JPH0547301B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a press control system, and more particularly to a press control system in which a single base plate on which a large number of press punching printing parts are printed is sequentially positioned using visual means.

Generally, when a workpiece is processed by a press machine, the workpiece is fed to the press machine such that the processing reference position of the workpiece coincides with the processing position (eg, 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.

In the conventional press punching process, as shown in FIG. Divide it into two divided plates (step ()), drill a guide hole M' with a bench drill according to the mark M on this divided plate (step ()), and insert this guide hole M' into mold 2 of the press machine. The printing part 1a is positioned by inserting it into the guide pin 2a (step ()), and the product 3 is punched out.

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 order to solve these conventional problems, a press control system has recently been proposed that uses visual means to position the material.

To explain this press control system, as shown in FIG. 2, the base plate 1 is fed in the X-axis direction and the Y-axis direction by the feeder device 20 to the press machine 10 having the camera 12, and first, as shown in FIG. Rough positioning is performed so that the mark M is within the field of view of the camera 12 as shown. Next, the original plate 1 is fed in the X-axis direction from position Xs to _XE (sub-scanning), and a predetermined field of view V is set in the Y-axis direction by visual means.
to main scan.

Then, the deviation amount x in the X-axis direction between the sub-scanning center position Xc and the center position C of the mark M is the sub-scanning position Xa when the mark M is first detected and the It is detected based on the difference between the average value of the scanning position Xb and the sub-scanning center position Xc.
In addition, the amount of deviation y in the Y-axis direction between the center position Yc of the main scanning and the center position C of the reference mark M is the distance la from the upper limit of the field of view to the reference mark M during main scanning, and the field of view after leaving the reference mark M. Distance to lower limit lc
It is detected by the average value of the difference.

Here, since the positional relationship between the camera 12 and the punching center W of the press machine 10 is set in advance,
When supplying the original plate to the punching center W, the preset movement amount is changed to the detected deviation amount x in the X-axis direction.
Then, the displacement amount y in the Y-axis direction is corrected, and the original plate is supplied with the corrected movement amount.

By the way, in general, as a pre-press process, the printed base plate 1 (see Figure 1) is visually inspected to detect any defects such as printing defects or scratches.
PP is marked with an X mark, etc. In order to prevent this defective printed part PP from being punched out, the position data of the defective printed part PP is stored in advance using an operation panel, etc. before the press starts, and positioning is not performed at that memorized position. A method has been proposed that does this.

This method requires a lot of time to input the position data of the defective printing part PP, is extremely complicated, and also has problems such as input errors.

In addition, in the method of positioning using the visual means, if the visual means is not operating normally, the center position of the mark cannot be accurately determined, and there is a risk of erroneous punching.

The present invention has been made in view of the above-mentioned circumstances, and its first object is to provide a press control system that can sort out defective printed portions that have been checked in advance without providing any data.

A second object is to provide a press control system that can automatically detect when the visual means is not operating normally, notify the user of the abnormality, and stop the subsequent operation.

According to the present invention, in order to achieve the above first object, when inspecting the finished printing of the original plate, the mark portion corresponding to the defective printed part is filled in in advance, and during press processing, the mark is centered by visual means. When the position is detected, the area of the mark is calculated, and when the calculated area deviates from the actual mark area by more than a predetermined value, the mark number is stored, and the defective printed parts are distributed based on the stored mark number. I try to do this. In addition, in order to achieve the second purpose, when the mark numbers stored as described above are consecutively greater than or equal to a preset number, the system notifies the user that an abnormality has occurred and stops the subsequent operation. I have to.

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

FIG. 2 shows an overview of a press machine 10 and a feeder device 20 to which the press control system according to the present invention is applied. There is. The camera 12 includes a line image sensor (not shown) arranged along the Y-axis direction. Further, an illuminator 14 is disposed on the illumination stand 13.

The feeder device 20 includes a clamper 23 that grips the plate-shaped base plate 1, a clamper carrier 25 that moves the clamper 23 on a beam 24 attached in the X-axis direction, and a clamper carrier 25 that is attached to the beam 24 and supports the base plate 1. The table 2 includes tables 26 and 27 and rails that guide the tables 26 and 27 in the Y-axis direction.
walls 28 and 29 that support 6 and 27;
and 29, a moving shaft 31 attached to the beam 24 and screwed into the internal thread 24a to move the beam 24 and tables 26, 27 in the Y-axis direction, and the walls 28 and 29. The bridge material 32 to be coupled, the bearing 33 for the drive shaft 31 attached to the bridge material 32, the drive pulley 36 that drives the pulley 34 attached to the drive shaft 31 via the belt 35, and the base plate 1. It consists of a control section 37 that performs positioning control. The clamper carrier 25 and drive pulley 36 are each operated by a motor (not shown).

FIG. 4 shows an embodiment of a control device to which the press control method according to the present invention is applied. In the 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 imaging signal S ₂ output from the sensor interface 41 and the output thereof is applied to a CPU (central processing unit) 43 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 is interlocked 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 45c, and the servo amplifier 45d constitute a speed feedback loop.

The output pulse signals of the pulse encoders 44c and 45b 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 this 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 base plate 1 to form a plurality of punched plates (for example, disks). As shown in FIG. 1, the base plate 1 is provided with circular marks M having a different reflectance from that of the base plate 1 in the vicinity of each punched and printed portion thereof. The positions of these marks M are based on the X of the feeder device 20 when the original plate 1 is gripped at a predetermined position by the clamper 23.
It is recorded in advance in the memory 54 as coordinate and Y coordinate data. Of course, this coordinate table is
This does not accurately represent the center position of the mark due to setting errors of the original plate 1, printing misalignment, etc. Therefore, as will be described later, it is necessary to correct the position.

The CPU 43 first performs rough positioning of the base plate 1 based on the coordinate data. At this time, the line image sensor photographs, for example, a position Xs on the original plate 1 in FIG. 3 with a line length X.

Therefore, the CPU 43 controls the sensor control section 40.
Then, the X-axis drive mechanism 44 is operated to actually measure the center position C 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.
and sequentially scans each light receiving cell of the line image sensor 12b, and determines whether or not the image signal _S6 output from the line image sensor 12b represents a bright area through the scanning. , when representing a bright area, a bright area section signal S _2a is output, and otherwise, a dark section signal S _2b is output. The scan control unit 12a also outputs a start signal _S7 and a one-scan end signal _S8 at the start and end of one scan, respectively, and further outputs a clock signal _P3 synchronized with the scan of the line image sensor 12b. Output. Furthermore, the scanning control section 1
2a outputs a signal _S9 of logic level "H" when the reflectance of the mark M is smaller than that of the original plate 1. 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 above signal S ₉ is connected to the selector 4 at input terminal A of 0h.
To each control input terminal S of 0g and 40h,
The signal _S7 is transmitted to the counters 40b, 40c, 40
The signal _S8 is applied to the reset input terminal R of the flip-flop 40i and the inverter 40i.
The clock signal is sent to the CPU 43 via j.
_P8 is added to one input terminal of each of AND circuits 40k, 40l and 40m. 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, and the output signal _S11 of the selector 40h is applied to the AND circuits 40l and 40m.
Furthermore, the output signal _S12 of the flip-flop 40i is applied to another input terminal of an AND circuit 40m, and is also applied to another input terminal of an AND circuit 40l via an inverter 40n. There is.

Now, if the reflectance of the mark M is smaller than that of the original plate 1 (that is, if the mark M is made of black matte paint, etc.), and the line image sensor 12b is X which includes the mark M, as shown in FIG. Considering the case where coordinates are being scanned, the scan control section 12a sets the logic level of the signal _S9 to "L", thereby causing the selectors 40g and 40
Each of h outputs a signal applied to input terminal B from its output terminal Y.

The flip-flop 41a is connected to the CPU 4
Therefore, during the positioning, the signal _S1 is output to the scan control section 12a in response to the signal _P5 output from the forward/reverse discrimination circuit 46. .

As a result, the scan control section 12a outputs a start pulse signal _S7 as shown in FIG _. is output and scanned from point PA, and a clock signal _P8 (FIG. _6b ) synchronized with the scan pulse P7 is outputted.

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 a signal _S2a which becomes a logic level "H" corresponding to the scanning from the above point PB to PC, and a logic level "H" corresponding to the scanning from the above point PA to PB and from the point PC to the scanning end point. ” outputs a signal S _2b .

That is, the output signals S ₁₀ , S ₁₁ and S ₁₂ of the selectors 40g and 40h and the flip-flop 40i become as shown in FIG. 6d, e and f, respectively, and as a result, the AND circuits 40k and 40
The clock signals output from 1 and 40m are shown in FIG. 6g, h, and i, respectively.

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

Further, when the scanning of the line image sensor 12b is completed, the signal _S8 (see FIG. 6c) 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.

Note that when the reflectance of the mark M is higher than that of the original board 1, the logic level of the signal _S9 is "H".
, and the same processing as above is executed.

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 decision 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 NO, and the distance lb' read in the process 75, which has the same content as the process 73 above, is 0, so whether the distance lb' is 0 or not. The result of judgment 76 is YES. Therefore, the CPU 43 stores the data stored in the above process 61, that is, the data stored in the above register 55, in the above memory 54 as the above coordinates Xa (process 77), and substitutes 0 into the variables Ns and ΔY to set these values. After resetting the variables (processing 78), the CPU 43 returns to the main processing described above.

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), updates the value of ΔY based on the following formula (i), and sets the value of the variable Ns to 1. increase by one.

ΔY=ΔY+lc−la/2 (i) 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 is read out and stored in the memory 54 as the coordinate Xb (process 81), and the deviation amount △Yc of the X coordinate Xc' and Y coordinate of the center position of the mark M is calculated based on the following equations (ii) and (iii). , these Xi and ΔYc are stored (process 82).

Xc'=Xa+Xb/2...(ii) △Yc=△Y/Ns...(iii) 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
By correcting the position of the mark stored in , and positioning based on the corrected position coordinates, the printing section can be accurately set at the punching center W of the press machine 10.

Now, when the press machine 10 punches out the printing parts PP formed in a plurality of rows on the base plate 1 as shown in FIG. 9, the CPU 43 controls the press machine 10 and the feeder device 20 as follows.

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 starting from the leftmost mark M by the method described above (see a in the same 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 figure 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 base plate 1 in the direction shown by the arrow in FIG.
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 base plate 1 in synchronization with the operation of the press machine 10 based on the crank angle rotation data applied from the press machine 10 via the input interface 56 and the bus line 42, and also, The top dead center stop command data is sent to the bus line 42 and the output interface 5.
7 to the press machine 10, and the press machine 10 is stopped so that the crank is located at the top dead center.

Further, in synchronization with press punching, the punched frame is cut by a scrap cutter (not shown). As a result, the original board 1
The frame no longer gets in the way when moving in the Y-axis direction.

Next, a press control method according to the present invention will be explained.

FIG. 10 shows the overall control flow according to the present invention. Judgment 100 in the same figure is the number n _D of consecutive marks for which the mark center position could not be detected in one row.
This is to judge whether or not the number of errors is greater than or equal to a preset _number of errors.When _nD is smaller than _ND , press punching is executed, and when _nD is greater than or equal to _ND , each axis feed is stopped, and each In addition to turning off the output,
An error is displayed on the CRT (output 101). Note that the determination as to whether or not the mark center position has been accurately detected will be described later.

FIG. 11 shows a subdivided flow of mark detection of an arbitrary column in FIG. 10, and FIG. 12 shows a subdivided flow of mark detection of an arbitrary number k in FIG.

In FIG. 12, a process 110 positions the k-th mark at the position Xks. Here, the position Xks means the position Xs of the k-th mark (see FIG. 3). Subsequently, in process 111, the process shown in FIG. 8 is executed. Next, the sub-scanning end position
It is determined whether or not Xk _E has been reached (decision 112).
Here, the position Xk _E is the position of the kth mark
X _E (see Figure 3).

When all scanning is completed, the value of lb (length across the mark) stored in step 71 of FIG. 8 is integrated.
Then, the area Zlb of the mark where this integrated value was detected
It is temporarily stored as (processing 113).

On the other hand, the mark area S (=πD ² /4) is calculated from the mark diameter value D stored in advance as machine data (processing 114). Note that the actual mark area S may be directly stored in advance.

Next, the detected mark area Σlb is compared with the actual mark area S (in this case, the ratio of the two is taken), and it is determined whether this ratio exceeds a preset upper limit value α or is equal to a preset lower limit value. It is determined whether the value is below β (determinations 116 and 117).

When both judgments 116 and 117 are NO, it means that the mark detection was performed normally, and in this case, the mark detection defect flag Pk is cleared to 0, and the number of continuous mark detection defects _nD is also cleared to 0 ( Process 118). On the other hand, when one of the judgments 116 and 117 is YES, it means that the mark detection was not performed normally, and in this case, the flag Pk
is set to 1, and _nD is incremented by 1 (process 119).

Now, as a pre-pressing process, the printed base plate 1 is visually inspected, and marks M corresponding to printed parts with defects such as printing defects and scratches are detected, including marks M as shown in FIG. Fill in the area near the mark.

Now, assuming that the visual means is operating normally, an unfilled mark M becomes an image as shown in Fig. 14a, and a filled mark M becomes an image as shown in Fig. 14b. Become. That is, in the case of FIG. 14a, the above-mentioned process 11
8, the mark detection failure flag Pk becomes 0,
In the case of FIG. 14b, the flag Pk is set to 1 by processing 119. Note that this flag Pk is used when classifying good products and defective products, which will be described later.

Furthermore, even if the mark M is not filled in, if the visual means is not working properly, for example, if the threshold level V _TH when binarizing image data is too low, or if the illuminator When the illumination of the illuminator 14 is too bright, the image shown in FIG. 14c will be obtained. Conversely, when the threshold level V _TH is too high or the illumination of the illuminator 14 is too dark, the image shown in FIG. 14d will be obtained. becomes. In such a case as well, the mark detection failure flag Pk becomes 1. However, in this case, since the visual means is not operating normally, the number n _D of continuous mark detection defects gradually increases. After mark detection in a certain column is completed, it is determined whether this number n _D is greater than or equal to a preset number of errors N _D as shown in FIG. 10. If n _D is greater than or equal to N _D , processing 101
Displays an error message and stops further operations.

Other causes of continuous failure detection include: (1) Changes in illumination illuminance due to failure of the illuminator 14 (lamp burnout) or trouble with the illuminator power supply (voltage fluctuation, power outage), (2) Line image sensor Failure of the line image sensor 12b (3) failure of the interface circuit of the line image sensor 12b, (4) dirt on the lens of the line image sensor 12b, and (5) poor focus adjustment (out of focus) of the line image sensor 12b.

Next, when mark detection for a certain row was completed and the number n _D of consecutive mark detection failures was less than the preset number N _D of errors, press punching was performed as shown in FIG. 10.

FIG. 15 shows a subdivided flow of press punching of an arbitrary row in FIG. 10, and FIG. 16 shows a subdivided flow of press punching of an arbitrary number k in FIG.

In FIG. 16, in judgment 120, it is determined whether the mark detection failure flag Pk processed in process 118 or 119 in FIG. 12 is 1 or not. Flag Pk
is not 1, positioning is performed based on the mark center position detected in the process shown in Figure 8 (output 1
21), outputs a signal instructing press punching and taking out good products (outputs 122, 123), and flags Pk
When is 1, the k-th mark detection failure is displayed on the CRT (output 124), and a signal instructing press punching and removal of the defective product is output (output 12).
5,126).

The signal instructing to take out the good products and the defective products is applied from the CPU 43 to the product takeout machine 59 via the bus 42 and the output interface 58, as shown in FIG.

FIG. 17 is a perspective view schematically showing a press machine and a product take-out machine. For press working, the upper die 15 is H←→
One round trip of H' completes the process. Each time the press process is completed, the vacuum cup 17 descends in the direction of arrow A, sucks up the product remaining on the lower mold 16, and then rises in the direction of arrow B to lift the product. Next, move the product unloader 59 in the direction of arrow C so that it is below the lifted product,
Then, the vacuum cup 17 is broken and the product is dropped onto the product take-out machine 59.

Next, the product take-out machine 59 is retracted in the direction of arrow D, and if the flag Pk is not 1 (in the case of taking out a good product), the product take-out machine 59 is vertically rotated in the direction of arrow E, and the product is placed in the good product receiver. Drop it at 18. On the other hand, if flag Pk is 1 (defective product removed)
In this step, the product take-out machine 59 is horizontally rotated 90 degrees in the direction of arrow F, and then vertically rotated in the direction of arrow G to drop the product into the defective product receiver 19.

Note that the method of taking out the product using the product takeout machine 59 and the vacuum cup 17 can be easily realized by using an air cylinder, an air valve, and a mechanical link. Of course, the present invention is not limited to the above-mentioned embodiment, and any configuration of the product take-out machine may be used as long as it can sort out good products and defective products.

In addition, in this example, press punching is always performed regardless of whether the product is good or bad, and then good products and defective products are sorted out. This is to prevent the frame from getting in the way during mark detection and press punching for the next row. Therefore, if the press machine has sufficient margin for feeding the base plate in the Y-axis direction, or there are few rows of printed parts printed on the base plate, and there is no need to cut off the frame at the same time as press punching. The above-mentioned flag Pk (=1) may be used to skip the punching of defective parts.

Further, although an example has been described in which a defective mark is detected by calculating the area of the mark, other methods may of course be used. There are various ways to do this,
For example, the determination may be made based on the diameter of the mark, or the boundary line of the mark may be detected and the determination may be made based on the characteristics or existence of the boundary line. The present invention is not specified by this method of determining whether a mark is defective.

As explained above, according to the present invention, by simply checking defective printed areas in advance (filling in marks), products after press punching can be automatically sorted into good products and defective products, or defective prints can be automatically sorted into good products and defective products during press punching. Since the punching of copies is skipped, it is possible to omit inputting the position data of defective printed copies. Furthermore, since it is monitored whether the visual means is operating normally, it is possible to prevent defective punching due to abnormality of the visual means.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the conventional press punching process, Fig. 2 is a perspective view showing an overview of a feeder device and press machine to which the method according to the present invention is applied, and Fig. 3 explains the operation of the visual means. Fig. 4 is a block diagram showing an example of the control device, and Fig. 5 is a block diagram showing the main parts of the device shown in Fig. 4 in detail. Figure, 6th
Figures a to i are timing charts used to explain the operation of each element shown in Figure 5, and Figures 7 and 8 are used to detect the mark center position.
A flowchart showing part of the control executed by the CPU, FIGS. 9a to 9d are conceptual diagrams showing an example of the procedure for supplying the base plate, FIGS. 10, 11, 12, 1
5 and 16 are flowcharts used to explain the operation of the CPU according to the present invention.
The figure is a plan view showing an example of the base plate to which the method of the present invention is applied, Figures 14a to 14d are diagrams each showing an example of an image near the mark captured by the visual means, and Figure 17 is the product removal according to the present invention. FIG. 2 is a perspective view showing an example of the machine. 1... Original board, 10... Press machine, 12... Camera, 12b... Line image sensor, 14...
...Illuminator, 17... Bakyum cup, 20...
Feeder device, 40...Sensor control unit, 43...
CPU, 54...Memory, 59...Product unloading machine,
M... Mark.

Claims (1)

[Scope of Claims] 1 A single base plate on which a large number of press-cutting printed parts and positioning marks printed in the vicinity of the printed parts with a predetermined positional relationship with the printed parts are printed is moved along the X-axis. and the Y-axis direction to place the mark in the field of vision of a visual means disposed at a predetermined position with respect to the press machine, move the original plate in the X-axis direction to perform sub-scanning, and The center position of the mark is detected based on image data obtained by main scanning in the Y-axis direction within the field of view by a visual means, and the X-axis between the detected center position of the mark and the reference position of the field of view is detected. In a press control method in which the amount of deviation in the direction and the Y-axis direction is detected, the press punching printing section is positioned on a press machine based on the detected deviation amount, and the press punching printing section is punched from the base plate, When inspecting the finished printing of the original plate, fill in a positioning mark corresponding to a defective press punched printed part so that it protrudes from the mark printed part with the same light reflectance as the printed part of the mark, When main scanning in the Y-axis direction is performed by the visual means, the distance in the Y-axis direction from the main scanning position when the mark is first recognized to the main scanning position when the mark is last recognized. The area of the mark is calculated by calculating the calculated distance in the Y-axis direction in the X-axis direction, and the calculated area of the mark is compared to the area of the mark printing part determined in advance. A press control system characterized in that when the mark deviates by more than a predetermined value, the number of the mark is memorized, and press-punched products are automatically sorted into good products and defective products based on the memorized mark number. . 2. A single base plate on which a large number of press punching printing parts and positioning marks printed in the vicinity of the printing parts in a predetermined positional relationship with the printing parts are printed in the X-axis direction and the Y-axis direction. The mark is placed in the field of view of a visual means arranged at a predetermined position with respect to the press machine, and the base plate is moved in the X-axis direction to perform sub-scanning, and the visual means places the mark within the field of view. The center position of the mark is detected based on image data obtained by main scanning in the Y-axis direction, and the relationship between the detected mark center position and the reference position of the field of view in the X-axis and Y-axis directions is In a press control method in which a deviation amount is detected, the press punching printing part is positioned on a press machine based on the detected deviation amount, and the press punching printing part is punched from the base plate, the printing finish of the base plate is determined in advance. At the time of inspection, a positioning mark corresponding to the defective press-cutting printed part is filled in so as to have the same light reflectance as the printed part of the mark and protrudes from the printed part of the mark, and is checked by the visual means. When main scanning in the Y-axis direction is performed, calculate the distance in the Y-axis direction from the main scanning position when the mark is first recognized to the main scanning position when the mark is last recognized; The area of the mark is calculated by integrating the distances in the Y-axis direction in the X-axis direction, and when the calculated area of the mark deviates by more than a predetermined value from the area of the mark printing part determined in advance. A press control method characterized in that the number of the mark is stored, and the press punching of the corresponding press punching printing unit is skipped based on the stored mark number. 3 A single base plate on which a large number of press-cutting printed parts and positioning marks printed in the vicinity of the printed parts with a predetermined positional relationship with respect to the printed parts are printed is moved in the X-axis direction and the Y-axis direction. The mark is placed in the field of view of a visual means arranged at a predetermined position with respect to the press machine, and the base plate is moved in the X-axis direction to perform sub-scanning, and the visual means places the mark within the field of view. The center position of the mark is detected based on image data obtained by main scanning in the Y-axis direction, and the relationship between the detected mark center position and the reference position of the field of view in the X-axis and Y-axis directions is In a press control method in which an amount of deviation is detected, the press punching printing part is positioned on a press machine based on the detected deviation amount, and the press punching printing part is punched from the base plate, the Y axis is determined by the visual means. When main scanning in the direction is performed, the distance in the Y-axis direction from the main scanning position when the mark is first recognized to the main scanning position when the mark is last recognized is calculated. The area of the mark is calculated by integrating the distance in the Y-axis direction in the X-axis direction, and when the calculated area of the mark deviates by more than a predetermined value from the area of the mark printed portion determined in advance, the mark is removed. 1. A press control system, characterized in that: a number is stored, and when the stored mark numbers consecutively exceed a preset number, an abnormality is notified and subsequent operations are stopped.