JPS6221432A - Method for positioning clamp of sheet material clamping device - Google Patents

Abstract

PURPOSE:To exactly and quickly control the positioning of clamps by calculating the extents of the movements of the respective clamps and positioning the respective clamps with an optimum control pattern according to the various extents of the movement. CONSTITUTION:A clamping position command part 57 commands the positioning so as to bring each clamp CLP1 to the position X1 and the clamp CLP2 to the position X2. Arithmetic parts 63, 65 for the extents of the movement of the clamps CLP1, CLP2 determine the differences between the command signals for the positions X1, X2 and the present positions X01, X02 of the clamps stored in a storage parts 59, 61 for the present positions of the clamps CLP1, CLP2 and calculates the extents X1, X2 of the movements of the clamps CLP1, CLP2. An actuator control part has a pattern setting part 71 and a sequencer 73. The part 71 sets the control pattern according to the prescribed conditions and the sequencer executes the sequence of the set pattern.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a clamp positioning method for a plate material clamping device that can be used in a plate processing machine, such as a one-knot punch pressing machine, a shearing machine, a laser processing machine, etc. It is something.

"Description of Prior Art 1 A plate material clamping device generally includes a carriage base that moves in the direction of the processing section and a carriage that moves in the direction of the processing width.
This carriage is equipped with an appropriate number of clamps attached to the carriage, and the plate material gripped by the clamps is moved in the front, rear, left and right directions of the machine, and a predetermined position of the plate material is provided to the processing section of the processing machine. .

Conventionally, there are two methods for positioning the clamp on the carriage.

The first example is manual. When positioning the clamps on the carriage, this work is all done manually, and an appropriate number of clamps are manually positioned at appropriate positions on the carriage depending on the width of the plate material, etc. It turns out.

The second example is automatic. This is so that the appropriate number of clamps are attached to the carriage through respective clamp servo mechanisms, and the position of each clamp relative to the carriage is automatically controlled by the clamp servo mechanisms according to the width dimension of the plate material. This is what I did.

However, in the case of the manual type according to the first example, the manual operation is troublesome, and not only does it take time and effort to change the clamp position, but the manual operation is also an obstacle to automation of the machining line. It is also accompanied by

In addition, in the automatic method according to the second example, although it is possible to freely position and control the clamps on the carriage, each clamp requires a servo mechanism for clamping, and therefore the machine and control device complicating the process and increasing the price of the machine.

[Object of the Invention] In view of the above-mentioned prior art, the present invention is to accurately and quickly position each clamp using a plate material clamping device that does not require a dedicated servo mechanism for clamps arranged in an appropriate number of stages (-). The purpose of this invention is to provide a clamp positioning method that allows for

[Summary of the Invention] This invention capable of achieving the above object includes a carriage base having a length approximately equal to the processing width of a plate processing machine;
A carriage driven by a servo mechanism and movably mounted on the carriage base, and a fixing device that can be fixed to and released from the carriage and can be released and fixed to the carriage base in response to the fixing and releasing action. In a clamp positioning method for a plate material clamping device in which an appropriate number of clamps are attached to the carriage through an opening mechanism, the movement amount of each clamp is calculated based on a position change command, and the movement of each clamp is Selecting an R-suitable control pattern from a plurality of predetermined control patterns based on the direction and magnitude of movement, and controlling the movement of the carriage and the operation of the fixing/releasing mechanism based on the selected control pattern. The method is characterized in that the clamp is controlled to be positioned at the commanded position by performing a predetermined sequence.

[Explanation code for the example] Embodiments of the present invention will be described in detail below.

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

As shown in FIG. 1, the plate material processing machine MC has a plate material clamping device w1, which grips a plate material W, provides a predetermined position of the plate material W to the processing section MP, and provides a predetermined position of the plate material W to the processing section MP. Processing is in progress.

Note that reference symbol WH indicates a work holding device.

As shown in FIG. 2, the processing machine MC has a horizontal base 3 along the plate supply direction (hereinafter referred to as the Y-axis direction).
is provided. Then, on both sides of the base 3, the base 3
A slide table 5 is provided which is movable in the Y-axis direction with both surfaces aligned and supported by guide rails 7 attached to both lower surfaces of the base 3.

As shown in detail in FIG. 3, a carriage base 9 having a predetermined height in the X-axis direction perpendicular to the Y-axis is fixed to the upper surface of one end of the slide table 5. A shaft support member 1 is provided on the processing section side of the carriage base 9.
A ball screw 13 rotatably driven by a servo motor MX is rotatably supported on the member 11. Further, an upper guide rail 15 and a lower guide rail 17 are provided on the processing section side of the carriage base 9 along the X-axis direction. The upper guide rail 15 is provided with a guide portion +415a that protrudes downward and a T-shaped member 15b that protrudes toward the processing portion (second
The guide member 15a is omitted from the figure).

The lower guide rail 17 is attached to the carriage base 9.
and the guide portion +i 15 of the upper guide rail 15
Approximately 1/2 length of carriage base 9 through a: 1
- The carriage 19 is movably moved in the X-axis direction WQ (j). The gear ridge 1 is connected to the ball screw 1 through the roller R.
3, and is movable along the carriage base 9 in the forward and reverse directions of the X-axis by rotating the ball screw 13 in the forward and reverse directions. be.

A dovetail 21 is provided on the processing section side of the carriage 19. And two clamps CL P 1, CLP 2
A dovetail groove 23 is provided on the side opposite to the processing part side, and this dovetail groove 23 is fitted into the dovetail 21, and each clamp CI Pl, CLP2
is movable along the carriage 19. or,
On the processing part side of the clamps CLP1 and C1-P2, there are gripping claws 2 that are opened and closed by the operation of an acticoator (not shown).
3a is provided to match the height position of the plate material W.

The clamps CL P 1 and CL P2 are provided with a fixing/releasing mechanism 7 as described in parentheses. The fixing/release mechanism includes a clamp carriage base 25 provided on the clamp side, an air cylinder device 27, and the T-shaped member 15b.
and the cylinder unit [16゛ is fixed to the T-shaped member 1]
It consists of a holding part vJ27d that holds the tip 15c of 5b, and a glu link 29. The air cylinder device 27 is of a double-shaft type, and includes a rod 27b and a rod 27c at both ends of a piston 27a that reciprocates in the Y-axis direction. One end of the rod 27h on the processing section side is connected to the upper end of the individual claw 25 via the link 29. Further, the rod 27c on the side opposite to the processed portion side is arranged so as to approach and move away from the tip 15c of the single-shaped portion.

Therefore, when the piston 27a is operated toward the machining part side (leftward in FIG.
5 is pressed downward, and the fixed air 25 comes into contact with the dovetail 21 and moves the clamps CLP1 and cLP2 to the carriage 1.
It becomes stuck to. At this time, the rod 27C on the opposite side to the processing section side is also moved to the processing section side, and as shown in FIG. 9, it becomes a released state.

In this way, when the piston 27a is operated toward the processing section side, the clamps CLP1 and CLP2 are moved toward the carriage 1.
It is movable in the X-axis direction along one blade ridge fixed to 9. In addition, in this way, the clamp CLP1
, the state in which the CLP2 is fixed to the carriage 19 will be hereinafter referred to as a "clamp fixed state."

On the other hand, when the piston 27a is operated to the side opposite to the processing section side (rightward in FIG. 3), the rod 27b
is actuated to the right in FIG. 3, and the toggle link 29
Since the fixed air 25 is pulled up through the clamp CLP
1. CLP2 is released to the carriage 19 and becomes an IC type. Also, at this time, the rod 27C is also operated rightward in FIG.
7C and the holding member 27d, and the clamps CLP1 and CLP'2 are fixed to the carriage base 9.

In this way, when the piston 27a is actuated rightward in FIG. 3, the clamps CL P 1 and CL P
2 is released from the carriage 19 and becomes fixed to the carriage base 9. Note that the state in which the clamps CLP1 and CLP2 are released from the carriage 19 in this manner will hereinafter be referred to as a "clamp released state."

Reference symbols PSW1 and PSW2 indicated by broken lines in FIG.
The switch board for detecting the area) is shown. The switch plate PSW1 is at the origin (right end position in Figure 2) (1
Also, a switch plate PSW2 is provided near the center. These switches are fixedly pushed against the slide table 5.
Either clamp CLP on SW1, P SW 2
1. Where CI-P2 exists, each switch board PSW1
, PSW2 output clamp presence signals, respectively.

The length of the switch plate PSWI is two clamps CL P
When both clamps CLPI and CL P2 are positioned at the origin, the width is such that both clamps CLPI and ClF3 can be detected. Further, the length of the switch plate PSW2 is approximately twice the length of the switch plate PSW1. In addition, as the switch plate PSW2, for example, it is also possible to use the so-called override prevention plate 1 which has been used in the past as is.

Fig. 4 is an explanatory diagram showing an outline of the switch group and actuator group attached to the plate material clamping device M1 and the NC device of the plate material machining machine MC (see Fig. 1) that controls these switch groups and actuator group. It is.

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

That is, the clamp ridge 19 of the plate material clamping device 1 includes origin switches OLS'l, 0LS2, etc., which define the origin positions of the clamps CIP1, ClF3, and clamps CIPI, CL.
Over 1 of P2 ~ Clamp over 1 to detect label
~Label detection switch 1. , OTl, LOT2, etc. are installed. The switch OR3 installed in the clamp CLP1 is a detection switch for override prevention 1 [2] of both clamps CLP1 and ClF3.
Carriage overtravel detection switches C0T1 and C0T2 are provided at both ends of the carriage base 9 to detect an over 1 label of the carriage 19. Further, as described above, the switch plates PSW1 and PSW2 are fixedly provided to the carriage base 9 (-J).

On the other hand, the plate lamp neck 1 is provided with a large number of actuators.

That is, the plate material clamping device 1 includes the air cylinder device 2.
Actuator S for driving the piston 27a of No. 7
YΔ1 and SYΔ2 are installed. Also, clamp C
LP1 and ClF3 are provided with actuators CLA1 and CLA2 for operating the gripping claws 23a.

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

The plate processing machine MC shown in FIG. 1 is provided with a Y-axis servo motor MY that drives the carriage base 9 in the Y-axis direction, and a workholding device MY that drives the workpiece holding device WH in the vertical direction. Actuators WHA 1 and Wl-IA2 are provided.

A block diagram at the bottom of FIG. 4 shows an overview of the NC device that processes the signals of the above-mentioned switch groups and controls the actuator groups.

The NC device 31 includes an input section 33 for inputting switch signals from the switch group, a control circuit 711 having a table control circuit 35, a clamp origin return control circuit 37, a clamp position control circuit 39, an actuator drive section 43,
an output section 45 that outputs a drive signal to the actuators other than the servo motor among the actuator group;
Servo amplifier 4.7.49 for 1llll servo motor is shown on the right.

The control circuit 41 includes one or more CPUs, ROM, R
It has control members such as AM.

The table control circuit 35 drives the slide table 5 (see FIG. 3) in the Y@force direction and drives the carriage 19 in the X direction to provide the processing section with a predetermined neck position of the plate material W, according to the machine program. This control is used to control

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

The clamp origin return control circuit 37 includes an origin return pattern setting section 51, a state monitoring section 53, and a sequencer 55.

The origin return pattern setting section 51 receives the switch plate signals PSW1, PSW2 and the origin switch signal OL from the input section 33.
S1 is input, and according to the signal states of these input signals, condition judgments as shown in FIG. do. Details of each pattern will be explained later using FIGS. 6 to 10.

The state monitoring section 53 monitors the switch signals PSW1, P
Origin switch signal OL S2 along with SW2.0LS1
input, and the status of these signals is constantly monitored.

The sequencer 55 executes four types of sequences A in accordance with four types of patterns A to D, which will be described later using FIGS. 6 to 10.
-D, and performs a predetermined sequence operation according to the pattern set by the origin return pattern setting section 51.

As shown in FIG. 6, in this example, the origin switch 0LS
1. Four types of control patterns A, B, and C depending on the signal states of switch plates PSW1 and PSW2.

I set it to D.

These four types of pattern classification 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 judges the five types of conditions shown in FIG. 6 on the premise that the carriage 19 shown in FIG. 4 exists at the origin position.

The 5 types of AND gates that discriminate these 5 types of conditions are
If we call it the 5th AND gate, the first AND gate is to confirm that the origin switch 0LS1 for the clamp CLPI is on, and that the switch plate PSW2 located at the center of the carriage base 9 is on. Pattern A is determined on the condition that . The second AND gate discriminates pattern B on the condition that the origin switch 0LS1 for the clamp CLPI is on and that the switch plate PSW2 is off. The third AND gate selects pattern C on condition that the origin switch 0LSI for the clamp CLP1 is off and the switch plate PSW2 is on. The fourth AND gate is the origin switch OLS' for the clamp CL P l.
Pattern C is determined in the same manner as the third AND gate, on the condition that l is off, switch board PSW1 is off, and switch board PSW2 is off.

The fifth AND gate indicates that the origin switch 0181 is off and that the switch plate pswi is on.
In addition, pattern D is determined on the condition that the switch plate PSW2 is off.

Note that the clamp CLP1. The origin of the CLP2 is set at a position where the left end of each clamp matches the origin switches 0LSI and 0LS2 (see FIG. 4). Furthermore, when setting the origin of the clamp, it is assumed that the carriage 19 is at the origin position as shown in FIG.

FIG. 7 is an explanatory diagram of pattern A. FIG. 7(a) is an explanatory diagram of the initial state, and FIG. 7(b) is a flowchart showing the sequence.

As shown in FIG. 7(a), the origin switch 0LS1,
If both switch plates PSW2 are on, pattern A is processed. In this state, the origin switch 018
Since switch plate PSW2 is on at the same time as switch plate PSW2 is on, both clamps are quite far apart, and when setting the origin of clamp CL P1, key 17
9 must be relatively shifted in the -UIJ left direction (+X direction), and if the clamp c LP 2 is moved further in the +X direction with respect to the carriage 19, the left end of the carriage 19 will protrude from the base 9. There is a possibility that overtravel may occur.

Therefore, in step 70 of J: sea urchin shown in FIG. 7(b),
1, the clamp CLP2 is first released.

Then, move the carriage 19 in the -X direction, step 705
The switch board PSW1 moves until it is confirmed that it is turned off.

Next, in step 707, the terminal A is entered (with the clamp CL P 1 released and the clamp CLP 2 also kept released).

Steps 709 and 711 indicate processing for moving the carriage 19 in the +X direction until the origin switch 01 Sl is turned off.

If it is determined in step 711 that the origin switch OL Sl is off, the carriage 19 is moved to step 713.
Until the origin switch 01 S 1 is turned on at 715 -
Move in the X direction. As shown in step 717, clamp CLP1 is fixed at this position and clamp CLP
Finish setting the origin in step 1.

Next, the origin of the clamp CLP2 must be set. Therefore, in step 719, the origin switch is currently set to 0.
Determine whether LS2 is on. The reason for this is
If the origin switch 0LS2 is on, the carriage 19 is moved in the +X direction as shown in step 721, and the origin switch 0LS2 is turned on as shown in step 723.
This is because the origin cannot be set unless the procedure of turning 2 off and setting the origin is performed.

After following steps 719 to 723, step 7
At step 727, the carriage 19 is moved in the -X direction until the origin switch 0LS2 is turned on, and at step 729, the clamp CLP2 is fixed and the two clamps CLP1,
The CLP2 origin return work is completed.

FIG. 8 is an explanatory diagram of pattern B. (a) is an explanatory diagram of the initial state, and (b) is a flowchart showing the sequence.

(J: sea urchin shown in the aJ diagram, pattern B indicates that the origin switch 0LS1 is on and that the switch plate PSW
This is selected on the condition that 2 is off. (a) From the figure, it is clear that since clamp CI-P 1 is on the origin switch, one carriage must be relatively shifted to the left in order to set the origin of clamp CL P 1, and that clamp CI-P 1 and It is understood that there is a distance greater than this displacement between the left end of the carriage and the length of the switch plate PSW2 in the X@right direction as described above in Fig. 2. switch board P
It is designed to be twice the length of SWl (it is a Δ statement ()).

Therefore, J: sea urchin, pattern B shown in FIG. 8(b)
Then, in step 801, clamp CI Pi and CLP
2 remains fixed to the carriage 19.

Then, in 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 set to be appropriate as described above, the clamp CLP2 does not move to the right in the figure from the center position of the carriage base 9.

Next, in step 807, clamps CLP1 and CLP2 are opened, and the signal enters terminal A. This terminal A is shown in Figure 7 (
It is the same as terminal A in b), and the following processing is also all the same as that in FIG. 7(b). As a result, the two clamps CI Pl and CLP2 are returned to their original positions.

FIG. 9 is an explanatory diagram of pattern C. (a>, (b
FIG. 1 is an explanatory diagram of the initial state, and FIG. 1C is a flowchart showing the sequence.

As shown in FIGS. (a) and (b), pattern C is judged under two types of conditions. (a) In the state shown in the figure, the origin switch OL S 1, switch plates PSW1, PSW2
are off, and in this state, two clamps C
Both LP1 and CLP2 are two switch plates PSWI, P
This shows the state existing between SW2.

In addition, in the state shown in the figure (b), the origin switch 0LSI is off and the switch plate PSW2 is on, and in this state, the two clamps are located to the right (-X direction) from the origin switch 0LS1. It also shows that one of the at least two clamps is at the end of the carriage 19.

In any of these states, it is possible to turn on the origin switch 01S1 with the clamp CI-Pl by moving the carriage 19 relatively to the right in the figure. .

Therefore, in pattern C, both the two clamps CLPI and CLP2 are released from the carriage 19 in step 901. Then, in steps 903 and 905, one of the keys 17 is moved in the -X direction until the origin switch LS1 is turned on. As shown in step 907, at the position where the origin switch 0LS1 is turned on, the clamp CL P
Once clamp 1 is fixed, the origin setting for clamp CL P 1 is completed.

Next, in step 909, it is determined whether or not the origin switch 01-82 is on at the position where the origin of the clamp CLP1 is set, and if it is on, the carriage 19 is moved in the →-X direction in steps 911 and 913. Move it and turn it off.

Next, in steps 915 and 917, the carriage 19 is moved in the -X direction until the origin switch OL S 2 is turned on, and in step 919, the clamp CLP2 is fixed, and the origin return operation is completed.

FIG. 10 is an explanatory diagram of pattern D. (a) is an explanatory diagram of the initial state, and (b) is a flowchart showing the sequence.

(a) As shown in the figure, when the origin switch 0LS1 is off, the switch plate PSW1 is on, and the switch plate PSW2 is off, the carriage 1
It can be seen that the lamps CLP1 and CLP2 are not present in the cloth puller 9, and that the origin can be set by simply moving the carriage 19 relatively to the right in the figure. Therefore, return to the origin in this state can be processed by a sequence as shown in (b).

By the way, FIG. 10(a) is changed from the above-mentioned FIG. 9(a>,
Comparing with (b), in the state shown in FIG.
If the carriage 19 of clamps CLPI and CLP2 is moved in the right direction (-X direction) in the figure until I is turned off,
It can be understood that the positional relationship with respect to is the same as that shown in FIG. 9(a) or (b).

Therefore, if the pattern D shown in FIG. 10(b) were to be used as is, it would only require steps 1001 to 1005 to be inserted at the beginning of the process.

Pre-processing is performed in step 1001 by clamping CL P 1, C
This is a process in which the carriage 19 is moved in the -X direction until the switch plate P S Wl is turned off in steps 1003 and 1005, with the LP2 fixed.

Therefore, the four types of patterns shown above are actually three types. However, if there are three types of patterns as described above, it is necessary to separately construct a circuit for performing the processing of steps 1001 to 1005 shown in FIG. 10(b) as a pre-processing circuit.

On the JX, the two clamps can be automatically returned by the clamp origin return control circuit shown in FIGS. 5 to 10.

FIG. 11 is a detailed circuit diagram of the clamp position control circuit 39 shown in FIG. 4.

The clamp position control circuit 39 controls two clamps CL P 1 and CL P for the carriage 19 shown in FIG.
2 at a predetermined position.

Note that the first positioning method is clamp CLP1.
, the CLP2 is once returned to its origin in the manner shown in Figures 5 to 10, and then each clamp is moved to a predetermined position, and the second method is to move each clamp based on the current position of the clamp. There is a method of specifying and controlling the positioning of each clamp at a predetermined position.

However, in the first method, although the control sequence for clamp positioning is simple, it takes extra time to set each clamp to its origin, resulting in a lot of lost time from the perspective of the entire plate processing equipment. There is a drawback that it becomes a problem.

The second method has the advantage that each clamp can be positioned quickly, although the control sequence for clamp positioning is a little difficult.

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

The clamp position control circuit 39 includes a clamp position command section 57, a current position storage section 59.61 that stores the current positions of the clamps CLP1 and CLP2, and clamps CLP1,
Movement amount calculation unit 63.6 that calculates the movement amount of CL P 2
5, an actuator drive control section 69, etc.

The clamp position command section 57 controls each clamp CLP1, CL.
This command instructs the position on the carriage at which P2 is to be positioned. That is, here, the clamp CL P
A command is issued to position the clamp CIP2 at position x1 and the clamp CIP2 at position x2.

It goes without saying that this command can be specified by the operator using the plate processing machine MC (see Figure 1), but for plate processing machines on automated lines, management (not shown) is required. It may be designated from a computer, or it may be automatically calculated and designated according to, for example, the width dimension of the automatically transported plate material.

Said clamp CLP1, CLP2 movement amount calculating section 63.6
5 is the command signal for the positions X+ and X2, and the clamp CL.
Clamp current position tWXo+ stored in P1, CLP2 current position storage unit 59°61.

The difference from Xo+ is determined, and the moving amounts ΔX+ and Δx2 of each clamp CIP1 and ClF3 are calculated.

The actuator control section includes a pattern setting section 71 and a sequencer 73. The pattern setting section 71 sets a control pattern according to predetermined conditions, and the sequencer executes a sequence of the set pattern.

FIG. 12 is an explanatory diagram of pattern 1:J for clamp position control.

Movement amount △X+ of each clamp CLP1, ClF2.

When ΔX2 is classified in terms of direction (-, +) and magnitude of absolute values a and H, it can be classified into eight types as shown in FIG.

The pattern setting section 71 includes clamps CL P 1, CL
The movement amounts ΔX+ and ΔX2 of P2 are input, and a predetermined control pattern is selected according to the classification shown in FIG. Then, the sequencer 73 follows the set pattern.
The sequence described below in FIG. 13 is executed.

Note that one carriage does not necessarily need to be positioned at the origin position; for example, one carriage may be positioned halfway on the carriage base 9, or one carriage may be positioned at the other origin (origin in one direction) located at the left end in Fig. 4. Moj: Squid J: Uderu. However, the position control of the clamps CLP1 and ClF3 is generally used after 110 new plates have been cut, so here the carriage 19 is moved to the origin position in order to simplify the control sequence. It is assumed that it exists.

FIGS. 13 to 20 are sequence explanatory diagrams of eight types of control patterns. The figure is divided into the upper part (Figs. 13.15 and 17.19) and the lower part (Figs. 14.16 and 18.20). indicates the case where a<h.

It is something. In FIGS. 13 to 20, the fixed state of the clamps CLP1 and CL is shown with the block representing the clamp in contact with the carriage 19, and the released state is shown with the block representing the clamp separated from the carriage 19. There is.

Pattern 1 shown in FIG. 13 includes clamps CLPl, C
This is a control pattern in which the movement amounts of IF3 are both in the -X direction and a≧b.

As shown in the figure, first, the carriage 19 is clamped using the clamp CLPI.
, ClF3 remains fixed and moves by a in the -X direction. Therefore, the clamp CLP1 is released and the carriage 19 is moved in the +X direction by a-b. Then, the clamp CLP2 is released and the carriage 19 is moved in the +X direction by b. CLP1, Cl
F3 is fixed to the carriage 19 and the work for pattern 1 is completed.

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

What should be noted about these eight types of patterns is that all of them are performed by moving the carriage 19 back and forth once, and that they are designed to avoid unnecessary movements as much as possible. .

That is, the examples of patterns in which each clamp is positioned on the carriage are not originally limited to the eight types described above, but the contents can be changed, or the number can be reduced to, for example, four types. This is also mathematically possible. However, in this example, the above-mentioned eight types of patterns are set mainly for the purpose of accelerating the control operation accurately and quickly.

In addition, when the origin in one direction (the right end in FIG. 4) can be used instead of the origin in the child direction shown in FIG.
The relative relationship between LP1 and clamp 2 may be reversed.

In this way, in this example, a pattern is set to perform appropriate operation in each case according to the case flow shown in FIG. It is possible to properly position it on the carriage if the

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

That is, if one of the clamps is located above the override prevention detection switch PSW2 shown in FIG.
The clamp is connected to this override detection switch PSW.
It is easy to remove from the 2nd position.

This can be done, for example, by releasing the plate W from the clamp and leaving the clamp fixed to the carriage 19, and releasing the other clamp from the carriage 19 while still gripping the plate W. This is possible by moving 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 misaligned, and the clamp can be changed with good accuracy.

In addition, since it is possible to easily avoid override while changing the grip in this way, there is no need to use the end of the plate as a dead zone for gripping the plate, and the plate can be used from every corner without wasting it. becomes possible.

[Effects of the Invention] According to the method of the invention described above, the maximum movement of each clamp is calculated based on the current position of the clamp, and the maximum control pattern is calculated according to the movement direction of each clamp and the size of the movement. The positioning of each clamp is performed based on the position, and it becomes possible to accurately and quickly control the positioning of the lamp using a plate material clamping device with a simple configuration.

[Brief explanation of the drawing]

The drawings all show examples, and Fig. 1 is a front view showing one example of a plate processing machine, Fig. 2 is an enlarged perspective view of a plate clamping device, and Fig. 3 is an enlarged cross section of the same plate clamping device. It is an explanatory diagram. Figure 4 is an explanatory diagram of the NC device, Figure 5 is a circuit diagram of the clamp origin return circuit, Figure 6 is an explanatory diagram of the clamp origin return pattern, Figures 7(a), 8(b), Figure 9 (a>,
(b) and Fig. 10 (a) are control patterns △ to D.
7(b), 8(b), 9(C), and 10(
b) is a flowchart 1- showing the sequence contents of patterns A, B, C, and D, respectively. 11 is a circuit diagram of a clamp position control circuit, FIG. 12 is an explanatory diagram of a pattern for clamp position control, and 13.
14-. 15, 16, 17, 18, 19, and 20 are operation explanatory diagrams showing the sequence contents of patterns 1 to 8 shown in FIG. 12, respectively. 1... Plate material clamping 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 home return control circuit 39...Clamp position control circuit code 62-21432 (10) Fig. 9 (Ql OLS1 OFF Fig. 9 (b)) Diagram (C) Pattern C CLPI CLP2 failure 901 '-'Ly>-X Chizono 903 Force oN905? (b) 11th release HH62-21432 (17) Fig. 17 (Pattern 5) Fig. f9 (/v Dern 7) Fig. 18 (Pattern 6) Fig. 20 (Pattern 8) Procedural City Correction (Spontaneous) Showa October 23, 1960 Mr. Michibe Uga, Commissioner of the Patent Office1, Indication of the case: Patent Application No. 160345 of 19852, Title of the invention: Clamp positioning method for plate material clamping device 3,
Relationship with the case of the person making the amendment Patent applicant address (residence) 200 Ishida, Isehara City, Kanagawa Prefecture Name (
Name) AMADA Co., Ltd. Representative Ten 1) Uzu Akitoranomon 5th floor Building (Date of shipment Year Month Day) 6. Subject of amendment (1) Column for detailed description of the invention (2) Drawing 7. Contents (1) In the specification, page 12, line 8, the phrase [...override prevention] is amended to read "...overtravel prevention." (2) Details m, page 18, line 7, “...+
``To the X-axis direction...'' is corrected to ``...-To the X-axis direction...''. (3) In Mei@sho, page 18, line 8, the statement "...the left end of 19 is..." is corrected to "...the right end of 19...". (4) Specification, page 23, line 20, “...
The statement "Return to origin is as shown in (b)..." should be corrected to "Return to origin is as shown in (b)...J." (5) Specification, page 30 , in the 15th line, it says, "And, for example, there are four types..." is replaced by [. For example, change pattern 1.3.5.7 to pattern 2
, 4, 6.8, the clamp can also be moved so that it does not come off the material during movement and positioning. Also, the above 8 types have been reduced to 4 types...''(6> Amend Drawing 1o (a) and (b) as shown in the attached sheet. 8. Inventory drawing of attached documents Figures 10 and above Figure 10 (Q) n ○LS 1 OFF 5WION PSW2 OFF Figure 10 ( b)

Claims (1)

[Claims] A carriage base with a length approximately equal to the processing width of the plate processing machine, a carriage driven by a servo mechanism and movably attached to the carriage base, and a carriage that can be fixed to and released from the carriage and also fixed and released. The carriage base can be opened and fixed in response to the action.
In a clamp positioning method for a plate material clamping device having an appropriate number of clamps attached to the carriage via an opening mechanism, the amount of movement of the clamps is calculated based on a position change command, and the direction and amount of movement of each clamp are determined. An optimal control pattern is selected from a plurality of predetermined control patterns based on the magnitude of the movement of the carriage and the operation of the fixing/releasing mechanism is controlled in a predetermined sequence based on the selected control pattern. A clamp positioning method for a plate material clamping device, characterized in that the clamp is positioned at the commanded position by controlling the clamp.