阅读说明：本技术 多工位压力机的运动设置方法及多工位压力机 (Motion setting method of multi-station press and multi-station press ) 是由 宫本功 金子外幸 于 2021-05-11 设计创作，主要内容包括：本公开提供一种可提高生产效率的多工位压力机。多工位压力机(1)具有按照冲压运动使滑块(6)升降的压力机(2)和按照转移运动使保持件(12)移动而运输工件(100)的运输装置(10)。多工位压力机(1)具有制作部(32)、判断部(34)和相位调整部(35)。制作部(32)基于临时设置的冲压运动(PM)和临时设置的所述转移运动(TM)制作三维化的动作曲面。判断部(34)以同一三维坐标系比较标准上模干渉曲面和动作曲面,判断动作曲面是否在标准上模干渉曲面中的干渉区域内。相位调整部(5)在动作曲面位于干渉区域内时,变更转移运动相对于冲压运动的相对相位。(The utility model provides a can improve production efficiency's transfer press. The multi-station press (1) comprises a press (2) for lifting and lowering a slide (6) according to a press motion and a transport device (10) for transporting a workpiece (100) by moving a holder (12) according to a transfer motion. The transfer press (1) is provided with a production unit (32), a determination unit (34), and a phase adjustment unit (35). A creation unit (32) creates a three-dimensional motion curved surface based on the temporarily set Press Motion (PM) and the temporarily set Transfer Motion (TM). A determination unit (34) compares the standard interference surface and the operating curved surface with each other in the same three-dimensional coordinate system, and determines whether or not the operating curved surface is within an interference region in the standard interference surface. The phase adjustment unit (5) changes the relative phase of the transfer motion with respect to the ram motion when the operation curved surface is located within the interference region.)

1. A method for setting the motion of a transfer press having a press machine for moving a ram up and down in accordance with a press motion and a transport device for moving a holder in accordance with a transfer motion to transport a workpiece, comprising:

a manufacturing step of manufacturing a three-dimensional action curved surface at a relative distance of the holder with respect to a standard upper die mounted on the slider, based on the temporarily set press motion and the temporarily set transfer motion;

a determination step of comparing a standard upper interference surface that is arranged in the same three-dimensional coordinate system and that makes a standard upper interference curve into a three-dimensional shape with the operation curved surface, and determining whether or not the operation curved surface is located within an interference region in the standard upper interference surface; and

a changing step of changing a relative phase of the transfer motion with respect to the stamping motion when the curved actuation surface is determined to be located within the interference region in the determining step,

after the changing step, the determination step is performed by comparing the standard interfering plane with the operating curved surface in which the relative phase is changed.

2. The movement setting method of a transfer press according to claim 1, wherein:

the changing step and the determining step are repeated a plurality of times within the allowable range of adjustment of the relative phase.

3. The movement setting method of a transfer press according to claim 2, characterized in that:

when the relative phase in the changing step exceeds the adjustment allowable range, the relative phase is returned to a temporarily set state, and after the temporarily set press motion is adjusted so as to be decelerated in the vicinity of a rising limit of the slider, the determining step and the changing step are performed.

4. A method of setting the movement of a transfer press according to claim 2 or 3, wherein:

when the relative phase in the changing step exceeds the adjustment allowable range, the relative phase is returned to a temporarily set state, and after the transfer motion that is temporarily set is adjusted to be decelerated in the returning operation of the holder, the determining step and the changing step are performed.

5. A transfer press having a press machine for lifting and lowering a slide in accordance with a press motion and a transfer device for moving a holder in accordance with a transfer motion to transfer a workpiece, comprising:

a manufacturing unit that manufactures a three-dimensional motion curved surface at a relative distance of the holder from a standard upper die attached to the slider, based on the temporarily set press motion and the temporarily set transfer motion;

a determination unit configured to arrange a standard upper interference surface that three-dimensionally transforms a standard upper interference curve and the operation curved surface in the same three-dimensional coordinate system, and determine whether or not the operation curved surface is located within an interference region in the standard upper interference surface; and

a phase adjustment unit that changes a relative phase of the transfer motion with respect to the press motion when the operation curved surface is located within the interference region.

6. The transfer press of claim 5, wherein:

the apparatus further includes a slider deceleration adjusting unit configured to decelerate the temporarily set press motion in the vicinity of an elevation limit of the slider when the operation curved surface is located within the interference region.

7. A transfer press according to claim 5 or 6, wherein:

the apparatus further includes a holder deceleration adjusting section that decelerates the transfer motion that is temporarily set in a returning motion of the holder, when the operation curved surface is located within the interference region.

Technical Field

The invention relates to a movement setting method of a multi-station press and the multi-station press.

Background

The multi-station press is composed of a press for performing press working and a transport device for transporting a workpiece (material). The press machine has a plurality of press stations, and performs press working (punching, bending, drawing, and the like) on a workpiece with a die while moving up and down a slide. The slide block moves up and down along with the punching motion.

One transport device (sometimes called a "transfer feeder") holds the workpiece by a holder (a hook portion, a cup portion, or the like) provided on the feed bar, moves the feed bar in a two-dimensional or three-dimensional direction, and transports the workpiece to each press working station.

In a multi-station press, the press and the transport device need to be operated in synchronization for good processing efficiency and prevention of mutual interference. In recent years, servo motors have been used as drive sources for presses and transport devices, and high SPM (Stroke Per Minutes) has been required to improve productivity and improve processing accuracy due to complicated operations. In a conventional mechanical press, a transport device is completely synchronized with a crank angle of the press, and in the press and the transport device using a servo motor, it is necessary to prevent mutual interference due to complicated changes in a press motion and a transfer motion.

In view of the above, a transfer press has been proposed in which a reference coherence map indicating whether or not there is interference between the press and a transfer device using a reference press motion and a reference transfer motion is created, and whether or not there is interference is determined by comparing the reference coherence map with an operation coherence map created using an operation press motion and an operation transfer motion input before operation, and the relative relationship between phase signals is adjusted so that no interference occurs (patent document 1).

In the transfer press of patent document 1, when comparing a reference interference line map and a motion interference line map, the following are arranged in a two-dimensional coordinate system: a line graph in which the horizontal axis represents the transfer feed stroke (distance) and the vertical axis represents the distance obtained by subtracting the transfer lift stroke from the slider stroke; and a line graph in which the horizontal axis represents the transfer gripping stroke (distance) and the vertical axis represents the distance obtained by subtracting the transfer lifting stroke from the slider stroke. When an operation line map enters a plane (interference region) enclosed by the reference line maps, the operation line map is determined to be an interference.

Documents of the prior art

Patent document

[ patent document 1] Japanese patent laid-open No. 2013-91078

Disclosure of Invention

Technical problem to be solved by the invention

However, since the interference maps are all expressed by a two-dimensional coordinate system, the interference may be determined even when a motion that does not interfere with the operation of the transfer press is actually attempted. Further, in recent years, further improvement in productivity of the transfer press is demanded.

Therefore, the present disclosure provides a motion setting method of a transfer press and a transfer press, which can improve production efficiency.

Means for solving the problems

The present invention is directed to solving at least some of the problems described above, and may be realized in the following manner or embodiments.

[1] One mode of the movement setting method of a transfer press according to the present invention is a movement setting method of a transfer press including a press for raising and lowering a slide in accordance with a press motion and a transport device for transporting a workpiece by moving a holder in accordance with a transfer motion, the movement setting method including:

a manufacturing step of manufacturing a three-dimensional action curved surface at a relative distance of the holder with respect to a standard upper die mounted on the slider, based on the temporarily set press motion and the temporarily set transfer motion;

a determination step of comparing a standard upper interference surface that threatens a standard upper interference curve with the operation curved surface using the same three-dimensional coordinate system, and determining whether or not the operation curved surface is within an interference region in the standard upper interference surface; and

a changing step of changing a relative phase of the transfer motion with respect to the stamping motion when the curved actuation surface is determined to be located within the interference region in the determining step;

after the changing step, the determination step is performed by comparing the standard interfering plane with the operating curved surface in which the relative phase is changed.

[2] In one aspect of the movement setting method for a transfer press described above, the changing step and the determining step may be repeated a plurality of times within an adjustment allowable range of the relative phase.

[3] In one aspect of the movement setting method of the transfer press, when the relative phase in the changing step exceeds the adjustment allowable range, the relative phase may be returned to a temporarily set state, and the determining step and the changing step may be performed after the temporarily set press movement is adjusted to be decelerated in the vicinity of a rising limit of the ram.

[4] In one aspect of the movement setting method of the transfer press machine, when the relative phase in the changing step exceeds the adjustment allowable range, the relative phase may be returned to a temporarily set state, and the determining step and the changing step may be performed after the temporarily set transfer movement is adjusted to be decelerated in the returning operation of the holder.

[5] One mode of the transfer press according to the present invention is a transfer press including a press for raising and lowering a slide in accordance with a press motion and a transport device for transporting a workpiece by moving a holder in accordance with a transfer motion, the transfer press including:

a manufacturing unit that manufactures a three-dimensional motion curved surface at a relative distance of the holder from a standard upper die attached to the slider, based on the temporarily set press motion and the temporarily set transfer motion;

a determination unit configured to arrange a standard upper interference surface that three-dimensionally transforms a standard upper interference curve and the operation curved surface in the same three-dimensional coordinate system, and determine whether or not the operation curved surface is within an interference region in the standard upper interference surface; and

a phase adjustment unit that changes a relative phase of the transfer motion with respect to the press motion when the operation curved surface is located within the interference region.

[6] In one aspect of the above-described transfer press, the transfer press may further include a slide deceleration adjusting portion that decelerates the temporarily set press motion in the vicinity of a rising limit of the slide when the operation curved surface is located within the interference region.

[7] In one aspect of the above-described transfer press, the transfer mechanism may further include a holder deceleration adjustment portion that decelerates the transfer motion that is temporarily set, in a returning motion of the holder, when the operation curved surface is located within the interference region.

Effects of the invention

By adopting the movement setting method of the multi-station press and the multi-station press, the specific interference occurrence position can be judged through the three-dimensional coordinate system, and the production efficiency is improved by changing the relative phase which has little influence on the production efficiency.

Drawings

Fig. 1 is a schematic view of a transfer press according to an embodiment of the present invention.

Fig. 2 is a diagram illustrating a standard punching motion and a standard transferring motion.

FIG. 3 is a standard interferometric profile configured in a two-dimensional coordinate system.

Fig. 4 is a standard interferometric surface arranged in a three-dimensional coordinate system.

Fig. 5 is a flowchart of a method for setting the movement of a transfer press according to an embodiment of the present invention.

Fig. 6 is a diagram illustrating the temporarily set punching motion and the temporarily set transfer motion.

Fig. 7 is a temporarily set operation curved surface.

Fig. 8 is a diagram illustrating the determination step.

Fig. 9 is a diagram illustrating a relative phase changing process.

Fig. 10 is a diagram illustrating a relative phase changing process.

Fig. 11 is a diagram illustrating a speed change step and a relative phase change step.

Fig. 12 is a diagram illustrating a speed change step and a relative phase change step.

Detailed Description

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are not intended to unduly limit the scope of the invention set forth in the claims. The following configurations are not necessarily all essential components of the present invention.

A transfer press according to an embodiment of the present invention is a transfer press including a press for lifting and lowering a slide in accordance with a press motion and a transport device for transporting a workpiece by moving a holder in accordance with a transfer motion, the transfer press including: a manufacturing unit that manufactures a three-dimensional operation curved surface at a relative distance of the holder from a standard upper die attached to the slider, based on the temporarily set punching motion and the transfer motion;

a determination unit configured to arrange a standard upper interference surface that three-dimensionally transforms a standard upper interference curve and the operation curved surface in the same three-dimensional coordinate system, and determine whether or not the operation curved surface is within an interference region in the standard upper interference surface; and

a phase adjustment unit that changes a relative phase of the transfer motion with respect to the press motion when the operation curved surface is located within the interference region.

The present invention relates to a method for setting the movement of a transfer press, which is a method for setting the movement of a transfer press having a press for lifting and lowering a slide in accordance with a press motion and a transport device for transporting a workpiece by moving a holder in accordance with a transfer motion, and is characterized by comprising: a manufacturing step of manufacturing a three-dimensional motion curved surface at a relative distance of the holder with respect to a standard upper die mounted on the slider, based on the temporarily set punching motion and the transfer motion;

a determination step of comparing a standard upper interference surface that threatens a standard upper interference curve with the operation curved surface using the same three-dimensional coordinate system, and determining whether or not the operation curved surface is within an interference region in the standard upper interference surface; and

a changing step of changing a relative phase of the transfer motion with respect to the stamping motion when the curved actuation surface is determined to be located within the interference region in the determining step;

after the changing step, the determination step is performed by comparing the standard interfering plane with the operating curved surface in which the relative phase is changed.

1. Multi-station press

The transfer press 1 will be described in detail with reference to fig. 1 to 4. Fig. 1 is a schematic diagram of a transfer press 1 according to an embodiment of the present invention, fig. 2 is a diagram illustrating a standard press motion BPM and a standard transfer motion BTM, fig. 3 is standard upper interference curved lines BDGf and BDGc arranged in a two-dimensional coordinate system, and fig. 4 is a standard upper interference curved line 60 arranged in a three-dimensional coordinate system.

As shown in fig. 1, the transfer press 1 includes: a press machine 2 for lifting the slide block 6 according to the press motion; a transport device 10 that moves the holder 12 in accordance with the transfer motion to transport the workpiece 100; and a transfer press control device 30.

The press machine 2 includes: a slide block 6 which can be lifted by the servo motor 4; an upper die 7 mounted on the lower surface of the slider 6; a lower die 8 disposed opposite to the upper die 7; a support member, not shown, for fixing the lower mold 8; and a servo press control device 21. The press machine 2 is driven by the servo motor 4 in accordance with a set press motion, and moves the upper die 7 up and down with respect to the lower die 8 via a power transmission mechanism, not shown, to press the workpiece 100. The press machine 2 may be a known servo press machine used in a multi-station press machine.

An encoder 5 is provided on the servo motor 4. The detection signal from the encoder 5 is input to the servo press control device 21, the servo amplifier 22, and the transfer press control device 30 for controlling the press motion. Although not shown, the press machine 2 may have an encoder for detecting the height position of the ram 6.

The transportation device 10 has: a feed bar 11 driven by a plurality of servo motors 14; a holder 12 mounted on the feed bar 11; and a servo transfer control device 25. The feed bar 11 and the holder 12 are provided in a pair sandwiching the lower mold 8. Each feed bar 11 has a plurality of holders 12. The holder 12 includes, for example, a claw portion, a vacuum chuck, or the like as a mechanism for holding the workpiece 100. The transport device 10 drives the plurality of servo motors 14 in accordance with the set transfer motion and moves the holder 12 in accordance with the gripping motion CLP, the lifting motion LFT, the advancing motion ADV, the lowering motion DWN, the releasing motion UCL, and the returning motion RTN indicated by arrows in fig. 1.

The clamping action CLP is an action in which the opposed holders 12 move closer to each other and the holders 12 hold the workpiece 100 on the lower die 8. The lift operation LFT is an operation of lifting the holder 12 and releasing the workpiece 100 from the lower die 8. The advance operation ADV is an operation of moving the holder 12 in the longitudinal direction of the feed bar 11 (in the direction of the X axis) and moving the workpiece 100 over the next lower die 8. The lowering operation DWN is an operation of lowering the holder 12 and placing the workpiece 100 on the lower die 8. The unclamping motion UCL is a motion that moves the opposing holders 12 away from each other and releases the workpiece 100 from the holders 12. The return operation RTN is an operation of moving the holder 12 in the longitudinal direction of the feed bar 11 at a position not interfering with the upper die 7 and returning the holder to the initial position.

Further, the servo motor 14 is provided with an encoder 15. The detection signal from the encoder 15 is input to the servo transfer control device 25, the servo amplifier 26, and the transfer press control device 30 for controlling the transfer motion. The transport device 10 may include a plurality of encoders, not shown, for detecting the positions of the holder 12 and the feed bar 11.

The transfer press control device 30 includes, for example, an operation unit 31, a creation unit 32, a storage unit 33, a determination unit 34, a phase adjustment unit 35, a slide deceleration adjustment unit 36, a holder deceleration adjustment unit 37, and an output unit 38. The transfer press control device 30 includes a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory), or an HDD (Hard disk Drive), a communication interface for performing high-speed data communication, and a user interface such as a display, a touch panel, or a keyboard.

The operation section 31 is an interface for an operator to input various conditions of the punching motion and the transferring motion. The creation unit 32 creates a three-dimensional motion curved surface at a relative distance of the holder 12 with respect to a standard upper die mounted on the slider 6 based on the press motion temporarily set according to the input from the operation unit 31 and the transfer motion temporarily set. The storage unit 33 stores a press motion, a transfer motion, a normal interference surface, an operation surface, various control programs, and the like. The determination unit 34 arranges a standard interferometric surface and an operating curved surface that make the standard interferometric curve three-dimensionally in the same three-dimensional coordinate system, and determines whether or not the operating curved surface is within an interference region in the standard interferometric surface. The phase adjustment unit 35 changes the relative phase of the transfer motion with respect to the ram motion when the operation curved surface is located within the interference region. The slider deceleration adjusting unit 36 decelerates the temporarily set press motion near the ascending limit of the slider 6 when the operation curved surface is located within the interference region. The holder deceleration adjusting unit 37 decelerates the transfer motion that is temporarily set in the returning operation RTN of the holder 12 when the operation curved surface is located within the interference region. The output unit 38 displays a standard interference curved surface and an operation curved surface arranged in a three-dimensional coordinate system on a display, not shown, and outputs a control signal based on the set press motion to the servo press control device 21 and a control signal based on the set transfer motion to the servo transfer control device 25. The processing in each section of the transfer press control device 30 will be described in detail in the movement setting method.

The standard press motion BPM shown in fig. 2 (a) and the standard transfer motion BTM shown in fig. 2 (B) are motions inherently provided on each transfer press 1 and serving as references provided to customers. The transfer press 1 can operate without interference with the upper die 7 and the holder 12 if it follows the standard press motion BPM and the standard transfer motion BTM. The standard punching motion BPM and the standard transfer motion BTM are provided corresponding to the same phase angle. In fig. 2, the standard press motion BPM and the standard transfer motion BTM are graphically divided into (a) and (B) so as to be easily seen, but they may be summarized in one drawing as in fig. 6 and the like mentioned later. The phase angle is an angle allocated by 360 degrees for one cycle from the top dead center TDC until the slider 6 is lowered back to the next top dead center TDC. The phase angle may also be taken as the time axis of one period from the top dead center TDC of the standard punch movement BPM.

The standard press motion BPM in fig. 2 (a) is, for example, a motion in which the servo motor 4 of the press 2 rotates at a constant speed to raise and lower the ram 6. The standard transfer motion BTM in (B) of fig. 2 is represented by three curves consisting of the standard feed motion BTMf, the standard grip motion BTMc, and the standard lifting motion BTMl of the transport device 10. The gripping operation CLP, the lifting operation LFT, the forward operation ADV, the lowering operation DWN, the unclamping operation UCL, and the returning operation RTN in fig. 2 correspond to the respective operations shown by arrows in fig. 1.

The standard upward-mold-interference profile BDGf shown in fig. 3 (a) is a line diagram having the horizontal axis representing the feed stroke (hereinafter referred to as "feed ST") of the standard transfer motion BTM and the vertical axis representing the distance obtained by subtracting the lift stroke (hereinafter referred to as "lift ST") of the standard transfer motion BTM from the slider stroke (hereinafter referred to as "slider ST") of the standard press motion BPM. The slide ST may also be the stroke of a standard upper die mounted on the slide 6.

The standard upward coherence curve BDGc shown in fig. 3 (B) is a line diagram in which the horizontal axis represents the grip stroke (hereinafter referred to as "grip ST") of the standard transition motion BTM, and the vertical axis represents the same line as that in fig. 3 (a).

The standard upper die interference curve BDGf and the standard upper die interference curve BDGc are line graphs displayed as the relative distance between the holder 12 and the standard upper die attached to the slider 6 that operates at the same phase angle in accordance with the standard press motion BPM and the standard transfer motion BTM. By standard upper die is meant the upper die 7 of the largest size of the design that can be mounted on the press 2. The standard upper die interference curve BDGf shown in fig. 3 (a) shows how the holder 12 on the right side of fig. 1 follows a two-dimensional trajectory with respect to the slide 6 and the upper die 7, as viewed from the front of the press 2 (in the opposite direction to the Y axis). The standard upper die interference curve BDGc shown in fig. 3 (B) shows how the holder 12 on the right side of the press 2 in fig. 1 follows a two-dimensional trajectory with respect to the slide 6 and the upper die 7, viewed in the direction opposite to the X-axis. Although the standard upper interference curve BDGc of the right holder 12 is shown here, if the standard upper interference curve BDGc is inverted left-right, the standard upper interference curve BDGc of the left holder 12 is formed. As explained with reference to fig. 2, when the slider 6 is positioned at the top dead center TDC at the phase angle 0 degrees, the holder 12 is positioned at the farthest position from the slider 6 (the slider ST-lift ST of fig. 3 is the maximum), and when the slider 6 is positioned at the bottom dead center at the phase angle 180 degrees, the holder 12 is positioned at the closest position to the standard upper die mounted on the slider 6 (the slider ST-lift ST of fig. 3 is the minimum).

The region (range indicated by diagonal lines) bounded by the standard upper coherence line BDGf in fig. 3 (a) is an interference region, and the region (range indicated by diagonal lines) to the right of the standard upper coherence line BDGc in fig. 3 (B) is an interference region. The mold designer designs the mold such that the mold is received in the interference area.

The standard upper interference curve BDG shown in fig. 4 is a curve obtained by combining and three-dimensionally transforming the standard upper interference curve BDGf and the standard upper interference curve BDGc shown in (a) and (B) of fig. 3, and arranging them in the same three-dimensional coordinate system. Accordingly, the standard upper mold interference curved surface 60 looks the same as fig. 3 (a) when viewed from the Y-axis direction, and looks the same as fig. 3 (B) when viewed from the opposite direction to the X-axis direction. The standard upper molding interference surface 60 is formed between the standard upper molding interference curve BDG and the reference surface 62. The reference plane 62 is a plane parallel to the X-Z plane of the maximum value of the clamping ST of the Y axis. The volume of interference between the standard upper molding interference curve BDGf and the standard upper molding interference curve BDGc may be represented by the space formed between the standard upper molding interference curve 60 and the reference plane 62. The space is an interference area, and the mold is housed in the space.

2. Movement setting method of multi-station press

The movement setting method of the transfer press 1 will be described in detail with reference to fig. 1 and 4 to 12. Fig. 5 is a flowchart of a movement setting method of the transfer press 1 according to an embodiment of the present invention, fig. 6 is a diagram of a temporarily set pressing movement PM and a temporarily set transfer movement TM, fig. 7 is a diagram of a temporarily set operation curved surface 70, fig. 8 is a diagram illustrating a determination step (S16), fig. 9 is a diagram illustrating a relative phase change step (S18), fig. 10 is a diagram illustrating a relative phase change step (S18), fig. 11 is a diagram illustrating a speed change step (S22) and a relative phase change step (S18), and fig. 12 is a diagram illustrating a speed change step (S22) and a relative phase change step (S18).

As shown in fig. 5, the movement setting method of the transfer press 1 includes at least a producing step (S12), a determining step (S16), and a relative phase changing step (S18). As shown in fig. 5, the motion setting method may further include a temporary setting step (S10), a setting step (S14), a first range determination step (S20), a speed change step (S22), a second range determination step (S24), and a temporary setting error display step (S26). The respective steps will be described in order.

Temporary setting step (S10): as shown in fig. 6, the operator who sets the movement of the transfer press 1 operates the operation unit 31, and temporarily sets the pressing movement PM and the transfer movement TM to which the product produced by the production unit 32 is applied. Conventionally, since the transfer motion TM is synchronized with the crank angle of the press, it has been difficult to temporarily set the two motions independently, for example, when the deceleration operation is added to the press motion PM, the deceleration operation is added to the transfer, or when the transport time is extended, the processing time of the press is extended. However, in the present embodiment, since there are the determination step (S16) and the relative phase changing step (S18) mentioned later, two motions can be independently provided.

Specifically, the press motion PM is temporarily set in consideration of formability such as spm (shots Per minute) and the number of steps. For example, if fast production is important, the stamping movement PM is temporarily set to act with a maximum SPM on the press 2. If importance is attached to the accuracy of the product, the press motion PM including a complicated acceleration and deceleration operation is temporarily set. In this case, the influence on the transfer motion TM does not need to be taken into account. In the example of fig. 6, it is temporarily set to add a deceleration operation during the lowering of the slider 6 so that the lower dead point is reached after the position of the phase angle of 180 degrees

Further, the transfer motion TM is temporarily set with importance placed on the transportation efficiency. For example, the transfer motion TM is temporarily set by the respective axial stroke amounts, the overlap amount, and the like so that the maximum transport efficiency of the transport apparatus 10 is obtained while the maximum speed and the maximum acceleration allowed for the transport apparatus 10 are maintained. In this case, the influence on the press motion PM need not be taken into account.

Production step (S12): as shown in fig. 7, the creation section 32 creates a three-dimensional action curved surface 70 at a relative distance of the holder 12 with respect to the slider 6 based on the press motion PM and the transfer motion TM provisionally set in fig. 6. The operation curved surface 70 is a surface formed between the operation curve DG and the reference surface 62, like the standard interference curved surface 60 described with reference to fig. 4. The curved operating surface 70 is a surface formed by arranging virtual straight lines extending in the X-axis direction and having both ends aligned with the operating curve DG in minute intervals in the Z-axis direction. The operation curve DG is a diagram in which the press motion PM and the transfer motion TM are displayed in a three-dimensional coordinate system in which the feed ST is the X axis, the clamp ST is the Y axis, and the distance obtained by subtracting the lift ST from the slider ST is the Z axis in accordance with the phase angle. The movement locus of the holder 12 is shown in dashed lines below the motion curve DG for the understanding of the auxiliary motion curve DG, but may not be shown. If looking at the movement curve DG, the relative distance between the standard upper die mounted on the slide 6 and the holder 12 is known when the holder 12 is located at any point on the dashed line. For example, in the forward movement ADV, the relative distance is known to change on the outer periphery of the reference surface 62, and in the unclamping movement UCL, the returning movement RTN, and the clamping movement CLP, the relative distance is known to change on the outer periphery of the operation curved surface 70.

In the disposing step (S14), as shown in fig. 8, the creating unit 32 disposes the standard upper interference curved surface 60 of fig. 4 and the operation curved surface 70 of fig. 7, which are three-dimensional standard upper interference curves BDGf and BDGc, in the same three-dimensional coordinate system. The disposing step (S14) may be performed in the next judging step (S16).

Determination step (S16): the determination unit 34 compares the standard interfering curved surface 60 and the operating curved surface 70 disposed in the same three-dimensional coordinate system, and determines whether or not the operating curved surface 70 is within an interference region in the standard interfering curved surface 60. An interference region is a region sandwiched by standard male interference surfaces 60 and reference planes 62. In fig. 8, it is determined from the fact that a portion of the standard interfering curved surface 60 is located in the interference region, that a portion of the operating curved surface 70 that is not visible when shielded from the standard interfering curved surface 60 is located in the Y-axis direction (closer to the reader) with respect to the operating curved surface 70. When the interference region is displayed in the two-dimensional coordinate system shown in fig. 3 (B) as in the related art, it is determined that there is interference if the motion is set in the interference region, but it is determined whether there is interference along the feed ST if the standard upper interference curved surface 60 that is displayed in three-dimensional form is used as in fig. 4, so that more accurate determination can be made. Accordingly, by performing the determination using the three-dimensional coordinate system, even a motion determined to be in interference with the conventional two-dimensional coordinate system may be determined to be non-interference, and thus higher productivity can be achieved.

When it is determined in the determination step (S16) that the curved operating surface 70 is located within the interference region (yes in fig. 5), the relative phase changing step (S18) is executed.

When it is determined in the determination step (S16) that the operation curved surface 70 is not within the interference region (no in fig. 5), the process of the motion setting method is terminated, and the temporarily set press motion PM and the temporarily set transfer motion TM are set as the motions of the transfer press 1.

Relative phase changing step (S18): the phase adjustment unit 35 changes the relative phase of the transfer motion TM with respect to the pressing motion PM when it is determined in the determination step (S16) that the curved actuation surface 70 is located within the interference region. For example, after the relative phase is changed as in the motion diagram of fig. 9 (a) and 6, the transition motion TM is directly shifted to the right by the unit phase angle in a state where the phase angle of the press motion PM is fixed as shown in fig. 9 (B). In fig. 9 (a), the start point of the clamping operation CLP interferes near the bottom dead center of the slider 6, but in fig. 9 (B), the interference is avoided without reducing the SPM by moving the start point of the clamping operation CLP away from the bottom dead center of the slider 6. The unit phase angle moved by the one-time relative phase changing step (S18) is set to a predetermined angle. In the relative phase changing step (S18), the motion itself is not changed. Accordingly, the phase adjustment unit 35 using the three-dimensional coordinate system can avoid the interference without reducing the SPM as much as possible, and thus the production efficiency can be improved. Although the unit phase angle is changed here, the unit phase time may be changed when the motion is temporarily set on the phase time axis of one cycle.

First range determination step (S20): the phase adjustment unit 35 determines whether or not the phase angle is within the adjustment allowable range after the relative phase changing step (S18). This determination may be performed by the determination unit 34. The adjustment allowable range is set in advance to a range of the phase angle that can be changed in the relative phase changing step (S18), for example, a range of ± 180 degrees or less. The relative phase changing step (S18) and the determining step (S16) may be repeated a plurality of times within the allowable range of adjustment of the relative phase (yes in S20 of fig. 5), respectively. By repeating several times, the desired interference cancellation of the two movements by the operator can be achieved. The adjustment allowable range may be set to the number of repetitions of the relative phase changing step (S18).

In the present embodiment, after the phase changing step (S18), when it is determined in the first range determining step (S20) that the phase is within the adjustment allowable range, the creating step (S12), the arranging step (S14), the determining step (S16), the relative phase changing step (S18), and the first range determining step (S20) are again sequentially executed. Specifically, the creating step (S12) creates the operating curved surface 70 with the relative phase changed in the relative phase changing step (S18), and the arranging step (S14) arranges the standard interference curved surface 60 and the operating curved surface 70 with the relative phase changed in the same three-dimensional coordinate system, and the determining step (S16) compares the two curved surfaces.

Fig. 10 shows a state in which the relative phase is changed by repeating the relative phase changing step (S18) twice. Fig. 10 shows a state of the standard interference curved surface 60 and the operation curved surface 70 arranged in a three-dimensional coordinate system viewed along the Y axis. In fig. 10 (a), the standard interfering curved surface 60 is visible in a wide range in the vicinity of the clamping operation CLP in the vicinity of the operating curved surface 70, but in fig. 10 (B) in which the relative phase is changed once, the visible range of the standard interfering curved surface 60 is narrowed. Further, in fig. 10 (C) in which the relative phases are changed twice, although the visible position of the standard upper interference curved surface 60 is moved to the second half of the feed ST (on the side of the release operation UCL), the interference is not cancelled because the standard upper interference curved surface 60 is visible. Fig. 10 does not correspond to fig. 9.

The relative phase changing step (S18) is repeated in this manner, and if it is determined in the first range determining step (S20) that the adjustment permission range is not within the adjustment permission range (no in S20 of fig. 5), the speed changing step (S22) is executed.

Speed changing step (S22): when the relative phase in the relative phase changing step (S18) exceeds the adjustment allowable range (no in S20 of fig. 5), the slider deceleration adjusting unit 36 returns the relative phase to the temporarily set state, and performs adjustment for decelerating the temporarily set press motion PM in the vicinity of the lift limit of the slider 6. The limit of the rise may be the top dead center TDC of the slider 6. In the example of fig. 11, first, after the relative phase is returned to the temporarily set state, that is, the state (a) of fig. 9, the deceleration operation SD is added to the vicinity of the top dead center TDC of the slider 6 in the press motion PM. The deceleration action SD in the press motion PM can decelerate the descent speed and the ascent speed of the slider 6 from the state (a) of fig. 9, so that the standby time of the slider 6 in the vicinity of the top dead center TDC (hereinafter referred to as "slider standby time") can be increased, and the interference can be easily eliminated. The slider standby time in one deceleration operation SD is set in advance.

In the speed changing step (S22), when the relative phase in the relative phase changing step (S18) exceeds the adjustment allowable range (no in S20 of fig. 5), the holder deceleration adjusting unit 37 returns the relative phase to the temporarily set state, and performs adjustment for decelerating the temporarily set transfer motion TM in the returning operation RTN of the holder 12. In the example of fig. 11 (a), the deceleration operation SD is added near the end of the return operation RTN of the transfer motion TM. By adding the deceleration operation SD to the return operation RTN, the time until the holder 12 enters the interference region (hereinafter referred to as "holder standby time") can be increased, and the interference can be easily resolved. The retainer standby time in one deceleration operation SD is set in advance.

Second range determination step (S24): after the speed changing step (S22), the slider speed reduction adjustment unit 36 and the holder speed reduction adjustment unit 37 determine whether or not the slider standby time and the holder standby time are within the adjustment allowable range. The determination may be performed by the determination unit 34. The adjustment allowable range is set in advance as a range of each standby time that can be changed in the speed changing step (S22). When each standby time in the second range determination step (S24) is within the adjustment allowable range (yes in S24 of fig. 5), the creation step (S12), the arrangement step (S14), and the determination step (S16) are executed again, and when it is determined that there is interference (yes in S16 of fig. 5), the relative phase change step (S18) is performed. In fig. 11 a, after the slider standby time and the holder standby time are set in the speed changing step (S22), the relative phase changing step (S18) is further performed in fig. 11B. Accordingly, the start point of the clipping operation CLP is distant from the bottom dead center, and therefore interference is eliminated. By executing the relative phase changing step (S18) after the speed changing step (S22), it is possible to avoid the interference while suppressing a decrease in production efficiency due to deceleration.

When each standby time in the second range determination step (S24) is not within the adjustment permission range (no in S24 of fig. 5), the temporary setting error display step (S26) is executed. The temporary setting error display step (S26) causes the output unit 38 to display an error, and prompts the operator to change the temporary setting press motion PM and the transfer motion TM.

In the example of fig. 12, each standby time is set from the time when the speed changing step (S22) is performed to the time when the speed changing step is temporarily set, and the relative phase changing step (S18) for the first time is performed to be in the state of (a). In fig. 12 (a), since the operating curved surface 70 is also present in the interference region, the second relative phase change process (S18) is further executed so that the standard upper interconnecting curved surface 60 is not present before the operating curved surface 70, as in (B). In fig. 12, it is not clear that the operating curved surface 70 is not within the interference area when viewed from the front in the Y-axis direction for convenience of description, but it is clear that the operating curved surface 70 is not between the standard interference curved surface 60 and the reference surface 62 when displayed three-dimensionally as shown in fig. 8. When the state is shown in fig. 12 (B), it is determined in the determination step (S16) that there is no interference (yes in S16 of fig. 5), and the setting of the motion is terminated.

The speed changing step (S22) and the second range determining step (S24) may be repeated a plurality of times within the adjustment allowable range of each standby time. By executing the relative phase changing process (S18) each time the deceleration amount is reduced and the speed changing process (S22) is repeated, the interference can be avoided while suppressing the SPM drop, and thus the productivity can be improved.

In the above-described embodiment, the operation of the press machine 1 in which the crank shaft rotates once the press motion PM has been described, but the operation is not limited to this, and a pendulum operation, a continuous striking operation, or the like may be applied.

The present invention is not limited to the above-described embodiments, and various modifications can be made to the present invention, including substantially the same structures (structures having the same functions, methods, and results, or structures having the same objects and effects) as those described in the embodiments. Note that the present invention includes a configuration in which an immaterial part of the configuration described in the embodiment is replaced. The present invention includes a structure that achieves the same effect as or achieves the same object as the structure described in the embodiment. Note that the present invention includes a configuration in which a common general knowledge is added to the configurations described in the embodiments.

Description of the reference numerals

1. The multi-station press comprises a multi-station press, 2, a press, 4, a servo motor, 5, an encoder, 6, a slide block, 7, an upper die, 8, a lower die, 10, a conveying device, 11, a feed rod, 12, a holder, 14, a servo motor, 15, an encoder, 21, a servo press control device, 22, a servo amplifier, 25, a servo transfer control device, 26, a servo amplifier, 30, a multi-station press control device, 31, an operation part, 32, a manufacturing part, 33, a storage part, 34, a judgment part, 35, a phase adjustment part, 36, a slide block deceleration adjustment part, 37, a holder deceleration adjustment part, 38, an output part, 60, a standard upper die stem curved surface, 62, a reference surface, 70, an action curved surface, 100, a workpiece, ADV, advancing action, BPM, standard press action, BTM, standard transfer action, BTMf, standard feed action, BTMc, standard clamping action, and BTMl standard lifting action, BDG, BDGf, bdgc, standard profile, clp clamping action, DG. action profile, dwn descent action, lft lifting action, PM. punching action, rtn return action, SD. deceleration action, tdc, top dead center, TM. transfer action, tmf feed action, tmc clamping action, tml lifting action, ucl unclamp action.