WO2020116479A1 - Transfer press system - Google Patents

Transfer press system Download PDF

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Publication number
WO2020116479A1
WO2020116479A1 PCT/JP2019/047302 JP2019047302W WO2020116479A1 WO 2020116479 A1 WO2020116479 A1 WO 2020116479A1 JP 2019047302 W JP2019047302 W JP 2019047302W WO 2020116479 A1 WO2020116479 A1 WO 2020116479A1
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WO
WIPO (PCT)
Prior art keywords
motion
interference
press
axis
transfer
Prior art date
Application number
PCT/JP2019/047302
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French (fr)
Japanese (ja)
Inventor
昌也 大谷
章一郎 藤井
Original Assignee
株式会社エイチアンドエフ
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Application filed by 株式会社エイチアンドエフ filed Critical 株式会社エイチアンドエフ
Priority to JP2019569500A priority Critical patent/JP6792231B2/en
Publication of WO2020116479A1 publication Critical patent/WO2020116479A1/en

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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
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B13/00—Methods of pressing not special to the use of presses of any one of the preceding main groups

Definitions

  • the present invention relates to a transfer press system, and more particularly to a transfer press system that can easily and accurately determine the presence or absence of interference when determining the occurrence of interference.
  • a press device capable of mass production in a short time is widely used for metal processing, and a transfer press system is known which performs press processing while conveying a work in order to improve production efficiency.
  • a servo transfer press system has been adopted in which the positions, speeds, and flow lines of press motions and transport motions can be set finely.
  • the servo transfer press system it is necessary to operate the press device and the transfer device in synchronism with each other for continuous processing. Therefore, a master phase signal synchronization method has been developed (Patent Document 1).
  • the transfer device that moves in synchronization with the press device loads and unloads the work by repeatedly entering and leaving the operating press device, and when using the servo transfer press system, the transfer device and the press device do not interfere with each other's operation. It is necessary to adjust the operation of both.
  • Patent Document 2 a servo press machine and a servo transfer device using a reference interference diagram creating means for creating a reference interference diagram showing a relationship of presence or absence of interference between a servo press machine and a servo transfer device, and an operation press motion and an operation transfer motion. It is provided with a driving interference diagram creating means for creating a driving interference diagram showing a relationship of occurrence of interference with the driving interference diagram.
  • an object of the present invention is to provide a transfer press system capable of easily and accurately determining the presence or absence of interference when determining the occurrence of interference.
  • the present inventors have found that the above-mentioned problems can be solved by comparing the coordinates of the die of the press device with the trajectory of the transfer device with respect to the die.
  • the present invention is based on this finding.
  • the present invention (1) includes a transfer device having a base part and an arm part for transferring a work, a press device for pressing the work, and a control part for controlling the transfer device and the press device.
  • the control unit sets the x-axis as the work transfer direction, the y-axis as the width direction orthogonal to the work transfer direction, and the z-axis as the direction orthogonal to the x-axis and the y-axis, and determines an arbitrary point.
  • Coordinate storage means for storing the x-axis, y-axis, and z-axis coordinates of the tip of the arm portion and the x-axis, y-axis, and z-axis coordinates of the corners of the mold attached to the press machine when the origin is set.
  • a motion storage means for storing an operation transfer motion of the transfer apparatus and an operation press motion of the press apparatus, and an operation interference line created from the operation transfer motion and the operation press motion as a locus of a tip of an arm portion with respect to a corner of a mold. , And the coordinates of the corners calculated from the driving press motion to determine the presence or absence of interference, and when the interference determination means determines that there is interference, the driving transport motion and/or the driving press.
  • the present invention resides in a transfer press system including a motion adjusting unit that changes a motion.
  • the present invention resides in (2) the transfer press system according to (1) above, in which the corner portion is the portion of the mold that has the shortest distance to the driving interference line in the driving press motion.
  • the base part is composed of a right base part and a left base part
  • the arm part is composed of a right arm part and a left arm part
  • the right arm part is provided in the right base part
  • the left arm part is left.
  • the right base portion and the left base portion are provided on both sides of the pressing device, and the right arm portion and the left arm portion are movable in the x-axis, y-axis, and z-axis directions.
  • the present invention resides in (4), the transfer press system according to any one of (1) to (3) above, in which both the right arm portion and the left arm portion are robot arms.
  • the motion adjusting means allows the start timing of the operation transfer motion, the start position of the operation transfer motion, the operation speed of the operation transfer motion, the start timing of the operation press motion, the start position of the operation press motion, and the operation press motion.
  • the servo transfer press system according to any one of the above (1) to (4), which is intended to change one or more selected from the group consisting of the operating speeds.
  • the present invention (6) is a transfer press including a transfer device having a base part and an arm part for transferring a work, a press device for pressing the work, and a control part for controlling the transfer device and the press device.
  • the control unit has a motion storage unit that stores the operation transfer motion of the arm unit and the operation press motion of the press device, and the non-interfering transfer motion of the transfer device and the press device In the non-interference press motion, a reference interference line storage unit that stores a reference interference line that is a locus of the tip of the arm portion with respect to the corner portion of the mold, and a reference interference line storage means that stores the reference interference line with respect to the corner portion of the mold from the operation transfer motion and the operation press motion
  • the reference interference determination unit determines that there is interference by comparing the driving interference line created as the trajectory of the tip and the reference interference line with each other
  • the reference motion determining unit determines whether or not there is interference.
  • a motion adjusting means for changing the operation press motion is used to change the operation
  • the control unit sets the x-axis as the work transfer direction, the y-axis as the width direction orthogonal to the work transfer direction, and the z-axis as the direction orthogonal to the x-axis and the y-axis.
  • x is the origin, coordinate storage for storing the x-axis, y-axis, and z-axis direction coordinates of the arm tip and the x-axis, y-axis, and z-axis coordinates of the corners of the mold attached to the press machine.
  • the transfer press system of the present invention creates an operation interference line as a trajectory of the tip of the arm part with respect to the corner of the mold from the operation transfer motion and the operation press motion.
  • the corner coordinates are calculated from the mold coordinates and the driving press motion.
  • the present invention is provided with the interference determination means for determining the presence or absence of interference by comparing the coordinates of the driving interference line and the corners, even when the coordinates of the driving interference line and the mold approach, It becomes possible to determine the interference easily and accurately, and it is possible to adopt the operation press motion and the operation transfer motion in which the coordinates approach the operation interference line. Therefore, a motion with high production efficiency can be adopted. Further, it is not necessary to create a reference interference line for judging interference.
  • the corner portion is the portion of the mold having the shortest distance to the driving interference line in the driving press motion, it is possible to judge the interference with a small number of coordinates and judge the interference. Can be performed immediately.
  • the right arm portion and the left arm portion are both movable in the x-axis, y-axis, and z-axis directions, so that the work can be freely transported.
  • both the right arm part and the left arm part are robot arms, the transfer motion can be freely set, and it becomes possible to transfer a work having a complicated shape.
  • the motion adjusting means has the operation transport motion start timing, the operation transport motion start position, the operation transport motion operation speed, the operation press motion start timing, the operation press motion start position, and the operation press.
  • the transfer press system of the present invention includes the reference interference determination means for comparing the driving interference line and the reference interference line to determine the presence or absence of interference, so that it is possible to determine the presence or absence of interference using the reference interference line.
  • the transfer press system of the present invention is provided with the coordinate interference determining means, and the coordinate interference determining means determines the presence or absence of the interference, so that it becomes possible to start the press working without creating the reference interference line. Further, since the reference interference determination means determines the presence/absence of interference, it becomes possible to start the press working without the need to measure the coordinates.
  • FIG. 1 is a front view showing a transfer press system.
  • FIG. 2A is a front view showing the operation of the transport device approaching the press device.
  • FIG. 2B is a front view showing the lifting operation of the transport device.
  • FIG. 2C is a side view showing the carry-out operation of the carrying device.
  • FIG. 2D is a front view showing the carrying-in operation of the carrying device into the press device.
  • FIG. 2E is a front view showing the detachment of the transport device from the press device.
  • FIG. 2F is a side view showing the return of the transport device to the operation start position.
  • FIG. 3 is a schematic diagram showing the trajectory of the operation of the transport device.
  • FIG. 4 is a schematic diagram showing the control unit.
  • FIG. 5 is a flowchart showing the determination of the presence or absence of interference in the transfer press system.
  • FIG. 6 is a schematic diagram showing changes in the driving interference line.
  • FIG. 7 is a schematic diagram showing the determination of the presence or absence of interference using the interference line.
  • FIG. 1 is a front view showing the transfer press system A.
  • the transfer press system A includes a transfer device 1 having a base part 1a and an arm part 1b for transferring the work W, a press device 2 for pressing the work W, a transfer device 1 and a press device 2. And a control unit (see FIG. 4 ).
  • the press device 2 is provided with a lower die and an upper die that are molds, and the upper die and the lower die can be exchanged according to the processing shape of the work W to be sought.
  • the lower die is fixed, and the upper die is driven by a servo motor to move toward and away from the lower die to press the work W.
  • the base 1a is composed of a right base 1a1 and a left base 1a2, and the right base 1a1 and the left base 1a2 are arranged on both sides of the press device 2.
  • the arm portion 1b includes a right arm portion 1b1 and a left arm portion 1b2.
  • the right arm portion 1b1 is provided on the right base portion 1a1 and the left arm portion 1b2 is provided on the left base portion 1a2.
  • the transport direction of the workpiece W is x-axis
  • the width direction (clamping direction) orthogonal to the transport direction of the workpiece W is y-axis
  • the direction orthogonal to the x-axis and the y-axis (lift direction) is z-axis.
  • Both the right arm portion 1b1 and the left arm portion 1b2 are movable along rails provided in the x-axis, y-axis, and z-axis directions, respectively.
  • the right arm portion 1b1 and the left arm portion 1b2 cooperate to grip and convey the work W from both sides.
  • Fingers are respectively provided at the tips of the right arm portion 1b1 and the left arm portion 1b2, and the work W is hooked from both ends and conveyed. As a result, the work W can be transported quickly and freely with a simple structure.
  • the press motion of the press device 2 is vertical movement, and is defined by the operation start position, operation distance, operation speed, and operation time.
  • the press device 2 can perform press working continuously.
  • the transfer motion of the transfer device 1 is defined by the operation start position, operation distance, operation speed, and operation time.
  • the transport motion of the transport device 1 additionally has a parameter of the driving direction.
  • FIG. 2A is a front view showing the operation of the transport device 1 approaching the press device 2.
  • FIG. 2B is a front view showing the lifting operation of the transport device 1.
  • FIG. 2C is a side view showing the carry-out operation of the carrier device 1.
  • FIG. 2D is a front view showing the carrying-in operation of the carrier device 1 into the press device 2.
  • FIG. 2E is a front view showing the detachment of the transport device 1 from the press device 2.
  • FIG. 2A is a front view showing the operation of the transport device 1 approaching the press device 2.
  • FIG. 2B is a front view showing the lifting operation of the transport device 1.
  • FIG. 2C is a side view showing the carry-out operation of the carrier device 1.
  • FIG. 2D is a front view showing the carrying-in operation of the carrier device 1 into the press device 2.
  • FIG. 2E is a front view showing the detachment of the transport device 1 from the press device 2.
  • FIG. 2A is a front view showing the operation of the
  • FIG. 2F is a side view showing the return of the transport device 1 to the operation start position.
  • the transport device 1 transports the work W with one cycle of a series of operations shown in FIGS. 2A to 2F.
  • FIG. 3 is a schematic diagram showing the trajectory of the operation of the transport device.
  • the arm portion 1b of the carrier device 1 draws a locus as shown in FIG. 3(A) to (F) correspond to FIG. 2(A), FIG. 2(B), FIG. 2(C), FIG. 2(D), FIG. 2(E), and FIG. 2(F), respectively. To do.
  • the press device 2 and the transfer device 1 are each driven by a servo motor, and the operation speed can be changed steplessly, temporarily stopped, and restarted as desired.
  • the press device 2 and the transfer device 1 operate in cooperation, and the work W can be pressed while being transferred.
  • press motion of the press device 2 and the transport motion of the transport device 1 that are created for press working and are transported to the motion storage means 5 are called operating press motion and operating transport motion, respectively.
  • FIG. 4 is a schematic diagram showing the control unit.
  • the control unit 3 includes a coordinate storage unit 4, a motion storage unit 5, an interference determination unit 6, and a motion adjustment unit 7.
  • the reference interference line storage means 8 will be described later.
  • the coordinate storage means 4 stores the coordinates of the tip of the arm 1b and the coordinates of the corner 21 of the mold attached to the press device 2.
  • the motion storage unit 5 stores the operation transfer motion of the transfer device 1 and the operation press motion of the press device 2.
  • the interference determination means 6 compares the coordinates of the corner 21 calculated from the driving press motion with the driving interference line R to determine the presence or absence of interference.
  • the driving interference line R is created as a trajectory of the tip of the arm portion 1b with respect to the corner portion 21 from the driving conveyance motion and the driving press motion.
  • the motion adjustment unit 7 changes the operation transport motion and/or the operation press motion.
  • the motions of the press device 2 and the transport device 1 are controlled by the control unit 3.
  • a normal computer can be used for the control unit 3 and the coordinate storage unit 4, the motion storage unit 5, the interference determination unit 6, and the motion adjustment unit 7 included in the control unit 3.
  • the coordinate storage means 4 and the motion storage means 5 correspond to the memory of the computer, and the interference determination means 6 and the motion adjustment means 7 correspond to the CPU of the computer.
  • the coordinate storage means 4 stores the coordinates of the upper die of the press device 2 and the fingers of the transport device 1 with an arbitrary one point as the origin.
  • the origin for example, one point where the press device 2 and the floor surface are in contact can be adopted.
  • the coordinates on the x-axis, the y-axis, and the z-axis are represented by (x, y, z) as spatial coordinates.
  • the positions of the upper mold and the fingers in the space are grasped.
  • the coordinates stored in the coordinate storage means 4 are the coordinates of the point at which the interference between the press device 2 and the transport device 1 should be determined. That is, regarding the press device 2, the coordinate storage means 4 stores that the distance to the driving interference line R (described later) in the driving press motion is the shortest, that is, the length of the perpendicular line drawn to the driving interference line R is the length. It is the shortest corner 21 of the mold. As for the transfer device 1, it is the coordinates of the tips of the fingers provided at the tips of the arms 1b. By recording these coordinates and using them for creating the driving interference line R and determining the interference, it is possible to determine the interference with a small number of coordinates, and it is possible to immediately determine the interference.
  • the transfer press system A stores the respective points in the coordinate storage means 4, and the stored interference points will be described later. Make a decision.
  • the dimensions of the upper die are used, and the coordinates of the corner portion 21 can be obtained by adding or subtracting the dimensions of the die to the coordinates of the mounting portion of the upper die.
  • the coordinate of the tip of the finger can be obtained by using the dimension of the finger to adjust the dimension of the finger to the coordinate of the tip of the arm portion 1b.
  • the interference determining means 6 compares the driving interference line R, the coordinates of the corner portion 21 of the mold, and the coordinates of the corner portion 21 created from the driving press motion to determine the presence or absence of interference, and the collision determining means 6a.
  • a reference interference determination means 6b for determining the presence or absence of interference by comparing the interference line R with a reference interference line B described later is provided.
  • the interference determination means 6 creates the driving interference line R.
  • the operation interference line R is a locus with respect to the corner 21 of the point where the transport device 1 most easily interferes with the press device 2, that is, the tip of the finger of the arm portion 1b.
  • the lower mold Since the lower mold is fixed, interference with the lower mold of the transport device 1 is eliminated at the stage of creating a motion. If the press device 2 that operates the lower mold is used, the coordinates of the lower mold can be stored in the coordinate storage means 4 and the interference determination described below can be performed.
  • FIG. 5 is a flowchart showing the determination of the presence or absence of interference in the transfer press system.
  • the creation conditions required for the operation press motion and the operation transfer motion are set in order to realize this.
  • An operation press motion and an operation transfer motion are created from these creation conditions and stored in the motion storage means 5.
  • the motion storage means 5 creates a driving interference diagram R from the stored driving press motion and driving transport motion.
  • the upper die of the press device 2 sets a motion that does not move at the top dead center as an operating press motion, and the coordinate interference determination means 6a determines the interference.
  • the coordinate interference determination means 6a determines the interference.
  • the presence or absence of interference is determined by whether or not the coordinates of the corner portion 21 contact the driving interference line R. When the coordinates of the corner portion 21 come into contact with the driving interference line R, the coordinate interference determination means 6a determines that interference occurs.
  • the operation press motion for actually operating the press device 2 Is stored in the motion storage means 5.
  • the coordinates of the corner portion 21 at each time point of one cycle are calculated.
  • the coordinates of the corner portion 21 interfere with the driving interference line R by comparing these coordinates with the driving interference line R (in FIG. 7, the coordinates of the corner portion 21 are located on the lower right side of the driving interference line R). Or when the coordinates of the corner 21 move across the driving interference line R, it can be determined that there is interference.
  • FIG. 7 the coordinates of the corner portion 21 interfere with the driving interference line R by comparing these coordinates with the driving interference line R (in FIG. 7, the coordinates of the corner portion 21 are located on the lower right side of the driving interference line R).
  • the driving interference line R on the yz plane and the coordinates of the upper mold are compared, and the presence or absence of interference on the xz plane is determined. By performing this for each of the yz plane and the xy plane, it is possible to determine whether or not there is interference between the press device 2 and the transport device 1.
  • the motion adjusting means 7 changes the driving press motion or the driving conveyance motion.
  • the change of motion is performed by one or more selected from a change of phase difference, a change of operation press motion, and a change of operation conveyance motion. Specifically, from the group consisting of the start timing of the operation transfer motion, the start position of the operation transfer motion, the operation speed of the operation transfer motion, the start timing of the operation press motion, the start position of the operation press motion, and the operation speed of the operation press motion. This is done by changing one or more selected.
  • FIG. 6 is a schematic diagram showing changes in the driving interference line.
  • the driving interference line R of FIG. 6 becomes a driving interference line R′.
  • the change of the motion performed by the motion adjusting means 7 can be performed by selecting a parameter that minimizes the time of one cycle from the group described above and setting various conditions. For example, conditions such as the time when the upper die and the lower die sandwich the work W are not changed, and the motion when the transport device 1 is outside the interference region of the operation interference line R diagram is preferentially considered. This makes it possible to create a motion in which the press device 2 and the transport device 1 do not interfere with each other while maintaining the processing speed and the processing accuracy.
  • the motion adjusting unit 7 changes the driving press motion or the driving conveyance motion
  • the changed motion is recorded as a new driving press motion or driving conveyance motion
  • the presence/absence of interference is determined again by the coordinate interference determination unit 6a.
  • the coordinate interference determination means 6a compares the coordinates with the driving interference line R to determine the presence or absence of interference, so that the accuracy of the determination can be improved. That is, when determining the presence or absence of interference by comparing the interference lines, there is a region in which the occurrence of interference has not been confirmed. Specifically, all of the inside of the reference interference line is an area where the occurrence of interference is unconfirmed, and if a driving interference line enters this unconfirmed area, it is immediately determined that interference will occur.
  • the operation interference diagram R2 in FIG. 7 shows that no interference occurs in the actual press device 2 and the conveying device 1, but if the presence or absence of interference is determined by comparison with the reference interference diagram B, interference occurs. It will be determined to do.
  • the actual machine is operated based on the set operation press motion and operation conveyance motion even in the area where the occurrence of interference is not confirmed in the reference interference line B. It is possible to determine the presence or absence of interference without causing the interference. Therefore, it is possible to determine the interference easily and accurately, and it is possible to adopt the driving press motion and the driving conveyance motion whose coordinates are closer to the driving interference line R. Therefore, a motion with high production efficiency can be adopted.
  • the determination of interference using the reference interference determination means 6b will be described below.
  • the process up to the point of creating the driving interference line R from the driving press motion and the driving conveyance motion is the same as the judgment using the interference judging means 6 described above.
  • the interference determination using the reference interference determination means 6b is performed by the flow of the portion surrounded by the dotted line in FIG.
  • the reference interference line B which is previously confirmed to have no interference, is read and stored in the reference interference line storage means 8 for the transport device 1 and the press device 2.
  • the reference interference line B is the trajectory of the tip of the finger with respect to the corner portion 21.
  • the memory of the computer described above can be used.
  • the motion storage means 5 stores the operation press motion and the operation conveyance motion.
  • FIG. 7 is a schematic diagram showing the determination of the presence or absence of interference using the interference line.
  • the reference interference determination means 6b creates an operation interference line R from the operation press motion and the operation transport motion stored in the motion storage means 5.
  • the reference interference determination means 6b compares the driving interference line R and the reference interference line B, and when the interference unconfirmed region defined by the reference interference line B comes into contact with the driving interference line R, for example, the driving interference line in FIG. Is R1 or R2, it is determined that interference between the press device 2 and the transport device 1 occurs.
  • the interference determination means 6 it is determined whether or not the interference can be avoided by using the driving press motion in which the upper die is stationary at the top dead center, and it is determined that it is impossible. If this happens, set the conditions for creating the operation press motion and operation transfer motion again.
  • the presence or absence of the interference is determined by comparing the operation interference line R obtained from the actual operation press motion and the operation conveyance motion with the reference interference line B.
  • the motion adjusting means 7 changes the operation press motion and/or the operation transfer motion as in the case of using the coordinate interference determination means 6a, and the press device 2 and the transfer device. 1 obtains the operation transfer motion that does not interfere.
  • the transfer press device when an operation press motion or an operation transfer motion is to be changed, it is normal for the transfer press device to have a reference interference line B that has already been confirmed to have no interference.
  • the coordinates of the press device 2 and the transport device 1 or the coordinates of the transport device 1 are not measured.
  • the reference interference determination means 6b it is possible to determine the presence or absence of interference using the reference interference line B, and it is not necessary to measure the coordinates.
  • the coordinate interference determination means 6a and the reference interference determination means 6b are for determining interference between the press device 2 and the transport device 1, and either one is selectively used. As a result, it becomes possible to start press working without measuring unnecessary dimensions and creating an interference diagram.
  • the right arm portion 1b1 and the left arm portion 1b2 may be robot arms.
  • the transfer motion can be set freely, and it becomes possible to transfer a work having a complicated shape.
  • the work W is small and lightweight, the work W can be transported by only one of the right arm portion 1b1 and the left arm portion 1b2.
  • the mechanism for the arm portion 1b to grip the work W in addition to fingers, various types such as a suction cup can be used.
  • the transfer press system A of the present invention does not need to create a reference interference line for determining interference, it is possible to adopt an operation press motion and an operation transfer motion in which coordinates approach the operation interference line, and therefore, press working is performed. It can be widely used in the field of.
  • A... Transfer press system 1... Transfer device 1a... Base 1a1... Right base 1a2... Left base 1b... Arm part 1b1... Right arm part 1b2... Left arm part 2, 2'... Press device 21... Corner 3... Control part 4... Coordinate storage means 5... Motion storage means 6... Interference determination means 6a... Coordinate interference determination means 6b... Reference interference determination means 7... Motion adjustment means 8... Reference interference line storage means R, R', R1 to 3... Driving interference line B... Reference interference line W... Work

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Abstract

The purpose of the present invention is to provide a transfer press system capable of easily and accurately determining the presence or absence of interference. A transfer press system (A) according to the present invention is provided with: an interference determination means (6) which determines the presence or absence of interference by comparing an operation interference line (R, R', R1-3) created, from an operation transfer motion of a transfer device (1) and an operation press motion of a press device (2), as a trajectory of a tip end of an arm part (1b) with respect to a corner part (21) of a die, with coordinates of the corner part (21) calculated from the operation press motion; and a motion adjustment means (7) which, when the interference determination means (6) determines that interference is present, changes the operation transfer motion and/or the operation press motion.

Description

トランスファプレスシステムTransfer press system
　本発明はトランスファプレスシステムに関し、更に詳しくは干渉の発生を判定するに際して簡単かつ正確に干渉の有無を判定できるトランスファプレスシステムに関する。 The present invention relates to a transfer press system, and more particularly to a transfer press system that can easily and accurately determine the presence or absence of interference when determining the occurrence of interference.
　金属加工には短時間で大量生産が可能なプレス装置が広く用いられており、生産効率を高めるため、ワークを搬送しながらプレス加工を行うトランスファプレスシステムが知られている。近年の複雑な加工の要請に応えるため、プレスモーション及び搬送モーションの位置や速度、動線を細かく設定可能なサーボトランスファプレスシステムが採用されている。
　サーボトランスファプレスシステムにおいては、連続加工のためにプレス装置と搬送装置とを同期させて稼働させる必要があり、このためマスター位相信号同期方式が開発されている（特許文献１）。
　プレス装置に同期して動く搬送装置は、稼働するプレス装置に侵入離脱を繰り返してワークを搬入及び搬出するものであり、サーボトランスファプレスシステムを用いるにあたって搬送装置とプレス装置が互いの動作に干渉しないように両者の運転を調整する必要がある。 A press device capable of mass production in a short time is widely used for metal processing, and a transfer press system is known which performs press processing while conveying a work in order to improve production efficiency. In order to meet the demands of complicated processing in recent years, a servo transfer press system has been adopted in which the positions, speeds, and flow lines of press motions and transport motions can be set finely.
In the servo transfer press system, it is necessary to operate the press device and the transfer device in synchronism with each other for continuous processing. Therefore, a master phase signal synchronization method has been developed (Patent Document 1).
The transfer device that moves in synchronization with the press device loads and unloads the work by repeatedly entering and leaving the operating press device, and when using the servo transfer press system, the transfer device and the press device do not interfere with each other's operation. It is necessary to adjust the operation of both.
　干渉の発生を確認するためには、実際にサーボトランスファプレスシステムであっても、サーボトランスファプレスシステムを稼働させて目視で干渉発生を確認する必要がある。
　この確認作業は、プレス装置のモーション及び搬送装置のモーションのいずれかを変更するたびに、発生するものである。また、プレス装置の金型や、搬送装置のワークを把持する冶具を変更するたびに発生するものであり、手間と時間を要する。 In order to confirm the occurrence of the interference, it is necessary to visually check the occurrence of the interference by operating the servo transfer press system even if the servo transfer press system is actually used.
This confirmation work occurs every time the motion of the press device or the motion of the transport device is changed. Further, it is generated every time when the die of the press device or the jig for holding the work of the transfer device is changed, which requires labor and time.
　これに対応するため、基準干渉線図と運転干渉線図とを比較し、運転干渉線図が基準干渉線図の内側の保護領域に入り込むか否かを比較することで干渉が発生するか否かを判別する手段、すなわち干渉発生有無比較判別手段を備えたサーボトランスファシステムが開発されている（特許文献２）。これは、サーボプレス機械とサーボトランスファ装置との干渉有無関係を表す基準干渉線図を作成する基準干渉線図作成手段と、運転プレスモーションと運転トランスファモーションとを用いてサーボプレス機械とサーボトランスファ装置との干渉発生有無関係を表す運転干渉線図を作成する運転干渉線図作成手段を備えるものである。 In order to address this, whether the interference occurs by comparing the reference interference diagram and the driving interference diagram and comparing whether the driving interference diagram enters the protection area inside the reference interference diagram or not. There has been developed a servo transfer system including a means for determining whether or not, that is, a means for comparing and determining whether or not interference has occurred (Patent Document 2). This is a servo press machine and a servo transfer device using a reference interference diagram creating means for creating a reference interference diagram showing a relationship of presence or absence of interference between a servo press machine and a servo transfer device, and an operation press motion and an operation transfer motion. It is provided with a driving interference diagram creating means for creating a driving interference diagram showing a relationship of occurrence of interference with the driving interference diagram.
特許第４４２５０４３号公報Japanese Patent No. 4425043 特許第５６６５２３３号公報Patent No. 5665233
　特許文献２のサーボトランスファプレスシステムでは、干渉の有無を判定するために基準干渉線図を作成する必要がある。サーボプレス機械及びサーボトランスファプレスシステムを実際に稼働させ、干渉が発生しないことを確認したモーションにおいて、基準干渉線図はプレス装置に対する搬送装置の軌跡である。したがって、確認作業を省略することはできず、ヒューマンエラーの発生を完全に避けることはできない。 In the servo transfer press system of Patent Document 2, it is necessary to create a reference interference diagram to determine the presence or absence of interference. In a motion in which the servo press machine and the servo transfer press system are actually operated and it is confirmed that no interference occurs, the reference interference diagram is the locus of the transfer device with respect to the press device. Therefore, the confirmation work cannot be omitted, and the occurrence of human error cannot be completely avoided.
　さらに、基準干渉線図には、干渉発生が未確認の領域が存在する。基準干渉線図を用いた干渉の判定では、この未確認の領域に運転干渉線図が侵入すると、実際には干渉が発生しない場合でも無条件で干渉が発生すると判定されてしまう（図７参照）。すなわち、本来は干渉を発生させずに利用できる運転プレスモーション又は運転搬送モーションを利用できず、生産効率を下げる要因となる。 Furthermore, there is an area where interference has not been confirmed in the reference interference diagram. In the determination of interference using the reference interference diagram, if the driving interference diagram enters this unconfirmed area, it is determined that interference will occur unconditionally even if no interference actually occurs (see FIG. 7). . That is, the operation press motion or the operation transfer motion, which originally can be used without causing interference, cannot be used, which causes a reduction in production efficiency.
　本発明は、上述の課題を受けて開発されたものである。すなわち、本発明は干渉の発生を判定するに際し、簡単かつ正確に干渉の有無を判定できるトランスファプレスシステムを提供することを目的とする。 The present invention was developed in response to the above problems. That is, an object of the present invention is to provide a transfer press system capable of easily and accurately determining the presence or absence of interference when determining the occurrence of interference.
　本発明者らは鋭意検討の結果、プレス装置の金型の座標と、該金型に対する搬送装置の軌跡とを比較することにより、上記課題を解決できることを見出した。本発明はこの知見に基づくものである。 As a result of intensive studies, the present inventors have found that the above-mentioned problems can be solved by comparing the coordinates of the die of the press device with the trajectory of the transfer device with respect to the die. The present invention is based on this finding.
　本発明は（１）、ワークを搬送するための基部及びアーム部を有する搬送装置と、ワークをプレスするためのプレス装置と、搬送装置及びプレス装置を制御するための制御部と、を有するトランスファプレスシステムであって、制御部が、ワークの搬送方向をｘ軸、ワークの搬送方向に直交する幅方向をｙ軸とし、ｘ軸及びｙ軸に直交する方向をｚ軸とし、任意の点を原点とした場合に、アーム部の先端のｘ軸、ｙ軸及びｚ軸の座標並びにプレス装置に取り付けた金型の角部のｘ軸、ｙ軸及びｚ軸の座標を記憶する座標記憶手段と、搬送装置の運転搬送モーション及びプレス装置の運転プレスモーションを記憶するモーション記憶手段と、運転搬送モーション及び運転プレスモーションから、金型の角部に対するアーム部の先端の軌跡として作成される運転干渉線、並びに、運転プレスモーションから算出される角部の座標、を比較して干渉の有無を判定する干渉判定手段と、干渉判定手段が干渉があると判定した場合、運転搬送モーション及び／又は運転プレスモーションを変更するモーション調整手段と、を備えるトランスファプレスシステムに存する。 The present invention (1) includes a transfer device having a base part and an arm part for transferring a work, a press device for pressing the work, and a control part for controlling the transfer device and the press device. In the press system, the control unit sets the x-axis as the work transfer direction, the y-axis as the width direction orthogonal to the work transfer direction, and the z-axis as the direction orthogonal to the x-axis and the y-axis, and determines an arbitrary point. Coordinate storage means for storing the x-axis, y-axis, and z-axis coordinates of the tip of the arm portion and the x-axis, y-axis, and z-axis coordinates of the corners of the mold attached to the press machine when the origin is set. A motion storage means for storing an operation transfer motion of the transfer apparatus and an operation press motion of the press apparatus, and an operation interference line created from the operation transfer motion and the operation press motion as a locus of a tip of an arm portion with respect to a corner of a mold. , And the coordinates of the corners calculated from the driving press motion to determine the presence or absence of interference, and when the interference determination means determines that there is interference, the driving transport motion and/or the driving press. The present invention resides in a transfer press system including a motion adjusting unit that changes a motion.
　本発明は（２）、角部が、運転プレスモーションにおける運転干渉線に対する距離が最短となる金型の部分である上記（１）記載のトランスファプレスシステムに存する。 (2) The present invention resides in (2) the transfer press system according to (1) above, in which the corner portion is the portion of the mold that has the shortest distance to the driving interference line in the driving press motion.
　本発明は（３）、基部が右基部と左基部とからなり、アーム部が右アーム部と左アーム部とからなり、右アーム部は右基部に設けられるものであり、左アーム部は左基部に設けられるものであり、右基部と左基部はプレス装置の両側に配置されるものであり、右アーム部及び左アーム部がいずれもｘ軸、ｙ軸及びｚ軸方向に移動可能であり、右アーム部及び左アーム部が協働してワークを両側から把持して搬送するものである上記（１）又は（２）記載のトランスファプレスシステムに存する。 According to the present invention (3), the base part is composed of a right base part and a left base part, the arm part is composed of a right arm part and a left arm part, the right arm part is provided in the right base part, and the left arm part is left. The right base portion and the left base portion are provided on both sides of the pressing device, and the right arm portion and the left arm portion are movable in the x-axis, y-axis, and z-axis directions. The transfer press system according to (1) or (2) above, in which the right arm portion and the left arm portion cooperate to grip and convey the work from both sides.
　本発明は（４）、右アーム部及び左アーム部がいずれもロボットアームである上記（１）～（３）いずれか１つに記載のトランスファプレスシステムに存する。 The present invention resides in (4), the transfer press system according to any one of (1) to (3) above, in which both the right arm portion and the left arm portion are robot arms.
　本発明は（５）、モーション調整手段が、運転搬送モーションの開始タイミング、運転搬送モーションの開始位置、運転搬送モーションの動作速度、運転プレスモーションの開始タイミング、運転プレスモーションの開始位置及び運転プレスモーションの動作速度からなる群より選択される１つ以上を変更するものである上記（１）～（４）いずれか１つに記載のサーボトランスファプレスシステムに存する。 In the present invention (5), the motion adjusting means allows the start timing of the operation transfer motion, the start position of the operation transfer motion, the operation speed of the operation transfer motion, the start timing of the operation press motion, the start position of the operation press motion, and the operation press motion. The servo transfer press system according to any one of the above (1) to (4), which is intended to change one or more selected from the group consisting of the operating speeds.
　本発明は（６）、ワークを搬送するための基部及びアーム部を有する搬送装置と、ワークをプレスするためのプレス装置と、搬送装置及びプレス装置を制御するための制御部とを有するトランスファプレスシステムであって、制御部が、アーム部の運転搬送モーション及びプレス装置の運転プレスモーションを記憶するモーション記憶手段と、予め干渉がないことが確認された搬送装置の非干渉搬送モーション及びプレス装置の非干渉プレスモーションにおける、金型の角部に対するアーム部の先端の軌跡である基準干渉線を記憶する基準干渉線記憶手段と、運転搬送モーション及び運転プレスモーションから金型の角部に対するアーム部の先端の軌跡として作成される運転干渉線、並びに、基準干渉線、を比較して干渉の有無を判定する基準干渉判定手段と、基準干渉判定手段が干渉があると判定した場合、運転搬送モーション及び／又は運転プレスモーションを変更するモーション調整手段と、を備えるトランスファプレスシステムに存する。 The present invention (6) is a transfer press including a transfer device having a base part and an arm part for transferring a work, a press device for pressing the work, and a control part for controlling the transfer device and the press device. In the system, the control unit has a motion storage unit that stores the operation transfer motion of the arm unit and the operation press motion of the press device, and the non-interfering transfer motion of the transfer device and the press device In the non-interference press motion, a reference interference line storage unit that stores a reference interference line that is a locus of the tip of the arm portion with respect to the corner portion of the mold, and a reference interference line storage means that stores the reference interference line with respect to the corner portion of the mold from the operation transfer motion and the operation press motion When the reference interference determination unit determines that there is interference by comparing the driving interference line created as the trajectory of the tip and the reference interference line with each other, the reference motion determining unit determines whether or not there is interference. And/or a motion adjusting means for changing the operation press motion.
　本発明は（７）、制御部が、ワークの搬送方向をｘ軸、ワークの搬送方向に直交する幅方向をｙ軸とし、ｘ軸及びｙ軸に直交する方向をｚ軸とし、任意の点を原点とした場合に、アーム部の先端のｘ軸、ｙ軸及びｚ軸方向の座標とプレス装置に取り付けた金型の角部のｘ軸、ｙ軸及びｚ軸の座標を記憶する座標記憶手段と、運転プレスモーションから算出される角部の座標及び運転干渉線を比較して干渉の有無を判定する座標干渉判定手段とを更に備え、座標干渉判定手段又は基準干渉判定手段が干渉の有無を判定し、モーション調整手段が、座標干渉判定手段又は基準干渉判定手段が干渉があると判定した場合に、運転搬送モーション及び／又は運転プレスモーションを変更する上記（６）記載のトランスファプレスシステムに存する。 According to the present invention (7), the control unit sets the x-axis as the work transfer direction, the y-axis as the width direction orthogonal to the work transfer direction, and the z-axis as the direction orthogonal to the x-axis and the y-axis. Where x is the origin, coordinate storage for storing the x-axis, y-axis, and z-axis direction coordinates of the arm tip and the x-axis, y-axis, and z-axis coordinates of the corners of the mold attached to the press machine. Means and a coordinate interference determination means for comparing the coordinates of the corners calculated from the driving press motion and the driving interference line to determine the presence or absence of interference, wherein the coordinate interference determination means or the reference interference determination means And the motion adjustment means determines that the coordinate interference determination means or the reference interference determination means has interference, the transfer press system according to (6) above, which changes the operation transport motion and/or the operation press motion. Exist.
　本発明のトランスファプレスシステムは、運転搬送モーション及び運転プレスモーションから、金型の角部に対するアーム部の先端の軌跡として運転干渉線を作成する。また、金型の座標及び運転プレスモーションから角部の座標を算出する。本発明は、これら運転干渉線及び角部の座標を比較して干渉の有無を判定する干渉判定手段を備えることにより、運転干渉線と金型の座標が接近するような場合であっても、簡単かつ正確な干渉の判定が可能となり、運転干渉線に座標が接近する運転プレスモーション及び運転搬送モーションを採用することが可能になる。したがって、生産効率の高いモーションを採用することができる。また、干渉の判定のために基準干渉線を作成する必要がない。 The transfer press system of the present invention creates an operation interference line as a trajectory of the tip of the arm part with respect to the corner of the mold from the operation transfer motion and the operation press motion. In addition, the corner coordinates are calculated from the mold coordinates and the driving press motion. The present invention is provided with the interference determination means for determining the presence or absence of interference by comparing the coordinates of the driving interference line and the corners, even when the coordinates of the driving interference line and the mold approach, It becomes possible to determine the interference easily and accurately, and it is possible to adopt the operation press motion and the operation transfer motion in which the coordinates approach the operation interference line. Therefore, a motion with high production efficiency can be adopted. Further, it is not necessary to create a reference interference line for judging interference.
　本発明のトランスファプレスシステムは、角部が、運転プレスモーションにおける運転干渉線に対する距離が最短となる金型の部分であることにより、少数の座標で干渉の判定を行うことができ、干渉の判定を即時に行うことが可能となる。 In the transfer press system of the present invention, since the corner portion is the portion of the mold having the shortest distance to the driving interference line in the driving press motion, it is possible to judge the interference with a small number of coordinates and judge the interference. Can be performed immediately.
　本発明のトランスファプレスシステムは、右アーム部及び左アーム部がいずれもｘ軸、ｙ軸及びｚ軸方向に移動可能となっていることにより、ワークを自在に搬送することができる。 In the transfer press system of the present invention, the right arm portion and the left arm portion are both movable in the x-axis, y-axis, and z-axis directions, so that the work can be freely transported.
　本発明のトランスファプレスシステムは、右アーム部及び左アーム部がいずれもロボットアームであることにより、搬送モーションを自在に設定することができ、複雑形状のワークを搬送することが可能となる。 In the transfer press system of the present invention, since both the right arm part and the left arm part are robot arms, the transfer motion can be freely set, and it becomes possible to transfer a work having a complicated shape.
　本発明のトランスファプレスシステムは、モーション調整手段が、運転搬送モーションの開始タイミング、運転搬送モーションの開始位置、運転搬送モーションの動作速度、運転プレスモーションの開始タイミング、運転プレスモーションの開始位置及び運転プレスモーションの動作速度からなる群より選択される１つ以上を変更するものであることにより、加工速度を維持しながら干渉の発生しない運転プレスモーション又は運転搬送モーションを採用することが可能となる。 In the transfer press system of the present invention, the motion adjusting means has the operation transport motion start timing, the operation transport motion start position, the operation transport motion operation speed, the operation press motion start timing, the operation press motion start position, and the operation press. By changing one or more selected from the group consisting of motion operation speeds, it is possible to adopt an operation press motion or operation transfer motion in which interference does not occur while maintaining the processing speed.
　本発明のトランスファプレスシステムは、運転干渉線及び基準干渉線を比較して干渉の有無を判定する基準干渉判定手段を備えることにより、基準干渉線を利用して干渉の有無を判定することが可能となる。 The transfer press system of the present invention includes the reference interference determination means for comparing the driving interference line and the reference interference line to determine the presence or absence of interference, so that it is possible to determine the presence or absence of interference using the reference interference line. Becomes
　本発明のトランスファプレスシステムは、座標干渉判定手段を備え、座標干渉判定手段が干渉の有無を判定することにより、基準干渉線の作成を要さずにプレス加工を開始することが可能となる。また、基準干渉判定手段が干渉の有無を判定することにより、座標の計測を要さずに、プレス加工を開始することが可能となる。 The transfer press system of the present invention is provided with the coordinate interference determining means, and the coordinate interference determining means determines the presence or absence of the interference, so that it becomes possible to start the press working without creating the reference interference line. Further, since the reference interference determination means determines the presence/absence of interference, it becomes possible to start the press working without the need to measure the coordinates.
[規則91に基づく訂正 09.12.2019]　
図１は、トランスファプレスシステムを示す正面図である。 図２（Ａ）は、搬送装置がプレス装置に接近する動作を示す正面図である。図２（Ｂ）は、搬送装置の持ち上げ動作を示す正面図である。図２（Ｃ）は、搬送装置の搬出動作を示す側面図である。図２（Ｄ）は、搬送装置のプレス装置への搬入動作を示す正面図である。図２（Ｅ）は、搬送装置のプレス装置からの離脱を示す正面図である。図２（Ｆ）は、搬送装置の動作開始位置への復帰を示す側面図である。 図３は、搬送装置の動作の軌跡を示す模式図である。 図４は、制御部を示す模式図である。 図５は、トランスファプレスシステムの干渉の有無の判定を示すフローチャートである。 図６は、運転干渉線の変化を示す模式図である。 図７は、干渉線を用いた干渉の有無の判定を示す模式図である。 [Correction based on Rule 91 09.12.2019]
FIG. 1 is a front view showing a transfer press system. FIG. 2A is a front view showing the operation of the transport device approaching the press device. FIG. 2B is a front view showing the lifting operation of the transport device. FIG. 2C is a side view showing the carry-out operation of the carrying device. FIG. 2D is a front view showing the carrying-in operation of the carrying device into the press device. FIG. 2E is a front view showing the detachment of the transport device from the press device. FIG. 2F is a side view showing the return of the transport device to the operation start position. FIG. 3 is a schematic diagram showing the trajectory of the operation of the transport device. FIG. 4 is a schematic diagram showing the control unit. FIG. 5 is a flowchart showing the determination of the presence or absence of interference in the transfer press system. FIG. 6 is a schematic diagram showing changes in the driving interference line. FIG. 7 is a schematic diagram showing the determination of the presence or absence of interference using the interference line.
　以下、必要に応じて図面を参照しつつ、本発明の好適な実施形態について詳細に説明する。
　なお、図面中、同一要素には同一符号を付すこととし、重複する説明は省略する。
　また、上下左右等の位置関係は、特に断らない限り、図面に示す位置関係に基づくものとする。更に、図面の座標比率は図示の比率に限られるものではない。 Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings as necessary.
In the drawings, the same elements will be denoted by the same reference symbols, without redundant description.
Further, the positional relationship such as up, down, left and right is based on the positional relationship shown in the drawings unless otherwise specified. Furthermore, the coordinate ratios in the drawings are not limited to the illustrated ratios.
　図１は、トランスファプレスシステムＡを示す正面図である。
　トランスファプレスシステムＡは、ワークＷを搬送するための基部１ａ及びアーム部１ｂを有する搬送装置１と、ワークＷをプレスするためのプレス装置２と、搬送装置１及びプレス装置２を制御するための制御部（図４参照）と、を有する。 FIG. 1 is a front view showing the transfer press system A.
The transfer press system A includes a transfer device 1 having a base part 1a and an arm part 1b for transferring the work W, a press device 2 for pressing the work W, a transfer device 1 and a press device 2. And a control unit (see FIG. 4 ).
　プレス装置２は、金型である下型及び上型を備え、求めるワークＷの加工形状に応じて、上型及び下型が交換可能となっている。下型は固定されており、上型がサーボモータにより駆動され、下型に接近及び離脱し、ワークＷをプレスする。 The press device 2 is provided with a lower die and an upper die that are molds, and the upper die and the lower die can be exchanged according to the processing shape of the work W to be sought. The lower die is fixed, and the upper die is driven by a servo motor to move toward and away from the lower die to press the work W.
　搬送装置１は、基部１ａが右基部１ａ１と左基部１ａ２とからなり、右基部１ａ１と左基部１ａ２はプレス装置２の両側に配置される。アーム部１ｂは、右アーム部１ｂ１と左アーム部１ｂ２とからなり、右アーム部１ｂ１は右基部１ａ１に設けられ、左アーム部１ｂ２は左基部１ａ２に設けられる。
　ここで、ワークＷの搬送方向をｘ軸、ワークＷの搬送方向に直交する幅方向（クランプ方向）をｙ軸とし、ｘ軸及びｙ軸に直交する方向（リフト方向）をｚ軸とする。右アーム部１ｂ１及び左アーム部１ｂ２は、いずれもｘ軸、ｙ軸及びｚ軸方向それぞれ設けられたレールに沿って移動可能となっている。右アーム部１ｂ１と左アーム部１ｂ２は、協働してワークＷを両側から把持して搬送するものである。 In the carrying device 1, the base 1a is composed of a right base 1a1 and a left base 1a2, and the right base 1a1 and the left base 1a2 are arranged on both sides of the press device 2. The arm portion 1b includes a right arm portion 1b1 and a left arm portion 1b2. The right arm portion 1b1 is provided on the right base portion 1a1 and the left arm portion 1b2 is provided on the left base portion 1a2.
Here, the transport direction of the workpiece W is x-axis, the width direction (clamping direction) orthogonal to the transport direction of the workpiece W is y-axis, and the direction orthogonal to the x-axis and the y-axis (lift direction) is z-axis. Both the right arm portion 1b1 and the left arm portion 1b2 are movable along rails provided in the x-axis, y-axis, and z-axis directions, respectively. The right arm portion 1b1 and the left arm portion 1b2 cooperate to grip and convey the work W from both sides.
　右アーム部１ｂ１及び左アーム部１ｂ２の先端には、それぞれフィンガーが設けられており、ワークＷを両端から引っ掛けて搬送する。
　これにより、シンプルな構造でワークＷを素早く、かつ自在に搬送することが可能となる。 Fingers are respectively provided at the tips of the right arm portion 1b1 and the left arm portion 1b2, and the work W is hooked from both ends and conveyed.
As a result, the work W can be transported quickly and freely with a simple structure.
　プレス装置２のプレスモーションは、上下動であり、運転開始位置、運転距離、運転速度及び運転時間によって定義される。 The press motion of the press device 2 is vertical movement, and is defined by the operation start position, operation distance, operation speed, and operation time.
　たとえば、上型の上死点からワークＷに接近するまでは高速で下降し、ワークＷに接近した後に接するまでは低速で下降し、ワークＷを下型との間に挟み込んで数秒待機し、その後高速で上昇する、といったモーションを設定し、これをモーション記憶手段５に記憶することができる。
　１サイクルの運転終了位置を、運転開始位置と同一に設定することにより、プレス装置２は連続してプレス加工を行うことが可能となる。 For example, it descends at a high speed from the top dead center of the upper mold until it approaches the work W, descends at a low speed until it contacts the work W, and then contacts the work W, sandwiches the work W with the lower mold, and waits for several seconds. Then, a motion such as rising at a high speed can be set and stored in the motion storage means 5.
By setting the operation end position of one cycle to be the same as the operation start position, the press device 2 can perform press working continuously.
　搬送装置１の搬送モーションについても同様に、運転開始位置、運転距離、運転速度及び運転時間によって定義される。搬送装置１の搬送モーションは、加えて運転方向のパラメータを有する。 Similarly, the transfer motion of the transfer device 1 is defined by the operation start position, operation distance, operation speed, and operation time. The transport motion of the transport device 1 additionally has a parameter of the driving direction.
　複数のプレス装置２を備えるトランスファプレスシステムの例を示す。図中の矢印は、アーム部１ｂの動作を示す。
　ワークＷはプレス装置２によりプレスされたのち、搬送装置１により下流のプレス装置２’に搬送される。
　図２（Ａ）は、搬送装置１がプレス装置２に接近する動作を示す正面図である。図２（Ｂ）は、搬送装置１の持ち上げ動作を示す正面図である。図２（Ｃ）は、搬送装置１の搬出動作を示す側面図である。図２（Ｄ）は、搬送装置１のプレス装置２への搬入動作を示す正面図である。図２（Ｅ）は、搬送装置１のプレス装置２からの離脱を示す正面図である。図２（Ｆ）は、搬送装置１の動作開始位置への復帰を示す側面図である。
　搬送装置１は図２（Ａ）～図２（Ｆ）の一連の動作を１サイクルとして、ワークＷを搬送する。
　図３は、搬送装置の動作の軌跡を示す模式図である。１サイクルの動作により、搬送装置１のアーム部１ｂは、図３に示すような軌跡を描く。
　図３の（Ａ）～（Ｆ）は、図２（Ａ）、図２（Ｂ）、図２（Ｃ）、図２（Ｄ）、図２（Ｅ）及び図２（Ｆ）にそれぞれ対応する。 An example of a transfer press system including a plurality of press devices 2 will be shown. The arrow in the figure indicates the operation of the arm 1b.
The work W is pressed by the press device 2 and then transferred by the transfer device 1 to the downstream press device 2 ′.
FIG. 2A is a front view showing the operation of the transport device 1 approaching the press device 2. FIG. 2B is a front view showing the lifting operation of the transport device 1. FIG. 2C is a side view showing the carry-out operation of the carrier device 1. FIG. 2D is a front view showing the carrying-in operation of the carrier device 1 into the press device 2. FIG. 2E is a front view showing the detachment of the transport device 1 from the press device 2. FIG. 2F is a side view showing the return of the transport device 1 to the operation start position.
The transport device 1 transports the work W with one cycle of a series of operations shown in FIGS. 2A to 2F.
FIG. 3 is a schematic diagram showing the trajectory of the operation of the transport device. By the operation of one cycle, the arm portion 1b of the carrier device 1 draws a locus as shown in FIG.
3(A) to (F) correspond to FIG. 2(A), FIG. 2(B), FIG. 2(C), FIG. 2(D), FIG. 2(E), and FIG. 2(F), respectively. To do.
　プレス装置２と搬送装置１は、それぞれサーボモータにより駆動されており、動作速度の無段階変更、一時停止、再開を適宜、自在に行うことができる。 The press device 2 and the transfer device 1 are each driven by a servo motor, and the operation speed can be changed steplessly, temporarily stopped, and restarted as desired.
　プレスモーション及び搬送モーションの１サイクルの時間を同一とすることで、プレス装置２と搬送装置１が協働して稼働し、ワークＷを搬送しながらプレス加工することが可能となる。 By making the time of one cycle of the press motion and the transfer motion the same, the press device 2 and the transfer device 1 operate in cooperation, and the work W can be pressed while being transferred.
　尚、プレス加工のために作成され、モーション記憶手段５に搬送されたプレス装置２のプレスモーション及び搬送装置１の搬送モーションを、それぞれ運転プレスモーション及び運転搬送モーションという。 Note that the press motion of the press device 2 and the transport motion of the transport device 1 that are created for press working and are transported to the motion storage means 5 are called operating press motion and operating transport motion, respectively.
　図４は、制御部を示す模式図である。
　制御部３は、座標記憶手段４と、モーション記憶手段５と、干渉判定手段６と、モーション調整手段７と、を備える。
　尚、基準干渉線記憶手段８については後述する。
　座標記憶手段４は、アーム部１ｂの先端の座標及びプレス装置２に取り付けた金型の角部２１の座標を記憶するものである。
　上述したように、モーション記憶手段５は、搬送装置１の運転搬送モーション及びプレス装置２の運転プレスモーションを記憶するものである。
　干渉判定手段６は、運転プレスモーションから算出される角部２１の座標と、運転干渉線Ｒとを比較して干渉の有無を判定する。運転干渉線Ｒは、運転搬送モーション及び運転プレスモーションから角部２１に対するアーム部１ｂの先端の軌跡として作成される。
　干渉判定手段６が干渉があると判定した場合に、モーション調整手段７は、運転搬送モーション及び／又は運転プレスモーションを変更する。 FIG. 4 is a schematic diagram showing the control unit.
The control unit 3 includes a coordinate storage unit 4, a motion storage unit 5, an interference determination unit 6, and a motion adjustment unit 7.
The reference interference line storage means 8 will be described later.
The coordinate storage means 4 stores the coordinates of the tip of the arm 1b and the coordinates of the corner 21 of the mold attached to the press device 2.
As described above, the motion storage unit 5 stores the operation transfer motion of the transfer device 1 and the operation press motion of the press device 2.
The interference determination means 6 compares the coordinates of the corner 21 calculated from the driving press motion with the driving interference line R to determine the presence or absence of interference. The driving interference line R is created as a trajectory of the tip of the arm portion 1b with respect to the corner portion 21 from the driving conveyance motion and the driving press motion.
When the interference determination unit 6 determines that there is interference, the motion adjustment unit 7 changes the operation transport motion and/or the operation press motion.
　プレス装置２及び搬送装置１のモーションは、制御部３によって制御される。
　制御部３並びに制御部３が備える座標記憶手段４、モーション記憶手段５、干渉判定手段６及びモーション調整手段７には、通常のコンピュータを利用することができる。
　座標記憶手段４及びモーション記憶手段５にはコンピュータのメモリーが、干渉判定手段６及びモーション調整手段７にはコンピュータのＣＰＵが、それぞれ相当する。 The motions of the press device 2 and the transport device 1 are controlled by the control unit 3.
A normal computer can be used for the control unit 3 and the coordinate storage unit 4, the motion storage unit 5, the interference determination unit 6, and the motion adjustment unit 7 included in the control unit 3.
The coordinate storage means 4 and the motion storage means 5 correspond to the memory of the computer, and the interference determination means 6 and the motion adjustment means 7 correspond to the CPU of the computer.
　座標記憶手段４は、任意のある一点を原点とし、プレス装置２の上型及び搬送装置１のフィンガーの座標を記憶する。原点には、例えばプレス装置２と床面が接する１点を採用することができる。
　ｘ軸、ｙ軸及びｚ軸における座標は空間座標として、（ｘ，ｙ，ｚ）で表される。
　これにより、上型とフィンガーの空間内での位置が把握される。
　ここでは、プレス装置２及び搬送装置１の運転開始位置における座標を記録するものとする。 The coordinate storage means 4 stores the coordinates of the upper die of the press device 2 and the fingers of the transport device 1 with an arbitrary one point as the origin. As the origin, for example, one point where the press device 2 and the floor surface are in contact can be adopted.
The coordinates on the x-axis, the y-axis, and the z-axis are represented by (x, y, z) as spatial coordinates.
As a result, the positions of the upper mold and the fingers in the space are grasped.
Here, it is assumed that the coordinates at the operation start positions of the press device 2 and the transport device 1 are recorded.
　座標記憶手段４に記憶されるのは、プレス装置２と搬送装置１の干渉を判定すべき点の座標である。すなわちプレス装置２についていえば、座標記憶手段４に記憶されるのは、運転プレスモーションにおいて運転干渉線Ｒ（後述）に対する距離が最短となる、すなわち運転干渉線Ｒに下した垂線の長さが最短となる前記金型の角部２１である。
　搬送装置１についていえばアーム部１ｂ先端に設けられたフィンガーの先端の座標である。
　これらの座標を記録し、運転干渉線Ｒの作成及び干渉の判定に用いることにより、少数の座標で干渉の判定を行うことができ、干渉の判定を即時に行うことが可能となる。 The coordinates stored in the coordinate storage means 4 are the coordinates of the point at which the interference between the press device 2 and the transport device 1 should be determined. That is, regarding the press device 2, the coordinate storage means 4 stores that the distance to the driving interference line R (described later) in the driving press motion is the shortest, that is, the length of the perpendicular line drawn to the driving interference line R is the length. It is the shortest corner 21 of the mold.
As for the transfer device 1, it is the coordinates of the tips of the fingers provided at the tips of the arms 1b.
By recording these coordinates and using them for creating the driving interference line R and determining the interference, it is possible to determine the interference with a small number of coordinates, and it is possible to immediately determine the interference.
　複雑な形状の上型やフィンガーを用いるため複数の点で干渉が発生すると考えられる場合、トランスファプレスシステムＡはそれぞれの点について座標記憶手段４に記憶し、記憶した点ごとに後述する干渉発生の判定を行う。 When it is considered that interference occurs at a plurality of points due to the use of the upper die or fingers having a complicated shape, the transfer press system A stores the respective points in the coordinate storage means 4, and the stored interference points will be described later. Make a decision.
　座標を算出または記憶する際に、上型の寸法を用いて、上型の取り付け部分の座標に金型の寸法を加減することにより角部２１の座標を求めることができる。同様に、フィンガーの寸法を用いて、アーム部１ｂの先端の座標にフィンガーの寸法を加減することにより、フィンガー先端の座標を求めることができる。
　これにより、例えばプレス装置２の上型を変更した場合や、搬送装置１のフィンガー部分を変更した場合、変更前の冶具の寸法と変更後の冶具の寸法の差から、容易に座標を修正することが可能となる。 When the coordinates are calculated or stored, the dimensions of the upper die are used, and the coordinates of the corner portion 21 can be obtained by adding or subtracting the dimensions of the die to the coordinates of the mounting portion of the upper die. Similarly, the coordinate of the tip of the finger can be obtained by using the dimension of the finger to adjust the dimension of the finger to the coordinate of the tip of the arm portion 1b.
Thereby, for example, when the upper die of the press device 2 is changed or when the finger portion of the transfer device 1 is changed, the coordinates are easily corrected from the difference between the dimensions of the jig before the change and the dimension of the jig after the change. It becomes possible.
　干渉判定手段６は、運転干渉線Ｒ並びに金型の角部２１の座標及び運転プレスモーションから作成される角部２１の座標を比較して干渉の有無を判定する座標干渉判定手段６ａと、運転干渉線Ｒ及び後述する基準干渉線Ｂを比較して干渉の有無を判定する基準干渉判定手段６ｂとを備える。 The interference determining means 6 compares the driving interference line R, the coordinates of the corner portion 21 of the mold, and the coordinates of the corner portion 21 created from the driving press motion to determine the presence or absence of interference, and the collision determining means 6a. A reference interference determination means 6b for determining the presence or absence of interference by comparing the interference line R with a reference interference line B described later is provided.
　運転プレスモーション及び運転搬送モーションがモーション記憶手段５に記憶されると、干渉判定手段６が運転干渉線Ｒを作成する。
　運転干渉線Ｒは、搬送装置１がプレス装置２に対する最も干渉し易い一点、すなわち、アーム部１ｂのフィンガーの先端の、角部２１に対する軌跡である。 When the driving press motion and the driving transport motion are stored in the motion storage means 5, the interference determination means 6 creates the driving interference line R.
The operation interference line R is a locus with respect to the corner 21 of the point where the transport device 1 most easily interferes with the press device 2, that is, the tip of the finger of the arm portion 1b.
　なお、下型は固定されているため、搬送装置１の下型に対する干渉はモーションを作成する段階で排除される。　
　仮に、下型が稼働するようなプレス装置２を用いる場合、下型の座標を座標記憶手段４に記憶させ、後述する干渉の判定を行うことができる。 Since the lower mold is fixed, interference with the lower mold of the transport device 1 is eliminated at the stage of creating a motion.
If the press device 2 that operates the lower mold is used, the coordinates of the lower mold can be stored in the coordinate storage means 4 and the interference determination described below can be performed.
　ここで、トランスファプレスシステムＡが、座標干渉判定手段６ａによりプレス装置２と搬送装置１との干渉の有無を判定する流れについて説明する。
　図５は、トランスファプレスシステムの干渉の有無の判定を示すフローチャートである。
　最初に、製造するワークＷに応じ、これを実現するため運転プレスモーション及び運転搬送モーションに要求される作成条件を設定する。これらの作成条件から運転プレスモーション及び運転搬送モーションを作成し、モーション記憶手段５に記憶させる。モーション記憶手段５は、記憶された運転プレスモーション及び運転搬送モーションから運転干渉線図Ｒを作成する。
　ここで、上述した通り、金型（上型）の寸法及び搬送装置の寸法がある場合（図５でＹの場合）、これらを座標記憶手段４に読み込み、記憶させることで、干渉の基準となる金型の角部２１及びアーム１ｂの先端の座標が算出され、当該座標が座標記憶手段４に記憶される。
　これらの情報をもとに、干渉判定手段６が作成された運転プレスモーション及び運転搬送モーションにおいて、干渉回避が可能か否かを判別する。まず、プレス装置２の上型が、上死点で動かないモーションを運転プレスモーションとして設定し、座標干渉判定手段６ａによる干渉判定を行う。
　プレス装置２の上型が上死点で動かない場合、最もプレス装置２と搬送装置１との干渉可能性が低い。換言すれば、かかる運転プレスモーションにおいても干渉が発生する場合は、干渉回避が不可能であり、当該運転搬送モーションは採用しえないものと判断できる。この場合、運転プレスモーション及び運転干渉モーション作成条件の設定から、再度やり直されることとなる。 Here, a flow in which the transfer press system A determines whether or not there is interference between the press device 2 and the transport device 1 by the coordinate interference determination means 6a will be described.
FIG. 5 is a flowchart showing the determination of the presence or absence of interference in the transfer press system.
First, depending on the work W to be manufactured, the creation conditions required for the operation press motion and the operation transfer motion are set in order to realize this. An operation press motion and an operation transfer motion are created from these creation conditions and stored in the motion storage means 5. The motion storage means 5 creates a driving interference diagram R from the stored driving press motion and driving transport motion.
Here, as described above, when the size of the mold (upper mold) and the size of the transfer device are present (in the case of Y in FIG. 5), these are read into the coordinate storage means 4 and stored therein, so as to serve as a reference for interference. The coordinates of the corner 21 of the die and the tip of the arm 1b are calculated, and the coordinates are stored in the coordinate storage means 4.
Based on these pieces of information, it is determined whether or not interference can be avoided in the operation press motion and the operation conveyance motion created by the interference determination means 6. First, the upper die of the press device 2 sets a motion that does not move at the top dead center as an operating press motion, and the coordinate interference determination means 6a determines the interference.
When the upper die of the press device 2 does not move at the top dead center, the possibility of interference between the press device 2 and the transfer device 1 is lowest. In other words, if interference occurs even in such an operation press motion, it is impossible to avoid interference, and it can be determined that the operation transfer motion cannot be adopted. In this case, the operation press motion and the operation interference motion creation condition are set again, and the operation is restarted.
　干渉の有無は、角部２１の座標が運転干渉線Ｒに接触するか否かで判定される。角部２１の座標が運転干渉線Ｒに接触する場合、座標干渉判定手段６ａが干渉が発生するものと判定する。 The presence or absence of interference is determined by whether or not the coordinates of the corner portion 21 contact the driving interference line R. When the coordinates of the corner portion 21 come into contact with the driving interference line R, the coordinate interference determination means 6a determines that interference occurs.
　干渉回避が可能であると判別された場合、すなわちプレス装置２が上死点から動かないプレスモーションにおいて干渉が発生しないと判定された場合、実際にプレス装置２を稼働させようとする運転プレスモーションをモーション記憶手段５に記憶させる。上述した運転プレスモーション及び角部２１の座標から、１サイクルの各時点における角部２１の座標が算出される。
　この座標と、運転干渉線Ｒを比較することにより、角部２１の座標が運転干渉線Ｒと干渉する場合（図７で、角部２１の座標が運転干渉線Ｒよりも右下側に位置する場合）、又は角部２１の座標が運転干渉線Ｒをまたいで移動する場合、干渉があると判定できる。
　図１の例では、yｚ平面についての運転干渉線Ｒと上型の座標を比較しており、ｘｚ平面における干渉の有無が判定される。
　これをｙｚ平面、ｘｙ平面それぞれについて行うことにより、プレス装置２と搬送装置１の干渉の有無を判定することができる。 When it is determined that the interference can be avoided, that is, when it is determined that the interference does not occur in the press motion in which the press device 2 does not move from the top dead center, the operation press motion for actually operating the press device 2 Is stored in the motion storage means 5. From the above-mentioned operation press motion and the coordinates of the corner portion 21, the coordinates of the corner portion 21 at each time point of one cycle are calculated.
When the coordinates of the corner portion 21 interfere with the driving interference line R by comparing these coordinates with the driving interference line R (in FIG. 7, the coordinates of the corner portion 21 are located on the lower right side of the driving interference line R). Or when the coordinates of the corner 21 move across the driving interference line R, it can be determined that there is interference.
In the example of FIG. 1, the driving interference line R on the yz plane and the coordinates of the upper mold are compared, and the presence or absence of interference on the xz plane is determined.
By performing this for each of the yz plane and the xy plane, it is possible to determine whether or not there is interference between the press device 2 and the transport device 1.
　実際にプレス装置２を稼働させようとする運転プレスモーションにおいて、座標干渉判定手段６ａが干渉が発生すると判定した場合、モーション調整手段７が運転プレスモーション又は運転搬送モーションを変更する。
　モーションの変更は、位相差の変更、運転プレスモーションの変更、及び運転搬送モーションの変更から選択される１つ以上により行われる。具体的には、運転搬送モーションの開始タイミング、運転搬送モーションの開始位置、運転搬送モーションの動作速度、運転プレスモーションの開始タイミング、運転プレスモーションの開始位置及び運転プレスモーションの動作速度からなる群より選択される１つ以上を変更することにより行う。 When the coordinate interference determination means 6a determines that interference occurs in the driving press motion for actually operating the press device 2, the motion adjusting means 7 changes the driving press motion or the driving conveyance motion.
The change of motion is performed by one or more selected from a change of phase difference, a change of operation press motion, and a change of operation conveyance motion. Specifically, from the group consisting of the start timing of the operation transfer motion, the start position of the operation transfer motion, the operation speed of the operation transfer motion, the start timing of the operation press motion, the start position of the operation press motion, and the operation speed of the operation press motion. This is done by changing one or more selected.
　図６は、運転干渉線の変化を示す模式図である。
　例えば、図６のモーションのうち、プレス装置２がプレスを開始するタイミングを変更すると、図６の運転干渉線Ｒは運転干渉線Ｒ’のようになる。
　モーション調整手段７が行うモーションの変更は、上述の群から１サイクルの時間が最も短くなるパラメータを選択して変更を行う他、種々の条件を設定できる。例えば、上型と下型がワークＷを挟む時間は変更しない、搬送装置１が運転干渉線Ｒ図の干渉領域外にある時点のモーションを優先的に変更する等の条件が考えられる。
　これにより、加工速度及び加工精度を維持しながら、プレス装置２と搬送装置１の干渉が発生しないモーションを作成することが可能となる。 FIG. 6 is a schematic diagram showing changes in the driving interference line.
For example, if the timing at which the press device 2 starts pressing in the motion of FIG. 6 is changed, the driving interference line R of FIG. 6 becomes a driving interference line R′.
The change of the motion performed by the motion adjusting means 7 can be performed by selecting a parameter that minimizes the time of one cycle from the group described above and setting various conditions. For example, conditions such as the time when the upper die and the lower die sandwich the work W are not changed, and the motion when the transport device 1 is outside the interference region of the operation interference line R diagram is preferentially considered.
This makes it possible to create a motion in which the press device 2 and the transport device 1 do not interfere with each other while maintaining the processing speed and the processing accuracy.
　モーション調整手段７が運転プレスモーション又は運転搬送モーションを変更した後、変更したモーションを新たな運転プレスモーション又は運転搬送モーションとして記録し、再び、座標干渉判定手段６ａにより干渉の有無を判定する。
　これを繰り返すことにより、簡単かつ正確に干渉の発生しない運転プレスモーション及び運転搬送モーションをモーション記録手段に記録し、トランスファプレスシステムＡを用いてプレス加工を行うことができる。また、干渉の有無を判定するに当たり、基準干渉線の作成を要さず、必ずしも目視による確認を要さない。
　干渉が発生しない運転プレスモーション及び運転搬送モーションが得られた場合、これらをそれぞれ実際にプレス装置２に及び搬送装置１を稼働させるための、実際運転プレスモーション及び実際運転搬送モーションとする。 After the motion adjusting unit 7 changes the driving press motion or the driving conveyance motion, the changed motion is recorded as a new driving press motion or driving conveyance motion, and the presence/absence of interference is determined again by the coordinate interference determination unit 6a.
By repeating this, it is possible to easily and accurately record the operation press motion and the operation transfer motion in which interference does not occur in the motion recording means, and perform the press working using the transfer press system A. Further, in determining the presence or absence of interference, it is not necessary to create a reference interference line, and it is not always necessary to perform visual confirmation.
When the operation press motion and the operation transfer motion that do not cause interference are obtained, these are set as the actual operation press motion and the actual operation transfer motion for actually operating the press device 2 and the transfer device 1, respectively.
　座標干渉判定手段６ａが座標と運転干渉線Ｒを比較して干渉の有無を判定することにより、判定の精度を向上させることができる。
　すなわち、干渉線の比較により干渉の有無を判定する場合、干渉の発生が未確認な領域が存在する。
　具体的には、基準となる干渉線の内側はすべて干渉の発生が未確認な領域であり、この未確認な領域に運転干渉線が侵入すれば、直ちに干渉が生じるものと判定されてしまう。例えば、図７における運転干渉線図Ｒ２は、実際のプレス装置２及び搬送装置１では干渉が発生しないものであるが、基準干渉線図Ｂとの比較により干渉の有無を判定すると、干渉が発生するものとして判定されてしまう。
　これに対し、座標と運転干渉線Ｒの比較を行う場合、基準干渉線Ｂにおいて干渉の発生が未確認となっている領域においても、設定した運転プレスモーションと運転搬送モーションを基準に、実機を稼働させることなく干渉の有無を判定することが可能となる。
　このため、簡単かつ正確な干渉の判定が可能となり、より運転干渉線Ｒに座標が接近する運転プレスモーション及び運転搬送モーションを採用することが可能になる。したがって、生産効率の高いモーションを採用することができる。 The coordinate interference determination means 6a compares the coordinates with the driving interference line R to determine the presence or absence of interference, so that the accuracy of the determination can be improved.
That is, when determining the presence or absence of interference by comparing the interference lines, there is a region in which the occurrence of interference has not been confirmed.
Specifically, all of the inside of the reference interference line is an area where the occurrence of interference is unconfirmed, and if a driving interference line enters this unconfirmed area, it is immediately determined that interference will occur. For example, the operation interference diagram R2 in FIG. 7 shows that no interference occurs in the actual press device 2 and the conveying device 1, but if the presence or absence of interference is determined by comparison with the reference interference diagram B, interference occurs. It will be determined to do.
On the other hand, when comparing the coordinates and the operation interference line R, the actual machine is operated based on the set operation press motion and operation conveyance motion even in the area where the occurrence of interference is not confirmed in the reference interference line B. It is possible to determine the presence or absence of interference without causing the interference.
Therefore, it is possible to determine the interference easily and accurately, and it is possible to adopt the driving press motion and the driving conveyance motion whose coordinates are closer to the driving interference line R. Therefore, a motion with high production efficiency can be adopted.
　以下、基準干渉判定手段６ｂを用いた干渉の判定について述べる。
　図５に戻り、運転プレスモーション及び運転搬送モーションから運転干渉線Ｒを作成する点までは、上述の干渉判定手段６を用いた判定と同様である。
　基準干渉判定手段６ｂを用いる干渉の判定は、図５でいう点線で囲まれた部分のフローにより行われる。
　基準干渉判定手段６ｂを用いる場合、当該搬送装置１及びプレス装置２について、干渉がないことが予め確認されている基準干渉線Ｂを基準干渉線記憶手段８に読み込み、記憶させる。干渉が発生しないプレス装置２の非干渉プレスモーション及び搬送装置１の非干渉搬送モーションにおいて、基準干渉線Ｂは角部２１に対するフィンガーの先端の軌跡である。
　基準干渉線記憶手段８には、上述したコンピュータのメモリーを用いることができる。
　さらに、座標干渉判定手段６ａを用いる場合同様、モーション記憶手段５に運転プレスモーション及び運転搬送モーションを記憶させる。 The determination of interference using the reference interference determination means 6b will be described below.
Returning to FIG. 5, the process up to the point of creating the driving interference line R from the driving press motion and the driving conveyance motion is the same as the judgment using the interference judging means 6 described above.
The interference determination using the reference interference determination means 6b is performed by the flow of the portion surrounded by the dotted line in FIG.
When the reference interference determination means 6b is used, the reference interference line B, which is previously confirmed to have no interference, is read and stored in the reference interference line storage means 8 for the transport device 1 and the press device 2. In the non-interfering press motion of the press device 2 and the non-interfering transport motion of the transport device 1 in which no interference occurs, the reference interference line B is the trajectory of the tip of the finger with respect to the corner portion 21.
For the reference interference line storage means 8, the memory of the computer described above can be used.
Further, similar to the case of using the coordinate interference determination means 6a, the motion storage means 5 stores the operation press motion and the operation conveyance motion.
　図７は、干渉線を用いた干渉の有無の判定を示す模式図である。
　基準干渉判定手段は６ｂは、座標干渉判定手段６ａ同様に、モーション記憶手段５に記憶された運転プレスモーション及び運転搬送モーションから運転干渉線Ｒを作成する。
　基準干渉判定手段６ｂは、運転干渉線Ｒ及び基準干渉線Ｂを比較して、基準干渉線Ｂにより画される干渉未確認領域と運転干渉線Ｒが接触する場合、例えば、図７における運転干渉線がＲ１又はＲ２であるような場合、プレス装置２と搬送装置１との干渉が発生するものと判定する。
　干渉の有無の判定においては、干渉判定手段６を用いる場合と同様に、上型が上死点で静止した運転プレスモーションを用いて干渉回避が可能か否かを判別し、不可能と判別された場合は運転プレスモーション及び運転搬送モーションの作成条件の設定をやり直す。
　干渉回避が可能と判別された場合、実際の運転プレスモーション及び運転搬送モーションから得られた運転干渉線Ｒと基準干渉線Ｂの比較により、干渉の有無を判別する。
　基準干渉判定手段６ｂが干渉が発生すると判定した後は、座標干渉判定手段６ａを用いる場合と同様、モーション調整手段７が運転プレスモーション及び／又は運転搬送モーションを変更し、プレス装置２と搬送装置１が干渉しない運転搬送モーションを得る。 FIG. 7 is a schematic diagram showing the determination of the presence or absence of interference using the interference line.
Like the coordinate interference determination means 6a, the reference interference determination means 6b creates an operation interference line R from the operation press motion and the operation transport motion stored in the motion storage means 5.
The reference interference determination means 6b compares the driving interference line R and the reference interference line B, and when the interference unconfirmed region defined by the reference interference line B comes into contact with the driving interference line R, for example, the driving interference line in FIG. Is R1 or R2, it is determined that interference between the press device 2 and the transport device 1 occurs.
In the determination of the presence or absence of interference, as in the case of using the interference determination means 6, it is determined whether or not the interference can be avoided by using the driving press motion in which the upper die is stationary at the top dead center, and it is determined that it is impossible. If this happens, set the conditions for creating the operation press motion and operation transfer motion again.
When it is determined that the interference can be avoided, the presence or absence of the interference is determined by comparing the operation interference line R obtained from the actual operation press motion and the operation conveyance motion with the reference interference line B.
After the reference interference determination means 6b determines that the interference occurs, the motion adjusting means 7 changes the operation press motion and/or the operation transfer motion as in the case of using the coordinate interference determination means 6a, and the press device 2 and the transfer device. 1 obtains the operation transfer motion that does not interfere.
　例えば、既存のトランスファプレス装置において、運転プレスモーション又は運転搬送モーションを変更しようとする場合、当該トランスファプレス装置について、既に干渉がないことが予め確認された基準干渉線Ｂが存在することが通常である一方で、プレス装置２及び搬送装置１の座標や搬送装置１の座標が測定されていない場合がある。
　このような場合に、基準干渉判定手段６ｂを用いることで当該基準干渉線Ｂを利用して干渉の有無を判定することが可能となり、座標の計測が不要となる。 For example, in an existing transfer press device, when an operation press motion or an operation transfer motion is to be changed, it is normal for the transfer press device to have a reference interference line B that has already been confirmed to have no interference. On the other hand, there are cases where the coordinates of the press device 2 and the transport device 1 or the coordinates of the transport device 1 are not measured.
In such a case, by using the reference interference determination means 6b, it is possible to determine the presence or absence of interference using the reference interference line B, and it is not necessary to measure the coordinates.
　座標干渉判定手段６ａ及び基準干渉判定手段６ｂは、いずれもプレス装置２及び搬送装置１の干渉を判定するためのものであり、いずれかが選択的に用いられる。
　これにより、不必要な寸法の計測や干渉線図の作成を省き、プレス加工を開始することが可能となる。 The coordinate interference determination means 6a and the reference interference determination means 6b are for determining interference between the press device 2 and the transport device 1, and either one is selectively used.
As a result, it becomes possible to start press working without measuring unnecessary dimensions and creating an interference diagram.
　以上、本発明の好適な実施形態について説明したが、本発明は上記実施形態に限定されるものではない。 The preferred embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments.
　例えば、右アーム部１ｂ１及び左アーム部１ｂ２はロボットアームとしても良い。これにより、搬送モーションを自在に設定することができ、複雑形状のワークを搬送することが可能となる。
　又、ワークＷが小型かつ軽量であるような場合、右アーム部１ｂ１又は左アーム部１ｂ２のいずれか一方のみによりワークＷを搬送することができる。 For example, the right arm portion 1b1 and the left arm portion 1b2 may be robot arms. As a result, the transfer motion can be set freely, and it becomes possible to transfer a work having a complicated shape.
When the work W is small and lightweight, the work W can be transported by only one of the right arm portion 1b1 and the left arm portion 1b2.
　アーム部１ｂがワークＷを把持する機構としてはフィンガーの他、吸着カップ等各種のものを利用可能である。 As the mechanism for the arm portion 1b to grip the work W, in addition to fingers, various types such as a suction cup can be used.
　本発明のトランスファプレスシステムＡは、干渉の判定のために基準干渉線を作成する必要がなく、運転干渉線に座標が接近する運転プレスモーション及び運転搬送モーションを採用することができるため、プレス加工の分野において幅広く利用することが可能である。 Since the transfer press system A of the present invention does not need to create a reference interference line for determining interference, it is possible to adopt an operation press motion and an operation transfer motion in which coordinates approach the operation interference line, and therefore, press working is performed. It can be widely used in the field of.
　Ａ・・・トランスファプレスシステム
　１・・・搬送装置
　１ａ・・・基部
　１ａ１・・・右基部
　１ａ２・・・左基部
　１ｂ・・・アーム部
　１ｂ１・・・右アーム部
　１ｂ２・・・左アーム部
　２、２’・・・プレス装置
　２１・・・角部
　３・・・制御部
　４・・・座標記憶手段
　５・・・モーション記憶手段
　６・・・干渉判定手段
　６ａ・・・座標干渉判定手段
　６ｂ・・・基準干渉判定手段
　７・・・モーション調整手段
　８・・・基準干渉線記憶手段
　Ｒ、Ｒ’、Ｒ１～３・・・運転干渉線
　Ｂ・・・基準干渉線
　Ｗ・・・ワーク A... Transfer press system 1... Transfer device 1a... Base 1a1... Right base 1a2... Left base 1b... Arm part 1b1... Right arm part 1b2... Left arm part 2, 2'... Press device 21... Corner 3... Control part 4... Coordinate storage means 5... Motion storage means 6... Interference determination means 6a... Coordinate interference determination means 6b... Reference interference determination means 7... Motion adjustment means 8... Reference interference line storage means R, R', R1 to 3... Driving interference line B... Reference interference line W... Work

Claims (7)

  1. 　ワークを搬送するための基部及びアーム部を有する搬送装置と、
    　前記ワークをプレスするためのプレス装置と、
    　前記搬送装置及び前記プレス装置を制御するための制御部と、を有するトランスファプレスシステムであって、
    　前記制御部が、前記ワークの搬送方向をｘ軸、前記ワークの搬送方向に直交する幅方向をｙ軸とし、前記ｘ軸及び前記ｙ軸に直交する方向をｚ軸とし、任意の点を原点とした場合に、前記アーム部の先端の前記ｘ軸、前記ｙ軸及び前記ｚ軸の座標並びに前記プレス装置に取り付けた金型の角部の前記ｘ軸、前記ｙ軸及び前記ｚ軸の座標を記憶する座標記憶手段と、
    　前記搬送装置の運転搬送モーション及び前記プレス装置の運転プレスモーションを記憶するモーション記憶手段と、
    　前記運転搬送モーション及び前記運転プレスモーションから、前記金型の角部に対する前記アーム部の先端の軌跡として作成される運転干渉線、並びに、前記運転プレスモーションから算出される前記角部の座標、を比較して干渉の有無を判定する干渉判定手段と、
    　該干渉判定手段が干渉があると判定した場合、前記運転搬送モーション及び／又は前記運転プレスモーションを変更するモーション調整手段と、を備えるトランスファプレスシステム。     A transfer device having a base part and an arm part for transferring a work,
    A pressing device for pressing the work,
    A transfer press system having a control unit for controlling the transfer device and the press device,
    The control unit defines an x-axis as a transport direction of the work, a y-axis as a width direction orthogonal to the transport direction of the work, a z-axis as a direction orthogonal to the x-axis and the y-axis, and an arbitrary point as an origin. In this case, the coordinates of the x-axis, the y-axis and the z-axis of the tip of the arm portion and the coordinates of the x-axis, the y-axis and the z-axis of the corner portion of the mold attached to the press machine. Coordinate storage means for storing
    Motion storage means for storing an operation transfer motion of the transfer device and an operation press motion of the press device;
    From the operation transport motion and the operation press motion, an operation interference line created as a locus of the tip of the arm part with respect to the corner part of the mold, and the coordinates of the corner part calculated from the operation press motion. Interference determination means for comparing the presence or absence of interference,
    A transfer press system comprising: a motion adjusting unit that changes the operation transport motion and/or the operation press motion when the interference determination unit determines that there is interference.
  2. 　前記角部が、前記運転プレスモーションにおける前記運転干渉線に対する距離が最短となる前記金型の部分である請求項１に記載のトランスファプレスシステム。 The transfer press system according to claim 1, wherein the corner portion is a portion of the mold in which the distance to the driving interference line in the driving press motion is the shortest.
  3. 　前記基部が右基部と左基部とからなり、
    　前記アーム部が右アーム部と左アーム部とからなり、
    　前記右アーム部は前記右基部に設けられるものであり、前記左アーム部は前記左基部に設けられるものであり、
    　前記右基部と前記左基部は前記プレス装置の両側に配置されるものであり、
    　前記右アーム部及び前記左アーム部がいずれもｘ軸、ｙ軸及びｚ軸方向に移動可能であり、
    　前記右アーム部及び前記左アーム部が協働して前記ワークを両側から把持して搬送するものである請求項１又は２に記載のトランスファプレスシステム。     The base consists of a right base and a left base,
    The arm portion includes a right arm portion and a left arm portion,
    The right arm portion is provided on the right base portion, the left arm portion is provided on the left base portion,
    The right base and the left base are arranged on both sides of the pressing device,
    Both the right arm portion and the left arm portion are movable in the x-axis, y-axis, and z-axis directions,
    3. The transfer press system according to claim 1, wherein the right arm portion and the left arm portion cooperate to grip and convey the work from both sides.
  4. 　前記右アーム部及び前記左アーム部がいずれもロボットアームである請求項１～３いずれか１項に記載のトランスファプレスシステム。 The transfer press system according to any one of claims 1 to 3, wherein both the right arm portion and the left arm portion are robot arms.
  5. 　前記モーション調整手段が、
    　前記運転搬送モーションの開始タイミング、前記運転搬送モーションの開始位置、前記運転搬送モーションの動作速度、前記運転プレスモーションの開始タイミング、前記運転プレスモーションの開始位置及び前記運転プレスモーションの動作速度からなる群より選択される１つ以上を変更するものである請求項１～４いずれか１項に記載のサーボトランスファプレスシステム。     The motion adjustment means,
    A group consisting of a start timing of the operation transfer motion, a start position of the operation transfer motion, an operation speed of the operation transfer motion, a start timing of the operation press motion, a start position of the operation press motion and an operation speed of the operation press motion. The servo transfer press system according to any one of claims 1 to 4, wherein one or more selected from the above are changed.
  6. 　ワークを搬送するための基部及びアーム部を有する搬送装置と、
    　前記ワークをプレスするためのプレス装置と、
    　前記搬送装置及び前記プレス装置を制御するための制御部とを有するトランスファプレスシステムであって、
    　前記制御部が、前記アーム部の運転搬送モーション及び前記プレス装置の運転プレスモーションを記憶するモーション記憶手段と、
    　予め干渉がないことが確認された前記搬送装置の非干渉搬送モーション及び前記プレス装置の非干渉プレスモーションにおける、金型の角部に対する前記アーム部の先端の軌跡である基準干渉線を記憶する基準干渉線記憶手段と、
    　前記運転搬送モーション及び前記運転プレスモーションから前記金型の角部に対する前記アーム部の先端の軌跡として作成される運転干渉線、並びに、前記基準干渉線、を比較して干渉の有無を判定する基準干渉判定手段と、
    　該基準干渉判定手段が干渉があると判定した場合、前記運転搬送モーション及び／又は前記運転プレスモーションを変更するモーション調整手段と、
    　を備えるトランスファプレスシステム。     A transfer device having a base part and an arm part for transferring a work,
    A pressing device for pressing the work,
    A transfer press system having a control unit for controlling the transfer device and the press device,
    A motion storage unit for storing the operation transport motion of the arm unit and the operation press motion of the pressing device,
    A reference for storing a reference interference line that is a locus of a tip of the arm portion with respect to a corner of a mold in a non-interfering transport motion of the transport device and a non-interfering press motion of the press device that are confirmed to have no interference in advance. Interference line storage means,
    Criteria for determining the presence or absence of interference by comparing a driving interference line created as a locus of the tip of the arm portion with respect to a corner of the mold from the driving conveyance motion and the driving press motion, and the reference interference line Interference determination means,
    When the reference interference determination means determines that there is interference, a motion adjustment means for changing the operation transport motion and/or the operation press motion,
    Transfer press system equipped with.
  7. 　前記制御部が、前記ワークの搬送方向をｘ軸、前記ワークの搬送方向に直交する幅方向をｙ軸とし、前記ｘ軸及び前記ｙ軸に直交する方向をｚ軸とし、任意の点を原点とした場合に、
    　前記アーム部の先端の前記ｘ軸、前記ｙ軸及び前記ｚ軸方向の座標と前記プレス装置に取り付けた前記金型の角部の前記ｘ軸、前記ｙ軸及び前記ｚ軸の座標を記憶する座標記憶手段と、
    　前記運転プレスモーションから算出される前記角部の座標及び前記運転干渉線を比較して干渉の有無を判定する座標干渉判定手段とを更に備え、
    　前記座標干渉判定手段又は前記基準干渉判定手段が干渉の有無を判定し、
    　前記モーション調整手段が、前記座標干渉判定手段又は前記基準干渉判定手段が干渉があると判定した場合に、前記運転搬送モーション及び／又は前記運転プレスモーションを変更する請求項６に記載のトランスファプレスシステム。

          The control unit defines an x-axis as a transport direction of the work, a y-axis as a width direction orthogonal to the transport direction of the work, a z-axis as a direction orthogonal to the x-axis and the y-axis, and an arbitrary point as an origin. If
    The coordinates of the x-axis, the y-axis, and the z-axis direction of the tip of the arm portion and the coordinates of the x-axis, the y-axis, and the z-axis of the corner portion of the mold attached to the press device are stored. Coordinate storage means,
    Coordinate interference determination means for determining the presence or absence of interference by comparing the coordinates of the corner and the driving interference line calculated from the driving press motion,
    The coordinate interference determination means or the reference interference determination means determines the presence or absence of interference,
    7. The transfer press system according to claim 6, wherein the motion adjusting unit changes the operation transport motion and/or the operation press motion when the coordinate interference determination unit or the reference interference determination unit determines that there is interference. ..

PCT/JP2019/047302 2018-12-04 2019-12-03 Transfer press system WO2020116479A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006116583A (en) * 2004-10-25 2006-05-11 Aida Eng Ltd Transfer press machine
JP5665233B2 (en) * 2011-10-26 2015-02-04 アイダエンジニアリング株式会社 Servo transfer press system
JP2016500882A (en) * 2012-10-22 2016-01-14 グーデル グループ アーゲー Method for determining workpiece transfer trajectory in multiple station press

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006116583A (en) * 2004-10-25 2006-05-11 Aida Eng Ltd Transfer press machine
JP5665233B2 (en) * 2011-10-26 2015-02-04 アイダエンジニアリング株式会社 Servo transfer press system
JP2016500882A (en) * 2012-10-22 2016-01-14 グーデル グループ アーゲー Method for determining workpiece transfer trajectory in multiple station press

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