Press system and method for controlling press system

Abstract

The present invention is configured so as to be capable of executing a press start process for rotating a crank shaft that is stopped at a prescribed start angle and starting a downward movement of a slide, and an interference check process for determining, when the crank shaft reaches a prescribed interference check angle, whether or not the first conveyance device is in a die interference area in which the first conveyance device interferes with a die. The press start process is executed after a prescribed delay time has elapsed after the first conveyance device has loaded a workpiece into a press device. The delay time is set on the basis of a departure time required for the first conveyance device to depart from the die interference area after loading the workpiece, and a check angle movement time taken for the crank shaft to move from the start angle to the interference check angle, and is shorter than at least the departure time.

Description

Press system and method for controlling press system

[0001] The present invention relates to a press system and a control method for a press system.

[0002] Conventionally, there is a press system that drives a slide up and down based on a predetermined press motion and also transports a workpiece while the slide moves between a feedable height and a standby height (see, for example, Patent Document 1). The feedable height is the position of the slide at which the workpiece can be transported without interfering with the upper die, and is the lower limit of the slide position at which the upper die does not interfere with the transported workpiece. The standby height is higher than the feedable height and is the highest position of the slide in the press motion.

[0003] The press system of Patent Document 1 includes a leveler feeder that transports coil material to a press device and a transport conveyor that transports workpieces formed by press working. Furthermore, in the press system of Patent Document 1, the monitoring position is set so that, to prevent interference between the workpiece transport operation and the upper die lifting and lowering operation, the slide that starts descending from the standby height and reaches the monitoring position can start decelerating at the monitoring position and stop at a stopping position higher than the maximum feed height if completion of workpiece feed is not detected.

[0004] Japanese Patent Application Laid-Open No. 2019-55426

[0005] Incidentally, in order to improve the productivity of a press system, it is preferable to start lowering the slide before the transfer of the workpiece is completed, but the transfer device of the press system may not be a transfer device that can transfer the workpiece instantaneously, like the leveler feeder or transfer conveyor used in the press system of Patent Document 1. For example, when stamping to produce a product through a stepwise process using multiple press devices in a transfer press system, the feedable height may differ due to the difference in processing time resulting from the difference between processes with long and short slide strokes.

[0006] In this case, if the conveying device is operated at a height other than the maximum feed height for a process with a long slide stroke, the slide will reach the monitoring position before the conveying device has completed its conveying operation and retreated to a position where it does not interfere with the upper die, which creates the problem that the slide will slow down or stop as a transfer press system, even if the relationship between the press devices is such that the conveying device and the upper die do not actually interfere with each other.

[0007] One possible solution to this problem would be to move the monitoring position away from the possible feed height and set it closer to the standby height, but as long as the transport device is operated at a height other than the possible feed height for processes with long slide strokes, this does not resolve the difference in possible feed height caused by the difference in processing time between processes with long and short slide strokes, and in an emergency, even if the slide begins to decelerate at the monitoring position, it may not be enough in time and the transport device may collide with the upper die. Also, even if an emergency stop is possible, it takes time to re-accelerate from that position, which may result in longer consumption of time compared to the takt time required for processing without an emergency stop.

[0008] One aspect of the present invention is a press system and a control method for a press system that can improve productivity while ensuring safety.

[0009] A press system according to one aspect of the present invention comprises a press apparatus including a crankshaft and a slide that moves up and down in response to rotation of the crankshaft and that processes a workpiece using a die attached to the slide; a first transport device that loads the workpiece into the press apparatus; and control means that controls the press apparatus and the first transport device, wherein the control means includes a press start process that rotates the crankshaft that is stopped at a predetermined start angle and starts moving the slide downward; an interference check process that determines whether or not the first transport device is in a die interference area where it will interfere with the die when the crankshaft reaches a predetermined interference check angle; a press stop process that stops the press apparatus when it is determined that the first transport device is in the die interference area; and a press stop process that stops the press apparatus when the first transport device stops moving the workpiece downward. When it is determined that the workpiece is not in a die interference area, a press process can be executed in which the press device processes the workpiece, and the press start process is executed after a predetermined delay time has elapsed after the first transport device has carried the workpiece into the press device, and the interference check angle is set to the start angle side of the interference angle based on the interference angle of the crankshaft when the die and the first transport device interfere with each other and the distance the slide moves during an emergency stop time, and the delay time is set based on a departure time required for the first transport device to leave the die interference area after carrying in the workpiece and a check angle movement time required for the crankshaft to move from the start angle to the interference check angle, and is shorter than at least the departure time.

[0010] A method for controlling a press system according to one aspect of the present invention includes a press starting step of rotating a crankshaft of a press machine stopped at a predetermined starting angle and starting to move a slide that moves up and down in accordance with the rotation of the crankshaft downward; an interference check step of determining whether a first transport device that carries a workpiece into the press machine is in a die interference area where it will interfere with a die attached to the slide when the crankshaft reaches a predetermined interference check angle; a press stopping step of stopping the press machine when it is determined that the first transport device is in the die interference area; and a press stopping step of stopping the press machine when it is determined that the first transport device is not in the die interference area. and a press process for processing the workpiece, wherein the press start process is executed after a predetermined delay time has elapsed after the first transport device has carried the workpiece into the press device, and the interference check angle is set to the start angle side of the interference angle based on the interference angle of the crankshaft when the die and the first transport device interfere with each other and the distance the slide moves during an emergency stop time, and the delay time is set based on a separation time required for the first transport device to leave the die interference area after carrying in the workpiece and a check angle movement time required for the crankshaft to move from the start angle to the interference check angle, and is shorter than at least the separation time.

[0011] According to one aspect of the present invention, the timing for starting the crankshaft is delayed from the start of the conveying device's departure based on the departure time it takes for the conveying device to leave the mold interference area after loading the workpiece and the check angle movement time it takes for the crankshaft to move from the starting angle to the interference check angle, thereby ensuring safety and improving productivity.

[0012] FIG. 1 is a schematic perspective view showing the configuration of a press system according to an embodiment of the present invention. FIG. 2 is a schematic perspective view showing the configuration of a press device according to the embodiment. FIG. 3 is a schematic perspective view showing the configuration of a robot according to the embodiment. FIG. 4 is a block diagram of the press system according to the embodiment. FIG. 5 is a diagram illustrating signals transmitted and received between devices according to the embodiment. FIG. 6 is a diagram illustrating the relationship between the angle of the crankshaft and predetermined timings in each region and in machining according to the embodiment. FIG. 7 is a diagram illustrating regions according to the embodiment. FIG. 8 is a schematic diagram illustrating interference check processing according to the embodiment. FIG. 9 is a schematic diagram illustrating robot start processing according to the embodiment. FIG. 10 is a diagram illustrating an example of a delay time setting screen according to the embodiment. FIG. 11 is a diagram illustrating an example of a precedence start condition setting screen according to the embodiment. FIG. 12 is a flowchart illustrating an example of a control method for the press system according to the embodiment. FIG. 13 is a schematic diagram illustrating an example of an optimal delay time according to the embodiment. FIG. 14 is a schematic diagram illustrating an example of a case where the delay time according to the embodiment is short. FIG. 15 is a schematic diagram illustrating an example of a case where there is no delay time according to the embodiment. FIG. 16 is a schematic diagram illustrating an example of a case where the delay time according to the embodiment is long.

[0013] In the following description, the direction in which the workpiece 120 is transported is referred to as the "transport direction" or "left-right direction." Here, the upstream side in the transport direction is defined as the left, and the downstream side in the transport direction is defined as the right. Furthermore, the direction perpendicular to the transport direction (left-right direction) in a horizontal plane is defined as the front-to-back direction, with the front side in the front-to-back direction being the front of the press system 1 and the rear side in the front-to-back direction being the rear of the press system 1. Furthermore, the direction perpendicular to the horizontal plane, i.e., the direction perpendicular to the transport direction (left-to-right direction) and the front-to-back direction, is defined as the up-to-down direction. The height of the workpiece 120 being transported when processing is being performed in the press device 300 of the press system 1 (for example, the height relative to the floor surface on which the press system 1 is installed) is referred to as the "processing height."

[0014] [Embodiment] <Press System> Fig. 1 is a schematic perspective view showing the configuration of a press system 1 according to an embodiment of the present invention. Fig. 1 also shows the workpiece transport direction, upstream, downstream, front-rear direction, and up-down direction. The press system 1 of this embodiment includes a line controller 10, a lifter 100, a horizontal feeder 200, a die press apparatus (hereinafter referred to as the "press apparatus") 300, and a robot 400 that is a transport apparatus for the workpiece 120. The lifter 100, the horizontal feeder 200, the press apparatus 300, and the robot 400 operate in conjunction with the processing operation of the press apparatus 300.

[0015] The line controller 10 is a control means that controls the entire press system 1. Details will be described later. A plurality of press apparatuses 300 are provided from upstream to downstream in the conveyance direction of the workpiece 120. The press apparatuses 300 are referred to as press apparatus P1, press apparatus P2, ..., press apparatus Pn, ... from upstream to downstream in the conveyance direction, where n is an integer of 1 or greater (n≧1).

[0016] A plurality of robots 400 are provided from upstream to downstream in the conveying direction of the workpiece 120. The robots 400 are denoted as robot R1, robot R2, ..., robot Rm, ... from upstream to downstream in the conveying direction. Here, m is an integer greater than or equal to 1 (m≧1). Note that FIG. 1 illustrates presses P1 to P5 and robots R1 to R5. The robots 400 are disposed between the presses 300 when viewed from the front of the press system 1. Note that the robots 400 do not have to be disposed between the presses 300 when viewed from above. For example, as shown in FIG. 1, the robots 400 may be disposed between the presses 300 in the conveying direction (left-right direction) and in front of the presses 300 when viewed from above. In the following description, when it is stated that the robot 400 is disposed between the presses 300, it refers to the arrangement shown in FIG. 1.

[0017] Here, when the robot 400 is disposed between the presses 300, the detailed arrangement is as follows: The robot R1 is disposed between the presses P1 and P2. In this case, as viewed from the robot R1, the press P1 is the press on the upstream side in the conveying direction, and the press P2 is the press on the downstream side. Note that, as viewed from the press P1, the robot R1 is disposed downstream in the conveying direction, and as viewed from the press P2, the robot R1 is disposed upstream. Similarly, the robot R2 is disposed between the presses P2 and P3. In this case, as viewed from the robot R2, the press P2 is the press on the upstream side in the conveying direction, and the press P3 is the press on the downstream side. Note that, as viewed from the press P2, the robot R2 is disposed downstream in the conveying direction, and as viewed from the press P3, the robot R2 is disposed upstream.

[0018] Similarly, robot Rm, which is a predetermined transport device, is disposed between press Pn, which is a front-stage press device, and press Pn+1, which is a rear-stage press device. From the perspective of robot Rm, press Pn is the upstream press device in the transport direction, and press Pn+1 is the downstream press device. Note that robot Rm is disposed downstream in the transport direction from the perspective of press Pn, and robot Rm is disposed upstream from the perspective of press Pn+1. Furthermore, robot Rm-1, which is a front-stage transport device, is the robot upstream of robot Rm, and robot Rm+1, which is a rear-stage transport device, is the robot downstream of robot Rm.

[0019] <Lifter and Horizontal Feeder> The lifter 100 holds the workpiece 120, raises the held workpiece 120 to the processing height, and waits for the workpiece 120 to be gripped by the horizontal feeder 200. The horizontal feeder 200 has an arm 240, a hand 210 provided upstream of the arm 240 in the conveying direction, a hand 220 provided downstream of the arm 240, and a table 230. The arm 240 is capable of moving in the conveying direction and in the vertical direction. The hands 210 and 220 can grip the workpiece 120 by suction using, for example, air, and can release the suction to release the workpiece 120. The table 230 is a temporary placement location for the workpiece 120 to transfer the workpiece 120 from the hand 210 to the hand 220.

[0020] The horizontal feeder 200 grips the workpiece 120 waiting at the processing height on the lifter 100 by suction, moves the hand 210 horizontally to release the suction, and places the workpiece 120 on the table 230. The hand 220 grips the workpiece 120 placed on the table 230 by suction, transports (moves) the workpiece 120 to the press device 300, specifically the press device P1, releases the suction, and places the workpiece 120 at the processing position of the press device P1 (a predetermined position of the lower die 303b described below). Note that, in the press system 1 of FIG. 1, the horizontal feeder 200 is disposed between the lifter 100 and the press device P1, but this is not limiting. For example, a robot 400 may be disposed between the lifter 100 and the press device P1, and the robot 400 may transport the workpiece 120 between the lifter 100 and the press device P1.

[0021] <Press Apparatus> The press apparatus 300 of FIG. 1 will be described with reference to FIG. 2. FIG. 2 is a schematic perspective view showing the configuration of the press apparatus 300 of this embodiment, e.g., an integral straight-side frame or C-frame type press apparatus 300. FIG. 2 also shows the conveyance direction of the workpiece 120, as well as the upstream (left), downstream (right), up-down, and down-front directions (front and back) in the conveyance direction. The press apparatus 300 includes a drive motor 304 (drive means), a transmission mechanism 306, a crankshaft 308, a connecting rod 310, a slide 312, and a bolster 322 inside and outside a housing 302. The press apparatus 300 also includes a controller 314, a memory unit 315, a display unit 316, and an input unit 318. The press apparatus 300 also includes a sensor 324, a rotary encoder 325, and a gib 326. The gib is also referred to as a guide gib or a slide guide.

[0022] The drive motor 304 is, for example, a servo-controlled servo motor, and moves the mold 303 (described later) up and down while controlling the amount and direction of rotation via a transmission mechanism 306, a crankshaft 308, and a connecting rod 310. The transmission mechanism 306 is configured to have transmission members such as gears and belts, and transmits the rotation of the motor shaft of the drive motor 304 to the crankshaft 308. A control signal to the drive motor 304 is sent from a controller 314.

[0023] The crankshaft 308 and connecting rod 310 are used to convert the rotational movement of the motor shaft transmitted by the transmission mechanism 306 into reciprocating movement (vertical movement in this embodiment). Rotation of the motor shaft rotates the crankshaft 308, and this rotation is transmitted to the connecting rod 310, one end of which is connected to the crankshaft 308, causing the connecting rod 310 to move up and down (raise and lower).

[0024] The crankshaft 308 is also provided with a rotary cam switch (not shown) that outputs an ON signal or OFF signal in response to the rotation of the crankshaft 308. The rotary cam switch outputs an ON signal or OFF signal, for example, when the rotation of the crankshaft 308 reaches a predetermined angle, in other words, at a predetermined timing during the machining operation. The timing at which the rotary cam switch outputs an ON signal (or an OFF signal) will be referred to hereinafter as "output timing." The controller 314 performs machining operations in response to the signal output from the rotary cam switch in conjunction with other devices of the press system 1.

[0025] A slide 312 is connected near the other end of connecting rod 310. As connecting rod 310 moves up and down, slide 312 moves up and down along gibs 326 on both sides of slide 312. In press device 300, a bolster 322 is disposed opposite slide 312. An upper die 303a, which is part of a die 303, is attached to the surface of slide 312 facing bolster 322 (the lower surface in this embodiment). A lower die 303b, which is paired with upper die 303a and is part of die 303, is attached to the surface of bolster 322 facing slide 312 (the upper surface in this embodiment).

[0026] A workpiece 120 as an object to be processed is placed between the upper mold 303a and the lower mold 303b, and is pressed by the upper mold 303a and the lower mold 303b, thereby performing press processing (hereinafter also simply referred to as "processing") on the workpiece 120 by the press device 300. The workpiece 120 is transported, for example, from the left (upstream) side to the right (downstream) side in FIG. 2.

[0027] Specifically, the drive motor 304 rotates under the control of the controller 314. The rotation of the drive motor 304 is transmitted to the connecting rod 310 via the transmission mechanism 306 and the crankshaft 308, causing the slide 312 to move up and down. The downward movement of the slide 312 presses the upper die 303a and the lower die 303b together, thereby pressing the workpiece 120. That is, in the press device 300, the drive motor 304, the transmission mechanism 306, the crankshaft 308, the connecting rod 310, and the slide 312 constitute a press unit. The transmission mechanism 306 is provided with a rotary encoder 325, which is a rotation speed detection means for detecting the rotation speed of the crankshaft 308. The controller 314 can detect the position of the slide 312 by detecting the rotation speed of the crankshaft 308 using the rotary encoder 325. The controller 314 can also detect the angle of the crankshaft 308 based on the detection result of the rotary encoder 325, and thus functions as an angle detection means. The angle detection means may include the rotary cam switch described above.

[0028] The sensor 324, which is a load detection means for detecting the load during processing, is a sensor, such as a load cell, for detecting the load acting on the connecting rod 310 when the press 300 presses the workpiece 120. The sensor 324 may be, for example, a strain gauge installed in the housing 302. The sensor 324 may be installed at any position on the connecting rod 310 (for example, a position near the center). Furthermore, multiple sensors 324 may be installed, and, for example, the strain on the left and right sides of the housing 302 may be detected separately, and the detected results may be added up to determine the total load. Note that in FIG. 2 , the side on which the display unit 316 is located is the front side of the press 300.

[0029] The controller 314 controls the press device 300 in accordance with various programs stored in the memory unit 315. The memory unit 315 stores a program (motion program) corresponding to each die 303 used. The display unit 316 displays data showing the state of the press device 300. The input unit 318 is used to input data necessary to operate the press device 300. The input unit 318 is used when the user inputs parameters necessary for processing. The controller 314, while following the control of the line controller 10, controls the press device 300 and other devices in the press system 1 so that they work together to perform processing.

[0030] 3 is an external perspective view showing the configuration of the robot 400 of this embodiment. The robot 400 provided in the press system 1 is, for example, an articulated robot. The robot 400 has a support base 410, a rotating unit 420, a first arm 430, a second arm 440, a third arm 450, a hand 460, a control unit 470, and a memory unit 480.

[0031] The rotating part 420 is capable of rotating in the direction of arrow Rt1. One end of the first arm 430 is connected to the rotating part 420, and the other end is connected to the second arm 440. The first arm 430 is capable of rotating in the direction of arrow Rt2. One end of the second arm 440 is connected to the first arm 430, and the other end is connected to the third arm 450. The second arm 440 is capable of rotating in the direction of arrow Rt3, and can also rotate in the direction of arrow Rt4.

[0032] One end of the third arm 450 is connected to the second arm 440, and the other end is connected to the hand 460. The third arm 450 can rotate in the direction of arrow Rt5 and can also rotate in the direction of arrow Rt6. The hand 460 has one end connected to the third arm 450 and the other end has a suction portion 462 that suctions the workpiece 120. The hand 460 can suction the workpiece 120 to grip the workpiece 120, or release the suction of the workpiece 120 and let go of the workpiece 120, for example, by controlling the air pressure. Note that when the workpiece 120 is being suctioned, it is also expressed as suction ON, and when the suction is released, it is also expressed as suction OFF.

[0033] Hereinafter, the act of the robot Rm transporting the workpiece 120 from the press Pn after processing therein is referred to as "unloading." Furthermore, the act of the robot Rm transporting the workpiece 120 to the press Pn+1 in order to process the workpiece 120 there is referred to as "loading." Furthermore, the series of movements of the robot Rm from starting operation from a predetermined position, unloading the workpiece 120 from the press Pn, loading the workpiece 120 into the press Pn+1, and then returning to the predetermined position is referred to as a "transport pattern." The transport pattern is determined according to the shape of the workpiece 120, the shape of the die 303, the type of processing, etc.

[0034] The control unit 470 controls the motors (not shown), cylinders (not shown), air (not shown), and the like of the robot 400. As a result, the control unit 470 controls the rotation of the rotating unit 420 in the direction of arrow Rt1, the rotation of the first arm 430 in the direction of arrow Rt2, the rotation of the second arm 440 in the direction of arrow Rt3, the rotation of the third arm 450 in the direction of arrow Rt4, and the rotation of the third arm 450 in the direction of arrow Rt5 and the direction of arrow Rt6. By performing such control by the control unit 470, the hand 460 can freely move within three-dimensional space. Furthermore, by controlling the rotation speed of these components, the control unit 470 can also move the hand 460 at a predetermined moving speed, such as moving quickly or slowly within three-dimensional space. Furthermore, the control unit 470 controls the gripping and releasing of the workpiece 120 by the hand 460.

[0035] The control unit 470 controls the position of the hand 460 using a reference three-dimensional coordinate system (e.g., x, y, z values). The three-dimensional coordinates may be any coordinate system that can specify and control a predetermined position in three-dimensional space, such as Cartesian coordinates, polar coordinates, or cylindrical coordinates, and the control unit 470 controls the attitude and speed of the robot 400 using known technology.

[0036] The memory unit 480 defines regions (hereinafter simply referred to as "regions") having a predetermined spatial shape in a three-dimensional space or a predetermined two-dimensional surface shape, and stores information about the defined regions. The defined regions are used to control the robot 400 so that it does not interfere with other structures. For example, the defined regions are regions established so that an object grasped by the robot 400, specifically the workpiece 120, does not interfere with the press apparatus 300, another robot 400, a product processed by the press apparatus 300, or an object grasped by another robot 400. Note that "interference" not only refers to collision or contact, but also includes a positional relationship that does not actually contact but affects the mutual operation. Generally, the memory unit 480 of the robot 400 can set multiple regions, for example, j regions (j≧1). In this embodiment, 10 regions (j≦10) are set and stored in the memory unit 480. Here, the multiple regions are referred to as region C1, region C2, ..., region Cj, ..., region C10, and are collectively referred to simply as region Cj. Detailed setting of region Cj will be described later.

[0037] The hand 460 grips the workpiece 120 by air suction, but is not limited to this. For example, the hand 460 may have claws, and the claws may be opened or closed to grip and release the grip of the workpiece 120. In this case, the gripping and release of the workpiece 120 may be detected by a sensor provided in the claws. Various types of sensors, such as optical and piezoelectric sensors, may be used as the sensor.

[0038] Furthermore, before activation and after completing normal operation, the robot 400 is assumed to return to a predetermined position in a predetermined posture, and the predetermined posture and predetermined position are also referred to as the home position. The control unit 470 can set the three-dimensional coordinates when the robot 400 is located at the home position as the origin (or fixed point).

[0039] 4 is a block diagram of the press system 1 of this embodiment. The line controller 10 controls the entire press system 1, and includes a calculation device 20, an input device 30, a display device 40, a storage device 50, and an interface (hereinafter referred to as I / F) board 60.

[0040] The arithmetic device 20 controls the processing of the workpiece 120 by the press device 300 and the transportation of the workpiece 120 by the robot 400 based on various signals (described below) received from the press device 300 and the robot 400 via the I / F board 60 and the area Cj. The various signals include timing signals output at various times when the press device 300 processes the workpiece 120 and timing signals output at various times when the robot 400 transports the workpiece 120. The arithmetic device 20 transmits various signals generated internally to the press device 300 and the robot 400 via the I / F board 60. Note that in the following description, the various calculations, controls, judgments, etc. performed by the arithmetic device 20 will be expressed as being performed by the line controller 10. The line controller 10, the press device 300, and the robot 400 are connected by wired or wireless communication means or by hardwire, allowing the transmission and reception of various signals.

[0041] The computing device 20 having such a configuration is configured to be able to execute a press start process that rotates the crankshaft 308, which is stopped at a predetermined start angle SA, and starts moving the slide 312 downward. The press start process is executed after a predetermined delay time has elapsed after the robot Rm-1 has carried the workpiece 120 into the press Pn.

[0042] In this embodiment, "after the workpiece is carried in" refers to after the robot Rm-1 places the workpiece 120 between the upper die 303a and the lower die 303b of the press device Pn and turns off the suction of the hand 460. Specifically, after the hand 460 of the robot Rm-1 turns off the suction, the arithmetic device 20 starts counting the delay time when it confirms that the control unit 470 of the robot Rm-1 has turned off the suction signal.

[0043] It should be noted that "after the workpiece is carried in" is not limited to the timing described above. For example, "after the workpiece is carried in" may be after the hand 460 holding the workpiece 120 enters the die interference area K, or after the workpiece 120 is placed between the upper die 303a and the lower die 303b of the press device Pn. Specifically, various arbitrary timings can be used as long as they are between the time when the hand 460 holding the workpiece 120 enters the die interference area K and the time when the hand 460 leaves the die interference area K.

[0044] In this embodiment, "entering the mold interference area" means that the hand 460 passes through area C2 or area C3, which will be described later, toward the mold interference area K. Also, "leaving the mold interference area" means that the hand 460 passes through area C2 or area C3, which will be described later, from the mold interference area K.

[0045] The delay time is set based on the departure time required for the robot Rm-1 to leave the die interference area K of the press device Pn after loading the workpiece 120, and the check angle movement time required for the crankshaft 308 to move from the starting angle SA to the interference check angle ICA, and is at least shorter than the departure time.

[0046] In this embodiment, the "detachment time" refers to the time it takes for the hand 460 to leave the mold interference area K and pass through the area C2 or C3 after releasing the suction.

[0047] 13 is a schematic diagram showing an example of a preferred delay time in this embodiment. The delay time is preferably set so that the crankshaft 308 reaches the interference check angle ICA after the robot Rm-1 (hand 460) leaves the die interference area K of the press apparatus Pn. Furthermore, as shown in FIG. 13, the delay time is more preferably set so that the crankshaft 308 reaches the interference check angle ICA at the same time that the robot Rm-1 leaves the die interference area K of the press apparatus Pn.

[0048] 13 and Figures 14 to 16 described below are graphs with the vertical axis representing speed and the horizontal axis representing time, with the upper part of the graph representing changes in the movement speed of robot Rm-1 and the lower part of the graph representing changes in the rotational speed of crankshaft 308 of press apparatus Pn. Time Tr1 is the time when robot Rm-1 starts to leave the die interference area K of press apparatus Pn, and time Tr2 is the time when robot Rm-1 leaves the die interference area K of press apparatus Pn.

[0049] Furthermore, time Tp1 is the time when the crankshaft 308 of the press Pn, which is waiting at the starting angle SA, begins to start, time Tp2 is the time when the crankshaft 308 of the press Pn reaches the interference check angle ICA, and time Tp3 is the time when the crankshaft 308 of the press Pn reaches the interference angle IA.

[0050] The speed change indicated by the dashed line in the lower part of the graph in FIG. 13 from time Tp2 to time Tp3 indicates the speed change when the press Pn is stopped.

[0051] As described above, it is more preferable that the delay time be set so that the crankshaft 308 reaches the interference check angle ICA at the same time that the robot Rm-1 leaves the die interference area K of the press device Pn. In this embodiment, the optimum delay time is calculated by the time difference between the departure time and the check angle movement time, that is, by subtracting the check angle movement time from the departure time.

[0052] Note that the delay time is not limited to the time difference between the departure time and the check angle movement time, as long as it is set based on the departure time and the check angle movement time. For example, the time it takes for the robot Rm-1 to reach the interference check angle ICA may be set as 100%, and the percentage of the time it takes for the crankshaft 308 to reach the interference check angle ICA may be calculated. In other words, it is most preferable to set the delay time so that both the robot Rm-1 and the crankshaft 308 of the press Pn can pass through the interference check angle ICA at the highest speed and so that the crankshaft 308 of the press Pn can start the latest.

[0053] FIG. 14 is a schematic diagram illustrating an example of a case where the delay time in this embodiment is short. For example, as shown in FIG. 14 , if the delay time is shorter than the example shown in FIG. 13 , the time Tp2 at which the crankshaft 308 of the press Pn reaches the interference check angle ICA occurs before the time Tr2 at which the robot Rm-1 leaves the die interference area K of the press Pn. Therefore, the crankshaft 308 reaches the interference check angle ICA before the robot Rm-1 leaves the die interference area K of the press Pn. As a result, as described below, the calculation device 20 stops the press Pn once and then restarts the press Pn. In this case, the shaded portion in FIG. 14 represents a delay in takt time, resulting in reduced productivity.

[0054] FIG. 15 is a schematic diagram showing an example of a case where there is no delay time according to this embodiment. Also, as shown in FIG. 15, even if there is no delay time and the crankshaft 308 of the press Pn is started at the same time as the robot Rm-1 is started, the calculation device 20 will stop the press Pn once after the crankshaft 308 of the press Pn passes the interference check angle ICA and then restart the press Pn after time Tr2. Therefore, in this case as well, the shaded area in FIG. 15 represents a delay in the takt time, resulting in reduced productivity.

[0055] Fig. 16 is a schematic diagram showing an example of a case where the delay time in this embodiment is long. On the other hand, as shown in Fig. 16, when the delay time is longer than the example shown in Fig. 13, the time Tp2 at which the crankshaft 308 of the press Pn reaches the interference check angle ICA is later than the time Tr2 at which the robot Rm-1 leaves the die interference area K of the press Pn, so after the calculation device 20 has stopped the press Pn, it will not restart the press Pn.

[0056] However, it takes time for the crankshaft 308 to reach its maximum speed after it is started, and the robot Rm-1 leaves the die interference area K of the press device Pn before that time occurs, so there is waste compared to the optimal start-up time Tp1', and the shaded area shown in FIG. 16, i.e., the time t, occurs as a delay in the takt time, resulting in a decrease in productivity.

[0057] Furthermore, by setting the delay time so that the crankshaft 308 reaches the interference check angle ICA at the same time that the robot Rm-1 leaves the die interference area K of the press Pn, acceleration of the crankshaft 308 of the press Pn begins before the interference angle IA, allowing the crankshaft 308 of the press Pn, and therefore the die 303, to enter the interference area of ​​the crankshaft 308 (an area other than the area outside the robot interference area described below) at top speed. This reduces the time it takes for the crankshaft 308 (die 303) of the press Pn to move through the interference area by half the acceleration time, compared to waiting at the very edge of the interference angle IA and restarting from there. Therefore, the timing at which the subsequent robot Rm enters to remove the workpiece 120 can be advanced, thereby shortening the cycle time of the entire press system 1.

[0058] For this reason, it is preferable that the delay time be set so that the crankshaft 308 reaches the interference check angle ICA at the same time that the robot Rm-1 leaves the die interference area K of the press device Pn.

[0059] 8 is a schematic diagram showing the interference check process of this embodiment. The system is configured to be able to execute the interference check process that determines whether the first transfer device (in this embodiment, robot Rm-1) is in a mold interference area K where it interferes with the mold 303 when the crankshaft 308 reaches a predetermined interference check angle ICA. As shown in FIG. 8, the interference check angle ICA is set closer to the starting angle SA than the interference angle IA of the crankshaft 308 when the mold 303 and robot Rm-1 interfere with each other and based on the distance that the slide 312 moves during the sudden stop time.

[0060] The interference angle IA is the angle of the crankshaft 308 corresponding to the lower limit of the position of the slide 312 at which the upper die 303a of the die 303 does not interfere with the hand 460 of the robot Rm-1.

[0061] Specifically, the interference check angle ICA is set from the interference angle IA and the angular displacement of the crankshaft 308 that corresponds to the distance traveled by the slide 312 during the sudden stop time. In this embodiment, the "sudden stop time" refers to the time required from when the calculation device 20 transmits a stop signal (described later) to the press apparatus Rn, when the press apparatus Rn starts to stop, until the crankshaft 308, and therefore the slide 312, stop moving.

[0062] The distance that the slide 312 moves during the sudden stop time is calculated based on the stopping distance (the distance that moves during the time it takes from the start of deceleration to the stop) which is found from the area of ​​a triangle formed by connecting the three points of the rotational speed of the crankshaft 308 at time Tp2, time Tp3, and time Tp2, as shown in FIG. 13, and the distance that moves during the processing delay time from when the calculation device 20 transmits the stop signal to when the control starts.

[0063] For example, if the rotation speed of press apparatus 300 is 60 SPM, the sudden stop time is 22 / 100 seconds (the time taken from the start of deceleration to the stop is 20 / 100 seconds, and the processing delay time is 2 / 100 seconds), and the interference angle IA is 90 degrees, the angular displacement of crankshaft 308, which corresponds to the distance traveled by slide 312 during the sudden stop time, is 43.2 degrees, and interference check angle ICA is set to 46.8 degrees, which is closer to starting angle SA than interference angle IA by the amount of 43.2 degrees, which is the angular displacement of crankshaft 308.

[0064] The above-described rotation speed, sudden stop time, and interference angle IA are merely examples, and may take various values ​​depending on the specifications of the press apparatus 300. The interference check angle ICA may be set to a value that includes a safety margin of several degrees in addition to the angular displacement of the crankshaft 308, taking into account operational errors.

[0065] Furthermore, the arithmetic device 20 is configured to be able to execute a press stop process that stops the press 300 (the press Pn in this embodiment) when it is determined in the interference check process that the robot Rm-1 is in the die interference area K. Specifically, the arithmetic device 20 transmits an on-the-spot stop signal (described later) to the controller 314 of the press Pn, thereby stopping the operation of the press Pn.

[0066] Instead of transmitting an on-the-spot stop signal to the controller 314 of the press apparatus Pn, the calculation device 20 may decelerate and stop the press apparatus Pn by turning off the start signal, and then resume operation of the press apparatus Pn by turning on the start signal again after the interference state is resolved.

[0067] Furthermore, when it is determined in the interference check process that the robot Rm-1 is not in the die interference area K, the arithmetic device 20 is configured to be able to execute a press process that causes the press Pn to process the workpiece 120. Specifically, the arithmetic device 20 allows the press Pn to continue operating without sending an on-the-spot stop signal to the controller 314 of the press Pn.

[0068] 9 is a schematic diagram showing the robot start process of this embodiment. The calculation device 20 is configured to be able to execute the robot start process for starting the robot Rm waiting at a predetermined waiting position, and the start timing of the robot start process is set based on a predetermined advance start condition to a timing before the crankshaft 308 reaches a predetermined approach angle AA.

[0069] In this embodiment, the predetermined standby position is outside the mold interference area K, specifically, near the area C2 or the area C3, but is not limited thereto. The predetermined standby position may be, for example, the home position of the robot Rm.

[0070] In this embodiment, the approachable angle AA is the lower limit angle (for example, 300 degrees) on the machining end side of the region outside the robot interference area of ​​the crankshaft 308, which will be described later.

[0071] The start timing of the robot start processing is preferably set so that the robot Rm (hand 460) enters the mold interference area K after the crankshaft 308 reaches a predetermined enterable angle AA. Furthermore, the start timing of the robot start processing is more preferably set so that the robot Rm enters the mold interference area K at the same time that the crankshaft 308 reaches the predetermined enterable angle AA.

[0072] The advance start condition is the time (in this embodiment, the advance angle time) required for the robot Rm to enter the mold interference area K after starting. For example, if it takes 20 milliseconds for the robot Rm, which is waiting at a predetermined waiting position, i.e., is stopped, to start and enter the mold interference area K, the advance start condition is 20 milliseconds. Therefore, the calculation device 20 starts the robot Rm 20 milliseconds before the crankshaft 308 reaches the predetermined approach possible angle AA.

[0073] The input device 30 is used to input various information required to control the processing of the workpiece 120 by the press device 300 and the transportation of the workpiece 120 by the robot 400. The display device 40 displays information related to the state of the press system 1, information prompting the input of various settings for the press system 1, and various other information.

[0074] 10 is a diagram showing an example of a delay time setting screen according to the present embodiment. As shown in FIG. 10 , the display device 40 is configured to display a delay time setting screen 42. The delay time setting screen 42 includes a press apparatus list display area 42a, a pre-start ON / OFF setting area 42b, and a delay time setting area 42c. The press apparatus list display area 42a displays a list of the press apparatuses 300 in the press system 1.

[0075] The advance activation ON / OFF setting area 42b is configured to allow setting of whether or not advance activation is to be performed. When advance activation is performed, the line controller 10 starts the press Pn after a predetermined delay time has elapsed after the robot Rm-1 has loaded the workpiece 120 into the press Pn. On the other hand, when advance activation is not performed, the line controller 10 starts the press Pn after the robot Rm-1 has loaded the workpiece 120 into the press Pn and has left the die interference area K. In other words, the advance activation ON / OFF setting area 42b is an area where it is possible to set whether or not to perform press start processing.

[0076] The delay time setting area 42c is configured to allow a predetermined delay time (e.g., 25 / 100 seconds) for the press startup process to be set. In the present embodiment, the advance start ON / OFF setting area 42b and the delay time setting area 42c are provided for each press apparatus 300 in the press apparatus list display area 42a, and therefore a different delay time can be set for each press apparatus 300.

[0077] The ON / OFF setting of the advance start and the delay time setting do not necessarily have to be set for each press device 300 .

[0078] 11 is a diagram showing an example of a prior start condition setting screen according to this embodiment. Furthermore, as shown in FIG. 11 , the display device 40 is configured to be able to display a prior start condition setting screen 44. The prior start condition setting screen 44 includes a prior start condition setting area 44a. The prior start condition setting area 44a allows a setting value for the prior start condition to be set. For example, if the prior start condition is a time as described above, the time (e.g., 20 milliseconds) can be set.

[0079] In addition, the advance start condition setting area 44a may be configured to allow the user to select any advance start condition from a plurality of advance start conditions such as time and angle.

[0080] The storage device 50 is used to store various information required for controlling the processing of the workpiece 120 by the press device 300 and the transport of the workpiece 120 by the robot 400. The line controller 10 receives information about the multiple areas Cj stored in the storage unit 480 of the robot 400 via the I / F board 60 in advance before processing by the press system 1 is started, and stores the information in the storage device 50.

[0081] <Various Signals> FIG. 5 is a diagram illustrating signals transmitted and received between the devices of this embodiment.

[0082] (Signals Transmitted from the Line Controller 10 to the Press 300) The line controller 10 transmits a start signal and a stop signal to the controller 314 of the press 300. The start signal is a signal for starting the press 300, in other words, a signal for starting processing of the workpiece 120. The stop signal is a signal for stopping the press 300 in various situations, and includes, for example, an emergency stop signal, a stop-on-the-spot signal, and a cycle stop signal. The emergency stop signal is a signal for moving each device to a position where safety can be ensured and then cutting off power from the drive motor, etc., to stop the device. The stop-on-the-spot signal is a signal for stopping each device while maintaining it in the position it was in when the signal was output (i.e., on the spot), and includes the interlock of the press 300, which will be described later. The cycle stop signal is a signal for stopping each device during continuous operation by returning it to its home position after completing one cycle of operation of each device. Note that the number of stop signals is not limited to these, and may be fewer or more.

[0083] (Signals transmitted from the press device 300 to the line controller 10) FIG. 6 is a diagram showing the relationship between the angle of the crankshaft 308 and the predetermined timing in each region and in machining in this embodiment. In FIG. 6, top dead center and bottom dead center are indicated by black circles, and the start and end of machining are indicated by white circles. The start position region is indicated by hatching with diagonal lines that slope upward to the right, and the region outside the robot interference area is indicated by diagonal lines that slope downward to the right. Note that part of the region outside the robot interference area also overlaps with the start position region. The bottom dead center region is indicated by horizontal lines, and the machining region is indicated by vertical lines. Note that part of the machining region also overlaps with the bottom dead center region.

[0084] The controller 314 of the press 300 transmits a start position signal, a bottom dead center (lowest position) signal, a robot interference area out-of-area signal, and an interference check position signal to the line controller 10 (press-side transmission process). The start position signal is a signal indicating the position of the slide 312 when processing starts, in other words, the angle of rotation of the crankshaft 308 (start angle SA in this embodiment). The start position signal is ON, for example, in the range of 350 degrees to 10 degrees. The controller 314 of the press 300 transmits the start position signal to the line controller 10 when the angle of the crankshaft 308 reaches a predetermined angle (start angle SA) at which processing starts. The start position signal may be ON when the crankshaft 308 reaches an angle corresponding to the start position, and OFF at other angles.

[0085] In this embodiment, the starting angle SA is the top dead center, but is not limited to this. The starting angle SA can be any angle within the starting position range (for example, in the range of 350 degrees to 10 degrees).

[0086] The bottom dead center signal is a signal indicating that the crankshaft 308 has reached the bottom dead center. The bottom dead center signal may be turned ON when the crankshaft 308 reaches an angle corresponding to the bottom dead center, and turned OFF at other angles. The bottom dead center signal is turned ON in the range of 175 degrees to 185 degrees, for example.

[0087] The robot interference area outside signal indicates that the press 300 is outside the area where it interferes with the robot 400. The processing of the press 300 is set by a program, and the angle of the crankshaft 308 at which processing starts (hereinafter referred to as the "processing start angle") and the angle of the crankshaft 308 at which processing ends (hereinafter referred to as the "processing end angle") are set in advance. The range from the processing start angle to the processing end angle is called the "processing angle" (or "processing area"). Processing angles range, for example, from 90 degrees to 270 degrees, or from 120 degrees to 240 degrees, etc. Within the processing angle, the press 300 processes the workpiece 120, so the robot 400 cannot enter the area of ​​the press 300. Furthermore, the hand 460 cannot enter the mold unless there is a space between the lower mold 303b and the upper mold 303a that is at least equal to the height of the hand 460 and the workpiece 120. As described above, the controller 314 of the press apparatus 300 detects the angle of the crankshaft 308 and transmits a robot interference area outside signal based on the detected angle. The robot interference area outside signal may be ON when the crankshaft 308 is outside the robot interference area (e.g., between 300 degrees and 60 degrees) and OFF when the crankshaft 308 is within the robot interference area (e.g., between 60 degrees and 300 degrees).

[0088] The interference check position signal is a signal indicating that the crankshaft 308 has reached a predetermined interference check angle ICA. The interference check position signal may be turned ON when the angle of the crankshaft 308 reaches the predetermined interference check angle ICA, and turned OFF at other angles. The interference check position signal is turned ON, for example, in the range of 30 degrees to 330 degrees.

[0089] (Signals Transmitted from Line Controller 10 to Robot 400) The line controller 10 transmits a start signal, a stop signal, a C1 entry permission signal, a Cj entry permission signal, and so on to the control unit 470 of the robot 400 (control means side transmission process). The start signal is a signal for starting the robot 400, in other words, a signal for starting the transport of the workpiece 120. The stop signal is a signal for stopping the robot 400 in various situations, and includes, for example, an emergency stop signal, a stop signal on the spot, a cycle stop signal, and so on. Note that the stop signals are similar to the stop signals of the press device 300, and therefore a description thereof will be omitted.

[0090] The C1 entry permission signal, ..., Cj entry permission signal, ... are signals corresponding to the areas C1, ..., Cj, ..., and in this embodiment, there are 10 signals (1≦j≦10). The Cj entry permission signal is a signal that indicates whether or not the robot 400 is permitted to enter an area Cj (described later). For example, it may be ON when entry into the area Cj is permitted and OFF when entry into the area Cj is prohibited. Based on signals input from the press device 300 and the robot 400, the line controller 10 sets all of the C1 entry permission signal, ..., Cj entry permission signal, ... to ON or OFF and outputs them to the robot 400.

[0091] (Signals Transmitted from Robot 400 to Line Controller 10) The control unit 470 of the robot 400 transmits a C1 outside interference area signal, ..., a Cj outside interference area signal, ..., a suction signal, and a conveying signal to the line controller 10 (conveyance device side transmission process). The control unit 470 of the robot 400 can determine whether the hand 460 is outside the area Cj based on the coordinates of the hand 460 and the multiple areas Cj stored in the memory unit 480 of the robot 400. The control unit 470 of the robot 400 transmits a Cj outside interference area signal depending on whether the hand 460 is outside the area Cj. The Cj outside interference area signal may be ON (outside the interference area) when the hand 460 is outside the area Cj, and OFF (inside the interference area) when the hand 460 is inside the area Cj, for example. In relation to the interference area and the hand 460, the interference area is an area in which the workpiece 120 does not interfere with the mold 303 attached to the press device 300, other workpieces 120, or other robots 400, so the area changes depending on the size of the workpiece 120 to be processed, and the operable area of ​​the hand 460 holding the workpiece 120 also changes depending on the size of the workpiece.

[0092] The suction signal is a signal indicating that the hand 460 of the robot 400 has sucked and gripped the workpiece 120, and may be ON when the workpiece 120 has been sucked and OFF when the workpiece 120 has not been sucked. The transporting signal is a signal indicating that the hand 460 of the robot 400 has not released the suction after sucking the workpiece 120, in other words, that the workpiece 120 is being gripped and transported. The transporting signal may be ON when the workpiece 120 is being transported and OFF when the workpiece 120 is not being transported, for example.

[0093] <Setting Multiple Areas> FIG. 7 is a diagram illustrating the areas of this embodiment, and is a schematic diagram of a portion of the press system 1 viewed from above. FIG. 7 also shows the transfer direction and the front-to-rear direction. In FIG. 7, the press system 1 is arranged in the following order from the upstream side in the transfer direction of the workpiece 120: robot Rm-1, press Pn, robot Rm, press Pn+1, and robot Rm+1. Here, we will explain the area Cj that is set to control the transfer of robot Rm. Therefore, from the perspective of robot Rm, press Pn can be said to be the press apparatus in the preceding stage, and press Pn+1 can be said to be the press apparatus in the following stage.

[0094] In this embodiment, ten regions C1 to C10 are set to control the transfer of the robot Rm, which transfers the workpiece 120 during processing by the press apparatus 300. Regions C1 to C5 are set to avoid interference between the robot Rm and an upstream device, i.e., the press apparatus Pn or the robot Rm-1. Regions C6 to C10 are set to avoid interference between the robot Rm and a downstream device, i.e., the press apparatus Pn+1 or the robot Rm+1.

[0095] The ten regions C1 to C10 also include regions limited by the specifications of the press apparatus 300 and regions limited by the specifications of the robot 400. For example, when the press apparatus 300 processes the workpiece 120, dies 303 of various sizes are used, and the region Cj includes regions set according to the size of the die 303. The controller 314 of the press apparatus 300 may detect the size of the die 303 based on an input from the display unit 316 of the press apparatus 300. The press apparatus 300 may also be provided with means for detecting the size of the die 303, and the controller 314 may detect the size of the die 303 based on the detection results.

[0096] The operation of the robot 400 is limited depending on the size of the mold 303 attached to the press apparatus 300. For example, when a small mold 303 is used, the hand 460 of the robot 400 may be able to enter a predetermined position, but when a large mold 303 is used, the hand 460 may not be able to enter the same predetermined position. In FIG. 7 , the area corresponding to the smallest mold 303 among the molds 303 used in the press apparatus 300 is indicated by vertical hatching as the mold interference area K1. Furthermore, the area corresponding to the largest mold 303 among the molds 303 used in the press apparatus 300, in other words, the size of the slide 312, is indicated by horizontal hatching as the mold interference area K2. In FIG. 7 , the mold interference area K2 partially overlaps with the mold interference area K1, but it also includes the mold interference area K1. When there is no need to particularly distinguish between K1 and K2, they are referred to as the "mold interference area K."

[0097] 7, an area provided to prevent the robots 400 from interfering with each other in accordance with the range of motion of the robots 400 is shown as a robot interference area L, hatched with a diamond lattice. The robot interference area L is provided not only to prevent interference between the robots 400 but also to prevent collisions between the robot 400 and the workpiece 120. Note that even if the length of the mold interference area K1 in the transport direction is shorter than the length of the robot interference area L in the transport direction, the robot interference area L cannot be made any shorter, and is an area that does not depend on the size of the mold 303.

[0098] 7, the portion Q indicated by the hatching with an upward sloping line corresponds to the distance (or time) required for the robot Rm to actually stop after receiving the stop signal. The portion Q is provided with a width q in the conveyance direction. The portion Q is set based on the movement speed of the robot Rm, the time from receiving the stop signal until the robot Rm stops, etc., in other words, the operation of the robot Rm.

[0099] Based on the above, the areas C1 to C10 are set in the storage unit 480 of the robot Rm as follows.

[0100] [Area C1, the first area] This is an area set so that the robot Rm does not interfere with the slide 312 of the press device Pn, and is set as a surface (wall) that intersects the conveying direction when viewed from above, based on the mold interference area K2 and part Q of the press device Pn.

[0101] [Second Area C2] This area is set so that the robot Rm does not interfere with the die 303 of the press Pn, and is set as a plane (wall) that intersects with the conveyance direction and a plane (wall) that is parallel to the conveyance direction when viewed from above, based on the die interference area K2 of the press Pn. Area C2 is set corresponding to the case where the die 303 is the largest size, that is, the size of the slide 312.

[0102] [Second Area C3] This area is set so that the robot Rm does not interfere with the die 303 of the press Pn, and is set as a plane (wall) that intersects with the conveyance direction and a plane (wall) that is parallel to the conveyance direction when viewed from above, based on the die interference area K1 of the press Pn. Area C3 is set to accommodate cases where the die 303 is small in size. Either area C2 or area C3 is used depending on the size of the die 303.

[0103] [Third area: Area C4] This is an area set up so that robot Rm and robot Rm-1 do not interfere with each other, and is set up as a surface (wall) that intersects with the conveying direction when viewed from above, based on the robot interference area L between robot Rm and robot Rm-1.

[0104] [First Region C5] This region is set so that the robot Rm does not interfere with the slide 312 of the press Pn, and is set as a surface (wall) that intersects with the conveyance direction when viewed from above, based on the die interference area K1 of the press Pn and the portion Q. Either region C1 or region C5 is used depending on the size of the die 303.

[0105] [Area C6, the fourth area] This area is set so that the robot Rm does not interfere with the slide 312 of the press apparatus Pn+1, and is set as a surface (wall) that intersects with the conveyance direction when viewed from above, based on the die interference area K2 of the press apparatus Pn+1 and the portion Q. Area C6 is also symmetrical to area C1 with respect to the center PCn (or PCn+1), indicated by the dashed dotted line, in the conveyance direction of the press apparatus Pn (or Pn+1).

[0106] [Area C7, the fifth area] This area is set so that the robot Rm does not interfere with the die 303 of the press apparatus Pn+1. Based on the die interference area K2 of the press apparatus Pn+1, the area is set as a plane (wall) intersecting the conveyance direction and a plane (wall) parallel to the conveyance direction when viewed from above. Area C7 is set corresponding to the largest size of the die 303, i.e., the size of the slide 312. Area C7 is also symmetrical to area C2 with respect to the center PCn (or PCn+1) of the press apparatus Pn (or Pn+1) in the conveyance direction.

[0107] [Area C8, the fifth area] This area is set so that the robot Rm does not interfere with the die 303 of the press apparatus Pn+1. Based on the die interference area K1 of the press apparatus Pn+1, the area is set as a plane (wall) intersecting the conveyance direction and a plane (wall) parallel to the conveyance direction when viewed from above. Area C8 is set to accommodate cases where the die 303 is small in size. Area C8 is also symmetrical to area C3 with respect to the center PCn (or PCn+1) of the press apparatus Pn (or Pn+1) in the conveyance direction. Either area C7 or area C8 is used depending on the size of the die 303.

[0108] [Area C9, the sixth area] This area is set so that robot Rm and robot Rm+1 do not interfere with each other, and is set as a plane (wall) that intersects with the conveyance direction when viewed from above, based on the robot interference area L between robot Rm and robot Rm+1. Area C9 is symmetrical to area C4 with respect to the center PCn (or PCn+1) of press apparatus Pn (or Pn+1) in the conveyance direction.

[0109] [Area C10, the fourth area] This area is set so that the robot Rm does not interfere with the slide 312 of the press Pn+1, and is set as a plane (wall) that intersects with the conveyance direction when viewed from above, based on the die interference area K1 and part Q of the press Pn+1. Area C10 is also symmetrical to area C5 with respect to the center PCn (or PCn+1) of the press Pn (or Pn+1) in the conveyance direction. Either area C6 or area C10 is used depending on the size of the die 303.

[0110] To summarize the above, regions C1 and C5 correspond to the first region, regions C2 and C3 correspond to the second region, and region C4 corresponds to the third region. Regions C6 and C10 correspond to the fourth region, regions C7 and C8 correspond to the fifth region, and region C9 corresponds to the sixth region. Note that the C1 outside-interference-area signal and the C5 outside-interference-area signal correspond to the first outside-region signal corresponding to the first region. The C2 outside-interference-area signal and the C3 outside-interference-area signal correspond to the second outside-region signal corresponding to the second region. The C4 outside-interference-area signal corresponds to the third outside-region signal corresponding to the third region. The C6 outside-interference-area signal and the C10 outside-interference-area signal correspond to the fourth outside-region signal corresponding to the fourth region. The C7 outside-interference-area signal and the C8 outside-interference-area signal correspond to the fifth outside-region signal corresponding to the fifth region. The C9 outside-interference-area signal corresponds to the sixth outside-region signal corresponding to the sixth region.

[0111] 7, the areas C1 to C10 stored in the memory unit 480 of the robot Rm are indicated by solid lines. Note that the areas C6 to C10 indicated by dashed lines in the press Pn are areas stored in the memory unit 480 of the robot Rm-1. Furthermore, the areas C1 to C5 indicated by dashed lines in the press Pn+1 are areas stored in the memory unit 480 of the robot Rm+1.

[0112] <Sections of the Transport Path of Robot Rm> For use in the later-described predetermined conditions set in area Cj, the following sections D1 to D4 are defined for the state of the path (hereinafter also referred to as the transport path) during transport by robot Rm. Note that, although robot Rm actually draws an efficient and free transport path to load and unload workpieces 120, for ease of explanation, in FIG. 7 the sections of robot Rm are illustrated parallel to the transport direction. The line controller 10 determines in which section robot Rm is located based on the pickup signal and transporting signal transmitted from robot Rm.

[0113] [Section D1] A section in which the robot Rm turns on its suction and moves (goes to pick up the workpiece 120) to remove the machined workpiece 120 from the press Pn. [Section D2] A section in which the robot Rm picks up the machined workpiece 120 and removes it from the press Pn (during transport). [Section D3] A section in which the robot Rm picks up the workpiece 120 and carries it into the press Pn+1 for the next processing (during transport). [Section D4] A section in which the robot Rm turns off its suction and returns to its home position after carrying the workpiece 120 into the press Pn+1.

[0114] <Conditions for Entry into Multiple Areas> Predetermined conditions are set for the area Cj. The line controller 10 prohibits the robot 400, specifically the hand 460, from entering beyond the area Cj until the predetermined conditions are met. In other words, the line controller 10 applies an interlock to prevent the robot 400 from operating if the predetermined conditions are not met. An interlock is a mechanism that prevents, for example, an electric lock from being unlocked until the predetermined conditions are met. On the other hand, the line controller 10 permits the robot 400, specifically the hand 460, to enter beyond the area Cj once the predetermined conditions are met.

[0115] The line controller 10 controls whether the robot Rm is permitted to enter the area Cj by transmitting a Cj entry permission signal to the robot Rm. From the perspective of the robot 400, there is a wall in the direction of travel (entry direction), and the robot cannot break through the wall until certain conditions are met. Once certain conditions are met, the robot can enter beyond the wall. In the following description, interference by the hand 460 of the robot Rm will be simply referred to as interference by the robot Rm.

[0116] [Conditions for Entry into Area C1] Entry into area C1 is permitted when the following conditions are met: Condition C1-1: Robot Rm-1 is outside area C9 Condition C1-2: There is a workpiece 120 inside the press Pn However, this does not apply while robot Rm is located in section D2. This is because when robot Rm is in section D2, there is no workpiece 120 inside the press Pn due to the robot Rm's own carry-out operation, and condition C1-2 is no longer met.

[0117] [Conditions for Entry into Area C2] Entry into area C2 is permitted when the following conditions are met: Condition C2-1: Robot Rm-1 is outside area C9 Condition C2-2: Press Pn is outside the robot interference area Condition C2-3: There is a machined workpiece 120 inside press Pn, except while robot Rm is located in section D2. This is for the same reason as section D2 is excluded from area C1, and the same applies hereinafter.

[0118] [Conditions for Entry into Area C3] Entry into area C3 is permitted when the following conditions are met: Condition C3-1: Robot Rm-1 is outside area C9. Condition C3-2: Press Pn is outside the robot interference area. Condition C3-3: There is a machined workpiece 120 inside press Pn. However, this does not apply while robot Rm is located in section D2.

[0119] [Conditions for Entry into Area C4] Entry into Area C4 is permitted when the following conditions are met: Condition C4-1: Robot Rm-1 is outside Area C9.

[0120] [Conditions for Entry into Area C5] Entry into area C5 is permitted when the following conditions are met: Condition C5-1: Robot Rm-1 is outside area C9, which will be described later. Condition C5-2: Workpiece 120 is present inside press Pn. However, this does not apply while robot Rm is located in section D2.

[0121] [Conditions for Entry into Area C6] Entry into area C6 is permitted when the following conditions are met: Condition C6-1: Robot Rm+1 is outside area C4. Condition C6-2: There is no workpiece 120 inside press Pn+1. However, this does not apply while robot Rm is located in section D4.

[0122] [Conditions for Entry into Area C7] Entry into area C7 is permitted when the following conditions are met: Condition C7-1: Robot Rm+1 is outside area C4. Condition C7-2: Press Pn+1 is outside the robot interference area. Condition C7-3: There is no workpiece 120 inside press Pn+1, except while robot Rm is located in section D4.

[0123] [Conditions for Entry into Area C8] Entry into area C8 is permitted when the following conditions are met: Condition C8-1: Robot Rm+1 is outside area C4 Condition C8-2: Press Pn+1 is outside the robot interference area Condition C8-3: There is no workpiece 120 inside press Pn+1 However, this does not apply while robot Rm is located in section D4.

[0124] [Conditions for Entry into Area C9] Entry into area C9 is permitted when the following conditions are met: Condition C9-1: Robot Rm+1 is outside area C4.

[0125] [Conditions for Entry into Area C10] Entry into area C10 is permitted when the following conditions are met: Condition C10-1: Robot Rm+1 is outside area C4. Condition C10-2: There is no workpiece 120 inside press Pn+1. However, this does not apply while robot Rm is located in section D4.

[0126] <Work Status> Conditions C1-2 and C5-2 in the above-described area Cj require that a work 120 is present in the press Pn. Furthermore, conditions C2-3 and C3-3 require that a machined work 120 is present in the press Pn, and conditions C6-2, C7-3, C8-3, and C10-2 require that a work 120 is not present in the press Pn+1. The line controller 10 determines the status of the work 120 as "work present," "no work present," or "machined work present" in the following manner.

[0127] The line controller 10 determines that "a workpiece is present" in the press device Pn when it receives an OFF suction signal from the robot Rm-1 within the die interference area K. The line controller 10 determines that "a workpiece is not present" in the press device Pn+1 when it receives an ON suction signal from the robot Rm+1 within the die interference area K. The line controller 10 determines that "a machined workpiece is present" in the press devices Pn and Pn+1 when it receives an ON bottom dead center signal from the press devices Pn and Pn+1.

[0128] <Interlock of Press Apparatus> In this embodiment, the line controller 10 can also use the area Cj to control whether the press apparatus 300 is permitted or prohibited from performing processing. That is, it is possible to permit or prohibit the crankshaft 308 from entering the processing angle range depending on the state of the robot 400. In other words, the line controller 10 applies an interlock to prevent the press apparatus 300 from operating if a predetermined condition is not met. The line controller 10 determines whether to permit or prohibit the press apparatus 300 from performing processing based on the size of the die 303, using the following conditions. Note that the following description will be given in terms of the relationship between the press apparatus Pn and the preceding robot Rm-1, and between the press apparatus Pn and the following robot Rm.

[0129] (For small-sized molds) Condition S1-1: Robot Rm-1 must be outside area C8. Condition S1-2: Robot Rm must be outside area C3.

[0130] (For large size molds) Condition S2-1: Robot Rm-1 must be outside area C7. Condition S2-2: Robot Rm must be outside area C2.

[0131] The line controller 10 permits the press Pn to perform machining when both conditions S1-1 and S1-2 are satisfied, or when both conditions S2-1 and S2-2 are satisfied. The line controller 10 may temporarily suspend the machining operation of the press Pn using the stop signal described with reference to FIG. 5 while prohibiting machining. The suspend position may be outside the robot interference area, regardless of the range of the start position (see FIG. 6). Alternatively, a separate machining permission signal may be provided, allowing machining when the signal is ON and prohibiting machining when the signal is OFF, and the press Pn may be temporarily suspended based on the machining permission signal.

[0132] <Transport Control of Robot Rm> From the start of continuous operation of the press system 1 to the end of continuous operation, the line controller 10 receives the start position signal, bottom dead center signal, and robot interference area out-of-zone signal described in Fig. 5 from all of the press apparatuses 300 at predetermined time intervals. Similarly, from the start of continuous operation of the press system 1 to the end of continuous operation, the line controller 10 receives the Cj interference area out-of-zone signal, suction signal, and transporting signal described in Fig. 5 from all of the robots 400 at predetermined time intervals. Furthermore, from the start of continuous operation of the press system 1 to the end of continuous operation, the line controller 10 transmits the Cj entry permission signal described in Fig. 5 to all of the robots 400 at predetermined time intervals.

[0133] In this manner, the line controller 10 receives various signals from all of the press machines 300 and all of the robots 400 constituting the press system 1. The line controller 10 then determines whether all of the robots 400 are permitted or prohibited from entering the area Cj and transmits a Cj interference area out-of-area signal to all of the robots 400. As described above, it is also possible to interlock the press machines 300. In this embodiment, the line controller 10 performs centralized management in this manner. This allows the press machines 300 to concentrate on controlling the processing of the workpiece 120, and the robots 400 to concentrate on controlling the transport of the workpiece 120. The line controller 10 centrally determines whether entry into the area Cj is permitted, and if permission is granted based on the Cj entry permission signal received from the line controller 10, the robot 400 enters the area Cj beyond which permission has been granted. Centralized management by the line controller 10 can eliminate critical paths in the processing and transport processes of the entire press system 1, or at least reduce the required time.

[0134] [Method for Controlling the Press System According to the Present Embodiment] Next, a control method for the press system 1 according to the present embodiment will be described. The control method for the press system 1 according to the present embodiment generally includes a press start step of rotating the crankshaft 308 of the press apparatus 300 (press apparatus Pn in the present embodiment), which is stopped at a predetermined start angle SA, to start moving the slide 312 downward, an interference check step of determining whether a first transfer device (robot Rm-1 in the present embodiment) that delivers the workpiece 120 to the press apparatus Pn is in a die interference area K when the crankshaft 308 reaches a predetermined interference check angle ICA, a press stop step of stopping the press apparatus Pn if it is determined that the robot Rm-1 is in the die interference area K, and a press step of causing the press apparatus Pn to machine the workpiece 120 with the die 303 if it is determined that the robot Rm-1 is not in the die interference area K.

[0135] The press start process is executed a predetermined delay time after the robot Rm-1 loads the workpiece 120 into the press Pn. The interference check angle ICA is set closer to the start angle SA than the interference angle IA based on the interference angle IA of the crankshaft 308 when the die 303 and the robot Rm-1 interfere with each other and the distance the slide 312 moves during the sudden stop time. The delay time is set based on the separation time it takes for the robot Rm-1 to leave the die interference area K after loading the workpiece 120 and the check angle movement time it takes for the crankshaft 308 to move from the start angle SA to the interference check angle ICA, and is at least shorter than the separation time.

[0136] First, as a preliminary step in a series of processes in the press system 1 of this embodiment, the robot Rm-1 carries out the workpiece 120 from the press apparatus Pn-1. Specifically, the robot Rm-1 waits at a predetermined standby position, and after the press apparatus Pn-1 processes the workpiece 120 with the die 303, the line controller 10 sends a start signal to the control unit 470 of the robot Rm-1 to start the robot Rm-1 (robot start process).

[0137] The start timing of the robot Rm-1 in the robot start process is set based on a predetermined advance start condition to a timing before the crankshaft 308 reaches a predetermined approach angle AA. In this embodiment, the advance start condition is the time it takes for the robot Rm-1 to enter the mold interference area K after starting, and the line controller 10 starts the robot Rm-1 by that amount of time before the crankshaft 308 reaches the predetermined approach angle AA.

[0138] FIG. 12 is a flowchart showing an example of a control method for the press system of this embodiment. When the control unit 470 of the robot Rm-1 receives an activation signal (entry permission signal) from the line controller 10, the robot Rm-1 enters the die interference area K of the press apparatus Pn-1, starts suction with the hand 460, and picks up the workpiece 120 (S10 in FIG. 12). The control unit 470 also turns the suction signal ON and the transport signal OFF, and starts moving the hand 460 to carry the workpiece 120 into the press apparatus Pn (S11 in FIG. 12). The control unit 470 then moves the hand 460, enters the die interference area K of the press apparatus Pn, and places the workpiece 120 between the upper mold 303a and the lower mold 303b of the press apparatus Pn.

[0139] Then, the control unit 470 ends the suction of the hand 460 and ends the delivery of the workpiece 120 (S12 in FIG. 12). The control unit 470 also turns the suction signal OFF and the transporting signal ON, causing the hand 460 to leave the die interference area K (S13 in FIG. 12). Meanwhile, when the line controller 10 confirms that the suction signal of the robot Rm-1 has been turned OFF after the delivery of the workpiece 120, it sends a start signal to the controller 314 of the press device Pn.

[0140] When a start signal is input from the line controller 10, the controller 314 of the press apparatus Pn starts counting a predetermined delay time (S1 in FIG. 12). After the predetermined delay time has elapsed, the controller 314 rotates the crankshaft 308, which is stopped at a predetermined start angle SA, to start moving the slide 312 downward (S2 in FIG. 12: press start process). After that, the crankshaft 308, which has started to rotate, reaches a predetermined interference check angle ICA (S3 in FIG. 12). When the crankshaft 308 reaches the predetermined interference check angle ICA, the controller 314 sends an interference check position signal to the line controller 10.

[0141] When the line controller 10 confirms that the crankshaft 308 has reached the predetermined interference check angle ICA, it determines whether or not the robot Rm-1 is in the die interference area K (S4 in FIG. 12: interference check step). If the line controller 10 determines that the robot Rm-1 is in the die interference area K (YES in S4 in FIG. 12), it sends a stop signal to the controller 314 of the press apparatus Pn to stop the press apparatus Pn (S5 in FIG. 12: press stop step). Thereafter, the interference check step (S4 in FIG. 12) is executed again.

[0142] On the other hand, if the line controller 10 determines that the robot Rm-1 is not in the die interference area K (NO in S4 of FIG. 12), it causes the press machine Pn to process the workpiece 120 with the die 303. When the angle of the crankshaft 308 of the press machine Pn passes the angle at which processing starts, the upper die 303a and the lower die 303b begin pressing the workpiece 120, and press processing of the workpiece 120 begins (S6 of FIG. 12: press process). Thereafter, when the angle of the crankshaft 308 passes the bottom dead center and passes the angle at which processing ends, press processing ends (S7 of FIG. 12). The series of processes of the press system 1 according to this embodiment are executed through the above steps.

[0143] Furthermore, as a later stage of the series of processes in the press system 1 of this embodiment, the robot Rm carries out the workpiece 120 from the press apparatus Pn. Specifically, the robot Rm waits at a predetermined standby position, and after the press apparatus Pn processes the workpiece 120 with the die 303, the line controller 10 sends a start signal to the control unit 470 of the robot Rm to start the robot Rm (robot start process).

[0144] The start timing of the robot Rm in the robot start process is set to a timing before the crankshaft 308 reaches a predetermined approach angle AA based on a predetermined advance start condition. In this embodiment, the advance start condition is the time it takes for the robot Rm to enter the mold interference area K after starting, and the line controller 10 starts the robot Rm by that amount of time before the crankshaft 308 reaches the predetermined approach angle AA.

[0145] Then, when a start signal (entry permission signal) is input from the line controller 10, the control unit 470 of the robot Rm enters the die interference area K of the press device Pn, starts suction of the hand 460, and picks up the workpiece 120 (S10 in FIG. 12). Thereafter, the control unit 470 turns the suction signal ON and the transporting signal OFF, and starts moving the hand 460 to carry the workpiece 120 into the press device Pn+1.

[0146] [Advantages of the Packaging Press System and the Control Method of the Press System According to the Present Embodiment] As described above, the press system 1 according to the present embodiment includes the crankshaft 308 and the slide 312 that moves up and down in accordance with the rotation of the crankshaft 308, and includes the press device 300 (in the present embodiment, the press device Pn) that processes the workpiece 120 using the die 303 attached to the slide 312, the first conveyance device (robot 400, in the present embodiment, the robot Rm-1) that carries the workpiece 120 into the press device Pn, and the press device 300 (press device Pn) and the first conveyance device (robot Rm-1). The control means (line controller 10) controls the press starting process, which rotates the crankshaft 308 stopped at a predetermined starting angle SA and starts moving the slide 312 downward, and the control means (line controller 10) performs an interference check process to determine whether or not the first transfer device (robot Rm-1) is in a die interference area K where it interferes with the die 303 when the crankshaft 308 reaches a predetermined interference check angle ICA. When it is determined that the first transport device (robot Rm-1) is not in the die interference area K, a press stop process is executed to stop the press device 300 (press device Pn), and when it is determined that the first transport device (robot Rm-1) is not in the die interference area K, a press process is executed to make the press device 300 (press device Pn) process the workpiece 120. The press start process is executed after a predetermined delay time has elapsed after the first transport device (robot Rm-1) has carried in the workpiece 120 to the press device 300 (press device Pn), and the interference check angle ICA is set to the value obtained by the distance between the die 303 and the first transport device. The delay time is set to be closer to the starting angle SA than the interference angle IA based on the interference angle IA of the crankshaft 308 when the first transport device (robot Rm-1) interferes with the mold interference area K and the distance that the slide 312 moves during the sudden stop time, and the delay time is set based on the separation time it takes for the first transport device (robot Rm-1) to separate from the mold interference area K after carrying in the workpiece 120 and the check angle movement time it takes for the crankshaft 308 to move from the starting angle SA to the interference check angle ICA, and is shorter than at least the separation time.

[0147] Furthermore, by having such a configuration, the press system 1 according to this embodiment can delay the timing of starting the crankshaft 308 based on the departure time it takes for the first transport device (robot Rm-1) to leave the die interference area K after carrying in the workpiece 120 and the check angle movement time it takes for the crankshaft 308 to move from the starting angle SA to the interference check angle ICA. This reduces the number of times that the first transport device (robot Rm-1) is determined to be in the die interference area K during the interference check process, except in the event of an abnormality, even if the interval between the interference check angle ICA and the interference angle IA is increased, thereby providing the advantage of being able to improve productivity while ensuring safety.

[0148] Furthermore, the press system 1 according to this embodiment is configured to be able to execute an interference check process for determining whether or not the first transport device (robot Rm-1) is in a die interference area K where it interferes with the die 303 when the crankshaft 308 reaches a predetermined interference check angle ICA, and the interference check angle ICA is determined to be closer to the starting angle SA than the interference angle IA based on the interference angle IA of the crankshaft 308 when the die 303 and the first transport device (robot Rm-1) interfere with each other and the distance that the slide 312 moves during the sudden stop time. By setting the angle SA at the start angle SA, when the crankshaft 308 starts to rotate from the starting angle SA and reaches the interference check angle ICA, if the first conveyance device (robot Rm-1) is still in the mold interference area K where it interferes with the mold 303, deceleration starts at the interference check angle ICA, and the crankshaft 308, and therefore the slide 312, can be stopped at an angle just before the interference angle IA, which has the advantage of preventing the slide 312 from colliding with the first conveyance device (robot Rm-1).

[0149] Furthermore, in the press system 1 according to this embodiment, the delay time is set so that the crankshaft 308 reaches the interference check angle ICA after the first transport device (robot Rm-1) leaves the die interference area K. By providing such a configuration, under normal circumstances, it is no longer determined that the first transport device (robot Rm-1) is in the die interference area K, and the crankshaft 308 does not need to be slowed down or stopped. In other words, the slide 312, which has reached its maximum speed after a run-up, can maintain that speed while performing press working on the workpiece 120, which has the advantage of ensuring safety while improving productivity.

[0150] Furthermore, the press system 1 according to this embodiment includes a second transfer device (robot 400, in this embodiment, robot Rm) that carries out the workpiece 120 from the press apparatus 300 (press apparatus Pn). The control means (line controller 10) is configured to execute a robot start process that starts the second transfer device (robot Rm) waiting at a predetermined waiting position. The start timing of the robot start process is set based on predetermined advance start conditions to a timing before the crankshaft 308 reaches a predetermined approach angle AA. This configuration allows the second transfer device (robot Rm) to be started without waiting for the crankshaft 308 to reach the predetermined approach angle AA. This reduces the time required for the second transfer device (robot Rm) to enter the die interference area K and carry out the workpiece 120, thereby improving productivity.

[0151] Furthermore, in the press system 1 according to this embodiment, the advance start condition is the time it takes for the second transport device (robot Rm) to enter the die interference area K after it has started. This configuration has the advantage that it can be adapted to changes in the rotation speed of the crankshaft 308 or the moving speed of the slide 312 without changing the set value of the advance start condition.

[0152] For example, depending on the rotation speed of the crankshaft 308, the second transfer device (robot Rm) may enter the die interference area K before the crankshaft 308 reaches the entry angle AA, causing the press apparatus 300 (press apparatus Pn) to be interlocked, or the second transfer device (robot Rm) may enter the die interference area K with a delay after the crankshaft 308 passes the entry angle AA (for example, around the time the crankshaft 308 stops). Therefore, if the advance start condition is a predetermined angle in the region outside the robot interference area of ​​the crankshaft 308, it is necessary to set an appropriate setting value for the advance start condition each time depending on the rotation speed of the crankshaft 308. However, if the advance start condition is the time it takes for the second conveying device (robot Rm) to enter the mold interference area K after it has started, then the second conveying device (robot Rm) is started earlier than the timing at which the crankshaft 308 passes the entry angle AA by the time it takes for the second conveying device (robot Rm) to enter the mold interference area K after it has started, so even if the rotation speed changes, the same advance start condition setting value can be used to respond.

[0153] [Modifications] While the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments.

[0154] For example, in the above embodiment, the delay time is set so that the crankshaft 308 reaches the interference check angle ICA after the first transport device (robot Rm-1) leaves the mold interference area K, but this is not limiting. Any of various delay times can be used as long as the delay time is at least shorter than the departure time.

[0155] In the above-described embodiment, the press system 1 includes a second transfer device (robot 400, robot Rm in this embodiment) that carries out the workpiece 120 from the press apparatus 300 (press apparatus Pn), and the control means (line controller 10) is configured to execute a robot start process that starts the second transfer device (robot Rm) waiting at a predetermined waiting position. The start timing of the robot start process is set based on predetermined advance start conditions to a timing before the crankshaft 308 reaches a predetermined approach angle AA. However, this is not limited to this. The press system 1 does not necessarily have to include a second transfer device (robot 400, robot Rm in this embodiment). For example, the press system 1 may have a first transfer device (robot Rm-1) that carries out the workpiece 120 from the press apparatus 300 (press apparatus Pn). Furthermore, the control means (line controller 10) does not necessarily have to be configured to execute a robot start process. Furthermore, the start timing of the robot start process may be set to coincide with or after the crankshaft 308 reaches a predetermined approach angle AA.

[0156] In the above-described embodiment, the advance start condition has been described as the time required for the second transport device (robot Rm) to enter the mold interference area K after starting, but is not limited to this. The advance start condition does not have to be the time required for the second transport device (robot Rm) to enter the mold interference area K after starting. For example, the advance start condition may be a predetermined angle of the crankshaft 308 in an area outside the robot interference area, or a predetermined height of the slide 312.

[0157] In the above-described embodiment, the press 300 is configured to operate in a so-called full stroke, in which the crankshaft 308 repeatedly rotates from top dead center to bottom dead center and back to top dead center. However, this is not limited to this, and the press 300 does not have to operate in a full stroke. For example, instead of top dead center, the press 300 may perform a reverse operation in which the crankshaft 308 is rotated in the reverse direction to return to the starting angle SA, after processing is completed, by setting a starting angle SA that does not cause interference with the robot 400. Alternatively, the press 300 may perform a pendulum operation in which the crankshaft 308 rotates from one of two starting angles SA, separated by a predetermined angle in the forward and reverse directions, through bottom dead center to the other, and then rotates back and forth between the two starting angles SA. Furthermore, while the crankshaft 308 is configured to rotate clockwise (forward), this is not limited to this, and the crankshaft 308 may also rotate counterclockwise (reverse).

[0158] In the above-described embodiment, the press system 1 is configured to include an articulated robot as a transport device for the workpiece 120, but this is not limiting. For example, the press system 1 may also be configured to transport the workpiece 120 using a robot that is not an articulated robot.

[0159] In the above-described embodiment, the line controller 10 controls the transport of the robot 400 using a plurality of areas defined in the robot 400, but this is not limiting. In addition to the areas stored in the robot 400, a plurality of areas may be defined in the storage device 50 of the line controller 10, and the plurality of areas stored in the storage device 50 may be used to control the transport of the robot 400.

[0160] The ON and OFF states of the various signals in the above-described embodiment may be reversed. For example, a signal may be ON when the hand 460 is adsorbing the workpiece 120, but may instead be OFF, or may be OFF when the hand 460 is not adsorbing the workpiece, but may instead be ON. The same applies to other signals.

[0161] In the above-described embodiment, the press system 1 may use other sensors to detect the presence or absence of the workpiece 120 at each stage of loading and unloading by the robot 400 .

[0162] In the embodiment described above, the workpiece 120 is conveyed from left to right in FIG. 1, but the configuration of this embodiment described above can be applied even if the workpiece is conveyed from right to left.

[0163] In the above-described embodiment, the configuration is such that two different mold 303 sizes, large and small, can be accommodated. However, this is not limiting. It is also possible to set regions for a single mold 303 size or for three or more mold 303 sizes. For one mold 303 size, two regions (e.g., C1 and C2) must be set for the upstream device and two regions (e.g., C6 and C7) must be set for the downstream device, for a total of four regions. Therefore, the number of different mold 303 sizes that can be accommodated, or in other words, the upper limit of the number of regions that can be set, depends on the upper limit of the number of regions that can be set by the robot 400. Furthermore, if the numerical values ​​(e.g., side lengths) used to set the regions can be rewritten by a higher-level device, each region may be automatically set based on the size of the mold 303. In other words, the method is not limited to reading and switching the region settings according to the size of the mold 303, and the region settings may be rewritten each time according to the size of the mold 303.

[0164] In the above-described embodiment, the regions are defined in the left-right direction (transport direction) and the front-rear direction in Fig. 7, but are not limited to this. Furthermore, the regions may be defined in the up-down direction as well, and defined as three-dimensional regions. Furthermore, the regions may be defined as two-dimensional regions, such as the left-right and up-down directions, or the front-rear and up-down directions.

[0165] In the above-described embodiment, the control unit 470 of the robot 400 controls the posture, movement, speed, etc. of the robot 400 using three-dimensional coordinates, i.e., the coordinates, speed, etc. However, this is not limiting. For example, the robot 400 may be provided with an imaging unit that captures images of the robot 400 outside, and the posture, movement, speed, etc. of the robot 400, i.e., the coordinates, speed, etc. may be controlled by analyzing the images captured by the imaging unit.

[0166] In the above-described embodiment, the line controller 10, which is independent of the press apparatus 300 and the robot 400, determines whether to permit or prohibit entry into the area Cj, but this is not limiting. The controller 314 of a predetermined press apparatus 300 may perform the function of the line controller 10, or the control unit 470 of a predetermined robot 400 may perform the function of the line controller 10.

[0167] REFERENCE SIGNS LIST 1 Press system 10 Line controller 20 Calculation device 30 Input device 40 Display device 42 Delay time setting screen 42a Press device list display area 42b Advance start ON / OFF setting area 42c Delay time setting area 44 Advance start condition setting screen 44a Advance start condition setting area 50 Storage device 60 I / F board 100 Lifter 120 Work 200 Horizontal feeder 210, 220 Hand 230 Table 240 Arm 300 Press device 302 Housing 303 Die 303a Upper die 303b Lower die 304 Drive motor 306 Transmission mechanism 308 Crankshaft 310 Connecting rod 312 Slide 314 Controller 315 Memory unit 316 Display unit 318 Input unit 322 Bolster 324 Sensor 325 Rotary encoder 326 Gib 400 Robot 410 Support table 420 Rotating section 430 First arm 440 Second arm 450 Third arm 460 Hand 462 Suction section 470 Control section 480 Memory section AA Approachable angle C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, Cj Area D1, D2, D3, D4 Section IA Interference angle ICA Interference check angle K, K1, K2 Die interference area L Robot interference area P1, P2, ..., Pn, Pn+1, ... Press device Q Part R1, R2, ..., Rm-1, Rm, Rm+1... Robot SA Starting angle q Width

Claims

1. A press apparatus including a crankshaft and a slide that moves up and down in response to rotation of the crankshaft, and which processes a workpiece using a die attached to the slide; a first transport device that carries the workpiece into the press apparatus; and control means for controlling the press apparatus and the first transport device, wherein the control means is configured to be able to execute the following: a press start process that rotates the crankshaft, which has stopped at a predetermined start angle, and starts moving the slide downward; an interference check process that determines whether or not the first transport device is in a die interference area where it interferes with the die, when the crankshaft reaches a predetermined interference check angle; a press stop process that stops the press apparatus when it is determined that the first transport device is in the die interference area; and a press process that causes the press apparatus to process the workpiece when it is determined that the first transport device is not in the die interference area, wherein the press start process is executed a predetermined delay time after the first transport device carries the workpiece into the press apparatus, A press system in which the interference check angle is set closer to the start angle than the interference angle based on the interference angle of the crankshaft when the die and the first conveying device interfere with each other and the distance the slide moves during an emergency stop time, and the delay time is set based on a departure time it takes for the first conveying device to leave the die interference area after loading the workpiece and a check angle movement time it takes for the crankshaft to move from the start angle to the interference check angle, and is shorter than at least the departure time.

2. The press system according to claim 1, wherein the delay time is set so that the crankshaft reaches the interference check angle after the first transport device leaves the die interference area.

3. A press system as described in claim 1 or 2, further comprising a second conveying device which transports the workpiece from the press device, wherein the control means is configured to be capable of executing a robot start-up process which starts up the second conveying device which is waiting at a predetermined waiting position, and the start timing of the robot start-up process is set to a timing before the crankshaft reaches a predetermined entry angle based on predetermined advance start conditions.

4. The press system according to claim 3, wherein the advance start condition is the time it takes for the second transport device to enter the die interference area after starting.

5. A press start process for rotating the crankshaft of a press machine stopped at a predetermined start angle, and starting to move downward a slide that moves up and down in accordance with the rotation of the crankshaft; an interference check process for determining whether or not a first transport device that delivers a workpiece to the press machine is in a die interference area where it interferes with a die attached to the slide when the crankshaft reaches a predetermined interference check angle; a press stop process for stopping the press machine when it is determined that the first transport device is in the die interference area; and a press process for causing the press machine to process the workpiece with the die when it is determined that the first transport device is not in the die interference area, wherein the press start process is executed after a predetermined delay time has elapsed after the first transport device delivers the workpiece to the press machine, and the interference check angle is set to the start angle side of the interference angle based on the interference angle of the crankshaft when the die and the first transport device interfere with each other and the distance the slide moves during a sudden stop time, A method for controlling a press system, wherein the delay time is set based on a departure time required for the first conveying device to leave the die interference area after loading the workpiece and a check angle movement time required for the crankshaft to move from the starting angle to the interference check angle, and is at least shorter than the departure time.

Images