JPH03110031A - Work feeder controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a work feeder device for automatically loading and unloading workpieces in four directions in conjunction with the movement of the press machine in an automatic press machine system, and particularly relates to This invention relates to a work feeder control device with high performance and good operability.

[Conventional technology] Conventionally, automation technology No. 1. In order to automatically load and unload workpieces in a press system, the contact signal from the rotary cam switch and the mechanical link structure, which rotates mechanically in conjunction with the crank rotation of the press, are required. A predetermined structural mechanism means J: moves left and right,
It performed the functions of vertical movement, clamping, and unclamping mechanism. That is, according to a preset motion curve, for example, a work feeder (hereinafter referred to as feeder) is started by a signal from a limit switch that is activated when the crank angle of a press machine reaches a predetermined angle. The machine carries out workpiece loading and unloading operations according to a link structure that draws a predetermined motion curve and control of the rotational speed of the motor.

Furthermore, when the feeder operation has reached a predetermined position, it is detected by a limit switch or the like, and the information is transmitted to the press machine to start the next operation of the press machine.

In another method, each shaft of the work feeder is driven in conjunction with a combination of cam mechanisms or mechanical operations that are linked to the rotation of the crank of the press machine.

However, with the limit switch described above, it is necessary to take into account temporal variations in mechanical motion and move on to the next motion without confirming that a given motion has been completed. Since there is a limit to the speed, in order to increase the operating speed of the press machine system and achieve highly reliable control, it is necessary to make the movement of the feeder correspond more precisely to the crank angle of the press. Therefore, a sensor that accurately detects the crank angle of the press, such as a servo mechanism that electrically controls a predetermined position of the feeder mechanism in accordance with the crank angle measured by a synchronizer, is used. Became.

Next, a circuit for controlling the above movement will be explained with reference to FIG.

In Fig. 8, 82 is a synchro transmitter that is attached to the crank rotating shaft of the press and can measure the rotation angle of the crank in absolute terms, and 83 is a conversion circuit for converting the angle information from the synchro transmitter into a digital code. be.

The measured value of the crank angle of the press converted into a digital code is input to a control computer 81. The computer 81 reads each position information of the feed axis, vertical axis, and clamp axis recorded in advance in the storage device in accordance with the input crank angle, and generates a position command signal.

Reference numeral 88 denotes a synchronized transmitter for position detection attached to each of the three axes of movement of the feeder. In the figure, only one axis is shown and the other two axes are omitted because they are the same. For example, the position information of the feeder axis measured by the synchro transmitter is converted into a digital code by a conversion circuit 89 for converting the angle information from the synchro transmitter into a digital code, and is input into the control computer 81. Ru. The position information of the feeder shaft input to the computer 81 is compared with the position command signal created in advance as described above to create a deviation signal, and the feed shaft position recorded in advance in the storage device in correspondence with the crank angle is determined. A speed command signal for the feed shaft drive motor corresponding to the deviation signal, which is predetermined and recorded in the storage device in the same manner as the information, is created in a digital code and output. A speed command signal for the feed shaft drive motor output from the computer 81 is converted into an analog signal by a digital-to-analog conversion circuit 84, and then amplified to an appropriate power by a servo amplifier 85 to drive a servo motor 86.

The servo motor 86 drives the feed shaft, and the rotation speed of the servo motor is measured by a tacho generator 87 which is mechanically coupled to the servo motor 86, and the measured rotation speed is returned to the servo amplifier 85 to form a feedback loop. A synchro transmitter 88 for detecting the position information of the feed shaft described above is coupled to the feed shaft driven by a servo motor 86, which controls stable motor rotation. Since this is measured and input into the control computer, the feeder can be controlled in accordance with the crank angle of the press according to predetermined conditions.

[Problems to be Solved by the Invention] According to the above-mentioned means for controlling the movement of each part of the feeder mechanism by a servo mechanism or the like so that it moves through predetermined positions in response to the crank angle in the operation of the press machine. When machining a workpiece under specific conditions, there is no wasted time in the machining operation of the press machine, making it possible to perform the work efficiently. However, although the movement of the work feeder is fixed in advance according to the crank angle of the machine, the operating stroke of each axis of the work feeder mentioned above is variable in the electrically synchronized type.
On the contrary, since the mechanical drive system is semi-fixed,
This has caused restrictions in the design of the mold and in the optimal drive of the motor.

In other words, while considering the interference with the mold 5, it is better to set the operating angle of each axis as early as possible after the press passes the bottom dead center, and as late as possible before the bottom dead center. The load on the drive motor for each axis is reduced, which is preferable from the viewpoint of control and production costs. Therefore, it is possible to set the operating angle and stroke length of each axis according to the shape and size of the mold. Although the performance of each axis motor can be utilized to the maximum without any restrictions on the design of the mold, such settings have not been possible with conventional control devices.

The present invention solves the above-mentioned problems and provides a work feeder device that can automatically set an optimal motion curve in accordance with the shape and size of the workpiece to be pressed, that is, the shape and size of the press die. The purpose is

[Means for Solving the Problems] In order to solve the problems mentioned above, in the work feeder control device based on the present invention, 1. , a work feeder configured with at least two or more movable axes for which motion curves can be set, which moves in a three-dimensional direction and automatically carries in and out a workpiece to be processed by the press machine to a predetermined processing position on the press machine; In an automatic booth processing system including: a press crankshaft rotation angle value setting means at a timing when an arbitrary movable axis constituting the work feeder starts operation, and a press crankshaft at a timing when the movable axis ends its operation. Rotation angle value setting means and said set'/::
and means for calculating and setting the motion curve of the movable axis from the motion start angle value and the motion end angle value.

[Function] In the present invention, there is provided a press crankshaft rotation angle value setting means at the timing when any movable axis constituting the work feeder starts its operation, and a press crankshaft rotation angle value setting means at the timing when the tilting axis ends its operation. Since it includes an angle value setting means, a means for calculating and setting the motion curve of the first pivot axis, and the set operation start angle value and operation end angle value J: By correspondingly setting the operation start angle value and operation end angle value of the work feeder, the motion curve of each feeder shaft drive motor can be automatically set, so that it can be safely and appropriately regardless of the structural dimensions of the mold. It is possible to obtain accurate feeder movement.

[Embodiment 1] Hereinafter, an embodiment of a work feeder control device according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram in which an automatic 71/s machine and a work feeder device are combined, and the second
The figure is a schematic diagram of the feeder section of the workpiece feeder, and FIG. 3 shows an example of its movement. FIG. 4 shows the movement of each axis of the feeder in response to the crank angle of the press, and FIG. 5 shows a block diagram of the circuit of the work feeder control device based on the present invention.

Further, FIG. 6 shows an example of a motion curve table showing the movement of each axis of the feeder calculated and recorded by the computer in the work feeder control device, and FIG. 7 shows the movement of the work feeder based on the present invention. 3 shows an example of how to operate the monitor unit to view the screen.

In Fig. 1, 1 is the main body of the press, 2 is suspended from the crankshaft, and is pressed by applying force to the workpiece placed between it and the F-type 3 provided at the bottom. 2 type, 4 is an instrument that displays the crank angle of the press, and it detects the crank angle and generates a command signal to the feeder by the signal from the synchro generator f3 attached to the crankshaft. It is being operated.

5 is a feeder that moves left and right on the drawing to carry in and take out workpieces, 6.7 is a cylinder that moves the feeder up and down, and 6-b and 7-b indicate that the cylinders are feeders. 5-b shows a situation in which the feeder 5 is raised by the cylinder 6.7 and moved to the left by a mechanism for moving the frame left and right, which is omitted in the drawing. It shows.

In FIG. 2, reference numerals 5-1 and 5-2 indicate two feeders 5 provided before and after the press explained in FIG. Carrying in and out is carried out while being held by iron hands 10-1.10-2.10-3 provided opposite to 1.5-2. A driving body for moving the feeder 5 vertically and horizontally and a driving body for clamping and unclamping the workpiece are omitted in the drawing. The figure shows three pairs of iron hands 10-1, 10-2.1, and 0-3 attached to the feeder at equal intervals. The reason why there are three pairs of iron hands is to move three workpieces at the same time with one movement.

FIG. 3 shows an example of the movement of the feeder described above. That is, in figure (A), the clamped workpiece is moved to the right on the drawing and carried between the press molds, and after removing the clamp, it escapes to the side, then returns to the left and moves to the clamping position. . In the figure (B), the movement in the figure (A) is for when the work interferes with the mold, and the clamped work is lifted up on the drawing, escapes the mold, and moves to the right. As shown in Figure f & (A) where the work is lowered onto the next mold and unclamped, it escapes to the side and then returns to the original clamping position. The four sides from Figure (C) to Figure (F) mainly show movements when the workpiece is held by vacuum rather than clamping. That is, (C
) The figure shows the workpiece being held by a vacuum, then lifted onto the ball, moved S to the next mold position, and lowered down to release the workpiece. (D) or F) In the figure, the mold moves up and down to hold the workpiece by vacuum, and the movement during that time interferes with each other depending on the shape of the press, mold, and workpiece. An example is shown in which the route is set to go through the nearest road instead. In the explanation of FIG. 4, the workpiece is moved between the molds, but the feeder is of course not only used between the molds, but also between the loading device and the mold, the mold and the unloading device, etc. It is possible to set the movements necessary to move the workpiece between predetermined equipment.

FIG. 4 shows the interlocking operation between the above-mentioned feeder movement and press movement.

That is, in FIG. 4, the curve d shows the stroke of the slide of the press corresponding to the crank angle of the press, 0 degrees is the top dead center, 180 degrees is the bottom dead center, and the mold is closed at the bottom dead center. is driven to the lowest point, force is applied to the workpiece, and the workpiece is processed.

Curve a shows the movement of the feeder in feeding the workpiece, a-1 shows the movement of the feeder in the forward direction, and curve a-2 shows the movement of the feeder in the return direction.

The curved line shows the vertical movement of the feeder, b-1
indicates movement in the downward direction. In other words, the feeder moves forward and starts descending slightly before reaching a predetermined position (the top of curve a-1), and just before it completely reaches the lowest point, the mechanical hand that clamps the workpiece moves to curve c-1.
Unclamp and attach the workpiece to the mold as shown in .

The moment the mechanical hand is unclamped and the workpiece is placed on the mold, the feeder begins its return movement as shown by curve a-2, and when it returns to an appropriate position that does not interfere with the press, the press moves at a crank angle of 180 degrees. That is, when the press reaches the bottom dead center and performs a machining operation on the workpiece, when the machining is completed and the upper die of the press begins to rise to a position where it does not interfere with the feeder, it begins a clamping operation as shown by curve c-2. As shown in Fig. 3a, multiple mechanical hands are installed on the feeder, separated by the feed distance, so the adjacent mechanical hand that fed the workpiece first completes the machining and then clamps the workpiece again. , the mechanical hunt that previously fed the workpiece returns to its original position and clamps the workpiece to be machined next. The moment the workpiece is clamped, the feeder moves upward as shown in curve b=2, and when the workpiece rises to a position where it does not interfere with the mold, the feeder starts moving forward again as shown in curve a-3, and the press crank At the position of 360 degrees, this explanation begins, that is, the crank angle is 0 degrees.

Each curve, a, b, e, JJ, feeder holds workpiece 1
Since the crankshaft is moving at high speed, h2 is set in accordance with the crank angle so that an appropriate curve is formed to avoid unnecessary acceleration.

Next, a circuit for controlling the above-mentioned operation will be explained with reference to FIG.

In FIG. 5, reference numeral 11 is an operation panel, on which various conditions to be input into the press system are set in accordance with the workpiece to be machined, such as a predetermined motion curve slam, start angle, end angle, etc. The various conditions are inputted to a '7' viewer (hereinafter referred to as CPU) 13 via an interface circuit 12. The CPU 1.3 calculates a motion curve table for each axis of the feeder, stores it in the storage device 14, and φ.

CPLJ 13 has a press crank angle sensor 17.
The measured value of is inputted via the interface circuit 18, and corresponds to the measured value of the crank angle sensor 17,
According to the motion curve table mentioned above, the fi-
A position command signal is output to each feeder axis 15a.

Next, the feeder control operation of this circuit will be explained in detail. On the operation panel 11, a predetermined pattern is selected and set from among various motion curve buttons as shown in FIG.
The operating angle corresponding to the crank angle of the press as shown in the figure is set using the start angle value and the end angle value. Each set value set on the operation panel 11 is converted into a code suitable for input to the CPU in the interface circuit 12 and then sent to the CPU 1.
Enter 3. When the start angle value and end angle value of the motion curve set for the various motion curve buttons described above are set in the CPU 13, each motion curve is set.
・Since the program that calculates the position of each axis of the feeder corresponding to the crank angle of the force required to move the feeder correctly on the curve) is recorded, the motor simulation inputted above can be used. A motion curve table is created in accordance with the program and stored in the storage device 14, corresponding to the start angle value and end angle value of the curve bang and the motion force.

The program that creates the motion curve table is designed to create a curve that allows each axis of each feeder to move smoothly, such as a zykroid curve, and the calculated results are as follows. For example, a table as shown in FIG. 6 is obtained.

In FIG. 6, the crank angle of the press is written in the right-hand end contraction direction, and on the left side, the position of each axis of the feeder is written as a stroke value from the reference position for each axis. However, in FIG. 6, the table is shown as a normal table for the convenience of visual inspection, but in the actual storage device 14, the address corresponding to each entry column is designated and stored in digital code.

Next, when the press working system is started, the crank angle sensor 17 measures the current angle of the crank of the press machine, and the measured value is sent to the interface circuit 18 as CP t
The data is converted into a code suitable for input to J and input to the CPU 13.

In the CPU 13, corresponding to the input crank angle value, the motion force is stored in the storage device 1.4 described above and is transmitted from the pull to each feeder shaft 15a.
% 15n is indexed, and further compared with the position information of each feeder axis, which will be described later, to create a drive signal for each feeder axis, and the drive signal is converted into a digital value for each feeder axis 15a to 15i to 15n. supply to the control circuit.

Next, the movement of each feeder will be explained using the foot axis 15a as a representative.

A digital-to-analog conversion circuit (hereinafter referred to as DAC) 51 is provided at the input section of the control circuit for the feed shaft 15a, and the DAC 51 converts the drive signal for the feed shaft input as a digital value into an analog value. and input it to the servo amplifier 52. The servo amplifier 52 compares the input drive signal with a value of a tacho generator 54, which will be described later, and drives the servo motor 53 according to the difference in voltage. A tacho generator 54 is coupled to the servo motor 53 to detect the rotational speed of the servomotor and return the detected rotational speed to the servo amplifier 52 described above.
The servo motor 53 rotates at a commanded rotational speed according to a drive signal input from the CPU 13. Therefore, the feed shaft connected to the servo motor 53 moves at the speed specified by the command.

A feed shaft position sensor 55 is coupled to the feed shaft to detect the current position of the feed shaft. The measured value of the position sensor 55 is sent to CP by the interface circuit 16.
The code is converted into a code suitable for input to U and input to the CPU 13.

CPo 13 compares the input position information of the feed axis with the commanded position of the feed axis indexed from the motion curve table mentioned above, creates a drive signal corresponding to the magnitude of the deviation, and controls the feed axis. Supplies the axis control circuit.

Therefore, each feed axis moves in accordance with the crank angle of the press according to the command value from the CPU, so the feeder draws a motion curve according to the command.

FIG. 7 shows an example of operation of the monitor for monitoring feeder commands and movements. First, when the operation mode of the press system is set to interlock mode with the mode selection switch on the operation panel (α), the current value in the interlock mode is displayed on the LCD monitor screen.
The conveyance button during operation, the main setting data, the crank angle of the press, and the position of each feeder axis are displayed as feeder stroke values from the reference point of each axis (A).Next is the operation panel, which is not shown in the drawing. When the set value monitor is selected with the selection switch (β), the screen of the LCD monitor will display the set value monitor display of the linked mode, as well as the currently displayed feeder axis name and the set stroke value of the feeder axis. (B) 0 When the screen conversion button switch on the operation panel (not shown in the figure) is pressed, the feeder axes displayed sequentially on the display screen are converted.

Next, when current value display is selected (γ) with a selection switch on the operation panel not shown in the drawing, the display screen changes to the first current value display (A).

[Effects of the Invention] As explained above, according to the present invention, there is provided a press crankshaft rotation angle value setting means for setting the timing at which any movable axis constituting the work feeder starts operating, and a means for setting the rotation angle value of the press crankshaft at the timing when an arbitrary movable axis constituting the work feeder starts its operation, and Since the press crankshaft rotation angle value setting means for setting the timing of the press crankshaft rotation angle value and the means for calculating and setting the motion curve of the movable axis from the set operation start angle value and operation end angle value, By setting the operation start angle value and operation end angle value of the work feeder corresponding to the mold, the motion curve of each feeder shaft drive motor can be automatically set. An excellent effect can be obtained in that safe and appropriate feeder movement can be obtained.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of a press machine and a feeder device according to an embodiment of the present invention. FIG. 2 is a schematic diagram of a feeder device according to an embodiment of the present invention. FIG. 3 is an explanatory diagram of the operation of the feeder device in one embodiment based on the present invention. FIG. 4 is a detailed explanatory diagram of the operation of the feeder device according to an embodiment of the present invention. FIG. 5 is a block diagram of a feeder control device according to an embodiment of the present invention. No. 613 is a motion curve table diagram of an embodiment based on the present invention. FIG. 7 is an explanatory diagram of a monitor according to an embodiment of the present invention. FIG. 8 is a block diagram of a conventional feeder control device. 1...Press 2...Upper die 3...Lower die 4...Crank angle meter 5.5-b, 5-1.5-2. ...Feeder 6.
6-b...Cylinder 7.7-b...Cylinder 10-1...Iron hand 10-2...Iron hand 10-3...Iron hand 11...・Operation panel 12...Interface circuit 13...Combi coater 14...Storage device 15a, 151.150...Feet axis 16...
...Interface circuit 17...Angle sensor 18...Interface circuit 51...Digital-analog conversion circuit 52...
... Servo amplifier 53 ... Servo motor 54 ... Tachogenerator 1/-tacho generator 55 ... Position sensor 81 ... Computer 82 ... Synchro transmitter 83...conversion circuit 84...digital analog conversion circuit 85...
... Servo amplifier 86 ... Servo motor 87 ... Tachogenerator 1/-tacho generator 88 ... - ... 8 synchro transmitters ... Conversion circuit

Claims (1)

[Claims] A movable device that can set motion curves on at least two axes that moves in a three-dimensional direction in response to the crank rotation angle of the press machine and automatically carries in and out the workpiece to be processed by the press machine to a predetermined processing position on the press machine. In an automatic press processing system including a work feeder constituted by axes, a press crankshaft rotation angle value setting means for specifying the timing at which any movable axis constituting the work feeder starts operation; The press crankshaft rotation angle value setting means for specifying the timing to end the operation, and the means for calculating and setting the motion curve of the movable axis from the set operation start angle value and operation end angle value. Work feeder control device.