MOTION GENERATION DEVICE, PRESS DEVICE, AND MOTION GENERATION METHOD

Abstract

To provide a motion generation device capable of easily changing the speed of a press line.SOLUTION: A motion generation device 3 generates a motion of a slide 11 of a press device 5 that is equipped with a slide 11 attached with an upper mold 7a, a bolster 12 placed in a lower mold 7b, and a servo motor 15 vertically reciprocating the slide 11. The motion generation device 3 is equipped with a motion generating portion 32. The motion generating portion 32 generates a derivative motion Mim of the slide 11 in a cycle time Tm different from a cycle time TStd, so that a first area Mim (1) including at least from a top dead center to a finish position of a molding region of a reference motion Mi of the slide 11 in the cycle time TStd becomes the same and so that the speed of the slide 11 at the top dead center becomes the same speed of the reference motion Mi.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a motion generating device, a press device, and a motion generating method. [Background technology]

[0002] When performing press working, a tandem press line or a transfer press line is used.

[0003] In a tandem press line, a plurality of press apparatuses are arranged side by side, and feeder devices (transport devices) for transporting works are provided between each of the press apparatuses (see, for example, Patent Document 1).

[0004] In a tandem press line, a phase difference is set between the movements of multiple press devices and feeder devices to prevent interference and operate them at maximum speed. In a transfer press line, a phase difference is set between the movements of the press devices and transfer devices.

[0005] In addition, in a press line, the operating speed of the press line may be controlled to suppress the operation so as not to give an excessive impact to the feeder device at the time of start-up, and then the speed may be gradually increased to reach a steady operating state. Even in such a case, a technique has been disclosed for changing the cycle time while maintaining the motion of the slide in the molding area in order to maintain the molding accuracy of the press device (for example, see Patent Document 2). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2018-94617 A [Patent Document 2] Patent No. 6510873 Summary of the Invention [Problem to be solved by the invention]

[0007] On the other hand, there are cases where it is desired to operate the press line at a slower speed in order to adjust the production volume of pressed products or the like.

[0008] In this case, in order to maintain molding accuracy, it is conceivable to extend the cycle time and reduce the speed of the press line while maintaining the motion of the molding area as shown in Patent Document 2. However, simply extending the cycle time and reducing the operating speed of the press device may cause interference between the press device and the feeder device.

[0009] In order to eliminate this interference, it is necessary to make extensive modifications to the program that controls the entire press system, including not only the press device but also the feeder device. The present disclosure aims to provide a motion generating device, a press device, and a motion generating method that can easily change the speed of a press line while maintaining molding accuracy. [Means for solving the problem]

[0010] The motion generating device according to the first disclosure is a motion generating device that generates a motion of a slide of a press machine including a slide on which an upper die is attached, a bolster on which a lower die is placed, and a servo motor that reciprocates the slide in an up-down direction, and includes a motion generating unit. The motion generating unit generates a second motion of the slide in a second cycle time different from the first cycle time such that a predetermined portion of a first motion of the slide in a first cycle time, which portion includes at least a portion from the top dead center to an end position of the molding area, is the same, and the speed of the slide at the top dead center is the same as the first motion.

[0011] The press apparatus according to the second disclosure is a press apparatus that presses a workpiece using an upper die and a lower die, and includes a slide, a bolster, a servo motor, a memory unit, and a control unit. The upper die is attached to the slide. The lower die is placed on the bolster. The servo motor moves the slide back and forth in the up and down directions. The memory unit stores a second motion different from the first cycle time such that a predetermined portion of a first motion of the slide in a first cycle time, which includes at least a portion from the top dead center to an end position of the molding area, is the same, and the speed of the slide at the top dead center is the same as the first motion. The control unit drives the servo motor so that the slide moves in the second motion.

[0012] The motion generating method according to the third disclosure generates a motion of a slide of a press machine including a slide on which an upper die is attached, a bolster on which a lower die is placed, and a servo motor for reciprocating the slide in an up-down direction, and includes a motion generating step. The motion generating step generates a second motion of the slide in a second cycle time different from the first cycle time such that a predetermined portion of a first motion of the slide in a first cycle time, the predetermined portion including at least a portion from the top dead center to an end position of the molding area, is the same, and the speed of the slide at the top dead center is the same as the first motion. Effect of the Invention

[0013] According to the present disclosure, it is possible to provide a motion generating device, a press device, and a motion generating method that can easily change the speed of a press line while maintaining molding accuracy. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a diagram showing a configuration of a press system according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 is a diagram showing a configuration of a press device of a press system according to an embodiment of the present disclosure. [Diagram 3]FIG. 2 is a perspective view showing a configuration of a feeder device main body of the press system according to the embodiment of the present disclosure. [Figure 4] FIG. 2 is a block diagram showing a configuration of a feeder device of the press system according to the embodiment of the present disclosure. [Diagram 5] FIG. 2 is a block diagram showing the configuration of a line control device and a motion generating device of a press system according to an embodiment of the present disclosure. [Figure 6] 11A to 11C are diagrams showing standard motions and derived motions in an embodiment of the present disclosure. [Figure 7] FIG. 4 is a flow diagram showing an operation of a motion generating device of the press system according to the embodiment of the present disclosure. [Figure 8] FIG. 2A is a diagram showing the relationship between the operation of a press device and the operation of a feeder device of a press system in an embodiment according to the present disclosure, and FIG. 2B is a schematic side view for explaining the operation of the feeder device. [Figure 9] (a) is a diagram showing the relationship between the operations of the press device and the feeder device in a standard motion; (b) is a diagram showing the relationship between the operations of the press device and the feeder device in a derived motion. [Figure 10] A diagram showing a derived motion in which the speed when reaching top dead center is not adjusted to match the speed of the standard motion but remains decelerated. [Figure 11] FIG. 13 is a diagram showing a configuration of a press device according to a modified example of the embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A tandem press line according to an embodiment of the present disclosure will be described with reference to the drawings.

[0016] <Configuration> (Outline of the tandem press line) FIG. 1 is a diagram showing an overall configuration of a press system 1 according to an embodiment of the present disclosure.

[0017] The press system 1 of the present embodiment includes a press line 2 and a motion generating device 3.

[0018] The press line 2 performs press working at each process and transports the workpiece W between each process. The motion generating device 3 generates slide motions of the press devices 5a, 5b, 5c, and 5d of the press line 2. In FIG. 1, the transport direction of the workpiece W is indicated as X.

[0019] The press line 2 is a tandem press line and includes a line control device 4, a plurality of press devices 5a, 5b, 5c, 5d (when the press devices are not to be distinguished, they are referred to as press devices 5), and a plurality of feeder devices 6a, 6b, 6c, 6d, 6e (when the feeder devices are not to be distinguished, they are referred to as feeder devices 6).

[0020] The workpiece W carried into the press device 5a by the feeder device 6a is pressed by the press device 5a, and is transported from the press device 5a to the press device 5b by the feeder device 6b. The workpiece W pressed by the press device 5b is transported from the press device 5b to the press device 5c by the feeder device 6c, and is pressed by the press device 5c. The workpiece W pressed by the press device 5c is carried out of the press device 5c by the feeder device 6d and transported to the press device 5d. The workpiece W pressed by the press device 5d is carried out of the press device 5d by the feeder device 6e.

[0021] (Press unit 5) FIG. 2 is a diagram showing the configuration of the press device 5. As shown in FIG.

[0022] 1 and 2, each of the press machines 5a, 5b, 5c, and 5d has a press machine body 10 and a press control device 20. The press control device 20 controls the operation of the press machine body 10.

[0023] (Press unit body 10) The press body 10 includes a slide 11, a bolster 12 (see FIG. 1), and a slide driving unit 13.

[0024] 1, an upper die 7a is attached to the lower surface of the slide 11. A lower die 7b is placed on the upper surface of the bolster 12. A slide driver 13 drives the slide 11 in the up and down directions.

[0025] As shown in FIG. 2, the slide driving unit 13 includes a servo amplifier 14, a servo motor 15, a main gear 16, a position detection encoder 17, a plunger 18, and a connecting member 19.

[0026] When the servo motor 15 is driven, the slide 11 moves up and down relative to the bolster 12, whereby press working is performed between the upper die 7a and the lower die 7b.

[0027] The servo amplifier 14 drives the servo motor 15 in accordance with a command from the press control device 20 .

[0028] The main gear 16 is connected to the shaft of the servo motor 15 by a connecting member 9 such as a belt or gears, and rotates by the rotation drive of the servo motor 15. A position detection encoder 17 is provided, for example, on the rotation shaft of the main gear 16, detects the rotation position of the main gear 16 (which can also be said to be the position of the slide 11), and provides feedback to the press control device 20.

[0029] The plunger 18 has a lower end fixed to the slide 11 and moves the slide 11 in the up and down direction. A connecting member 19 connects the main gear 16 and the plunger 18. The connecting member 19 converts the rotational motion of the main gear 16 into the up and down motion of the plunger 18.

[0030] (Press control device 20) The press control device 20 has a press control unit 21, a program storage memory 22, a display monitor 23, an input keyboard 24, and a receiving unit 25.

[0031] The press control unit 21 includes a processor and a memory. The processor is, for example, a CPU (Central Processing Unit). Alternatively, the processor may be a processor different from the CPU. The processor executes processing for controlling the press body 10 according to a program stored in the memory. The memory includes a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The memory may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The memory is an example of a non-transitory computer-readable recording medium.

[0032] In this embodiment, the program storage memory 22 is described as being configured separately from the press control unit 21, but it may also be included in the memory of the press control unit 21.

[0033] The program storage memory 22 stores standard programs for executing standard motions of a plurality of slides 11 corresponding to a plurality of die sets, and derived programs for executing derived motions. The standard motions and derived motions will be described later.

[0034] The press control unit 21 transmits a command signal to the servo amplifier 14 to drive the servo motor 15 while acquiring slide position information from the position detection encoder 17 so that the slide 11 moves according to a motion executed by a program stored in the program storage memory 22. As is clear from Fig. 2, the speed of the slide 11, i.e., the press speed, changes by changing the speed of the servo motor 15.

[0035] The display monitor 23 displays the settings, operating status, etc. of the press device 5. For example, the display monitor 23 displays a plurality of slide motions, and the operator selects a motion.

[0036] An operator inputs various settings through the input keyboard 24. For example, the operator selects one of a plurality of motions displayed on the display monitor 23.

[0037] The receiving unit 25 receives a synchronization signal transmitted from the line control device 4. The synchronization signal is a signal that adjusts the start-up timing of the multiple press devices 5a-5d and the feeder devices 6a-6e. The press control unit 21 drives the press device main body 10 based on the synchronization signal.

[0038] Furthermore, the receiving unit 25 receives a derived program for executing a derived motion generated by the motion generating device 3. The derived program received by the receiving unit 25 is stored in the program storage memory 22 by the operation of the press control unit 21.

[0039] (Feeder device 6) The feeder devices 6a, 6b, 6c, 6d and 6e are of similar construction.

[0040] Fig. 3 is a perspective view showing the feeder device 6. Fig. 3 shows a width direction Y perpendicular to the conveying direction X, and the left direction facing the conveying direction X is indicated as YL and the right direction YR. Fig. 4 is a block diagram showing the configuration of the feeder control device 50.

[0041] 4, the feeder apparatus 6 includes a feeder apparatus main body 60 and a feeder control device 50. The feeder control device 50 controls the operation of the feeder apparatus main body 60.

[0042] (Feeder device body 60) The feeder device main body 60 has a slide mechanism 61, an arm support portion 62, a rotating portion 63, a first arm 64, an expandable portion 65, a second arm 66, a rotating portion 67, a transport bar 68, and a rotating portion 69.

[0043] The slide mechanism 61 is disposed between the press device 5a and the press device 5b. The slide mechanism 61 has a ball screw 611, a guide 612, and a servo motor 70a. The ball screw 611 extends from the press device 5a toward the press device 5b along the conveyance direction X. The guide 612 is cylindrical and disposed below the ball screw 611 in parallel with the ball screw 611. The servo motor 70a is connected to one end of the ball screw 611 via a reduction gear or the like, and rotates the ball screw 611.

[0044] The arm support section 62 is a box-shaped member and rotatably supports the first arm 64. A pair of upper and lower blocks 621 are provided on the side surface of the arm support section 62 on the left direction YL side. The upper block 621 has a through hole formed along the conveying direction X, and a screw shape is formed on its inner side surface. The ball screw 611 passes through the through hole of the upper block 621 and is screwed into the screw shape on the inner side surface of the through hole. The lower block 621 has a through hole formed along the conveying direction X, and a guide 612 is inserted therethrough. When the ball screw 611 rotates due to the rotation of the servo motor 70a, the arm support section 62 can be guided by the guide 612 to move upstream or downstream in the conveying direction X (see arrow A1).

[0045] The rotating unit 63 is provided on the arm support unit 62 and rotates the first arm 64. The rotating unit 63 has a servo motor 70b and a speed reducer (not shown). The servo motor 70b is fixed to the inside of the arm support unit 62. The servo motor 70b is disposed so that a drive shaft extends to the right direction YR.

[0046] The first arm 64 has an upper end portion fixed to a drive shaft of a servo motor 70b via a speed reducer. The first arm 64 rotates about a central axis C1 along the width direction Y (see arrow A2).

[0047] The first arm 64 is configured to be extendable and retractable, and has a hollow first portion 641 and a hollow second portion 642. The upper end portion of the first portion 641 is fixed to the drive shaft of the servo motor 70b via a reduction gear portion. The lower end portion of the first portion 641 fits inside the upper end portion of the second portion 642.

[0048] The telescopic part 65 is provided on the first arm 64 and telescopically extends and retracts the first arm 64. The telescopic part 65 has a ball screw 651, a servo motor 70c, and a fitting nut 652. The ball screw 651 is disposed inside the first arm 64 along the longitudinal direction of the first arm 64. The ball screw 651 is disposed across the first part 641 and the second part 642. The servo motor 70c is fixed inside the first part 641. The drive shaft of the servo motor 70c is connected to the ball screw 651 via a reduction part. The fitting nut 652 is fixed inside the second part 642 so that the through hole is along the longitudinal direction of the first arm 64. The ball screw 651 is inserted into the through hole of the fitting nut 652, and the ball screw 651 is fitted into a screw shape formed on the inner surface of the through hole.

[0049] As a result, when the ball screw 651 is rotated by being driven by the servo motor 70c, the second portion 642 moves together with the fitting nut 652 relative to the first portion 641, so that the first arm 64 can be expanded or contracted (see arrow A3).

[0050] The second arm 66 is disposed at the lower end of the first arm 64 along the longitudinal direction of the first arm 64. The longitudinal direction of the second arm 66 coincides with the longitudinal direction of the first arm 64.

[0051] The rotating unit 67 is provided on the second portion 642 of the first arm 64 and rotates the second arm 66. The rotating unit 67 has a servo motor 70d and a speed reducer (not shown). The servo motor 70d is fixed to the inside of the second portion 642. The servo motor 70d is disposed such that its drive shaft is aligned along the longitudinal direction of the first arm 64, and the drive shaft extends downward.

[0052] The upper end of the second arm 66 is fixed to the drive shaft of a servo motor 70d via a speed reducer. The second arm 66 can rotate about a central axis C2 in the longitudinal direction (see arrow A4).

[0053] The transport bar 68 is disposed at the lower end of the second arm 66 along the width direction Y. A holder 80 for holding the workpiece W is removably attached to the transport bar 68. The transport bar 68 has a connecting portion 681, a left bar 682, a right bar 683, and a bar rotation portion 684. The connecting portion 681 is connected to the lower end of the second arm 66. The left bar 682 is rotatably attached to the left direction YL side of the connecting portion 681. The right bar 683 is rotatably attached to the right direction YR side of the connecting portion 681. The left bar 682 and the right bar 683 are connected by a connecting shaft 685. The left bar 682, the right bar 683, and the connecting shaft 685 rotate about their longitudinal direction as a central axis C3.

[0054] Bar rotation unit 684 is disposed inside connecting unit 681, and has servo motor 70e and a speed reducer. The drive shaft of servo motor 70e meshes with the threaded shape around connecting shaft 685 via the speed reducer. The rotation of servo motor 70e rotates connecting shaft 685, and left bar 682 and right bar 683 connected to connecting shaft 685 also rotate (see arrow A5).

[0055] The rotating part 69 is provided on the second arm 66. A connecting part 681 of the transport bar 68 is connected to the lower end of the second arm 66 so as to be rotatable about a central axis C4 in the direction along the transport direction X. The rotating part 69 has a servo motor 70f and a speed reducer. The drive shaft of the servo motor 70f is fixed to the upper end of the connecting part 681 via the speed reducer. Drive of the servo motor 70f causes the transport bar 68 to rotate about the central axis C4 in the transport direction X (see arrow A6).

[0056] As shown in the block diagram of FIG. 4, the feeder device main body 60 has a servo motor 70 (more specifically, servo motors 70a to 70f, collectively referred to as servo motor 70), a servo amplifier 71, and a position detection encoder 72. The servo amplifier 71 drives the servo motor 70 in accordance with a command from the feeder control device 50. The position detection encoder 72 detects the position of the servo motor 70 and feeds it back to the feeder control device 50. More specifically, a servo amplifier and a position detection encoder are provided for each of the servo motors 70a to 70f.

[0057] (Feeder control device 50) The feeder control device 50 controls the feeder device main body 60 .

[0058] The feeder control device 50 includes a feeder control unit 51, a program storage memory 52, and a receiving unit 53. Although the feeder control device 50 of the present embodiment is not provided with a display monitor and an input keyboard, they may be provided.

[0059] The feeder control unit 51 includes a processor and a memory. The processor is, for example, a CPU (Central Processing Unit). Alternatively, the processor may be a processor different from the CPU. The processor executes processing for controlling the feeder device main body 60 according to a program stored in the memory. The memory includes a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The memory may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The memory is an example of a non-transitory computer-readable recording medium. The memory stores a program and data for controlling the feeder device main body 60, and stores a plurality of motions.

[0060] In this embodiment, the program storage memory 52 is described as being separate from the feeder control unit 51, but it may be included in the memory of the feeder control unit 51.

[0061] The feeder control unit 51 drives the servo motor 70 by sending a command to the servo amplifier 71 so that the feeder device main body 60 drives according to the motion stored in the program storage memory 52, thereby transporting the workpiece W to the press device 5.

[0062] The receiving unit 53 receives the synchronization signal transmitted from the line control device 4. The feeder control unit 51 drives the feeder device main body 60 based on the synchronization signal.

[0063] (Line control device 4) FIG. 5 is a block diagram showing the configuration of the line control device 4 and the motion generating device 3. As shown in FIG.

[0064] The line control device 4 includes a line control section 41, a program storage memory 42, a display monitor 43, an input keyboard 44, a receiving section 45, and a transmitting section 46.

[0065] The line control unit 41 includes a processor and a memory. The processor is, for example, a CPU (Central Processing Unit). Alternatively, the processor may be a processor different from the CPU. The processor executes processing for controlling the press device 5 and the feeder device 6 according to a program stored in the memory. The memory includes a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The memory may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The memory is an example of a non-transitory computer-readable recording medium. The memory stores programs and data for controlling the press device 5 and the feeder device 6. In this embodiment, the program storage memory 42 is described as being configured separately from the line control unit 41, but may be included in the memory of the line control unit 41.

[0066] The program storage memory 42 stores the motion of the press line 2 for the set of dies (upper die 7a and lower die 7b) to be used. The set of dies to be used refers to the multiple dies used in the multiple press devices 5a, 5b, 5c, and 5d to complete a predetermined product from the workpiece W. The motion of the press line 2 includes the motions of the press devices 5a to 5d and the feeder devices 6a to 6e. As will be described in detail later, the program storage memory 42 stores a standard program that executes a preset standard motion of the press device 5, and a derived program that executes a derived motion created by the motion generating device 3 using the standard motion.

[0067] The display monitor 43 displays, for example, the information required to select the die set to be used, the information required to select the motion, the information required to set the conditions for the press line 2, or the operating status.

[0068] An operator inputs various settings through the input keyboard 44. For example, the operator selects a die set to be used, or selects one of a plurality of motions displayed on the display monitor 23.

[0069] The receiving unit 45 receives derived motions created by the motion generating device 3, which will be described later, and stores them in the program storage memory 42. The transmitting unit 46 transmits the received derived motions to the press devices 5a to 5d.

[0070] (Motion Generator 3) A motion generator 3 generates derived motions with different cycle times from a standard motion.

[0071] As shown in FIG. 5, the motion generating device 3 has a receiving section 31, a motion generating section 32, a display monitor 33, an input keyboard , a program storage memory 35, and a transmitting section .

[0072] The receiving unit 31 receives a standard program for executing a standard motion of the slide 11, which is stored in the program storage memory 22 of the press control device 20. In addition, if the standard program is also stored in the line control device 4, the receiving unit 31 may receive the standard program from the line control device 4.

[0073] The press control device 20 is provided with standard programs equal to the number of registered die sets. For example, if n die sets can be attached to the press devices 5a to 5d, n standard programs P1 to Pn are provided in advance. That is, a standard program P1 corresponding to the die set (1) is set in advance, a standard program P2 corresponding to the die set (2) is set in advance, and a standard program Pn corresponding to the die set (n) is set in advance.

[0074] The motions executed by the press device 5 using the standard programs P1 to Pn are referred to as standard motions M1 to Mn. Each of the standard motions M1 to Mn is preset so that interference between the press device 5 and the feeder device 6 does not occur when a corresponding die set is used.

[0075] The standard program is represented as Pi (i = 1 to n), and the standard motion is represented as Mi (i = 1 to n). Note that n may be 1. Also, the description of i = 1 to n will be omitted as appropriate.

[0076] The motion generation unit 32 creates a derived program Pij (j=1 to m) that executes m derived motions Mij (j=1 to m) with different cycle times from a standard motion Mi of a standard program Pi of any one of the standard programs P1 to Pn. The derived program of the standard program Pi is represented as Pij (j=1 to m), and the derived motion of the standard motion Mi is represented as Mij (j=1 to m). Note that m may be 1. Also, the description of j=1 to m will be omitted as appropriate.

[0077] Different cycle times mean different SPM (Shot Per Minute). SPM is the number of shots per minute by the press device, and the larger the SPM, the shorter (or smaller) the cycle time, and the smaller the SPM, the longer (or larger) the cycle time. If the standard motion Mi is set to, for example, 20 SPM as the maximum speed of the press line 2, derived motions Mij such as 19 SPM or 18 SPM, which are smaller than 20 SPM, are created. For example, derived motions Mij may be created in increments of 1 SPM or 0.5 SPM up to the minimum SPM in the specifications of the press line 2. The number m of derived motions may also be set according to the user's wishes.

[0078] The motion generating unit 32 includes a processor and a memory. The processor is, for example, a CPU (Central Processing Unit). Alternatively, the processor may be a processor different from the CPU. The processor executes a process for creating the derived motion Mij according to a program stored in the memory. The memory includes a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory). The memory may include an auxiliary storage device such as a hard disk or an SSD (Solid State Drive). The memory is an example of a non-transitory computer-readable recording medium. The memory stores a program for creating the derived motion Mij. In this embodiment, the program storage memory 35 is described as being configured separately from the motion generating unit 32, but may be included in the memory of the motion generating unit 32.

[0079] The program storage memory 35 stores the standard program Pi received by the receiving unit 31. The program storage memory 35 also stores derived programs Pij created from the standard program Pi.

[0080] (Standard Motion Mi) Next, the standard motion Mi stored in the press device 5 will be described.

[0081] FIG. 6 is a diagram showing a standard motion Mi executed by a standard program Pi and a derived motion Mij executed by a derived program Pij, which will be described later.

[0082] In FIG. 6, a standard motion Mi executed by a standard program Pi is shown on the far left.

[0083] The top left corner of FIG. 6 shows one cycle of press operation (standard motion Mi) in which the slide 11 moves from the top dead center, passes through the bottom dead center, and then reaches the top dead center again.

[0084] At the start time (t0) of the cycle time TStd in the standard motion Mi executed by the standard program Pi, the slide 11 is located at the top dead center. The press control unit 21 drives the servo motor 15 to move the slide 11 downward. The slide 11 reaches the molding area at time t1, and press working is performed on the workpiece W. After the slide 11 reaches the bottom dead center at time t2, the slide 11 moves upward, and at time t3, the slide 11 moves away from the molding area, completing the press working of the workpiece W.

[0085] The molding area refers to an area where the upper die 7a comes into contact with the workpiece W placed on the lower die 7b and where press pressure is applied to the workpiece W.

[0086] Between times t1 and t3, the upper die 7a touches the workpiece W and molding is performed. Then, at time t4, the slide 11 returns to the top dead center. In this manner, one cycle is performed.

[0087] In addition, in the standard motion Mi of the slide 11, the region from the top dead center to the end position of the molding region is defined as the first region Mi(1), and the region from the end position of the molding region to the next top dead center is defined as the second region Mi(2). The first region Mi(1) is the region from time t0 (top dead center) through time t2 (bottom dead center) to time t3, and the second region Mi(2) is the region from time t3 to time t4 (top dead center). In FIG. 6, the time from top dead center to bottom dead center in the standard motion Mi is indicated as tBtStd.

[0088] In the standard motion Mi of this embodiment, SPM is set to the maximum value, and the cycle time at this time is indicated as TStd. It can also be said that the time required for one cycle (cycle time) is set to the minimum value in the standard motion Mi.

[0089] The middle part on the left side of FIG. 6 shows the motor speed Vi of the servo motor 15 corresponding to the motion of the slide 11 (one example of the slide speed). The motor speed Vi is set to a speed at which a standard motion Mi that is the maximum SPM is executed. As shown in FIG. 6, when the standard motion Mi is executed, the motor speed Vi is accelerated or decelerated. For example, as shown in the middle part on the left side of FIG. 6, the speed of the servo motor 15 is the smallest at the top dead center, the speed of the servo motor 15 increases in the portion from the top dead center toward the bottom dead center, and the speed of the servo motor 15 decreases at the bottom dead center. The speed of the servo motor 15 increases in the portion from the bottom dead center toward the top dead center, and decreases at the top dead center.

[0090] The lower part of FIG. 6 shows the speed ratio Vpi (%) of the motor executing each of the motions shown in the upper part relative to the speed of the motor executing the standard motion Mi.

[0091] The graphs other than the leftmost graph in the lower row show the ratio of the motor speed executing derived motion Mij (described later) to the motor speed executing standard motion Mi. The lower leftmost row in FIG. 6 shows the ratio of the motor speed Vi executing standard motion Mi to the motor speed Vi executing standard motion Mi, so the speed ratio Vpi is 100(%). This 100% speed ratio is shown as the maximum speed ratio. In this way, the maximum speed ratio in the lower leftmost row shows the motor speed Vi for executing standard motion Mi. In other words, a speed ratio Vpi of 100% in standard motion Mi does not mean that the servo motor 15 continues to rotate at the maximum speed.

[0092] (Derived motion Mij) Next, the derived motion Mij created from the standard motion Mi by the motion generating unit 32 will be described.

[0093] To the right of the standard motion Mi in Fig. 6, derived motions Mij (j = 1 to m) created from the standard motion Mi are shown. In Fig. 6, the motions are set so that the SPM becomes smaller (the cycle time becomes longer) as m becomes larger.

[0094] To the right of the standard motion Mi in Fig. 6, a derived motion Mi1 with a cycle time of T1 (T1>TStd) is shown. The region in the derived motion Mi1 from the top dead center to the end position of the molding region is the first region Mi1(1), and the region from the end position of the molding region to the next top dead center is the second region Mi1(2). The first region Mi1(1) is the region from time t0 (top dead center) through time t2 (bottom dead center) to time t3, and the second region Mi1(2) is the region from time t3 to time t5 (top dead center).

[0095] The derived motion Mi1 has a smaller SPM than the standard motion Mi while the first region Mi1(1) maintains the same motion shape as the first region Mi(1) of the standard motion Mi. In the graph showing the derived motion Mi1, the second region Mi(2) of the standard motion Mi is shown by a dotted line, and time t4 is also shown.

[0096] The first area Mi1(1) of the derived motion Mi1 is created to be the same as the first area Mi(1) of the standard motion Mi. For this reason, the time tBt1 from the top dead center to the bottom dead center in the derived motion Mi1 is set to the same time as the time tBtStd from the top dead center to the bottom dead center in the standard motion Mi.

[0097] The second area Mi1(2) of the derived motion Mi1 is set to be longer in time than the second area Mi(2) of the standard motion Mi. More specifically, as shown in the speed ratio Vp1 in the lower row of the second column from the left end of FIG. 6 and the motor speed V1 in the middle row, the motor speed is reduced to a certain extent from the motor speed Vi in the standard motion Mi within the range of the second region Mi1(2), and then returned to the motor speed Vi in the standard motion Mi. As a result, as shown in the upper part of FIG. 6, the time of the second region Mi(2) of the standard motion Mi is extended. In this way, the motor speed is once decelerated from the motor speed Vi in the standard motion Mi, so that the cycle time becomes T1 (>TStd). Therefore, the time t5 at which the derived motion Mi1 reaches the top dead center is later than the time t4. The deceleration and acceleration of the press speed can be determined according to the capacity of the press device 5. The extent to which the press speed is reduced can be determined according to the length of the cycle time and the deceleration and acceleration of the press speed. It is desirable that the point at which the press speed within the second region Mi1(2) begins to slow down below the speed of the standard motion Mi be after the slide has risen to a height where there is no risk of interference with the feeder device (the transport region R1 described below).

[0098] As described above, in order to make the second region Mi1(2) in the derived motion Mi1 longer than the second region Mi(2) of the standard motion Mi, the speed V1 of the servo motor 15 is decelerated to be slower than the speed Vi in the standard motion Mi, and accelerated back to the speed Vi in the standard motion Mi by the time t5 when the top dead center is reached. This makes it possible to drive the slide 11 from the top dead center at the same speed as the standard motion Mi in the next cycle, so that the first region Mi1(1) of the derived motion Mi1 can be the same as the first region Mi(1) of the standard motion Mi. Therefore, the derived motion Mi1 can be a motion with a longer cycle time than the standard motion while maintaining the same molding accuracy as the standard motion.

[0099] The derived motion Mi2 is shown to the right of the derived motion Mi1 in Fig. 6. The region in the derived motion Mi2 from the top dead center to the end position of the molding region is the first region Mi2(1), and the region from the end position of the molding region to the next top dead center is the second region Mi2(2). The first region Mi2(1) is the region from time t0 (top dead center) through time t2 (bottom dead center) to time t3, and the second region Mi2(2) is the region from time t3 to time t6 (top dead center).

[0100] The derived motion Mi2 has a smaller SPM than the derived motion Mi1 while the first region Mi2(1) maintains the same motion shape as the first region Mi(1) of the standard motion Mi. In the graph showing the derived motion Mi2, the second region Mi(2) of the standard motion Mi is shown by a dotted line, and time t4 is also shown.

[0101] The derived motion Mi2 is created so that its first region Mi2(1) is the same as the first region Mi(1) of the standard motion Mi. For this reason, the time tBt2 from the top dead center to the bottom dead center in the derived motion Mi2 is set to the same time as the time tBtStd from the top dead center to the bottom dead center in the standard motion Mi.

[0102] The second area Mi2(2) of the derived motion Mi2 is set to be longer than the second area Mi(2) of the standard motion Mi and the second area Mi1(2) of the derived motion Mi1. Therefore, the time t6 at which the derived motion Mi1 reaches the top dead center is later than times t4 and t5. The details of lengthening the time of the second area Mi2(2) of the derived motion Mi2 are the same as those of lengthening the time of the second area Mi1(2) of the derived motion Mi1 described above, so a description thereof will be omitted.

[0103] As described above, in order to make the second region Mi2(2) in the derived motion Mi2 longer than the second region Mi1(2) of the derived motion Mi1 and the second region Mi(2) of the standard motion Mi, as shown in the speed ratio Vp2 in the bottom row of the third column from the left in Figure 6 and the motor speed V2 in the middle row, the speed V2 of the servo motor 15 is slowed down below the speed Vi in the standard motion Mi and the speed V1 of the derived motion M1, and then accelerated back to the speed Vi in the standard motion Mi by the time t5 when the top dead center is reached.

[0104] In this manner, derived motions Mij (j=1 to m) are created with SPMs set in ascending order. In this embodiment, derived motions Mim are created up to the lowest SPM of the press line 2. If the SPM of the standard motion Mi is 20, the lowest SPM is 16, and the creation interval of the derived motions Mij is set to 1 SPM, m becomes 4. In this case, derived motion Mi1 with an SPM of 19, derived motion Mi2 with an SPM of 18, derived motion Mi3 with an SPM of 17, and derived motion Mi4 with an SPM of 16 are generated.

[0105] As with the above-mentioned derived motions Mi1 and Mi2, the region from the top dead center to the end position of the molding region in the derived motion Mim is the first region Mim(1), and the region from the end position of the molding region to the next top dead center is the second region Mim(2). The first region Mim(1) is the region from time t0 (top dead center) to time t2 (bottom dead center) to time t3, and the second region Mim(2) is the region from time t3 to time t(4+m) (top dead center). Note that time t(4+m) indicates the time when the derived motion Mim reaches the top dead center, and when m is 1, it is time t5 shown in the derived motion Mi1, and when m is 2, it is time t6 shown in the derived motion Mi2. In addition, when m is 4, the times when the derived motions Mi1, Mi2, and Mi3 reach the top dead center can be expressed as t5, t6, and t7, so that time t(4+m) is t8.

[0106] The derived motion Mim has the smallest SPM while the first region Mim(1) maintains the same motion shape as the first region Mi(1) of the standard motion Mi. In the graph showing the derived motion Mim, the second region Mi(2) of the standard motion Mi is shown by a dotted line, and time t4 is also shown.

[0107] The derived motion Mim is created so that its first region Mim(1) is the same as the first region Mi(1) of the standard motion Mi. For this reason, the time tBtm from the top dead center to the bottom dead center in the derived motion Mim is set to the same time as the time tBtStd from the top dead center to the bottom dead center in the standard motion Mi.

[0108] The second region Mim(2) of the derived motion Mim is set to be longer than the second region Mi(2) of the standard motion Mi and the other derived motions Mij (j=1 to m-1). Therefore, the time t(4+m) at which the derived motion Mim reaches the top dead center is later than the time at which the other derived motions reach the top dead center. The details of lengthening the time of the second region Mim(2) of the derived motion Mim are the same as those of lengthening the time of the second region Mi1(2) of the derived motion Mi1 described above, so a detailed explanation will be omitted.

[0109] In addition, in order to make the second region Mim(2) in the derived motion Mim longer in duration than the second region Mi(2) of the standard motion Mi, as shown in the speed ratio Vpm in the lower right section and the motor speed Vm in the middle section of the rightmost part of Figure 6, the speed Vm of the servo motor 15 is slowed down compared to the speeds in the standard motion Mi and other derived motions Mij (j = 1 to m-1), and then accelerated back to the speed in the standard motion Mi by the time t(4+m) when the top dead center is reached.

[0110] In the above description, the first region in the derived motion Mij is indicated as Mij(1), and the second region is indicated as Mij(2).

[0111] Returning to Fig. 5, the display monitor 33 displays a display for setting the SPM interval of the derived motion to be created. Also, the derived motion may be created up to the minimum SPM in the specifications of the press line 2, but the display monitor 33 may display a display for inputting the value of the SPM for creating the derived motion. Also, the display monitor 33 may display a display for inputting the value of m.

[0112] An operator inputs various settings through the input keyboard 34. For example, the interval of the SPM for creating a derived motion, the above-mentioned SPM value, the m value, etc. are input.

[0113] The transmitting unit 36 ​​transmits the derived program ij for executing the derived motion Mij created by the motion generating unit 32 to the line control device 4. The line control device 4 stores the received derived program ij in the program storage memory 42, and transmits it to the press control unit 21 of the press control device 20. The press control unit 21 stores the received derived program ij in the program storage memory 22.

[0114] (Motion generation method) Next, a method in which the motion generating unit 32 creates derived motions Mij from standard motions Mi will be described.

[0115] FIG. 7 is a flow diagram showing the operation of the motion generating device 3.

[0116] First, in step S10, one of the standard motions Mi (i=1 to n) stored in the press device 5 is selected by the operator using the display monitor 33 and the input keyboard 34. As described above, the standard motion Mi is associated with the die set (i).

[0117] Next, in step S20, the receiving unit 31 receives the standard program Pi for executing the selected standard motion Mi from the press control device 20 of the press apparatus 5. Note that the motion generating device 3 does not have to acquire the standard program Pi from the press control device 20 wirelessly or via a wired connection, and may store the standard program Pi in a storage medium such as an SD card and acquire the standard program Pi from the storage medium. Also, the standard program Pi may be acquired not only from the press apparatus 5, but also from another device that stores the standard program Pi. The receiving unit 31 is an example of an acquiring unit that acquires the standard motion Mi. Next, in step S30, the creation conditions of the derived motion Mij (j=1 to m) are set by the operator using the display monitor 33 and the input keyboard 34. The creation conditions include, for example, the interval of the SPM that creates the derived motion Mij (j=1 to m), the value of m, etc.

[0118] Next, in step S40, the motion generation unit 32 creates derived motions Mij from the standard motion Mi based on the creation conditions. For example, if the SPM of the standard motion Mi is set to 20, the minimum SPM is set to 17, and the SPM interval is set to 1, three derived motions Mij (j=1 to 3) with SPMs of 19, 18, and 17 are created. Alternatively, even if the value of m is set to 3 rather than setting the SPM interval, three derived motions Mij (j=1 to 3) with SPMs of 19, 18, and 17 are similarly created.

[0119] When creating a derived motion Mij, the motion generating unit 32 forms the first region Mij(1) so as to be similar to the first region Mi(1) of the standard motion Mi. Also, for the second region Mi(2) of the standard motion Mi, the press speed is reduced from the maximum speed to a certain degree, and then returned to the maximum speed again to create the second region Mij(2) so as to obtain the desired SPM. The deceleration and acceleration of the press speed can be determined according to the capacity of the press device 5. Also, the extent to which the press speed is reduced can be determined according to the length of the cycle time and the deceleration and acceleration of the press speed. It is desirable that the time when the press speed starts to decelerate within the range of the second region Mi1(2) is after the time when the slide rises to a height where there is no risk of interference with the feeder device (transport region R1).

[0120] In the second region Mij(2), as shown in FIG. 6, the position of the slide 11 approaches the top dead center smoothly, but since the press speed is changed, the shape is not limited to a smooth one.

[0121] In this manner, the derived motions Mij and derived programs Pij for executing the speed changes of the slides are created in the number of creation conditions that have been set.

[0122] Next, in step S50, the transmission unit 36 ​​transmits the derived motion Mij (j=1 to m) to the line control device 4 in association with the mold set (i).

[0123] The transmitted derived motion Mij is stored as a derived program Pij in the program storage memory 42 in the line control device 4, and is also transmitted from the transmission unit 46 to the press control device 20 and stored in the program storage memory 22.

[0124] (Press line operation) The line control device 4 transmits a synchronization signal to the multiple press devices 5a, 5b, 5c, and 5d and the multiple feeder devices 6a, 6b, 6c, 6d, and 6e to synchronize them.

[0125] Fig. 8(a) is a diagram showing the relationship between the operations of the press devices 5a, 5b, 5c, and 5d and the operations of the feeder devices 6b, 6c, and 6d, and Fig. 8(b) is a schematic side view for explaining the operation of the feeder device 6.

[0126] 8(b), the original position is the midpoint between the upstream position and the downstream position in the transport direction X. The operation of moving the transport bar 68 from the original position to the upstream position is the RT2 (return 2) operation, the operation of transporting the workpiece W from the upstream position to the downstream position is the ADV (advance) operation, and the operation of moving the transport bar 68 from the downstream position to the original position is the RT1 (return 1) operation.

[0127] The upstream position is, for example, the carry-in position of the workpiece W conveyed by the belt conveyor in the case of the feeder device 6a, and is, for example, the position of the die of the upstream press device 5 in the case of the feeder devices 6b, 6c, 6d, and 6e. The downstream position is, for example, the carry-out position of the product to be carried out by the belt conveyor in the case of the feeder device 6e, and is, for example, the position of the die of the downstream press device 5 in the case of the feeder devices 6a, 6b, 6c, and 6d.

[0128] In this manner, the feeder apparatus 6 repeats the RT2 operation, the ADV operation, and the RT1 operation.

[0129] The press devices 5a, 5b, 5c, 5d and the feeder devices 6b, 6c, 6d, 6e are synchronized by starting at a predetermined time difference from the start timing of the feeder device 6a on the most upstream side. For example, the slides 11 of the press devices 5a, 5b, 5c, 5d start moving from the top dead center toward the bottom dead center in sequence at a predetermined interval from the timing when the feeder device 6a starts moving from the original position. Also, the feeder devices 6b, 6c, 6d, 6e start moving in sequence at a predetermined interval from the timing when the feeder device 6a starts moving from the original position.

[0130] For this reason, the press devices 5a, 5b, 5c, and 5d and the feeder devices 6b, 6c, 6d, and 6e are driven with a predetermined time difference.

[0131] 8(a) is a diagram showing the relationship between the operations of the press devices 5a, 5b, 5c, and 5d and the feeder devices 6b, 6c, and 6d in a motion of, for example, 16 spm. At 16 spm, the cycle time ti of the press device 5 is 3.75 sec.

[0132] The standard motion Mi of each of the press devices 5a, 5b, 5c, and 5d is shown in the figure. The timing of driving the press devices 5a, 5b, 5c, and 5d from the top dead center toward the bottom dead center is set to a predetermined interval ts.

[0133] 8(a) also shows a transfer region R1. The transfer region R1 indicates a region near the top dead center of the slide 11. When a workpiece W is transferred between press devices 5, the workpiece W is removed and placed when the slide 11 of the press device 5 is located near the top dead center.

[0134] For example, the feeder device 6b, which transports the work W from the press device 5a to the press device 5b, removes the work W from the press device 5a near the point where the press device 5a passes the bottom dead center and reaches the transport area R1, and places the work W in the press device 5b before the press device 5b moves from the top dead center toward the bottom dead center and drops below the transport area R1.

[0135] The position where the slide 11 reaches the transport region R1 is indicated as P2. The transport region R1 is set within a range of height of the slide 11 where there is no risk of interference between the press device 5 and the feeder device 6.

[0136] Since the feeder device 6b is disposed between the press device 5a and the press device 5b, the relationship between the operations of the three devices will be described as follows: when the slide 11 of the press device 5a reaches a predetermined position P1 on the way from the top dead center to the bottom dead center, the slide 11 of the press device 5b starts moving from the top dead center toward the bottom dead center, and the feeder device 6b ends the ADV operation and starts the RT1 operation, as shown in Fig. 8(a). At this time, the position of the slide 11 of the press device 5b is within the transport area R1 (near the top dead center), so even if the feeder device 6b places the workpiece W in the downstream press device 5b, no interference occurs.

[0137] Next, when the slide 11 of the press device 5a reaches the bottom dead center, the slide 11 of the press device 5b reaches the position P1, and the feeder device 6b performs the RT1 operation.

[0138] Next, when the slide 11 of the press device 5b reaches the bottom dead point, the slide 11 of the press device 5a moves from the bottom dead point to the top dead point, and the feeder device 6b ends the RT1 operation and starts the RT2 operation.

[0139] Next, when the slide 11 of the press device 5a reaches position P2, the slide 11 of the press device 5b moves from the bottom dead center to the top dead center, and the feeder device 6b ends the RT2 operation and starts the ADV operation. At this time, the position of the slide 11 of the press device 5a is within the transport area R1 (near the top dead center), so even if the feeder device 6b takes out the workpiece W that has been pressed from the press device 5a, no interference occurs.

[0140] Next, when the slide 11 of the press device 5a reaches the top dead center, the above-mentioned cycle is repeated.

[0141] In this way, the start timing of the operation of the feeder device 6b is coordinated with the motion of the press device 5a on the upstream side and the press device 5b on the downstream side. Specifically, the timing at which the feeder device 6b ends the ADV operation and starts the RT1 operation is the same as the timing at which the slide 11 of the press device 5a reaches position P1. The timing at which the feeder device 6b ends the RT1 operation and starts the RT2 operation is the same as the timing at which the slide 11 of the press device 5b reaches the bottom dead center. The timing at which the feeder device 6b ends the RT2 operation and starts the ADV operation is the same as the timing at which the slide 11 of the press device 5a reaches position P2.

[0142] The operational relationship between the press device 5a, the feeder device 6b, and the press device 5b described above is the same as the operational relationship between the press device 5b, the feeder device 6c, and the press device 5d, and the operational relationship between the press device 5c, the feeder device 6d, and the press device 5c.

[0143] In this way, the operation of the feeder device 6 is based on the motion of the press devices 5 on the upstream and downstream sides.

[0144] Fig. 9(a) is a diagram showing the relationship between the operations of the press devices 5a, 5b, 5c, and 5d and the feeder devices 6b, 6c, and 6d in the standard motion Mi of 16 SPM, the same as Fig. 8(a). Fig. 9(b) is a diagram showing the relationship between the operations of the press devices 5a, 5b, 5c, and 5d and the feeder devices 6b, 6c, and 6d in the derived motion Mij of 12 SPM. At 12 SPM, the cycle time tij of the press device 5 is 5.00 sec.

[0145] FIG. 9(b) shows the derived motion Mij. As shown in FIG. 6, the derived motion Mij is created so that its first region is the same as the first region of the standard motion Mi. The derived motion Mij in FIG. 9(b) is set so that the time during which the slide 11 is located near the top dead center, which is the transport region R1, is longer than that of the standard motion Mi. The derived motion Mij shown in FIG. 9(b) is an example in which the press speed starts to be decelerated after the slide 11 rises to a height where there is no risk of interference with the feeder device 6 within the range of the second region Mij(2).

[0146] Even if the motion of the press devices 5a, 5b, 5c, and 5d is changed to the derived motion Mij in order to reduce the SPM value of the press line 2, the motion of the slide 11 from the top dead center to position P2 (the position where it reaches the transport area R1) is the same as the standard motion Mi.

[0147] As described above, the timing of the operation of each of the feeder devices 6b, 6c, and 6d is coordinated with the motion of the slide 11 from the top dead center of the press devices 5 upstream and downstream thereof to position P2 (the position where it reaches the transport area R1).

[0148] Therefore, even if the motion of the press device 5 is changed from the standard motion Mi to the derived motion Mij, interference with the press device 5 can be avoided by simply slowing down the speed of the ADV operation of the feeder device 6, so that the SPM of the press line 2 can be reduced without making major program changes.

[0149] In FIG. 9(b), the derived motion Mij is set to be the same as the standard motion Mi from the top dead center past the bottom dead center to position P2, but this is not limited to this, and it is also possible to make only the motion from the top dead center to the end position of the molding area the same.

[0150] In this case, in terms of the relationship between the operations of the press device 5a, the feeder device 6b, and the press device 5b, since the time it takes for the slide 11 of the press device 5a to reach position P2 from the top dead center changes, depending on the press line 2, it may be necessary to change the timing at which the feeder device 6b ends the RT2 operation and starts the ADV operation.

[0151] In this case, it is necessary to change the program for timing when the RT2 operation of the feeder device 6 ends and the ADV operation starts, but the timing when the ADV operation ends and the RT1 operation starts, and the timing when the RT1 operation ends and the RT2 operation starts, are the same as in the case of standard motion Mi.

[0152] Therefore, when the motion from the top dead center to the end position of the molding area is made the same as the standard motion Mi, the program needs to be changed more frequently because the start timing of the ADV operation needs to be changed compared to when the motion from the top dead center to position P2 is made the same as the standard motion Mi as shown in Figure 9(b). However, when the motion from the top dead center to the end position of the molding area is made the same as the standard motion Mi, the program needs to be changed less frequently because there is no need to change the start timing of the RT1 operation and the RT2 operation compared to when the motion from the top dead center to the end position of the molding area is changed. In other words, even when only the motion from the top dead center to the end position of the molding area is made the same as the standard motion Mi, the speed of the press line 2 can be changed with only a small program change.

[0153] <Features etc.> (1) The motion generating device 3 of this embodiment is a motion generating device that generates a motion of the slide 11 of the press device 5 including the slide 11 to which the upper die 7a is attached, the bolster 12 to which the lower die 7b is placed, and the servo motor 15 that reciprocates the slide 11 in the up-down direction, and includes a motion generating unit 32. The motion generating unit 32 generates a derived motion Mim (an example of a second motion) of the slide 11 in a cycle time Tm (an example of a second cycle time) different from the cycle time TStd so that at least a first region Mim(1) (an example of a predetermined portion) including from the top dead center to the end position of the molding region becomes the same among the standard motion Mi (an example of a first motion) of the slide 11 in the cycle time TStd (an example of a first cycle time) and the speed of the slide 11 at the top dead center becomes the same as the standard motion Mi.

[0154] When generating a derived motion Mim with a different cycle time from a standard motion Mi that is set in advance so that the operations of a press device 5 and a feeder device 6 do not interfere with each other, the motion from the top dead center to the bottom dead center is set to the same as that of the standard motion Mi.

[0155] As a result, when operating the press device 5 with the derived motion Mim, although small program changes may be necessary, interference between the press device 5 and the feeder device 6 can be avoided by keeping the time difference between the press device 5 and the feeder device 6 the same as in the standard motion Mi.

[0156] Therefore, there is no need to make major program changes to the entire press line 2, and the speed of the press line 2 can be easily changed.

[0157] In addition, since the motion of the molding area of ​​the derived motion Mim is the same as the motion of the molding area of ​​the standard motion Mi, the same molding accuracy as the standard motion Mi can be maintained even if the motion is changed to change the cycle time.

[0158] As a result, the press line speed can be easily changed while maintaining molding precision.

[0159] In addition, by creating a derived motion Mim so that the speed of slide 11 at top dead point is the same as that of the standard motion Mi, there is no need to increase the speed to match that of the standard motion Mi between top dead point and bottom dead point, so the motion from top dead point to bottom dead point of the standard motion Mi can also be realized in the derived motion Mim.

[0160] Furthermore, if the speed at which the derived motion Mim reaches the top dead center is not adjusted to match the speed of the standard motion Mi and is instead decelerated, it will be necessary to accelerate when moving from the top dead center to the bottom dead center, and the motion from the top dead center to the bottom dead center will change compared to the standard motion Mi.

[0161] 10 is a diagram showing a derived motion Mi2' in which the speed at the time of reaching the top dead center is not adjusted to match the speed of the standard motion Mi but remains decelerated. As shown by the motor speed V2' and the speed ratio Vp2', in the derived motion Mi2', the motor speed V2' remains decelerated in the second region Mi2(2)', unlike the derived motion Mi2 described in FIG. 6, and remains decelerated even at the top dead center (time t6').

[0162] Therefore, when moving from the top dead center (time t0) to the bottom dead center, the motor speed needs to be accelerated to match the speed of the standard motion Mi, and the time t2' to reach the bottom dead center is slower than t2, and the time tBt2' from the top dead center to the bottom dead center is also slower than the time tBt2. Similarly, the time t1' to t3' in the molding region is also slower than the times t1 to t3.

[0163] In this way, a derived motion is created to change the speed of the press line 2, but if the motion of the portion of the derived motion including the top dead center to the end position of the molding area changes compared to the standard motion, it may not be possible to deal with the problem by simply extending the advance time of the feeder device 6, and it may be necessary to change the program of the entire press line 2.

[0164] In contrast, the derived motion Mim generated by the motion generating device 3 in this embodiment has the same motion as the standard motion Mi from the top dead center to the end position of the molding area, so although small program changes may be necessary as described above, the speed of the press line 2 can be changed by keeping the time difference between the press device 5 and the feeder device 6 the same as the standard motion. In the motion generating device 3 of this embodiment, the cycle time Tm (an example of a second cycle time) is longer than the cycle time TStd (an example of a first cycle time). The motion generating unit 32 generates a derived motion Mim (an example of a second motion) by slowing down the speed of the servo motor 15 in a portion other than the first region Mi(1) (an example of a predetermined portion) of the standard motion Mi (an example of a first motion) to be slower than that of the standard motion Mi.

[0165] By operating the press device 5 using the derived motion Mim generated in this manner, the cycle time can be increased, that is, the SPM (shot per minute) can be reduced. (3) In the motion generating device 3 of this embodiment, the cycle time Tm is longer than the cycle time TStd. As described with reference to Fig. 6, the motion generating unit 32 generates the derived motion Mim by slowing down the speed of the slide 11 in the standard motion Mi in a portion other than the first region Mim(1) (an example of a predetermined portion) and then returning the speed to the same as that of the standard motion Mi by the time the slide 11 reaches the top dead center.

[0166] This makes it possible to lengthen the time of the standard motion Mi other than the portion from the top dead center to the bottom dead center, making it possible to generate a derived motion Mim with a longer cycle time than the standard motion Mi.

[0167] (4) In the motion generating device 3 of this embodiment, the first region Mim(1) (an example of a predetermined portion) includes the range of heights of the slide 11 from the top dead center to the range of heights (transport region R1) of the slide 11 that does not interfere with the feeder device 6 that transports or unloads the workpiece W to the press device 5. The motion generating unit 32 generates a derived motion Mim (an example of a second motion) so as to slow the speed of the slide 11 down below that of the standard motion Mi (an example of a first motion) within the range of heights of the slide 11 that does not interfere.

[0168] This makes it possible to easily change the SPM of the press line 2 simply by extending the time of the ADS operation of the feeder device 6, as shown in FIG. 9(b).

[0169] (5) The press machine 5 of this embodiment is a press machine that presses the workpiece W using an upper die 7a and a lower die 7b, and includes a slide 11, a bolster 12, a servo motor 15, a program storage memory 22 (an example of a storage unit), and a press control unit 21 (an example of a control unit). The upper die 7a is attached to the slide 11. The lower die 7b is placed on the bolster 12. The servo motor 15 moves the slide 11 back and forth in the up and down direction. The program storage memory 22 stores a derived motion Mim (an example of a second motion) different from the cycle time TStd, in which at least the first region Mi(1) (an example of a predetermined portion) including from the top dead center to the end position of the molding region is the same among the standard motion Mi (an example of a first motion) of the slide 11 in a cycle time max (an example of a first cycle time), and the speed of the slide 11 at the top dead center is the same as the standard motion Mi. The press control unit 21 drives the servo motor 15 so that the slide 11 moves according to the derived motion Mim.

[0170] When generating a derived motion Mim having a cycle time different from a standard motion Mi that is preset so that the operations of the press device 5 and the feeder device 6 do not interfere with each other, the motion from the top dead center to the bottom dead center is set to the same as that of the standard motion Mi.

[0171] As a result, when operating the press device 5 with the derived motion Mim, although small program changes may be necessary, interference between the press device 5 and the feeder device 6 can be avoided by keeping the time difference between the press device 5 and the feeder device 6 the same as in the standard motion Mi.

[0172] Therefore, there is no need to make major program changes to the entire press line 2, and the speed of the press line 2 can be easily changed.

[0173] (6) The motion generating method of the present embodiment is a motion generating method for generating a motion of the slide 11 of the press device 5 including the slide 11 to which the upper die 7a is attached, the bolster 12 to which the lower die 7b is placed, and the servo motor 15 for reciprocating the slide 11 in the up-down direction, and includes step S40 (an example of a motion generating step). Step S40 generates a derived motion Mim (an example of a second motion) of the slide 11 in a cycle time Tm (an example of a second cycle time) different from the cycle time TStd so that at least the first region Mi(1) (an example of a predetermined portion) including the end position of the molding region from the top dead center of the standard motion Mi (an example of a first motion) of the slide 11 in the cycle time TStd (an example of a first cycle time) is the same, and the speed of the slide 11 at the top dead center is the same as the standard motion Mi.

[0174] When generating a derived motion Mim having a cycle time different from a standard motion Mi that is preset so that the operations of the press device 5 and the feeder device 6 do not interfere with each other, the motion from the top dead center to the bottom dead center is set to the same as that of the standard motion Mi.

[0175] As a result, when operating the press device 5 with the derived motion Mim, although small program changes may be necessary, interference between the press device 5 and the feeder device 6 can be avoided by keeping the time difference between the press device 5 and the feeder device 6 the same as in the standard motion Mi.

[0176] Therefore, the speed of the press line 2 can be easily changed without requiring a large-scale program change for the entire press line 2. As described above, it is desirable that the press speed starts to decelerate after the slide has risen to a height where there is no risk of interference with the feeder device. This allows the derived motion Mim to completely match the standard motion Mi during the period from the top dead center to that point, making it possible to more reliably avoid interference between the slide and the feeder device without requiring a program change for the entire press line 2.

[0177] <Other embodiments> Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention. In particular, the multiple embodiments and modifications described in this specification can be arbitrarily combined as necessary.

[0178] (A) In the above embodiment, a tandem press line 2 has been described, but the press line may be a transfer type press line. In a transfer type press line, a plurality of upper dies 7a and lower dies 7b are arranged in one press device 5, and the workpieces W are sequentially transported from the upstream die to the downstream die by a transfer feeder.

[0179] Even in a transfer type press device, the speed of the press line can be easily changed by generating a derived motion so that the motion from the top dead center to the bottom dead center is the same as the standard motion.

[0180] (B) In the above embodiment, the motion generating device 3 is provided separately from the press apparatus 5, but the motion generating device 3 may be incorporated in the press apparatus 5. Fig. 11 is a diagram showing a configuration in which a motion generating unit 32 is provided in a press control device 20' of a press apparatus 5'.

[0181] (C) In the above embodiment, a feeder device 6 is shown as an example of a conveying device, but this is not limited to this and may be a conveyor or the like, or in other words, any conveying device disposed on a line including a press device may be used.

[0182] (D) In the above embodiment, the derived motion Mij (j = 1 to m) is created so that its first region Mim(1) is the same as the first region Mi(1) of the standard motion Mi, but it is sufficient if the motion from the top dead center to the bottom dead center is the same. This makes it easy to change the speed of the press line.

[0183] (E) In the above embodiment, the standard motion Mi is set to the motion of the slide 11 at the maximum SPM in the specifications, but is not limited to this and does not have to be the motion of the maximum SPM.

[0184] (F) In the above embodiment, the derived motion Mij (j=1 to m) created by the motion generating device 3 has a smaller SPM than the standard motion Mi, but this is not limited to the above. For example, if the standard motion Mi is not a motion with the maximum SPM in the specifications, a derived motion Mij (j=1 to m) with a larger SPM than the standard motion Mi may be created.

[0185] (G) In the above embodiment, in the second region Mij(2) (j=1 to m) of the derived motion Mij (j=1 to m), the motor speed is decelerated once compared to the motor speed of the standard motion Mi and then accelerated once to reach the same speed as the standard motion Mi when it reaches the top dead center, but this is not limited to this. For example, in the second region Mij(2), the motor speed may be accelerated and decelerated multiple times, or the acceleration and deceleration may be performed in stages. In short, it is sufficient that the motor speed when the derived motion Mij reaches the top dead center is the same as the motor speed in the standard motion Mi.

[0186] (H) In the above embodiment, the derived program Pij (j = 1 to m) that executes the derived motion Mij (j = 1 to m) is once transmitted to the line control device 4 and then stored in the press device 5 from the line control device 4, but it may also be transmitted directly to the press device 5 without going through the line control device 4.

[0187] (I) In the above embodiment, a crank mechanism is used as the slide driving unit 13, but a link mechanism may also be used. [Industrial Applicability]

[0188] INDUSTRIAL APPLICABILITY The motion generating device disclosed herein has the effect of making it possible to easily change the speed of a press line, and is useful as a tandem press, transfer press, etc. used in sheet metal processing. [Explanation of symbols]

[0189] 3: Motion generator 5: Press equipment 7a: Upper mold 7b: Lower mold 11: Slide 12: Bolster 32: Motion generation section

Claims

1. A motion generating device for generating a motion of a slide of a press machine including a slide on which an upper die is attached, a bolster on which a lower die is placed, and a servo motor for reciprocating the slide in a vertical direction, The motion generating device generates a second motion as a derived motion having a longer cycle time than a first motion as a standard motion, the standard motion being a motion of a press line for a set of dies to be used, The motion generating device includes a motion generating unit, the motion generating unit sets at least a first region of the first motion of the slide in a first cycle time that is a cycle time of the standard motion, which is a region from the top dead center to an end position of a molding region, to the same as the standard motion, so that a motor speed of the servo motor at the top dead center becomes the same as the motor speed of the first motion, and in a second region that is a region from beyond the first region to the top dead center again, the motor speed is temporarily reduced from the motor speed in the standard motion, thereby generating the second motion as the derived motion of the slide having a second cycle time that is longer than the first cycle time that is the cycle time of the standard motion. Motion generating device.

2. the second cycle time is longer than the first cycle time; the motion generating unit generates the second motion by slowing down the motor speed to be slower than the first motion in a portion other than from the top dead center to the end position of the molding area. The motion generating device according to claim 1 .

3. the second cycle time is longer than the first cycle time; the motion generating unit generates the second motion by slowing down the motor speed to a speed lower than that of the first motion in a portion other than from the top dead center to the end position of the molding area, and returning the motor speed to the same as that of the first motion by the time the top dead center is reached. The motion generating device according to claim 1 .

4. 4. The motion generating device according to claim 2 or 3, wherein the motion generating unit generates the second motion such that the first motion is the same from the top dead center to a range of the height of the slide that does not interfere with a feeder device that transports or unloads a workpiece to the press device, and the motor speed is slower than that of the first motion within the range of the height of the slide that does not interfere.

5. A press apparatus for press-forming a workpiece using an upper die and a lower die, A slide to which the upper die is attached; A bolster on which the lower die is placed; A servo motor for reciprocating the slide in the up and down direction; A motion generating unit, The motion generating unit generates, based on a first motion as a standard motion which is a motion of a press line for a set of dies to be used, a second motion as a derived motion having a longer cycle time than the standard motion, the motion generating unit makes at least a first region of the first motion of the slide in a first cycle time that is a cycle time of the standard motion, which is a region from the top dead center to an end position of a molding region, the same as the standard motion, so that a motor speed of the servo motor at the top dead center becomes the same as the motor speed of the first motion, and in a second region that is a region from beyond the first region to the top dead center again, the motor speed is once reduced from the motor speed in the standard motion, thereby generating the second motion as the derived motion that is longer than the first cycle time that is the cycle time of the standard motion; a storage unit that stores the second motion, the second motion being longer than the first cycle time; A control unit that drives the servo motor so that the slide performs the second motion. Press equipment.

6. The motion generating unit further generates the second motion so that at least the first motion from the top dead center to the end position of the molding area is the same. The pressing device according to claim 5.

7. 1. A motion generating method for generating a motion of a slide of a press machine including a slide on which an upper die is attached, a bolster on which a lower die is placed, and a servo motor for reciprocating the slide in a vertical direction, comprising: A motion generating step of generating a second motion as a derived motion having a longer cycle time than a first motion as a standard motion, which is a motion of a press line for a set of dies to be used, based on the first motion as the standard motion, The motion generating step includes a motion generating step of making a first region of the first motion of the slide in a first cycle time that is a cycle time of the standard motion, which is at least a region from a top dead center to an end position of a molding region, the same as the standard motion, making a motor speed of the servo motor at the top dead center the same as the motor speed of the first motion, and once reducing the motor speed from the motor speed in the standard motion in a second region that is a region from beyond the first region to the top dead center again, thereby generating the second motion as the derived motion of the slide having a second cycle time longer than the first cycle time that is the cycle time of the standard motion. Motion generation methods.

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