Workpiece transfer apparatus, control method for workpiece transfer apparatus, and press line
A conveying device and conveying control technology, which is applied in the field of stamping production lines, can solve the problems of fluctuation of control amount, drop of workpieces, increase of device cost, etc., and achieve the effect of suppressing vibration and preventing falling off.
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no. 1 Embodiment approach
[0033] Hereinafter, a first embodiment of the present invention will be described with reference to the drawings.
[0034] figure 1 It is a schematic diagram showing the configuration of a tandem press line having a phase difference control method of the workpiece conveying device according to the first embodiment. In the figure, reference numeral A is an upstream press device, B is a downstream press device, WC is a workpiece conveying device, and P is a workpiece. Moreover, the workpiece|work conveyance apparatus WC is provided with the control part C which has the target value calculation part c1 and the servomotor driver c2, and the workpiece|work conveyance part R. in addition, figure 1 Among them, the feed (feeding) direction of the workpiece P is taken as the X-axis, and the lifting (vertical) direction is taken as the Y-axis.
[0035] Such as figure 1As shown, the upstream side press device A and the downstream side press device B are separated and installed across...
no. 2 Embodiment approach
[0069] Next, a second embodiment of the present invention will be described. In this second embodiment, another method for calculating the target transport position will be described. In addition, since the device configuration of the second embodiment is the same as that of the first embodiment, description thereof will be omitted, and the operation of the object computing unit c1 will be mainly described below.
[0070] Image 6 It is a flowchart of the operation of the target value calculation unit c1 of the second embodiment. First, as in the first embodiment, the target value calculation unit c1 obtains the upstream press angle θu from the upstream press angle detector a5, and also obtains the downstream press angle θd from the downstream press angle detector b6 (step S10).
[0071] Next, the target value computing unit c1 obtains the first coordinates (Xu, Yu)={ Fx(θu), Fy(θu)}, and by substituting the downstream side stamping angle θd+planned phase difference Δθp for ...
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