Transfer feeder device and control method of transfer feeder device

Abstract

The present application provides a transfer feeder device and the like that can set a switching point of a timing switch that matches the movement of a transfer rod of the transfer feeder device. In a press machine, the transfer feeder device uses a transfer movement based on a transfer independent phase signal synchronized with a main phase signal to transport a workpiece, and includes: a setting part that sets a point on a trajectory whose distance to a reference point on a trajectory of a transfer rod based on the transfer movement is a specified distance specified by a user as a switching point of the timing switch; and a signal output part that outputs a timing signal to an external device when the transfer rod reaches the switching point.

Description

Technical Field

[0001] The present invention relates to a transfer feeder device and a control method of the transfer feeder device. Background Art

[0002] The multi-station press system consists of a press for stamping and a transfer feeder device for transporting workpieces (materials). Among presses, there are traditional mechanical presses that use gears, cams, etc. for the drive of stamping, and servo presses that have been developed in recent years and use servo motors. Similarly, among transfer feeder devices, there are mechanical transfer feeder devices that are linked to the crank angle (stamping angle) of the stamping and mechanically operate, and servo transfer feeder devices that have been developed in recent years and use servo motors. With the emergence of servo presses, for example, by operating at high speed during the stamping process and reducing the speed near the bottom dead center (the lowest point of pressurization), or by switching the rotation direction of the servo motor and repeating the reversal of the crankshaft and making the slider only reciprocate (forward and reverse motion) near the bottom dead center, etc., the speed or position during processing can be set by numerical values ​​to control the servo motor, and complex movements that could not be set in the past mechanical presses can be set. Therefore, stamping processing that guarantees high quality and takes into account productivity can be achieved.

[0003] In the previous multi-station press system, in the movement (transfer movement) of the transfer rod of the transfer feeder device, the starting point and end point of the movement (forward movement and return movement) on the X-axis (feeding direction), the starting point and end point of the movement (clamping movement and release movement) on the Y-axis (clamping direction), and the starting point of the movement (lifting movement and lowering movement) on the Z-axis (lifting direction) are allocated according to the punching angle, and the transfer movement is linked to the movement of the press. Therefore, for a multi-station press system using a servo press, for example, even if the transfer feeder device is set to be able to set a free transport movement using a servo motor, as long as it moves in conjunction with the punching angle, the movement of the transfer feeder device will be affected by the acceleration and deceleration of the punching or the rotation direction, etc., and a stable transfer movement cannot be performed. In order to solve this problem, a servo multi-station press system has been invented, which uses a servo transfer feeder device in a multi-station press system with a servo press. Instead of linking the actions of the press and the transfer feeder device according to the stamping angle, the servo press performs stamping operation with a stamping movement based on an independent phase signal for stamping, and the servo transfer feeder device performs transport operation with a transfer movement based on an independent phase signal for transfer. The timing and phase are adjusted so that the servo press and the servo transfer feeder device do not interfere with each other, and their respective phase signals are synchronized and controlled with the main phase signal, so as to operate with the transfer movement that is most suitable for the freely set phase signal (Patent Document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] [Patent Document 1] Japanese Patent Publication No. 2013-91078 Summary of the invention

[0007] Technical problem to be solved by the invention

[0008] In the previous multi-station press system, such as Fig.17 As shown, the point at which the timing switch is switched on or off (the point at which the timing signal is output to the external device) is set by specifying the crank angle (pressing angle) of the press machine when it is turned on or off. Fig.17 In the example shown, it is set to output a disconnected timing signal when the punching angle is 65°, and to output a conductive timing signal when the punching angle is 295°. In the case of a mechanical multi-station press system, since the movement of the transfer rod (transfer motion) of the transfer feeder device is also linked to the punching angle of the press, the position of the switching point of the timing switch relative to the transfer motion can also be set using the punching angle. However, in the case of a servo multi-station press system in which the servo press and the transfer feeder each operate according to different independent phase signals, since the transfer motion is not directly related to the punching angle, the timing switch cannot be set in coordination with the transfer motion.

[0009] The present invention is produced in view of the above technical problems, and its purpose is to provide a transfer feeder device and a control method for the transfer feeder device that can set the switching point of the timing switch to match the movement of the transfer rod of the transfer feeder device.

[0010] Solutions to technical problems

[0011] (1) The transfer feeder device involved in the present invention is a transfer feeder device that uses a transfer movement based on an independent phase signal synchronized with a main phase signal to transport a workpiece, and is characterized in that it includes: a setting unit that sets a point on the trajectory whose distance to a reference point on the trajectory of a transfer rod based on the transfer movement is a specified distance specified by a user as a switching point of a timing switch; and a signal output unit that outputs a timing signal to an external device when the transfer rod reaches the switching point.

[0012] Furthermore, the control method of the transfer feeder device involved in the present invention is a control method of the transfer feeder device that uses a transfer movement based on an independent phase signal synchronized with a main phase signal to transport the workpiece, and is characterized in that it includes: a setting step, setting a point on the trajectory whose distance to a reference point on the trajectory of a transfer rod based on the transfer movement is a specified distance specified by a user as a switching point of a timing switch; and a signal output step, outputting a timing signal to an external device when the transfer rod reaches the switching point.

[0013] By adopting the present invention, the switching point of the timing switch can be set by specifying the distance to a reference point located on the trajectory of the transfer rod without using other device parameters (punching angle). Therefore, the timing taking into account the movement of the transfer rod can be adjusted, and the switching point of the timing switch can be set intuitively and easily.

[0014] (2) In the transfer feeder device and the control method of the transfer feeder device involved in the present invention, the transfer movement can also be composed of a combination of the release action, return action, clamping action, lifting action, forward action and lowering action of the transfer rod, and the reference point is the point where the action of the transfer rod changes.

[0015] By adopting the present invention, by setting the point where the movement of the transfer rod changes (the point from clamping movement to lifting movement, from lifting movement to forward movement, from forward movement to descending movement, from descending movement to releasing movement, from releasing movement to returning movement, or from returning movement to clamping movement) as the starting point (reference point) of the distance when setting the switching point of the timing switch, even if the transfer movement is changed, there is basically no need to change the setting value (specified distance) of the switching point of the timing switch.

[0016] (3) In the transfer feeder device and the control method of the transfer feeder device involved in the present invention, the setting part (in the setting step) may also set an overlapping interval, which is an overlapping interval in which the transfer rod starts the movement in the second direction before terminating the movement in the first direction in the feeding direction, the clamping direction and the lifting direction and moves in the first direction and the second direction at the same time. When the overlapping interval is set between the reference point and the switching point, a point on the trajectory when the overlapping interval is not set whose distance to the reference point is the specified distance is set as the switching point.

[0017] According to the present invention, even if the length of the overlapping section (the amount of overlapping) is changed, there is no need to change the setting value (the designated distance) of the switching point of the time switch.

[0018] (4) In the transfer feeder device and the control method of the transfer feeder device involved in the present invention, the setting unit (in the setting step) may set an overlapping interval, which is an overlapping interval in which the transfer rod starts the action in the second direction before terminating the action in the first direction in the feeding direction, the clamping direction and the lifting direction and moves in the first direction and the second direction at the same time. When the reference point is located in the overlapping interval, a point on the trajectory whose distance from the reference point in the second direction is the specified distance is set as the switching point.

[0019] (5) In the transfer feeder device and the control method of the transfer feeder device involved in the present invention, the setting unit (in the setting step) may set an overlapping interval, which is an overlapping interval in which the transfer rod starts the action in the second direction before terminating the action in the first direction in the feeding direction, the clamping direction and the lifting direction and moves in the first direction and the second direction at the same time. When the switching point is set in the overlapping interval, a point on the trajectory whose distance from the reference point in the first direction is the specified distance is set as the switching point. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 1 is a block diagram of a servo transfer press system including the transfer feeder device according to the present embodiment.

[0021] Figure 2 This is the front view of the servo press.

[0022] Figure 3 is a diagram showing the trajectory of the transfer rod based on the transfer movement.

[0023] Figure 4 It is a diagram for explaining the setting of the switching point.

[0024] Figure 5 It is a diagram for explaining the setting of the switching point.

[0025] Figure 6 It is a diagram for explaining overlapping sections.

[0026] Figure 7 It is a diagram for explaining overlapping sections.

[0027] Figure 8 It is a diagram for explaining overlapping sections.

[0028] Fig. 9 It is a diagram for explaining overlapping sections.

[0029] Fig.10 It is a diagram for explaining overlapping sections.

[0030] Fig.111 is a diagram for explaining setting of a switching point when an overlapping section is set between a reference point and a switching point.

[0031] Fig.12 1 is a diagram for explaining setting of a switching point when an overlapping section is set between a reference point and a switching point.

[0032] Fig.13 1 is a diagram for explaining setting of a switching point when an overlapping section is set between a reference point and a switching point.

[0033] Fig.14 This is a diagram for explaining the setting of the switching point when the reference point is within the overlapping section.

[0034] Fig.15 It is a diagram for explaining the setting of the switching point when the switching point is set within the overlapping section.

[0035] Fig.16 It is a flowchart showing the flow of processing of the setting section and the signal output section.

[0036] Fig.17 This is a diagram used to explain the previous example. DETAILED DESCRIPTION

[0037] Embodiments of the present invention will be described below with reference to the drawings.

[0038] Figure 1 The servo transfer press system includes a servo press 1 for performing press working, a servo transfer device 10 (transfer feeder device) for transporting (transferring) a workpiece, and a transfer press operation control device 30. Figure 2 It is a front view of the servo press machine 1.

[0039] In the servo press 1, the slider 6 guided in the main body 9 in a movable manner moves up and down through the slider driving mechanism (including the crankshaft 2, etc.). The upper die 7 is installed on the slider 6, and the lower die 8 is installed on the pad (lathe). The crankshaft 2 is rotated and driven by the servo motor 4 through the gear mechanism. A crankshaft encoder 3 for detecting the rotation angle (stamping angle) of the crankshaft 2 is provided on the crankshaft 2. The detection rotation angle signal θck of the crankshaft encoder 3 is input to the transfer stamping operation control device 30. By performing signal processing on the detection rotation angle signal θck, the stamping speed (SPM) and the current up and down position of the slider 6 (bottom dead point position, etc.) can be detected. A motor encoder 5 is provided on the servo motor 4. The detection rotation angle signal θpf from the motor encoder 5 is input to the servo stamping control device 21 and the servo amplifier 22 for servo stamping control, and is also input to the transfer stamping operation control device 30.

[0040] The servo transfer device 10 drives a pair of left and right transfer rods 11 for transfer (sometimes driven by two servo motors) through multiple (three in one example here) servo motors 14 (14a, 14b, 14c). The transfer rod 11 is provided with a tool for clamping the workpiece (a finger-shaped part, a claw-shaped part, a vacuum suction cup, etc.). In the present embodiment, a finger-shaped part is installed on the transfer rod 11. The transfer rod 11 performs the transfer action while partially repeating (overlapping) the release action, return action, clamping action, lifting action, forward action and lowering action. The transfer rod 11 performs the action in the feeding direction (return action, forward action) through the servo motor 14a, the action in the clamping direction (release action, clamping action) through the servo motor 14b, and the action in the lifting direction (lifting action, lowering action) through the servo motor 14c. Motor encoders 15 are provided on the servo motors 14, respectively. The detected rotation angle signal θtf from the motor encoder 15 is input to the servo transfer control device 25 and the servo amplifier 26 for servo transfer control, and is also input to the transfer press operation control device 30 .

[0041] The transfer press operation control device 30 includes a press motion storage device 34P, a transfer motion storage device 34T, an operation unit 36 ​​, a main phase signal generation and output device 50 , and an independent phase signal generation and output device 60 .

[0042] The user (operator) uses the operating unit 36 ​​to input data Spmd for making the stamping motion most suitable for stamping processing. The image of the stamping motion is in the form of a chart with the value of the independent phase signal for stamping (for example, 0° to 360° value) as the horizontal axis and the slider position as the vertical axis. The data Spmd is subjected to smoothing processing and the like and is stored in the stamping motion storage device 34P as a graphic stamping motion. The stored stamping motion is provided to the servo stamping control device 21 and the independent phase signal generation output device 60.

[0043] Similarly, the user uses the operation unit 36 ​​to input data Stmd for creating the transfer motion most suitable for workpiece transportation. The image of the transfer motion data is in the form of a graph with the value of the independent phase signal for transfer (for example, the value of 0° to 360°) as the horizontal axis and the three-dimensional position of the transfer rod 11 (the position in the feeding direction (X-axis direction), the clamping direction (Y-axis direction), and the lifting direction (Z-axis direction)) as the vertical axis. The data Stmd is subjected to smoothing processing, etc., and is stored in the transfer motion storage device 34T as a graphical transfer motion. The stored transfer motion is provided to the servo transfer control device 25 and the independent phase signal generation and output device 60.

[0044] The main phase signal generating and outputting device 50 generates the main phase signal Smph using the clock signal output from the oscillation circuit in the CPU, and outputs it to the independent phase signal generating and outputting device 60. When the transfer press operation is started, the value of the main phase signal Smph starts to rise from 0°, and becomes 0° again when it exceeds 360°, and it is repeated thereafter.

[0045] The independent phase signal generating and outputting device 60 generates an independent phase signal Spmph for stamping that is synchronized with the main phase signal Smph according to the input main phase signal Smph and the phase signal Spph based on the stored stamping motion, and outputs it to the servo stamping control device 21. Similarly, the independent phase signal generating and outputting device 60 generates an independent phase signal Stmph for transfer that is synchronized with the main phase signal Smph according to the input main phase signal Smph and the phase signal Stph based on the stored transfer motion, and outputs it to the servo transfer control device 25.

[0046] The servo stamping control device 21 generates a stamping control signal Spc for making the actual crank angle consistent with the calculated crank target angle while referring to the stamping independent phase signal Spmph and the detection rotation angle signal θpf. The so-called calculated crank target angle refers to the angle calculated as the crank target angle that mechanically and uniquely corresponds to the current slider target position obtained according to the stamping movement (slider position data Spps). The generated stamping control signal Spc is amplified by the servo amplifier 22 and is used as a stamping drive signal Spcd to rotate the servo motor 4.

[0047] The servo transfer control device 25 generates a transfer control signal Stc for making the actual motor angle consistent with the calculated motor target angle while referring to the transfer independent phase signal Stmph and the detected rotation angle signal θtf. The calculated motor target angle refers to the angle calculated as the servo motor target angle for feeding, clamping, and lifting that mechanically and uniquely corresponds to the current target position (feed target position, clamping target position, and lifting target position) of the transfer rod 11 obtained based on the transfer motion (transfer position data Stps). The generated transfer control signal Stc is amplified by the servo amplifier 26 and is used as a transfer drive signal Stcd to rotationally drive the servo motor 4.

[0048] The servo transfer device 10 includes a setting unit 28 and a signal output unit 29. The functions of the setting unit 28 and the signal output unit 29 can be realized by hardware such as a processing unit (CPU) or an input / output interface on the servo transfer device 10, or software such as a program stored in a storage unit on the servo transfer device 10.

[0049] The setting unit 28 sets a point on the trajectory (movement trajectory) of the transfer rod 11 based on the transfer motion whose distance to the reference point is a specified distance specified by the user as a switching point of the timing switch based on the user's operation input to the operation unit 36. The reference point is, for example, a point at which the motion (releasing motion, returning motion, clamping motion, lifting motion, advancing motion, descending motion) of the transfer rod 11 changes.

[0050] The signal output unit 29 obtains the current position of the transfer rod 11 (the three-dimensional position of the transfer rod 11 obtained based on the actual motor angle of feeding, clamping, and lifting, etc.) based on the signal from the servo transfer control device 25, etc., and outputs the timing signal TS (on signal or off signal) to the external device when the transfer rod 11 reaches the switching point set on the trajectory. The so-called external device refers to, for example, a gripping error detection device or an external transportation device that detects the situation where the finger-shaped part of the transfer rod 11 does not grip the workpiece (gripping error). For example, when the timing signal TS is output to the gripping error detection device, the gripping error detection device starts the gripping error detection when receiving the on signal from the signal output unit 29, and stops the gripping error detection when receiving the off signal from the signal output unit 29.

[0051] Figure 3 1 is a diagram showing the trajectory of the transfer rod 11 based on the transfer motion. The trajectory of one of the left and right transfer rods 11 is described below, but the trajectory of the other is the same. In this embodiment, the reference point PR (PR 1 ~PR 6 ) is set at the point where the movement of the transfer rod 11 changes. The reference point PR is a point that serves as a reference (starting point of a specified distance) when setting the switching point of the timing switch. More specifically, in the trajectory TR, the reference point PR is set at the starting point of the return movement (loop movement movement in the X-axis direction). 1 A reference point PR is set at the starting point of the clamping action (the action of moving in the Y-axis direction to attach the finger to the workpiece). 2 , a reference point PR is set at the starting point of the lifting action (upward action in the Z-axis direction) 3 , a reference point PR is set at the starting point of the forward movement (movement in the X-axis direction) 4 , a reference point PR is set at the starting point of the descending action (descending action in the Z-axis direction) 5 A reference point PR is set at the starting point of the release action (the action of moving in the Y-axis direction to separate the finger from the workpiece). 6 .

[0052] In this embodiment, the user specifies a reference point PR, and by specifying the distance to the specified reference point PR, the switching point of the timer switch can be set. Figure 4 As shown, when the switching point PS of the timing switch (for example, the point at which the timing switch is switched to conduction) is set at a position in the forward motion on the trajectory TR (the reference point PR as the starting point of the forward motion) 4 and the reference point PR which is the starting point of the descending action 5 When the user specifies the reference point PR 4 , by specifying the reference point PR 4 Any distance d to the switching point PS can be set along the trajectory TR to the reference point PR 4 A switching point PS is set at a position on the trajectory TR where the distance is the distance d, and the conduction signal can be output to the external device when the transfer rod 11 reaches the switching point PS.

[0053] According to this embodiment, there is no need to use the punching angle, and the reference point PR (PR 1 ~PR 6 ) can be used to set the switching point PS of the timing switch, so that the timing can be adjusted taking into account the movement of the transfer rod 11, and the switching point PS of the timing switch can be set intuitively and easily. Furthermore, by setting the point where the movement of the transfer rod 11 changes to the starting point (reference point PR) of the distance d when setting the switching point PS, even if the transfer movement changes, there is basically no need to change the setting value (specified distance) of the switching point PS, which can improve user convenience. For example, even if Figure 4 The lifting stroke (movement distance in the Z-axis direction) of the transfer motion shown is increased and changed to Figure 5 Transfer movement shown, to reference point PR 4 The position of the switching point PS at the distance d will not change. Therefore, there is no need to change the setting value of the switching point PS.

[0054] Here, the total distance of the trajectory TR of the transfer rod 11 is not limited to the sum of the double distance of the moving distance in the X-axis direction (feed stroke) of the forward action and the return action, the double distance of the moving distance in the Y-axis direction (clamping stroke) of the clamping action and the release action, and the double distance of the moving distance in the Z-axis direction (lifting stroke) of the lifting action and the lowering action. Figure 3As shown, this is because in the transfer movement, an overlapping interval can be set in which the transfer rod 11 moves simultaneously in the first and second directions of the feeding direction (X-axis direction), the clamping direction (Y-axis direction) and the lifting direction (Z-axis direction) (movement in the second direction starts before the movement in the first direction is terminated). Specifically, an overlapping interval can be set in which the return action starts before the release action is terminated and the movements in the Y-axis direction and the X-axis direction are simultaneously started, an overlapping interval can be set in which the clamping action starts before the return action is terminated and the movements in the X-axis direction and the Y-axis direction are simultaneously started, an overlapping interval can be set in which the lifting action starts before the clamping action is terminated and the movements in the Y-axis direction and the Z-axis direction are simultaneously started, an overlapping interval can be set in which the forward action starts before the lifting action is terminated and the movements in the Z-axis direction and the X-axis direction are simultaneously started, an overlapping interval can be set in which the downward action starts before the forward action is terminated and the movements in the X-axis direction and the Z-axis direction are simultaneously started, an overlapping interval can be set in which the release action starts before the descending action is terminated and the movements in the Z-axis direction and the Y-axis direction are simultaneously started. As shown in FIG. Figure 6 As shown, the length of the overlap section (the amount of overlap) can be expressed as a percentage relative to the range in which the overlap section can be set.

[0055] When an overlap section is set, the distance on the trajectory TR of the transfer rod 11 across the overlap section is shorter than when it does not cross the overlap section (overlap amount = 0%). Figure 7 As shown, when the lifting stroke is 200 mm, in the transfer movement when the end of the lifting action and the start of the forward action do not overlap (overlap amount = 0%), the reference point PR as the starting point of the lifting action is reached along the trajectory TR. 3 The distance is 400mm and the position is point P 1 , but if Figure 8 As shown, in the transfer movement when the end of the lifting action and the start of the forward action overlap (overlap amount = L%), the reference point PR is reached along the trajectory TR. 3 The distance is 400mm and the position is point P 2 , than in Figure 7 Point P in the transfer motion shown 1 Further downstream. Fig. 9 As shown, in the transfer movement when the overlap amount is greater than 0% and less than L%, the reference point PR is reached along the trajectory TR. 3 The distance is 400mm and the position is point P 3 , than in Figure 8 Point P in the transfer motion shown 2 Further upstream. Fig.10 As shown, in the transfer movement when the overlap amount is greater than L%, the reference point PR is reached along the trajectory TR. 3 The distance is 400mm and the position is point P 4 , compare point P 2In this way, when the overlap amount is changed, the position of a point that is a predetermined distance away from the reference point PR along the trajectory TR and that is located on an axis different from the axis where the reference point PR is located changes.

[0056] Therefore, in this embodiment, when the overlap section is set between the reference point PR and the switching point PS, a point on the trajectory TR when the overlap section is not set (overlap amount = 0%) (along the trajectory TR when the overlap amount = 0%) that is a specified distance (distance d) from the reference point PR is set as the switching point PS. Figure 11 to Figure 13 As shown in the figure, when the lifting stroke is 200mm, if "to the reference point PR 3 The distance is 400 mm” as the distance d for setting the switching point PS, then even if the end of the lifting action and the start of the forward action overlap, the trajectory TR ( Figure 7 The track TR shown in the figure is on the reference point PR 3 The distance is 400mm from point P 1 Set to the switching point PS. Fig.11 In the case of Fig.12 In the case of 0%<overlap<L%, Fig.13 In the case of overlap, the overlap is greater than L%, but in either case, the point P at the same position 1 In this way, when the overlap section is set between the reference point PR and the switch point PS, there is no need to change the setting value (specified distance) of the switch point PS of the time switch even if the overlap amount changes.

[0057] Furthermore, when the reference point PR is located within the overlap interval (interval in which the transfer rod 11 starts the movement in the second direction before terminating the movement in the first direction), a point on the trajectory TR whose distance from the reference point PR in the second direction is a specified distance (distance d) is set as the switching point PS. Fig.14 In the example shown, the reference point PR is located in the overlap section (starting point of the overlap section) where the action in the α-axis direction (second direction) is started before the action in the β-axis direction (first direction) is terminated. In this example, for example, when "the distance to the reference point PR is 25 mm" is specified as the distance d for setting the switching point PS, a point P on the trajectory TR whose distance to the reference point PR in the α-axis direction is 25 mm is set. 5 Set to the switching point PS (set the α-axis coordinate value of the switching point PS to 25 mm). Similarly, when "the distance to the reference point PR is 50 mm" is specified as the distance d, the point P on the trajectory TR whose distance to the reference point PR in the α-axis direction is 50 mm is set to 6Here, the point where the overlap interval ends is point P which is 100 mm away from the reference point PR in the α-axis direction. 7 , but the same setting is also made when the distance d exceeds 100 mm. For example, when "the distance to the reference point PR is 200 mm" is specified as the distance d, the point P on the trajectory TR whose distance to the reference point PR in the α-axis direction is 200 mm is set. 8 Set to the switching point PS.

[0058] Furthermore, when the switching point PS is set in the overlapping section (the section in which the transfer rod 11 starts the movement in the second direction before terminating the movement in the first direction), a point on the trajectory TR whose distance in the first direction to the reference point PR located on the axis in the first direction is a specified distance (distance d) is set as the switching point PS. Fig.15 In the example shown, an overlap section is set to start the action in the β-axis direction (second direction) before terminating the action in the α-axis direction (first direction). The stroke length in the α-axis direction is 200 mm, and the point where the overlap section ends is point P, which is 300 mm away from the reference point PR on the trajectory TR when the overlap section is not set. 9 In this example, when the designated distance is less than 200 mm (stroke length in the α-axis direction), a point on the trajectory TR whose distance from the reference point PR in the α-axis direction is the designated distance is set as the switching point PS. For example, when "the distance to the reference point PR is 150 mm" is designated as the distance d, a point P on the trajectory TR whose distance from the reference point PR in the α-axis direction is 150 mm is set as the switching point PS. 10 Set to the switching point PS (the α-axis coordinate value of the switching point PS when the α-axis coordinate value of the reference point PR is set to 0 is set to 150 mm). Similarly, when "the distance to the reference point PR is 175 mm" is specified as the distance d, the point P on the trajectory TR whose distance to the reference point PR in the α-axis direction is 175 mm is set to 150 mm. 11 Set the switching point PS. In addition, when the specified distance is between 200mm and 300mm, the point P where the overlap interval ends is set to PS. 9 Set to the switching point PS.

[0059] Like this, even when there is no overlapping interval ( Figure 7 ), when the reference point PR and the switching point PS are set outside the overlapping area ( Figure 11 to Figure 13 ), when the reference point PR or the switching point PS is set within the overlapping area ( Fig.14 , Fig.15 ), the switching point PS of the timing switch can also be set in conjunction with the transfer movement by specifying the distance d to the reference point PR.

[0060] Fig.162 is a flowchart showing the flow of processing of the setting unit 28 and the signal output unit 29. Furthermore, the setting unit 28 determines whether there is a setting input of the switching point PS (input of specifying the distance d and the reference point PR as the starting point of the distance d) (step S10), and when there is such a setting input (Y in step S10), a point on the trajectory TR whose distance to the reference point PR specified by the setting input is the distance d specified by the setting input is set as the switching point PS (step S11). In step S11, when the setting unit 28 is set between the reference point PR and the switching point PS in the overlap section (a section where the action in the second direction is started before the action in the first direction is terminated), the point on the trajectory TR whose distance to the reference point PR is the distance d when the overlap amount = 0% is set as the switching point PS, when the reference point PR is located in the overlap section, the point on the trajectory TR whose distance to the reference point PR in the second direction is the distance d is set as the switching point PS, and when the switching point PS is located in the overlap section, the point on the trajectory TR whose distance to the reference point PR in the first direction is the distance d is set as the switching point PS.

[0061] Next, it is determined whether the transfer operation (transportation operation) has started (step S12). When the transfer operation has started (Y in step S12), the signal output unit 29 obtains the current position (position on the track TR) of the transfer rod 11 based on the signal from the servo transfer control device 25, etc. (step S13). Next, the signal output unit 29 determines whether the transfer rod 11 has reached the switching point PS set in step S11 based on the obtained current position (step S14). When the switching point PS is reached (Y in step S14), the timing signal TS is output to the external device (step S15). Next, it is determined whether the transfer operation has stopped (step S16). When the transfer operation is continuing (N in step S16), the process proceeds to step S13. When the transfer operation has stopped (Y in step S16), the process proceeds to step S10.

[0062] Furthermore, although the embodiments of the present invention have been described in detail as above, it will be easily understood by those skilled in the art that many modifications can be made without substantially departing from the novel features and effects of the present invention.

[0063] Description of Reference Numerals

[0064] 1. Servo press, 2. crankshaft, 3. crankshaft encoder, 4. servo motor, 5. motor encoder, 6. slider, 7. upper die, 8. lower die, 9. main body, 10. servo transfer device (transfer feeder device), 11. transfer rod, 14. servo motor, 15. motor encoder, 21. servo stamping control device, 22. servo amplifier, 25. servo transfer control device, 26. servo amplifier, 28. setting unit, 29. signal output unit, 30. transfer stamping operation control device, 34P. stamping motion storage device, 34T. transfer motion storage device, 36. operating unit, 50. main phase signal generating output device, 60. independent phase signal generating output device.

Claims

1. A transfer feeder device that performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: include: a setting section that sets a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory, as a switching point of the timing switch; and a signal output unit, which outputs a timing signal to an external device when the transfer rod reaches the switching point, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting portion sets an overlapping interval, which is an overlapping interval in which the transfer rod starts movement in the second direction before terminating movement in the first direction in the feeding direction, the clamping direction, and the lifting direction and is active in the first direction and the second direction at the same time. When the overlapping interval is set between the reference point and the switching point, a point on the trajectory where the distance from the reference point is the specified distance when the overlapping interval is not set is set as the switching point.

2. A transfer feeder device that performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: include: a setting section that sets a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory, as a switching point of the timing switch; and a signal output unit, which outputs a timing signal to an external device when the transfer rod reaches the switching point, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting section sets an overlapping interval, which is an overlapping interval in which the transfer rod starts movement in the second direction before terminating movement in the first direction in the feeding direction, the clamping direction, and the lifting direction and is active in the first direction and the second direction at the same time. When the reference point is located in the overlapping interval, a point on the trajectory whose distance from the reference point in the second direction is the specified distance is set as the switching point.

3. A transfer feeder device that performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: include: a setting section that sets a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory, as a switching point of the timing switch; and a signal output unit, which outputs a timing signal to an external device when the transfer rod reaches the switching point, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting portion sets an overlapping interval, which is an overlapping interval in which the transfer rod starts movement in the second direction before terminating movement in the first direction in the feeding direction, the clamping direction, and the lifting direction and is active in the first direction and the second direction at the same time. When the switching point is set in the overlapping interval, a point on the trajectory whose distance from the reference point in the first direction is the specified distance is set as the switching point.

4. A control method for a transfer feeder device, wherein the transfer feeder device performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: The control method of the transfer feeder device comprises: A setting step of setting a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory of the transfer rod, as a switching point of the timing switch; and a signal output step, when the transfer rod reaches the switching point, outputting a timing signal to an external device, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting step sets an overlapping interval, which is an overlapping interval in which the transfer rod starts the movement in the second direction before terminating the movement in the first direction in the feeding direction, the clamping direction and the lifting direction and is active in the first direction and the second direction at the same time. When the overlapping interval is set between the reference point and the switching point, the point on the trajectory when the overlapping interval is not set, whose distance from the reference point is the specified distance, is set as the switching point.

5. A control method for a transfer feeder device, wherein the transfer feeder device performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: The control method of the transfer feeder device comprises: A setting step of setting a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory of the transfer rod, as a switching point of the timing switch; and a signal output step, when the transfer rod reaches the switching point, outputting a timing signal to an external device, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting step sets an overlapping interval, which is an overlapping interval in which the transfer rod starts the action in the second direction before terminating the action in the first direction in the feeding direction, the clamping direction, and the lifting direction, and is active in the first direction and the second direction at the same time. When the reference point is located in the overlapping interval, a point on the trajectory whose distance from the reference point in the second direction is the specified distance is set as the switching point.

6. A control method for a transfer feeder device, wherein the transfer feeder device performs a workpiece transport operation by a transfer movement based on a transfer independent phase signal synchronized with a main phase signal, characterized in that: The control method of the transfer feeder device comprises: A setting step of setting a point on the trajectory of the transfer rod based on the transfer motion, which is a designated distance designated by a user from a reference point on the trajectory of the transfer rod, as a switching point of the timing switch; and a signal output step, when the transfer rod reaches the switching point, outputting a timing signal to an external device, The transfer motion is composed of a combination of the release action, return action, clamping action, lifting action, forward action and descending action of the transfer rod. The reference point is the point where the movement of the transfer rod changes. The setting step sets an overlapping interval, which is an overlapping interval in which the transfer rod starts the action in the second direction before terminating the action in the first direction in the feeding direction, the clamping direction and the lifting direction and is active in the first direction and the second direction at the same time. When the switching point is set in the overlapping interval, a point on the trajectory whose distance from the reference point in the first direction is the specified distance is set as the switching point.

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