# US 2018/0117869 A1 · Method for Optimizing Movement Profiles, Method for Providing Movement Profiles, Control Device, System and Computer Program Product > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0117869 A1 - Document ID: US20180117869A1 - Status: Published application - Kind: A1 - Application number: 15/791,971 - Filed: 2017-10-24 - Published: 2018-05-03 - Earliest claimed: 2016-10-25 - Assignees: Siemens Aktiengesellschaft - Applicants: Siemens Aktiengesellschaft - Inventors: Stephan Hoja; Oleg SCHLEGEL; Fabian LORZ - Web page: https://patentgrep.com/patent/US20180117869A1 ## CPC - B30B 15/146: {for synchronising a line of presses} - B21D 43/05: specially adapted for multi-stage presses {(B21D43/145 takes precedence)} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B30B 15/148: {Electrical control arrangements} - B30B 15/26: Program-control arrangements - G05B 13/047: {the criterion being a time optimal performance criterion} - G05B 19/41815: {characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell} - G05B 2219/32291: Task sequence optimization - G05B 2219/32294: Maximize throughput of cell - G05B 2219/39105: Manipulator cooperates with moving machine, like press brake - G05B 2219/45142: Press-line - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - B30B: PRESSES IN GENERAL (producing ultra-high pressure or ultra-high pressure and high temperature to effect modifications of a substance, e.g. for making artificial diamonds B01J3/00 ){(compressing means for refuse receptacles B65F1/1405)} - B21D: WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL (working or processing of wire B21F) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A control device, a system and methods for optimizing and providing movement profiles, wherein the movement profiles serve for determining the movement of tools of a press and the movement of a receiving element for a workpiece of a transfer system, where transfer movement profiles are synchronized with one another via press movement profiles, the synchronization of the transfer movement profiles particularly occurs by chronologically shifting synchronization points via boundary conditions such that an offset of the press movement profiles can be determined via the synchronization, so that the workpiece can be processed as quickly as possible through the system. ## Claims ### Claim 1 A method for optimizing movement profiles in a system including at least one press with a tool and a plurality of transfer systems, a movement of a respective tool being respectively described by a press movement profile, and movement of a respective transfer system being respectively described by a transfer movement profile, the optimizing of the movement profiles comprising: presetting a respective transfer movement profile; presetting synchronization points via a respective transfer movement profile, a first synchronization point defining an entry of a first transfer system into the at least one press, a second synchronization point defining an exit of the first transfer system from the at least one press, a third synchronization point defining an entry of the second transfer system into the at least one press and a fourth synchronization point defining an exit of the second transfer system from the at least one press; assigning respective instants of time to the synchronization points; defining a first time range between the first synchronization point and the second synchronization point; defining a second time range between the third synchronization point and the fourth synchronization point; shortening the first and second time ranges successively to minimum times whilst maintaining boundary conditions; and creating respective press movement profiles via the minimum times. ### Claim 2 (depends on 1) The method as claimed in claim 1, further comprising: synchronizing the respective press movement profiles with respect to one another via an offset. ### Claim 3 (depends on 2) The method as claimed in claim 2, wherein the offset is set such that a minimum possible throughput time of a workpiece through the system is achieved. ### Claim 4 (depends on 1) The method as claimed in claim 1, further comprising: presetting of an offset between respective transfer movement profiles; and adapting the respective transfer movement profiles to the offset. ### Claim 5 (depends on 4) The method as claimed in claim 4, wherein the offset is adapted such that the system has a power input that remains as constant as possible. ### Claim 6 (depends on 4) The method as claimed in claim 4, wherein a speed of the transfer movement profile is changed at least one of (i) between the respective first synchronization points and third synchronization points and (ii) between the respective second synchronization point and fourth synchronization points. ### Claim 7 (depends on 5) The method as claimed in claim 5, wherein a speed of the transfer movement profile is changed at least one of (i) between the respective first synchronization points and third synchronization points and (ii) between the respective second synchronization point and fourth synchronization points. ### Claim 8 (depends on 1) The method as claimed in claim 1, wherein respective transfer movement profiles are adapted in their path curve to at least one of (i) a geometry and (ii) dimensions of a respective press. ### Claim 9 (depends on 1) The method as claimed in claim 1, wherein the boundary conditions for a respective transfer movement profile take into consideration at least one of (i) a geometry of the at least one press, (ii) a respective workpiece and (iii) the press movement profile. ### Claim 10 (depends on 9) The method as claimed in claim 9, wherein the geometry of the at least one press comprises a geometry of a respective tool of the at least one press. ### Claim 11 (depends on 1) The method as claimed in claim 1, wherein the boundary conditions for the respective press movement profile take into consideration at least one of (i) processing of the workpiece and (ii) a safety distance from a respectively moved tool to at least one of the workpiece and the respective transfer system. ### Claim 12 (depends on 1) The method as claimed in claim 1, wherein a speed of at least one of (i) the respective transfer movement profile and (ii) the respective press movement profile is changed between individual steps of the method. ### Claim 13 (depends on 12) The method as claimed in claim 12, wherein at least one of (i) the respective transfer movement profile and (ii) the respective press movement profile is equipped with at least one of a waiting time and a change to a path curve. ### Claim 14 (depends on 1) The method as claimed in claim 1, wherein the respective press movement profile is configured as a cam function. ### Claim 15 (depends on 14) The method as claimed in claim 14, wherein the speed of the press movement profile is configured as a cam function. ### Claim 16 (depends on 1) The method of claim 1, wherein at least one of (i) at least one transfer movement profile and (ii) at least one press movement profile is provided for the system. ### Claim 17 A non-transitory computer program product for installation encoded with a computer program which, when executed on a processing unit, causes and optimization of movement profiles in a system including at least one press with a tool and a plurality of transfer systems, the computer program comprising: program code for presetting a respective transfer movement profile; program code for presetting synchronization points via a respective transfer movement profile, a first synchronization point defining an entry of a first transfer system into at least one press, a second synchronization point defining an exit of the first transfer system from the at least one press, a third synchronization point defining an entry of the second transfer system into the at least one press and a fourth synchronization point defining an exit of the second transfer system from the at least one press; program code for assigning respective instants of time to the synchronization points; program code for defining a first time range between the first synchronization point and the second synchronization point; program code for defining a second time range between the third synchronization point and the fourth synchronization point; program code for shortening the first and second time ranges successively to minimum times whilst maintaining boundary conditions; and program code for creating respective press movement profiles via the minimum times. ### Claim 18 A control device for a system the control device controlling presses; wherein the control occurs via movement profiles which have been provided via a method comprising: presetting a respective transfer movement profile; presetting synchronization points via a respective transfer movement profile, a first synchronization point defining an entry of a first transfer system into at least one press, a second synchronization point defining an exit of the first transfer system from the at least one press, a third synchronization point defining an entry of the second transfer system into the at least one press and a fourth synchronization point defining an exit of the second transfer system from the at least one press; assigning respective instants of time to the synchronization points; defining a first time range between the first synchronization point and the second synchronization point; defining a second time range (between the third synchronization point and the fourth synchronization point; shortening the first and second time ranges successively to minimum times whilst maintaining boundary conditions; and program code for creating respective press movement profiles via the minimum times. ### Claim 19 A system comprising: at least one press; at least two transfer systems; and a control device which controls presses; wherein the control occurs via movement profiles which have been provided via a method comprising: presetting a respective transfer movement profile; presetting synchronization points via a respective transfer movement profile, a first synchronization point defining an entry of a first transfer system into at least one press, a second synchronization point defining an exit of the first transfer system from the at least one press, a third synchronization point defining an entry of the second transfer system into the at least one press and a fourth synchronization point defining an exit of the second transfer system from the at least one press; assigning respective instants of time to the synchronization points; defining a first time range between the first synchronization point and the second synchronization point; defining a second time range between the third synchronization point and the fourth synchronization point; shortening the first and second time ranges successively to minimum times whilst maintaining boundary conditions; and creating respective press movement profiles via the minimum times.