JPH0344853B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for feeding material to a press machine.

Generally, when a material (hereinafter referred to as a workpiece) is processed by a press machine, the workpiece is fed to the press machine so that the processing reference position of the workpiece matches the processing position (for example, the die center) in the press machine. . Further, especially when punching out a figure printed on the workpiece using a press machine, it is necessary to increase the accuracy of positioning the workpiece with respect to the press machine.

Conventionally, a guide hole is provided at a predetermined position of the workpiece, and a guide post is provided in a mold attached to a press machine, and the workpiece is positioned so that the guide post is guided by the guide hole during feeding. In addition, when punching a figure printed on a workpiece, when printing the figure, a mark is printed at the same time as the position of the guide hole, and the part with the mark is punched to form the guide hole. I was trying to do that.

However, with this conventional method, it is difficult to continuously feed the workpiece to the press machine.
Further, since it requires time and effort to form guide holes in the workpiece, there is an inconvenience that work efficiency is reduced.

In addition, as a workpiece feeding device, one that measures the reference position of the printing part of the workpiece and the interval between each printing part, stores them as data, and pitch-feeds the workpiece has been put into practical use. Such a device requires a large amount of data to be set, which causes the inconvenience of requiring a great deal of time and effort for measurement.

An object of the present invention is to provide a material supply system that can eliminate the above-mentioned disadvantages.

In order to achieve the above-mentioned object, the present invention provides a mark in the vicinity of the processing reference position of the material, and also provides an imaging means in the press machine, and eliminates the error that occurs when the center of the mark is positioned at the imaging center of the imaging means. Based on this, the coordinates representing the processing center of the material are corrected.

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

FIG. 1 schematically shows a press machine 10 and a material supply device 20 to which a material supply device according to the present invention is applied, and in the same figure, a camera 12 is attached via a pedestal 11 to a suitable position on the frame of the press machine 10. ing. The camera 12 is a line image sensor (not shown) arranged along the Y-axis direction.
Built-in.

The material supply device 20 includes a clamper 23 that grips a plate-shaped material 21, a clamper carrier 25 that moves the clamper 23 on a beam 24 attached in the X-axis direction, and a table that is attached to the beam 24 and supports the material 21. 26, 27, the table 26, 2
7 in the Y-axis direction and supports the tables 26 and 27, a wall 30 that connects the walls 28 and 29, and the beam 2.
4, a moving shaft 31 that is screwed into the threaded portion 24a and moves the beam 24 and the tables 26, 27 in the Y-axis direction; a bridge material 32 that connects the walls 28 and 29; It consists of a bearing 33 for the attached drive shaft 31, a drive pulley 36 that drives a pulley 34 attached to the drive shaft 31 via a belt 35, and a control section 37 that controls the positioning of the material 21. The clamper carrier 25 and drive pulley 36 are each operated by a motor (not shown).

FIG. 2 shows an embodiment of a control device to which the material supply device according to the present invention is applied. In the same figure, a sensor control unit 40 outputs a scanning command signal S 1 to the camera 12, and also outputs a scanning command signal S ₁ to the camera 12.
The processing to be described later is applied to the image pickup signal S ₂ outputted from the sensor interface 41 and the output thereof is applied to a CPU (central processing unit) via a sensor interface 41 and a bus line 42 .

The X-axis drive section 44 is connected to the clamper carrier 25.
A drive shaft 44a that is screwed into a threaded portion 25a provided on the clamper carrier 25 to move the clamper carrier 25;
4a, a motor 44b that rotates the drive shaft 44a;
The axes are interlocked to create two identical waveforms with different phases.
A pulse encoder 44c that generates two pulse signals _P1 and _P2 , and a speed detector 4 that is attached to the motor 44b and outputs a signal proportional to its rotational speed.
4d and a servo amplifier 44e that provides a drive signal to the motor 44b.

The Y-axis drive unit 45 drives the beam 24 and the tables 26 and 27, and includes a motor 45a that drives the drive pulley 36, and a motor 45a that drives the drive pulley 36.
a pulse encoder 45b whose axis interlocks with the axis of a and generates two pulse signals P ₃ and P ₄ of the same waveform with different phases; a speed detector 45c which detects the rotational speed of the motor 45a; and a speed detector 45c which detects the rotational speed of the motor 45a.
It is comprised of a servo amplifier 45d that provides a drive signal to 5a.

Note that the speed detector 44d and the servo amplifier 4
4e, the speed detector 44c, and the servo amplifier 45d constitute a speed feedback loop.

The output pulse signals of the pulse encoders 44c and 44b are transmitted to a forward/reverse discrimination circuit 46, respectively.
and added to 47. The forward/reverse rotation discrimination circuit 4
6 and 47 determine whether the motors 44 and 45 are rotating in the normal direction or in the reverse direction from the phase relationship between the pulse signals P ₁ and P ₂ and the phase relationship between the pulse signals P ₃ and P ₄ , respectively. When it _is determined that the
Output S ₄ and also the above pulse signal P ₁ (or P ₂ )
Each time a predetermined number of pulse signals P ₃ (or P ₄ ) are input, movement pulse signals P ₅ and P ₆ representing that the X-axis and Y-axis have moved by one step are output, respectively. Thus, the signal S ₃ and the pulse signal P ₅ are applied to the control input terminal U/ and the clock input terminal CK of the up-down counter 48, and are also applied to the sensor control section 40, and the signal S ₄ and the pulse signal P ₆ is applied to the control input U/ and the clock input CK of the up-down counter 49, respectively.

The outputs of the up-down counters 48 and 49 are applied to the CPU 43 via the bus line 42 as X-axis position data and Y-axis position data, respectively. The CPU 43 calculates position deviation data for each axis based on the X-axis position data and Y-axis position data, and calculates position deviation data for each axis via the bus line 42, digital-to-analog converters 50, 51, and preamplifiers 52, 53. and outputs to the servo amplifiers 44 and 45.

The press machine 10 processes one material 21 to form a plurality of punched plates (for example, disks).
As shown in FIG. 3, circular marks M having different reflectances from the material 21 are provided in the vicinity of the punching reference position C on the material 21, each having a predetermined positional relationship with respect to the punching reference position C. It is being The center position MC of these marks M is
1 is gripped at a predetermined location by the clamper 23, each position in the material supply device 20 is represented by the X coordinate and Y coordinate of the material supply device 20, and such coordinate data is stored in the memory 54 in advance. has been done. Now, let one mark M among the plurality of marks M be representative, and let the coordinate data of its center position be MC (X0, Y0). The memory 54 also stores data C (XP, YP) representing each punching reference position C of the material 21 by the X coordinate and Y coordinate, corresponding to the MC (X0, Y0). ing. The memory 54 also stores the center position of the camera 12 and the punching center W of the press machine 10 in the X coordinate and Y coordinate.
Data expressed in coordinates (XS, YC), W
(XW, YW) is memorized.

Therefore, the CPU 43 determines the center position of the mark M in the Y-axis direction based on the center position data MC (X0, Y0) of the mark M and the center position data (XS, YC) of the camera 12 in the line image built into the camera 12. The center position of the mark M in the X-axis direction is the line image so that the center of the sensor in the main scanning direction, that is, coincides with YC (see Figure 4), and the entire mark M is imaged when the line image sensor is sub-scanned. X so that the sub-scanning direction of the sensor coincides with a position XC that is a predetermined distance away from the starting point XS.
The axis drive unit 44 and the Y-axis drive unit 45 are drive-controlled. Specifically, the amount of movement Xd of the clamper 23 in the X-axis direction can be determined from the output of the up-down counter 48, and the amount of movement Yd of the clamper 23 in the Y-axis direction can be determined from the output of the up-down counter 49, so X0
+Xd equals XC, and Y0+Yd
The material 21 is positioned by controlling the drive so as to match YC.

When such positioning is performed, the CPU 43
The shaft drive section 44 is driven and controlled to move the material 21 in the X-axis direction, and the sensor control section 40 is operated to actually measure the center position MC of the mark M.

As shown in FIG. 5, the sensor interface 41 is composed of a flip-flop 41a, bus buffers 41b, 41c, and 41d.
The output terminal Q of the flip-flop 41a is one of the AND circuits 40a constituting the sensor control section 40.
connected to the input terminal, and the bus buffers 41b, 4
A counter 40 is connected to the input terminal A of 1c and 41d.
The output terminals Q of each of the terminals b, 40c and 40d are connected.

The output signal S ₃ and the pulse signal P ₅ of the forward/reverse discrimination circuit 46 are applied to each input terminal of the AND circuit 40e, and the output terminal of the AND circuit 40e is connected to the other input terminal of the AND circuit 40a. ing. Therefore, the output signal of the AND circuit 40a is sent to the camera 12 as the scanning command signal _S1 .
The signal S5 is applied to the scan control section 12a of the register 55, and after being converted into the signal _S5 via the delay waveform shaping circuit 40f, the latch command input terminal L of the register 55 and the above-mentioned
Joins CPU43.

The scan control unit 12a sends a scan pulse _P7 to the line image sensor 12b when the signal _S1 is applied.
is added to sequentially scan each light receiving cell of the line image sensor 12b, and the image signal output from the line image sensor 12b by the scanning is
Determine whether S ₆ represents a bright area,
When representing a bright area, a bright area section signal S _2a is output, and when not, a dark section signal S _2b is output.
Further, the scan control section 12a outputs a start signal _S7 and a scan end signal _S8 at the start and end of scanning, respectively, and further outputs a clock signal _P8 synchronized with the scanning of the line image sensor 12b. . Furthermore, when the reflectance of the mark M is smaller than that of the material 21, the scanning control section 12a outputs a signal _S9 of logic level "H". The optical system 12c that focuses images on the line image sensor 12b is composed of a combination of lenses and the like.

The signal S _2a is sent to the input end A of the selector 40g and the input end B of the selector 40h, and the signal S _2b is sent to the input end B of the selector 40g and the selector 4.
The signal Sa is input to the input terminal A of 0h, and the signal Sa is input to the control input terminal S of each of the selectors 40g and 40h.
Then, the signal _S7 is sent to the counters 40b, 40c,
40d and flip-flop 40i, the signal _S8 is sent to the CPU 43 via the inverter 40j, and the clock signal _P8 is sent to the AND circuits 40k, 40l and 40i.
is added to one input terminal of each of m. Further, the output signal _S10 of the selector 40g is applied to the set input terminal S of the flip-flop 40i and the other input terminal of the AND circuit 40k.
The output signal _S11 of the AND circuit 40l and 40m is applied to the other input terminals of the AND circuits 40l and 40m, and the output signal _S13 of the flip-flop 40i is applied to the other input terminal of the AND circuit 40m, and the output signal S11 of the flip-flop 40i is applied to the other input terminal of the AND circuit 40m. AND circuit 40l
is added to another input end.

Now, if the reflectance of the mark M is smaller than that of the material 21 (that is, if the mark M is made of black matte paint, etc.) and the line image sensor 12b includes the mark M, as shown in _FIG .
Considering the case where the material 21 is positioned so as to scan the coordinates, the scanning control section 12a is controlled as shown in FIG.
As shown in , the logic level of the signal _S9 is set to "L".
and thereby selectors 40g and 4
0h outputs the signal applied to the input terminal B from its output terminal Y.

The flip-flop 41a is connected to the CPU 4
Therefore, in response to the signal P ₅ (see FIG. 6a) outputted from the forward/reverse rotation discrimination circuit 46 during the positioning, as shown in FIG. A signal _S1 is output to the scan control section 12a.

As a result, the scan control section 12a outputs the signal _S7 to the flip-flop 40i, counter 40b,
40c and 40d, and then apply a scan pulse to the line image sensor 12b.
P ₇ is output and scanned from point PA, and a clock signal P ₈ is synchronized with the scan pulse P ₇ .
Output.

On the other hand, the line image sensor 12b has a point
A signal that represents a bright area while being scanned from PA to PB and from point PC to the scanning end point, and represents a dark area while being scanned from point PB to point PC.
Output S ₆ . Therefore, the scanning control section 12
a is the above point, as shown in Figure 6 g and h.
Signal S 2a that becomes logic level "H" in response to scanning from PB to PC, and signal S _2a that becomes logic level "H" in response to scanning from point PA to PB and from point PC to the scanning end point. Output S _2b .

That is, while the output signal _S11 of the selector 40h is at logic level "H" in response to the scanning from the point PA to PB, the clock signal is inputted via the AND circuit 40l as shown in FIG. 6m. signal
P ₈ is added to the above counter 40c, and from the above point PB
While the output signal _S10 of the selector 40g is at the logic level "H" in response to scanning up to the PC, the clock signal _P8 is applied to the counter 40b via the AND circuit 40k as shown in FIG. join. Furthermore, the flip-flop 40i is set at the rising edge of the signal _S10 (see o in the figure), and accordingly, the AND circuit 40i is set as shown in n in the figure in response to scanning from the point PC to the scanning end point.
The clock signal _P8 is applied to the counter 4 via 0m.
Add to 0d.

Therefore, the counts of the counters 40b, 40c, and 40d are respectively the distance la from point PA to point PB (that is, the distance from the scanning start point at coordinate _X1 to the top of mark M),
Distance lb from point PB to point PC (that is, represents the length of mark M at coordinate X ₁ ) and point PC
It indicates the distance lc from to the scanning end point (that is, the distance from the bottom of the mark M at the coordinate _X1 to the scanning end point).

Further, when the scanning of the line image sensor 12b is completed, the signal _S8 (see FIG. 6e) outputted from the scanning controller 12a is sent to the inverter 40.
The signal ₈ inverted at j acts on the CPU 43 as a first interrupt signal.

Signal S ₅ outputted by the delay waveform shaping circuit 40f
is a signal that rises after a time τ from the falling point of the signal _S1 and maintains the logic level "H" for a predetermined period of time, and the count data of the up-down counter ₄₈ (i.e., The X coordinate (X ₁ at this time) is stored in the register 55. Moreover, the signal S ₅ is
It acts on the CPU 43 as a second interrupt signal, which causes the CPU 43 to input the data stored in the register 55 (input 60) and store it in the memory 54 (process 61), as shown in FIG. After this, return to the original process.

In addition, in FIG. 6, the portion after time tc shows the state of each signal when the reflectance of the mark M is higher than that of the material 21, and in this case, the logic level of the signal _S9 is " It becomes "H".

The CPU 43 executes the control shown in FIG. 8 every time the first interrupt signal ₈ is input, and marks the mark M.
Detect the center position of

That is, first, the content of the counter 40b, that is, the distance lb is input (input 70), and this is stored in a predetermined area of the memory 54 (process 7).
1).

Since there is no mark M in the area from the (sub) scan start position _Xs to the coordinate Xa, the value of the distance lb is 0. Therefore, it is determined whether the value of the distance lb is 0 or not. The result of determination 72 is YES. Then, processing 73 is executed to read out the contents of the counter 40b stored at the time of the previous interrupt, that is, the value of distance lb', but the value of distance lb' is also 0, so the value of distance lb' is The result of judgment 74 to determine whether or not it is not 0 is NO. The CPU 43 then returns to the main processing that was being executed before the interruption.

At the coordinate Xa corresponding to the end of mark M,
Since the distance lb is not 0, the result of the judgment 72 is YES, and the distance lb' read in the process 75, which is the same as the process 73 above, is 0, so
The result of decision 76, which determines whether distance lb' is 0, is YES. Therefore, the CPU 43 is
The data stored in the process 61, that is, the data stored in the register 55, is stored in the memory 54 as the coordinate Xa (process 77), and 0 is assigned to the variables _Ns and ΔY to reset these variables ( After process 78), the CPU 43 returns to the main process.

In the area where the mark M exists, both the distances lb and lb' are not 0, so the result of the above judgment 72 is NO and the result of the judgment 76 is
The answer will be NO. Therefore, the CPU 43 inputs the contents of the counters 40c and 40d, that is, the data of the distances la and lc (input 79), and calculates the following equation ().
Update the value of △Y based on the variable N _s
Increase the value of by one.

ΔY=ΔY+lc-la/2...() After that, the CPU 43 returns to the above-mentioned main processing.

At the coordinate Xb representing the end opposite to the coordinate Xa of the mark M, the value of the distance lb is 0 and the value of the distance lb' is not 0, so the result of the above judgment 72 is YES, and the judgment 74 The result is also YES
becomes. Therefore, the CPU 43 performs the above processing 61.
The data stored in the register 55 in the register 5
5 and store it in the memory 54 as the coordinate Xb (process 81), and calculate the X coordinate Xc' and Y coordinate of the center position of the mark M based on the following equations () and ().
The coordinate shift amount ΔYc is calculated, and these Xc' and ΔYc are stored (process 82).

Xc'=Xa+Xb/2...() △Yc=△Y/ _Ns ...() After that, the CPU 43 returns to the above-mentioned main processing.

In addition, for the area between the above coordinate Xb and the coordinate Xe, which is the end point of the sub-scan, the above coordinates are used.
The same processing as in the area from _Xs to Xa is performed, so the explanation will be omitted.

The CPU 43 has the deviation amount △Yc obtained in this way.
The memory 54 is stored in advance based on
The positional coordinates of a reference position C for punching corresponding to the mark M stored in are corrected, and the reference position is positioned at the punching center W of the press machine 10 based on the corrected positional coordinates.

By the way, XC' and ΔYC calculated above mean the following. In other words, the mark M has its center position in the X-axis direction at XC and Y
The center position in the axial direction was determined to be YC, but in reality the position in the X-axis direction is shifted by XC'-XC to position XC', and the position in the Y-axis direction is shifted by ΔYC to position YC + ΔYC. This means that the position has been determined. This is the center position data MC (X0,
X0) is incorrect and the center position MC of the mark M when the material 21 is actually gripped by the clamper 23 is XC'-XC and ΔYC in the X-axis direction and Y-axis direction from the data (X0, Y0), respectively. This means that the position was shifted by that amount. Mark M here
Since the machining reference position C and the machining reference position C have a predetermined positional relationship as described above, it follows that the machining reference position C was actually shifted by the same amount as the above-mentioned shift. Therefore, the machining reference position data C (XP, YP) is (XP+
Correct data can be obtained by correcting to (XC'-XC), YP + ΔYC).

And such correction processing reference position data (XP+
(XC′-XC), YP+ΔYC) and punching center position data (XW, YW) to drive and control the X-axis drive section 44 and Y-axis drive section 45 so that the processing reference position C coincides with the punching center W. This results in highly accurate machining.

Now, when the press machine 10 punches out a plurality of rows of printed parts PP formed on the material 21' as shown in FIG. 9, the CPU 43 controls the press machine 10 and the material supply device 20 in the following manner.

That is, the CPU 43 first selects the mark M in the first column.
The coordinate Xc' of the center position and the deviation amount ΔYc of the Y coordinate are sequentially detected from the leftmost mark M by the method described above (see a in the figure). In addition,
At this time, the CPU 43 stops the press machine 10 at the top dead center.

Next, the CPU 43 uses the coordinates Xc' and the deviation amount ΔYc to sequentially position the printing part PP at the right end of the first row to the punching center W of the press machine 10, and causes the press machine 10 to perform the punching process (see FIG. b). In this positioning for punching, the coordinates of the reference position of each printing portion PP are corrected using the coordinates Xc' and the amount of deviation ΔYc described above.

Then, the CPU 43 moves the material 21' in the direction shown by the arrow in FIG.
is positioned directly below the camera 12 (see d in the same figure),
The same control as described above is executed for the printing part PP in the second row to cause the press machine 10 to perform the punching process.

Therefore, the CPU 43 is connected to the printing section PP after the third column.
Also, the press machine 10 sequentially punches out the printing part PP using the same procedure.

Note that the CPU 43 performs positioning control of the material 21' in synchronization with the operation of the press machine 10 based on crank angle rotation data applied from the press machine 10 via the input interface 56 and the bus line 42, and also, Top dead center stop command data is output to the press machine 10 via the bus line 42 and output interface 57 to stop the press machine 10 so that the crank is located at the top dead center.

The coordinate data representing the reference position of each of the printing units PP is stored in the memory 54 using the magnetic card reader 91 or the operation panel 92 shown in FIG. 2. Also,
The CRT display section 93 displays various types of information.

As explained above, according to the present invention, it is possible to solve the above-mentioned inconveniences that have conventionally occurred when supplying material to a press machine.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an outline of a material supply device and a press machine to which the device according to the present invention is applied, and FIG.
The figure is a block diagram showing an example of a control device.
The figure is a front view showing one aspect of the mark attached to the material, FIG. 4 is a diagram for explaining the operation of the line image sensor for detecting the center position of the mark, and FIG. 5 is the diagram shown in FIG. 6a to 6p are waveform diagrams showing the operation of each element shown in FIG. 9A to 9D are conceptual diagrams showing an example of a material supply procedure. 10...Press machine, 12...Camera, 20...
...Material supply device, 21...Material, 40...Sensor control unit, 43...CPU (central processing unit), 54...
...Memory, M...Mark.

Claims (1)

[Scope of Claims] 1. A transport means for clamping a material marked with a mark in a predetermined positional relationship near a processing reference position and transporting the clamped material in the X-axis direction and the Y-axis direction; and the mark. is attached to the press machine in such a manner as to be able to image the material; an imaging means that sequentially scans a predetermined field of view in the main scanning direction; and the processing reference position and the center position of the mark when the material is clamped by the conveyance means using the coordinates in the X-axis direction and the Y-axis direction. and storage means in which position data indicating the center position of the imaging means and the punching center position of the press machine are stored in advance, respectively; and the center position data of the mark and the center position data of the imaging means stored in the storage means. the conveyance means so that the center position of the mark in the sub-scanning direction is positioned at a predetermined position based on the mark, and the center position of the mark in the main-scanning direction is positioned at the main-scanning center of the imaging means. a first driving means for positioning the material by driving; and when the material is positioned by the first driving means, the mark is imaged by the imaging means in the sub-scanning direction of the mark; The average value of the detected both end positions is calculated as the center position of the mark in the sub-scanning direction, and the distance from the upper limit of the field of view in the main scanning direction of the imaging means to the mark and the distance from the mark are calculated. and then detects the distance to the lower limit of the field of view in the main scanning direction, and calculates the center position of the mark in the main scanning direction based on the difference between these detected distances and the center position data of the imaging means stored in the storage means. a calculating means; and adding the conveyance amount of the material by the first driving means to the center position data of the mark stored in the storage means, so that the material is
The center position of the mark when positioned by the driving means is determined, and the center position of the mark is stored in the storage means according to the deviation between the determined center position of the mark and the center position of the mark calculated by the calculation means. a correction calculation means for correcting the processing reference position data; and the processing reference position is determined based on the processing reference position data corrected by the correction calculation means and the punching center position data of the press machine stored in the storage means. and second driving means for driving the conveying means so as to coincide with the punching center.