JPH0724877B2 - Clamp positioning method for plate clamp device - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a clamp positioning method for a plate material clamping device that can be used for a plate material processing machine such as a turret punch press machine, a shearing machine, a laser processing machine. is there.

[Description of Prior Art] Generally, a plate material clamping device includes a carriage base that moves in the processing portion direction, a carriage that moves in the processing width direction, and
An appropriate number of clamps are mounted on the carriage, and the plate material gripped by the clamps is moved in the front-rear direction and the left-right direction of the machine to provide a predetermined position of the plate material to the processing unit of the processing machine. .

Thus, conventionally, there are two examples of methods for positioning the clamp on the carriage.

The first example is manual. This is to perform all this work manually when positioning the clamp on the carriage, and an appropriate number of clamps are manually positioned at appropriate positions on the carriage according to the width dimension of the plate material and the like. It will be.

The second example is automatic. This is to mount the appropriate number of clamps on the carriage via a clamping servo mechanism, and to automatically perform position control of each clamp with respect to the carriage by the clamping servo mechanism according to the width dimension of the plate material. It was done.

However, in the case of the manual method according to the first example, the manual operation is troublesome, and it takes time and effort to change the clamp position, and the manual operation is required. It is also an obstacle.

Further, in the automatic system according to the second example, although it is possible to freely control the positioning of the clamps on the carriage, each clamp needs a servo mechanism for clamping, and therefore the machine and the control device are required. Complicates and raises machine prices.

[Object of the Invention] In view of the above-mentioned conventional technique, the present invention uses a plate material clamp device that does not require a dedicated servo mechanism for a proper number of clamps, and is capable of accurately and quickly positioning each clamp. It is an object to provide a positioning method.

SUMMARY OF THE INVENTION In view of the conventional problems as described above, the present invention provides a carriage base movable toward and away from a processing portion of a processing machine in the Y-axis direction, and an X-axis orthogonal to the Y-axis direction.
The carriage is mounted so as to be movable in the axial direction, and the servo motor for controlling the movement of the carriage in the X-axis direction is provided. The carriage is provided with the first and second clamps capable of gripping the plate material relatively in the X-axis. And a fixing / releasing mechanism capable of selectively fixing the first and second clamps to the carriage base or the carriage. A method of positioning the first and second clamps with respect to the carriage of the plate material clamp device is used, and movement of the first and second clamps is performed based on a position change command of the first and second clamps from a clamp position command unit. Direction and movement amount are calculated, and the optimum control pattern is selected from a plurality of predetermined control patterns based on the magnitudes of the movement direction and movement amount of the first and second clamps based on the calculation result. Based on the selected optimum control pattern, the operation control of each fixing / releasing mechanism provided in the servo motor and the first and second clamps is performed in a predetermined sequence, so that the first and the second with respect to the carriage are controlled. It is a clamp positioning method for a plate material clamp device that positions a clamp.

[Description of Embodiments] Hereinafter, embodiments of the present invention will be described in detail.

FIG. 1 is a front view showing an example of a plate material processing machine, FIG. 2 is an enlarged perspective view of a plate material clamping device, and FIG. 3 is a sectional view showing a structure of the plate material clamping device in a further enlarged manner.

As shown in FIG. 1, the plate material processing machine MC has a plate material clamp device 1, which holds the plate material W and provides a predetermined position of the plate material W to the processing part MP to provide a predetermined position. We are processing. Reference numeral WH indicates a work hold device.

As shown in FIG. 2, the processing machine MC is provided with a horizontal base 3 along the plate material supply direction (hereinafter referred to as the Y-axis direction). On both sides of the base 3, slide tables 5 that are movable in the Y-axis direction with their top surfaces aligned with the base 3 are supported by guide rails 7 attached to the bottom surfaces of both sides of the base 3. ing.

As shown in detail in FIG. 3, a carriage base 9 having a predetermined height in the X-axis direction orthogonal to the Y-axis is fixed to the upper surface of one end of the slide table 5. The shaft support member 11 is provided on the processed portion side of the carriage base 9.
A ball screw 13 rotatably driven by a servomotor MX is rotatably supported on the member 11. In addition, the upper guide rail 15 is provided on the processed portion side of the carriage base 9.
And a lower guide rail 17 are provided along the X-axis direction. The upper guide rail 15 has a guide member 15a protruding downward and a T-shaped member 15b protruding toward the processed portion.
Are provided (the guide member 15a is omitted in FIG. 2).

The carriage base 9 is provided with a carriage 19 having a length approximately half that of the carriage base 9 via the guide members 15a of the lower guide rail 17 and the upper guide rail 15 so as to be movable in the X-axis direction. . The carriage 19 is
The guide member 15a is joined to the guide member 15a via a roller R which is rotatably provided on the carriage 19 side and is rotatable along the guide member 15a. The carriage 19 has a nut member (not shown) that is screwed into the ball screw 13. By rotating the ball screw 13 in the forward and reverse directions, the forward and reverse (+ and +) of the X axis can be performed along the carriage base 9. -) It is possible to move in the direction.

A dovetail 21 is provided on the processing portion side of the carriage 19. Then, a dovetail groove 23 is provided on the side opposite to the processed portion side of the two clamps CLP1 and CLP2, and the dovetail groove 23 is fitted into the dovetail 21.
Each of the clamps CLP1 and CLP2 is movable along the carriage 19. Further, gripping claws 23a, which are opened and closed by the operation of an actuator (not shown), are provided on the processing portion side of the clamps CLP1 and CLP2 so as to match the height position and height of the plate material W.

The clamps CLP1 and CLP2 are provided with the fixing / release mechanism 7. The sticking release mechanism consists of a clamp / carriage sticking claw 25 provided on the clamp side and an air cylinder device.
27, a holding member 27d that holds the tip 15c of the T-shaped member 15b and is fixed to the T-shaped member 15b and the cylinder device,
It consists of a toggle link 29. The air cylinder device 27 is of a biaxial type, and includes a rod 27b and a rod 27c at both ends of a piston 27a that is reciprocally moved in the Y-axis direction. Then, one end of the rod 27b on the processing portion side and the upper end of the individual attachment claw 25 are connected via the toggle link 29. Further, the rod 27c on the side opposite to the processing portion side is arranged so as to approach and separate from the tip 15c of the T-shaped portion.

Therefore, when the piston 27a is actuated to the working portion side (to the left in FIG. 3), the rod 27b pushes the clamp / carriage individual mounting claw 25 downward via the toggle link 29, and the fixing is performed. The claw 25 comes into contact with the ant 21 and the clamp
CLP1 and CLP2 are fixed to the carriage 19.
At this time, the rod 27c on the side opposite to the working portion side is also actuated to the working portion side, and the rod 27c is moved to the T-direction as shown in FIG.
Clamps CLP1, CLP2 are separated from the tip 15c
Is released from the carriage base 9.

In this way, when the piston 27a is actuated to the working portion side, the clamps CLP1 and CLP2 can be moved along the carriage 19 fixed to the carriage 19 in the X-axis direction. In this way, the clamps CLP1 and CLP2 are
Hereinafter, the state of being fixed to 19 will be referred to as "clamp fixing state".

On the other hand, when the piston 27a is actuated to the side opposite to the processing portion side (rightward in FIG. 3), the rod 27b is actuated rightward in FIG. , The clamps CLP1 and CLP2 are released from the carriage 19. Further, at this time, the rod 27c is also actuated to the right in FIG. 3, the T-shaped member tip 15c is clamped between the rod 27c and the holding member 27d, and the clamps CLP1 and CLP2 are attached to the carriage base 9. It will stick.

Thus, when the piston 27a is actuated rightward in FIG. 3, the clamps CLP1 and CLP2 are released from the carriage 19 and fixed to the carriage base 9. The state in which the clamps CLP1 and CLP2 are released from the carriage 19 as described above is hereinafter referred to as a “clamp release state”.

Reference numerals PSW1 and PSW2 indicated by broken lines in FIG. 2 are clamps.
The switch board for detecting the existence position (area) of the outline of CLP1 and CLP2 is shown. Switch plate PSW1 is near the origin (right end position in Fig. 2), and switch plate PS
W2 is located near the center. These switches are fixedly provided on the slide table 5. When any of the clamps CLP1 and CLP2 is present on these switch plates PSW1 and PSW2, the respective switch plates PSW1 and PSW2 are
The clamp presence signal is output from each of them.

The length of the switch plate PSW1 is such a width that both clamps CLP1 and CLP2 can be detected when the two clamps CLP1 and CLP2 are both positioned at the origin. Also, the switch plate PS
The length of W2 is slightly longer than twice the length of the switch plate PSW1. As the switch plate PSW2, for example,
It is also possible to use the so-called override prevention plate that has been conventionally used as it is.

FIG. 4 shows a switch group and an actuator group attached to the plate material clamp device 1 and an NC of a plate material processing machine MC (see FIG. 1) for controlling the switch group and the actuator group.
It is explanatory drawing which shows together the outline | summary of an apparatus.

The plate material clamp device 1 is provided with a large number of switches.

That is, the carriage 19 of the plate clamp device 1 has an origin switch OLS1, which defines the origin positions of the clamps CLP1 and CLP2,
Clamp overtravel detection switch LOT1, LOT2 that detects overtravel of OLS2 and clamps CLP1, CLP2
And are provided. The switch ORS provided on the clamp CLP1 is a detection switch for preventing overtravel of both clamps CLP1 and CLP2. Further, carriage overtravel detection switches COT1 and COT2 for detecting overtravel of the carriage 19 are provided at both ends of the carriage base 9. Further, as described above, the switch plates PSW1 and PSW2 are fixedly provided to the carriage base 9.

On the other hand, the plate material clamp device 1 is provided with a large number of actuators.

That is, the plate material clamp device 1 includes the air cylinder device 27.
Actuators SYA1, S for driving the piston 27a of
YA2 is provided. Further, the clamps CLP1 and CLP2 are provided with actuators CLA1 and CLA2 for operating the grip claws 23a.

Further, the plate material clamp device 1 is provided with an X-axis servomotor Mx for rotationally driving the ball screw 13.
An encoder and a tacho-generator TG are attached to the servo motor Mx.

In addition, the plate material processing machine MC shown in FIG. 1 has a Y-axis servo motor MY for driving the carriage base 9 in the Y-axis direction.
And a work holding device actuator WHA for driving the work holding device WH in the vertical direction.
1, WHA2 is provided.

An outline of the NC device for processing the signals of the switch group and controlling the actuator group shown above is shown in a block diagram below FIG.

The NC device 31 is a control circuit having an input section 33 for inputting a switch signal from the switch group, a table control circuit 35, a clamp origin return control circuit 37, and a clamp position control circuit 39.
41, an actuator drive unit 43, an output unit 45 that outputs a drive signal to an actuator of the actuator group other than the servo motor, and servo amplifiers 47 and 49 for the X and Y axis servo motors. .

The control circuit 41 has one or more CPUs and control members such as ROM and RAM.

The table control circuit 35, according to the processing program,
The slide table 5 (see FIG. 3) is driven in the Y-axis direction and the carriage 19 is driven in the X-direction to control the plate portion W to a predetermined position.

FIG. 5 is a detailed circuit diagram of the clamp origin return control circuit 37, and FIG. 6 is an explanatory diagram of pattern division of the origin return pattern.

Clamp origin return control circuit 37 is the origin return pattern setting section
It has 51, a state monitoring unit 53, and a sequencer 55.

The home position return pattern setting unit 51 inputs the switch plate signals PSW1 and PSW2 and the home position switch signal OLS1 from the input unit 33 and performs the condition judgment as shown in FIG. 6 according to the signal states of these input signals. A predetermined pattern is selected from the four types of origin return patterns A, B, C and D. Details of each pattern will be described later with reference to FIGS. 6 to 10.

The state monitoring unit 53 uses the switch signals PSW1, PSW2, OL
The origin switch signal OLS2 is input together with S1, and these signal states are constantly monitored.

The sequencer 55 has four types of sequences A to D according to four types of patterns A to D described later with reference to FIGS. 6 to 10.
And performs a predetermined sequence operation according to the pattern set by the origin return pattern setting unit 51.

In this example, as shown in FIG. 6, the origin switch OLS1,
Four kinds of control patterns A, B, C and D are set according to the signal states of the switch plates PSW1 and PSW2.

These four types of pattern division are performed by a logic circuit provided in the origin return pattern setting section 51 according to the initial state of each switch signal. This logic circuit determines the five kinds of conditions shown in FIG. 6 on the assumption that the carriage 19 shown in FIG. 4 exists at the origin position.

Five kinds of AND gates for discriminating these five kinds of conditions are
If it is called the fifth AND gate, the first AND gate is provided that the origin switch OLS1 for the clamp CLP1 is on and the switch plate PSW2 located at the center position of the carriage base 9 is on. The pattern A is determined. The second AND gate determines the pattern B on condition that the origin switch OLS1 for the clamp CLP1 is on and the switch plate PSW2 is off. The third AND gate is the origin switch OLS1 for the clamp CLP1.
Pattern C is selected under the condition that the switch is off and the switch plate PSW2 is on. The fourth AND gate is that the origin switch OLS1 for the clamp CLP1 is off, and the switch plate PSW1 is off, and
If the switch plate PSW2 is off, the third
The pattern C is determined in the same manner as the AND gate of. The fifth AND gate discriminates the pattern D on condition that the origin switch OLS1 is off, the switch plate PSW1 is on, and the switch plate PSW2 is off.

The origins of the clamps CLP1 and CLP2 are set at the positions where the left ends of the clamps and the origin switches OLS1 and OLS2 coincide (see FIG. 4). Also, when setting the origin of the clamp, the carriage 19 is assumed to be at the origin position as shown in FIG.

FIG. 7 is an explanatory diagram of pattern A, FIG. 7A is an explanatory diagram of an initial state, and FIG. 7B is a flowchart showing a sequence.

If both the origin switch OLS1 and the switch plate PSW2 are turned on as shown in FIG. In this state, the origin switch OLS1 is turned on and the switch plate PSW2 is turned on, so both clamps are separated by a considerable amount, and when setting the origin of the clamp CLP1, the carriage 19 is moved to the left (+ X direction) once. )
Considering that it is necessary to shift relative to the carriage 19, and that if the clamp CLP2 is moved toward the carriage 19 further in the −X axis direction, the right end of the carriage 19 protrudes from the base 9, which may cause overtravel. To be

Therefore, as shown in FIG. 7B, in step 701, the clamp CLP2 is first released. Then, the carriage 19 is moved in the -X direction until it is confirmed in step 705 that the switch plate PSW1 is turned off.

Next, in step 707, the clamp CLP1 is released (clamp CLP1
LP2 is also released) and enters terminal A. In steps 709 and 711, the origin switch O of the carriage 19 is moved in the + X direction.
The process of moving until LS1 is turned off is shown.

If it is determined in step 711 that the origin switch OLS1 is off, the carriage 19 is moved in the -X direction in steps 713 and 715 until the origin switch OLS1 is turned on. As shown in step 717, the clamp CLP1 is fixed at this position, and the origin setting of the clamp CLP1 is completed.

Next, the origin of clamp CLP2 must be set.
Therefore, in step 719, it is determined whether or not the origin switch OLS2 is currently on. The reason for this is that if the origin switch OLS2 is on, the carriage 19 is moved in the + X direction as shown in step 721 and the origin switch OLS2 is turned off and the origin is set as shown in step 723. This is because the origin cannot be set without it.

Follow steps 719-723 and then step 725,727.
-X the carriage 19 until the origin switch OLS2 turns on.
The clamp CLP2 is fixed in step 729, and the home return operation of the two clamps CLP1 and CLP2 is completed.

FIG. 8 is an explanatory diagram of pattern B. FIG. 9A is an explanatory diagram of an initial state, and FIG. 8B is a flowchart showing a sequence.

As shown in (a), pattern B is the origin switch.
It is selected on the condition that the OLS1 is on and the switch plate PSW2 is off. (A)
From the figure, since the clamp CLP1 is on the origin switch, the carriage 19 must be relatively displaced to the left for setting the origin of the clamp CLP1, and this displacement must be made between the clamp CLP2 and the left end of the carriage. It will be understood that there is a distance that is greater than or equal to a certain amount. Second here
As described above in the figure, the length of the switch plate PSW2 in the X-axis direction is designed to be longer than the length of the switch plate PSW1 (by Δl).

Therefore, as shown in FIG. 8B, in the pattern B, the clamps CLP1 and CLP2 are attached to the carriage 1 in step 801.
Leave stuck to 9. And steps 803 and 805.
The carriage 19 is moved in the -X direction until the switch plate PSW1 is turned off. At this time, since the length of each switch plate is proper as described above, the clamp CLP2 does not come to the right in the figure from the central position of the carriage base 9.

Next, in step 807, the clamps CLP1 and CLP2 are opened to enter the terminal A. This terminal A is the same as the terminal A of FIG. 7 (b), and the following processing is also the same as that of FIG. 7 (b). This allows two clamps CLP1 and CLP2
Will be returned to their respective origins.

FIG. 9 is an explanatory diagram of pattern C. (A) and (b) are explanatory views of the initial state, and (c) is a flowchart showing a sequence.

As shown in FIGS. (A) and (b), the pattern C is judged under two kinds of conditions. In the state shown in (a), the origin switch OLS1 and the switch plates PSW1 and PSW2 are all off. In this state, the two clamps CLP1 and CLP2 are both located between the two switch plates PSW1 and PSW2. Shows the state of
Further, in the state shown in Fig. (B), the origin switch OLS1 is off and the switch plate PSW2 is on. In this state, two clamps exist in the right direction (-X direction) from the origin switch OLS1 in the figure. And at least one of the two clamps is shown at the end of carriage 19.

In any of these states, it is shown that the origin switch OLS1 can be turned on by the clamp CLP1 by moving the carriage 19 relatively to the right in the drawing in each case.

Therefore, in pattern C, both clamps CLP1 and CLP2 are released from the carriage 19 in step 901. Then, in steps 903 and 905, the carriage 19 is moved to the origin switch OLS.
Move in the -X direction until 1 is turned on. As shown in step 907, if the clamp CLP1 is fixed at the position where the origin switch OLS1 is turned on, the origin setting of the clamp CLP1 is completed.

Next, in step 909, it is determined whether or not the origin switch OLS2 is turned on at the position where the clamp CLP1 is set to the origin, and if it is turned on, the carriage 19 is moved in the + X direction and turned off in steps 911 and 913.

Next, in steps 915 and 917, the carriage 19 is moved in the -X direction until the origin switch OLS2 is turned on, and step 91
Fix the clamp CLP2 at 9 and finish the home return operation.

FIG. 10 is an explanatory diagram of pattern D. FIG. 9A is an explanatory diagram of an initial state, and FIG. 8B is a flowchart showing a sequence.

As shown in the figure (a), the origin switch OLS1 is off, the switch plate PSW1 is on, and the switch plate PSW2 is on.
Is OFF, the clamps CLP1 and CLP2 do not exist at the right end of the carriage 19 in the figure, and the carriage 19
It can be understood that the origin can be set only by moving the arrow mark to the right in the figure. Therefore, the origin return in this state can be processed by the sequence shown in FIG.

By the way, FIG. 10 (a) is replaced with FIG. 9 (a), (b).
Comparing with, in the state shown in FIG.
Now, if the two clamps CLP1 and CLP2 are fixed to the carriage 19 and the carriage 19 is moved to the right (-X direction) in the figure until the switch plate PSW1 is turned off, the clamps CLP1 and CL
It can be understood that the positional relationship of P2 with respect to the carriage 19 is the same as the state shown in FIG. 9 (a) or (b).

Therefore, if the pattern D shown in FIG. 10 (b) is to be used as it is, it means that the steps 1001 to 1005 are simply inserted at the beginning of the process.

The pre-process is a process in which the clamps CLP1 and CLP2 remain fixed in step 1001 and the carriage 19 is moved in the −X direction in steps 1003 and 1005 until the switch plate PSW1 is turned off.

Therefore, the four types of patterns shown above are substantially three types. However, in the case of using three types of patterns as described above, the step 10 shown in FIG.
It is necessary to separately build a circuit that performs the processing from 01 to 1005.

As described above, the two clamps can be automatically returned by the clamp origin return control circuit shown in FIGS.

FIG. 11 is a detailed circuit diagram of the clamp position control circuit 39 shown in FIG.

The clamp position control circuit 39 is used for the carriage 19 shown in FIG.
On the other hand, it is a circuit for positioning the two clamps CLP1 and CLP2 at predetermined positions.

The first positioning method is the clamps CLP1 and CL.
P2 is returned to the origin once in the mode shown in FIG. 5 to FIG. 10, and then each clamp is moved to a predetermined position, and secondly, the amount of movement of each clamp is specified based on the current clamp position. However, there is a method of controlling the position of each clamp at a predetermined position.

However, in the first method, although the clamp positioning control sequence is simple, it takes extra time for setting the origin of each clamp, and a lot of loss time is required from the viewpoint of the entire plate material processing apparatus. The drawback is that

Thus, although the second method makes the control sequence of clamp positioning a little difficult, it has the advantage that each clamp can be positioned quickly.

Therefore, in this example, the second method is adopted so that the clamp positioning can be performed quickly and the processing efficiency of the plate material processing machine is improved.

The clamp position control circuit 39 includes a clamp position command unit 57 and a current position storage unit that stores the current positions of the clamps CLP1 and CLP2.
59, 61, movement amount calculation units 63, 65 for calculating the movement amounts of the clamps CLP1, CLP2, and an actuator drive control unit 69.

The clamp position command unit 57 commands at which position on the carriage each of the clamps CLP1 and CLP2 should be positioned. That is, here, the position X ₁ of the clamp CLP1, command should position the clamping CLP2 the position X ₂ is performed.

It is needless to say that this command can be specified by an operator who uses the plate material processing machine MC (see FIG. 1), but the plate material processing machine on an automated line has a management not shown. It may be specified by a computer for use, or may be automatically calculated and specified according to, for example, the width dimension of the plate material that has been automatically conveyed.

The clamps CLP1 and CLP2 movement amount calculation units 63 and 65 are arranged at the position X
₁ and X ₂ command signals and clamp CLP1 and CLP2 current pressure position memory
59 and 61 clamp the current position X ₀₁ stored in the respective clamping obtains the difference between X ₀₁ CLP1, CLP2 moving amount △ X _1, calculates the △ X _2.

The actuator control unit has a pattern setting unit 71 and a sequencer 73. The pattern setting unit 71 sets a control pattern according to a predetermined condition, and the sequencer executes the set pattern sequence.

FIG. 12 is an explanatory diagram of pattern division for clamp position control.

Movement amount △ X ₁ of each clamp CLP1, CLP2, △ X ₂ direction (-,
+) And the size of absolute value a, b
As shown in Fig. 2, it can be classified into 8 types.

The pattern setting unit 71 moves the amount of movement of the clamps CLP1 and CLP2.
X ₁ and ΔX ₂ are input and a predetermined control pattern is selected according to the classification shown in FIG. Then, the sequencer 73 executes the sequence described from FIG. 13 onward according to the set pattern.

The carriage 19 does not necessarily have to be located at the origin position. For example, the carriage 19 may be located midway on the carriage base 9 or in accordance with another origin located at the left end of FIG. 4 (origin in one direction). Is like. But,
Since the position control of the clamps CLP1 and CLP2 is generally used when a new plate material is loaded, here, the carriage 19 is located at the origin position for the purpose of simplifying the control sequence. I am trying.

13 to 20 are sequence explanatory diagrams of eight types of control patterns. The figure shows the upper row (Figs. 13, 15, 17, 19) and the lower row (14,
16, 18 and 20) are shown separately, but the upper figures show the case of a ≧ b, and the lower figures show the case of a <b. Note that in FIGS. 13 to 20, the clamp CLP1,
In the CL fixed state, the block showing the clamp is shown in contact with the carriage 19, and in the released state, the block showing the clamp is shown away from the carriage 19.

The pattern 1 shown in FIG. 13 is a control pattern when the movement amounts of the clamps CLP1 and CLP2 are both in the −X direction and a ≧ b.

As shown in the figure, first, the carriage 19 is clamped to CLP1 and CLP2.
Moves in the -X direction by a while the is fixed. Therefore,
The clamp CLP1 is released, and the carriage 19 is moved in the + X direction by ab. Then, at this point, the clamp CLP2 is released, the carriage 19 is moved in the + X direction by b, and then the clamps CLP1 and CLP2 are fixed to the carriage 19 to finish the work of the pattern 1.

Hereinafter, the operations as shown in the drawings are also performed for the patterns 2 to 8.

It should be noted that these eight types of patterns should be noted in that all of the patterns are performed only by reciprocating the carriage 19 once, and consideration is given to avoid unnecessary operations as much as possible.

That is, the pattern examples for locating each clamp on the carriage are not limited to the above eight types, but the contents can be changed. For example, patterns 1,3,5,7 can be moved such that patterns 2,4,6,8 prevent the clamps from coming off the material during the movement positioning. Also, it is mathematically possible to reduce the above eight types to four types. However, in this example, the above-mentioned 8
The seed pattern was set.

If the origin in the-direction (the right end in Fig. 4) can be used in place of the origin in the + direction shown in Fig. 4, the above eight control patterns are used as they are, and the clamp CL
The relative relationship between P1 and clamp 2 may be reversed.

In this way, in this example, according to the case classification of FIG. 12, the pattern for performing the proper operation is set for each case, so that there is no unnecessary operation or unreasonableness in the control pattern,
In all cases, the clamps CLP1 and CLP2 can be properly positioned on the carriage.

In addition, in the clamp device according to the above-described embodiment, it is possible to easily prevent the overriding with the processing portion, and it is possible to reduce the dead zone.

That is, when one clamp is located on the override prevention detection switch PSW2 shown in FIG. 2 and there is a possibility that the clamp portion is provided to the processing part at this position, the clamp is placed at this override detection switch PSW2 position. Easy to remove from.

This is done, for example, by releasing the plate W from the clamp and leaving the clamp fixed to the carriage 19, and
The other clamp holds the plate W while holding the carriage 19
It is possible to move the carriage 19 by a predetermined amount. In this case, if the plate material W is pressed by the work holding device WH shown in FIG. 1, the plate material W will not be displaced, and the clamp can be grasped with good accuracy.

Since it is possible to easily avoid overriding while gripping in this way, it is not necessary to use the end of the plate material as a dead zone for gripping the plate material, and it is possible to use the plate material from corner to corner without waste. Becomes

[Effects of the Invention] As will be understood from the above description of the embodiments, the present invention is, in short, the carriage base movable toward and away from the processing part (MP) of the processing machine (MC) and movable in the Y-axis direction. In (9), a carriage (19) is provided so as to be movable in the X-axis direction orthogonal to the Y-axis direction, and a servo motor (MX) is also provided for controlling movement of the carriage (19) in the X-axis direction. The carriage (19) is provided with first and second clamps (CLP1, CLP2) capable of gripping a plate material so as to be relatively positionally adjustable in the X-axis direction, and the first and second clamps are provided.
Clamps (CLP1, CLP2) to the first and second clamps (CLP
The carriage (1) of the plate clamp device (1) provided with a fixing / releasing mechanism (7) capable of selectively fixing (1, CLP2) to the carriage base (9) or the carriage (19).
9) The positioning method of the first and second clamps (CLP1, CLP2) with respect to
The moving direction and the moving amount of the first and second clamps (CLP1, CLP2) are calculated based on the position change command of the first and second clamps (CLP1, CLP2), and the first and the first are calculated based on the calculation result. The optimum control pattern is selected from a plurality of control patterns which are predetermined based on the magnitudes of the movement direction and the movement amount of the two clamps (CLP1, CLP2), and the servo motor is selected based on the selected optimum control pattern. (MX) and the fixing and releasing mechanisms (7) provided for the first and second clamps are operated in a predetermined sequence to position the first and second clamps with respect to the carriage (19). Since this is a clamp positioning method for the plate material clamp device, it is possible to control the fixing / release mechanisms 7 provided in the first and second clamps and to control the first and second clamps simply by instructing the positions of the first and second clamps. Relative movement of the carriage 19 to the clamp The position of the first and second clamps with respect to the carriage 19 is automatically controlled by performing sequence control based on a control pattern that is preset.

That is, the control pattern is set in advance according to the relative movement direction and the magnitude of the movement amount of the first and second clamps with respect to the carriage 19, and the optimum control pattern is set based on the position commands of the first and second clamps. Control pattern is automatically selected first,
Since the position control of the second clamp is performed automatically,
The positioning of the first and second clamps can be performed quickly and accurately with a simple structure.

[Brief description of drawings]

Each of the drawings shows an embodiment, FIG. 1 is a front view showing an example of a plate material processing machine, FIG. 2 is an enlarged perspective view of a plate material clamping device, and FIG. 3 is an enlarged cross section of the same plate material clamping device. FIG. FIG. 4 is an explanatory view of the NC device, FIG. 5 is a circuit diagram of a clamp origin return circuit, FIG. 6 is an explanatory view of the clamp origin return pattern division, FIG. 7 (a), FIG. 8 (b), and FIG. Figure (a),
(B) and FIG. 10 (a) are explanatory views of the initial state of the plate material clamping device that determines the control patterns A to D, respectively.
Figure (b), Figure 8 (b), Figure 9 (c), Figure 10 (c)
3 is a flowchart showing the sequence contents of patterns A, B, C, and D, respectively. FIG. 11 is a circuit diagram of the clamp position control circuit, FIG. 12 is an explanatory diagram of pattern division for clamp position control, 13, 14, 15, 16 and
Figures 17,18,19,20 are patterns 1 to 1 shown in Figure 12, respectively.
It is an operation explanatory view showing the sequence contents of No. 8. 1 ... Plate clamp device 7 ... Fixing / release mechanism 9 ... Carriage base 13 ... Ball screw 19 ... Carriage CLP1 ... First clamp CLP2 ... Second clamp 31 ... NC device 35 ... Table Control circuit 37 …… Clamp origin return control circuit 39 …… Clamp position control circuit

Claims (1)

[Claims] 1. A carriage base (9) movable toward and away from a machining portion (MP) of a machining machine (MC) and movable along an X-axis direction orthogonal to the Y-axis direction. The carriage (19) is mounted on the carriage, and the carriage (19) is provided with a servo motor (MX) capable of controlling movement of the carriage in the X-axis direction. The clamps (CLP1, CLP2) are mounted so that their positions can be relatively adjusted in the X-axis direction, and the first and second
Clamps (CLP1, CLP2) to the first and second clamps (CLP
The carriage (1) of the plate clamp device (1) provided with a fixing / releasing mechanism (7) capable of selectively fixing (1, CLP2) to the carriage base (9) or the carriage (19).
9) The positioning method of the first and second clamps (CLP1, CLP2) with respect to
The moving direction and the moving amount of the first and second clamps (CLP1, CLP2) are calculated based on the position change command of the first and second clamps (CLP1, CLP2), and the first and the first are calculated based on the calculation result. The optimum control pattern is selected from a plurality of control patterns which are predetermined based on the magnitudes of the movement direction and the movement amount of the two clamps (CLP1, CLP2), and the servo motor is selected based on the selected optimum control pattern. (MX) and the fixing and releasing mechanisms (7) provided for the first and second clamps are operated in a predetermined sequence to position the first and second clamps with respect to the carriage (19). A clamp positioning method for a plate clamp device, characterized by performing.