JP2009106948A - Biaxial synchronous drive controller, and servo press and die cushion device using the same controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve synchronizability of a biaxial drive control. <P>SOLUTION: First and second servo drive control systems 40, 50 are formed so as to make the following operations conductable: feedback signals Xf, Yf are generated by adding/subtracting signals X, Y; front stage deviations E1f, E2f are obtained by subtracting the feedback signals Xf, Yf from command signals S1("2S"), S2("0"); the front stage deviations E1f is synchronously adjustingly inputted into the servo drive control system 50; and the front stage deviations E2f is synchronously adjustingly inputted into the servo drive control system 40. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a device that performs synchronous control with two-axis drive being equivalent and a die cushion device that uses this device in a slide drive control device and a servo press and cushion pad drive control device.

  As a synchronous drive control device, two series of information are synchronized at all times and one series (1) unit is operated, and when an abnormality occurs in one unit in operation, another series (one unit of two series) There is an information synchronous single-unit operation method that switches to) and a two-axis synchronous operation method that always operates two systems (two axes) synchronously.

  As an example of the former, a device having two FMCs (flight management computers) and capable of switching from one (master FMC) to the other (spare FMC) in which an abnormality has occurred while maintaining commonality and synchronization of information (Patent Document 1), two processors that simultaneously execute the same program processing, a comparator that compares and compares these processing results, and a comparator (third processor) that has an intelligent function that is activated when a mismatch is determined A multi-system information processing apparatus (Patent Document 2) including a selector that selects one processing result based on a determination result of a third processor is known.

  As an example of the latter, it is possible to drive by inputting motion information to the master (one slide drive control device) and to follow the drive by inputting the control deviation on the master side to the slave (the other slide drive control device) side. The master / slave system (Patent Document 3) formed in the above, the same motion command is input to both to drive both systems equivalently, and the deviation detection unit detects the position detection amount of one drive shaft (master) and the other drive shaft The deviation value E is calculated by comparing the position detection amounts of (slave). A simple synchronization method (Patent Document 4) is known in which the synchronization correction value output from the position compensation unit is subtracted in one drive control system (master) and subtracted in the other drive control system (slave).

Many industrial machines adopt the latter here. For example, this is the case of a 2-point (biaxial) drive servo press or die cushion device. This is for wiping out the causes of die breakage and press product defects if the slide and cushion pad (plate presser) cannot be kept horizontal during the elevation drive process. The same applies to a process injection molding machine or the like.
JP-A-8-314506 JP 58-212453 A Japanese Patent Laid-Open No. 10-277791 JP 2003-191305 A

  By the way, it can be said that the master-slave method belonging to the latter is based on the assumption that a large deviation occurs because the slave drive control follows the master drive control. Moreover, the master is indifferent (or determined to follow) whether the slave is following or not. When an excessive deviation that is difficult to follow between the two occurs, a means for stopping the drive control is often provided.

  In the case of the above simple synchronization method, since the two are linked from the viewpoint of synchronous drive control, the deviation (absolute amount) between the two is reduced compared to the case of a pure master / slave method. be able to.

  However, even in this method, since it works to minimize the deviation on the assumption that a clear deviation occurs between the two, there is a limit to the synchronism of two axes. In addition, a deviation detector and a position compensator must be added in addition to both drive control systems. Disadvantages also remain in economic and control stability. Furthermore, since it is difficult to further improve the synchronous drive control performance with the conventional simple synchronization method, it is not possible to meet the demand for higher quality product production.

  An object of the present invention is to provide a two-axis synchronous drive control device capable of dramatically improving the synchronism of the two-axis drive control, and a servo press and a cushion device used in this device.

  A two-axis synchronous drive control device according to a first aspect of the present invention provides a first servo drive control system for obtaining a first preceding stage deviation that is a difference between a first command signal and a first feedback signal. A first stage deviation calculating section; a first latter stage deviation calculating section for obtaining a first latter stage deviation which is the sum of the first preceding stage deviation and the second preceding stage deviation; and a first servo having the first latter stage deviation as an input. A first drive control unit that controls the rotation of the motor, a first signal generation unit that generates a first signal corresponding to the rotation amount of the first servo motor, a first signal, and a second signal; And a first feedback signal generation / output unit that generates and outputs a first feedback signal that is the sum of the second feedback signal and the second servo drive control system with the difference between the second command signal and the second feedback signal. A second preceding stage deviation calculating unit for obtaining a certain second preceding stage deviation; A second post-stage deviation calculating unit for obtaining a second post-stage deviation, which is a difference between the deviation and the second pre-stage deviation, and a second drive for rotationally controlling the second servomotor with the second post-stage deviation as an input. A control unit, a second signal generation unit that generates a second signal corresponding to the rotation amount of the second servomotor, and a second feedback signal that is a difference between the first signal and the second signal. The second feedback signal generation / output unit that generates and outputs the second command, and when the command signal is “S”, the first command signal is set to “2S” to be input to the first preceding deviation calculation unit and the second command By inputting the signal as “0” to the second previous stage deviation calculation unit, the first servo motor and the second servo motor are made equivalent and can be controlled synchronously.

  According to a second aspect of the present invention, there is provided a servo press including the two-axis synchronous drive control device according to the first aspect of the present invention, which is formed so as to be able to be driven up and down synchronously while maintaining a slide having two drive parts horizontally.

  The invention of claim 3 is a die cushion device comprising the biaxial synchronous drive control device of claim 1 and formed so as to be able to be driven synchronously while maintaining a cushion pad having two drive parts horizontally.

  According to the invention of claim 1, the synchronism of the two-axis drive control can be dramatically improved.

  According to the second aspect of the present invention, since the slide can be driven up and down while being held horizontally, a high-quality press product can be stably produced while wiping out the cause of the occurrence of die breakage or the like.

  In addition, according to the invention of claim 3, since the cushion pad can be driven synchronously while being held horizontally, the wrinkle pressing force can be kept uniform and constant. Therefore, further stable production of high-quality press products can be promoted.

  Hereinafter, the best mode for carrying out the present invention will be described in detail with reference to the drawings.

(First embodiment)
As shown in FIG. 1, this two-axis synchronous drive control device adds and subtracts the first and second signals X and Y to and from the first servo drive control system 40 and the second servo drive control system 50. The first and second previous stage deviations E1f and E2f can be obtained by subtracting the first and second feedback signals Xf and Yf from the first and second command signals S1 and S2. Further, the first front stage deviation E1f can be integrally input to the servo drive control system 50 and the second front stage deviation E2f can be input to the servo drive control system 40 so that the synchronous adjustment input is possible. In the case of “S”, the first command signal is input as “2S” to the first preceding stage deviation calculating unit 41 and the second command signal is input as “0” to the second preceding stage deviation calculating unit 51. The first servo motor 46 and the second servo It is synchronized driven controllably form with the motor 56 and apposition.

  Specifically, the first servo drive control system 40 for the first axis includes a front-stage deviation calculation unit 41, a first rear-stage deviation calculation unit 43, a first drive control unit (power amplifier) 45, and a first signal generation. The unit 47 and the first feedback signal generation output unit 48 are formed.

  The first preceding stage deviation calculating unit 41 compares the first command signal S1 and the first feedback signal Xf, and calculates the difference (subtracted value), that is, the first preceding stage deviation E1f (= S1-Xf). Ask.

  The first rear stage deviation calculation unit 43 is a first rear stage deviation Xp that is the sum (added value) of the first front stage deviation E1f that has passed through the servo filter 42A and the second front stage deviation E2f that has passed through the servo filter 52B. (= E1r = E1f + E2f) is obtained. That is, synchronization adjustment with the second servo drive control system 50 side is performed.

  The first drive control unit 45 rotationally controls the first servomotor 46 with the first rear stage deviation Xp (E1r) as an input.

  The first signal generator 47 generates a first signal X corresponding to the rotation amount of the first servomotor 46. It is formed from an encoder. Note that the description (20A, 30A) regarding the first servo motor 46 and the description (23A, 33A) regarding the first signal generation unit 47 in FIG. 1 are for convenience of explanation of the second and third embodiments. It was added to.

  The first feedback signal generation / output unit 48 generates and outputs a first feedback signal Xf (= X + Y) that is the sum (added value) of the first signal X and the second signal Y. This is one of the leading synchronization adjustment measures.

  The second servo drive control system 50 for the second axis includes a second front-stage deviation calculator 51, a second rear-stage deviation calculator 53, a second drive controller (power amplifier) 55, and a second signal generation. Part 57 and a second feedback signal generation / output part 58.

  The second previous stage deviation calculation unit 51 compares the second command signal S2 and the second feedback signal Yf, and calculates the difference (subtraction value), that is, the second previous stage deviation E2f (= S2-Yf). Ask.

  The second rear stage deviation calculation unit 53 is a second rear stage deviation Yp that is a difference (subtraction value) between the first front stage deviation E1f that has passed through the servo filter 42B and the second front stage deviation E2f that has passed through the servo filter 52A. (= E2r = E1f−E2f) is obtained. This is different from the case where the first rear stage deviation calculation unit 43 is a sum (addition value). That is, the synchronization adjustment with the first servo drive control system 40 side is performed.

  The second drive control unit 55 performs rotational drive control of the second servomotor 56 with the second rear stage deviation Yp (E2r) as an input.

  The second signal generator 57 generates a second signal Y corresponding to the rotation amount of the second servomotor 56. It is formed from an encoder. Note that the description (20B, 30B) relating to the second servo motor 56 and the description (23B, 33B) relating to the second signal generator 57 in FIG. 1 are for convenience of explanation of the second and third embodiments. It was added to.

  The second feedback signal generation / output unit 58 generates and outputs a second feedback signal Yf (= XY) that is a difference (subtraction value) between the first signal X and the second signal Y. This is different from the case where the first feedback signal generation output unit 48 is a sum (added value). This is one of the leading synchronization adjustment measures.

  In the above configuration, when the command signal is “S”, the first command signal S1 is set to “2 × S = 2S” and is input to the first pre-stage deviation calculation unit 41, and the second command signal S2 is “2 × 0 = 0” is input to the second previous stage deviation calculation unit 51.

  Then, since Xp = (S1−Xf) + (S2−Yf), when this is rearranged, Equation 1 is established.

Xp = (S1-2X + S2) Equation 1
Since Yp = (S1−Xf) − (S2−Yf), Expression 2 is established by rearranging this.
Yp = (S1-2Y-S2) ... Equation 2

Here, it is assumed that the feedback amount of the first servo data 46 increases, and X = 2 and Y = 1. The command values are S1 = 2 and S2 = 0. Substituting each value into Equation 1 and Equation 2,
Xp = 2− (2 × 2) + 0 = −2,
Yp = 2− (2 × 1) −0 = 0.

On the contrary, if the feedback amount of the second servo data 56 is increased and X = 1 and Y = 2, the command values are S1 = 2 and S2 = 0.
Xp = 2− (2 × 1) + 0 = 0
Yp = 2− (2 × 2) −0 = −2.

  That is, it can be understood that the second rear stage deviations Xp and Yp are in a complementary relationship for performing synchronization adjustment with each other.

  In this embodiment, when the command value is S, the setting command unit (not shown) outputs the command value S1 (2S) to the first servo drive control system 40 and the second servo drive control system 50. Command value S2 (S = 0) is output. Then, both servo drive control systems 40 and 50 are integrally driven and controlled while taking mutual feedback amounts (X, Y), deviations (E1f, E2f) and the like as correction terms and performing synchronous adjustment by real-time mutual complementation. The

  Therefore, according to this embodiment, since the first servo motor 46 and the second servo motor 56 are treated as equivalent, the two axes can be synchronously driven and controlled. Can be greatly improved.

(Second Embodiment)
As shown in FIG. 2, the servo press 1 is formed so that it can be press-molded by moving it up and down while maintaining a slide 4 having two drive parts 4A and 4B horizontally.

  In FIG. 2, reference numeral 5 denotes a drawing mold, in which an upper mold 5 </ b> A is attached to a slide 4 guided by a vertically extending guide (not shown), and a lower mold 5 </ b> B is attached to a stationary bed 6. 7 is a material.

  In this embodiment, the slide drive mechanism is a crank mechanism (crankshaft 2A), and the crankshaft 2A and the drive part 4A are connected by a connecting rod 3A. The crank mechanism (crankshaft 2B) and connecting rod 3B on the drive site 4B side have the same structure. Each crankshaft 2A, 2B is rotationally driven by servomotors 20A, 20B. FIG. 2 shows a case through a reduction gear (28A, 28B) including a pinion.

  That is, the first drive part 4A can be driven up and down by the rotational drive control of the first servo motor 20A, and the second drive part 4B can be driven up and down by the rotational drive control of the second servo motor 20B. It is a biaxial drive type.

  The die cushion device 10 applies a wrinkle pressing force to the peripheral portion of the material 7 between the two by pressing the plate presser 11 supported by a plurality of cushion pins 12 penetrating the bed 6 against the lower surface of the upper mold 5A. To do.

  Here, the drive control device of the slide 4 is formed of the same biaxial synchronous drive control device as the biaxial synchronous drive control device (FIG. 1) according to the first embodiment. Therefore, the description of the biaxial synchronous drive control device itself is omitted.

  Referring to FIGS. 1 and 2, the first signal generator is formed of a first encoder 23A connected to the first servomotor 20A and capable of detecting the motor speed, and the second signal generator is The second servo motor 20B is connected to the second servo motor 20B and is formed of a second encoder 23B capable of detecting the motor rotation speed.

  The first and second signal generators are formed from first and second position detectors that are involved in the first and second drive parts 4A and 4B and can detect the vertical position of the parts. May be. For example, the first and second position detectors (linear scales 25A and 25B) that can detect the vertical positions of the first and second drive parts 4A and 4B shown in FIG. To do. Being involved in the first and second drive parts 4A and 4B is not limited to direct involvement but may be indirect involvement. FIG. 2 shows the case of indirect involvement.

  In such an embodiment, a position command signal (value) S at a certain time point based on a slide motion (elapsed time or crank angle-slide position) preset in a slide setting command section (not shown) is, for example, “250 mm”. In some cases, if the first position command signal (value) S1 is set to "500 mm" and input to the first preceding deviation calculation unit 41 and the second command signal (value) S2 is input as "0 mm", the first The second servo drive control systems 40 and 50 perform rotational drive control of the first and second servo motors 20A and 20B with the difference between the two rotation amounts being minimized.

  Thus, according to this embodiment, as in the case of the first embodiment, the two servomotors 20A and 20B can be synchronously driven and controlled while treating the first servomotor 20A and the second servomotor 20B as equivalent. Compared with the master / slave system, the synchronization can be greatly improved. Therefore, since the slide 4 can be driven synchronously while being kept horizontal, it is possible to stably produce a high-quality press product while wiping out the cause of the occurrence of damage to the mold.

  In addition, the slide 4 can be smoothly paused, lowered at a low speed, and reversed up and down smoothly. The adaptability to the press molding mode can be further expanded.

(Third embodiment)
The die cushion device 10 is formed so that cushion pressure can be applied to the plate presser 11 by moving the cushion pad 13 having the two drive parts 13A and 13B shown in FIG.

  In FIG. 3, the servo press 1 can drive the slide 4 up and down via the connecting rod 3 when the crankshaft 2 is rotationally driven by the servomotor 20 (encoder 23). The mold 5 comprises an upper mold 5A on the slide 4 side and a lower mold 5B on the bed 6 side, and a deep-drawn molded product can be produced from the material 7. At this time, a cushion pressure (wrinkle pressing force) is applied from the plate presser 11 to the periphery of the material 7.

  The die cushion device 10 includes a plate presser 11, a plurality of cushion pins 12 penetrating the bed 6, a cushion pad 13 having two drive parts 13A and 13B, and a drive mechanism (ball screws 14A and 14B, a gear box 15A. 15B), and is formed so as to be able to be lifted and lowered while keeping the cushion pad 13 horizontal.

  In other words, the first drive portion 13A can be driven synchronously up and down by the rotation drive control of the first servomotor 30A, and the second drive portion 13B can be driven up and down synchronously by the rotation drive control of the second servomotor 30B. The two-axis drive type.

  Here, the drive control device of the cushion pad 13 is formed of the same biaxial synchronous drive control device as the biaxial synchronous drive control device (FIG. 1) according to the first embodiment. Therefore, the description of the biaxial synchronous drive control device itself is omitted.

  Referring to FIG. 1 and FIG. 3, the first signal generation unit is formed of a first encoder 33A that can detect the motor speed connected to the first servo motor 30A, and the second signal generation unit The second servo motor 30B is connected to the second servo motor 30B and is formed from a second encoder 33B capable of detecting the motor rotation speed.

  In such an embodiment, a position command signal (value) S at a certain time point based on a die cushion motion (elapsed time-plate pressing position) preset in a cushion pad setting command section (not shown) is, for example, “200 mm”. In this case, if the first position command signal (value) S1 is set to "400 mm" and input to the first preceding stage deviation calculation unit 41 and the second command signal (value) S2 is input as "0 mm", the first, The second servo drive control systems 40 and 50 rotate and control the first and second servo motors 30A and 30B with the difference between the two rotation amounts being minimized.

  Thus, according to this embodiment, as in the case of the first embodiment, the two servomotors 30A and 30B can be synchronously driven and controlled while treating the first servomotor 30A and the second servomotor 30B as equivalent. Compared with the master / slave system, the synchronization can be greatly improved. The wrinkle pressing force can be maintained uniformly and constant while holding the cushion pad 13 horizontally. Therefore, further stable production of high-quality press products can be promoted.

  Moreover, since the cushion pressure to the peripheral part of the material 7 can be maintained uniformly and accurately, deep drawing with a large drawing ratio can be reliably performed, and the adaptability to the press forming mode can be further expanded.

(Fourth embodiment)
This embodiment is a servo press 1 having a two-axis synchronous drive type die cushion device 10. That is, the press system is a combination of the servo press 1 shown in the second embodiment (FIG. 2) and the cushion device 10 shown in the third embodiment (FIG. 3). In addition, regarding the servo press 1 and the die cushion apparatus 10, description is abbreviate | omitted as what refers to previous embodiment.

  In this press system, a synchronous drive control means (not shown) is provided so that the slide motion and the die cushion motion can be operated synchronously. In other words, until the slide 4 comes into contact with the plate presser 11, the slide 4 is moved downward at a position and speed associated with each other so as to be able to perform a soft touch. After the touch, the position speed control is switched to the position pressure control. That is, press (deep drawing) processing can be performed while maintaining a certain wrinkle pressing force.

  The command value Sp (Sp1, Sp2) output from the slide setting command unit on the servo press side and the command value Sd (Sd1, Sd2) output from the cushion pad setting command unit on the die cushion side are synchronous drive control means. Are then input to the first and second servo drive control systems 40 and 50, respectively. The synchronous operation described above can be performed.

  In this embodiment, since the first servo motor 20A (30A) and the second servo motor 20B (30B) are treated as being equivalent and the two axes can be synchronously driven and controlled, the master / slave method is adopted. In comparison, the synchronization can be greatly improved.

  In other words, since the slide 4 and the cushion pad 13 can be driven synchronously while maintaining each of them horizontally, it is natural that the cause of the occurrence of damage to the mold can be wiped off, and the cushion pressure on the peripheral portion of the material 7 is more uniformly maintained As a result, it is possible to stably produce a further high-quality press product, and it is possible to further deepen the deep-draw molding and further adaptability to the press molding mode.

  The present invention is highly applicable to all industrial machines (especially servo presses and die cushion devices) that drive two axes synchronously, and can greatly contribute to quality improvement and productivity improvement.

It is a block diagram for demonstrating the 1st Embodiment of this invention. It is a figure for demonstrating the servo press which concerns on the 2nd Embodiment of this invention. It is a figure for demonstrating the dictation apparatus which concerns on the 3rd Embodiment of this invention.

Explanation of symbols

1 Servo Press 4 Slide 5 Die 7 Plate Material 10 Die Cushion Device 11 Plate Presser 13 Cushion Pad 20 Servo Motor 23 Encoder (Signal Generator)
30 Servo motor 33 Encoder (Signal generator)
40 1st servo drive control system 41 1st front stage deviation calculating part 43 1st back stage deviation calculating part 45 1st drive control part 46 1st servo motor 47 1st signal generation part 48 1st feedback signal Generation output unit 50 Second servo drive control system 51 Second pre-stage deviation calculation unit 53 Second post-stage deviation calculation unit 55 Second drive control unit 56 Second servo motor 57 Second signal generation unit 58 Second Feedback signal generation output unit

Claims (3)

The first servo drive control system includes a first front-stage deviation calculation unit that obtains a first front-stage deviation that is a difference between the first command signal and the first feedback signal, a first front-stage deviation, and a second A first rear-stage deviation calculation unit that obtains a first rear-stage deviation that is the sum of the first-stage deviation, a first drive control unit that performs rotational drive control of the first servomotor with the first rear-stage deviation as an input, A first signal generating unit that generates a first signal corresponding to the rotation amount of one servo motor, and a first feedback signal that is the sum of the first signal and the second signal. And a feedback signal generation output unit of
The second servo drive control system includes a second front-stage deviation calculation unit that obtains a second front-stage deviation that is a difference between the second command signal and the second feedback signal, a first front-stage deviation, and a second A second post-stage deviation calculating unit for obtaining a second post-stage deviation, which is a difference from the pre-stage deviation, a second drive control unit for rotationally controlling the second servomotor with the second post-stage deviation as an input, A second signal generation unit that generates a second signal corresponding to the rotation amount of the second servo motor, and a second feedback signal that is a difference between the first signal and the second signal. Formed from the feedback signal generation output section of
When the command signal is “S”, the first command signal is input as “2S” to the first preceding deviation calculation unit, and the second command signal is input as “0” to the second preceding deviation calculation unit. By doing so, the two-axis synchronous drive control device is formed so that the first servo motor and the second servo motor can be equalized and can be controlled synchronously. A servo press that presses and raises and lowers a slide having two drive parts while maintaining a horizontal position,
The slide drive control device is formed from the biaxial synchronous drive control device according to claim 1, and the first drive portion can be driven up and down by the rotational drive control of the first servo motor, and the second drive portion is the first drive portion. It can be driven up and down by the rotation drive control of servo motor No. 2,
A first signal generator that is connected to a first servomotor and that can detect the rotational speed of a motor that can detect the rotational speed of the first encoder or a first drive part and that can detect the vertical position of the part. The second signal generator is formed from a position detector, and the second signal generator is connected to the second servo motor and is involved in the second encoder or the second drive part capable of detecting the motor rotation speed, and the vertical direction of the part. Forming a second position detector capable of detecting the position;
A servo press characterized in that it can be driven to move up and down synchronously while keeping the slide horizontal. A die cushion device capable of moving up and down while maintaining a cushion pad having two drive parts horizontally and applying a cushion pressure for holding the plate,
The drive control device for the cushion pad is formed from the two-axis synchronous control device according to claim 1, and the first drive portion can be driven up and down by the rotational drive control of the first servo motor, and the second drive portion is the first drive portion. It can be driven up and down by the rotation drive control of servo motor No. 2,
The first signal generation unit is formed of a first encoder connected to the first servo motor and capable of detecting the motor rotation number, and the second signal generation unit is connected to the second servo motor. Formed from a second encoder capable of detecting the number;
A die cushion device, characterized in that the cushion pad is formed to be able to be driven up and down synchronously while being kept horizontal.

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