JPS5961535A - Material supplying system - Google Patents

Abstract

PURPOSE:To enable continuous supply of material and increase work efficiency by providing a mark near the working position of a material and providing an image pick-up device in the press machine and correcting the working center of the material basing on error generated when the center of mark is positioned at the center of image pick-up. CONSTITUTION:The position of the center MC of a mark M put near the reference position C of working of a material 21 and the reference position C of working are stored in CUP43 using coordinates of X-axis and Y-axis. The material 21 is so positioned by a material supplying device 20 that coordinate of the position of center MC of the mark M read out from the memory 43 coincides with the center of an image pick-up device 12. Positioning error of the position of center MC of the mark M is calculated basing on the output of the image pick-up device, and the coordinates of the reference position C of the material 21 are corrected using this error.

Description

[Detailed description of the invention] The present invention relates to a method of 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 coincides with the processing position @ (for example, the center) of 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 was provided at a predetermined position of the workpiece, and a gold mK guide post attached to the press machine was provided, and the workpiece was positioned so that the guide post was 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, in such a conventional method, it is difficult to continuously feed the workpiece to the press machine, and it requires time and effort to form a guide hole in the workpiece, resulting in a disadvantage 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 n data, and pitch-feeds the workpiece has been put into practical use. However, such a device requires a large amount of data to be set, resulting in 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 of the machining center of the material are corrected.

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

FIG. 1 shows an outline of a press machine 10 and a material supply device to which the material supply method according to the present invention is applied. I'm being kicked. The camera 12 includes a line image sensor (
It has a built-in screen (see diagram).

The material supply device includes a clamper prisoner that grips the plate-shaped material 21, a clamper carrier 5 that moves the clamper prisoner in the X-axis force direction on the previously installed 6x, and a clamper carrier 5 that is attached to the beam force and supports the material 21. The table to be registered is n1 corresponding table notification, 2
The table 26 is provided with a rail that guides the table 7 in the Y-axis direction.
．． a wall section 29 supporting the wall section 27; a wall section 30 connecting the wall section and the section 4; a first internal screw section 2 attached to the beam;
4aK#, a moving axis 31. which moves the above-mentioned cutter and table 26.27 in the Y-axis direction. A Lunsha 32 that connects the wall construction 29, an Ii%11 holder for the drive shaft 31 attached to the Lunsha 32, and a pulley 34 attached to the drive shaft 31 are attached to the belt shaft. It consists of a drive pulley 36 that is driven via a drive pulley 36 and a control section 37 that controls the positioning of the material 21. The clamper carrier section and the drive boob IJ 36 are each operated separately by a motor (not shown).

Fig. 2 in dark blue shows an embodiment of a control device to which the material supply force type according to the present invention is applied. In the same figure, the sensor control unit 40 sends a scanning command No. 4g SI to the camera 21.
At the same time, the image pickup signal S2 outputted from the camera 12 is subjected to processing described later, and its output is applied to a CPU (central processing unit) via a sensor interface 41 and a pass line 42.

The X-axis drive unit 44 drives the cranometer (carrier 5), and is screwed into a threaded portion 25a provided on the clamper carrier δ to drive a drive shaft 44a1 for moving the cranometer (carrier δ). Rotating motor 44b
1 The drive shaft 44a is linked with two Noculus pulse encoders with the same waveforms with different phases (S number P1, P snow generating pulse encoder 44C1) The above motor 44b is connected to +1
The motor 44bK is provided with a speed detector 44d that outputs a signal proportional to its rotational speed, and a servo amplifier 44e that provides a drive signal for the motor 44bK.

The Y-axis moving section 45 is for driving the shaft 24 and the table 27, and includes a motor 45a that drives the drive boob 1]36, and its axis interlocks with the axis of the motor 45a to adjust the phase. Two /C/Renu 4i No. ps, p No. ps and p No. wo of the same waveform with different waveforms are generated: y coder 45
b.

Speed side Ill for detecting the rotational speed of the motor 45a
The motor 45c is composed of a cylinder 45c, a motor 45a, and a cylinder 45d.

Note that the speed detector 44d, the length-bore amplifier 44e, and the speed detector 45c and the servo amplifier 45d
(The speed feedback loop will be completed shortly.)

The output pulse signals of the pulse encoders 44e and 45b are output from the forward/reverse discrimination circuits 46 and 47, respectively.
added to. The forward/reverse rotation discrimination circuits 46 and 17 determine whether the motors 44 and 45 are rotating in the normal direction or in the reverse direction based on the phase relationship between the pulse signals P and P2 and the phase relationship between the pulse signals P3 and P40, respectively. determine one,
When it is determined that the motor is rotating in the normal direction, the logic PL level "
fy K
It outputs n movement pulse signals P and P6, respectively, which indicate that the 1 and Y axes have moved by 1 step. The signal s1 and the pulse (N P6) are applied to the control input terminal U/D 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 s4 and the pulse signal P6 is applied to the control input terminal U/δ and the clock input terminal CK of the up/down counter 49.

The outputs of the up/down counters 48 and 49 are outputted from the pass line 42 as X-axis position data and Y-axis position data, respectively.
43 calculates positional deviation data for each axis based on the X-axis position data and the X-axis position data,
This is output to the servo amplifiers 44 and 45 via the pass line 42, the digital-to-analogue converter (equipment) 51, and the preamplifiers 52 and 53.

The press machine 10 processes one material 21 to form a plurality of punched parts (for example, discs). As shown in FIG. 3, the material 21 is provided with a circular mark M having a different reflectance from that of the material 21 in the vicinity of each punched out' @ reference position C. Center position MC of these marks M
When the material 21 is gripped at a predetermined location by the clamper device, each position in the material supply device is stored in the X coordinate and X coordinate of the material supply device, and such coordinate data is stored in the memory 54 in advance. I remember
I'm here. In addition, the memory M also stores data in which each punching reference position C of the material 21 is expressed in the above-mentioned X coordinate and Data corresponding to each X coordinate is stored.

As shown in FIG. 4, the CPU 43 determines whether the scanning center of the line image sensor built in the camera 12, that is, the center position of the camera 12 is the Ym mark Yc of the center position MC of any of the above-mentioned marks M, and the mark M. The material 21 is positioned so as to coincide with the X coordinate X, which is the starting point of sub-scanning (scanning in the X direction) for photographing.

Therefore, the CPU 43 controls the sensor control section 40 and the
The JIIIJ driving rock mechanism 44 is operated to set the center position MC of the mark M 611j.

As shown in FIG.
The output terminal Q of the flip-flop 41a is connected to the 1 input terminal of the AND circuit 40a constituting the sensor control section 40. The bus buffers 41b, 41c and 41
Counters 40b, 40c and 40 are connected to the input terminal A of d.
Each output terminal Q of d is connected.

The output signal Ss and the pulse signal P6 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 individual input terminals of the AND circuit 40a. has been done. Therefore, the output signal to the AND circuit 401 is the scanning command signal S! The signal S
After being converted into l+, it is applied to the latch command input terminal of the register 55 and the CPU 43.

The scan control unit 12a applies a scan pulse Pq to the line image sensor 12b when the ignition signal S is applied, sequentially scans each light receiving cell of the line image sensor 12b, and by this scanning, the line image sensor 12
It is determined whether or not the image outputted from b (No. 8 S6) is used to detect bright areas, and if the bright areas are to be detected, the bright area section signal S2a is output, and if not, the dark section signal S2b is output.
) Output each one.

Further, the scanning control unit 12B outputs a start signal S? at the start and end of scanning, respectively. and scan end signal $8
It also outputs a clock signal P8 synchronized with the scanning of the line image sensor 12b. Furthermore, the scanning control section 12B outputs a signal So at logic level rHJ when the reflectance of the mark M is smaller than the reflectance of the material 21. 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 S2a is the input terminal A of the selector 4g and the input terminal BK of the selector 4h, and the comment signal 52bI! 'iThe above signal S? is applied to the input end B of the selector 4g and the input ψIWA of the selector 4h. is applied to the control input terminal S of each of the selectors 4g and 4h, and the signal s7 is applied to the counter 40.
The signal Ss is applied to the reset input terminals R of the flip-flops 40b, 40c, 40d and the flip-flop 40i via the inverter 40j to the CPU 43.
The lock signal P8 is output from the AND circuit 40k.

It is added to one input end of each of 40t and 40m. Further, the output signal 810 of the selector 40g is input to the set input terminal R of the flip-flop 40i and the input terminal of the AND circuit 40k to the selector 4Qh.
The output i No. S11 of the above AND circuit 40 t and 4
Furthermore, the output of the flip-flop 40i Skg is applied to another input terminal of the AND circuit 40m, and the inverter 4
0n to another input terminal of the AND circuit 401.

Now, the reflectance of the mark M is smaller than that of the material 21 (
That is, mark 8 (if it is black matte paint, etc.) and the image line sensor 12 as shown in FIG.
Considering the case where the material 21 is positioned so as to scan the X coordinate of X+ where b includes the mark M, the scanning control section 12a scans the treatment distribution signal S as shown in FIG. 6(i).
, is set to rLJ, so that the selectors 40g and 40h respectively output the signals applied to the input terminals 3 from their output terminals Y.

The flip-flop 41a has already been set by the CPU 43, and therefore corresponds to the signal Pg (see FIG. 6(a)) output from the forward/reverse discrimination circuit 46 during the positioning. The same figure ΦIK
As shown, the signal Sj is output to the scanning control section 12a.

In this case, the scan control section 12a outputs the signal Sv to the flip-flop 40i, counters 40b and 40c.
and 40d, and then the line image sensor 1.2b outputs a K scan pulse Pv, scans it from point PA, and outputs a clock signal Ps synchronized with the scan pulse Pd.

On the other hand, the line image sensor 12b detects bright areas while being scanned from point PA to PrJ and from point PC to the end point of scanning, and removes dark areas while being scanned from point PB to point PC1. A hail signal P6 is output. Therefore, as shown in No. 6m(g) and (g)), the scanning control unit 12b generates a signal S2a which becomes the logic level rHJ in response to the scanning from the point PB to the PC, and a signal S2a which becomes the logic level rHJ from the point PA to the point PB. Fa No. S2 whose logic level becomes "I(" corresponding to scanning at the scanning end point size from ゛C)
Output b.

That is, in response to the scanning from the point PA to PB, the output signal Sr+ of the selector 40h reaches the logic level r.
While HJK is applied, the clock signal P8 is applied to the counter 40c via the AND circuit 40t as shown in FIG. The output signal Sh
While o is at the logic level rHJ, the clock signal Ps is output through the AND circuit 40k as shown in diagram A.
is added to the counter 40b. Moreover, the signal S1o
At the rising edge of , the flip-flop 40i is set (see (0) in the same figure), and therefore, the AND circuit 40m is set as shown in (n) in the same figure in response to scanning from the point PC to the scanning end point. The clock signal P8 is applied to the counter 40d via the counter 40d.

Therefore, the counters 40b, 40c and 40d
The count value of is the distance ta (from point PA to point pB, respectively).
That is, 11 km from the scanning start point at the coordinate XIVC
), the distance from point pB to point PC @zb (that is, the length of mark M at coordinate X1), and the distance from point PC to the scanning end point 1. c (that is, the distance from the bottom of the marker M to the scanning end point at the coordinate X1).

In addition, the signal q8 obtained by inverting the signal Ss outputted from the scanning control unit 12a (see Fig. m6 (e)) by the inverter 40j at the time when the scanning of the line image sensor 12b is completed is as follows. It acts as an interrupt signal for the CPU 43Vcvg1.

A signal S output by the delay waveform shaping circuit 40f.

is a signal that rises after a time τ after the fall of the signal S and maintains the logic level rHJ for a predetermined period of time. (X, which is expressed by the X coordinate) is stored in the register 55.

-1', the signal Ss acts on the CPU 43 as a second interrupt signal, which causes the CPU 43 to input (input 60) the data stored in the register group to the memory 54 as shown in FIG. 887. Memorize process 61), and then return to the original process.

In addition, in FIG. 6, the portions after the inner point tc are 43 when the reflectance of the mark M is also high in the deflection of the material 21.
In this case, the logic level of the signal S is set to "H".

The CPU 43 executes the control shown in FIG. 8 every time the first interrupt signal S8 is input, and detects the center position of the mark M.

That is, first, the content of the counter 40b, that is, the pressure @tb is input (input cuff 0), and this is stored in a predetermined area of the memory 540 (process 71).

In the area from the (sub) scan start position Xs to the coordinate Xa, the mark M does not exist, so the distance tbO value is O. Therefore, the judgment 72 for determining whether the distance tbO value is 0 or not The result is YES. Then, process 73
The counter 40 stored at the time of the previous interrupt is executed.
The content of b, that is, the value of distance tb' is read, but the value of distance tb' is also 0, so the result of judgment 74 to determine whether the value of distance tb' 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 the mark M, the distance tb is not O, so the result of the judgment 72 is YES, and the distance tb' read out in the process 75, which has the same content as the process 73 mentioned above, is Since there is O''''C, the result of judgment 76 to determine whether distance tb' is O is YES.

Therefore, the CPU 43 stores the data stored in the process 61, that is, the data stored in the register group, in the memory 54 as the coordinates Xa (process 77), and resets these variables by substituting the variables N8 and ΔYKO. After doing so (processing 78), the CPU 43 returns to the main processing described above.

In the area where the mark M exists, the distance tb
Since both of and tb' are not 0, the result of the above judgment 72 is NO and the result of judgment 76 is NO. Therefore, the CPU 43 uses the counters 40e and 40d.
9), update the value of △Y and increase the value of variable NS by 1 based on the following formula i).Then, the CPU 43 Return to May t' processing.

At the coordinate Xb, which is the coordinate of the end opposite to the coordinate Xa of the mark M plus 1, the value of the distance t is 0, and the value of the distance tb' is 0, so the above judgment 72 The result is YES, and the result of judgment 74 is also YES. Therefore, the CPU 43 reads out the data stored in the register I in the above process 61 from the register 55 and stores it in the memo 1 54 as the coordinate xb. (X position 1 of the center position of mark M) (calculates the amount of deviation ΔYc of c' and Y coordinates, and stores these Xl and ΔYc (after processing, the CPU 43 returns to the above main processing) .

In addition, in the area from the above coordinate xb to the coordinate Xe which is the end point of sub-scanning, the area from the above coordinate X8 to Xa
The processing power is supervised in the same way as in the previous areas, so the explanation will be omitted.

Based on the shift amount ΔYC and the coordinate Xc' obtained in this way, the CPU 43 writes 1. Correct the positional coordinates of the reference position C for punching corresponding to the 1-ribbon M, and position the reference position at the "1" punching center W of the press machine 10 based on the corrected positional coordinates. do.

Now, as shown in FIG. 9, when punching out the printed parts PP formed in multiple rows on the material 21' with the press machine 10, the above-mentioned C
P U 43 controls the breather machine 10 and the atomizer feeder in the following manner.

That is, the CPU 43 first calculates the coordinate XC' of the center position and the deviation amount ΔYC of the Y coordinate of the mark M in the first row.
are sequentially detected starting from the leftmost mark M by the method described above (see FIG. 12(a)). In addition, at this time, the above CPU
43 stops the breath machine 10 at the top dead center.

Next, the CPU 43 sequentially positions the punching center W of the press machinist 00 from the rightmost printing part PP of the first row using the coordinates X c ' and the deviation ΔYC, and causes the press machine 10 to perform the punching process ( (See figure (b))
. In this positioning for punching, the positioning of the reference position of each printing part PP is corrected by the above-mentioned coordinates Xi and deviation amount ΔYe.

Then, the CPU 43 moves the material 21' in the direction shown by the arrow in FIG. The same control as described above is executed for the two rows of printing units PPK to cause the press machine 10 to perform the punching process.

The CPU 43 then applies the same procedure to the press machine 10 for the printing sections I) P after the third column.
Pf, punching is performed sequentially.

The CPU 43t controls the positioning of the material 21' 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 pass line 42, and , top dead center stop command data is outputted to the breath machine 10 via the pass line 42 and the output interface 57 to stop the breath machine 10 so that the crank is located at the top dead center.

The coordinate data for the reference position of each printing section PP is stored in the memory 54K using the magnetic card reader 9 shown in FIG. 2 or the imitation panel 92. Further, the CR1 display section 93 displays various types of information.

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

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an outline of a material supply device and a press machine to which the method according to the present invention is applied, and FIG. 2 is a perspective view of a control device. Figure 3 is a front view showing one aspect of the mark attached to the mark, and Figure 4 explains the operation of the 7th line image sensor that detects the center position of the mark. FIG. 5 is a block diagram showing in detail the V section of the device shown in FIG. 2, and FIG.
) are waveform diagrams showing the operation of each element shown in Figure 5, and Figure 7.
8 are flowcharts showing part of the control executed by the CPU, and FIGS. 9(a) to 9(d) are conceptual diagrams showing an example of the material supply element 11n.

Claims (1)

[Claims] A means for conveying the material in the X-axis force direction and the Y-axis direction, a mark attached near the processing reference position of the material, and a main scanning direction that is aligned with either the X-axis force direction or the Y-axis force direction. The center position of the mark and the addition reference position of the material are determined using an imaging means attached to the press machine in a manner that allows the mark to be imaged and the X-axis and Y-axis coordinates.
the material is positioned such that the center position coordinates of the mark read from the storage means coincide with the main scanning center of the imaging means; A material supply method characterized in that a positioning error of the center position of the mark is calculated based on the output, and this positioning error is used to correct coordinates of a processing reference position of the material.