Slide motion setting method and servo transfer press system

Abstract

To provide a method for setting slide motion so that a stroke number may improve.SOLUTION: In a slide motion setting method, an angular velocity of an eccentric shaft is calculated for each allocation angle of the down operation DWN, the unclamp operation UCL, the return operation RTN, the clamp operation CLP and the lift operation LFT of a servo transfer machine 10, the slowest angular velocity is calculated out of the angular velocities, and a partial rotation time is calculated by adding a first time required from the rotation to the eccentric shaft at the slowest angular velocity to its stop with respect to a half velocity of the allocation velocity corresponding to an advance operation ADV to a second time required to rotate with respect to a half velocity on acceleration from a stop to the slowest velocity. If the partial rotation time is longer than the fastest operation time of the advance operation, the slide motion is set to pendulum motion that the eccentric shaft reverses.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a slide motion setting method and a servo transfer press system. [Background technology]

[0002] The servo transfer press system consists of a servo press machine that performs the press processing and a servo transfer machine that transfers (transports) the workpiece (material).

[0003] A servo press machine has a plurality of press processing stations, and performs press processing (punching, bending, drawing, etc.) on a workpiece using a die while raising and lowering a slide. The slide is raised and lowered according to the slide motion.

[0004] In a servo transfer press system, it is necessary to prevent interference between the slide of the servo press machine and the fingers of the servo transfer machine, etc. For this reason, a technology has been proposed that judges whether there is interference when the slide motion is changed, and adjusts the slide motion or transfer motion if it is judged that there is interference (Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 5665233 [Patent Document 2] International Publication No. 2020 / 116479 Summary of the Invention [Problem to be solved by the invention]

[0006] However, Patent Documents 1 and 2 do not disclose a method for adjusting the slide motion to improve the number of strokes per minute (SPM).

[0007] Therefore, the present invention provides a slide motion setting method and a servo transfer press system that can set a slide motion so as to improve the number of strokes. [Means for solving the problem]

[0008] The present invention has been made to solve at least some of the above-mentioned problems, and can be realized in the following aspects or application examples.

[0009] [1] One aspect of the slide motion setting method according to the present invention is to A method for setting a slide motion of a servo transfer press system having a servo press machine that rotates an eccentric shaft to perform press processing and a servo transfer machine that transports a workpiece, comprising: dividing an assigned angle corresponding to each of the down operation, the unclamping operation, the return operation, the clamping operation and the lifting operation of the servo transfer machine by a fastest operation time for each of the operations to calculate an angular velocity of the eccentric shaft for each of the assigned angles; Calculating the slowest angular velocity from among the angular velocities; A first time required for the eccentric shaft to rotate at the slowest angular velocity for a half angle of the allocated angle corresponding to the advance operation of the servo transfer machine and stop, and a second time required for the eccentric shaft to accelerate from a stopped state to the slowest angular velocity and rotate for the half angle. Add 2 hours to calculate the partial rotation time, If the partial rotation time is longer than the fastest operation time of the advance operation, the slide motion is set to a pendulum motion in which the eccentric shaft reverses; Each of the allocated angles is an angle ranging from a start angle to an end angle of each operation of the servo transfer machine allocated to one rotation of the eccentric shaft.

[0010] According to one aspect of the slide motion setting method, the number of strokes can be improved by setting the slide motion to a pendulum motion while setting the angular velocity of the eccentric shaft within a range in which the servo transfer machine can operate at each allocation angle.

[0011] [2] In one aspect of the slide motion setting method, Calculating two reversal angles at which the eccentric shaft reverses so that the partial rotation time is equal to or close to the fastest operation time of the advance operation; The two reversal angles can be applied to the pendulum motion.

[0012] According to one aspect of the slide motion setting method, the time required for the eccentric shaft to rotate through the allocated angle corresponding to the advance operation can approach the fastest operation time for the advance operation.

[0013] [3] In one aspect of the slide motion setting method, displaying an arc-shaped image corresponding to one cycle of the pendulum motion on a display unit; The image can be displayed with the six allocation angles segmented along a circular arc.

[0014] According to one aspect of the slide motion setting method, an operator can easily visually understand the allocation angle of the eccentric shaft in the set pendulum motion.

[0015] [4] One aspect of the servo transfer press system according to the present invention is A servo transfer press system including: a control unit that sets a slide motion; a servo press machine that rotates an eccentric shaft to perform press working in accordance with a command from the control unit that executes the slide motion; and a servo transfer machine that transports a workpiece, The control unit is A process of calculating an angular velocity of the eccentric shaft for each of the allocated angles by dividing an allocated angle corresponding to each of the down operation, the unclamping operation, the return operation, the clamping operation, and the lifting operation of the servo transfer machine by a fastest operation time for each of the operations; A process of calculating a slowest angular velocity from the angular velocities; a process of calculating a partial rotation time by adding a first time required for the eccentric shaft to rotate at the slowest angular velocity through a half angle of the allocated angle corresponding to the advance operation of the servo transfer machine and stop, and a second time required for the eccentric shaft to accelerate from a stopped state to the slowest angular velocity and rotate through the half angle; If the partial rotation time is longer than the fastest operation time of the advance operation, the slide motion is set to a pendulum motion in which the eccentric shaft reverses; configured to run Each of the allocated angles is an angle ranging from a start angle to an end angle of each operation of the servo transfer machine allocated to one rotation of the eccentric shaft.

[0016] According to one aspect of the servo transfer press system, the number of strokes can be improved by setting the angular velocity of the eccentric shaft within a range in which the servo transfer machine can operate at each allocation angle, while setting the slide motion to a pendulum motion. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a schematic diagram of a servo transfer press system according to a first embodiment. [Diagram 2] 11A and 11B are diagrams illustrating the relationship between a slide motion and an allocation angle. [Diagram 3] 11 is a diagram illustrating the relationship between a pendulum motion and an allocation angle. FIG. [Figure 4] 13 is a diagram illustrating the relationship between a pendulum motion represented by a converted synchronous angle and an allocated angle. FIG. [Diagram 5]FIG. 2 is a timing diagram of slide motion and transfer motion. [Figure 6] 10 is a flowchart of a slide motion setting method according to the second embodiment. [Figure 7] 10 is a flowchart of a slide motion setting method according to the second embodiment. [Figure 8] 13 is a flowchart of a slide motion setting method according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Preferred embodiments of the present invention will be described in detail below with reference to the drawings. Note that the embodiments described below do not unduly limit the contents of the present invention described in the claims. In addition, not all of the configurations described below are necessarily essential components of the present invention.

[0023] 1. Servo transfer press system according to the first embodiment The servo transfer press system 1 will be described in detail with reference to Fig. 1 to Fig. 3. Fig. 1 is a schematic diagram of the servo transfer press system 1 according to the first embodiment, Fig. 2 is a diagram explaining the relationship between the slide motion SM of the full stroke motion and the allocated angles (θa, θd, θu, θr, θc, θl), Fig. 3 is a diagram explaining the relationship between the slide motion SM of the pendulum motion and the allocated angles (θa, θd, θu, θr, θc, θl), and Fig. 4 is a diagram explaining the relationship between the pendulum motion expressed by the synchronous angle after conversion and the allocated angles (θa, θd, θu, θr, θc, θl).

[0024] As shown in FIG. 1, a servo transfer press system 1 includes a control unit 30 that sets a slide motion, a servo press machine 2 that rotates an eccentric shaft to perform press processing according to a command from the control unit that executes the slide motion, and a servo transfer machine 10 that transports a workpiece 100. The slide motion is the movement of a slide 6 generated by the control unit 30, and is generally expressed as a relationship between the slide position (mm) of the slide 6 and time (sec) or speed (mm / sec). A command to execute the slide motion is a command created by the control unit 30 based on the slide motion set by the control unit 30. The control unit 30 outputs this command to a servo motor 4, and the servo motor 4 rotates the eccentric shaft according to this command. As a result, the slide 6 moves according to the slide motion.

[0025] The servo press machine 2 includes a slide 6 that can be raised and lowered by a servo motor 4, an upper die 7 attached to the underside of the slide 6, a lower die 8 arranged to face the upper die 7, and a bolster (not shown) to which the lower die 8 is fixed. The servo press machine 2 rotates an eccentric shaft, such as a crankshaft 3, via a power transmission mechanism when driven by the servo motor 4, and the slide 6 moves according to a slide motion via a connecting rod (not shown) due to the rotation of the crankshaft 3. Then, the upper die 7 fixed to the slide 6 rises and falls relative to the lower die 8, thereby pressing the workpiece 100. The eccentric shaft is not limited to the crankshaft 3, and an eccentric shaft may be used. The eccentric mechanism is a mechanism that converts rotational motion into reciprocating linear motion. The eccentric shaft and the connecting rod form the eccentric mechanism. One rotation of the crankshaft 3 corresponds to one stroke of the slide 6, and one stroke corresponds to one cycle of press processing. In general, the number of strokes of the slide 6 per minute is called the stroke rate (SPM), and the stroke rate (SPM) represents the production volume. As the servo press machine 2, a known servo press machine used in the servo transfer press system 1 can be adopted.

[0026] The servo motor 4 has an encoder 5. A detection signal output from the encoder 5 is input to the servo press control device 21, the servo amplifier 22, and the control unit 30 for control according to the press motion. Although not shown, the servo press machine 2 may further include an encoder that detects the height position of the slide 6.

[0027] The servo transfer machine 10 includes a feed bar 11 driven by a plurality of, for example, three, servo motors 14, and a holder 12 attached to the feed bar 11. The feed bar 11 and the holder 12 are provided in pairs, sandwiching the lower die 8. The servo transfer machine 10 is shown as an example in which the feed bar 11 and the holder 12 are provided in pairs, sandwiching the lower die 8, but is not limited to this, and may be a one-bar type transfer machine that transports the workpiece 100 with a single feed bar 11 provided only on one side of the lower die 8. Each feed bar 11 includes a plurality of holders 12. The holder 12 has, for example, fingers or a vacuum cup as a mechanism for holding the workpiece 100. The servo transfer machine 10 drives the plurality of servo motors 14 according to a set transfer motion to move the holder 12 in a clamping operation CLP, a lifting operation LFT, an advance operation ADV, a down operation DWN, an unclamping operation UCL, and a return operation RTN, as shown by arrows in FIG. 1. Three servo motors 14 are used to move the feed bar 11 along the X-, Y- and Z-axes, respectively.

[0028] The clamping operation CLP is an operation in which the opposing holders 12 are moved close to each other so that the holders 12 hold the workpiece 100 on the lower die 8. The lifting operation LFT is an operation in which the holders 12 are raised to release the workpiece 100 from the lower die 8. The advance operation ADV is an operation in which the holders 12 are moved along the longitudinal direction (direction along the X-axis) of the feed bar 11 to move the workpiece 100 onto the next lower die 8. The down operation DWN is an operation in which the holders 12 are lowered to place the workpiece 100 on the lower die 8. The unclamping operation UCL is an operation in which the opposing holders 12 are moved away from each other so that the holders 12 release the workpiece 100. The return operation RTN is an operation in which the holders 12 are moved along the longitudinal direction of the feed bar 11 at a position where they do not interfere with the upper die 7, and are returned to their initial position. A series of operations from the clamping operation CLP to the return operation RTN is synchronized with one cycle of the servo press machine 2. In this embodiment, an example of one servo press machine 2 for one servo transfer machine 10 is described, but this is not limited to this, and the servo transfer system 1 may be equipped with n servo press machines 2 for n (n is an integer greater than or equal to 2) servo transfer machines 10.

[0029] In addition, each of the servo motors 14 has an encoder 15. Detection signals from the encoders 15 are input to a servo transfer control device 25, a servo amplifier 26, and a control unit 30 for control according to the transfer motion. In addition, the servo transfer machine 10 may be provided with a plurality of encoders (not shown) for detecting the positions of the holder 12 and the feed bar 11.

[0030] The control unit 30 includes, for example, an operation unit 31, a calculation unit 32, a storage unit 33, and an output unit 38. The control unit 30 includes, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a storage medium such as a ROM (Read Only Memory), a RAM (Random Access Memory) or a HDD (Hard Disk Drive), a communication interface for high-speed data communication, and a user interface such as a display, a touch panel, or a keyboard. In the example of FIG. 1, the servo transfer press system 1 includes a display unit 35 connected to the control unit 30. The display unit 35 may be a liquid crystal display (LCD (Liquid Crystal Display)) or another known display device (e.g., an organic EL (Electro Luminescence), etc.). The display unit 35 can display information output from the output unit 38. The display unit 35 may include various user interfaces (GUI (Graphical User Interface)) as a part of the operation unit 31. The control unit 30 and the display unit 35 may be part of the servo press control device 21 or part of the servo transfer control device 25. The control unit 30 is permanently installed as a part of the servo transfer press system 1, but may be removable from the servo transfer press system 1. For example, if the servo press control device 21 can directly communicate with the servo transfer control device 25, the control unit 30 may be removed from the servo transfer press system 1 after the slide motion is set. Also, a part or the whole of the control unit 30 may be provided on a cloud via the Internet.

[0031] The operation unit 31 is an interface for an operator to input various conditions for the slide motion and transfer motion. The calculation unit 32 executes various processes described below based on the input from the operation unit 31. The storage unit 33 stores the slide motion and transfer motion set by the operation unit 31, various control programs, etc., after the calculation unit 32 executes the various processes. The output unit 38 outputs various commands to various parts of the device connected to the control unit 30. The display unit 35 displays, for example, the slide motion SM and the arc-shaped image AS as shown in Figs. 2 to 4, etc. Display.

[0032] The diagram shown in the upper part of FIG. 2 shows the relationship between the allocation angles (θa, θd, θu, θr, θc, θl) set in the "Setting process of allocation angles" of the "Advance preparation" described in "2. Slide motion setting method according to the second embodiment" and the slide motion SM. A general slide motion is represented by slide position and time, but in this figure, the vertical axis is the slide position (mm) and the crankshaft angle (°), and the horizontal axis is the transfer synchronous angle (°). The slide motion SM is shown by a solid line, and the actual crankshaft angle CA is shown by a dashed line. Each operation of the transfer motion is shown by a so-called allocation angle (θa, θd, θu, θr, θc, θl) of the transfer synchronous angle (°) with shading. The allocation angle (θa, θd, θu, θr, θc, θl) is an angle in the range from the start angle to the end angle of each operation of the transfer motion with respect to the transfer synchronous angle (generally the crank angle).

[0033] The slide motion SM shown in the upper part of Fig. 2 is a full stroke motion in which the slide 6 moves from top dead center TDC through bottom dead center BDC and back to top dead center TDC. In this motion, the crankshaft 3 rotates continuously in one direction (clockwise) at a constant angular velocity without stopping. The lower part of Fig. 2 shows this one cycle of the slide motion SM as a circular image AS. In the lower part of the figure, the transfer synchronous angle (corresponding to one rotation of the crankshaft 3 in this figure) is represented by one revolution of the image AS, and the assigned angles (θa, θd, θu, θr, θc, θl) at the transfer synchronous angle are represented as 0° (top dead center TDC of the slide 6) directly above the center 3a and 180° (bottom dead center BDC of the slide 6) directly below.

[0034] The slide motion SM shown in the upper part of FIG. 3 is an example of a so-called pendulum motion in which the crankshaft 3 stops and reverses before the slide 6 returns to the top dead center TDC. In the pendulum motion, the crankshaft 3 swings around the bottom dead center BDC like a pendulum, shortening the stroke and increasing the number of strokes. In this example, the crankshaft 3 repeats the reverse motion at the reverse angle IA (60° and 300°). In addition, the crankshaft 3 basically rotates at a constant speed, but since it stops at the reverse angle IA, it decelerates near the reverse angle IA and accelerates again after stopping. This one cycle of the slide motion SM can be represented by an arc-shaped image AS as shown in the lower part of the same figure. In the lower figure, the rotational motion of the crankshaft 3 corresponding to the advance operation ADV can be shortened compared to the example of FIG. 2, so the time required for one cycle is shorter.

[0035] The transfer synchronous angle (°) is the angle of a virtual crankshaft with which the transfer motion is synchronized, and in the example of Fig. 2 and Fig. 3, it is 0° to 360°, the same as the angle of the actual crankshaft 3. For example, if the slide motion SM, which is a pendulum motion that reverses at 60° to 300° as shown in Fig. 3, is converted to a transfer synchronous angle of 0° to 360° as shown in Fig. 4, the allocated angles (θa, θd, θu, θr, θc, θl) of the transfer motion can be recognized with one cycle being one revolution of the virtual crankshaft. By expressing the transfer synchronous angle with the angle of the virtual crankshaft, even an operator who is accustomed to conventional mechanical press machines can easily understand that one cycle is one revolution of the crankshaft.

[0036] The allocation angles (θa, θd, θu, θr, θc, θl) of each operation of the transfer motion are set at the transfer synchronous angle represented by the angle of the actual crankshaft 3. The center 3a in the lower parts of Figures 2 and 3 can be considered as the center 3a of rotation of the actual crankshaft 3. The angular velocities (ωa, ωd, ωu, ωr, ωc, ωl) are the angular velocities of the crankshaft 3 at the allocation angles (θa, θd, θu, θr, θc, θl) of each operation of the transfer motion.

[0037] The control unit 30 controls the down operation DWN and the unclamping operation U of the servo transfer machine 10. A process of calculating the angular velocity of the eccentric shaft, for example the crankshaft 3, for each assigned angle (indicated by arrows ωd, ωu, ωr, ωc, ωl in Figs. 2 and 3, respectively) by dividing the assigned angle corresponding to each operation of CL, return operation RTN, clamp operation CLP, and lift operation LFT by the fastest operation time for each operation, a process of calculating the slowest angular velocity from among the angular velocities, and a process of dividing the assigned angle by half of the assigned angle θa corresponding to the advance operation ADV of the servo transfer machine. The control unit 30 is configured to execute a process of calculating a partial rotation time Ta by adding a first time required for the crankshaft 3 to rotate at the slowest angular velocity ωa for an angle (θa / 2) of 100 degrees and stop, and a second time required for the crankshaft 3 to accelerate from a stopped state to the slowest angular velocity ωa and rotate for half the angle (θa / 2), and a process of setting the slide motion SM to a pendulum motion (e.g., FIG. 3) in which the crankshaft 3 reverses if the partial rotation time Ta is longer than the fastest operation time of the advance operation ADV. Each of the allocated angles (θa, θd, θu, θr, θc, θl) is an angle from a start angle to an end angle of each operation of the servo transfer machine 10 allocated to one rotation of the crankshaft 3. The process in the control unit 30 will be described in detail in the slide motion setting method according to the second embodiment.

[0038] Thus, according to one aspect of the servo transfer press system 1, the number of strokes is improved by setting the slide motion SM to a pendulum motion while setting the angular velocity (ωa, ωd, ωu, ωr, ωc, ωl) of the crankshaft 3, which is an eccentric shaft, within a range in which the servo transfer machine 10 can operate at each allocation angle (θa, θd, θu, θr, θc, θl). Specifically, changing the slide motion SM to a pendulum motion as shown in Fig. 3 rather than the slide motion SM as shown in Fig. 2 can reduce the movement time of the slide 6, which is longer than the partial rotation time Ta at the allocation angle θa, thereby improving the productivity of the servo transfer press system 1.

[0039] The slide motion SM in Figs. 2 to 4 is represented by the slide position and the transfer synchronous angle, but a common display is a timing diagram represented by the stroke and crank angle as shown in Fig. 5. As shown in Fig. 5, in the timing diagram, not only the slide motion SM but also the servo transfer motion of the servo transfer machine 10 can be represented by the stroke and crank angle. When represented as in Fig. 5, each of the advance operation ADV, the return operation RTN, the down operation DWN, the unclamping operation UCL, the clamping operation CLP, and the lift operation LFT can be represented by an independent curve. Also, each of the allocation angles (θa, θd, θu, θr, θc, θl) is within the range indicated by the dashed line. And, the servo transfer motion may adopt a motion in which an overlap section is provided in which two adjacent operations partially overlap as shown in Fig. 5. For example, an overlap section may be provided in which the lift operation LFT starts before the clamp operation CLP ends (a section where the ranges of θc and θl overlap), or an overlap section may be provided in which the down operation DWN starts before the advance operation ADV ends (a section where θa and θd overlap). By providing such overlap sections, the next operation can be started without waiting for the previous operation to end, thereby shortening the cycle time of the servo transfer motion. Note that overlap sections are sometimes simply called "laps."

[0040] 2. Slide motion setting method according to the second embodiment The slide motion setting method according to the second embodiment will be described in detail with reference to Figures 6 and 7. Figures 6 and 7 are flowcharts of the slide motion setting method according to the second embodiment.

[0041] In the following description, an example of setting the slide motion SM shown in FIGS. 2 and 3 will be described using the servo transfer press system 1 shown in FIG. 1. The slide motion setting method is a method for setting a slide motion of a servo transfer press system 1 having a servo press machine 2 which performs press working by rotating an eccentric shaft, such as a crankshaft 3, and a servo transfer machine 10 which transports a workpiece 100.

[0042] As shown in FIG. 6, the slide motion setting method according to this embodiment includes a step of calculating an angular velocity (S10), a step of calculating the slowest angular velocity (S12), a step of calculating a partial rotation time Ta (S14), a step of determining whether the partial rotation time Ta is longer than the fastest motion time FTa (S16), and further includes a step of setting the slide motion to a pendulum motion based on the determination result (S20).

[0043] Advance Preparation: As advance preparation for executing the slide motion setting method, for example, a process of setting an allocated angle and a process of calculating the fastest motion time can be executed.

[0044] In the allocation angle setting process, the control unit 30 sets the allocation angles (θa, θd, θu, θr, θc, θl) corresponding to each of the advance operation ADV, down operation DWN, unclamping operation UCL, return operation RTN, clamping operation CLP, and lift operation LFT of the servo transfer machine 10. In the allocation angle setting process, for example, the operator may operate the operation unit 31 to read out the allocation angles (θa, θd, θu, θr, θc, θl) corresponding to the mold, device, etc., that are stored in advance in the memory unit 33.

[0045] Each of the allocation angles (θa, θd, θu, θr, θc, θl) is an angle from the start angle to the end angle of each operation of the servo transfer machine 10 allocated to one rotation of the eccentric shaft, for example, the crankshaft 3. In general, the servo press machine 2 and the servo transfer machine 10 need to be operated synchronously to prevent interference between them. For this reason, there are cases where synchronous operation is made possible using allocation angles (θa, θd, θu, θr, θc, θl) that allocate the range of each operation of the servo transfer machine 10 to the angle of the eccentric shaft of the servo press machine 2. Since the angle of the eccentric shaft corresponds to the height position of the slide 6, if the servo transfer machine 10 operates according to the preset allocation angles (θa, θd, θu, θr, θc, θl), the slide 6 and the holder 12 will not interfere with each other. In this embodiment, the angle between the start angle and the end angle of each operation is the allocation angle (θa, θd, θu, θr, θc, θl) of each operation. For example, the down operation DWN in Fig. 2 starts at the end angle (100°) of the advance operation ADV and ends at the start angle (110°) of the unclamping operation UCL, with the angle (θd = 10°) allocated to the down operation DWN being between them. When the servo transfer press system 1 operates according to the slide motion SM, the down operation DWN can start when the crankshaft 3 reaches the start angle (100°) and must end before the end angle (110°). The same applies to each operation of the other transfer motions.

[0046] In addition, the allocation angle setting process may use the allocation angle preset in the servo press machine 2 and the servo transfer machine 10 at the time of shipment from the factory, or may be set by a method of determining the allocation angle from an interference diagram according to the die and the product, or by searching for an allocation angle that does not interfere while performing a 3D simulation or an actual inching operation. When setting the allocation angle in the pendulum motion as shown in Figure 3, it is preferable that the range of the allocation angle from the start angle of the down operation DWN to the end angle of the lift operation LFT is narrow because the stroke of the slide 6 is shortened and the number of strokes is increased. For example, in the case of the pendulum motion, it is preferable that the start angle of the down operation DWN is closer to the bottom dead center BDC than 90°, and the end angle of the lift operation LFT is closer to the bottom dead center BDC than 270°.

[0047] The fastest operation time calculation process calculates the time required to operate each of the assigned angles (θa, θd, θu, θr, θc, θl) at the fastest speed as the fastest operation time (FTa, FTd, FTu, F The fastest operating times (FTa, FTd, FTU, FTr, FTc, FTL) are calculated as the time required for each axis of the servo transfer machine 10 to operate at each allocated angle when the servo motor 14 of each axis operates at the maximum output specified by the specifications, for example, by the calculation unit 32. The calculation of the fastest operating times (FTa, FTd, FTU, FTr, FTc, FTL) takes into consideration the acceleration and deceleration due to the maximum output of the servo motor 14, the inertia of the feed bar 11, the backlash of the transmission mechanism, etc. Note that when the allocated angle is narrow, the servo motor 14 may decelerate before reaching its maximum speed.

[0048] S10: The control unit 30 executes a process of calculating an angular velocity. In the process of calculating the angular velocity, the calculation unit 32, for example, calculates the angular velocity (ωd, ωu, ωr, ωc, ωl) of the eccentric shaft, for example the crankshaft 3, for each assigned angle by dividing the assigned angle (θd, θu, θr, θc, θl) corresponding to each operation of the down operation DWN, the unclamping operation UCL, the return operation RTN, the clamping operation CLP, and the lifting operation LFT of the servo transfer machine 10 by the fastest operation time (FTd, FTu, FTr, FTc, FTl) for each operation. For example, the fastest angular velocity ωd in the down operation DWN can be calculated by the assigned angle θd / fastest operation time FTd. Note that the fastest operation time (FTd, FTu, FTr, FTc, FTl) is set to the time when the crankshaft 3 rotates at a constant speed at each assigned angle (θd, θu, θr, θc, θl).

[0049] S12: The control unit 30 executes a step of calculating the slowest angular velocity. In the step of calculating the slowest angular velocity, the calculation unit 32, for example, calculates the slowest angular velocity from among the five angular velocities (ωd, ωu, ωr, ωc, ωl) calculated in S10. In addition, if the calculated angular velocity (ωd, ωu, ωr, ωc, ωl) of the crankshaft 3 exceeds the settable angular velocity of the crankshaft 3 (maximum speed of the press), the calculation unit 32 can set the angular velocity corresponding to the maximum press rotation speed as the slowest angular velocity. If the crankshaft 3 is rotated at a constant speed at the slowest angular velocity, all operations except the advance operation ADV of the servo transfer machine 10 are completed while the crankshaft 3 rotates through each assigned angle.

[0050] S14: The control unit 30 executes a step of calculating the partial rotation time Ta. In the step of calculating the partial rotation time Ta, the calculation unit 32, for example, calculates the partial rotation time Ta by adding a first time required for the eccentric shaft, for example, the crankshaft 3, to rotate at the slowest angular velocity ωa calculated in S12 through a half angle (θa / 2) of the allocated angle corresponding to the advance operation ADV of the servo transfer machine 10 and stop, and a second time required for the eccentric shaft to accelerate from a stopped state to the slowest angular velocity ωa and rotate through the half angle (θa / 2).

[0051] Here, the time required for the crankshaft 3 operating in the slide motion SM shown in FIG. 2 to rotate the allocation angle θa at the angular velocity ωa can be calculated by the formula Ta=θa / ωa. The angular velocity ωa is obtained in the step (S12) of calculating the slowest angular velocity. However, since the partial rotation time Ta assumes the conditions applied to the pendulum motion as shown in FIG. 3, it is a time obtained by adding together a first time required for the crankshaft 3 to rotate at the angular velocity ωa for an angle half the allocation angle θa (θa / 2) and stop, even in the slide motion SM of FIG. 2, and a second time required for the crankshaft 3 to accelerate from a stopped state to the angular velocity ωa and rotate for half the angle (θa / 2). The acceleration and deceleration conditions at this time can be set appropriately based on the specifications given to the servo press machine 2, and for example, a condition for stopping from the angular velocity ωa in the shortest time and a condition for accelerating from a stopped state to the angular velocity ωa in the shortest time can be used.

[0052] S16: The control unit 30 executes a judging step. In the judging step, for example, the calculation unit 32 judges whether the partial rotation time Ta is longer than the fastest operation time FTa. Since the partial rotation time Ta is the time it takes for the crankshaft 3 to rotate through the allocated angle θa in Fig. 2, if the partial rotation time Ta is longer than the fastest operation time TFa, the number of strokes is increased by changing the slide motion SM to a pendulum motion, and as a result, the cycle time can be shortened.

[0053] S20: When the judgment result of S16 is "YES", the control unit 30 executes a process of setting the slide motion to the pendulum motion. In the process of setting the slide motion to the pendulum motion, if the partial rotation time Ta is longer than the fastest operation time FTa of the advance operation ADV (YES), the calculation unit 32, for example, sets the slide motion SM to the pendulum motion in which the eccentric shaft, for example, the crankshaft 3, reverses. According to one aspect of the slide motion setting method, the number of strokes is improved by setting the slide motion SM to the pendulum motion while setting the angular velocity of the eccentric shaft within a range in which the servo transfer machine 10 can operate at each allocation angle. Also, when the judgment result of S16 is "NO", productivity cannot be improved even if the pendulum motion is applied to the slide motion, so the calculation unit 32 does not set the slide motion SM to the pendulum motion.

[0054] Each step of S20 will be described below with reference to Fig. 7. Fig. 7 is a flowchart of S20.

[0055] S22: The control unit 30 executes a step of calculating two reversal angles. In the step of calculating the two reversal angles, the calculation unit 32, for example, calculates two reversal angles IA at which the crankshaft 3, which is an eccentric shaft, reverses so that the partial rotation time Ta is the same as or close to the fastest operation time FTa of the advance operation ADV. If the partial rotation time Ta is the same as the fastest operation time FTa, the pendulum motion will be the most productive. Also, if the partial rotation time Ta is close to the fastest operation time FTa, the time from when the advance operation ADV ends until the crankshaft 3 stops and the time the crankshaft 3 stops at the reversal angle IA can be reduced.

[0056] S24: The control unit 30 executes a step of applying the reversal angle IA to the pendulum motion. In the step of applying the reversal angle IA to the pendulum motion, the two reversal angles IA calculated in S22 are applied to the pendulum motion by, for example, the calculation unit 32. In this way, the time required for the eccentric shaft to rotate about the allocated angle θa corresponding to the advance operation can approach the fastest operation time FTa of the advance operation ADV.

[0057] S26: The control unit 30 executes a step of displaying the arc-shaped image AS. In the step of displaying the arc-shaped image AS, for example, a signal is output from the output unit 38 to the display unit 35 by a command from the calculation unit 32, and the arc-shaped image AS corresponding to one cycle of the pendulum motion is displayed on the display unit 35. The image AS is displayed with six allocation angles (θa, θd, θu, θr, θc, θl) divided along the arc. The allocation angle θa is displayed by dividing it into two as shown in FIG. 3. By displaying the image AS on the display unit 35 in this way, the operator can easily visually understand the allocation angles (θa, θd, θu, θr, θc, θl) of the eccentric shaft in the set pendulum motion. When an overlap section is provided in the operation of the servo transfer machine 10, the image AS may be displayed so that the overlap amount can be understood using, for example, an arc with a different radius of curvature for each operation.

[0058] Furthermore, the control unit 30 may convert the arc-shaped image AS shown in Fig. 3 into an annular image AS in Fig. 4 and display it on the display unit 35. The pendulum motion in Fig. 3 is displayed on the display unit 35 as if it were reversing at 60° to 300° of the crankshaft 3, but one cycle can be expressed as one rotation of a virtual crankshaft by converting 60° to 300° of the actual crankshaft into the transfer synchronization angle of 0° to 360° shown in Fig. 4.

[0059] 3. Servo transfer press system according to the third embodiment The servo transfer press system according to the third embodiment has basically the same configuration as the servo transfer press system 1 according to the first embodiment described with reference to FIG. 1, except for the configuration of the control unit 30. Therefore, in the following description, The press system will be described as the servo transfer press system 1 in FIG. 1, and duplicated description will be omitted.

[0060] The servo transfer press system 1 according to the first embodiment is basically a slide motion in which the crankshaft 3 rotates at a constant angular velocity, but the servo transfer press system 1 according to the third embodiment can change the angular velocity of the crankshaft 3 for each allocation angle (θa, θd, θu, θr, θc, θl).

[0061] The control unit 30 of the servo transfer press system 1 according to the third embodiment is configured to execute a process of calculating the angular velocity (ωa, ωd, ωu, ωr, ωc, ωl) of the eccentric shaft, for example the crankshaft 3, for each allocated angle by dividing the allocated angle (θa, θd, θu, θr, θc, θl) corresponding to each of the advance operation ADV, down operation DWN, unclamping operation UCL, return operation RTN, clamping operation CLP and lift operation LFT of the servo transfer machine 10 by the fastest operation time (FTa, FTd, FTu, FTr, FTc, FTL) for each of the operations, and a process of setting a slide motion in which the crankshaft 3 operates at the angular velocity (ωa, ωd, ωu, ωr, ωc, ωl) corresponding to each allocated angle (θa, θd, θu, θr, θc, θl).

[0062] Each of the allocated angles (θa, θd, θu, θr, θc, θl) is an angle from the start angle to the end angle of each operation of the servo transfer machine 10 allocated to one rotation of the eccentric shaft, for example the crankshaft 3.

[0063] According to the servo transfer press system of the third embodiment, by setting the fastest angular velocity (ωa, ωd, ωu, ωr, ωc, ωl) of the eccentric shaft for each assigned angle (θa, θd, θu, θr, θc, θl), it is possible to set the slide motion so as to improve the number of strokes. Note that the processing in the control unit 30 will be described in detail in the slide motion setting method of the fourth embodiment.

[0064] 4. Slide motion setting method according to the fourth embodiment A slide motion setting method according to the fourth embodiment will be described with reference to Fig. 8. Fig. 8 is a flowchart of the slide motion setting method according to the fourth embodiment. As in the second embodiment, the slide motion setting method according to the fourth embodiment is a slide motion setting method for a servo transfer press system 1 having a servo press machine 2 which rotates an eccentric shaft, such as a crankshaft 3, to perform press working, and a servo transfer machine 10 which transports a workpiece 100. Therefore, the following description will be given using the servo transfer press system 1 in Fig. 1.

[0065] 8, the slide motion setting method according to the fourth embodiment includes a step (S30) of calculating an angular velocity and a step (S32) of setting a slide motion. Prior to carrying out S30, the advance preparation described in the second embodiment can be carried out in advance.

[0066] S30: The control unit 30 executes a process of calculating angular velocities (ωa, ωd, ωu, ωr, ωc, ωl). In the process of calculating angular velocities (ωa, ωd, ωu, ωr, ωc, ωl), the calculation unit 32, for example, calculates the angular velocities (ωa, ωd, ωu, ωr, ωc, ωl) of the eccentric shaft, for example the crankshaft 3, for each assigned angle by dividing the assigned angles (θa, θd, θu, θr, θc, θl) corresponding to the advance operation ADV, the down operation DWN, the unclamping operation UCL, the return operation RTN, the clamping operation CLP, and the lifting operation LFT of the servo transfer machine 10 by the fastest operation time (FTa, FTd, Ftu, FTr, FTc, FTL) for each of the corresponding operations.

[0067] Each of the allocated angles (θa, θd, θu, θr, θc, θl) is an angle from a start angle to an end angle of each operation of the servo transfer machine 10 allocated to one rotation of the eccentric shaft, for example, the crankshaft 3. In addition, when the angular velocities of adjacent allocated angles are different, it is preferable to set the angular velocities near the start angle and the end angle to accelerate or decelerate.

[0068] S32: The control unit 30 executes a step of setting a slide motion. In the step of setting the slide motion, for example, the calculation unit 32 sets a slide motion in which the eccentric shaft, for example, the crank shaft 3, operates at angular velocities (ωa, ωd, ωu, ωr, ωc, ωl) corresponding to the respective assigned angles (θa, θd, θu, θr, θc, θl).

[0069] According to one aspect of the slide motion setting method, by setting the fastest angular velocity (ωa, ωd, ωu, ωr, ωc, ωl) of the eccentric shaft for each allocated angle (θa, θd, θu, θr, θc, θl), the slide motion can be set to improve the number of strokes.

[0070] The present invention is not limited to the above-described embodiments, and various modifications are possible, including configurations that are substantially the same as those described in the embodiments (configurations with the same functions, methods, and results, or configurations with the same purpose and effect). The present invention also includes configurations in which non-essential parts of the configurations described in the embodiments are replaced. The present invention also includes configurations that achieve the same effects as the configurations described in the embodiments, or configurations that can achieve the same purpose. The present invention also includes configurations in which publicly known technology is added to the configurations described in the embodiments. [Explanation of symbols]

[0071] 1...servo transfer press system, 2...servo press machine, 3...crankshaft, 3a...center, 4...servo motor, 5...encoder, 6...slide, 7...upper die, 8...lower die, 10...servo transfer machine, 11...feed bar, 12...holding tool, 14...servo motor, 15...encoder, 21...servo press control device, 22...servo amplifier, 25...servo transfer control device, 26...servo amplifier, 30...control unit, 31...operation unit, 32...calculation unit, 33...storage unit, 35...display unit, 38...output unit, 100...work, AS...image, CA...crankshaft angle, IA...reversal angle, SM...slide motion, ADV...advance operation, BDC...bottom dead center, CLP...clamp operation, DWN...down operation, LFT...lift operation, RTN...return operation, TDC...top dead center, UCL...unclamp operation

Claims

1. A method for setting a slide motion of a servo transfer press system having a servo press machine that rotates an eccentric shaft to perform press processing and a servo transfer machine that transports a workpiece, comprising: dividing an assigned angle corresponding to each of the down operation, the unclamping operation, the return operation, the clamping operation and the lifting operation of the servo transfer machine by a fastest operation time for each of the operations to calculate an angular velocity of the eccentric shaft for each of the assigned angles; Calculating the slowest angular velocity from among the angular velocities; a first time required for the eccentric shaft to rotate at the slowest angular velocity through half the allocated angle corresponding to the advance operation of the servo transfer machine and stop, and a second time required for the eccentric shaft to accelerate from a stopped state to the slowest angular velocity and rotate through the half angle, to calculate a partial rotation time; If the partial rotation time is longer than the fastest operation time of the advance operation, the slide motion is set to a pendulum motion in which the eccentric shaft reverses; A slide motion setting method, characterized in that each of the allocated angles is an angle from a start angle to an end angle of each operation of the servo transfer machine allocated to one rotation of the eccentric shaft.

2. In claim 1, Calculating two reversal angles at which the eccentric shaft reverses so that the partial rotation time is equal to or close to the fastest operation time of the advance operation; A slide motion setting method, comprising: applying the two reversal angles to the pendulum motion.

3. In claim 1 or 2, displaying an arc-shaped image corresponding to one cycle of the pendulum motion on a display unit; A slide motion setting method, characterized in that the image is displayed with six of the allocation angles divided along a circular arc.

4. A servo transfer press system including: a control unit that sets a slide motion; a servo press machine that rotates an eccentric shaft to perform press working in accordance with a command from the control unit that executes the slide motion; and a servo transfer machine that transports a workpiece, The control unit is A process of calculating an angular velocity of the eccentric shaft for each of the allocated angles by dividing an allocated angle corresponding to each of the down operation, the unclamping operation, the return operation, the clamping operation, and the lifting operation of the servo transfer machine by a fastest operation time for each of the operations; A process of calculating a slowest angular velocity from the angular velocities; a process of calculating a partial rotation time by adding a first time required for the eccentric shaft to rotate at the slowest angular velocity through a half angle of the allocated angle corresponding to the advance operation of the servo transfer machine and stop, and a second time required for the eccentric shaft to accelerate from a stopped state to the slowest angular velocity and rotate through the half angle; If the partial rotation time is longer than the fastest operation time of the advance operation, the slide motion is set to a pendulum motion in which the eccentric shaft reverses; configured to run A servo transfer press system, wherein each of the allocated angles is an angle from a start angle to an end angle of each operation of the servo transfer machine allocated to one rotation of the eccentric shaft.

Images