Method for controlling movement of forming device

Abstract

The invention relates to a method for controlling the movement of a forming device, by means of which the adjustment and synchronization of the movement sequence are carried out and a new coordination required for the synchronization of the movement sequence in a local region can be carried out without effort, and the overall time of the working cycle of the forming device, in particular the multi-stage press, is not influenced in other local areas.

Description

Technical Field

[0001] The present invention relates to a method for controlling the movement of a molding apparatus according to the preamble of claim 1. Background Technology

[0002] In the case of forming equipment, especially in presses with multiple pressing stages, the complex movement sequence between different moving units must be coordinated during operation to ensure that the movement curves and states of each moving unit are mutually constrained. The movement of the rams in each pressing stage must be coordinated with the movement of the conveyor units used to transport the workpiece between pressing stages to avoid collisions or other interferences in the operational sequence. High-speed work cycles require precise coordination and control of the movement sequence during coordinated operation, which must be performed throughout the entire press unit.

[0003] The concept of a press unit's movement curve refers to the change in the position or path of, for example, the press ram or conveyor unit over time during a complete working cycle of the press. The movement state of a press unit correspondingly refers to the current state or manner of movement of its moving units (e.g., ram, conveyor) at a given point in time. Therefore, it describes the dynamic characteristics of the press unit during the working cycle and includes several important parameters such as the speed, acceleration, and direction of movement.

[0004] In this case, the working cycle of the press can be divided into multiple local areas. Here, the movement sequence can be divided into process-related movement stages, such as the actual forming process, and process-independent movement stages, such as the movement of the slide block in the open state while the conveyor unit is inserting or removing the workpiece.

[0005] During the processing of a workpiece in a press, certain default parameters are obtained in a process-related area. These default parameters allow the production of defect-free pressed parts (so-called good parts). If these parameters are changed or converted during the forming process, defective pressed parts (so-called defective parts) may be produced. For example, changes in workpiece lubrication or material thickness tolerances may require adjustments to the default parameters. It is then necessary to adjust the sequence of movements in this area so that the process operates again with a subsequently converted set of parameters, thereby producing defect-free pressed parts once more.

[0006] However, even a change in a single local area will always affect the coordination of the movement sequence, such as between the conveyor unit and forming tools like the press ram. Therefore, it is impossible to rule out the possibility of collisions between related moving units after such a change. Furthermore, the entire working cycle of the apparatus must not be compromised. However, this situation arises when a global setting must be changed rather than a localized alteration. This is the case with press apparatuses where the forming speed is adjusted by changing the linear speed rather than the speed in the relevant local area.

[0007] Devices that allow variable speed and synchronous states are typically tested only for specific states, and other states are not permitted, or are only permitted after updated and detailed test methods have been implemented. Summary of the Invention

[0008] The purpose of this invention is to provide a method for controlling the movement of a molding apparatus, by which the adjustment and synchronization of the movement sequence are performed. This method allows for the effortless execution of new coordination required for synchronizing the movement sequence in local areas without affecting other local areas of the molding apparatus, particularly multi-stage presses, or the overall time of the work cycle.

[0009] In this context, it is crucial that changes in this region do not simultaneously alter other regions where the process was previously stable.

[0010] This objective is achieved based on the features of the preamble of claim 1 through the features of the feature portion of claim 1. Advantageous and convenient developments are described in detail in the corresponding sub-claims.

[0011] Therefore, the present invention relates to a method for controlling the movement of a molding apparatus, wherein the molding apparatus includes at least two moving units, particularly a press slide and a conveying unit.

[0012] To perform this method, multiple position pairs are determined, wherein each position pair includes the position of a first moving unit, specifically a conveying unit, and the position of a second moving unit, specifically a press slide. In this method, each position pair is assigned a position criterion.

[0013] In this case, a boundary geometry is specified for the first unit of at least the forming device, which defines the distance from the outer contour of the unit.

[0014] The control device coordinates the movement sequence of the moving units of the molding device in this way, so as to achieve movement synchronization in the coordinated operation of the molding device.

[0015] The present invention is characterized by - Location criteria include positive criteria (+) for permitted locations or negative criteria (-) for prohibited locations; -Where the positive criterion (+) is assigned to the position pair of the second moving unit outside the boundary geometry of the first moving unit; - Wherein the negative criterion (-) is assigned to the position pair where the second moving unit is at least partially located within the boundary geometry of the first moving unit; -In order to coordinate the movement sequence, the control device uses position pairs including positive standard (+), so that the second moving unit moves a certain distance from the first moving unit in the positive movement space outside the boundary geometry of the first moving unit, and uses position pairs including negative standard (x), so that the negative movement space of the second moving unit (2) is not allowed.

[0016] This method, instead of considering actual distances, defines a region to determine the permissible positive states of the units relative to each other. Outside the prohibited region, all possible positions and therefore the states of the devices are permitted, which provides the control device with more degrees of freedom to synchronize movement sequences.

[0017] Therefore, the coordination of movement sequence can be reliably and easily performed within the control device itself.

[0018] Furthermore, in order to coordinate the movement sequence, the control device determines when the transition from a position pair with a negative standard to a position pair with a positive standard occurs, and defines a permissible positive movement space for the second moving unit outside the boundary geometry of the first moving unit based on the transition. The movement sequence of the second moving unit can be flexibly coordinated in this space, especially when no further specific position pairs are determined.

[0019] By considering the initial transition from a negative to a positive standard for the position pair, the following position areas are permitted positive areas, where the direction of movement remains unchanged. Since the control device used for the permitted positive areas can apply a positive standard to all other positions, no further checks are required.

[0020] Furthermore, the movement sequence of the moving units of the molding apparatus is divided into process-related movement stages and process-independent movement stages, and the control device identifies these movement stages. In this case, the control device will only adjust the movement sequence based on the position pairs and boundary geometry outside the process-related movement stages when the movement sequence must be adjusted due to changes in default parameters (e.g., to obtain a good product again).

[0021] In this scenario, the control unit identifies process-related areas where default parameters will remain unchanged and prioritizes other areas that can be used for coordinated movement.

[0022] This also leads to greater process stability because multiple parameters remain constant. Essentially, such simple adjustments also increase the willingness to make changes. This correspondingly improves workpiece quality. Through easy adjustment, high output performance can be maintained even after adjustments.

[0023] In addition, virtual position pairs can be determined through simulation, particularly by using a CAD model of the molding device.

[0024] Thus, the permissible positive regions and prohibited negative regions can be determined in simulations with external computing capabilities, and may also be used for the initial operation of the molding apparatus. However, in some cases, the CAD model may differ from the actual geometry of the units in the molding apparatus, where the accuracy of the determined virtual position pairs can be embedded in error parameters depending on the available computing power.

[0025] Alternatively or otherwise, the actual position can be determined in reality by gradually approaching the position of the moving unit in the molding device itself.

[0026] Approaching the position pair gradually until the boundary region defined by the boundary geometry is determined allows for the determination of the movement space outside of permitted positive position pairs or prohibited negative position pairs, without taking into account the dynamic movement sequence of the molding device in actual operation.

[0027] For example, as the ram gradually approaches the conveyor unit, a distance limit representing the minimum permissible distance between the ram and the conveyor unit can be determined. Therefore, any distance exceeding this limit can be considered acceptable. By knowing the transition from position pairs with a negative standard to position pairs with a positive standard, a free movement space can be determined, particularly in the open state, the free movement space available for the ram's movement curve.

[0028] This strategy is applicable to both near-real-world position pairs and position pairs in virtual reality, but the virtual strategy requires sufficient precision of the CAD objects used.

[0029] The control device is also configured to use dynamic criteria for each moving unit, particularly inertial criteria, drive criteria, and dynamic boundary criteria such as load limits, for coordinating the movement sequence. Then, the regions that form the permissible pairs of synchronized movement coordination in the work cycle can be weighted to a certain extent so that they can also be approached using the necessary dynamics for the continuous operation of the forming device.

[0030] To determine the positive position pair or boundary region defined by the boundary geometry, a distance vector (preferably understood as a distance vector perpendicular to the surface) or multiple discrete distance vectors (representing a set of distances to be maintained with the surface of the associated moving unit) can be used.

[0031] The use of discrete vectors also helps to determine allowed positive position pairs or regions confined to prohibited negative position pairs with low computational power. In this case, the distance vectors and their number depend on the complexity of the geometry of the relevant mobile unit itself. The higher the complexity of the mobile unit's geometry, the more distance vectors generally need to be considered.

[0032] However, with appropriate computing power or selection of digital object models, the boundary geometry can also be defined by the boundary surface of the circumferential or partial circumferential envelope at a given distance from the surface of the moving unit.

[0033] Then, the defined geometrically enclosed space where the movable unit can be located can be determined. Exclusion criteria can also be established for spaces where units cannot be placed together.

[0034] The methods described above and their improvements reduce the workload of adjustments because only a single local area needs to be adjusted, eliminating the need to check all other local areas. This also leads to higher process stability, as multiple parameters remain constant. Essentially, such simple adjustments also increase the willingness to make changes. This correspondingly improves workpiece quality. Through easy adjustments, high output performance can be maintained even with modifications.

[0035] It can also be configured so that if the movement sequence of one or two units causes a deterioration in the quality of the produced workpiece, an event-related adjustment is performed on the movement sequence in one of the local areas. This might be the case if forming on the workpiece is performed too quickly or too slowly. In this respect, quality-related adjustments are available. Such adjustments can quickly restore the desired quality level.

[0036] For the purposes of this invention, synchronization of the movement sequence is understood to mean that the moving units coordinate in such a way that there is no spatial overlap of the moving units in the sense of collision at any point in time. It goes without saying that synchronization of the movement sequence can also include the inclusion of fixed units, such as molds or lower tools. The moving units can be, for example, rams and / or conveying devices. In this case, the described movement curves and movement states define each other relative to the units.

[0037] The boundary geometry of a mobile unit is understood as a fictional geometry that enters the surrounding space at a certain distance from the external geometry of the mobile unit. When considered in two-dimensional space, in special cases, a shell geometry can be formed, for example, by a parallel profile of the mobile unit's outline. When considered in three-dimensional space, the shell geometry can be understood as a cloud projected into the surrounding space, with its surface equidistant from the boundary geometry of the mobile unit.

[0038] For the purposes of this invention, event-related adjustments to the movement sequence of the moving units are understood to mean any situation where the moving units must have a changed movement sequence, such as when they take different positions at the same time. This could be due to a changed movement path and / or a changed speed profile. Manual or automatic changes to default parameters, such as molding speed, need to be considered as triggering events. A trigger for a change in default parameters could be a change in the quality of the molded workpiece, which would be offset by adjusting the default parameters.

[0039] For the purposes of this invention, if the moving units can theoretically collide with each other, they are considered to be directly continuous.

[0040] In one embodiment of the method, it is set that if the position pairs and position criteria have been obtained, the movement curve of the moving unit of the device can be adjusted in detail so as not to violate the boundary conditions of the permissible positive position pairs. Outside of the prohibited negative position pairs, there exists a permissible positive movement space. Therefore, apart from the positive criteria that move within these spaces, there is no need to further examine the movement curve. Attached Figure Description

[0041] Further details of the invention are described based on exemplary embodiments schematically shown in the accompanying drawings. in: Figure 1 A schematic diagram of the forming device of the press unit is shown; Figure 2 A schematic diagram of a conveyor unit with boundary geometry is shown. Figure 3 A schematic diagram showing the location of the molding device is provided. Figure 4 : This shows the first position pair with a positive standard; Figure 5 : This shows the second position pair with a positive standard; Figure 6 : This shows the third position pair with a negative standard; Figure 7 : This shows the fourth position pair with a positive standard; The same reference numerals are used for the same parts. Detailed Implementation

[0042] In detail, Figure 1A forming apparatus 1 is shown, comprising a press slide 2 and a lower press component 3. For workpiece transport (not shown), a conveying unit 4 on the articulated arm 5 enters the working area 10 between the press slide 2 and the lower press component 3. In this case, the conveying unit 4 moves along a movement path 7, while the press slide moves along a closed movement 6 to perform the forming process.

[0043] The movement sequence is a schematic representation; in reality, it represents more complex curves and sequences.

[0044] For the coordinated operation of the molding device 1, it is necessary to synchronize the movement sequence of each moving unit 2 and 4 in its moving path 6 and moving path 7 in such a coordinated manner so as not to cause collisions, and to perform closed movement in this way during molding so as to produce defect-free parts (good products).

[0045] Figure 2 The conveying unit 4 is shown. Distance vectors 21, 22, and 23 are provided on a portion of the surface of the conveying unit 4. These distance vectors 21, 22, and 23 represent the areas where collisions are most likely to occur when the conveying unit 4 enters the working area between the press slide 2 and the lower press component 3 of the forming apparatus 1. These distance vectors 21 become larger depending on the geometry in the area of ​​the articulated arm 5, because a greater distance must be maintained here to avoid collisions compared to the distance vectors 22 and 23 on the crossbeam 25 of the conveying unit.

[0046] The ends of distance vectors 21, 22, and 24 facing away from the conveying unit 4 define a boundary geometry by discrete points, which serves as a boundary geometry for changing between positive and negative standards in the method according to the invention.

[0047] The continuous boundary geometry 24 can also be defined in the form of an envelope using these vectors or other methods, which achieves the purpose of this method. As an example, the boundary geometry is shown here only on the side facing the ram 2. It is understood that this geometry is also taken into account elsewhere, particularly on the bottom surface, depending on the location of the distance that needs to be avoided from the position relative to the positions where it may appear with other elements.

[0048] Subsequently, the concept of boundary geometry is represented by envelope 24, wherein two methods of determination, namely the boundary geometry for the purposes of this invention, are claimed to be the boundary geometry determined by the continuous envelope of a specific point cloud or surface region through a distance vector.

[0049] Figure 3The state of the forming apparatus 1 is shown, in which position pairs are set for determining the permissible positions at the edges of the boundary geometry. This can be performed, for example, in a simulation or directly on the apparatus by gradually approaching the distances defined by distance vectors 21, 22, and 23.

[0050] In this case, the press slide 2, located at positions A1 and A32, is lowered from position 32 to position 31 (indicated by dashed lines) in the closing direction 6. The conveying unit 4 is in position 1 such that the press slide 2, located at position 31, is in contact with the boundary of the distance vector 23. This position pair can then be saved as an allowed positive position pair with a positive position standard +.

[0051] In addition to the position pair of press slide 2 at position 31 and conveying unit 4 at position T1, all positions outside the boundary geometry 24 of press slide 2 (or defined by 21, 22, 23, ...) are also allowed, such as position 32, so that only the distance to the standard press slide outside the boundary area will be checked.

[0052] Figure 4 , Figure 5 , Figure 6 and Figure 7 The process for determining position pairs with positive position criteria is shown.

[0053] exist Figure 4 In the middle, the press slide 2 is in position B1. The conveying unit is in position T1. When the conveying unit 4 moves in the moving direction 41, it continuously enters the working area 10 with the crossbeam 25. Since the press slide 2 is always positioned outside the boundary geometry, this position receives the positive position standard in the form of a positive standard (+) for PP-I.

[0054] exist Figure 5 In this process, the conveying unit 4 further enters the working area 10 along the moving direction 41, causing the articulated arm 5 to also enter the working area. Therefore, the distance vector 21 of the articulated arm 5 becomes relevant to the determination of the boundary geometry and position criterion. At position T2 of the conveying unit shown, the position criterion remains positive because the position B1 of the press ram 2 is still outside the boundary geometry 24. Therefore, this position is permissible for PP-II.

[0055] exist Figure 6The diagram shows the situation where the conveyor unit 4 has now moved further into the working area at position T3. At its position B1, the press slide 2 now violates the boundary geometry 24 in the area of ​​distance vector 21. Therefore, the position pair PP-III from position B1 and position T3 is a negative criterion (x), not representing a permissible position pair for coordinated movement sequence. The press must now suddenly move the press slide 2 to position B2 (shown as a dashed line) to achieve a positive criterion (+) as the position criterion. However, due to dynamic characteristics such as inertia, drive torque, and other criteria, such a sudden movement is impossible.

[0056] In order to coordinate the movement sequence within the position pairs with positive position criteria (+), the control device will now use another permissible position outside the boundary geometry 24 of the transport unit 4.

[0057] If as Figure 7 As shown, the press slide 2 is now held at position B2, so even if the conveyor unit 4 is moved further into the working area 10 to position T3, the boundary geometry will not be violated. Therefore, the positions from positions B2 and T3 are received by PP-IV as positive criteria (+) for position standards and can be used to coordinate the movement sequence.

[0058] Therefore, the above process can be used with a known number of permitted and prohibited position pairs to define boundary conditions based on discrete position pairs without any special computational work, outside of which all available position pairs are permitted. In this way, changes in the positions of moving units relative to each other can be synchronized to adjust the movement sequence on the forming device 1 of the press line (not shown), such that all process-related default parameters are observed, and changes in the movement of units outside the process-related area allow all units to operate without collisions relative to each other in a state where all local areas move again in a defined coordinated manner in their new movement state.

[0059] For example, at any given time, as long as the press slide 2 remains outside the boundary area of ​​the conveying unit 4, the press slide 2 can travel more slowly or more quickly in the area above the boundary area. This allows for flexible implementation of the forming process and its speed and / or conveying movement.

[0060] List of reference numerals 1 Molding device 2 Press slide 3 Lower press components 4 Conveying Units 5 articulated arms 6. Closed movement 7. Movement Path 10 work areas 21 Distance Vector 22 Distance Vector 23 Distance Vector 24 Boundary Geometry 25 crossbeams 31 Press slide position 32 Press slide position 41. Direction of movement of the conveying unit A1 press slide position T1 Conveying Unit Location B1 Press Roller Position T2 Conveying Unit Location B2 press slide position T3 Conveyor Unit Location PP-I position pair PP-II position pair PP-III position pair PP-IV position pair

Claims

1. A method for controlling the movement of a molding apparatus (1), wherein the molding apparatus comprises at least two moving units (2, 4), particularly a press slide (2) and a conveying unit (3). -In which multiple position pairs (PP) are identified; -The position pairs include the positions (T1, T2, T3) of the first moving unit (4), which is in particular the conveying unit (4), and the positions (B1, B2) of the second moving unit (2), which is in particular the press slide (2); -The location pairs (PPs) are specified as location criteria; - wherein at least a first unit (4) of the forming device (1) is specified with boundary geometry (21, 22, 23, 24), the boundary geometry defining the distance from the outer contour of the unit; -The control device coordinates the movement sequence of the moving units (2, 4) of the molding device (1) in such a way that movement synchronization occurs during the coordinated operation of the molding device; Its features are, - The location criteria include a positive criterion (+) for permitted locations or a negative criterion (x) for prohibited locations; - Wherein the positive standard (+) is assigned to the position pair (PP-I, PP-II, PP-IV) of the second moving unit (2) outside the boundary geometry (24) of the first moving unit (4); - Wherein the negative criterion (-) is assigned to the position pair (PP-III) where the second moving unit (2) is at least partially located within the boundary geometry (21, 24) of the first moving unit (4). -In order to coordinate the movement sequence, the control device uses position pairs (PP-I, PP-II, PP-III, PP-IV) including positive standard (+), so that the second moving unit (2) moves a certain distance from the first moving unit (4) in the positive movement space outside the boundary geometry (21, 22, 23, 24) of the first moving unit (4), and uses position pairs including negative standard (x), thus representing the unacceptable negative movement space of the second moving unit (2).

2. The method according to claim 1, characterized in that, In order to coordinate the movement sequence, the control device determines when the transition from the position pair with negative standard (x) (PP-III) to the position pair with positive standard (+) (PP-IV) occurs, and defines the permissible positive movement space of the second moving unit (2) outside the boundary geometry (21, 22, 23, 24) of the first moving unit (4) according to the transition, in which the movement sequence of the second moving unit (2) can be flexibly coordinated, especially in the absence of further specific position pairs.

3. The method according to claim 1 or 2, characterized in that, The movement sequence of the moving units (2, 4) of the molding apparatus (1) is divided into process-related movement stages and process-independent movement stages, wherein the control device adjusts the movement sequence only based on the position pairs and boundary geometry outside the process-related movement stages.

4. The method according to any of the preceding claims, characterized in that, The virtual positions are determined through simulation, particularly by using a CAD model of the molding apparatus.

5. The method according to any of the preceding claims, characterized in that, The actual position is determined in reality by gradually approaching the position (B, T) of the moving unit (2, 4) within the molding device itself.

6. The method according to any of the preceding claims, characterized in that, The control device uses dynamic standards of each of the moving units (2, 4), particularly inertial standards, drive standards, and dynamic boundary standards such as load limits, for coordinating the movement sequence.

7. The method according to any of the preceding claims, characterized in that, The boundary geometry is defined by at least one distance vector, preferably multiple discrete distance vectors.

8. The method according to any of the preceding claims, characterized in that, The boundary geometry is defined by an envelope boundary surface at a certain distance from the surface of the moving unit.

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