EP1861214B1 - Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques - Google Patents

Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques Download PDF

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Publication number
EP1861214B1
EP1861214B1 EP06722642A EP06722642A EP1861214B1 EP 1861214 B1 EP1861214 B1 EP 1861214B1 EP 06722642 A EP06722642 A EP 06722642A EP 06722642 A EP06722642 A EP 06722642A EP 1861214 B1 EP1861214 B1 EP 1861214B1
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Prior art keywords
control
cushion
force
ram
loop
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Revoked
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EP06722642A
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German (de)
English (en)
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EP1861214A1 (fr
Inventor
Uwe Darr
Rainer Hedler
Steffen Schmidt
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L Schuler GmbH
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Mueller Weingarten AG
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies

Definitions

  • the invention relates to a method for controlling and regulating servo-electric die cushion to forming presses according to the preamble of patent claim 1 and an apparatus for performing the method according to the preamble of claim 8.
  • the JP 10202327 describes such a method and such a device.
  • FIG. 10 is one which discloses cushioning force by servo-drive pulling means in the table of a press, wherein the servo-drive is connected to the cushion plate via a gear and rack.
  • the servo-drive is connected to the cushion plate via a gear and rack.
  • mechanically coupled servo drives act on a common pressure cheek or a servo drive acts independently of others on each a pressure cheek element of a multi-part pressure cheek.
  • the servomotors are controlled by a numerical control with the required for the generation of the pulling force position and torque signals, wherein, if necessary, within a control loop feedback of the actual values of Servomotor or belonging to the drawing device cushion plate can be done.
  • JP 04172200 A a control for the pre-acceleration of hydraulic die cushion is described in which the pre-acceleration is started at a certain press angle and the target position is specified by an arithmetic unit.
  • a further device for a combined pneumatic and hydraulic die cushion is known in which between the phase of the pre-acceleration and the drawing process, a change from position to pressure control by means of a position-dependent switching signal. Apart from the pre-acceleration phase, no further closed-loop phases are disclosed with attitude control. Since the position control loop for the phase of the pre-acceleration is closed only via the feedback of the actual path, the control quality of the adjustment of the speed of the die cushion is limited to the speed of the plunger. Due to the position-dependent switching signal for switching from position to force control process-dependent fluctuations can affect the reproducibility of the pressure build-up at the start of drawing.
  • each separate control devices for the servo-valves assigned to the separate hydraulic actuators are necessary for the phase of pre-acceleration and the drawing process. Furthermore, the control of force setpoint profiles for does not disclose the possibility of varying forces during the drawing process.
  • the individual pressure points on the one hand allow a mutually differentiated force setting during the drawing process and on the other hand to avoid tilting of the pressure cheek due to off-center loading, known from the prior art synchronous coupling of the pressure points with each other is unsuitable ,
  • the movement of the pulling device is synchronized by means of electrical waves on the one hand between the plunger and the pulling device and on the other hand between a plurality of servomotors belonging to the pulling device.
  • the required pulling force can be adjusted by changing the engine torque during the deep-drawing process.
  • the device required for this purpose and the process steps required for the control are not disclosed.
  • the DE 4218818 A1 the task is to substitute in a transfer press the mechanical cams for positively controlled drive of the parts transport device.
  • a regulation of the movement of the parts transport means by means of guide shaft for a complete electronic synchronization with the main movement of the plunger is described, which is the principle of electronic cam control is based.
  • the movement of the press ram is detected as a guide shaft by one or two position sensors and controlled the axes of movement of the parts transport device in dependence on the Leitwellenposition for precalculated motion functions.
  • a similar principle is used in the DE 19642962 A1 for a hydraulic press in which a clock is used as a virtual guide shaft and controls both the plunger movement and the movement axes of the parts transport device in dependence on the virtual guide shaft position.
  • the advantage of this principle is the possibility of position synchronization on the one hand between the press ram and part transport device and on the other hand between the individual axes of movement within the multi-axis part transport device. Since the two last-mentioned applications do not include any force regulation in part-conveying devices, their use for force-controlled drawing cushions is unsuitable.
  • the JP-A-10202327 describes a control for servoelectric die cushion in presses, in their movement when hitting the plunger on the die cushion is a change from position to force control by a control deviation. Since the exceeding of a current threshold value during the impact process is used as a switching criterion, the sudden increase in force occurring as a result of the time-delayed effect and unwanted for a high quality of drawn parts can not be avoided.
  • the invention has for its object to provide a method and apparatus for controlling and regulating servo-electric die cushion on presses, in which by means of a simple structure of the control and regulation and a small number of steps in the control or regulation flow a stable and precise sequence with high control quality and high reproducibility on the one hand in the phase of the force-controlled drawing process and on the other hand in all phases of the position-controlled movement of the pad is made possible.
  • the object is achieved by a method for controlling and regulating servo-electric die cushion with the features of claim 1. Further detailed embodiments of the method are described in claims 2 to 7.
  • the implementation of the method according to claims 1 to 7 is carried out with a device having the features according to claim 8.
  • the claims 9 to 12 contain further advantageous embodiments of the device.
  • the method and the device aim in addition to servo-electric drives as well as servo-hydraulic drives for die cushions in forming presses, the die cushion on the one hand as acting on the lower die die cushion in the table and on the other hand as acting on the upper die die cushion in the plunger application.
  • the die cushions can be designed as single-point or multi-point drawing cushions.
  • the essence of the invention is that the control and regulation of the die cushion, the principle of guage-controlled electronic cam control is combined with the force control so that all movement phases of the die cushion, which run without mechanical contact with the press ram, are controlled by electronic position cam, while the movements made with contact to the press ram via a force control with a path-controlled force setpoint profile.
  • An advantage of this principle is the complete synchronicity of the movement of the die cushion to the plunger movement, which is maintained even with speed changes and emergency stops of the plunger movement, without the need for special control functions are necessary.
  • Essential is the possibility that. Switchover between position control and force control with simple control engineering means. The switching can be done on the one hand via a limit value switch, which evaluates a control deviation, for example, when placing the plunger on the die cushion and activates a switching device to force control.
  • the change of position and force control can be determined only by the course of the position cam relative to the position of the plunger.
  • the pad position is enforced by the movement of the plunger.
  • the excessive output signals from the position and speed controller cause a dynamic force limitation, whereby a switch to force control takes place.
  • the simple structure and mode of operation of the controller result in addition to the effort reduction during commissioning and maintenance improved conditions for a precise and reproducible sequence of the drawing process.
  • FIG. 1 shows the structure of a running as a multi-point cushion servo-electric die cushion 8 in an embodiment with acting on the pressure cheek 2 electric cylinders 21.
  • the electric cylinder 21 are arranged in the interior of the pressure cheek 2 and are based in the press table 20 from.
  • a system spindle / spindle nut 3, 23 are used.
  • the connected to the pressure cheek 2 spindle nut 23 is rotationally fixed, and axially synchronous with the pressure cheek 2 movable.
  • the associated spindle 3 is axially fixed in the press table 20 rotatably mounted.
  • the remote from the spindle nut 23 end of the spindle 3 is connected via a coupling 24 with a servo motor 5 in operative connection.
  • the power is transmitted from the electric cylinders 21 via the pressure cheek 2 and pull pins 25 on the blank holder 22 in the press tool.
  • the die cushion 8 may also be equipped instead of electric cylinders 21 with hydraulic cylinders 3a as a servo-hydraulic die cushion 9. Also advantageous is an embodiment with a combination of hydraulic cylinders 3a and electric cylinders 21, wherein the hydraulic cylinder 3a, the force generation and one or more electric cylinder 21, the movement functions such as pre-acceleration, blocking in a defined position, if necessary retreat, lifting and run-up of the die cushion 8 take over.
  • Fig. 2a shows the basic structure of the device with a schematically illustrated and in Fig. 1 described servo-electric die cushion 8, with which the process is feasible.
  • the servomotors 5 are each equipped with an encoder 6, via which the position and speed detection takes place.
  • the cushion force is detected by a respective force transducer 4 for each pressure point.
  • the force transducers 4 may be, for example, piezoelectric or resistive strain transducers.
  • the cushion force can be detected indirectly via the motor current of the servo motors 5.
  • the NC control device 59 includes for each pressure point of the die cushion 8, an axis control device 58, which takes over the position, speed and force control of the pressure point and generates the power for driving the servomotor 5 or hydraulic cylinder 3a. Both devices are controlled by a Leitwelle, the Leitwelle either by real position encoder on the press ram, press drive or the drive of a parts transport system within the press or by a " virtual "Leitwellensignal example from the control of a servo press can be displayed.
  • the cam disk control device 56 generates reference position values for the axis control devices 58 depending on the control shaft.
  • the principle of the electronic cam is used, with each pad position being assigned a pad position by a control table or a mathematical function.
  • the force setpoint control device 57 generates force setpoint profiles for the force control in the axis control devices 58. Depending on the application or part-specific requirement, this may be a constant value or a position-dependent controlled force profile for the drawing area and, if necessary, additional values for the cushion run-up in the operating mode "without blocking" act.
  • FIG. 2b can be seen how the method, a servo-hydraulic die cushion 9 is controlled.
  • the movable pressure cheek 2 is driven by two hydraulic cylinders 3a.
  • the pressure in the hydraulic cylinders 3a is controlled by servo or proportional valves 5a.
  • the position detection is carried out by linear displacement sensor 6a on the pressure cheek 2 and the force measurement is realized by pressure sensor 4a on the hydraulic cylinders 3a.
  • From the arrangement of the signal interfaces (dotted lines) can be seen how the servo-hydraulic die cushion 9 with the in Fig. 2a represented NC control device 59 can be combined.
  • the possibility of this combination also applies to the in the Figures 5 . 6 and 7 described embodiments of the die cushion control.
  • the operation of the axis control devices 58 and the power amplifier is adapted in this case to the requirements of the hydraulic system.
  • Fig. 3 the proposed method is shown in the form of a sequence of steps.
  • the controller calculates a so-called electronic position cam 12, which includes the desired course of the pad position 13 in dependence on the plunger position 11.
  • the second preparation phase 32 the specification of the desired force curve of the die cushion 8, 9 takes place during the drawing process.
  • the controller calculates a Force setpoint profile that includes the force curve as a function of the plunger and / or cushion position 11, 13.
  • the position cam 12 and the force command value profile are stored in the form of a table, a mathematical function or a combination of both in the controller.
  • the pad position 13 is influenced by a position control, which receives its desired value from the position corresponding to the current plunger position 11 position cam 12. Due to the course of the position cam 12, the die cushion 8, 9 is initially held in its upper position and thensuingvantt shortly before the impingement of the plunger.
  • the second method step 34 when the ram is placed on the die cushion 8, 9, it switches over to force or torque control with a first switchover condition 38.
  • the first switching condition 38 can be achieved by reaching a certain plunger position 11, a defined control deviation or by a defined course of the position cam 12 can be met in conjunction with a force limiting control.
  • the associated embodiments are in Figures 5 and 7 described.
  • the third method step 35 takes place from placing the plunger on the die cushion 8, 9 until the end of the joint movement of plunger and die 8, 9 a force or torque control, the setpoint read from the corresponding to the current pillow or plunger position 13, 11 Force setpoint profile receives.
  • a switch to position control with position cam 12 takes place.
  • the second changeover condition 39 can be effected either by the Reaching a certain plunger or cushion position 11, 13 of a defined control deviation or be met by a certain course of the position cam 12 in conjunction with a force limiting control.
  • the cyclic motion sequence is continued with the first method step 33. Due to the course of the position cam 12 depending on the selected operating mode of the die cushion 8, 9, the movement functions locks or retreat in the lower position, lifting the part, cushion run-up and cushioning 19 executed with subsequent rest in the upper position.
  • FIG. 4a illustrates a typical sequence of movement of the die cushion 8, 9 in the "with blocking" mode in connection with the proposed method.
  • the cushion run-up does not take place immediately after passing the lower reversal point of the plunger, but the movement of the die cushion 8, 9 is first locked and the startup is delayed in time relative to the plunger movement.
  • a first phase 14 the position control takes place with electronic position cam 12, wherein the pad position 13 of the position cam 12 follows and the rest in the upper position and the pre-acceleration of the die cushion 8, 9 controls. This corresponds to the first method step 33 according to FIG Fig. 3 ,
  • the switchover to force regulation takes place in accordance with the second method step 34 Fig. 3
  • the force control takes place with a defined force setpoint profile in accordance with the third method step 35 Fig. 3
  • the position cam 12 may be ineffective.
  • the course of the position cam is effective in this phase only if the switch to force control after the in Fig. 7 illustrated embodiment is realized with force limitation.
  • the course must be the position cam 12 are above the enforced by the plunger position 11 pad position 13.
  • the subsequent third phase 16 includes the movement functions cushion retraction and locking in the lower position, lifting the part, cushion run-up, cushioning and rest in the upper position.
  • the sequence is repeated cyclically with the first phase 14 described above.
  • the said movement functions are contained in the course of the position cam 12 and are performed by the position control in dependence on the serving as a guide shaft tappet position 11.
  • Fig. 4b a typical movement of the die cushion 8, 9 in the mode "without blocking" in connection with the proposed control method is apparent. Shown are analogous to Fig. 4a the plunger position 11, the cushion position 13 and a position cam 12 as a time or crank angle-dependent course.
  • the cushion run-up takes place immediately after the lower reversal point 18, wherein the die cushion 8, 9 follows the ram movement without delay.
  • the force control is continued.
  • the force setpoint profile contains one or more additional values, which are dimensioned such that the die cushion 8, 9 follows the upward movement of the plunger and lifts the formed part.
  • the Figures 5 . 6 and 7 show application examples and advantageous embodiments of the proposed die cushion control with electronic cam and partial switching to force control in the form of block diagrams.
  • the first embodiment after Fig. 5 includes a cam control function 41 for calculating, storing and tracking shaft-dependent read-out of position cam 12, a force command value control function 42 for calculating, storing and position-dependent readout of force command value profiles and an axis controller 58 consisting of the three control loops 43, speed controller 44 and force controller 45 and the switching device for controller setpoint 49 and the power amplifier 46. All three control loops are closed by returning the corresponding actual values.
  • the actual position value is supplied by the encoder 6.
  • the actual speed value is generated by a differentiator 47 from the actual position value and the actual force value is detected by the force transducer 4.
  • the functional sequence is controlled by the guide shaft, which here corresponds to the crank angle of the press, as follows:
  • the press ram moves from its upper reversal point to the impact point 17 on the die cushion 8, 9, position setpoint values are continuously transferred to the position controller 43 by the cam control function 41.
  • the position controller 43 is followed by the speed controller 44, which in turn controls the force controller 45 via the switching device 49.
  • the three cascaded controllers work as a position control, so that via a power amplifier 46 controlled servomotor 5 and the operatively connected pressure cheek 2 of the position cam 12 follows. In this way, the first movement phase of the die cushion 8, 9, consisting of locking in the upper layer and pre-acceleration is controlled.
  • the functional unit for controller switching 55 When placing the plunger on the die cushion 8, 9, the functional unit for controller switching 55 is effective, which consists in this embodiment of limit value switch 48 and switching means for controller setpoint 49.
  • the limit value switch 48 which evaluates a deviation in the impact point 17, switched by means of switching means 49 to force control.
  • position and speed controller 43, 44 are ineffective and the force controller 45 receives its setpoint values from the force setpoint control function 42.
  • FIG. 6 shows a second embodiment of the die cushion control, which uses a linear displacement sensor 7 on the press ram as a guide shaft.
  • a distinction between downward and upward movement is no longer possible directly by the guide wave signal.
  • two cams are used, each with a position cam 50 for the control function down and a position cam 51 for the control function up.
  • Switching is effected by a switching device 53, which is controlled via a switching cam 52 generated by the rotary position sensor 1.
  • the switching can also take place by means of a virtual guide shaft, a device for direction detection or a control signal from the sequence control for the slide movement.
  • the further operation corresponds to the first embodiment according to Fig. 5 ,
  • a device for dynamic force limitation 54 limits the output signal of the speed controller 44 to a dynamically predefinable maximum value, which is generated by the force setpoint control function 42. In this way, the change between position control and force control is determined only by the course of the position cam 12 relative to the plunger position 11.
  • the force limitation is not effective and the system is in position control, so that the die cushion 8, 9 follows the cam. If, on the other hand, the position cam 12 runs above the tappet position 11, the cushion position 13 is forced by the movement of the press tappet. In this case, the output signals of the position and speed controller become so large that the force limitation is effective. Thus, the system is in force control and the force setpoint profile is effective. Compared to the first and second embodiment advantageously no controlled with additional elements controller switching is required.

Claims (12)

  1. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage comprenant un dispositif de commande à CN (59) qui régule les positions, les vitesses et les forces des servomoteurs (5) ou des vérins hydrauliques (3a) réalisés sous la forme d'actionneurs de telle sorte que pendant le mouvement du coulisseau jusqu'au point de rencontre (17) du coulisseau sur les coussins de serre-flanc (8, 9), la position des coussins (13) est influencée par une régulation de position qui obtient sa valeur de consigne d'une came de position (12) relevée conformément à la position actuelle de l'onde de commande, qu'un basculement sur la régulation de la force a lieu au point de rencontre (17) du coulisseau sur les coussins de serre-flanc (8, 9) par une analyse d'un écart de régulation maximum, qu'une régulation de la force est effectuée à partir du point de rencontre (17) du coulisseau sur les coussins de serre-flanc (8, 9) jusqu'au point de retournement inférieur avec une valeur de consigne de la force relevée à partir de la position de l'onde de commande, caractérisé en ce que pendant le mouvement du coulisseau jusqu'au point de rencontre (17) du coulisseau sur les coussins de serre-flanc (8, 9), la position des coussins (13), en plus d'être influencée par la régulation de position, l'est également par une régulation de vitesse qui obtient sa valeur réelle en calculant la différence à partir de la valeur réelle de la position du codeur (6), qu'au point de rencontre (17) du coulisseau sur les coussins de serre-flanc (8, 9), le basculement entre la régulation de la position, de la force ou du couple s'effectue soit en analysant l'écart de régulation maximum du régulateur de position (43) ou de vitesse (44), soit par une limitation dynamique agissant en permanence de la force (54) en combinaison avec la trajectoire de la came de position (12), la trajectoire se trouvant dans la plage entre l'entrée en contact du coulisseau sur les coussins de serre-flanc (8, 9) et la fin du mouvement commun avec le coulisseau au-dessus de la position du coussin (13) forcée par le coulisseau, qu'à partir du point de rencontre (17) du coulisseau sur les coussins des serre-flanc (8, 9) et jusqu'à la fin du mouvement commun avec le coulisseau, suivant le mode de fonctionnement aussi au-delà du point de retournement inférieur, il se produit une régulation de la force ou du couple qui obtient sa valeur de consigne d'un profil de valeur de consigne de la force relevé conformément à la position actuelle des coussins (13), du coulisseau (11) ou de l'onde de commande et que suivant le mode de fonctionnement présélectionné du coussin de serre-flanc (8, 9), il se produit un basculement sur la régulation de la position avec la came de position (12) soit au niveau du point de retournement inférieur (18), soit au début de l'amortissement de fin de course (19) de la remontée des coussins, et le déroulement du mouvement se poursuit de manière cyclique.
  2. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 1, caractérisé en ce qu'avant le début du déroulement du procédé, le déroulement du mouvement du coussin de serre-flanc (8, 9), en plus de la phase de pré-accélération, suivant le mode de fonctionnement sélectionné du coussin de serre-flanc (8, 9), les phases sans blocage et avec blocage ou retrait dans la position inférieure, relevage de la pièce, montée des coussins et amortissement de fin de course (19) avec ensuite enclenchement en position supérieure, est entré, calculé et enregistré sous la forme d'une came de position électronique (12) dans le dispositif de commande à CN (59) en fonction de la position du coulisseau (11) ou de l'onde de commande et la courbe de force souhaitée dans la zone du serre-flanc est entrée, calculée et enregistrée sous la forme d'un profil de valeur de consigne de la force dans le dispositif de commande à CN (59) en fonction de la position des coussins (13), du coulisseau (11) ou de l'onde de commande.
  3. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 2, caractérisé en ce qu'un profil de force dépendant de la position pour la montée du coussin dans le mode de fonctionnement « sans blocage » est entré, calculé et peut être enregistré sous la forme d'un profil de valeur de consigne de la force dans le dispositif de commande à CN (59) en fonction de la position des coussins (13), du coulisseau (11) ou de l'onde de commande.
  4. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 2, caractérisé en ce que pour la phase de la régulation de force, la trajectoire de la came de position (12) au-dessus de la position des coussins (13) forcée par la position du coulisseau (11) est enregistrée dans le dispositif de commande à CN (59).
  5. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 1, caractérisé en ce que le dispositif de commande à cames (56) calcule et enregistre des valeurs de consigne pour la came de position (12) et les relève en fonction d'une onde de commande.
  6. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 1, caractérisé en ce que le dispositif de commande à valeur de consigne de la force (57) calcule et enregistre des valeurs de consigne pour le profil de valeur de consigne de la force (42) et les relève en fonction d'une onde de commande ou d'une position des coussins (13).
  7. Procédé de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 2, caractérisé en ce que la came de position (12) et le profil de valeur de consigne de la force peuvent être enregistrés dans la commande sous la forme d'un tableau, d'une fonction mathématique ou d'une combinaison des deux.
  8. Dispositif de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage comprenant un dispositif de commande à CN (59) qui régule les positions, les vitesses et les forces des servomoteurs (5) ou des vérins hydrauliques (3a) réalisés sous la forme d'actionneurs, un dispositif de commande à cames (56) et un dispositif de commande à valeur de consigne de la force (57) étant en liaison active avec au moins un dispositif de régulation d'axe (58), lequel présente une unité fonctionnelle de basculement du régulateur (55) entre une régulation de la position et une régulation de la force, caractérisé en ce que l'unité fonctionnelle de basculement du régulateur (55) présente soit un commutateur de valeur limite (48) pour analyser l'écart de régulation maximum du régulateur de position (43) ou de vitesse (44), soit un dispositif de limitation dynamique de la force (54).
  9. Dispositif de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 8, caractérisé en ce que l'onde de commande, pour relever la came de position (12), est représentée par un codeur de position réel (1) sur le mécanisme d'entraînement d'un système de transport de pièces.
  10. Dispositif de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 8, caractérisé en ce que l'onde de commande, pour relever la came de position (12), est représentée par un signal d'onde de commande virtuel rotatif.
  11. Dispositif de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 8, caractérisé en ce que l'onde de commande est représentée sur le coulisseau de presse par un capteur de course (7) linéaire réel qui permet de relever deux cames de position (50, 51) indépendantes, pouvant respectivement être commutées en fonction de la phase de mouvement du coulisseau, pour la fonction de commande de descente et de montée.
  12. Dispositif de commande et de régulation de coussins de serre-flanc servo-électriques sur des presses de façonnage selon la revendication 8, caractérisé en ce que l'onde de commande, pour relever la came de position (12), est représentée par un capteur de course (7) linéaire réel sur le coulisseau, son signal de sortie étant divisé par commutation ou conversion en une plage pour le mouvement descendant et une plage pour le mouvement ascendant.
EP06722642A 2005-03-19 2006-03-17 Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques Revoked EP1861214B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005012876A DE102005012876A1 (de) 2005-03-19 2005-03-19 Verfahren und Vorrichtung zur Steuerung und Regelung von servo-elektrischen Ziehkissen
PCT/DE2006/000486 WO2006099845A1 (fr) 2005-03-19 2006-03-17 Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques

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EP1861214A1 EP1861214A1 (fr) 2007-12-05
EP1861214B1 true EP1861214B1 (fr) 2008-12-10

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EP06722642A Revoked EP1861214B1 (fr) 2005-03-19 2006-03-17 Procede et dispositif pour commander et regler des coussins de serre-flan servo-electriques

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JP (1) JP5185809B2 (fr)
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DE102007006422A1 (de) 2007-02-05 2008-08-07 Robert Bosch Gmbh Verfahren zum Betreiben von Maschinen mit anpassbaren Bewegungsprofilen
ATE500463T1 (de) * 2007-07-19 2011-03-15 Siemens Ag Verfahren zum schutz von personen bei ihrer arbeit an einer servopresse sowie servopresse mit personenschutzeinrichtung
JP5407129B2 (ja) * 2007-09-11 2014-02-05 株式会社Ｉｈｉ ダイクッション装置の制御方法及びダイクッション装置
AT510949B1 (de) 2010-12-17 2015-07-15 Trumpf Maschinen Austria Gmbh Steuer- und regelvorrichtung für eine biegepresse
DE102011016669B4 (de) 2011-04-12 2016-03-24 Schuler Pressen Gmbh Verfahren zum Betreiben einer Presse mit Unterantrieb und danach betriebene Presse
JP5725657B2 (ja) * 2011-07-11 2015-05-27 富士機械製造株式会社 生産機械
JP2014067079A (ja) * 2012-09-24 2014-04-17 Fanuc Ltd 圧力制御と位置制御とを切換える機能を有する数値制御装置
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JP5185809B2 (ja) 2013-04-17
WO2006099845A1 (fr) 2006-09-28
ATE416859T1 (de) 2008-12-15
DE502006002334D1 (de) 2009-01-22
EP1861214A1 (fr) 2007-12-05
DE102005012876A1 (de) 2006-09-21
CN101146630B (zh) 2012-10-24
ES2317509T3 (es) 2009-04-16
JP2008532777A (ja) 2008-08-21
CN101146630A (zh) 2008-03-19

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