CN115301811A - Stamping device and its action control method - Google Patents

Abstract

The invention provides a punching device and an operation control method thereof, which can inhibit the generation of poor quality of workpieces and inhibit the damage of dies and equipment. The press device includes: a mold in which an upper mold is opposed to a lower mold having a lower mold for a first process and a lower mold for a second process; a robot (see fig. 1) that conveys a work, which is placed on the first-step lower die and is press-molded, to the second-step lower die; and a control unit (see fig. 1) that controls the operation of the robot, the press apparatus further including: a measuring unit that acquires position information of a reference position provided on a lower die and position information of a workpiece after a die of the workpiece placed on the lower die for a first step is completed; and a calculation unit (see fig. 1) that calculates a positional deviation distance from the positional information of the reference position acquired by the measurement unit and the positional information of the workpiece, wherein the control unit corrects the conveyance distance of the workpiece by the robot from the first process lower die to the second process lower die based on the positional deviation distance calculated by the calculation unit.

Description

Stamping device and its motion control method

technical field

The invention relates to a stamping device and its action control method, in particular to a stamping device for hot forging stamping and its action control method.

Background technique

In general, in press equipment used for hot forging presses and the like, workpieces are conveyed by robots. In this robot conveyance, when the workpiece is conveyed in the press device, it is conveyed at a predetermined teaching (same position).

Here, in the numerical press device, by inputting the diameter, workpiece material, plate thickness, etc. of the predetermined type of die in advance for the target workpiece processing operation, and learning the predetermined processing operation for the first workpiece, it is possible to The second and later workpieces set the best punching speed and punching tonnage.

In addition, there is Japanese Unexamined Patent Application Publication No. 2001-071050 as related technology in this field. This gazette describes that, by discriminating the material of the workpiece using the color component, it is possible to detect when a workpiece of a material other than the processing conditions set in advance by learning is loaded.

Contents of the invention

As shown in FIG. 9A, FIG. 9B, and FIG. 9C, in the punching device, as the first process, the pressing of the workpiece placed on the lower mold for the first process is carried out, and the workpiece is transported by the robot, and as the second process, the loading is carried out. Press mold of the workpiece placed in the lower mold for the second process. However, there is a problem that, when the positional deviation of the workpiece occurs at the end of the press molding in the first process, the positional deviation is also stored when the robot clamps the workpiece. In other words, when the workpiece that has shifted in position in the lower mold for the first process is transported by the robot to the lower mold for the second process in the next process, the position of the lower mold for the second process may also deviate from that of the lower mold for the first process. The amount of positional deviation generated at the die.

An example is shown in FIG. 9, that is, the original position where each workpiece is placed is the distance A from the reference position, and the positional deviation distance B generated in FIG. 9B as the previous process is also the same in FIG. 9C as the next process. Reserved as position offset distance B.

In this case, the press device cannot process the workpiece in the next process at the target position in the second process. That is, the workpiece is processed in a state where the position is shifted, and there is a risk of poor quality of the workpiece and damage to the mold and equipment.

The present invention provides a press device that suppresses the occurrence of poor quality of workpieces and suppresses damage to dies and equipment.

The press apparatus according to the present invention includes: a die in which an upper die faces a lower die having a lower die for the first process and a lower die for the second process; The workpiece after compression molding is conveyed to the lower mold for the second process; and a control unit controls the operation of the robot. acquiring the position information of the reference position set on the lower die and the position information of the workpiece after the compression molding of the workpiece of the mold is completed; The position information of the workpiece and the position information of the workpiece calculate the position deviation distance, and the control unit corrects the position deviation distance of the workpiece based on the robot from the first process using the following method based on the position deviation distance calculated by the calculation unit. The transport distance from the mold to the lower mold used in the second process.

Accordingly, the position of the workpiece within the mold can be adjusted.

Accordingly, occurrence of poor quality of workpieces can be suppressed, and damage to molds and equipment can be suppressed.

The above and other objects, features and advantages of the present invention will become more fully understood by reading the detailed description given hereinafter with reference to the accompanying drawings, which are given by way of illustration only and therefore are not intended to limit the invention.

Description of drawings

FIG. 1 is a diagram showing an example of the configuration of a press device.

Fig. 2 is a front view of an upper die and a lower die in the press device.

Fig. 3A is a diagram showing a flow of workpiece machining by a press device.

FIG. 3B is a diagram showing a flow of workpiece machining by a press device.

FIG. 3C is a diagram showing a flow of workpiece machining by a press device.

Fig. 4 is an enlarged view of a state where the measurement section is arranged at the top dead center inside the housing section.

Fig. 5 is an enlarged view of a state where the measurement section is arranged at the bottom dead center inside the housing section.

FIG. 6 is a diagram showing an example of an operation flow of the press device.

FIG. 7 is a diagram showing an example of a captured image acquired by a measuring instrument.

Fig. 8 is a diagram showing a state where two measuring parts are provided on an upper mold of a press device.

Fig. 9A is a diagram showing the flow of workpiece processing by the related press device.

Fig. 9B is a diagram showing the flow of workpiece processing by the related press device.

Fig. 9C is a diagram showing the flow of workpiece processing by the related press device.

Detailed ways

Hereinafter, embodiments of the present invention will be described with reference to the drawings. As shown in FIG. 1 , the press device 1 includes a lower die 11 and an upper die 12 as a pair of dies, a measurement unit 13 that acquires position information of the lower die 11 and a workpiece W, and calculates the distance between the lower die 11 and the workpiece W. The calculation unit 14 for position deviation, the robot 15 for transferring the workpiece W placed on the lower die 11 , and the control unit 16 for controlling the operation of the robot 15 .

FIG. 2 shows an example of the arrangement of the lower die 11 , the upper die 12 , and the workpiece W placed on the lower die 11 in a front view. Hereinafter, the press apparatus 1 in which the lower die 11 and the upper die 12 are arranged as shown in FIG. 2 will be described.

It should be noted that the left-right direction in FIG. 2 is described as the X direction, the depth direction is described as the Y direction, and the height direction is described as the Z direction. In addition, similarly, in other drawings, the X direction may be described as the left-right direction, and the Z direction may be described as the up-down direction. Furthermore, in order to facilitate the understanding of the storage unit 32 , the measuring unit 13 , and the demolding mechanism unit 25 described later, FIG. 2 and other figures show a part of the lower mold 11 and the upper mold 12 as cross-sectional views.

In addition, in the following, for easy understanding of the invention, the positional deviation of the workpiece W will be described as occurring only in the X direction.

The lower mold 11 includes a base 21, a first-process lower mold 22 on which the workpiece W is placed in the first process, a second-process lower mold 23 on which the workpiece W is placed on the second process, and a demoulding mechanism section. 25.

As shown in FIG. 3A, FIG. 3B, and FIG. 3C, in the press device 1, the workpiece W is placed on the lower die 22 for the first process to carry out the compression molding of the first process, and the workpiece W is released by the ejection mechanism part 25. mold. Then, in the press machine 1, the workpiece W is transferred from the lower die 22 for the first process to the lower die 23 for the second process by the robot 15, and the workpiece W is placed on the lower die 23 for the second process to perform the second process. die.

3A shows a state where the workpiece W is placed on the lower mold 22 for the first process, and the distance from the end 22b of the lower mold 22 for the first process to the workpiece W1 is A, that is, there is no positional deviation. FIG. 3B shows the state where the distance from the end 22b of the lower mold 22 for the first process to the workpiece W1 is A+B, that is, the state deviates from the distance B. The state of the position of the workpiece W on the lower mold 23 for the second process is corrected including conveyance of the position correction of the workpiece W.

Returning to FIG. 2 , the base 21 is a pedestal formed to have a predetermined length in the X direction, the Y direction, and the Z direction. Typically, it is assumed that the length of the base 21 in the X direction is formed longer than in the Y and Z directions.

The predetermined length of the base 21 in the X direction and the Y direction is at least a length at which the workpiece W can be hot forged while being placed on the lower die 22 for the first process or the lower die 23 for the second process. In addition, the length in Z direction is the length which can install the mold release mechanism part 25 at least.

The lower mold 22 for the first process and the lower mold 23 for the second process are arranged side by side along the X direction on the upper surface of the base 21 .

In the lower die 22 for the first step, the left end is referred to as an end 22a, and the right end closer to the lower die 23 for the second step is referred to as an end 22b. In addition, in the lower die 23 for the second step, the left end close to the lower die 22 for the first step is defined as an end 23a, and the right end is defined as an end 23b.

Specifically, the surface on the end 22 b side of the lower mold 22 for the first process and the surface on the end 23 a side of the lower mold 23 for the second process are arranged to face each other. A gap 24 is formed between the end portion 22b and the end portion 23a. Therefore, a part of the upper surface of the base 21 is exposed in the gap 24 .

In addition, in FIG. 2, as shown by the bold line, the upper surface near the end 22a of the lower die 22 for the first process, the surface on the X direction side of the end 22a, and the upper surface of the base 21 in the gap 24 , and the surface on the X direction side of the end portion 23a of the lower die 23 for the second step is subjected to a process of suppressing reflection of light when photographed by a camera installed in the measurement unit 13 described later.

It should be noted that the treatment for suppressing the reflection of these lights is preferably carried out at the reference position described later and its vicinity. In addition, the treatment for suppressing the reflection of light refers to applying black or blue coating, material change, coating treatment, etc. to various parts of the lower mold 11 , but is not limited thereto.

The mold release mechanism part 25 is provided so that it may penetrate the base 21 and the lower mold 22 for a 1st process in the up-down direction.

The ejector mechanism part 25 has an ejector pin (KO pin) 25 a for ejecting the workpiece W which has been pressed and brought into contact with the lower die 22 for the first process from the lower die 22 for the first process.

For example, the knockout pin 25a has a shape extending in the vertical direction, and moves up and down under control from a control mechanism not shown. Here, as shown in FIG. 3A , when the knockout pin 25a is arranged at the bottom dead center, the upper front end portion of the knockout pin 25a is placed near the upper surface of the lower mold 22 for the first process. When press-molding the workpiece W placed on the lower mold 22 for the first process, the workpiece W is placed above the upper-side front end portion of the knockout pin 25 a. Here, the distance from the end portion 22b of the lower die 22 for the first process to the workpiece W1 is A when the workpiece W is not displaced.

As shown in FIG. 3B , the workpiece W is released from the mold by the lifting operation of the ejector pin 25 a after the molding, and the workpiece W is placed on the upper front end portion of the ejector pin 25 a.

The upper mold 12 is arranged above the lower mold 11 and is a paired mold with the lower mold 11 . As shown in FIG. 3A , FIG. 3B , and FIG. 3C , pressing the workpiece W can be performed by moving the upper die 12 up and down.

4 and 5 are enlarged views of the housing portion 32 and the measurement unit 13 provided in the housing portion 32 . The upper die 12 has a base 31 , a housing 32 provided in the base 31 , and two air passages 33 a , 33 b for sending air into the housing 32 . It should be noted that the measuring unit 13 can move up and down in the housing unit 32, and is accommodated in the housing unit 32 when not performing measurement, and at least a part of it is arranged in the housing unit 32 by being placed in the housing unit 32 when measuring. The opening 32a of the lower surface 31a of the base 31 of the upper mold 12 protrudes downward.

The base portion 31 is formed to have a predetermined length in the X direction, the Y direction, and the Z direction. It should be noted that, as shown in FIG. 2 , the length of the base portion 31 in the X direction is substantially the same as the length of the base 21 of the lower die 11 in the X direction. Likewise, the length of the base portion 31 in the Y direction is substantially the same as the length of the base 21 of the lower die 11 in the Y direction.

Further, the thickness of the base portion 31 in the Z direction has a length capable of forming the housing portion 32, so that when the measuring portion 13 arranged in the housing portion 32 provided on the base portion 31 rises to the top dead center as described later, the measuring portion can be 13 The whole is stored inside.

The housing portion 32 is a space formed elongated in the vertical direction in the base portion 31 . Typically, as shown in FIG. 2 , the receiving portion 32 formed in the upper mold 12 is formed directly above the gap 24 of the lower mold 11 in the X direction.

As shown in FIG. 4 and FIG. 5 , in the accommodating portion 32 , a measuring portion 13 that can be raised and lowered is arranged. In addition, an air passage 33 a and an air passage 33 b for passing air into the accommodation part 32 are connected to the housing part 32 .

The accommodating part 32 is substantially cylindrical shape in which the opening part 32a opened to the lower surface 31a of the base part 31 below the Z direction was formed.

As shown in FIG. 4 , a cover 32 b is provided in the opening 32 a formed below the housing portion 32 . The cover 32 b is a dirt-proof cover, and is closed when the measurement unit 13 is accommodated in the storage unit 32 , so as to prevent dirt from below from adhering to the measurement device 43 .

On the other hand, as shown in FIG. 5 , when the measuring unit 13 is lowered, the cover 32b is pushed downward by the protruding portion 41b of the measuring device fixing jig 41 of the measuring unit 13 described later, and is opened. Thereby, the cover 32b does not hinder the lowering operation of the measurement unit 13 . Typically, the cover 32b may have a structure provided with a rotation shaft provided on a wall portion of the housing portion 32 and opened around the shaft.

As shown in FIGS. 4 and 5 , the air passage 33 a is arranged above the air passage 33 b. The air passage 33 a is a passage for supplying air supplied from an air supply source (not shown) provided outside to the housing portion 32 . As will be described later, a downward force is generated in the measurement unit 13 by the supply of air through the air passage 33 a.

On the other hand, the air passage 33b is arranged below the air passage 33a. The air passage 33 b is a passage for supplying air supplied from an air supply source (not shown) provided outside to the housing portion 32 . As will be described later, an upward force is generated in the measurement unit 13 by the supply of air through the air passage 33b.

The measuring unit 13 has a measuring device fixing jig 41 , a lifting column 42 connected to the upper part of the measuring device fixing jig 41 , and a measuring device 43 attached to the measuring device fixing jig 41 .

The measuring device fixing jig 41 includes a wide diameter portion 41a formed with a wide diameter and a protrusion portion 41b formed to protrude downward from the wide diameter portion 41a with a diameter narrower than the wide diameter portion 41a, and divides the accommodating portion 32 up and down. Here, the diameter of the measuring device fixing jig 41 is the width in the XY direction with the Z direction as the axial direction.

The measuring device 43 is attached to the measuring device fixing jig 41 , and the measuring device 43 is set with a measuring range facing downward. FIG. 4 shows a state where two measuring instruments 43 are attached to the measuring instrument fixing jig 41 .

In addition, the measuring device fixing jig 41 is formed with a threaded hole 41c, and a screw for fixing to the ascending and descending column 42 can be inserted into the threaded hole 41c.

Typically, the threaded hole 41 c is formed elongated in the vertical direction at approximately the central portion in the XY direction in the measuring device fixing jig 41 . A screw is inserted into the threaded hole 41c from below, the head of the screw is caught in the threaded hole 41c, and the threaded portion protrudes upward from the upper surface of the wide-diameter portion 41a.

The column 42 for ascending and descending includes a wide-diameter portion 42a formed with a wide diameter, and a protruding portion 42b formed to protrude downward with a diameter narrower than the wide-diameter portion 42a.

The tip of the protruding portion 42b has a threaded hole 42d into which a screw protruding upward from the wide diameter portion 41a of the measuring instrument fixing jig 41 is inserted and fixed. As a result, the measuring instrument fixing jig 41 and the ascending and descending column 42 are fixed.

Moreover, the notch part 42c is formed in the upper part and outer peripheral part of the wide-diameter part 42a. With the measurement portion 13 arranged at the top dead center in the housing portion 32 , by the air supplied through the air passage 33 a hitting the cutout portion 42 c, a force to lower the measurement portion 13 is generated.

It should be noted that, in the state where the measuring unit 13 is slightly lowered from the top dead center, air is also supplied to the housing unit 32 through the air passage 33a, and the upper surface of the wide-diameter portion 42a of the ascending and descending column 42 is struck by the air. , thereby generating a force to lower the measuring part 13 .

On the other hand, as shown in FIG. 5 , in the state where the measuring unit 13 is lowered to the bottom dead center, below the wide diameter portion 42 a of the ascending and descending column 42 and above the wide diameter portion 41 a of the measuring instrument fixing jig 41 , Air is supplied to the housing portion 32 through the air passage 33b. At this time, the air collides with the lower surface of the wide-diameter portion 42a of the ascending-descending column 42 to generate a force for ascending the measuring portion 13 .

For example, when the air is discharged from the air passage 33 b to the housing part 32 , the measuring part 13 can be easily raised by providing a structure in which the discharge direction of the air is obliquely upward. Similarly, the measurement unit 13 can also be easily lowered by adjusting the discharge direction of the air from the air passage 33a.

In addition, a key (not shown) protruding toward the wall of the accommodating portion 32 is formed on at least one of the wide diameter portion 41 a of the measuring instrument fixing jig 41 or the wide diameter portion 42 a of the ascending and descending cylinder 42 . The key is fitted into a key groove (not shown) formed in the wall portion of the housing portion 32 .

Accordingly, it is possible to suppress the occurrence of positional displacement of the measuring portion 13 in the XY direction and the occurrence of rotation about the Z direction in the housing portion 32 .

Further, a stopper (not shown) is provided on the wall of the receiving portion 32 so that when the measuring portion 13 descends to the bottom dead center as shown in FIG. 5 , the falling of the measuring portion 13 stops.

Thereby, even when the measuring part 13 performs a downward operation, it can stop at a predetermined position.

It should be noted that, similarly, a stopper can also be provided on the wall surface of the housing portion 32 so that when the measuring portion 13 reaches the top dead point when it moves up as shown in FIG. 4 , it stops at the top dead point.

The measuring device 43 is fixed to the measuring device fixing jig 41 , for example, in the vicinity of the base of the portion where the protruding portion 41 b protrudes from the wide diameter portion 41 a of the measuring device fixing jig 41 . It should be noted that the position of the fixed measuring device 43 can be changed arbitrarily.

In addition, the measuring device 43 has a measurement range set downward so that the positional information of the lower die 11 and the workpiece W placed on the lower die 11 can be measured. Typically, the measurement unit 13 is provided with a plurality of measurers 43 , and at least one of the measurers 43 is arranged so as to be able to measure the lower die 22 for the first process and the workpiece W placed on the lower die 22 for the first process. Hereinafter, the measuring device 43 arranged so as to be able to measure the lower die 22 for the first process and the workpiece W placed on the lower die 22 for the first process will be described.

It should be noted that a camera may be used for the measuring device 43, but other measuring methods are also possible as long as the position information can be measured. That is, the measuring device 43 may acquire the positional information of the reference position set on the lower die 11 and the positional information of the workpiece W after the molding of the workpiece W placed on the lower die 22 for the first process is completed. In the following description, a camera is used as the measuring device 43 for description.

The dotted line shown in FIG. 2 shows an example in which the measurer 43 is arranged to measure the measurement range of the lower die 22 for the first process and the workpiece W placed on the lower die 22 for the first process. Typically, this measurement range includes the end portion 22b set as the reference position in the lower die 22 for the first process.

Returning to FIG. 1 , the calculation unit 14 calculates the positional deviation distance based on the position information of the lower die 22 for the first process and the position information of the workpiece W acquired by the measurement unit 13 . Here, the positional information of the lower die 22 for the first process is typically the positional information of the reference position provided on the lower die 22 for the first process, and the positional information of the end portion 22b can be used. Further, as a representative value of the position information of the workpiece W, the position information of the end portion W1 of the workpiece W may be used.

It should be noted that the reference position is not limited to the position provided on the lower die 22 for the first step, and a predetermined position in the gap 24 may be set as the reference position. Hereinafter, the reference position will be described as the end portion 22b.

The robot 15 operates under the control of the control unit 16 to convey the workpiece W. As shown in FIG. Typically, the robot 15 grasps the workpiece W placed on the lower mold 22 for the first process, press-molded, and demolded by the demolding mechanism unit 25 . Then, the robot 15 performs conveyance in accordance with a control signal from the control unit 16 so as to be placed on the lower mold 23 for the second process.

The control unit 16 controls the operation of the robot 15 . More specifically, the control unit 16 sets the correction amount based on the positional deviation distance calculated by the calculation unit 14 . Then, the control unit 16 corrects the conveying distance when the workpiece W is conveyed from the lower die 22 for the first process to the lower die 23 for the second process based on the set correction amount, and makes the robot 15 Carrying the workpiece W is performed.

It should be noted that a computer and a computer program provided with a memory, an arithmetic device, a storage medium, etc. may be used for the calculation unit 14 and the control unit 16 . In addition, the control of the operation of the demoulding mechanism part 25, the vertical movement of the measuring part 13, the operation of the measuring device 43, etc. may be performed by the control part 16, or may be controlled by other control mechanisms not shown. Hereinafter, it is assumed that the control of these operations is performed by other control means not shown.

Hereinafter, a series of operations when the workpiece W is pressed using the press device 1 will be described with reference to FIG. 6 .

The lubricating oil is filled in mist between the lower die 11 and the upper die 12 of the press device 1 as an initial state.

The lowering operation of the upper die 12 is performed to press the workpiece W placed on the lower die 22 for the first process (step S1 ).

At this time, it is in a state where the measuring portion 13 arranged on the upper mold 12 is arranged and housed in the housing portion 32 at the top dead center. In addition, the cover 32b of the accommodating part 32 is in a closed state.

The upper die 12 performs an upward movement. At this time, an air flow is formed by an air supply device (not shown) and a vacuum device (not shown) arranged outside the punching device 1, and the mist between the lower die 11 and the upper die 12 is discharged outside the punching device 1 ( Step S2). At this time, since the lid 32b of the housing portion 32 is closed, dirt is prevented from adhering to the measurement portion 13 .

The mold release mechanism section 25 performs mold release of the workpiece W placed on the first-process lower mold 22 . In addition, the measuring unit 13 descends in the housing portion 32 synchronously with the mold release, and at least a part of the measuring unit 13 protrudes downward from the opening 32a provided on the lower surface 31a of the base 31 of the upper mold 12 . Then, the measuring device 43 provided in the measuring unit 13 measures the position information of the lower die 11 and the workpiece W placed on the lower die 11 (step S3 ).

Here, a more specific example of a method of acquiring positional information from an image captured by a camera used as the measuring device 43 will be described.

When imaging is performed by a camera as the measuring device 43 , the reference position set on the lower die 11 and an image of the workpiece W are formed on the imaging surface of the camera. The image thus acquired is output to the calculation section 14 .

The calculation unit 14 calculates the positional deviation distance of the workpiece W in the lower die 22 for the first process by using the coordinates of the image formed on the imaging plane.

As an example, the calculation unit 14 has information on the three-dimensional position of the camera and information on the optical axis direction of the camera when the upper mold 12 is raised and the measurement unit 13 is lowered to the bottom dead center. In addition, typically, the calculating unit 14 has in advance information for calculating three-dimensional positions required for positional deviations of the lower die 11 and the workpiece W and the like. Therefore, the coordinates in the reference position and the actual three-dimensional position (in the XYZ space) of the workpiece W can be associated with the coordinates of the image corresponding to these positions formed in the captured image in the calculation unit 14 .

Therefore, in the case where the coordinates of the end W1 of the workpiece W deviate from the coordinates of the reference position set on the lower die 22 for the first process as a base point in the photographed image captured by the camera, the calculation unit 14 can estimate And the deviation of the actual three-dimensional position of the workpiece W is calculated.

Here, a more specific example will be described. It should be noted that, assuming that the position of the workpiece W is not displaced at all, the place where the workpiece W is placed on the lower mold 22 for the first process and the place where the workpiece W is placed on the lower mold 23 for the second process are aligned in the X direction. The distance in the Y direction is 1000mm, and the distance in the Y direction is 0mm.

First, assume that the xy coordinates of the end portion 22b of the lower mold 22 for the first process as the reference position on the photographed image captured by the camera are (550, 240), and the end of the workpiece W when no positional deviation occurs. The xy coordinates of the head on the captured image are (320, 240).

Then, as shown in FIG. 7 , assuming that the xy coordinates of the end W1 of the workpiece W on the captured image are (325, 240), a state of being displaced by 5 pixels in the x direction is acquired. The image of the state where this deviation occurs is output to the calculation unit 14 .

The calculation unit 14 detects that the position of the workpiece W deviates by 5 pixels from the image acquired by the camera. Furthermore, the calculation unit 14 can estimate that the deviation of 5 pixels in the x direction of the captured image is along the X direction in the XYZ space which is the real space, using the information of the XYZ coordinates of the camera arrangement in the press device 1 . The right direction of the side deviates from the position by 10mm. Then, the calculation unit 14 outputs information on the estimated position deviation distance of the workpiece W to the control unit 16 .

The control unit 16 sets −10 mm in the left direction as the correction amount based on the information input from the calculation unit 14 that the position of the workpiece W deviates by 10 mm in the right direction.

Here, as described above, in the state where no deviation occurs, the distance in the X direction between the position where the workpiece W is placed on the lower die 22 for the first process and the position where the workpiece W is placed on the lower die 23 for the second process is 1000mm. Therefore, the control unit 16 sets the transport distance when the robot 15 transports the workpiece W to the lower mold 23 for the second process according to the state in which the workpiece W is placed on the lower mold 22 for the first process so as to follow the distance shown in FIG. 2 . Move 1000mm in the right direction.

Therefore, since the correction amount input from the calculation unit 14 is −10 mm, the control unit 16 can reset the transport distance so that the workpiece W can be transported to the right by 990 mm toward the robot 15 .

Thus, for the workpiece W released from the lower mold 22 for the first process after compression molding, the robot 15 can correct the conveying distance by taking into account the position deviation distance on the lower mold 22 for the first process, and then execute the transfer to the second process. Transport of the lower die 23 for the process.

It should be noted that the case where a displacement occurs in the X direction that is the left-right direction has been described, but the case where a positional displacement occurs in the Y direction and the case where a positional displacement occurs in both the X direction and the Y direction can also be performed in the same manner. Modified and moved.

In these cases, the end portion on the Y direction side among the end portions of the workpiece W can be used as the position information of the workpiece W. FIG. Alternatively, an arbitrary place on the workpiece W may be preset as a place to acquire position information.

Then, the measurer 43 moves up together with the measurement unit 13 while lowering the knockout pin 25a of the knockout mechanism unit 25, or in synchronization with the lowering of the knockout pin 25a (step S4). Thereby, the measurement part 13 is accommodated in the accommodating part 32, and the cover 32b becomes a closed state.

Then, lubricating oil is applied between the lower die 11 and the upper die 12 in a mist form to prepare for the next press die (step S5).

In this way, the calculation unit 14 can estimate the positional deviation distance of the workpiece W based on the position information of the lower mold 11 and the position information of the workpiece W acquired by the measurement unit 13, and the control unit 16 can set the conveyance distance corrected based on the estimated positional deviation. distance. Then, the robot 15 can correct the positional deviation of the workpiece W generated in the lower die 22 for the first process, and transfer it to the lower die 23 for the second process.

In other words, the information on the position deviation distance of the workpiece W on the lower die 22 for the first process obtained by the measuring unit 13 can be fed back to the robot 15 to transfer the workpiece W from the lower die 22 for the first process to the lower die 22 for the second process. Carrying distance at 23 o'clock.

Therefore, in the lower die 23 for the second step, press molding is performed in a state where the positional deviation of the workpiece W is corrected, so that occurrence of defective workpiece W can be suppressed, and damage to the die and equipment can be suppressed.

In addition, the measuring portion 13 is exposed below the lower surface 31a of the base portion 31 of the upper die 12 only when measuring the position information of the lower die 11 and the workpiece W, and is accommodated in the housing portion 32 when not performing measurement. And is covered by the cover 32b. Thereby, it is possible to prevent dirt from adhering to the measuring device 43 and to perform stable measurement.

In addition, this invention is not limited to the said embodiment, It can change suitably in the range which does not deviate from the summary. That is, the above description is appropriately omitted or simplified for clarity of description, and those skilled in the art can easily change, add, or convert each element of the embodiment within the scope of the present invention.

For example, in the above description, the measurement unit 13 is disposed in one housing portion 32 of the upper mold 12 , but the present invention is not limited thereto, and the measurement unit 13 may be respectively disposed in two or more housing portions 32 of the upper mold 12 .

FIG. 8 is a diagram showing a state where two measuring parts 13 are installed on the upper die 12 . In this case, with respect to captured images captured by the cameras of the respective measuring instruments 43 of the two measuring units 13 , positional information can be acquired and positional deviation distances can be calculated using parallax.

The press device 1 may include a positional deviation determination unit that determines whether or not the workpiece W is displaced on the lower die 22 for the first process. For example, in the press machine 1 , the positional deviation may be corrected during conveyance by the robot 15 on the condition that the positional deviation is determined to be greater than a predetermined threshold value in the workpiece W by the positional deviation determination means.

In addition, although it is described that the accommodating part 32 provided in the upper die 12 has a cylindrical shape, it is not limited to this shape. In addition, when the accommodating part 32 is made into a shape other than a cylindrical shape, it is preferable that the wide-diameter part 41a of the measuring instrument fixing jig 41 and the wide-diameter part 42a of the ascending-descending cylinder 42 fit into this shape.

Furthermore, it has been described that the vertical movement of the measurement unit 13 is performed using the air passing through the air passages 33a, 33b, but the power of the measurement unit 13 is not limited thereto and can be changed arbitrarily.

It should be noted that the programs used in the calculation unit 14 and the control unit 16 include a command group (or software code), and when the command group (or software code) is read into the computer, it is used to make the computer execute the program described in the embodiment. Describes one or more functions. The program can be stored on a non-transitory computer readable medium or a tangible storage medium. By way of non-limiting example, computer readable or tangible storage media include: random access memory (RAM), read only memory (ROM), flash memory, solid state drive (SSD) or other memory technologies, CD-ROM, digital multifunction Diskette (DVD), Blu-ray(registered trademark) diskette or other optical disk storage, cassette, tape, diskette storage or other magnetic storage device. The program can be transmitted on a transitory computer readable medium or a communication medium. By way of non-limiting example, a transitory computer readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

From the above description of the invention it is obvious that the embodiments of the invention may be modified in many ways. Such modifications should not be regarded as departing from the spirit and scope of the present invention, and all such modifications obvious to those skilled in the art are included within the protection scope of the appended claims.

Claims (6)

1. A stamping device, comprising: a die, wherein the upper die is opposed to a lower die having a lower die for the first process and a lower die for the second process; a robot that transfers the workpiece placed on the lower mold for the first process and press-molded to the lower mold for the second process; and a control unit that controls the actions of the robot, The stamping device also has: a measuring unit that acquires positional information of a reference position set on the lower die and position information of the workpiece after press molding of the workpiece mounted on the lower die for the first process is completed; and a calculation section that calculates a positional deviation distance based on the position information of the reference position acquired by the measurement section and the position information of the workpiece, The control unit corrects a conveyance distance of the workpiece by the robot from the lower mold for the first process to the lower mold for the second process based on the positional deviation distance calculated by the calculation unit. 2. The stamping device according to claim 1, wherein: The press device further includes a housing part formed on the upper die and housing the measuring part, The measuring unit is movable up and down in the housing unit, and is accommodated in the housing unit when not performing measurement, and at least a part of which is provided in the housing unit from the housing unit when performing measurement. The opening of the lower surface of the upper die protrudes downward. 3. The stamping device according to claim 2, wherein: The accommodating portion has an openable and closable cover provided on the opening, The cover is in a closed state when the measurement unit is accommodated in the accommodating portion, and is in an open state when the measurement unit protrudes downward from the opening. 4. The stamping device according to any one of claims 1 to 3, wherein, The position information of the reference position of the lower die is position information of an end of the lower die for the first step, The position information of the workpiece is position information of an end portion of the workpiece. 5. The stamping device according to claim 4, wherein: The measurement unit has a camera for photographing the lower mold, A process of suppressing reflection of light when the camera captures images is performed on the reference position provided on the lower die. 6. An action control method for a stamping device, the stamping device having: a die in which the upper die is opposed to a lower die having a lower die for the first process and a lower die for the second process; and a robot that transfers the workpiece placed on the lower mold for the first process and press-molded to the lower mold for the second process, The measurement unit acquires position information of a reference position set on the lower die and position information of the workpiece after the pressing of the workpiece in the lower die for the first process is completed, the calculation unit calculates a positional deviation distance based on the position information of the reference position acquired by the measurement unit and the position information of the workpiece, A conveyance distance of the workpiece by the robot from the lower mold for the first process to the lower mold for the second process is corrected based on the positional deviation distance calculated by the calculation unit.

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