existing press line upper mold interference curve is stored in the storage device as data relating to the existing press line upper mold interference curve included in the duplicate press line data.
  • FIG. 28 is a diagram showing the trajectory of the crossbar 32A of the existing transport device 3A viewed from the upper mold 22 that moves up and down in the existing press line 1A. More specifically, FIG. 28 shows a direction in which the upper die 22 of the press machine 2A is lowered under a predetermined press SPM of the existing press line 1A and away from the press machine 2A under the predetermined line SPM. It is a figure which shows locus
  • the locus L2A extends from the left side to the right side in FIG. 28 as the cross bar 32A moves away from the press machine 2A. Further, the locus L2A changes from the lower side to the upper side in FIG. 28 as the upper die 22 of the press machine 2A descends. Therefore, in FIG. 28, the upper die 22 of the press machine 2A is lowered and the cross bar 32A is moved away from the press machine 2A, so the locus L2A is a curve that rises to the right.
  • the shape of the locus L2A is determined by the predetermined press SPM and the predetermined line SPM of the existing press line 1A.
  • the upper mold 22 is manufactured so that a predetermined clearance ⁇ U1 can be secured so as not to interfere with the crossbar 32A of the existing conveyance device 3A viewed from the upper mold 22 that moves up and down in the existing conveyance path C2. Has been.
  • a duplication area 25A including the upper die 22 is defined in the locus L2A of the crossbar 32A of the existing transport device 3A as viewed from the upper die 22 that moves up and down. And the locus
  • the existing press line upper mold interference curve L20 is a line in which the upper mold should not protrude downward set based on a predetermined rule. That is, the upper die 22 does not protrude downward from the existing press line upper die interference curve L20.
  • step S115 the existing upper mold interference curve that has been cut out is converted into a point sequence.
  • the existing press line upper mold interference curve is formed into a point sequence by a plurality of division points divided at a predetermined interval.
  • the predetermined interval is preferably narrow, for example, 10 mm.
  • step S116 the new upper interference curve is individually set.
  • the data on the existing press line upper mold interference curve, the data on the new press line interference data, the data on the new transport conditions, and the new transport device data are used for a plurality of dividing points of the existing press line upper mold interference curve formed in step S115.
  • a new upper mold interference curve formed by the trajectory of the new transfer device viewed from the upper mold is generated.
  • the new upper type interference curves generated for a plurality of division points have the same shape, and are different in height when viewed from the upper type.
  • the new upper mold interference curve shows the trajectory of the new transfer apparatus viewed from the upper mold that moves up and down.
  • a new upper type interference curve is selected.
  • a new type interference curve that interferes with only one point among the plurality of division points is selected from the new type interference curves generated for the plurality of division points.
  • the coordinates of each dividing point specified by two values, the value on the horizontal axis and the value on the vertical axis It is determined whether or not it is included on each new upper interference curve extending on a plane defined by these horizontal and vertical axes.
  • the new upper-type interference curve including only one division point is in contact with the existing press-line upper-type interference curve formed into a point sequence.
  • type interference curve containing 2 or more points exceeds the existing press line upper mold
  • select the new upper-type interference curve that does not exceed the dotted line of the existing press-line upper-type interference curve that is set so that only one point of interference between the upper die and the existing transfer device in the existing press line Thus, it is possible to set the trajectory of the new conveyance device where the upper mold and the new conveyance device do not interfere with each other in the duplicate press line.
  • step S118 the new upper interference curve is corrected.
  • the new upper interference curve selected in the new upper interference curve selection step is moved so as to maintain a predetermined clearance from the upper die in a direction away from the upper die, thereby generating a new upper interference curve.
  • the new upper mold interference curve generated in this step is set as a trajectory of the end closest to the upper mold among the ends of the crossbar of the new conveying device of the duplicate press line.
  • the predetermined clearance is a value determined in advance so as not to interfere with the new conveyance device for the upper mold in the replication press line. Specifically, the predetermined clearance is the difference between the clearance between the upper mold set on the existing press line and the existing transfer device, and the clearance required between the upper mold and the new transfer device on the duplicate press line.
  • the clearance can be optimally set according to the line capability by the correction of moving the new upper interference curve by a predetermined distance in the direction away from the upper die.
  • the value of the line SPM can be increased by minimizing the clearance.
  • FIG. 29 is a diagram showing the trajectory of the cross bar 32 of the new transport device 3 as viewed from the upper mold 22 that moves up and down in the replication press line 1. More specifically, FIG. 29 shows that the upper die 22 of the press machine 2 is lowered, and the new upper die interference curve L22 and the set new upper die interference that become the trajectory of the crossbar 32A moving in the direction away from the press machine 2A. It is a figure which shows the curve L2.
  • the new upper interference curve L22 and the set new upper interference curve L2 extend from the left side to the right side in FIG. 29 as the crossbar 32 moves away from the press machine 2. Further, the new upper mold interference curve L22 and the set new upper mold interference curve L2 change from the lower side to the upper side in FIG. 29 as the upper mold 22 of the press 2 descends. Therefore, in FIG. 29, the upper die 22 of the press machine 2 is lowered and the crossbar 32 is moved away from the press machine 2, so the new upper die interference curve L22 and the set new upper die interference curve L2 are The curve is going up to the right.
  • a new upper interference curve L22 is generated for a plurality of dividing points on the point line execution line L21 of the existing press line upper interference curve L20.
  • mold interference curve L22a which interferes only in the interference point P which is one point of the some division
  • the specific upper mold interference curve L22a is moved so as to maintain a predetermined distance ⁇ U2 in a direction away from the upper mold 22, and becomes a set new upper mold interference curve L2.
  • type interference curve L2 is set as a locus
  • the predetermined distance ⁇ U2 is, for example, that the clearance between the upper mold set in the existing press line and the existing transport apparatus is 100 mm, and the clearance required between the upper mold and the new transport apparatus in the duplicate press line is 180 mm. In this case, the difference between them is 80 mm.
  • the locus of the new transfer device 3 of the duplicate press line 1 is set.
  • step S9 the motion data is transmitted to the control device, and this process ends.
  • the data relating to the new lower interference curve generated in step S106 (see FIG. 23) and the data relating to the new upper interference curve generated in step S118 (see FIG. 27) are transmitted to the duplicate press line control device.
  • the duplication press line control device operates the new transport device using the new lower interference curve as a new transport path.
  • the duplicate press line control device is used in the operation of the press machine using the press motion data output from the duplicate press line press motion data output device and the operation of the new transfer device using the new lower mold interference curve as the new transfer path. By applying the mold interference curve, the duplicate press line is operated so that the upper mold and the new transfer device do not interfere with each other.
  • the upper mold 22 that is the same mold as the mold of the existing press line 1A that conveys the workpiece along the existing conveyance path C2 using the existing conveyance apparatus 3A is used, and a new conveyance different from the existing conveyance path C2.
  • a new conveyance path C1 of the duplication press line 1 that conveys the workpiece using the new conveyance apparatus 3 along the path C1 is created.
  • the existing press line upper mold interference curve L20 cut out in advance by the duplication area 25A set in the area including the upper mold 22 is set as a point sequence execution line L21 by a plurality of dividing points divided at a predetermined interval.
  • Specific upper-type interference that generates a new upper-type interference curve L22 formed by the trajectory of the new conveyance device 3 viewed from the upper mold 22 with respect to the divided points and interferes with only one of the plurality of divided points.
  • the curve L22a is selected. Thereby, the new upper mold
  • the selected specific upper mold interference curve L22a is moved in a direction away from the upper mold 22 so as to maintain a predetermined distance ⁇ U2 to generate a set new upper mold interference curve L2, so that the upper The trajectory of the new transfer device can be set so that the mold and the new transfer device do not interfere. And based on this new upper model interference curve, new conveyance course C1 can be created.
  • the trajectory of the new transport device 3 of the duplicate press line 1 can be set so as not to interfere with the upper mold 22 based on the trajectory of the existing transport device 3A of the existing press line 1A, the transport motion of the duplicate press line is created.
  • a plurality of control points L11a are provided at predetermined intervals on a temporary lower mold interference curve L11 that is initially set at a position sufficiently away from the existing press line lower mold interference curve L10, and each of the plurality of control points L11a is provided on the existing press line.
  • the new lower mold interference curve L1 is generated by moving the plurality of control points L11a toward the lower mold interference curve L10 so as to have a predetermined minimum clearance with the existing press line lower mold interference curve L10.
  • the lower mold interference curve L1 makes it possible to set a new conveyance path C1 in which the lower mold 21 and the new conveyance device 3 do not interfere with each other and the value of the line SPM can be increased.
  • the new conveyance path C1 of the duplicate press line 1 can be set so as not to interfere with the lower mold 21 based on the existing conveyance path C2 of the existing press line 1A, when creating the duplicate press line conveyance motion, A new transfer path that does not interfere with the lower mold can be created without repeating the process of optimizing the operation of each press machine and the new transfer device by operating a duplicate press line. Therefore, it is possible to reduce the man-hours for setting the transport motion when constructing a duplicate press line having the same mold as the existing press line.
  • An embodiment of the present invention includes a plurality of press machines (for example, a press machine 102) that press-work a workpiece by raising and lowering an upper mold (for example, the upper mold 122) with respect to a lower mold (for example, the lower mold 121), Between these press machines, a plurality of transfer devices (for example, transfer device 103) for transferring a work held by a holding unit (for example, vacuum cup 131) along a predetermined transfer path (for example, transfer route C); A control method (for example, control device 104) for controlling a periodic lifting operation of each pressing machine and a periodic conveying operation along the conveying path of each conveying device, and a conveying path setting method for a press line.
  • a control method for example, control device 104 for controlling a periodic lifting operation of each pressing machine and a periodic conveying operation along the conveying path of each conveying device, and a conveying path setting method for a press line.
  • the transport path setting method includes a temporary setting step (for example, step S241 in FIG. 10) for temporarily setting the position of the control point (for example, control point PC) that defines the transport path of the transport apparatus, and temporary setting. Based on the position information (for example, coordinates (YPC, ZPC)) of the control point, the transport device calculates a transport path that passes the control point, and further moves the transport device along the transport path.
  • the trajectory calculation step (for example, steps S242 and S243 in FIG. 10) for calculating the trajectory of the holding portion (for example, the trajectory of the representative point of the vacuum cup) is compared with the calculated trajectory of the holding portion and the shape of the lower mold.
  • Conveyance path determination step of adjusting (e.g., steps S244 ⁇ S249 in FIG. 7) including, a.
  • the position of the control point that defines the transport path is temporarily set, and based on the position information of the control point, the transport path through which the transport device passes the control point is calculated.
  • the trajectory of the holding unit when the transport device is moved along the route is calculated.
  • the trajectory of the holding unit is compared with the shape of the lower mold, and the position of the temporarily set control point is set so that the distance between the trajectory and the lower mold approaches the target value set for each section. adjust.
  • type of a conveying apparatus do not interfere can be set only by adjusting the position of a control point.
  • this makes it possible to set a conveyance path in which the conveyance device does not interfere with the lower mold and becomes the lowest, and as a result, the production cycle of the entire press line can be improved.
  • At least four representative points may be set for one holding unit, and the cross-sectional shape of the lower mold along each plane including the locus of the four representative points may be compared with the locus. .
  • the trajectory of the holding unit is compared with the shape of the lower mold, and the control point of the conveyance path is adjusted. Thereby, it is possible to greatly reduce the calculation time for calculating the distance between the lower mold and the holding unit necessary for setting the transport path.
  • a plurality of press machines press the workpiece by moving the upper mold (for example, the upper mold 122) up and down with respect to the lower mold (for example, the lower mold 121).
  • a plurality of conveying devices for example, conveying device 103 for conveying a work along a predetermined conveying path (for example, conveying path C) between these press machines, and periodic lifting operation of each pressing machine
  • a press line comprising a control device (for example, the control device 104) for controlling a periodic transport operation along the transport path of each transport device
  • an operating condition setting method for setting the operating conditions of the press line I will provide a.
  • the operation condition setting method is based on the shape data of the upper mold, and a plurality of candidate points (for example, interference candidate points A1 to AN and unloading at the time of unloading) on the surface of the upper mold that may interfere with the transfer device or the workpiece.
  • candidate points for example, interference candidate points A1 to AN and unloading at the time of unloading
  • Candidate point extracting step for example, step S232 in FIG. 5
  • an upper interference curve passing through the candidate points is temporarily set as an operating condition.
  • An upper interference curve generation step (for example, step S262 in FIG. 13) generated under the above, and an upper interference curve that interferes only with a candidate point with respect to the upper die among the plurality of upper interference curves.
  • An operation condition determining step for correcting the operation condition temporarily set to generate the upper mold interference curve so that a gap is formed between the mold interference curve and the corresponding candidate point (for example, step S266 in FIG. 13).
  • Line Includes a step S211, S212, S213, S214) in FIG. 4, a.
  • a plurality of candidate points that may interfere with the upper mold and the transfer device or the workpiece are extracted, and each of them is further set under the temporarily set operation conditions.
  • An upper interference curve that passes through the candidate points is generated.
  • the operating conditions temporarily set to generate the upper mold interference curve are corrected so that a gap is formed between the two. Accordingly, it is possible to efficiently set an operation condition in which the transport device passes through the vicinity of the upper die that moves up and down. Moreover, the production cycle of the entire press line can be improved by setting such operating conditions.
  • the shape data of the upper mold used in the candidate point extraction process may be two-dimensional data generated by projecting the upper mold onto a plane parallel to the conveyance path of the conveyance apparatus. In this case, the time required for calculation can be shortened as compared with the case of using three-dimensional data.
  • a point where the perpendicular to the direction line extending at every arbitrary azimuth interval and the outside of the upper die touch at only one point may be extracted as a candidate point.
  • a some candidate point can be extracted by simple calculation.
  • an existing press line (for example, an existing press line) that transports a workpiece using an existing transport apparatus (for example, the existing transport apparatus 3A) along an existing transport path (for example, the existing transport path C2).
  • the same mold for example, upper mold 22
  • the same mold for example, upper mold 22
  • the same mold for example, upper mold 22
  • the same mold for example, upper mold 22
  • the same mold for example, upper mold 22
  • the same mold for example, upper mold 22
  • new transport path C1 for example, new transport path C1 different from the existing transport path.
  • Transfer motion by a calculation device for example, motion data calculation device 5 that creates a new transfer path of a duplicate press line (for example, duplicate press line 1) that transfers a workpiece using a new transfer device (for example, new transfer device 3)
  • a calculation device for example, motion data calculation device 5
  • This transfer motion setting method includes the upper die from the trajectory of the existing transfer device viewed from the upper die (for example, the locus L2A) using the data related to the existing transfer route and the existing transfer device data indicating the shape of the existing transfer device.
  • Data on the existing press line upper mold interference curve for example, the existing press line upper mold interference curve L20
  • a data reading step for example, step S1 in FIG.
  • a new upper interference curve individual setting step for example, step S116 in FIG.
  • New upper interference that selects a new upper interference curve (for example, a specific new upper interference curve L22a) that interferes with only one point (for example, interference point P) among a plurality of division points among the upper interference curves.
  • a curve selection process for example, step S117 in FIG. 27
  • a new upper mold interference curve selected by the new upper mold interference curve selection process are separated from the upper mold by a predetermined clearance (for example, a predetermined distance ⁇ U2).
  • a new upper interference curve correcting step for example, step S118 in FIG. 27 for generating a new upper interference curve (for example, a set new upper interference curve L2).
  • a new transport route is created based on the new upper interference curve.
  • the same mold as the mold of the existing press line that transports the workpiece along the existing transport path using the existing transport device is used, and the new transport path is separated from the existing transport path.
  • the same mold includes both the case of the same mold product and the case of another mold product manufactured in the same shape.
  • the existing press line upper mold interference curve cut in advance by the duplication area set in the area including the upper mold is converted into a point sequence by a plurality of division points divided at a predetermined interval, and the upper side of the plurality of division points is displayed.
  • a new upper type interference curve formed by the trajectory of the new conveyance device viewed from the mold is generated, and a new type upper type interference curve that interferes with only one point among the plurality of division points is selected.
  • mold interference curve can be selected.
  • the selected new upper mold interference curve is generated by moving the selected new upper mold interference curve away from the upper mold so as to maintain a predetermined clearance with the upper mold.
  • the trajectory of the new transfer device that does not interfere with can be set. And based on this new upper model interference curve, a new conveyance route can be created.
  • the trajectory of the new transfer device of the duplicate press line can be set so as not to interfere with the upper mold based on the trajectory of the existing transport device of the existing press line, when creating the transport motion of the duplicate press line, A new transfer path that does not interfere with the upper die can be created without repeating the process of optimizing the operation of each press and the new transfer device by operating a duplicate press line. Therefore, it is possible to reduce the man-hours for setting the transport motion when constructing a duplicate press line having the same mold as the existing press line.
  • an existing press line (for example, an existing press line) that transports a workpiece using an existing transport apparatus (for example, the existing transport apparatus 3A) along an existing transport path (for example, the existing transport path C2).
  • the same mold for example, the lower mold 21
  • a transport motion creating method by a computing device (for example, motion data computing device 5) that creates a new transport path of a duplicate press line that transports a workpiece using a new transport device (for example, a new transport device 3).
  • the transfer motion setting method is based on the data related to the existing transfer path.
  • the existing press line lower mold interference curve (for example, the existing press line lower mold) cut in advance by the duplication area set in the area including the lower mold of the mold is used.
  • a data reading process (for example, step S1 in FIG. 22) for reading data relating to the interference curve L10) and new conveyance condition data relating to the conveyance conditions of the new conveyance path, and data relating to the existing press line lower mold interference curve and new conveyance condition data.
  • a new lower mold interference curve initial setting step (for example, FIG. 23) for initial setting of the temporary lower mold interference curve (for example, the temporary lower mold interference curve L11) at a position sufficiently away from the existing press line lower mold interference curve.
  • Step S105 a plurality of control points (for example, control point L11a) are provided at predetermined intervals on the temporary lower interference curve, and a plurality of control points are set.
  • a new lower mold interference curve (for example, new lower mold) is created by moving a plurality of control points to the existing press line lower mold interference curve and the predetermined minimum clearance, respectively, toward the existing press line lower mold interference curve.
  • a transfer path setting step (for example, step S106 in FIG. 23) for generating a mold interference curve L1). Create a new transport route based on the new lower interference curve.
  • a plurality of control points are provided at predetermined intervals on a temporary lower mold interference curve that is initially set sufficiently away from the existing press line lower mold interference curve, and each of the plurality of control points is set on the existing press line.
  • a new lower interference curve is generated by moving a plurality of control points toward the lower interference curve so as to have a predetermined minimum clearance with the existing press line lower interference curve.
  • the new transport path of the duplicate press line can be set so as not to interfere with the lower mold. Therefore, when creating the transport motion of the duplicate press line, A new conveyance path that does not interfere with the lower mold can be created without repeating the process of operating and optimizing the operation of each press and the new conveyance device. Therefore, it is possible to reduce the man-hours for setting the transport motion when constructing a duplicate press line having the same mold as the existing press line.
  • the present invention is not limited to the specific exemplary embodiments described above, and includes modifications and improvements as long as the object of the present invention can be achieved.
  • a press line including four press machines has been described.
  • the number of press machines included in the press line is not limited thereto.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

L'invention porte sur un procédé d'établissement d'un trajet de transport, ledit procédé comprend l'établissement temporaire (étape S241) pour établir temporairement la position d'un point de commande (PC) qui spécifie le trajet de transport d'un dispositif de transport, le calcul de trajectoire (étapes S242 à S244) pour calculer un trajet de transport où le dispositif de transport passe par le point de commande (PC) sur la base de coordonnées (YPC, ZPC) du point de commande établi temporairement (PC), et, de plus, le calcul de la trajectoire du point représentatif d'une ventouse lorsque le dispositif de transport est déplacé le long du trajet de transport, et la détermination de trajet de transport (étapes S245 à S249) pour comparer la trajectoire calculée du point représentatif de la ventouse à la forme d'une matrice inférieure, de division de la trajectoire en une pluralité de sections (1, 2, 3), et, de plus, de réglage de la position du point de commande (PC) de telle sorte que l'espacement entre la trajectoire et la matrice inférieure s'approche de la valeur cible établie pour chacune des sections.
PCT/JP2010/072588 2009-12-15 2010-12-15 Procédé d'établissement de trajet de transport de ligne de presse, et procédé de création de mouvement de transport de ligne de presse dupliquée WO2011074616A1 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
JP2009-283983 2009-12-15
JP2009283983A JP5450025B2 (ja) 2009-12-15 2009-12-15 プレスラインの搬送モーション作成方法
JP2009283979A JP5450024B2 (ja) 2009-12-15 2009-12-15 プレスラインの搬送モーション作成方法
JP2009-283979 2009-12-15
JP2009290667A JP5450037B2 (ja) 2009-12-22 2009-12-22 運転条件設定方法
JP2009-290666 2009-12-22
JP2009-290667 2009-12-22
JP2009290666A JP5306980B2 (ja) 2009-12-22 2009-12-22 搬送経路設定方法

Publications (1)

Publication Number Publication Date
WO2011074616A1 true WO2011074616A1 (fr) 2011-06-23

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WO (1) WO2011074616A1 (fr)

Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN104226836A (zh) * 2013-06-06 2014-12-24 会田工程技术有限公司 伺服多工位送料装置及伺服多工位送料装置的控制方法
JP2019520983A (ja) * 2016-04-28 2019-07-25 ハテブル ウムフオルマシネン アクチエンゲゼルシャフト ワークを搬送するための搬送方法
CN111093854A (zh) * 2018-01-29 2020-05-01 小松产机株式会社 模拟装置、冲压系统、模拟方法、程序以及存储介质

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JP2001096329A (ja) * 1999-09-24 2001-04-10 Komatsu Ltd サーボトランスファフィーダ装置の操作画面表示方法及びその操作画面表示プログラムの記録媒体
JP2005211935A (ja) * 2004-01-29 2005-08-11 Komatsu Ltd トランスファフィーダ
JP2008254054A (ja) * 2007-04-09 2008-10-23 Aida Eng Ltd プレスラインのモーション位相調整方法及び装置

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Publication number Priority date Publication date Assignee Title
JP2001096329A (ja) * 1999-09-24 2001-04-10 Komatsu Ltd サーボトランスファフィーダ装置の操作画面表示方法及びその操作画面表示プログラムの記録媒体
JP2005211935A (ja) * 2004-01-29 2005-08-11 Komatsu Ltd トランスファフィーダ
JP2008254054A (ja) * 2007-04-09 2008-10-23 Aida Eng Ltd プレスラインのモーション位相調整方法及び装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104226836A (zh) * 2013-06-06 2014-12-24 会田工程技术有限公司 伺服多工位送料装置及伺服多工位送料装置的控制方法
JP2019520983A (ja) * 2016-04-28 2019-07-25 ハテブル ウムフオルマシネン アクチエンゲゼルシャフト ワークを搬送するための搬送方法
JP7266408B2 (ja) 2016-04-28 2023-04-28 ハテブル ウムフオルマシネン アクチエンゲゼルシャフト ワークを搬送するための搬送方法
CN111093854A (zh) * 2018-01-29 2020-05-01 小松产机株式会社 模拟装置、冲压系统、模拟方法、程序以及存储介质
CN111093854B (zh) * 2018-01-29 2021-09-14 小松产机株式会社 模拟装置、冲压系统、模拟方法、程序以及存储介质
US11543812B2 (en) 2018-01-29 2023-01-03 Komatsu Industries Corporation Simulation device, press system, simulation method, program, and recording medium

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