JP3169136B2 - Clamp positioning device for material supply device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a material supply apparatus for clamping a plate material and transporting it to a predetermined processing position, and more particularly to a clamp positioning device capable of automatically setting a position for clamping a plate material to a desired position.

[0002]

2. Description of the Related Art A plate material processing machine such as a turret punch press has a table having two axes, an X axis and a Y axis.
By driving the two-axis table, the work (plate material) clamped by the clamper is conveyed two-dimensionally and supplied to a predetermined processing position.

Here, the conveyance in the Y-axis direction is performed by a base which is a Y-axis carriage, and the conveyance in the X-axis direction is performed by an X-axis carriage (hereinafter, simply referred to as a "movable") mounted on the base so as to be movable in the X-axis direction. Carriage). For example, two clampers are provided on the carriage so as to be movable in the X-axis direction, and these clampers are positioned and fixed at predetermined positions on the carriage in accordance with the width of the plate material and the processing position.

A method of positioning the clamper is disclosed in Japanese Patent Application Laid-Open No. 62-21433, which is performed as follows.

That is, an origin position detecting sensor for detecting the origin position of the clamper is provided on the carriage. Then, the lock mechanism for fixing the clamper to the carriage is released, and the clamper is moved along the carriage until it is detected by the origin position detection sensor, thereby returning the clamper to the origin position. When a target position of the clamper on the carriage is given, a movement distance to the target position is calculated based on the target position and the origin position, and the clamper is moved along the carriage by the movement distance to automatically move to the target position. Position. Here, since the position of the clamper on the carriage starts from the origin position, the current position of the clamper can be easily obtained by calculation if the moving distance from the origin position is known.

[0006] Each time the target position of the clamper is changed due to a setup change or the like, the travel distance to the target position is calculated based on the target position and the current position of the clamper.
The clamper is moved along the carriage by this moving distance so as to be positioned at the target position.

[0007]

As described above, when the positioning to the target position is automatically performed and the moving distance is always grasped, the current position of the clamper can be grasped.

However, when the position of the clamper is manually adjusted at the time of setup change, and the moving distance is unknown, the current position of the damper cannot be grasped. In such a case, it is necessary to manually release the lock mechanism and return the clamper to the origin position, and then use the origin position detection sensor to detect the origin position as the current position. For this reason, a great burden is imposed on the operator, and the inconvenience that the working efficiency is significantly impaired by the time required for releasing the lock mechanism and returning to the home position is caused.

In addition, even when positioning is automatically performed, due to a shift due to vibration or the like, an error is included in the calculated current position, the value is incorrect, or the current position on the memory becomes unknown. Sometimes it becomes. In such a case, if the positioning is attempted as it is, the current position of the clamper is inaccurate or unknown, so that accurate positioning cannot be performed or the positioning itself cannot be performed. Further, the above-mentioned Japanese Patent Application Laid-Open No. 62-2143
According to the technique described in Japanese Patent Publication No. 3 (1993), the process of returning the clamper to the origin position and the process of positioning the clamper at a desired position are classified into several patterns, and the origin return and positioning are performed according to this pattern. I have.
For this reason, the positioning is limited to only the position determined by the pattern, and there is a disadvantage that the positioning cannot be performed at an arbitrary position on the carriage. In addition, a pattern creating operation is required, and the work efficiency is not good. In addition, as the number of clampers increases, the creation operation becomes more complicated, and the operation efficiency is further impaired.

[0010] The present invention has been made in view of such circumstances, and even if the current position of the clamper on the carriage is unknown or inaccurate due to manual positioning or the like, a burden is imposed on the operator. The purpose of the present invention is to automatically and accurately detect the current position without imposing it so that the positioning of the clamper can be performed reliably and accurately, and to have no restriction on the location of the clamper. And

[0011]

Accordingly, in the present invention,
A Y-axis carriage movable in the Y-axis direction, an X-axis carriage arranged movably in the X-axis direction with respect to the Y-axis carriage, and an X-axis carriage movably arranged in the X-axis direction with respect to the X-axis carriage. And a clamper for clamping the plate material. The clamper is positioned and fixed on the X-axis carriage, and the X-axis carriage and the Y-axis carriage are moved so that the plate material clamped by the clamper is fixed to a predetermined position. In a material supply device for supplying to a processing position, a first member for fixing the clamper to the X axis carriage
Fixing means, second fixing means for fixing the clamper to the Y-axis carriage, and a clamper position provided at a reference position on the Y-axis carriage and detecting that the clamper is located at the reference position. A state in which, when a target position of the clamper on the X-axis carriage is set, the clamper is fixed to the X-axis carriage by the first fixing unit and the second fixing unit is turned off. Then, the X-axis carriage is moved from the origin position on the Y-axis carriage until the clamper is detected by the clamper position detecting means, and the X-axis carriage is moved on the X-axis carriage based on the moving distance at this time and the reference position. Current position calculating means for calculating a current position of the clamper; a target position of the clamper; Calculating a target moving distance of the clamper based on a deviation from the current position of the clamper calculated by the means, and fixing the clamper to the Y-axis carriage by the second fixing means and the first fixing means. And a positioning means for positioning the clamper at the target position by moving the X-axis carriage by the calculated target movement distance in a state where is turned off.

[0012]

In other words, according to the configuration of the present invention, once the target position of the clamper is set, X is maintained until the clamper fixed to the X-axis carriage is detected by the clamper position detecting means disposed at the reference position. The shaft carriage is moved. Then, the current position of the clamper is calculated based on the moving distance during this period and the reference position. Here, the clamper can be moved while being fixed to the X-axis carriage, and there is no trouble of releasing the first fixing means serving as the lock mechanism. In addition, it is sufficient to move the X-axis carriage itself.
There is no need to move the clamper with respect to the axis carriage and return to the origin position on the X-axis carriage. Since the current position of the clamper is always automatically obtained at the time of positioning as described above, the current position is unknown after manual positioning is performed, or the current position is not determined during automatic positioning. Even if it is accurate or unknown,
The current position of the clamper can be obtained reliably and accurately. Therefore, positioning by the positioning means based on the current position of the clamper is always performed reliably and accurately. In addition, the clamper is positioned at an arbitrary position, and there is no restriction on the location.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a clamp positioning device for a material supply device according to the present invention will be described below with reference to the drawings.

In the embodiment, a material supply device for supplying a plate material as a material to a turret of a turret punch press is assumed as a material supply device, and at the time of supply by the material supply device, a clamp for clamping the plate material by two clampers is used. A positioning device is assumed.

FIG. 1 is a view showing the overall configuration of a turret punch press 1 according to an embodiment. FIG. 1A is a top view, and FIG. 1B is a side view.

As shown in FIG.
It is composed of a frame 2 and a table 5 for transporting a plate material (hereinafter referred to as a work) WK to a turret 4 on which press working is performed. In the figure, C indicates the central axis in the longitudinal direction of the frame 2 or the central axis in the X-axis direction of the table 5.

As is well known, in a turret punch press,
When the work WK is conveyed and supplied to a predetermined position of the turret 4, a punch having a predetermined size corresponding to the rotational position of the turret 4 is punched at a predetermined position of the work WK by lowering a punch of the press mechanism unit 3. It is.

A base 6 is provided on the upper surface of the table 5 so that the X axis is parallel to the longitudinal direction.
A carriage 7 is similarly movably arranged on the base 6 so that the X axis and the longitudinal direction thereof are parallel to each other.
The base 6 and the base 7 are moved in the Y-axis direction and the X-axis direction by using a servo motor (not shown) as a drive source.
Note that the table 5 indicated by a two-dot chain line in the drawing indicates the maximum movement position when the base 6 is moved in the Y-axis direction as shown by the arrow A.

The carriage 7 is provided with two clampers 8 and 9 movably in the X-axis direction, and the workpiece WK is clamped by these clampers 8 and 9. The NC device 10 downloads a program created by a central processing unit (not shown),
Positioning 9 is performed in a manner to be described later, and the servo motor is drive-controlled to transport the work WK to the processing position, and press-controlled by driving the press mechanism 3 to perform press working. A display device 10a is attached to the NC device 10 at a position where the operator can visually recognize the display, and a required display corresponding to a process described later is displayed on a display screen of the display device 10a.

Now, as shown by the arrow B, the clampers 8 and 9 are moved together with the carriage 7 at the position of the center axis C on the base 6 so that the position of the center axis C on the base 6 (hereinafter referred to as the base 6). A proximity switch, which will be described later, is provided to detect that the upper central axis C is located at the reference position C). An engagement member, which will be described later, is provided at the reference position C.
When the engaging member 9 is located, the engaging members, which will be described later, disposed on the clampers 8, 9 are engaged with the engaging members disposed on the reference position C, whereby the clampers 8, 9 are fixed to the base 6. (Hereinafter, this mechanism is referred to as a stopper mechanism). The clampers 8 and 9 are provided with a mechanism for fixing the carriages 8 and 9 to the carriage 7 (hereinafter, this mechanism is referred to as a lock mechanism).

FIGS. 2A and 2B are a side view and a bottom view showing the proximity switch, the stopper mechanism and the lock mechanism, respectively.

Locking mechanism As shown in the figure, a bracket 18 is provided on the base 6, and a ball screw 19 is rotatably supported on the bracket 18 along the X-axis direction. The carriage 7 is moved in the X-axis direction by rotating the ball screw 19 according to the driving force of the servo motor. The carriage 7 is provided with a tapered member 16 for coupling with the clampers 8 and 9.

A hydraulic cylinder 12 having a cylinder rod 13 is provided below the clampers 8 and 9. Now, assuming that the rod 13 of the hydraulic cylinder 12 is retracted, a downward force corresponding to the hydraulic pressure of the cylinder 12 is applied to a block 14 (shown by oblique lines) in contact with the tip of the rod 13. Therefore, the tapered surface below the block 14 and the tapered surface of the tapered member 16 are slidable. The tapered surface of the block 17 that supports the lower part of the tapered member 16 and the tapered surface of the tapered member 16 are slidable with each other. Accordingly, the clampers 8 and 9 can move in the X-axis direction with respect to the carriage 7 (the lock mechanism is off).

On the other hand, when the hydraulic cylinder 12 is driven and the rod 13 is extended, a downward force corresponding to the hydraulic pressure of the cylinder 12 is applied to the block 14, and the tapered surface below the block 14 is tapered by the tapered member 16. It is pressed against the surface. The tapered surface of the tapered member 16 is pressed against the tapered surface of the block 17. Therefore, the clampers 8 and 9 are fixed to the carriage 7 (the lock mechanism is on). The pin bolt 15 is provided to prevent the block 14 from being displaced rightward in the drawing due to the pressing force of the rod 13.

An air cylinder 20 is provided in the stopper mechanism base 6.
One end of a connecting member 22 is connected to the rod 21 of the cylinder 20. The other end of the connecting member 22 is connected to a stopper 24 slidably provided in a Y-axis direction on a sliding member 23 provided below the base 6. Therefore, when the rod 21 expands and contracts in response to the driving of the air cylinder 20, the stopper 24 responds to the
From the carriage 7 side to the base 6 side. A recess is formed at the tip of the stopper 24.

On the other hand, the stoppers 24 of the clampers 8 and 9
A stopper 25 having a convex portion formed at the tip thereof, which can be engaged with the concave portion, is disposed on the side facing the concave portion. Therefore, when the clampers 8 and 9 are located at the reference position C,
By driving the air cylinder 20 in the extending direction of the rod 21, the concave portion of the stopper 24 and the convex portion of the stopper 25 are engaged, and the clampers 8 and 9 are fixed to the base 6 (stopper mechanism ON state).

Conversely, when the clampers 8, 9 are not located at the reference position C, and when the clampers 8, 9
The air cylinder 20 is
1 When not driven in the extension direction, the clampers 8 and 9
Is not fixed to the base 6, and the clampers 8, 9 are moved with respect to the base 6 in accordance with the movement of the carriage 7.
It is movable in the axial direction (stopper mechanism is off).

Proximity switch The proximity switch will be described below with reference to FIGS. 2 and 9. The proximity switch S1 is disposed on the bracket 27 at a position separated from the reference position C by a predetermined distance l2 in the negative X-axis direction. Have been. The proximity switch S is located at a position away from the reference position C by the same distance l2 in the X-axis plus direction.
3 is provided on the bracket 27. The proximity switch S2 is disposed at a position separated from the proximity switch S3 by a predetermined distance l3 toward the reference position C. The distance between these proximity switches S1 to S3 is 2l2 (= l1).
A dock 26 having a width L larger by a distance 2Δl than that of the dock 26 is disposed on the clampers 8 and 9. The proximity switches S1, S2, and S3 are turned on by detecting the tip surface 26a of the dock 26. From this, clamper 8,
9 is located at the reference position C.
It is detected when 1, S2 and S3 are all turned on. At this time, the dock center DC matches the reference position C, and the stoppers 24 and 25 can be engaged with each other.

The flowcharts shown in FIGS. 3 to 6 and the movements of the carriage 7 and the clampers 8 and 9 will now be described with reference to FIG.
The processing performed by the NC device 10 will be described with reference to FIG.

In the above-described central control device, a machining program corresponding to the type of machining performed by the turret punch press 1 is created according to the production plan, and the width and the machining position of the work are determined according to the type of machining. So different
The target positions of the clampers 8, 9 on the carriage 7 are set accordingly. Data indicating the target positions of the clampers 8 and 9 are downloaded to the NC device 10, and a process of positioning the clampers 8 and 9 on the carriage 7 based on the target position data is performed. Note that the target positions P1 and P2 of the clampers 8 and 9 are set such that the left end (the end on the X-axis minus side) of the carriage 7 is the origin position as shown in FIG. 8B.

First, as shown in step 101 in FIG. 3, it is determined whether or not the target positions P1, P2 of the clampers 8, 9 are within an appropriate range. That is, clamper 8,
9 needs to be positioned on the carriage 7 without the two clampers 8, 9 overlapping. Therefore, based on the dimension data indicating the length of the carriage 7 in the X-axis direction, the width of the clampers 8 and 9 in the X-axis direction, and the target positions P1 and P2, whether the clampers 8 and 9 can be physically moved. Is determined (step 101). For example, the arrow Q in FIG.
When the clamper 9 is moved to the outside of the carriage 7 as shown in FIG. 5 or when the moved clamper 9 is overlapped with the moved clamper 8 as shown by the arrow R, the target position is It is determined that the target position is not within the range, and the procedure proceeds to step 102, and a display indicating an abnormality that "the target position is out of the appropriate range, please specify the correct position" is displayed on the display screen of the display device 10a. Operation is stopped.

Thus, the operator can re-enter correct data by recognizing such a display.
The operation is restarted again (step 102).

On the other hand, at step 101, the target positions P1, P
If it is determined that “2 is within the proper range”, it is next determined whether or not the current positions of the clampers 8 and 9 on the carriage 7 are known. That is, it is determined whether or not data indicating the current position is stored in a memory (not shown) of the NC device 10 and whether or not the clampers 8 and 9 have been manually moved last time (step 10).
3). Here, if the current position was detected last time, the position data is stored in the memory, and the positioning has not been performed manually yet, the next step 105 is performed without detecting the current position again. If the position data is not stored or after manual positioning, the stored data cannot be used. Therefore, the procedure for detecting the current position of the clampers 8 and 9 is " The process proceeds to a "current position detection subroutine" (step 104).

FIG. 4 shows the "current position detection subroutine", and FIG. 7 shows the movement of the carriage 7 when the "current position detection subroutine" is executed.

First, with the lock mechanism turned on and the stopper mechanism turned off, the servo motor for driving the carriage 7 is driven to return the left end of the carriage 7 to the origin position OP of the base 6 (the left end of the base 6). (Step 20
1, see FIG. 7 (a)). Here, the distance between the origin position OP and the reference position C is D. Then, until the dock 26 of the clamper 9 near the reference position C is detected by the proximity switches S1 to S3 at the reference position C, the carriage 7 is moved by a fixed amount in the X-axis plus direction. The state of the movement at this time is shown in FIG. As shown in FIG. 9, in the first movement, the dock 26 is moved by a distance slightly larger than the length L of the dock 26. At this time, each switch is not turned on (see arrow J). In the second and subsequent movements, the switch is moved by a distance l2 until the switch S1 is turned on. Therefore, the right end of the dock 26 is moved as shown by the arrow K and reaches just before the reference position C. After the switch S1 is turned on, it is moved by a distance slightly smaller than the distance l3 as shown by the arrow M until the switch S2 is turned on.
Therefore, the right end of the dock 26 is located between the switches S2 and S3 (NO in Steps 202 and 203).

Thereafter, the switch is moved by a small amount as shown by the arrow N until the switch S3 is turned on, and when the switch S3 is turned on, the switch is moved by Δl. As a result, the center DC is positioned at the reference position C as shown by the two-dot chain line of the dock 26, and the stopper mechanism can be operated. Conversely, if the clamper 9 is not accurately positioned at the reference position C and the center DC does not coincide with the reference position C, the stoppers 24 and 25 do not engage with each other even if the stopper mechanism is operated, and the stopper mechanism is turned on. The state is not reached (YES in Steps 202 and 203, see FIG. 7B). The clamper 9 is at the reference position C
Is obtained, a distance D2 from the start of the origin position OP to the position of the clamper 9 at the reference position C is obtained based on the output of the encoder attached to the servo motor for driving the carriage 7.

Therefore, the current position X2 of the clamper 9 can be obtained by easily calculating X2 = DD2 (1) (step 204).

If the calculation of the current position has not been performed for the other clampers 8 (judgment YE in step 205).
S), the procedure shifts to step 202 again, and the same processing as that of steps 202 and 203 is performed on the clamper 8 thereafter, and the clamper 8 is positioned at the reference position C (see FIG. 7C). Then, the distance D1 from the origin position OP to the position of the clamper 8 at the reference position C is obtained based on the output of the encoder, and the current position X1 of the clamper 8 is obtained by the following calculation: X1 = D−D1 (2) Can be Thereafter, the carriage 7 is returned to the origin position OP (see FIG. 7D).

When the current positions X1 and X2 of the clampers 8 and 9 are calculated as described above, the calculated values are stored in a memory and used for processing described later.

When the "current position detection subroutine" is completed, the routine returns to step 105 in FIG. 3, and it is determined whether or not the clampers 8, 9 need to be moved on the carriage 7. The case where the movement is not necessary is a case where the target positions P1 and P2 coincide with the current positions X1 and X2, and in such a case, the process proceeds to step 114 to perform the processing. Then, the clamp mechanisms of the clampers 8 and 9 are operated to clamp the work WK. Then, the servo motors of the base 6 and the carriage 7 are driven, and the work WK is transported to the turret 4, and the press mechanism 3
Is performed. Step 10
If it is determined in step 5 that movement is necessary, it is next determined whether or not the movement order is known (step 1).
06). Here, if the order of movement is already known,
The process proceeds to the “positioning subroutine” (step 108), but if the moving order is not known, the process proceeds to the “moving order determining subroutine” (step 107).

Moving Order Determination Subroutine As shown in FIG. 5, first, it is determined whether the second clamper 9 can be moved first. That is, the first clamper 8
It is determined whether or not the target position P2 is larger than the current position X1 based on the current position X1 and the target position P2 of the second clamper 9 (step 301). As a result, the moved clamper 9 is located to the right of the current position of the clamper 8, and the second clamper 9 is determined to be movable without overlapping or jumping over the current position of the first clamper 8. Then, it is determined whether the first clamper 8 is movable. That is, the target position P of the first clamper 8
It is determined whether 1 is smaller than the target position P2 of the second clamper 9 (step 302). As a result, when it is determined that the moved clamper 8 is located to the left of the moved clamper 9, it is determined that the movement is performed in the order of the second and first clampers, and the contents are stored. (Step 3
06).

If NO is determined in the step 301, the first clamper 8
It is determined whether the current position of the clamper 9 can be moved without overlapping or jumping over (step 30).
3). Next, it is determined whether or not the second clamper 9 can be moved after the movement of the first clamper 8 as in step 302 (step 304). Steps 303 and 304
Are both YES if the first clamper is moved first, and it is determined that the movement is performed in the order of the first and second clampers (step 306).

On the other hand, Step 302, Step 303,
If NO is determined in step 304, it is determined that the movement itself is impossible, and a display indicating an abnormality, such as "the movement order cannot be determined, specify a correct position", is displayed on the screen of the display device 10a. Is aborted. When the operator resets the target position data based on the display, the operation is restarted. It should be noted that the case where the movement itself is impossible is, as shown in FIG.
This is a case where the clamper 9 which should be on the right side of the clamper 8 is reversed and is located on the left side of the clamper 8 after the movement, and it is physically impossible to move (step 205). When the "moving order determination subroutine" is completed, the procedure returns to step 108, and the "positioning subroutine" is executed.

Positioning Subroutine FIG. 6 shows the procedure of this process, and FIG. 8 shows the movement of the carriage 7 and the like accompanying the execution of the process of FIG.

First, in step 401 of FIG. 6, the moving order determined in the "moving order determination subroutine" based on the current positions X1, X2 of the clampers 8, 9 calculated and stored in the "current position detecting subroutine" is stored. Accordingly, the carriage 7 is moved so that the clamper that moves first is located at the reference position C.

Hereinafter, it is assumed that the movement is performed in the order of the clampers 9 and 8. The carriage 7 has been returned to the origin position OP (see FIG. 8A), and the lock mechanism is on and the stopper mechanism is off. Then, the carriage 7 is moved as shown by an arrow F by a distance DX2 obtained by back-calculating the equation (1), so that the clamper 9 is positioned at the reference position C (step 401, FIG. 8 (c)). )reference).

Here, it is determined whether or not the calculated current position X2 is a correct value. That is, it is considered that the clamper 9 moves with respect to the carriage 7 for some reason after the current position X2 is calculated.
In such a case, the current operation position X2 is not reliable as data. Here, if the position X2 is a correct value, the clamper 9 should be accurately positioned at the reference position C when the distance X is moved by the distance DX2. Should be done.
Thus, when the switch D1 is moved by the distance DX2, it is determined whether or not the switches S1 to S3 are all on, thereby determining whether or not the clamper 9 is accurately positioned at the reference position C. It is determined whether the current operation position X2 is a correct value. Further, the stopper mechanism may be operated when the movement is performed by the distance DX2 to determine whether the calculation position X2 is correct based on whether or not the stoppers 24 and 25 are engaged with each other. Good (step 402).

If the decision result in the step 402 is NO,
If it is determined that the clamper 9 is not accurately located at the reference position C, the fact that the current position X2 of the clamper 9 is incorrect is stored (step 403), and the procedure returns to the "current position detection subroutine". Then, a process of detecting the current position of the clamper 9 stored in step 403 is performed again (step 404).

On the other hand, if it is determined that the clamper 9 is accurately located at the reference position C and the current position X2 of the clamper 9 is accurate, then in the next step 405, the clamper 9 is moved to the target position P2. Is moved to the carriage 7.

That is, as is apparent from FIG. 8B, in order to move the clamper 9 from the current position X2 to the target position P2, the clamper 9 is moved relative to the carriage 7 by a distance X2-P2. I just need. Therefore, since the clamper 9 is now located at the reference position C, the lock mechanism is released, the stopper mechanism is turned on to fix the clamper 9 to the base 7, and the fixed state between the clamper 9 and the carriage 7 is released. I do. In this state, the distance X
By moving the carriage 7 by 2-P2 as shown by the arrow G, the clamper 9 moves relative to the carriage 7 by the above distance, and the clamper 9 is positioned at the target position P2 (step 405). 8 (d)).

This time, the same processing as in steps 401, 402 and 403 is executed in steps 406, 407 and 408 for the other clamper 8.

That is, based on the calculated and stored current position X1, the carriage 7 is moved by the distance DX1 as shown by the arrow H (step 406, see FIG. 8E), and the clamper 8 is moved to the reference position C. Is detected (step 407: YES), the current position of the clamper 8 is detected again (steps 403 and 404).

When the current position X1 is accurate, the clamper 8 is fixed at the reference position C and the carriage 7 is moved to the distance X1.
The position of the clamper 8 is moved to the target position P1 by relatively moving the clamper 8 by -P1 as shown by the arrow I (step 40).
8, see FIG. 8 (f)). When the clampers 8 and 9 are respectively positioned at the target positions P1 and P2 in this manner, the lock mechanism is turned on again, the stopper mechanism is turned off, and the carriage 7 returns to the origin position PO (FIG. 8 ( g)).

When the above-mentioned "positioning subroutine" is completed, the procedure returns to step 109, and it is determined whether or not a process of confirming correctness is necessary. This correct / incorrect check means that the positioning of the clamper has been performed, and it is determined whether or not the current position after the positioning matches the target position. This is because an error may occur if the accuracy of the positioning control is not good. That is,
The "current position detection subroutine" is executed, and the current positions X1, X2 of the clampers 8, 9 are detected. Then, the current positions X1, X2 are compared with the target positions P1, P2, and it is determined whether or not the deviations X1-P1, X2-P2 are equal to or smaller than a predetermined threshold (step 11).
0).

As a result, if it is determined that the workpiece WK is positioned at the target position P1, P2, the procedure shifts to the processing of step 114, where the workpiece WK is clamped by the positioned clampers 8, 9 to perform press working. Is performed.

On the other hand, if it is determined that one of the clampers 8 and 9 is not positioned at the target position, the deviation X
In order to move the clampers 8 and 9 relative to the carriage 7 by 1-P1 and X2-P2, the procedure is repeated at step 1
The process proceeds to step 06, and positioning and the like are performed again by the above-mentioned "positioning subroutine" (YES in step 111 and step 112).

If the correction movement is to be performed more than three times (NO in step 112), it is determined that correct positioning is impossible, and the message “Positioning impossible, machine position” is displayed on the screen of the display device 10a. Please check. "Is displayed and the operation is stopped. . As a result, the operator can perform necessary inspections and repairs so that the positioning is correctly performed, and the operation is resumed after the normal operation is restored (step 113).

In this embodiment, it is assumed that there are two clampers. However, the present invention is not limited to this.

[0059]

As described above, according to the embodiment, even if the current position of the clamper on the carriage is unknown or inaccurate due to manual positioning or the like,
The current position is detected automatically and accurately without burdening the operator. Therefore, the positioning of the clamper based on the current position is performed accurately and reliably. In addition, the clamper can be positioned at an arbitrary position on the carriage, and there is no restriction on the positioning position.

[Brief description of the drawings]

FIGS. 1 (a) and 1 (b) are top views showing an embodiment of a clamp positioning device of a material supply device according to the present invention;
It is a side view.

FIGS. 2A and 2B are a side view and a bottom view showing the center of the base shown in FIG.

FIG. 3 is a flowchart showing a process performed by the NC device shown in FIG. 1;

FIG. 4 is a flowchart showing a process performed by the NC device shown in FIG. 1;

FIG. 5 is a flowchart showing a process performed by the NC device shown in FIG. 1;

FIG. 6 is a flowchart showing a process performed by the NC device shown in FIG. 1;

FIG. 7 is an explanatory diagram used to explain the processing shown in FIG. 4;

FIG. 8 is an explanatory diagram used to explain the processing shown in FIG. 6;

FIG. 9 is an explanatory diagram used to explain the processing shown in FIG. 4;

FIG. 10 is a diagram illustrating an impossible movement of a clamper;

[Explanation of symbols]

 Reference Signs List 6 base 7 carriage 8 clamper 9 clamper 10 NC device 12 hydraulic cylinder 14 block 16 taper member 20 air cylinder 24 stopper 25 stopper S1 proximity switch S2 proximity switch S3 proximity switch

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B21D 43/00 B23Q 15/24

Claims (7)

(57) [Claims] 1. A Y-axis carriage movably in the Y-axis direction, an X-axis carriage movably arranged in the X-axis direction with respect to the Y-axis carriage, and an X-axis direction with respect to the X-axis carriage. The clamper is movably disposed on the X-axis carriage, and the clamper is clamped by moving the X-axis carriage and the Y-axis carriage. A material supply device for supplying the plate material to a predetermined processing position, a first fixing means for fixing the clamper to the X-axis carriage, a second fixing means for fixing the clamper to the Y-axis carriage, A clamper position detecting means provided at a reference position on the Y-axis carriage and detecting that the clamper is located at the reference position; When the target position of the clamper on the ridge is set, the clamper is fixed to the X-axis carriage by the first fixing means, and the X-axis carriage is moved with the second fixing means turned off. The clamper is moved from the origin position on the Y-axis carriage until the clamper is detected by the clamper position detecting means, and the current position of the clamper on the X-axis carriage is calculated based on the movement distance at this time and the reference position. Current position calculating means for calculating, a target moving distance of the clamper is calculated based on a deviation between a target position of the clamper and a current position of the clamper calculated by the current position calculating means, and the second fixed position is calculated. Means for fixing the clamper to the Y-axis carriage and turning off the first fixing means. Serial operation target moving distance the clamp positioner material supply device with moving the X-axis carriage and a positioning means for positioning the clamper to the target position. 2. The clamp positioning apparatus according to claim 1, wherein two or more clampers are provided on the X-axis carriage, and each clamper is operated by the current position calculating means and positioned by the positioning means. apparatus. 3. The second fixing means engages an engaging member provided on the clamper with an engaging member provided on the reference position when the clamper is located at the reference position. The positioning means is configured to move the clamper to the reference position based on the calculated position of the clamper current position calculation means and the reference position. Calculating, moving the X-axis carriage by the calculated reference position movement distance in a state where the clamper is fixed to the X-axis carriage by the first fixing means, and then operating the second fixing means. The clamp positioning device for a material supply device according to claim 1. 4. When the clamper is not located at the reference position when the X-axis carriage is moved by the reference position movement distance, the calculation by the clamper current position calculating means is performed again. The clamp positioning device for a material supply device according to claim 3. 5. The clamp positioning device according to claim 4, wherein the fact that the clamper is not located at the reference position is detected based on an output of the clamper position detecting means. 6. The material supply apparatus according to claim 4, wherein the fact that the clamper is not located at the reference position is detected by the fact that the engaging members are not engaged with each other even when the second fixing means is operated. Clamp positioning device. 7. When the positioning by the positioning means is completed, the calculation by the clamper current position calculating means is performed again. If the current position obtained as a result does not match the set target position, the positioning is performed. 2. The clamp positioning device for a material supply device according to claim 1, wherein the positioning by means is performed again.