JP2008307591A - Press machine, driving method of press machine, and industrial machinery - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress the increase in the dimension of a driving motor or the like and to control the speed of loading with high degree of freedom in industrial machinery using a flywheel. <P>SOLUTION: A press machine has a structure of connecting an output shaft of a deceleration gear to a load driving shaft, driving a gear on an input shaft side of the deceleration gear by a first motor, and connecting a differential mechanism to the flywheel. The differential mechanism has a structure of connecting the output shaft of the deceleration gear to its carrier, transmitting the rotary driving power input from a sun gear to the flywheel to be accumulated as energy, and discharging the accumulated energy to a sun gear side and a carrier side. The press machine further has a structure of driving the sun gear of the differential mechanism by a second motor, accelerating the flywheel by the second motor according to the position of a rotary angle of the load driving shaft to accumulate energy, thereafter driving the load driving shaft by discharging the accumulated energy while compensating insufficient torque of the first motor. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an industrial machine such as a press machine, and more particularly to a configuration for transmitting flywheel energy to a driving load unit.

A press machine is an example of an industrial machine that requires a large driving torque in a short time. Conventionally, in press machines, it has been studied to control the speed of a slide for performing press processing so that pressing can be performed freely.
FIG. 7 shows an outline of the press machine in the case of the crank press system. In FIG. 7, a main gear 3 is engaged with a gear 2 connected to the shaft of the drive mechanism 1, and a crank mechanism (a crankshaft 4 and a connecting rod 5) is connected to the main gear 3. The crank mechanism allows the slide 6 to move up and down with respect to the stationary bolster 7. The gear 2 and the main gear 3 constitute a reduction gear 12. By freely changing the rotational speed of the shaft of the drive mechanism 1 or changing the speed to normal or reverse, the speed of the crankshaft 4 changes accordingly, and the lifting speed and direction of the slide 6 are freely changed. Thereby, the free movement of a slide is attained.

In addition, as a technique described in the patent document, for example, JP-A-6-190598 (Patent Document 1), JP-A-11-33797 (Patent Document 2), JP-A-2004-344946 ( There exists what was described in patent document 3).
Japanese Patent Laid-Open Nos. 6-190598 and 11-33797 describe the technique shown in FIG. FIG. 8 shows a schematic configuration example of a press machine centering on the drive mechanism 1. In FIG. 8, the slide 6 is driven by receiving the rotational force of the flywheel 11 via the differential device 14 and the reduction gear 12. When the rotational speed of the motor G15 is changed, the speed ratio between the rotational speed of the flywheel 11 and the rotational speed of the input portion of the reduction gear 12 can be changed by the action of the differential device 14. The differential device 14, the flywheel 11, and the motor G15 constitute a drive mechanism corresponding to the drive mechanism 1 of FIG. In this configuration, energy is consumed by the press operation, and the speed of the flywheel 11 is reduced. The speed reduction is compensated by the motor F13. That is, by controlling the rotational speed of the motor G15, the rotational speed of the flywheel 11 is controlled, and the operation speed of the slide 6 is controlled.

  Japanese Patent Application Laid-Open No. 2004-344946 describes a press machine that performs slide driving only with a motor driving force, as shown in FIG. In FIG. 9, the slide 6 is directly driven by the motor S <b> 16 via the reduction gear 12. The motor S16 corresponds to the drive mechanism 1 in FIG. It is assumed that the slide 6 can freely move by the control of the motor S16.

JP-A-6-190598 JP 11-33797 A JP 2004-344946 A

  In the technique described in Japanese Patent Laid-Open No. Hei 6-190598 (Patent Document 1) and Japanese Patent Laid-Open No. 11-33797 (Patent Document 2) shown in FIG. 8, the slide speed is controlled by the motor G15. The speed control range is limited by the control range of the motor G. In addition, in the technique described in Japanese Patent Application Laid-Open No. 2004-344946 (Patent Document 3) shown in FIG. 9, the speed of the slide can be freely controlled, but a large torque is required for the motor S16, and this is controlled. Requires a large capacity control device such as a power amplifier. As a result, it is expected to lead to an increase in size of the motor S16 and the control device, an increase in installation space, and an increase in cost.

The problem of the present invention is that, in view of the state of the prior art described above, as an industrial machine such as a press machine, the increase in the capacity and size of a drive motor and its control device is suppressed, and the speed of a drive load such as a slide is high. It is to be able to control with.
An object of the present invention is to solve such problems and provide a small and high-performance industrial machine.

In order to solve the above-mentioned problems, in the present invention, as an industrial machine such as a press machine that rotates a load drive shaft using the accumulated energy of flywheel, an output shaft of a reduction gear is connected to the load drive shaft, A gear on the input shaft side of the reduction gear is driven by a first motor, a differential mechanism is connected to the flywheel, the carrier is engaged with the planetary gear, and the speed reduction gear is connected to the carrier. A configuration in which a gear output shaft is connected, and rotational power input from the sun gear is transmitted to the flywheel and stored as energy, and the stored energy is supplied to the sun gear side and the carrier side via the planetary gear. Further, the sun gear of the differential mechanism is driven by a second motor, and the driving state of the first and second motors is determined based on the rotation angle information of the load drive shaft. A structure for controlling the motor control and drive circuit Te. Thus, according to the rotational angle position of the load drive shaft, the rotation of the second motor is accelerated to accumulate energy in the flywheel, and the accumulated energy is stored on the second motor side and the load drive shaft. And the load drive shaft is driven by the torque of the sum of the torque by the first motor and the torque by the accumulated energy of the flywheel, and the energy is regenerated from the second motor. .
In addition, a gear on the input shaft side of the reduction gear whose output shaft is coupled to the load drive shaft is provided on the rotating body that couples the first and second differential mechanisms, and the first and second differences are provided. Each planetary gear of the moving mechanism is connected to the flywheel, and each sun gear is driven by a separate motor.

  ADVANTAGE OF THE INVENTION According to this invention, industrial machines, such as a small and highly efficient press machine and an injection molding machine, can be provided.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 3 are explanatory views of a first embodiment of the present invention. FIG. 1 is a block diagram of a press machine as a first embodiment of the present invention, FIG. 2 is a block diagram of a power amplifier in the press machine of FIG. 1, and FIG. 3 is an illustration of a controller 205 in the power amplifier of FIG. FIG.

In FIG. 1, the press machine includes one differential mechanism 24, two motors, that is, a motor S22 as a first motor, and a motor G21 as a second motor. The motor S22 drives the slide 6 via the reduction gear 12. In the reduction gear 12, the main shaft 3 on the output shaft side is meshed with the gear 2 on the input shaft side connected to the output shaft of the motor S22, and the crankshaft 4 is connected to the output shaft. The slide 6 can be moved up and down with respect to the stationary bolster 7 by a crank mechanism including the crankshaft 4 and the connecting rod 5. The output shaft of the reduction gear 12, which is the rotation shaft of the main gear 3, is connected to the differential mechanism 24, and the energy of the flywheel 23 is used for the press operation. The differential mechanism 24 includes a sun gear 25, a planetary gear 26, a ring gear 27, and a carrier 28. The sun gear 25 has a motor G21, the ring gear 27 has a flywheel 23, and the carrier 28 has a crankshaft 4 respectively. It is connected. Further, a commercial power supply 19, a motor G21, a motor S22, and a power storage device 29 are electrically connected to the power amplifier 20 as a motor control / drive circuit. Motor G21 by a power amplifier 20, by the motor S22 is driven, the speed omega _F operation and flywheel 23 of the slide 6 are simultaneously controlled. It is assumed that a capacitor is used for the power storage device 29.

FIG. 2 is a configuration diagram of the power amplifier 20 in the press machine of FIG.
In FIG. 2, the electric power from the commercial power source 19 is converted into DC power by the converter 203 and input to the inverter G201 and the inverter S202. Inverter G201 drives motor G21, and inverter S202 drives motor S22. A controller 205 as a control circuit performs a calculation for controlling the inverter G201 and the inverter S202, and outputs a control signal to the inverter G201 and the inverter S202. In addition, a power storage device 29 capable of storing large energy is connected to the DC line that is the output of converter 203 as a power storage device.

FIG. 3 is an explanatory diagram of the configuration of the control system in the controller 205.
3, the slide control command generator 101 receives the rotational angle .theta.c of the crank shaft 4, by the rotation angle .theta.c, obtains a speed command omega _FR velocity command omega _CR and flywheel 23 of the crank shaft 4. Position and speed of the slide 6 are set freely depending on the purpose and conditions of press operation, the speed command omega _CR of the crank shaft 4 is set accordingly. In the following, for example, the following example will be described, but the driving method is not limited to this example. In short, it means that any one or more of a section in which the slide 6 accelerates, a section in which the slide 6 operates at a high speed, and a section in which the slide 6 decelerates and a press section are freely selected and the press operation proceeds. Speed command omega _CR of the crank shaft 4, when the press operation to rotate the crank shaft 4 is at a low speed, to rotate at a high speed and in the other cases the press operation is set in accordance with the rotational angle θc of the crank shaft 4. The speed command ω _FR of the flywheel 23 is used for the purpose of supplying a part of energy consumed during the press operation from the flywheel 23. For this reason, the speed command ω _FR of the flywheel 23 is set to rotate the flywheel 23 at a high speed during a period when the motor torque is not required except during the press operation and the acceleration of the crankshaft 4. Further, when performing the pressing operation, it is necessary to determine the rotation direction of the flywheel 23 so that torque is applied to the crankshaft 4 while the flywheel 23 decelerates.

The motor S speed control unit 102 receives the speed command ω _CR of the crankshaft 4, feeds back the speed and position information of the motor S 22, performs control calculation, and converts the motor S torque command τ _SR into the motor S torque control unit 103. Output to. The motor S torque control unit 103 controls the inverter S202 so that the motor S torque command τ _SR is obtained, thereby controlling the speed ω _{S of the} motor S22, that is, the speed ω _C of the crankshaft 4. Thereby, the speed of the slide 6 determined by the rotation angle θc of the crankshaft 4 is controlled. Instead of controlling the speed ω _S of the motor S22, the current of the motor S22 may be controlled.

When the pressing operation is performed, the required torque may be insufficient with only the torque τ _{S of the} motor S22. Therefore, the insufficient torque is output as the required torque τ _{R from} the motor speed control unit 102 to the flywheel speed control unit 104.

In flywheel speed control unit 104, but the motor G torque command tau _GR in favor of the required torque tau _R, when there is no demand torque tau _R is in the flywheel speed control unit 104, the flywheel speed command ω _The following control is performed to _{achieve FR} .

That is, information on the speed ω _G of the motor G21 and information on the speed ω _S of the motor S22 are input, and the speed ω _F of the flywheel 23 is set.
ω _F = (k _G ω _G -k _S ω _S ) / k _F (Equation 1)
Calculate according to _{Here, k G,} k _F is the gear ratio of the differential mechanism 24, _{k S} is the gear ratio of the reduction gear 12. In addition, Formula 1 is calculated | required as follows.

That is, in the differential mechanism 24, the speed omega _C of the crankshaft 4 the following equation holds.
ω _C = k _G ω _G -k _F ω _F (Expression 2)
Further, the relationship between the speed ω _{S of the} motor S22 and the speed ω _C of the crankshaft 4 is expressed by the following equation.
ω _C = k _S ω _S (Equation 3)
Therefore, when Equations 2 and 3 are used, the speed ω _F of the flywheel 23 is expressed by Equation 1.

Then, it calculates the difference between the speed omega _F flywheel 23 and the calculated flywheel speed command omega _FR, by performing feedback control on the basis of this, to calculate the motor G torque command tau _GR. As the motor G torque command tau _GR, or has been mentioned earlier that the priority required torque tau _R, or using a motor G torque command tau _GR obtained in the feedback control, using the required torque tau _R is The rotation angle θ _C of the crankshaft 4 may be determined. The motor G torque command τ _GR obtained in this way is output to the motor G torque control unit 105. The motor G torque control unit 105 performs a torque control calculation of the motor G21 and outputs a signal based on the calculation to the inverter G201 to control the inverter G201.

Next, the operation of the press machine of FIG. 1 will be described. The operation of the press machine is roughly classified into an acceleration section, a high speed section, a deceleration section, and a press section according to the rotation angle θc of the slide 6.
The acceleration section is a section in which the slide 6 starts to rise from the bottom dead center. In the acceleration section, the speed ω _C of the crankshaft 4 is accelerated. For this reason, the motor S22 mainly applies acceleration torque to the crankshaft 4.

The high speed section is a section where the slide is near the top dead center. In the high speed section, the crankshaft 4 rotates at a high speed. In the high speed section, no acceleration torque is required, so the torque of the crankshaft 4 is small. It controls the speed of the crankshaft by the motor S22, in order to store energy in the flywheel 23, and controls the motor G21, to accelerate the rate omega _F flywheel 23. The above also in the acceleration section, when the power capacity of the commercial power source 19 has an allowance, while accelerating the motor S22, may be controlled to gradually accelerate the rate omega _F flywheel 23.
The deceleration zone is a zone in which the crankshaft 4 exceeds the top dead center and approaches the bottom dead center. In the deceleration zone, energy is further accumulated in the flywheel 23 while mainly performing regeneration by the motor S22.

The press section is a section where the slide 6 is further near the bottom dead center and the press operation is performed at a low speed. For this reason, the crankshaft 4 needs a large torque, and drives the motor S22 and decelerates the motor G21. When the motor G21 is decelerated, energy is supplied from the flywheel 23 to the motor G21 and the energy of the flywheel 23 is also supplied to the carrier 28 according to the principle of the differential mechanism 24 described later. Therefore, the torque τ _{S of the} motor S22 and the torque generated in the carrier 28 can be added to the crankshaft 4 to generate a large torque.
In the press machine of FIG. 1, since the press operation is performed as described above, the rated outputs of the two motors can be reduced as compared with the conventional press machine.

The operation principle of the press machine of FIG. 1 will be described below.
If the torques of the motor G21, motor S22, flywheel 23, carrier 28, and crankshaft 4 are τ _G , τ _S , τ _F , τ _CA , and τ _C , respectively, and the differential mechanism 24 has no loss,
τ _CA = τ _G / k _G = τ _F / k _F (Expression 4)
τ _C = τ _CA + τ _S / k _S (Expression 5)
It becomes.

The power P _G input from the motor G21 to the differential mechanism 24, the power P _F output from the differential mechanism 24 to the flywheel 23, and the power P _CA output from the carrier 28 to the crankshaft 4 are respectively P _G = Τ _G ω _G , P _F = τ _F ω _F , P _CA = τ _CA ω _C.
P _CA = P _G -P _F (Expression 6)
It becomes.

When starting the pressing section, allowed to high speed velocity omega _F flywheel 23 in the negative direction. The speed ω _C of the crankshaft 4 is decelerated and assumes a small positive value. Therefore, according to Equation 2, ω _G of the motor G21 is a negative value. In this state, when the torque tau _G of the motor G21 and a positive value, from a few _4, τ _CA, τ _F Both a positive value, the power P _F, P _G is a negative value. Further, the power P _CA is a positive value. As is apparent from Equation 5, the fact that τ _CA is a positive value means that the torque τ _C of the crankshaft 4 is made larger than the torque τ _C / ks produced by the motor S22, and the slide 6 This will increase the pressing force. In addition, the negative values of the powers P _F and P _G mean that power is output from the flywheel 23 to the differential mechanism 24 and power flows from the differential mechanism 24 to the motor G21. Yes. Further, since the power _PCA is a positive value, it means that power is output from the carrier 28 to the crankshaft 4. That is, a part of the energy of the flywheel 23 is regenerated by the motor G21 to become electric energy, and the crankshaft 4 is driven by the motor S22 via the reduction gear 12 and the crankshaft 4 is directly moved via the carrier 28. Will drive.

  Therefore, the energy stored in the flywheel 23 from the acceleration section to the deceleration section can be used for the press operation in the press section, and therefore the power capacity of the commercial power source 19 determined by the required instantaneous power can be reduced. Can do. In particular, when the capacity of the power storage device 29 is increased, the power from the commercial power source can be leveled, and the maximum power of the required commercial power source can be reduced. Therefore, a press machine suitable for a small factory is provided. be able to. The force for driving the slide 6 is determined by the driving torque of the motor S22 and the amount of change in the energy of the flywheel 23 controlled by the motor G21, that is, the input / output power of the flywheel 23. Less power is required. For this reason, the rated capacity of the two motors and the power amplifier 20 can be reduced. Further, by cooperatively controlling the two motors, the capacity of the power storage device 29 that stores electrical energy can be reduced, and the size of the power storage device 29 can be reduced in combination with the motor and the power amplifier 20. Further, since the required energy amount varies depending on the content of the press work, the energy stored in the flywheel 23 or the power storage device 29 may reach a rated value or a predetermined amount in the middle from the acceleration zone to the deceleration zone. At this time, the energy storage operation is not performed until the subsequent press section, and it is possible to perform control so that only the slide operation is performed while the stored energy is stored.

According to the first embodiment, the slide 6 is driven with high performance and high function by using the power from the commercial power source and the energy accumulated in the flywheel 23 by cooperatively controlling a plurality of motors. As a result, a compact and high-performance press machine can be realized.
In the embodiment of FIG. 1, the differential mechanism 24 is connected to the rotating shaft of the main gear 3 of the reduction gear 12, but may be connected to the rotating shaft of the gear 2.

  FIG. 4 is an explanatory view of a press machine according to a second embodiment of the present invention. The press machine of the second embodiment is different from the first embodiment in the configuration of the differential mechanism. That is, in the press machine of the first embodiment shown in FIG. 1, the differential mechanism 24 is composed of a sun gear, a planetary gear, a ring gear, and a carrier, but the second embodiment of FIG. In the press machine, the differential mechanism 32 includes sun gears 33 and 36, planetary gears 34 and 37, and a carrier 35. That is, the differential mechanism 32 has no ring gear. In the differential mechanism 32, the planetary gears 34 and 37 are integrally determined by the common carrier 35 and the two sun gears 33 and 36. The configuration in which the motor G21 as the second motor is connected to the sun gear 33 is the same as that in the first embodiment shown in FIG. 1 except that the flywheel 31 is connected to the sun gear 36. This is different from the embodiment. The motor S22 as the first motor, the power amplifier 20 as the motor control / drive circuit, the power storage device 29, and the like are the same as those in the first embodiment. In FIG. 4, the relationship among the speeds of the crankshaft 4, the motor G21, and the flywheel 31 connected to the differential mechanism 32 is expressed by Equation 2 as in the first embodiment, and the operating principle is the first. This is the same as the first embodiment. The control method and energy flow of the press machine are the same as those in the first embodiment.

  In general, in a differential mechanism, a sun gear has a smaller diameter, a smaller number of teeth, and a higher rotation speed than a ring gear. Therefore, as shown in FIG. 4, when the flywheel 31 is connected to the sun gear 36 instead of the ring gear, the rotational speed of the flywheel 31 is increased, and as a result, the same amount of energy is accumulated. In that case, the flywheel 31 can be reduced in size. Since the gear ratio of the differential mechanism 32 can be set arbitrarily, the sizes of the differential mechanism 32, the flywheel 31, and the motor G21 can be reduced. In FIG. 4, the gear ratio between the sun gear 33 and the planetary gear 34 and the gear ratio between the sun gear 36 and the planetary gear 37 are different, but they may be the same.

  According to the second embodiment, by controlling a plurality of motors in a coordinated manner, the slide can be driven with high performance and high function using the power from the commercial power source and the energy accumulated in the flywheel. As a result, a compact and high-performance press machine can be realized.

  FIG. 5 is an explanatory diagram of a press machine according to a third embodiment of the present invention. In the press machine of the third embodiment, two differential mechanisms including a sun gear, a planetary gear, and a ring gear are used.

  Hereinafter, the connection between the motor A39 as the first motor, the motor B40 as the second motor, the flywheel 41 and the differential mechanism will be described. One differential mechanism as the first differential mechanism is composed of a sun gear 43, a planetary gear 44, and a ring gear 45 connected to the motor A39, and the other differential mechanism as the second differential mechanism is , A sun gear 46, a planetary gear 47, and a ring gear 48 connected to the motor B40. Each of the ring gears 45 and 48 is structured to rotate integrally with the rotating body 42. As the ring gears 45 and 48 rotate, the slide 6 moves up and down via the reduction gear 12. The flywheel 41 is also a carrier for the planetary gears 44 and 47. That is, the function of the flywheel 41 not only stores energy but also functions as a carrier of the differential mechanism.

When the speeds of the motor A39, the motor B40, the flywheel 41, and the rotating body 42 are respectively ω _A , ω _B , ω _F , and ω _R ,
ω _F = k _A ω _A -k _{R 1} ω _R (Expression 7)
ω _F = k _B ω _B -k _{R 2} ω _R (Equation 8)
ω _C = k _R ω _R (Equation 9)
It becomes.
Here, k _A , k _B , k _R1 , and k _R2 are constants determined by the gear ratio of the differential mechanism, and k _R is a constant determined by the gear ratio of the reduction gear 12.

As for the torque, a torque tau _A to the sun gear 43 from the motor A39, torque tau _B to the sun gear 46 from the motor B40, torque tau _F1 from the planetary gear 44 to the flywheel 41, the flywheel from the planetary gears 47 41 The relationship among the torque τ _F2 , the torque k _R1 that drives the ring gear 45, the torque k _R2 that drives the ring gear 48, and the torque τ _C of the crankshaft is as follows.
τ _F1 = τ _A / k _A = τ _R1 / k _R1 (Expression 10)
τ _F2 = τ _B / k _B = τ _R2 / k _R2 (Equation 11)
τ _C = (τ _R1 + τ _R2 ) / k _R (Equation 12)
As is apparent from these equations, the speeds of the motor A39 and the motor B40 are controlled based on the rotation angle information of the crankshaft 4 corresponding to the position of the slide 6 by a control circuit (not shown). The shaft speed ω _C and the flywheel speed ω _F can be controlled independently. Further, similarly to the first embodiment shown in FIG. 1 and the second embodiment shown in FIG. 4, the energy stored in the flywheel 41 is output to the slide 6 in the press section in the acceleration section, the high speed section, and the deceleration section. Thus, the workpiece can be processed. That is, according to the position of the slide 6, in the acceleration section, the high speed section, and the deceleration section, the rotation of the motor A39 and the motor B40 is accelerated, the flywheel 41 is accelerated, energy is accumulated in the flywheel 41, and the press section The motor A39 and the motor B40 are decelerated, the stored energy of the flywheel 41 is released to the motor A39 and the motor B40 side and the crankshaft 4 side, and the crankshaft 4 is released to the motor A39 and the motor A40. Driven by the sum of the torque by B40 and the torque by the accumulated energy of the flywheel 41.

  In the third embodiment, since the two motors are connected to the sun gears of different differential mechanisms, each motor can be reduced in size and speed. Further, by optimizing the gear ratio of the two differential mechanisms, the motor and power amplifier can be further miniaturized.

  Also according to the third embodiment, by controlling a plurality of motors in a coordinated manner, the slide can be driven with high performance and high function using the power from the commercial power source and the energy accumulated in the flywheel. As a result, a compact and high-performance press machine can be realized.

  FIG. 6 is an explanatory diagram of the fourth embodiment of the present invention. The fourth embodiment is an example in the case of an injection molding machine as an industrial machine that rotates a load drive shaft using the accumulated energy of a flywheel.

  In FIG. 6, the configurations of the two motors 21 and 22, the reduction gear 12, the differential mechanism 24, the flywheel 23, the power amplifier 20, and the power storage device 29 are the same as those in the first embodiment of FIG. . In such a configuration, the flywheel 23 is accelerated by accelerating the rotation of the motor G21 as the second motor in accordance with the rotational angle position of the load drive shaft, that is, the input rotation shaft 53 of the injection molding unit 50. Accumulate energy. Further, the motor G21 is decelerated, the stored energy of the flywheel 23 is released to the motor G21 side and the input rotary shaft 53 side of the injection molding part 50, and the input rotary shaft 53 is used as the first motor. Is driven by the sum of the torque generated by the motor S22 and the torque generated by the accumulated energy of the flywheel 23, and energy is regenerated from the motor G21 and stored in the power storage device 29. In the injection molding unit 50, when the filled resin material 51 is injected into the mold 52 and molded into a desired shape in a short time, a large torque is required for the input rotary shaft 53 of the injection molding unit 50. For this reason, during the period in which the motor G21 and the motor S22 are controlled and the resin material 51 is injection-molded into the mold 52, the input rotary shaft 53 is set to the sum of the torque by the motor S22 and the torque by the accumulated energy of the flywheel 23. It is driven with a large torque, and during the other periods, the input rotary shaft 53 is rotated at a high speed so that the tact time is shortened. Thereby, an injection molding machine can be comprised using a small motor with a small capacity.

  According to the fourth embodiment, the load unit can be driven by using the power from the commercial power supply and the energy accumulated in the flywheel by controlling a plurality of small capacity motors in cooperation. As a result, a small and high performance injection molding machine can be provided.

  In the said Example, although the example in the case of a press machine or an injection molding machine was demonstrated, this invention is not limited to these, It can apply to the industrial machine which requires large torque other than these. In the above-described embodiment, the case where the planetary gear mechanism is used as the differential mechanism has been described. However, other types of differential mechanisms may be used. In addition to the capacitor, an electric double layer capacitor, a rechargeable battery, or the like may be used as the power storage device. Furthermore, although the case where two motors are used has been described in the above embodiment, the present invention is not limited to this.

It is a block diagram of the press machine as a 1st Example of this invention. It is a block diagram of the power amplifier in the press machine of FIG. It is explanatory drawing of the controller in the power amplifier of FIG. It is a block diagram of the press machine as a 2nd Example of this invention. It is a block diagram of the press machine as a 3rd Example of this invention. It is a block diagram of the injection molding machine as a 4th Example of this invention. It is explanatory drawing of the prior art of this invention. It is explanatory drawing of the prior art of this invention. It is explanatory drawing of the prior art of this invention.

Explanation of symbols

1 ... Drive mechanism,
2 ... Gear,
3 ... Main gear,
4 ... crankshaft,
5 ... Connecting rod,
6 ... slide,
7 ... Bolster,
11, 23, 31, 41 ... Flywheel 12 ... Reduction gear,
13, 15, 16, 21, 22, 39, 40 ... motor,
14, 24, 32 ... differential mechanism,
19 ... Commercial power supply,
20 ... Power amplifier,
25, 33, 36, 43, 46 ... Sungear,
26, 34, 37, 44, 47 ... Planetary gear,
27, 45, 48 ... Ring gear,
28, 35 ... Career,
29 ... Power storage device,
42 ... Rotating body,
50 ... injection molding part,
51. Resin material,
52 ... Mold,
53. Input rotation axis,
101 ... Slide control command generation unit,
102 ... Motor S speed control unit,
103 ... Motor S torque control unit,
104 ... flywheel speed control unit,
105: Motor G torque control unit,
201, 202 ... inverter,
203 ... converter
205: Controller.

Claims (14)

  In a press machine that is driven by first and second motors and includes a slide that moves up and down, a flywheel that accumulates energy, and a differential mechanism that includes first, second, and third rotating bodies, and A press comprising: a first motor and the slide connected to the first rotating body; the second motor connected to the second rotating body; and the flywheel connected to the third rotating body. machine.   In a press machine having slides that are driven by first and second motors to move up and down, the first and second motors drive the slides via first and second differential mechanisms, respectively. The press machine is characterized in that the first and second differential mechanisms are connected to a flywheel for storing energy.   In a press machine that is driven by a plurality of motors and includes a slide that moves up and down, controls at least one of the motors, a differential connected to the slide and a flywheel that stores energy, and input / output energy of the motors. A press machine comprising a control device.   In a press machine that is driven by a plurality of motors and includes a slide that moves up and down, stores at least one of the motors, a differential that is connected to the slide and a flywheel that stores energy, and stores input / output energy of the motors. A press machine comprising a power storage device.   A plurality of motors, a flywheel that accumulates energy, a differential mechanism in which the flywheel and the plurality of motors are connected to different rotating bodies, and a slide that moves up and down as one of the rotating bodies rotates A press machine comprising: a press machine, wherein at least one of the plurality of motors generates electric power and at least the other one is driven to perform a press operation. A press machine that performs a press operation by rotating a crankshaft using a stored energy of a flywheel to raise and lower a slide,
A reduction gear having an output shaft connected to the crankshaft;
A first motor that drives a gear on the input shaft side of the reduction gear;
Connected to the flywheel, a carrier is engaged with the planetary gear, the output shaft of the reduction gear is connected to the carrier, the rotational power input from the sun gear is transmitted to the flywheel and accumulated as energy, and the A differential mechanism for supplying the energy stored in the flywheel to the sun gear and the carrier via the planetary gear;
A second motor for driving the sun gear of the differential mechanism;
A motor control / drive circuit for controlling the driving state of the first and second motors based on the rotation angle information of the crankshaft corresponding to the position of the slide;
A first section for accelerating rotation of the second motor to accelerate the flywheel and storing energy in the flywheel according to a position of the slide; and decelerating the second motor. The accumulated energy of the flywheel is released to the second motor side and the crankshaft side, and the crankshaft is summed by the torque of the first motor and the torque of the flywheel accumulated energy. And a second section for regenerating energy from the second motor.   The differential mechanism has a sun gear on the inner periphery, a ring gear on the outer periphery, and a planetary gear between the sun gear and the ring gear. The flywheel is connected to the ring gear and input from the sun gear. The rotational power transmitted to the flywheel is stored as energy, and the energy stored in the flywheel is supplied to the sun gear side and the carrier side via the ring gear and the planetary gear. Item 7. The press machine according to Item 6.   7. The press machine according to claim 6, wherein the motor control / drive circuit includes a first inverter that drives the first motor and a second inverter that drives the second motor.   The press according to claim 6, wherein a power storage device is connected to the input lines of the first and second inverters, and energy regenerated from the second motor in the second section is stored in the power storage device. machine. A press machine that performs a press operation by rotating a crankshaft using a stored energy of a flywheel to raise and lower a slide,
A reduction gear having an output shaft connected to the crankshaft;
A rotating body provided with a gear on the input shaft side of the reduction gear;
A first differential mechanism connected to the rotating body by a first ring gear and connected to the flywheel by a first planetary gear;
A second differential mechanism connected to the rotating body by a second ring gear and connected to the flywheel by a second planetary gear;
A first motor for driving the first sun gear of the first differential mechanism;
A second motor for driving the second sun gear of the second differential mechanism;
A control circuit for controlling the rotation speeds of the first and second motors based on the rotation angle information of the crankshaft corresponding to the position of the slide;
A section for accelerating rotation of the first motor or the second motor to accelerate the flywheel and storing energy in the flywheel according to the position of the slide, and the first motor Alternatively, the second motor is decelerated, the stored energy of the flywheel is released to the first motor or the second motor side and the crankshaft side, and the crankshaft is moved to the first motor. Alternatively, the press machine is characterized in that a section driven by a torque that is the sum of the torque by the second motor and the torque by the accumulated energy of the flywheel is formed.   The first differential mechanism includes a first sun gear on the inner periphery, a first ring gear on the outer periphery, and a first planetary gear between the first sun gear and the first ring gear. The second differential mechanism includes a second sun gear on the inner periphery, a second ring gear on the outer periphery, and a second planetary gear between the second sun gear and the second ring gear. The press machine according to claim 10, wherein An industrial machine that rotates the load drive shaft using the energy stored in the flywheel,
A reduction gear having an output shaft connected to the load drive shaft;
A first motor that drives a gear on the input shaft side of the reduction gear;
Connected to the flywheel, a carrier is engaged with the planetary gear, the output shaft of the reduction gear is connected to the carrier, the rotational power input from the sun gear is transmitted to the flywheel and accumulated as energy, and the A differential mechanism for supplying the energy stored in the flywheel to the sun gear side and the carrier side via the planetary gear;
A second motor for driving the sun gear of the differential mechanism;
A motor control / drive circuit for controlling the drive state of the first and second motors based on the rotation angle information of the load drive shaft;
A section for accelerating the rotation of the second motor to accelerate the flywheel and storing energy in the flywheel according to the rotational angle position of the load drive shaft, and decelerating the second motor The stored energy of the flywheel is released to the second motor side and the load drive shaft side, and the load drive shaft is caused to generate torque by the first motor and torque by the stored energy of the flywheel. An industrial machine that is driven by a sum of torque and a section for regenerating energy from the second motor.   The industrial machine according to claim 12, wherein the load drive shaft is an input rotation shaft of an injection molding machine. A driving method of a press machine that performs a pressing operation by rotating a crankshaft by using stored energy of a flywheel to raise and lower a slide,
The press machine includes a reduction gear having an output shaft connected to the crankshaft, a first motor for driving a gear on the input shaft side of the reduction gear, and a carrier engaged with the planetary gear connected to the flywheel. The output shaft of the reduction gear is connected to the carrier, the rotational power input from the sun gear is transmitted to the flywheel and stored as energy, and the energy stored in the flywheel is transmitted through the planetary gear. A differential mechanism for supplying to the sun gear and the carrier, a second motor for driving the sun gear of the differential mechanism, and the first and second based on rotation angle information of a crankshaft corresponding to the position of the slide. A motor control / drive circuit for controlling the drive state of the motor of
In the motor control / drive circuit, based on the rotation angle information of the crankshaft, obtaining a speed command for the crankshaft and a speed command for the flywheel;
Calculating and outputting a torque command of the first motor based on the position or speed command of the crankshaft in the motor control / drive circuit;
In the motor control / drive circuit, controlling the speed of the first motor so as to be the calculated torque command;
Outputting the insufficient torque of the first motor as a required torque when performing a pressing operation in the motor control / drive circuit;
In the motor control / drive circuit, a step of calculating a torque command of the second motor based on a difference between the speed command of the flywheel and the speed of the flywheel;
In the motor control / drive circuit, a step of controlling the torque of the second motor by a torque command of the second motor;
And storing energy in the flywheel by rotation of the second motor in accordance with the rotation angle of the crankshaft, and then releasing a part of the stored energy to the crankshaft side. A driving method of a press machine, wherein a deficient torque of a motor is compensated with accumulated energy of the flywheel and the crankshaft is driven.

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