JP7659595B2 - Press system and method for controlling press system - Google Patents

Description

The present invention relates to a press system and a method for controlling a press system.

Conventionally, there is a press system that drives a slide 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 workpiece being transported. The standby height is higher than the feedable height, and is the highest slide position of the press motion.

The press system of Patent Document 1 includes a leveler feeder that transports coil material to the press device, and a transport conveyor that transports the workpiece formed by press processing. In addition, in the press system of Patent Document 1, the monitoring position is set so that the slide, which starts to descend from the standby height and reaches the monitoring position, can start to decelerate at the monitoring position and stop at a stopping position higher than the possible feeding height if the completion of the workpiece feeding is not detected, so that there is no interference between the workpiece feeding operation and the upper die raising and lowering operation.

JP 2019-55426 A

In order to improve the productivity of the press system, it is preferable to start lowering the slide before the workpiece transport is completed, but the transport device of the press system may not be capable of instantaneous workpiece transport like the leveler feeder or transport conveyor used in the press system of Patent Document 1. For example, when stamping to produce a product through a step-by-step process using multiple press devices in a transfer press system, the possible feed height may differ due to the difference in processing time resulting from the difference between processes with long and short slide strokes.

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 the 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.

One possible solution to this problem is to move the monitoring position away from the possible feed height and set it closer to the standby height, but as long as the transport device is operated at a height other than the possible feed height for processes with a long slide stroke, this will not resolve the difference in possible feed height caused by the difference in processing time resulting from the difference between processes with long and short slide strokes, and in an emergency, even if the slide begins to decelerate at the monitoring position, it may not be enough and the transport device may collide with the upper die. Furthermore, even if an emergency stop is possible, it will take 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 required for processing without an emergency stop.

One aspect of the present invention is a press system and a method for controlling a press system that can improve productivity while ensuring safety.

The press system according to one aspect of the present invention includes a press device including a crankshaft and a slide that moves up and down in response to the rotation of the crankshaft, and processes a workpiece using a die attached to the slide, a first transport device that transports the workpiece into the press device, and a control means for controlling the press device and the first transport device, and the control means includes a press start process that rotates the crankshaft, which is stopped at a predetermined start angle, and starts moving the slide downward, an interference check process that determines 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 that stops the press device when it is determined that the first transport device is in the die interference area, and a press stop process that stops the press device when the first transport device moves the workpiece downward. If it is determined that the workpiece is not in the die interference area, the press process is configured to be able to execute the press process to have the press machine process the workpiece, and the press start process is executed after a predetermined delay time has elapsed after the first transport device has loaded the workpiece into the press machine, 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 transport device interfere with each other and the distance the slide moves during the sudden stop time, and the delay time is set based on the departure time it takes for the first transport device to leave the die interference area after loading the workpiece and the check angle movement time it takes for the crankshaft to move from the start angle to the interference check angle, and is at least shorter than the departure time.

A method for controlling a press system according to one aspect of the present invention includes a press start process for rotating the crankshaft of a press device stopped at a predetermined start angle and starting to move a slide that moves up and down in response to the rotation of the crankshaft downward; an interference check process for determining whether or not a first transport device that delivers a workpiece to the press device 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 stop process for stopping the press device when it is determined that the first transport device is in the die interference area; and a press stop process for stopping the press device when it is determined that the first transport device is not in the die interference area. and a press process for processing the workpiece. The press start process is executed after a predetermined delay time has elapsed after the first conveying 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 conveying device interfere with each other and the distance the slide moves during the sudden stop time, and the delay time is set based on the separation time it takes for the first conveying device to leave the die interference area after carrying in the workpiece and the check angle movement time it takes for the crankshaft to move from the start angle to the interference check angle, and is shorter than at least the separation time.

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 die 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.

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

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. 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 while 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."

[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 direction, and up-down direction. 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.

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

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 devices P1 to P5 and robots R1 to R5. The robot 400 is disposed between the press devices 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 devices 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 devices 300 in the transport direction (left-right direction) and in front of the press device 300 when viewed from above. In the following description, when it is expressed that the robot 400 is disposed between the press devices 300, it refers to the arrangement as shown in FIG. 1.

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

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

<Lifter and horizontal feeder>
The lifter 100 holds the workpiece 120, raises the held workpiece 120 to a processing height, and waits for the workpiece 120 to be gripped by the horizontal feeder 200. 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-down direction. 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.

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 it at the processing position of the press device P1 (a predetermined position of the lower die 303b described later). In the press system 1 of FIG. 1, the horizontal feeder 200 is disposed between the lifter 100 and the press device P1, but this 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.

<Pressing equipment>
The press device 300 in 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 the press device 300 of, for example, an integral straight side frame type or C frame type. FIG. 2 also shows the conveying direction of the workpiece 120, the upstream (left), downstream (right), up-down direction, and front-rear direction (front, back) in the conveying direction. The press device 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 device 300 also has a controller 314, a memory unit 315, a display unit 316, and an input unit 318. The press device 300 also has a sensor 324, a rotary encoder 325, and a gib 326. The gib is also called a guide gib or a slide guide.

The drive motor 304 is, for example, a servo-controlled servo motor, which moves the die 303 (described later) up and down via the transmission mechanism 306, crankshaft 308, and connecting rod 310 while controlling the amount and direction of rotation. The transmission mechanism 306 is configured with 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 the controller 314.

The crankshaft 308 and the connecting rod 310 are used 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). The rotation of the motor shaft rotates the crankshaft 308, and the rotation is transmitted to the connecting rod 310, which is connected near one end to the crankshaft 308, causing the connecting rod 310 to move up and down (raise and lower).

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

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

The workpiece 120 is placed between the upper die 303a and the lower die 303b as the object to be processed, and is pressed by the upper die 303a and the lower die 303b to perform press processing (hereinafter, simply referred to as "processing") 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. 2.

In detail, 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 the 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 also include the rotary cam switch described above.

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, multiple sensors 324 may be installed, and for example, the left and right strains of the housing 302 may be detected separately, 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.

The controller 314 controls the press device 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 device 300. The input unit 318 is used to input data required to operate the press device 300. The input unit 318 is used when the user inputs parameters required for processing. The controller 314 controls the press device 300 and other devices of the press system 1 to perform processing in conjunction with each other while following the control of the line controller 10.

<ROBOT>
3 is an external perspective view showing the configuration of the robot 400 of this embodiment. The robot 400 included 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.

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.

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 at the other end that suctions the workpiece 120. The hand 460 can suction the workpiece 120 and grip the workpiece 120, or release the suction of the workpiece 120 and let go of the workpiece 120, for example by controlling the air pressure. Note that when the workpiece 120 is being suctioned, it is also referred to as suction ON, and when suction is released, it is also referred to as suction OFF.

Hereinafter, the act of the robot Rm transporting the workpiece 120 from the press device Pn after processing has been completed there is referred to as "transporting out". Also, the act of the robot Rm transporting the workpiece 120 to the press device Pn+1 in order to process the workpiece 120 there is referred to as "transporting in". Furthermore, the series of movements of the robot Rm from starting operation from a predetermined position to transporting the workpiece 120 out of the press device Pn, transporting the workpiece 120 into the press device 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 processing, etc.

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

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 that can specify and control a specific position in three-dimensional space, such as Cartesian coordinates, polar coordinates, or cylindrical coordinates, and the control unit 470 controls the attitude and speed of the robot 400 using known technology.

In the storage unit 480, a region of a predetermined spatial shape in a three-dimensional space or a predetermined two-dimensional surface shape (hereinafter simply referred to as "region") 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 can set multiple 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 referred to as region C1, region C2, ..., region Cj, ..., region C10, and are collectively referred to simply as region Cj. The detailed settings of region Cj will be described later.

The hand 460 grasps the workpiece 120 by air suction, 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 type of sensor.

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 the 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).

<Block diagram>
4 is a block diagram of the press system 1 of the present 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.

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 (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 internally 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.

The computing device 20 thus configured is configured to be capable of executing a press start process that rotates the crankshaft 308, which is stopped at a predetermined start angle SA, and starts moving the slide 312 downward. The press start process is executed a predetermined delay time after the robot Rm-1 has loaded the workpiece 120 into the press device Pn.

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, when the calculation device 20 confirms that the control unit 470 of the robot Rm-1 has turned off the suction signal after the hand 460 of the robot Rm-1 turns off the suction, it starts counting the delay time.

Note that "after the workpiece is brought in" is not limited to the timing described above. For example, "after the workpiece is brought 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, any timing can be used 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.

In this embodiment, "entering the mold interference area" means that the hand 460 passes through area C2 or 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 area C2 or area C3, which will be described later, from the mold interference area K.

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.

In this embodiment, "detachment time" refers to the time it takes for the hand 460 to release suction and pass through the mold interference area K to area C2 or area C3.

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 unit 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 unit Pn, as shown in FIG.

Figure 13 and Figures 14 to 16 described below are graphs with speed on the vertical axis and time on the horizontal axis, with the upper part of the graph showing the change in the movement speed of robot Rm-1 and the lower part of the graph showing the change in the rotational speed of crankshaft 308 of press device Pn. Time Tr1 is the time when robot Rm-1 starts to leave the die interference area K of press device Pn, and time Tr2 is the time when robot Rm-1 leaves the die interference area K of press device Pn.

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

The dashed line speed change from time Tp2 to time Tp3 in the lower part of the graph in Figure 13 indicates the speed change when the press device Pn is stopped.

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. 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.

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 to 100%, and the percentage of the time for the crankshaft 308 to reach the interference check angle ICA may be calculated. In other words, it is most preferable to set the delay time to the time when both the robot Rm-1 and the crankshaft 308 of the press device Pn can pass through the interference check angle ICA at the highest speed and when the crankshaft 308 of the press device Pn starts the latest.

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.

FIG. 15 is a schematic diagram showing an example of the case where there is no delay time according to 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.

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 device 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 device Pn, and therefore the calculation device 20 will not restart the press device Pn after stopping it once.

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 waste compared to the optimal start-up time Tp1', and the shaded area in Figure 16, i.e., the time t, occurs as a delay in the takt time, resulting in reduced productivity.

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 device Pn, the acceleration of the crankshaft 308 of the press device Pn starts before the interference angle IA, and the crankshaft 308 of the press device 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 it takes for the crankshaft 308 (die 303) of the press device 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 device Pn is made to wait at the very edge of the interference angle IA and then restarted from there. Therefore, the timing at which the rear robot Rm enters to carry out the workpiece 120 can be advanced, making it possible to shorten the cycle time of the entire press system 1.

For this reason, it is preferable to set 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 device Pn.

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 transport 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 from the interference angle IA of the crankshaft 308 when the mold 303 and the robot Rm-1 interfere with each other and based on the distance that the slide 312 moves during the sudden stop time.

The interference angle IA is the angle of the crankshaft 308 that corresponds 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.

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 the slide 312 moves during the sudden stop time. In this embodiment, the "sudden stop time" refers to the time it takes from when the calculation device 20 transmits a stop signal (described later) to the press device Rn, when the press device Rn starts to stop, until the crankshaft 308, and therefore the slide 312, stop moving.

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) calculated from the area of the 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 the stop signal to when the principle is started.

For example, if the rotation speed of the press device 300 is 60 SPM, the sudden stop time is 22/100 seconds (the time required from the start of deceleration to the 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 corresponding 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 toward the starting angle SA side by the amount of 43.2 degrees, which is the angular displacement of the crankshaft 308, from the interference angle IA.

The above-mentioned rotation speed, sudden stop time, and interference angle IA are merely examples, and may vary depending on the specifications of the press device 300. The interference check angle ICA may be set to a value that includes the angular displacement of the crankshaft 308 plus a safety margin of several degrees that takes into account operational errors.

The calculation device 20 is also configured to be able to execute a press stop process that stops the press device 300 (in this embodiment, the press device Pn) if it determines in the interference check process that the robot Rm-1 is in the die interference area K. Specifically, the calculation device 20 transmits a stop signal (described later) to the controller 314 of the press device Pn, thereby stopping the operation of the press device Pn.

In addition, instead of sending a stop signal to the controller 314 of the press device Pn, the calculation device 20 may decelerate and stop the press device Pn by turning the start signal OFF, and then resume the operation of the press device Pn by turning the start signal ON again after the interference state is resolved.

Furthermore, when the calculation device 20 determines in the interference check process that the robot Rm-1 is not in the die interference area K, the calculation device 20 is configured to be able to execute a press process in which the press device Pn processes the workpiece 120. Specifically, the calculation device 20 allows the press device Pn to continue operating without sending an on-the-spot stop signal to the controller 314 of the press device Pn.

FIG. 9 is a schematic diagram showing the robot start processing 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.

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

In addition, in this embodiment, the approach angle AA is the lower limit angle (e.g., 300 degrees) on the machining end side of the region outside the robot interference area of the crankshaft 308, which will be described later.

The start timing of the robot start process is preferably set so that the robot Rm (hand 460) enters the mold interference area K after the crankshaft 308 reaches a predetermined entry angle AA. It is even more preferable that the start timing of the robot start process is set so that the robot Rm enters the mold interference area K at the same time that the crankshaft 308 reaches a predetermined entry angle AA.

The advance start condition is the time it takes for the robot Rm to enter the mold interference area K after it starts (in this embodiment, the advance angle time). For example, if it takes 20 milliseconds for the robot Rm, which is waiting at a specified 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 specified entry angle AA.

The input device 30 is used to input various information required to control the processing of the workpiece 120 by the press device 300 and the transport of the workpiece 120 by the robot 400. The display device 40 displays information regarding the state of the press system 1, information prompting the input of various settings for the press system 1, and various other information.

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 pre-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.

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

The delay time setting area 42c is configured to allow the setting of a predetermined delay time (e.g., 25/100 seconds) for the press start process. In this embodiment, the advance start ON/OFF setting area 42b and the delay time setting area 42c are provided for each press device 300 in the press device list display area 42a, so that a different delay time can be set for each press device 300.

Note that the ON/OFF setting for advance start and the delay time setting do not have to be set for each press device 300.

FIG. 11 is a diagram showing an example of a pre-start condition setting screen according to 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.

The advance start condition setting area 44a may also be configured to allow the selection of any advance start condition from multiple advance start conditions such as time and angle.

The memory 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 about the multiple areas Cj stored in the memory unit 480 of the robot 400 via the I/F board 60 and stores the information in the memory device 50 before processing by the press system 1 is started.

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

(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 or the like 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.

(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 predetermined timing in each region and in each process according to 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.

The controller 314 of the press device 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 device side transmission process). The start position signal is a signal indicating the position of the slide 312 when processing starts, 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 device 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 starts. The start position signal may be ON when the crankshaft 308 reaches an angle corresponding to the start position, and OFF at other angles.

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).

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, for example, when the crankshaft 308 is at an angle corresponding to the bottom dead center, and OFF at other angles. The bottom dead center signal is ON, for example, in the range of 175 degrees to 185 degrees.

The robot interference area outside signal is a signal indicating that the press device 300 is outside the area where it interferes with the robot 400. The processing of the press device 300 is set by a program, and the angle of the crankshaft 308 at which processing starts (hereinafter referred to as the "processing start angle") and the angle of the crankshaft 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. In addition, the hand 460 cannot enter the mold unless there is a space between the lower mold 303b and the upper mold 303a that is at least the height of the hand 460 and the workpiece 120. As described above, the controller 314 of the press device 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).

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

(Signal transmitted from line controller 10 to 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, etc. Note that the stop signal is similar to the stop signal of the press device 300, and a description thereof will be omitted.

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

(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 (conveying device side transmission process). The control unit 470 of the robot 400 can determine whether the hand 460 is outside the area Cj based on the multiple areas Cj stored in the storage unit 480 of the robot 400 and the coordinates of the hand 460. 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.

The suction signal is a signal indicating that the hand 460 of the robot 400 has adsorbed and is gripping the workpiece 120, and may be ON when the workpiece 120 is being adsorbed and OFF when the workpiece is not being adsorbed. The transport signal is a signal indicating that the hand 460 of the robot 400 has adsorbed the workpiece 120 but has not released the suction, in other words, that the workpiece 120 is being gripped and transported. The transport signal may be ON when the workpiece 120 is being transported and OFF when the workpiece is not being transported, for example.

<Setting multiple areas>
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 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, from the viewpoint of 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.

In this embodiment, ten areas C1 to C10 are set to control the transport of the robot Rm, which transports the workpiece 120 while the press 300 is processing the workpiece. Areas C1 to C5 are set to avoid interference between the robot Rm and the upstream device, i.e., the press Pn or the robot Rm-1. Areas C6 to C10 are set to avoid interference between the robot Rm and the downstream device, i.e., the press Pn+1 or the robot Rm+1.

The ten regions C1 to C10 include regions restricted by the specifications of the press device 300 and regions restricted by the specifications of the robot 400. For example, when the press device 300 processes the workpiece 120, dies 303 of various sizes are used, and the region Cj includes regions set according to the size of the die 303. The controller 314 of the press device 300 may detect the size of the die 303 based on an input from the display unit 316 of the press device 300. The controller 314 may also detect the size of the die 303 based on the detection results when the press device 300 is provided with a means for detecting the size of the die 303.

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 it 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".

In addition, in FIG. 7, an area provided to prevent the robots 400 from interfering with each other according to the range of motion of the robots 400 is shown as robot interference area L, hatched with a diamond lattice. The robot interference area L is provided not only to prevent interference between the robots 400, but also to prevent collisions between the robot 400 and the workpiece 120. Note that even if the length of the mold 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 mold 303.

The portion Q shown in FIG. 7 with slanting hatching 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. The portion Q is set based on the movement 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.

Based on the above, areas C1 to C10 are set in the memory unit 480 of the robot Rm as follows:

[First region C1]
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 mold interference area K2 and part Q of the press device Pn.

[Second Region C2]
The area C2 is set so that the robot Rm does not interfere with the die 303 of the press 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 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.

[Second region C3]
Area C3 is an area set so that the robot Rm does not interfere with the die 303 of the press 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 Pn. Area C3 is an area set in response to the case where the die 303 is small in size. Either area C2 or area C3 is used depending on the size of the die 303.

[Third region 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 transport direction when viewed from above, based on the robot interference area L between robot Rm and robot Rm-1.

[First region C5]
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.

[Fourth region C6]
Area C6 is an area 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. Area C6 is an area symmetrical to 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).

[Fifth region C7]
Area C7 is an area set so that the robot Rm does not interfere with the die 303 of the press 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 Pn+1. Area C7 is an area set corresponding to the case where the die 303 is the largest size, that is, the size of the slide 312. Area C7 is also an area symmetrical to area C2 with respect to the center PCn (or PCn+1) in the conveying direction of the press Pn (or Pn+1).

[Fifth region C8]
Area C8 is an area set so that the robot Rm does not interfere with the die 303 of the press 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 Pn+1. Area C8 is an area set in response to the case where the die 303 is small in size. Area C8 is also an area symmetrical to area C3 with respect to the center PCn (or PCn+1) in the conveying direction of the press Pn (or Pn+1). Either area C7 or area C8 is used depending on the size of the die 303.

[Sixth region C9]
Area C9 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 transport direction when viewed from above based on the robot interference area L between robot Rm and robot Rm+1. Area C9 is an area symmetrical to area C4 with respect to the center PCn (or PCn+1) of press apparatus Pn (or Pn+1) in the transport direction.

[Fourth region C10]
The area C10 is set so that the robot Rm does not interfere with the slide 312 of the press 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 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 Pn (or Pn+1). Either the area C6 or the area C10 is used depending on the size of the die 303.

In summary, 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 area signal corresponding to the first region. The C2 outside interference area signal and the C3 outside interference area signal correspond to the second outside area signal corresponding to the second region. The C4 outside interference area signal corresponds to the third outside area signal corresponding to the third region. The C6 outside interference area signal and the C10 outside interference area signal correspond to the fourth outside area signal corresponding to the fourth region. The C7 outside interference area signal and the C8 outside interference area signal correspond to the fifth outside area signal corresponding to the fifth region. The C9 outside interference area signal corresponds to the sixth outside area signal corresponding to the sixth region.

In FIG. 7, the areas C1 to C10 stored in the memory unit 480 of the robot Rm are shown with solid lines. Note that the areas C6 to C10 shown with dashed lines in the press device Pn are areas stored in the memory unit 480 of the robot Rm-1. Furthermore, the areas C1 to C5 shown with dashed lines in the press device Pn+1 are areas stored in the memory unit 480 of the robot Rm+1.

<Section of the transport route of the robot Rm>
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) during transport of the robot Rm. 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, the sections of the robot Rm are illustrated in parallel to the transport direction in Fig. 7. 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.

[Section D1] A section in which the robot Rm turns on its suction and moves (goes to pick up the workpiece 120) in order to remove the machined workpiece 120 from the press device Pn. [Section D2] A section in which the robot Rm picks up the machined workpiece 120 and removes it from the press device Pn (during transport). [Section D3] A section in which the robot Rm picks up the workpiece 120 and carries it into the press device Pn+1 for the next processing (during transport). [Section D4] A section in which the robot Rm turns off its suction and returns to its home position after carrying the workpiece 120 into the press device Pn+1.

<Entry conditions for multiple areas>
A predetermined condition is set for 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, when the predetermined condition is met, the line controller 10 permits the robot 400, specifically the hand 460, to enter beyond the area Cj.

The line controller 10 controls whether or not the robot Rm is allowed to enter 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 certain conditions are met, but can enter beyond the wall once certain conditions are met. In the following explanation, interference by the hand 460 of the robot Rm is simply referred to as interference by the robot Rm.

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

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

[Entry conditions for area C3]
Entry into area C3 is permitted when the following conditions are met:
Condition C3-1: Robot Rm-1 is outside area C9. Condition C3-2: Press Pn is outside the robot interference area. Condition C3-3: A machined workpiece 120 is present inside press Pn, except while robot Rm is located in section D2.

[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.

[Entry conditions for area C5]
Entry into area C5 is permitted when the following conditions are met:
Condition C5-1: The robot Rm-1 is outside the area C9 described below. Condition C5-2: The workpiece 120 is present inside the press Pn. However, this does not include the period when the robot Rm is located in the section D2.

[Entry conditions for area C6]
Entry into area C6 is permitted when the following conditions are met:
Condition C6-1: The robot Rm+1 is outside the area C4. Condition C6-2: There is no workpiece 120 inside the press Pn+1, except while the robot Rm is located in the section D4.

[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 Pn+1 is outside the robot interference area. Condition C7-3: There is no workpiece 120 inside press Pn+1, except while robot Rm is located in section D4.

[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 Pn+1 is outside the robot interference area. Condition C8-3: There is no workpiece 120 inside press Pn+1, except while robot Rm is located in section D4.

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

[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 inside press Pn+1. However, this does not include the time when robot Rm is located in section D4.

<Work condition>
The above-mentioned conditions C1-2 and C5-2 in the area Cj state that the workpiece 120 is present in the press Pn. In addition, the conditions C2-3 and C3-3 state that the machined workpiece 120 is present in the press Pn, and the conditions C6-2, C7-3, C8-3, and C10-2 state that the workpiece 120 is not present in the press 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.

When the line controller 10 receives an OFF suction signal from the robot Rm-1 within the die interference area K, it determines that there is a workpiece at the press device Pn. When the line controller 10 receives an ON suction signal from the robot Rm+1 within the die interference area K, it determines that there is no workpiece at the press device Pn+1. When the line controller 10 receives an ON bottom dead center signal from the press devices Pn and Pn+1, it determines that there is a machined workpiece at the press devices Pn and Pn+1.

<Press machine interlock>
In this embodiment, the line controller 10 can also use the area Cj to control whether to permit or prohibit the press device 300 from machining. That is, it is possible to permit or prohibit the crankshaft 308 from entering within the machining 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 whether to permit or prohibit the press device 300 from machining 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.

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

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

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 using the stop signal described in FIG. 5 while 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 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.

<Transport control of robot Rm>
The line controller 10 receives the start position signal, bottom dead center signal, and robot interference area outside signal described in Fig. 5 from all of 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, suction signal, and conveying signal described in Fig. 5 from all of 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 of 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.

In this way, the line controller 10 receives various signals from all the press devices 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 device 300. In this embodiment, the line controller 10 performs centralized management in this way. Therefore, the press device 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 centralizing 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.

[Control method of press system according to the present embodiment]
Next, a control method of the press system 1 according to the present embodiment will be described. The control method of the press system 1 according to the present embodiment is roughly comprised of a press start process in which the crankshaft 308 of the press device 300 (in this embodiment, the press device Pn) stopped at a predetermined start angle SA is rotated to start moving the slide 312 downward, an interference check process in which a first conveying device (in this embodiment, the robot Rm-1) that carries the workpiece 120 into the press device Pn is determined to be in a die interference area K when the crankshaft 308 reaches a predetermined interference check angle ICA, a press stop process in which the press device Pn is stopped when it is determined that the robot Rm-1 is in the die interference area K, and a press process in which the press device Pn is made to 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.

The press start process 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 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.

First, as a preliminary step in a series of processes in the press system 1 of this embodiment, the robot Rm-1 removes 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 sends an activation signal to the control unit 470 of the robot Rm-1 to start the robot Rm-1 (robot activation process).

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

FIG. 12 is a flowchart showing an example of a control method for the press system according to the present embodiment.
Then, when the control unit 470 of the robot Rm-1 receives a start signal (entry permission signal) from the line controller 10, the robot Rm-1 enters the die interference area K of the press device 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 device Pn (S11 in FIG. 12). Thereafter, the control unit 470 moves the hand 460 to enter the die interference area K of the press device Pn and place the workpiece 120 between the upper die 303a and the lower die 303b of the press device Pn.

Then, the control unit 470 ends the suction of the hand 460 and ends the loading of the workpiece 120 (S12 in FIG. 12). The control unit 470 also turns the suction signal OFF and the transport signal ON, causing the hand 460 to move away from 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 loading of the workpiece 120, it sends a start signal to the controller 314 of the press device Pn.

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 ( S3 in FIG. 12). When the crankshaft 308 reaches the predetermined interference check angle ICA, the controller 314 transmits an interference check position signal to the line controller 10.

When the line controller 10 confirms that the crankshaft 308 has reached the predetermined interference check angle ICA, it determines whether or not the robot Rm-1 is in the die interference area K (S4 in FIG. 12: interference check process). If the line controller 10 determines that the robot Rm-1 is in the die interference area K (YES in S4 in FIG. 12), it sends an on-the-spot stop signal to the controller 314 of the press device Pn, stopping the press device Pn (S5 in FIG. 12: press stop process). It then executes the interference check process (S4 in FIG. 12) again.

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 begins (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, press processing ends (S7 in FIG. 12). A series of processes of the press system 1 according to this embodiment are executed through the above steps.

In addition, as a later stage of the series of processes of the press system 1 of this embodiment, the robot Rm removes the workpiece 120 from the press device Pn. Specifically, the robot Rm waits at a predetermined waiting position, and after the press device Pn processes the workpiece 120 with the die 303, the line controller 10 sends an activation signal to the control unit 470 of the robot Rm to start the robot Rm (robot activation process).

The start timing of the robot Rm in the robot start process is set to a timing before the crankshaft 308 reaches a predetermined entry 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 that amount of time before the crankshaft 308 reaches the predetermined entry angle AA.

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 device Pn and 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 moving the hand 460 to transport the workpiece 120 into the press device Pn+1.

[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 transport apparatus (robot 400, in this embodiment, the robot Rm-1) that carries the workpiece 120 into the press apparatus Pn, and a robot system including the press apparatus 300 (press apparatus Pn) and the first transport apparatus (robot Rm-1). The control means (line controller 10) includes a press start process for rotating the crankshaft 308 stopped at a predetermined start angle SA and starting to move the slide 312 downward, an interference check process for determining whether or not the first transport device (robot Rm-1) is in a die interference area K where the first transport device interferes with the die 303 when the crankshaft 308 reaches a predetermined interference check angle ICA, and a process for determining whether or not the first transport device (robot Rm-1) is in the die interference area K when the first transport device (robot Rm-1) is in the die interference area K. When it is determined that the first transport 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 transport 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 transport 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 transport device. The delay time is set on the start angle SA side rather than the interference angle IA based on the interference angle IA of the crankshaft 308 when the first transport 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 separation time it takes for the first transport 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 separation time.

The press system 1 according to this embodiment has such a configuration, and by delaying the timing of starting the crankshaft 308 based on the departure time it takes for the first transport device (robot Rm-1) to leave the die 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 starting angle SA to the interference check angle ICA, even if the interval between the interference check angle ICA and the interference angle IA is increased, the first transport 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 case of an abnormality, which has the advantage of improving productivity while ensuring safety.

In addition, 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 conveying 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 conveying device (robot Rm-1) interfere with each other and the distance that the slide 312 moves during the sudden stop time. By setting the angle SA, 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 transport 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, and 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 transport device (robot Rm-1).

In addition, 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 transport device (robot Rm-1) leaves the die interference area K. With this configuration, the first transport 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 slowed down or stopped; in other words, the slide 312, which has reached its maximum speed after a run-up, can maintain that speed while pressing the workpiece 120, providing the advantage of improving productivity while ensuring safety.

Furthermore, the press system 1 according to this embodiment includes a second conveying device (robot 400, in this embodiment, robot Rm) that conveys 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 entry angle AA based on a predetermined advance start condition. With this configuration, the second conveying device (robot Rm) can be started without waiting for the crankshaft 308 to reach the predetermined entry angle AA, so that the time required for the second conveying device (robot Rm) to enter the die interference area K and convey the workpiece 120 is shortened, which has the advantage of improving productivity.

Furthermore, in the press system 1 according to this embodiment, the advance start condition is the time it takes for the second transport device (robot Rm) to enter the die interference area K after it starts. This configuration has the advantage that it can respond to changes in the rotation speed of the crankshaft 308 or the movement speed of the slide 312 without changing the setting value of the advance start condition.

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 angle AA, causing the press device 300 (press device 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 angle AA (for example, around the time the crankshaft 308 stops). Therefore, if the advance start condition is a predetermined angle of the area outside the robot interference area of the crankshaft 308, it is necessary to set an appropriate advance start condition setting value 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 through 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 even if the rotation speed changes, the same advance start condition setting value can be used.

[Modification]
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.

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 this is not limited to this. Any of a variety of delay times can be used as long as the delay time is at least shorter than the departure time.

In the above-described embodiment, the press system 1 includes a second conveying device (robot 400, in this embodiment, robot Rm) that conveys the workpiece 120 from the press device 300 (press device Pn), and the control means (line controller 10) is configured 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 based on a predetermined advance start condition to a timing before the crankshaft 308 reaches a predetermined entry angle AA, but is not limited to this. The press system 1 does not need to include a second conveying device (robot 400, in this embodiment, robot Rm). For example, the press system 1 may include a first conveying device (robot Rm-1) that conveys the workpiece 120 from the press device 300 (press device Pn). In addition, the control means (line controller 10) does not need to be configured to execute a 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 entry angle AA.

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

In the above embodiment, the press device 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 this is not limited to this, and the press device 300 does not have to operate in a full stroke. For example, the press device 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 processing is completed, instead of the top dead center, by setting an angle at which no interference occurs with the robot 400 as the starting angle SA, 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 crankshaft 308 has been described on the assumption that it rotates clockwise (forward direction), but this is not limited to this, and the crankshaft 308 may rotate counterclockwise (reverse direction).

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 to this. For example, the press system 1 can also be applied to a configuration in which the workpiece 120 is transported by a robot that is not an articulated robot.

In the above-described embodiment, the line controller 10 controls the transport of the robot 400 using multiple areas defined in the robot 400, but this is not limited to the above. In addition to the areas stored in the robot 400, multiple areas may be defined in the storage device 50 of the line controller 10, and the multiple areas stored in the storage device 50 may be used to control the transport of the robot 400.

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

In the above-described embodiment, the press system 1 may use other sensors to detect the presence or absence of the workpiece 120 at each stage of loading and unloading by the robot 400.

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

In the above embodiment, the mold 303 is configured to be compatible with two sizes, a large mold 303 and a small mold 303, but this is not limited to this. It is also possible to set areas 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 areas, two areas (e.g. C1 and C2) for the preceding device and two areas (e.g. C6 and C7) for the following device. Therefore, how many sizes of mold 303 can be supported, in other words, the upper limit of the areas that can be set, depends on the upper limit of the number of areas that can be set by the robot 400. In addition, if the numerical values (length of sides, etc.) when setting the areas can be rewritten from the upper device, each area may be automatically set based on the size of the mold 303. In other words, it is not limited to the method of reading and switching the area settings according to the size of the mold 303, and the area settings may be rewritten each time according to the size of the mold 303.

In the above embodiment, in FIG. 7, the area is defined in the left-right direction (transport direction) and the front-back direction, but this is not limiting. Furthermore, the area may be defined in the up-down direction as well, and defined as a three-dimensional area. Also, the area may be defined as a two-dimensional area, such as the left-right direction and the up-down direction, or the front-back direction and the up-down direction.

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

In the above embodiment, the line controller 10, which is independent of the press device 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 device 300 may perform the functions of the line controller 10, or the control unit 470 of a given robot 400 may perform the functions of the line controller 10.

1 Press system 10 Line controller 20 Calculation device 30 Input device 40 Display device 42 Delay time setting screen 42a Press device list display area 42b Advance start ON/OFF setting area 42c Delay time setting area 44 Advance start condition setting screen 44a Advance start condition setting area 50 Storage device 60 I/F board 100 Lifter 120 Work 200 Horizontal feeder 210, 220 Hand 230 Table 240 Arm 300 Press device 302 Housing 303 Die 303a Upper die 303b Lower die 304 Drive motor 306 Transmission mechanism 308 Crankshaft 310 Connecting rod 312 Slide 314 Controller 315 Memory unit 316 Display unit 318 Input unit 322 Bolster 324 Sensor 325 Rotary encoder 326 Gib 400 Robot 410 Support base 420 Rotating unit 430 First arm 440 Second arm 450 Third arm 460 Hand 462 Suction unit 470 Control unit 480 Memory unit AA Approach angle C1, C2, C3, C4, C5, C6, C7, C8, C9, C10, Cj Area D1, D2, D3, D4 Section IA Interference angle ICA Interference check angle K, K1, K2 Die interference area L Robot interference area P1, P2, ..., Pn, Pn+1, ... Press device Q Parts R1, R2, ..., Rm-1, Rm, Rm+1... Robot SA Starting angle q Width

Claims (5)

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 for causing the press device to process the workpiece when it is determined that the first conveying device is not in the die interference area;
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. The press system according to claim 1 , wherein the delay time is set so that the crankshaft reaches the interference check angle after the first transport device leaves the die interference area. 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,
3. The press system according to claim 1, wherein a 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 3 , wherein the advance start condition is a time required for the second transport device to enter the die interference area after starting the second transport device. 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 of causing the press device to process the workpiece with the die when it is determined that the first conveying device is not in the die interference area,
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 an advance start in which the press device is started after a predetermined delay time has elapsed and a non-advance start in which the press device is started after the first transport device has left the die interference area is displayed on a display device.
A method for controlling a press system.

Images