Press system and method for controlling press system

Abstract

To provide a press system and a control method of the same, capable of securing safety property and improving productivity.SOLUTION: A press system is configured to perform: press start processing for, rotating a crank shaft stopped at a prescribed start angle, moving a slide downward; and interference check processing for, when the crank shaft reaches a prescribed interference check angle, determining whether a first transport device is at a mold interference area where the same interferes with the mold. The press start processing is executed after lapse of a prescribed delay period, after the first transport device carries a workpiece into a press device, the delay period is set on the basis of a separation period which is required until the first transport device separates the mold interference area after carrying the workpiece, and a check angle movement period required for moving of the crank shaft from the start angle to the interference check angle, and the delay period is shorter than at least the separation period.SELECTED DRAWING: Figure 8

Description

[Technical field]

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

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

[0003] The press system of Patent Document 1 includes a leveler feeder that transports coil material to a press device, and a transport conveyor that transports a workpiece formed by press processing. In addition, in the press system of Patent Document 1, the monitoring position is set so that the slide that starts descending from the standby height and reaches the monitoring position can start decelerating at the monitoring position and stop at a stopping position higher than the possible feeding height if the completion of feeding of the workpiece is not detected, so that the workpiece transport operation does not interfere with the upper die lifting operation. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-55426 A Summary of the Invention [Problem to be solved by the invention]

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

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

[0007] To solve this problem, it is possible to set the monitoring position away from the feedable height and close to the standby height, but as long as the conveying device is operated at a height other than the feedable height of the process with a long slide stroke, the difference in the feedable height caused by the difference in processing time resulting from the difference between the process with a long slide stroke and the process with a short slide stroke will not be resolved, and even if the slide starts to decelerate at the monitoring position in an emergency, it may not be enough and the conveying device may collide with the upper die. Also, even if an emergency stop is made, it takes time to re-accelerate from that position, and as a result, there is a possibility that more time will be consumed compared to the takt time for processing without an emergency stop.

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

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

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

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

[0012] [Figure 1] FIG. 1 is a schematic perspective view showing a configuration of a press system according to an embodiment of the present invention. [Diagram 2]FIG. 2 is a schematic perspective view showing the configuration of the press device of the present embodiment. [Diagram 3] FIG. 3 is a schematic perspective view showing the configuration of the robot of the present embodiment. [Figure 4] FIG. 4 is a block diagram of the press system of the present embodiment. [Diagram 5] FIG. 5 is a diagram for explaining signals transmitted and received between the devices of this embodiment. [Figure 6] FIG. 6 is a diagram showing the relationship between the angle of the crankshaft and the predetermined timing in each region and in processing in this embodiment. [Figure 7] FIG. 7 is a diagram for explaining the regions of this embodiment. [Figure 8] FIG. 8 is a schematic diagram showing the interference check process of this embodiment. [Figure 9] FIG. 9 is a schematic diagram showing the robot starting process of this embodiment. [Figure 10] FIG. 10 is a diagram showing an example of a delay time setting screen according to the present embodiment. [Figure 11] FIG. 11 is a diagram showing an example of the advance start condition setting screen of this embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of a control method for the press system according to the present embodiment. [Figure 13] FIG. 13 is a schematic diagram showing an example of the optimum delay time in this embodiment. [Figure 14] FIG. 14 is a schematic diagram showing an example of a case where the delay time in this embodiment is short. [Figure 15] FIG. 15 is a schematic diagram showing an example of the case where there is no delay time in this embodiment. [Figure 16] FIG. 16 is a schematic diagram showing an example of a case where the delay time in this embodiment is long. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

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

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

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

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

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

[0018] Similarly, the robot Rm, which is a predetermined transport device, is disposed between the press device Pn, which is a front-stage press device, and the press device Pn+1, which is a rear-stage press device. In this case, as viewed from the robot Rm, the press device Pn is the press device on the upstream side in the transport direction, and the press device Pn+1 is the press device on the downstream side. Note that, as viewed from the press device Pn, the robot Rm is disposed on the downstream side in the transport direction, and as viewed from the press device Pn+1, the robot Rm is disposed on the upstream side. Also, the robot Rm-1, which is a front-stage transport device, is the robot on the upstream side of the robot Rm, and the robot Rm+1, which is a rear-stage transport device, is the robot on the downstream side of the robot Rm.

[0019] <Lifters and horizontal feeders> The lifter 100 holds the workpiece 120, raises the held workpiece 120 to a processing height, and waits for the horizontal feeder 200 to grip the workpiece 120. The horizontal feeder 200 has an arm 240, a hand 210 provided on the upstream side of the arm 240 in the conveying direction, a hand 220 provided on the downstream side of the arm 240, and a table 230. The arm 240 can move in the conveying direction and in the up and down directions. The hands 210 and 220 can grip the workpiece 120 by suction using air, for example, and can release the suction to release the workpiece 120. The table 230 is a temporary placement location for the workpiece 120 to transfer the workpiece 120 from the hand 210 to the hand 220.

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

[0021] <Press equipment> The press device 300 of FIG. 1 will be described with reference to FIG. 2. FIG. 2 is a schematic perspective view showing the configuration of the press device 300 of this embodiment, and is a schematic view of, for example, an integrated straight-side frame type or C-frame type press device 300. 2 3 also shows the conveying direction of the workpiece 120, as well as the upstream (left), downstream (right), up-down direction, and front-rear direction (front and back) in the conveying direction. The press apparatus 300 is configured to have a drive motor 304 (drive means), a transmission mechanism 306, a crankshaft 308, a connecting rod 310, a slide 312, and a bolster 322 inside and outside a housing 302. The press apparatus 300 also has a controller 314, a memory unit 315, a display unit 316, and an input unit 318. The press apparatus 300 further has a sensor 324, a rotary encoder 325, and a gibb 326. The gibb is also called a guide gibb or a slide guide.

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

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

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

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

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

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

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

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

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

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

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

[0033] Hereinafter, the act of the robot Rm transporting the workpiece 120 from the press apparatus Pn after machining therein is referred to as "transporting out". Also, the act of the robot Rm transporting the workpiece 120 to the press apparatus Pn+1 in order to machine the workpiece 120 therein is referred to as "transporting in". Furthermore, the series of movements of the robot Rm from starting its operation from a predetermined position to transporting the workpiece 120 out of the press apparatus Pn, transporting the workpiece 120 into the press apparatus Pn+1, and then returning to the predetermined position is referred to as a "transport pattern". The transport pattern is determined according to the shape of the workpiece 120, the shape of the die 303, the type of machining, and the like.

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

[0035] The control unit 470 controls the position of the hand 460 in a reference three-dimensional coordinate system (e.g., numerical values ​​of x, y, and z). The three-dimensional coordinates may be any coordinate system capable of specifying and controlling a predetermined position in a three-dimensional space, such as Cartesian coordinates, polar coordinates, or cylindrical coordinates, and the control unit 470 is assumed to control the posture and speed of the robot 400 using known technology.

[0036] In the storage unit 480, a region (hereinafter simply referred to as "region") having a predetermined spatial shape in a three-dimensional space or a predetermined two-dimensional surface shape is defined, and information on the defined region is stored. The defined region is used to control the robot 400 so that the robot 400 does not interfere with other structures. For example, the defined region is a region provided so that an object held by the robot 400, specifically the workpiece 120, does not interfere with the press device 300 or another robot 400 or a processed product by the press device 300 or an object held by another robot 400. Note that "interference" includes not only collision and contact, but also a positional relationship that does not actually come into contact but affects each other's operations. In general, the storage unit 480 of the robot 400 is capable of setting a plurality of regions, for example, j regions (j≧1). In this embodiment, 10 regions (j≦10) are set and stored in the storage unit 480. Here, the multiple regions are expressed as region C1, region C2, . . . , region Cj, . . . , region C10, and are collectively referred to simply as region Cj. Detailed settings of region Cj will be described later.

[0037] The hand 460 grasps the workpiece 120 by suction using air, but is not limited to this. For example, the hand 460 may have a claw portion, and the claw portion may be opened or closed to grasp and release the workpiece 120. In this case, the grasping and release of the workpiece 120 may be detected by a sensor provided in the claw portion. The sensor may be, for example, an optical sensor, a piezoelectric sensor, or any other sensor.

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

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

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

[0041] The computing device 20 thus configured is configured to be capable of executing a press start process for rotating the crankshaft 308, which is stopped at a predetermined start angle SA, and starting to move the slide 312 downward. The press start process is executed after a predetermined delay time has elapsed after the robot Rm-1 carries the workpiece 120 into the press device Pn.

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

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

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

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

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

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

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

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

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

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

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

[0053] FIG. 14 is a schematic diagram showing an example of a case where the delay time in this embodiment is short. For example, as shown in Fig. 14, if the delay time is shorter than the example shown in Fig. 13, the time Tp2 at which the crankshaft 308 of the press Pn reaches the interference check angle ICA comes before the time Tr2 at which the robot Rm-1 leaves the die interference area K of the press Pn, and the crankshaft 308 reaches the interference check angle ICA before the robot Rm-1 leaves the die interference area K of the press Pn, so that the calculation device 20 will stop the press Pn once and then restart the press Pn, as will be described later. In this case, the shaded portion shown in Fig. 14 is a delay in the takt time, resulting in a decrease in productivity.

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

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

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

[0057] In addition, by setting the delay time so that the crankshaft 308 reaches the interference check angle ICA at the same time that the robot Rm-1 leaves the die interference area K of the press Pn, the acceleration of the crankshaft 308 of the press Pn starts before the interference angle IA, and the crankshaft 308 of the press Pn, and therefore the die 303, can enter the interference area of ​​the crankshaft 308 (area other than the area outside the robot interference area described below) at top speed. As a result, the time for the crankshaft 308 (die 303) of the press Pn to move through the interference area can be shortened by half the acceleration time, compared to a case in which the crankshaft 308 (die 303) of the press Pn is made to wait just before the interference angle IA and then restarted from there. Therefore, the timing at which the rear-stage robot Rm enters to carry out the workpiece 120 can be advanced, and the cycle time of the entire press system 1 can be shortened.

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

[0059] FIG. 8 is a schematic diagram showing the interference check process of this embodiment. When the crankshaft 308 reaches a predetermined interference check angle ICA, an interference check process can be executed to determine whether or not the first transfer device (in this embodiment, the robot Rm-1) is in a mold interference area K where it interferes with the mold 303. As shown in Fig. 8, the interference check angle ICA is set on the starting angle SA side of the interference angle IA, based on the interference angle IA of the crankshaft 308 when the mold 303 and the robot Rm-1 interfere with each other, and the distance that the slide 312 moves during the sudden stop time.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0081] <About various signals> FIG. 5 is a diagram for explaining signals transmitted and received between the devices of this embodiment.

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

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

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

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

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

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

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

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

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

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

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

[0093] <Multiple Area Settings> FIG. 7 is a diagram for explaining the regions of this embodiment, and is a schematic diagram of a part of the press system 1 as viewed from above. FIG. 7 also shows the transport direction and the front-rear direction. In FIG. 7, the press system 1 is arranged in the following order from the upstream side in the transport direction of the workpiece 120: robot Rm-1, press apparatus Pn, robot Rm, press apparatus Pn+1, and robot Rm+1. Here, the region Cj that is set for carrying out transport control of the robot Rm will be explained. For this reason, as viewed from the robot Rm, it can be said that the press apparatus Pn is the press apparatus in the front stage, and the press apparatus Pn+1 is the press apparatus in the rear stage.

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

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

[0096] The operation of the robot 400 is limited according to the size of the die 303 attached to the press device 300. For example, when a small die 303 is used, the hand 460 of the robot 400 may be able to enter a predetermined position, but when a large die 303 is used, the hand 460 may not be able to enter the same predetermined position. In FIG. 7, the area corresponding to the smallest die 303 among the dies 303 used in the press device 300 is shown by vertical hatching as the die interference area K1. Also, the area corresponding to the largest die 303 among the dies 303 used in the press device 300, in other words, the size of the slide 312, is shown by horizontal hatching as the die interference area K2. In FIG. 7, the die interference area K2 partially overlaps with the die interference area K1, but is an area including the die interference area K1. When there is no need to particularly distinguish between K1 and K2, they are called "die interference area K."

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

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

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

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

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

[0102] [Second area: Area C3] This is an area set so that the robot Rm does not interfere with the die 303 of the press apparatus Pn, and is set as a surface (wall) intersecting the conveying direction and a surface (wall) parallel to the conveying direction when viewed from above based on the die interference area K1 of the press apparatus Pn. The area C3 is an area set in response to the case where the die 303 is small in size. Either the area C2 or the area C3 is used depending on the size of the die 303.

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

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

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

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

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

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

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

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

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

[0112] <Robot Rm's transport route section> For use in the later-described predetermined conditions set in the area Cj, the following sections D1 to D4 are defined for the state of the path (hereinafter also referred to as the transport path) of the robot Rm during transport. Note that, in reality, the robot Rm draws an efficient and free transport path to load and unload the workpiece 120, but for ease of explanation, in Fig. 7 the sections of the robot Rm are illustrated parallel to the transport direction. The line controller 10 judges in which section the robot Rm is located based on the suction signal and transporting signal transmitted from the robot Rm.

[0113] [Section D1] A section in which the robot Rm moves with its suction turned ON to carry out the machined workpiece 120 from the press device Pn (to pick up the workpiece 120). [Section D2] The section in which the robot Rm picks up the machined workpiece 120 and carries it out of the press device Pn (during transportation). [Section D3] A section in which the robot Rm picks up the workpiece 120 and transports it to the press device Pn+1 for the next processing (during transportation). [Section D4] After the workpiece 120 is carried into the press device Pn+1, the suction of the robot Rm is turned off and the robot returns to the home position.

[0114] <Entry conditions for multiple areas> A predetermined condition is set in the area Cj. The line controller 10 prohibits the robot 400, specifically the hand 460, from entering beyond the area Cj until the predetermined condition is met. In other words, the line controller 10 applies an interlock so that the robot 400 cannot operate if the predetermined condition is not met. The interlock refers to a mechanism in which, for example, an electric lock is not unlocked while the predetermined condition is not met. On the other hand, the line controller 10 permits the robot 400, specifically the hand 460, to enter beyond the area Cj when the predetermined condition is met.

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

[0116] [Entry conditions for area C1] Entry into area C1 is permitted when the following conditions are met: Condition C1-1: Robot Rm-1 must be outside area C9. Condition C1-2: Workpiece 120 is present inside press device Pn However, this does not include the time when the robot Rm is located in section D2. This is because, when the robot Rm is in section D2, there is no workpiece 120 in the press device Pn due to the unloading operation of the robot Rm itself, and the condition C1-2 is no longer satisfied.

[0117] [Entry conditions for area C2] Entry into area C2 is permitted when the following conditions are met: Condition C2-1: Robot Rm-1 must be outside area C9. Condition C2-2: Press device Pn must be outside the robot interference area. Condition C2-3: The machined workpiece 120 is present in the press device Pn. However, this does not include the time when the robot Rm is located in section D2. This is for the same reason as for excluding section D2 in area C1, and the same applies hereinafter.

[0118] [Entry conditions for area C3] Entry into area C3 is permitted when the following conditions are met: Condition C3-1: Robot Rm-1 must be outside area C9. Condition C3-2: Press device Pn must be outside the robot interference area. Condition C3-3: The machined workpiece 120 is present in the press device Pn. However, this does not include the time when the robot Rm is located in section D2.

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

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

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

[0122] [Entry conditions for area C7] Entry into area C7 is permitted when the following conditions are met: Condition C7-1: Robot Rm+1 is outside area C4 Condition C7-2: Press device Pn+1 must be outside the robot interference area. Condition C7-3: There is no workpiece 120 in the press device Pn+1 However, this does not include the time when the robot Rm is located in section D4.

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

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

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

[0126] <Work condition> The above-mentioned conditions C1-2 and C5-2 of the area Cj state that the workpiece 120 is present in the press apparatus Pn. In addition, the conditions C2-3 and C3-3 state that the machined workpiece 120 is present in the press apparatus Pn, and the conditions C6-2, C7-3, C8-3, and C10-2 state that the workpiece 120 is not present in the press apparatus Pn+1. The line controller 10 determines the state of the workpiece 120 as "workpiece present", "no workpiece present", or "machined workpiece present" in the following manner.

[0127] The line controller 10 determines that "a workpiece is present" in the press device Pn when it receives an OFF suction signal from the robot Rm-1 within the die interference area K. The line controller 10 determines that "no workpiece is present" in the press device Pn+1 when it receives an ON suction signal from the robot Rm+1 within the die interference area K. The line controller 10 determines that "a machined workpiece is present" in the press devices Pn and Pn+1 when it receives an ON bottom dead center signal from the press devices Pn and Pn+1.

[0128] <Press machine interlock> In this embodiment, the line controller 10 can also control permission or prohibition of the press device 300 from processing using the area Cj. That is, it is possible to permit or prohibit the crankshaft 308 from entering within the processing angle depending on the state of the robot 400. In other words, the line controller 10 applies an interlock so that the press device 300 cannot operate if a predetermined condition is not satisfied. The line controller 10 determines permission or prohibition of the press device 300 from processing based on the following conditions depending on the size of the die 303. Note that the relationship between the press device Pn and the robot Rm-1 in the front stage, and the relationship between the press device Pn and the robot Rm in the rear stage will be described.

[0129] (For small size molds) Condition S1-1: Robot Rm-1 is outside area C8 Condition S1-2: Robot Rm is outside area C3

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

[0131] The line controller 10 permits the press device Pn to perform processing when both conditions S1-1 and S1-2 are satisfied, or when both conditions S2-1 and S2-2 are satisfied. The line controller 10 may temporarily suspend the processing operation of the press device Pn by the stop signal described in FIG. 5 while the processing is prohibited. The temporary suspension position may be within a range outside the robot interference area regardless of the range of the start position (see FIG. 6). Alternatively, a separate processing permission signal or the like may be provided so that processing is permitted when the processing permission signal is ON and prohibited when the processing permission signal is OFF, and the press device Pn may be temporarily suspended based on the processing permission signal.

[0132] <Robot Rm transport control> The line controller 10 receives the start position signal, the bottom dead center signal, and the robot interference area outside signal described in Fig. 5 from all the press devices 300 at predetermined time intervals from the start of continuous operation of the press system 1 to the end of the continuous operation. Similarly, the line controller 10 receives the Cj interference area outside signal, the suction signal, and the conveying signal described in Fig. 5 from all the robots 400 at predetermined time intervals from the start of continuous operation of the press system 1 to the end of the continuous operation. Furthermore, the line controller 10 transmits the Cj entry permission signal described in Fig. 5 to all the robots 400 at predetermined time intervals from the start of continuous operation of the press system 1 to the end of the continuous operation.

[0133] In this way, the line controller 10 receives various signals from all the press machines 300 and all the robots 400 constituting the press system 1. The line controller 10 judges whether or not all the robots 400 are permitted to enter the area Cj, and transmits a Cj interference area outside signal to all the robots 400. As described above, it is also possible to interlock the press machine 300. In this embodiment, the line controller 10 performs centralized management in this way. Therefore, the press machine 300 can concentrate on processing control of the workpiece 120, and the robot 400 can concentrate on transport control of the workpiece 120. The line controller 10 centrally judges whether or not entry into the area Cj is possible, and when permission is granted based on the Cj entry permission signal received from the line controller 10, the robot 400 enters beyond the area Cj for which permission has been granted. By performing centralized management by the line controller 10, it is also possible to eliminate the critical path in the processing and transport processes of the entire press system 1, or at least reduce the required time.

[0134] [Control method of press system according to the present embodiment] Next, a control method for the press system 1 according to this embodiment will be described. The control method for the press system 1 according to this embodiment is generally provided with a press start process for rotating the crankshaft 308 of the press apparatus 300 (in this embodiment, the press apparatus Pn) stopped at a predetermined start angle SA and starting to move the slide 312 downward, an interference check process for determining whether or not a first conveyance device (in this embodiment, the robot Rm-1) that carries the workpiece 120 into the press apparatus Pn is in the die interference area K when the crankshaft 308 reaches a predetermined interference check angle ICA, a press stop process for stopping the press apparatus Pn when it is determined that the robot Rm-1 is in the die interference area K, and a press process for making the press apparatus Pn process the workpiece 120 with the die 303 when it is determined that the robot Rm-1 is not in the die interference area K.

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

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

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

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

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

[0140] When a start signal is input from the line controller 10, the controller 314 of the press apparatus Pn starts counting a predetermined delay time (S1 in FIG. 12). After the predetermined delay time has elapsed, the controller 314 rotates the crankshaft 308, which is stopped at a predetermined start angle SA, and starts moving the slide 312 downward (S2 in FIG. 12: press start step). After that, the crankshaft 308, which has started to rotate, reaches a predetermined interference check angle ICA (S 3 The controller 314 transmits an interference check position signal to the line controller 10 when the crankshaft 308 reaches a predetermined interference check angle ICA.

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

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

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

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

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

[0146] [Advantages of the packaging press system and the control method for the press system according to the present embodiment] As described above, the press system 1 according to this embodiment includes the crankshaft 308 and the slide 312 that moves up and down in response to the rotation of the crankshaft 308, and includes the press apparatus 300 (in this embodiment, the press apparatus Pn) that processes the workpiece 120 using the die 303 attached to the slide 312, the first transfer device (robot 400, in this embodiment, the robot Rm-1) that carries the workpiece 120 into the press apparatus Pn, and a robot controller 400 (the press apparatus Pn) and the first transfer device (robot Rm-1). The control means (line controller 10) controls the press start process, which rotates the crankshaft 308 stopped at a predetermined starting angle SA and starts moving the slide 312 downward, and the control means (line controller 10) controls the press start process, which rotates the crankshaft 308 stopped at a predetermined starting angle SA and starts moving the slide 312 downward, and the interference check process, which determines whether or not the first conveyance device (robot Rm-1) is in a die interference area K where the first conveyance device interferes with the die 303 when the crankshaft 308 reaches a predetermined interference check angle ICA, and determines whether or not the first conveyance device (robot Rm-1) is in the die interference area K. When it is determined that the first conveyance device (robot Rm-1) is not in the die interference area K, a press stop process is executed to stop the press device 300 (press device Pn), and when it is determined that the first conveyance device (robot Rm-1) is not in the die interference area K, a press process is executed to make the press device 300 (press device Pn) process the workpiece 120. The press start process is executed after a predetermined delay time has elapsed after the first conveyance device (robot Rm-1) has carried in the workpiece 120 to the press device 300 (press device Pn), and the interference check angle ICA is set to the angle between the die 303 and the first conveyance device. The delay time is set on the start angle SA side of the interference angle IA based on the interference angle IA of the crankshaft 308 when the first conveying device (robot Rm-1) interferes with the mold interference area K and the distance that the slide 312 moves during the sudden stop time, and the delay time is set based on the departure time it takes for the first conveying device (robot Rm-1) to leave the mold interference area K after carrying in the workpiece 120 and the check angle movement time it takes for the crankshaft 308 to move from the start angle SA to the interference check angle ICA, and is shorter than at least the departure time.

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

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

[0149] Moreover, in the press system 1 according to this embodiment, the delay time is set so that the crankshaft 308 reaches the interference check angle ICA after the first conveyance device (robot Rm-1) leaves the die interference area K. With such a configuration, the first conveyance device (robot Rm-1) is not normally determined to be in the die interference area K, and the crankshaft 308 does not have to be decelerated or stopped; in other words, the slide 312, which has reached its maximum speed after a run-up, can perform press working of the workpiece 120 while maintaining that speed, which is an advantage in that productivity can be improved while ensuring safety.

[0150] Furthermore, the press system 1 according to the present embodiment includes a second conveying device (robot 400, in the present embodiment, robot Rm) that carries out the workpiece 120 from the press device 300 (press device Pn), and the control means (line controller 10) is configured to be able to execute a robot start process that starts the second conveying device (robot Rm) waiting at a predetermined waiting position, and the start timing of the robot start process is set to a timing before the crankshaft 308 reaches a predetermined possible entry angle AA based on a predetermined advance start condition. With such a configuration, the second conveying device (robot Rm) can be started without waiting for the crankshaft 308 to reach the predetermined possible entry angle AA, which has the advantage of shortening the time required for the second conveying device (robot Rm) to enter the die interference area K and carry out the workpiece 120, thereby improving productivity.

[0151] Furthermore, in the press system 1 according to this embodiment, the advance start condition is the time required from when the second transport device (robot Rm) starts until it enters the die interference area K. With such a configuration, there is an advantage that even if the rotation speed of the crankshaft 308 or the moving speed of the slide 312 changes, it is possible to deal with the change without changing the set value of the advance start condition.

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

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

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

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

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

[0157] In the above embodiment, the press machine 300 has been described on the assumption that the crankshaft 308 is configured to operate in a so-called full stroke, in which the crankshaft 308 repeats a rotational motion from the top dead center to the bottom dead center and back to the top dead center again, but the present invention is not limited to this, and the press machine 300 does not have to operate in a full stroke. For example, the press machine 300 may perform a reversal operation in which the crankshaft 308 is rotated in the reverse direction and returns to the starting angle SA again after the processing is completed, instead of the top dead center, by setting an angle at which no interference occurs with the robot 400, or may perform a pendulum operation in which the crankshaft 308 is rotated from one of two starting angles SA separated by a predetermined angle in the forward and reverse directions, passing through the bottom dead center, to the other, and then the crankshaft 308 is rotated from the other of the two starting angles SA to the other. In addition, the present invention has been described on the assumption that the crankshaft 308 rotates clockwise (forward direction), but the present invention is not limited to this, and the crankshaft 308 may rotate counterclockwise (reverse direction).

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

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

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

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

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

[0163] In the above-described embodiment, the configuration is such that the mold 303 can be adapted to two sizes, a large size mold 303 and a small size mold 303, but the present invention is not limited to this. It is also possible to set regions for a single size mold 303 or three or more sizes of mold 303. In addition, for one size mold 303, it is necessary to set a total of four regions, two regions (e.g., C1 and C2) for the preceding device and two regions (e.g., C6 and C7) for the succeeding device. For this reason, how many sizes of mold 303 can be adapted, in other words, the upper limit of the regions that can be set, depends on the upper limit of the number of regions that can be set by the robot 400. In addition, if the numerical values ​​(length of sides, etc.) when setting the regions can be rewritten from the upper device, each region may be automatically set based on the size of the mold 303. In other words, the method is not limited to reading and switching the region settings according to the size of the mold 303, and the region settings may be rewritten each time according to the size of the mold 303.

[0164] In the above embodiment, in Fig. 7, the region is defined in the left-right direction (transport direction) and the front-rear direction, but is not limited thereto. Furthermore, the region may be defined in the up-down direction as well, and defined as a three-dimensional region. Furthermore, the region may be defined as a two-dimensional region, such as the left-right direction and the up-down direction, or the front-rear direction and the up-down direction.

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

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

[0167] 1 Press System 10 Line Controller 20 Arithmetic unit 30 Input Devices 40 Display device 42 Delay time setting screen 42a Press equipment list display area 42b Pre-start ON / OFF setting area 42c Delay time setting area 44 Pre-start condition setting screen 44a Pre-start condition setting area 50 Storage device 60 I / F board 100 Lifter 120 Work 200 Horizontal Feeder 210, 220 hands 230 Table 240 Arm 300 Press Equipment 302 Case 303 Molds 303a upper mold 303b lower mold 304 Drive motor 306 Transmission Mechanism 308 Crankshaft 310 Connecting rod 312 Slides 314 Controller 315 Storage section 316 Display section 318 Input section 322 Bolster 324 Sensors 325 Rotary Encoder 326 give 400 Robots 410 Support stand 420 Rotating part 430 First Arm 440 Second Arm 450 3rd Arm 460 hands 462 Adsorption part 470 Control Unit 480 Storage section AA Approach angle C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, Cj area D1, D2, D3, D4 Sections IA Interference Angle ICA Interference Check Angle K, K1, K2 mold interference area L Robot interference area P1, P2, ..., Pn, Pn+1, ... Press equipment Q part R1, R2, ..., Rm-1, Rm, Rm+1... Robot SA starting angle q width

Claims

1. A press device including a crankshaft and a slide that moves up and down in response to rotation of the crankshaft, and processes a workpiece using a die attached to the slide; a first conveying device that conveys the workpiece into the press device; A control means for controlling the press device and the first conveying device; A display device configured to be able to display a delay time setting screen; Equipped with The control means a press starting process for rotating the crankshaft, which has been stopped at a predetermined starting angle, to start moving the slide downward; an interference check process for determining whether or not the first conveying device is in a mold interference area where the first conveying device interferes with the mold when the crankshaft reaches a predetermined interference check angle; a press stop process for stopping the press device when it is determined that the first transport device is in the die interference area; a press process in which the press device processes the workpiece when it is determined that the first transport device is not in the die interference area; is configured to be able to execute the press start process is executed after a predetermined delay time has elapsed after the first transportation device has carried the work into the press device, the interference check angle is set on the starting angle side relative to the interference angle based on an interference angle of the crankshaft when the die and the first conveying device interfere with each other and a distance that the slide moves during a sudden stop time, the delay time is set based on a departure time required for the first conveying device to leave the mold interference area after carrying in the workpiece and a check angle movement time required for the crankshaft to move from the starting angle to the interference check angle, and is shorter than at least the departure time; A plurality of the press devices are provided, The delay time can be set to a different time for each of the press devices, The delay time setting screen is a pre-start of starting the press apparatus after a predetermined delay time has elapsed; a non-precedence start in which the press device is started after the first transport device leaves the die interference area; It is configured to be able to switch between Press system.

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

3. a second conveying device that conveys the workpiece out of the press device; the control means is configured to be capable of executing a robot start process for starting the second transport device waiting at a predetermined waiting position, The start timing of the robot start process is set to a timing before the crankshaft reaches a predetermined approach possible angle based on a predetermined advance start condition. The press system according to claim 1 or 2.

4. The advance start condition is a time required for the second transport device to enter the mold interference area after the second transport device starts. The press system according to claim 3 .

5. a press starting process in which a crankshaft of the press device stopped at a predetermined starting angle is rotated to cause a slide that moves up and down in response to the rotation of the crankshaft to start moving downward; an interference check step of determining whether or not a first conveyance device that conveys a workpiece into the press device is in a die interference area where the first conveyance device interferes with the die attached to the slide when the crankshaft reaches a predetermined interference check angle; a press stopping step of stopping the press device when it is determined that the first transport device is in the die interference area; a pressing process in which the press device processes the workpiece with the die when it is determined that the first conveying device is not in the die interference area; Equipped with the press start step is executed after a predetermined delay time has elapsed after the first transport device has carried the workpiece into the press device, the interference check angle is set on the starting angle side relative to the interference angle based on an interference angle of the crankshaft when the die and the first conveying device interfere with each other and a distance that the slide moves during a sudden stop time, the delay time is set based on a departure time required for the first conveying device to leave the mold interference area after carrying in the workpiece and a check angle movement time required for the crankshaft to move from the starting angle to the interference check angle, and is shorter than at least the departure time; the press starting step, the interference check step, the press stopping step, and the press step are executed for each of a plurality of press apparatuses, the delay time is set for each of the press apparatuses, A delay time setting screen configured to be switchable between a pre-start for starting the press device after a predetermined delay time has elapsed and a non-pre-start for starting the press device after the first transport device has left the die interference area is displayed on a display device. A method for controlling a press system.

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