JP2013220475A - Slide motion control apparatus for mechanical press - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily change a slide motion in a mechanical press, and to considerably improve the variable speed responsiveness of a slide.SOLUTION: A slide is provided in a vertically movable manner with respect to a driven body to be driven by a connecting rod of a mechanical press, and a driving mechanism is provided, which relatively moves the slide to the driven body. The torque command of a servo motor 3 is generated on the basis of the relative position command signal to be commanded from a slide relative position commander 51 to vibrate the slide, and the relative position detection signal of the slide which is detected by a slide relative position detector 58 with a fore end of the connecting rod being as a reference. By controlling the servo motor 3 for operating the driving mechanism, the position of the slide is controllable (the slide motion is changed, which is different from the slide motion by the connecting rod).

Description

  The present invention relates to a slide motion control device for a mechanical press, and more particularly to a technique for controlling a slide of a mechanical press driven by a crank or a link mechanism with respect to a leading end of a connecting rod.

  Conventionally, as this type of mechanical press, there are those described in Patent Documents 1 and 2.

  In the press machine described in Patent Document 1, a hydraulic cylinder mechanism is disposed between the tip of a connecting member (connecting rod) that connects the crankshaft and the slide, and the main shaft of the mechanical press is 180 degrees from the top dead center position. At the rotated position, the servo motor for rotating the spindle is stopped and pressure oil is supplied to the hydraulic cylinder mechanism to further push down the slide.

  That is, the invention described in Patent Document 1 is a hybrid type (hybrid type) that performs pressing by a mechanical mechanism such as a crank mechanism driven by a servo motor and pressing by a hydraulic cylinder mechanism near the bottom dead center of a slide. In particular, press working with a mechanical mechanism from the top dead center position to a position rotated 180 ° from the top dead center position, and then stopping the servo motor for rotating the crankshaft The slide is operated by a hydraulic cylinder mechanism built in between the tip of the connecting rod and the slide, and so-called “decision pushing” or “cylinder thrusting” processing is performed. This enables deep drawing of the workpiece, and by slowly pressing the workpiece with a hydraulic cylinder mechanism, the workpiece is prevented from cracking and spring back is generated. I try to prevent it.

  The pressurizing device described in Patent Document 2 moves the first slider to a preset position by the first driving means (first screw mechanism or crank mechanism), and is relative to the first slider. By moving the second slider to a predetermined position (fixed point position) by the second driving means (second screw mechanism) that moves between the second slider and the substrate. Is pressurized.

  The invention described in Patent Document 2 uses two drive means, a first drive means for driving the first slider and a second drive means for driving the second slider, and the first drive means is the first drive means. The one slider can be moved to a preset position (near the fixed point machining position) in a short time (in the case of a screw mechanism, one having a large pitch), and the second slider is used as the second driving means. Can be accurately positioned at a fixed point position (in the case of a screw mechanism, the pitch is small) to improve the positioning accuracy at the fixed point machining position and to obtain a large applied pressure. .

JP 2011-194466 A JP 2001-062597 A

  The control device of the press machine described in Patent Document 1 stops the servo motor at a position where the main shaft of a crank mechanism driven by the servo motor is rotated 180 ° from the top dead center position, and the hydraulic cylinder is stopped during the stop. Although pressure oil is supplied to the apparatus and control is performed to move the slide to the position where it is most depressed, the position of the slide is not continuously controlled during press working.

  Similarly, the pressure device described in Patent Document 2 includes a position detection device (linear scale) that detects the position of the second slider, and the first slider is based on the position signal detected by the position detection device. The second slider fixed in a predetermined positional relationship moves the first slider from the initial position H0 until reaching a preset position H1, and then the second drive means moves the second slider to the second position. The slider is moved from the position H1 to a predetermined position H (fixed position). However, since the position detection device detects only the position of the second slider, the first and second driving means perform the first and second driving means. The position of the second slider cannot be controlled by moving the two sliders simultaneously.

  Patent Document 1 describes a press machine (servo press) that drives a crank mechanism with a servo motor. In general, the servo press can set the position and speed of the slide arbitrarily, but the slide mass and the inertia of the rotating shaft and crankshaft of the servo motor are large, so the variable speed response of the slide is low. There is. In the invention described in Patent Document 1, the rotation of the main shaft (servo motor) is stopped at a position where the main shaft of the mechanical press is rotated by 180 ° from the top dead center position. When the position is reached, the first drive means is stopped. However, it is impossible to realize such stop control with high accuracy and high speed response.

  The present invention has been made in view of such circumstances, and in a crank or link drive type mechanical press, a slide motion change (slide vibration) can be realized easily, compactly, and inexpensively. It is an object of the present invention to provide a slide motion control device for a mechanical press that can remarkably improve the variable speed responsiveness of a slide relative to a servo press that drives a crankshaft by a servomotor.

  In order to achieve the above object, a slide motion control device for a mechanical press according to an aspect of the present invention can move up and down relatively with respect to a driven body to which a driving force is transmitted via a connecting rod of the mechanical press. Relative position command means for outputting a relative position command indicating a relative position command indicating a relative position of the slide to the driven body and the slide, and outputting a relative position command signal for vibrating the slide Means, a relative position detecting means for detecting a relative position of the slide with respect to the driven body, and outputting a relative position detection signal indicating the detected relative position, a servo motor, and a driving force of the servo motor A drive mechanism for moving the slide relative to the driven body, a relative position command signal output from the relative position command means, and the relative position Out on the basis of the relative position detection signal output from the means is characterized by comprising a control means for controlling the servo motor.

  According to one aspect of the present invention, based on a relative position command signal that vibrates the slide that is output from the relative position command means and a relative position detection signal that is output from the relative position detection means, Since the servo motor is controlled and the slide is moved (vibrated) relative to the driven body by the driving force of the servo motor, the driving force is transmitted through the connecting rod of the mechanical press and driven. Independent of the driving body, the relative position of the slide with respect to the driven body can be controlled. Further, by causing the slide to vibrate, it is possible to prevent the oil film from being cut off on the surface of the material and to improve the surface after processing.

  In the case of a mechanical press (servo press) that drives the current mainstream crankshaft with a servo motor, the slide motion can be changed, but its variable speed response is low, while the crankshaft is driven with a flywheel. Although a general mechanical press cannot change the slide motion, in one aspect of the present invention, the relative position of the slide with respect to the driven body is controlled independently of the driven body. The slide position can be controlled from the body position and the relative position of the slide. In particular, even when the variable speed response of the position control of the driven body is low or cannot be variably controlled, the slide arranged so as to be movable up and down relative to the driven body is not attached to the driven body. Compared to the control of the position of the driven body, the relative position of the slide (slide motion) is superior because the mass is small and the inertia of the rotary drive mechanism that drives the driven body is not affected. .

  In a slide motion control device for a mechanical press according to another aspect of the present invention, the drive mechanism is driven by a cylinder-piston mechanism provided in the slide and the servo motor, and the hydraulic pressure of the cylinder-piston mechanism is It is characterized by comprising a hydraulic pump / motor for supplying pressurized fluid to the chamber.

  In a slide motion control device for a mechanical press according to still another aspect of the present invention, the mechanical press is characterized in that the driven body is continuously moved through the connecting rod for at least a press working period. That is, control such as stopping the driven body during the press working period is not performed, and the driven body operates in the same manner as a slide of a normal mechanical press.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position command means includes a relative position command signal corresponding to a movement position of the driven body for a predetermined period during the movement of the driven body. Is output. Thus, the relative position of the slide is controlled with respect to the driven body that is moving, and the position of the slide is controlled by the position of the driven body and the relative position of the slide with respect to the driven body.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position command means detects target speed command means for outputting a target speed command signal for the slide, and detects the speed of the driven body. Calculated by the speed detector, a subtractor for calculating a difference between the target speed command signal commanded by the target speed command means and the speed signal of the driven body detected by the speed detector, and the subtractor An integrator for integrating the difference, and an integrated signal integrated by the integrator is output as the relative position command signal. Thereby, the relative position command signal can be easily generated from the target speed command signal of the slide.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position command means detects target position command means for outputting a target position command signal for the slide, and detects the position of the driven body. A position detection means; and a subtractor for calculating a difference between the target position command signal commanded by the target position command means and the position signal of the driven body detected by the position detection means, and the subtractor The calculated difference signal is output as the relative position command signal. Accordingly, the relative position command signal can be easily generated from the target position command signal of the slide and the detected position signal of the driven body.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position command means includes a first target position command means for outputting a first target position command signal of the slide, and the driven From the second target position command means for outputting the second target position command signal of the body, the first target position command signal output from the first target position command means, and the second target position command means A subtractor for calculating a difference from the output second target position command signal, and outputting the difference signal calculated by the subtracter as the relative position command signal. The relative position command signal can be easily generated from the first target position command signal of the slide and the second target position command signal of the driven body.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position detecting means includes a slide position detecting means for detecting the position of the slide, and a driven body for detecting the position of the driven body. A position detection means, and a subtractor for calculating a difference between a slide position detection signal output from the slide position detection means and a driven body position detection signal output from the driven body position detection means, The differential signal calculated by the subtractor is output as the relative position detection signal. Thereby, the relative position can be detected without providing a position detecting means for directly detecting the relative position of the slide with respect to the driven body.

  The slide motion control device for a mechanical press according to still another aspect of the present invention further includes angular velocity detection means for detecting an angular velocity of the servo motor, and the control means includes the relative position command signal, the relative position detection signal, and the like. The servo motor is controlled based on a second operation amount corresponding to a deviation between the first operation amount corresponding to the deviation and the angular velocity signal detected by the angular velocity detecting means. This ensures dynamic stability (returns the delayed phase).

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the drive mechanism includes a screw mechanism including a screw portion and a nut portion provided between the driven body and the slide; And a power transmission means for transmitting the driving force of the servo motor to the screw portion or the nut portion.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the drive mechanism includes a rack and pinion mechanism provided between the driven body and the slide, and the rack and And a power transmission means for transmitting the driving force of the servo motor to the pinion of the pinion mechanism.

  A slide motion control device for a mechanical press according to still another aspect of the present invention includes a slide disposed so as to be vertically movable with respect to a driven body to which a driving force is transmitted via a connecting rod of the mechanical press, Relative position command means for outputting a relative position command indicating a relative position of the slide with respect to the driving body, the relative position command means for outputting a relative position command signal for vibrating the slide, and the relative position command means with respect to the driven body A plurality of relative position detection means for detecting a relative position of each of a plurality of positions on the slide and outputting a relative position detection signal indicating the detected relative position; a plurality of servo motors; and a plurality of servo motors A plurality of drive mechanisms for moving the slide relative to the driven body by a driving force, and a relative position output from the relative position command means Based on a plurality of relative position detection signal output decree signal from the plurality of relative position detecting means is characterized by comprising a control means for controlling said plurality of servo motors, respectively. Thereby, even if an eccentric load is applied to the slide, the slide can be prevented from tilting.

  In a slide motion control device for a mechanical press according to still another aspect of the present invention, the slides are a plurality of inner slides arranged so as to be vertically movable with respect to the driven body, and the plurality of relative positions. The detecting means detects the relative positions of the plurality of inner slides with respect to the driven body, respectively, and the plurality of driving means move the plurality of inner slides independently and relative to each other. Yes.

  In the slide motion control device for a mechanical press according to still another aspect of the present invention, the relative position command means outputs a relative position command indicating a relative position of the plurality of inner slides with respect to the driven body, respectively. The control means is based on a plurality of relative position command signals corresponding to the plurality of inner slides output from the relative position command means and a plurality of relative position detection signals output from the plurality of relative position detection means. Each of the plurality of servo motors is controlled. Accordingly, the positions of the plurality of inner slides can be individually controlled, and even when the thickness of the material to be pressed is partially different, a large eccentric load can be prevented from acting on the mechanical press.

  According to the present invention, the slide disposed so as to be movable up and down relatively with respect to the driven body to which the driving force is transmitted via the connecting rod of the mechanical press indicates the relative position of the slide with respect to the driven body. Based on a relative position command signal that vibrates the slide and a relative position detection signal detected by a relative position detection means, the slide is moved relative to the driven body. Since the servo motor of the drive mechanism to be controlled is controlled, the relative position of the slide with respect to the driven body is controlled independently of the driven body driven by the driving force transmitted through the connecting rod of the mechanical press. be able to. In particular, a slide disposed so as to be able to move up and down relatively with respect to the driven body has a smaller mass than the driven body and is not affected by inertia such as a rotational drive mechanism that drives the driven body. The variable speed response when vibrating the slide can be remarkably improved.

The block diagram which shows the drive mechanism containing the hydraulic circuit of the mechanical press and slide motion control apparatus with which 1st Embodiment of the slide motion control apparatus of the mechanical press which concerns on this invention is applied. The block diagram which shows 1st Embodiment of the control part of the slide motion control apparatus of the mechanical press shown in FIG. Block diagram showing an embodiment of a slide relative position commander Waveform diagram showing bolster reference slide speed and position, connecting rod reference slide speed and position, and connecting rod tip speed and position Waveform diagram showing bolster reference slide position, connecting rod reference slide position, and connecting rod tip position The block diagram which shows other embodiment of a slide relative position command device The block diagram which shows the drive mechanism containing the hydraulic circuit of the mechanical press and slide motion control apparatus with which 2nd Embodiment of the slide motion control apparatus of the mechanical press which concerns on this invention is applied. The block diagram which shows 2nd Embodiment of the control part of the slide motion control apparatus of the mechanical press shown in FIG. The block diagram which shows the drive mechanism (screw mechanism) of the mechanical press and slide motion control apparatus with which 3rd Embodiment of the slide motion control apparatus of the mechanical press which concerns on this invention is applied. The block diagram which shows 3rd Embodiment of the control part of the slide motion control apparatus of the mechanical press shown in FIG. The block diagram which shows the drive mechanism (rack and pinion mechanism) of the mechanical press and slide motion control apparatus with which 4th Embodiment of the slide motion control apparatus of the mechanical press which concerns on this invention is applied. The block diagram which shows the drive mechanism containing the hydraulic circuit of the mechanical press and slide motion control apparatus with which 5th Embodiment of the slide motion control apparatus of the mechanical press which concerns on this invention is applied. The block diagram which shows embodiment of the control part of the slide motion control apparatus of the mechanical press shown in FIG. The figure used to explain the problem when an eccentric load is applied in a conventional mechanical press The figure which shows a mode that an eccentric load does not act on a mechanical press in the slide motion control apparatus of the mechanical press of 5th Embodiment. The figure which shows the example which controls the inner slide operation | movement of each right and left in order to produce the molding load according to each molding process giving priority to moldability

  A preferred embodiment of a slide motion control device for a mechanical press according to the present invention will be described below in detail with reference to the accompanying drawings.

[Configuration of Slide Motion Control Device for Mechanical Press (First Embodiment)]
<Structure of mechanical press>
FIG. 1 is a block diagram showing a drive mechanism including a mechanical press and a hydraulic circuit of a slide motion control device to which a first embodiment of a slide motion control device of a mechanical press according to the present invention is applied.

  A mechanical press 10-1 shown in FIG. 1 includes a column (frame) 20, a slide 26, a bolster 27 on a bed 28, and the like. The slide 26 is movable in a vertical direction by a guide portion provided on the column 20. Guided.

  A cylinder-piston mechanism comprising a built-in slide cylinder 25 and a built-in slide piston 23 is provided in the slide 26, and the tip of the connecting rod 22 provided on the crankshaft 21 is connected to the built-in slide piston 23. . A rotational driving force is transmitted to the crankshaft 21 via a servomotor 33, a gear 34, and a main gear 35. When the crankshaft 21 is rotated by the servomotor 33, the slide 26 is moved to the crankshaft 21. And it is moved to the up-down direction on FIG. 1 with the slide built-in piston 23 (driven body) by the driving force applied via the connecting rod 22.

  The slide 26 is integrated with the slide built-in cylinder 25, and is movable in the vertical direction relative to the slide built-in piston 23 (driven body). Pressure oil can be supplied from the hydraulic circuit 9 to the in-slide / lowering side hydraulic chamber 24 of the cylinder-piston mechanism. The pressure oil supplied from the hydraulic circuit 9 moves the slide 26 to the tip of the connecting rod (with built-in slide). It becomes a power source for lowering relative to the piston 23). Further, the power source for raising the slide 26 relative to the tip of the connecting rod is covered by the force generated by supplying air pressure from the air tank 7 to the rising side hydraulic chamber 29 or by the thrust of the balancer cylinder 8. To do.

  A slide position detector 15 that detects the position of the slide 26 is provided on the bolster 27 side of the mechanical press 10-1. The crankshaft 21 includes an angular velocity detector 14 that detects an angular velocity and an angle of the crankshaft 21 and an angle. A detector 16 is provided. The angular velocity detector 14 may acquire the angular velocity signal by differentiating the angle signal output from the angle detector 16.

  An upper mold 31a is mounted on the slide 26, and a lower mold 31b is mounted on the bolster 27. The mold 31 (upper mold 31a, lower mold 31b) in this example is for molding a hollow cup-shaped (drawer-shaped) product closed on top.

<Hydraulic circuit of slide motion control device>
The hydraulic circuit 9 of the slide motion control device according to the present invention mainly includes an accumulator 1, a hydraulic pump / motor 2, a servo motor 3 connected to the rotary shaft of the hydraulic pump / motor 2, a pilot operation check valve 4, An electromagnetic valve 5 and a relief valve 6 are included.

  The accumulator 1 is set with a gas pressure of about 1 to 5 kg / cm 2, accumulates hydraulic oil in a low pressure state (substantially constant low pressure) of about 10 kg / cm 2 or less, and functions as a tank.

  One port of the hydraulic pump / motor 2 is connected to the in-slide / lowering hydraulic chamber 24 via the pilot operation check valve 4, the other port is connected to the accumulator 1, and the hydraulic pump / motor 2 is a servo motor. Rotate in the forward direction (the side that pressurizes the descending hydraulic chamber 24) and in the reverse direction (the side that depressurizes the descending hydraulic chamber 24) according to the torque applied from 3 and the oil pressure acting on both ports.

  The pilot operation check valve 4 is for reducing the load of the servo motor 3 (+ hydraulic pump / motor 2) in the non-working process (at least the upper half of the slide stroke) in the press (slide) one-cycle operation. In addition, even when the servo motor 3 is in a no-load state (torque 0 state), the pressure in the lowering hydraulic chamber 24 can be kept constant, and the slide 26 is held at the lower end (limit) with respect to the slide built-in piston 23. For pilot operation, as an example, pressure acting on the port of the lowering hydraulic chamber 24 of the hydraulic pump / motor 2 is used.

  The electromagnetic valve 5 plays a role of forcibly releasing the pressure acting on the descending hydraulic chamber 24. It is not used during normal operation (when functioning) but is used during maintenance (before mechanical disassembly).

  The relief valve 6 applies pressure oil to the descending hydraulic chamber 24 when the unexpected abnormal pressure is applied, in addition to the pressure normally generated by controlling the motion, on the side of the substantially constant low pressure (accumulator 1) side. Play a role to escape.

  The pressure acting on the port of the lowering hydraulic chamber 24 of the hydraulic pump / motor 2 (the pressure of the lowering hydraulic chamber 24 when the pilot operation check valve 4 is open) and the accumulator side of the hydraulic pump / motor 2 The pressure acting on the port is detected by the pressure detectors 11 and 12, respectively, and the angular velocity of the servo motor 3 is detected by the angular velocity detector 13.

<Control Unit of Slide Motion Control Device (First Embodiment)>
FIG. 2 is a block diagram showing a first embodiment of a control unit of the slide motion control device of the mechanical press shown in FIG.

  As shown in FIG. 2, the control unit (slide motion controller) 100-1 of the first embodiment mainly includes a slide relative position command device (relative position command means) 51, proportional controllers 52 and 53, and position control compensation. Units 54, 55, 56, and 57, a slide relative position detector (relative position detecting means) 58, a subtractor 80, an adder / subtractor 81, and adders 82, 83, and 84.

  The control by the slide motion controller 100-1 is proportional to the deviation amount (first deviation amount) of the two in order to make the relative position detection signal follow the relative position command signal of the slide 26 with respect to the leading end of the connecting rod. The second operation amount signal (servo motor 3) amplified via the proportional controller 53 to the deviation amount (second deviation amount) between the first operation amount signal amplified via the servo motor 3 and the angular velocity signal of the servo motor 3 Is based on the torque command basic signal). The proportional controller 52 is responsible for relative position control, and the proportional controller 53 is responsible for ensuring dynamic stability (returning the delayed phase).

  The position control compensators 54, 55, 56, and 57 are not absolutely necessary for realizing the present invention, and are preferably mounted in order to improve controllability. The position control compensator 54 corrects the hydraulic force acting on the hydraulic cylinder (the slide built-in cylinder 25 and the slide built-in piston 23) and the unbalanced force due to gravity. The position control compensator 55 is externally connected to the control system. The position control compensators 56 and 57 that reduce the influence of the applied force (for example, forming force) reduce a steady deviation of the relative position detection signal with respect to the relative position command signal (so-called feed forward action). Is.

  Hereinafter, the slide motion controller 100-1 will be specifically described.

  The slide relative position command unit 51 outputs a relative position command indicating the relative position of the slide 26 with respect to the slide built-in piston 23 (driven body) driven via the connecting rod 22. An angle signal indicating an angular velocity and an angle of the crankshaft 21 and an angular velocity signal are added from the detector 16. The mechanical press of this embodiment is a servo press that drives the crankshaft 21 with a servomotor 33, and includes a control device 71 that controls the position and speed of the connecting rod tip (or slide). From the control device 71, a base position command signal and a base speed command signal for commanding the position and speed of the connecting rod tip are applied to the slide relative position command device 51.

  FIG. 3 is a block diagram showing an embodiment of the slide relative position command device 51.

  The slide relative position commander 51 shown in FIG. 3 includes a target speed commander 51a, a calculator 51b, a subtractor 51c, and an integrator 51d.

  The target speed commander 51a outputs a target speed command signal for the slide 26 for a predetermined period within the press cycle. On the waveform shown by the one-dot chain line in FIG. In the case of 0 to 3 seconds, a target speed command signal (bolster reference slide speed) of -50 mm / second is output for a period of about 0.85 seconds to 1.9 seconds. In this example, the speed of the slide 26 in the descending direction is negative.

  A crank angle signal and a crank angular speed signal are added to the calculator 51b, and the calculator 51b calculates (converts) a base speed signal (a connecting rod tip speed signal) by these two inputs.

  A target speed command signal and a base speed signal are respectively added to the subtractor 51c from the target speed commander 51a and the calculator 51b. The subtractor 51c subtracts the base speed signal from the target speed command signal ( Connecting rod reference slide speed signal) (see waveform shown by broken line in FIG. 4A). The subtractor 51c performs the above-described subtraction only in a predetermined processing area (in this example, approximately 0.85 seconds to 1.9 seconds in one cycle of the press, and the other period is the connecting rod reference slide. Outputs zero as the speed signal.

  The integrator 51d integrates the connecting rod reference slide speed signal output from the subtractor 51c, and outputs the integrated value as a connecting rod reference slide position signal (relative position command signal) (shown by a broken line in FIG. 4B). Waveform reference).

  Instead of the base speed signal calculated by the calculator 51b, a base speed command signal applied from the connecting rod tip portion control device 71 may be used. The slide relative position command unit 51 can separately output a connecting rod reference slide speed signal (relative speed command signal) from the subtractor 51c.

  Returning to FIG. 2, the slide relative position command unit 51 outputs the relative position command signal to the subtracter 80 and the position control compensators 56 and 57.

  The slide relative position detector 58 receives a bolster-based slide position signal and a crank angle signal from the slide position detector 15 and the angle detector 16, respectively. The slide relative position detector 58 is converted from the crank angle signal. The connecting rod reference slide position (relative position) is detected based on the connecting rod tip position and the bolster reference slide position, and a relative position detection signal indicating the relative position is output to the subtractor 80.

  The subtracter 80 obtains a 2-input deviation (deviation signal obtained by subtracting the relative position detection signal from the relative position command signal), and outputs the deviation signal to the proportional controller 52. The proportional controller 52 amplifies the input deviation signal and outputs it to the adder / subtractor 81 as a first manipulated variable signal.

  The other inputs of the adder / subtractor 81 include an angular velocity signal indicating the angular velocity of the servomotor 3 from the angular velocity detector 13 and a feedforward signal for correcting the first operation amount corresponding to the relative velocity command signal from the position control compensator 56. The adder / subtractor 81 obtains a deviation between the first manipulated variable signal and the angular velocity signal, adds a feedforward signal to the deviation signal, and outputs the resultant signal to the proportional controller 53. The proportional controller 53 amplifies the input signal and outputs it to the adder 82 as a second manipulated variable signal.

  A feedforward signal for correcting the second operation amount corresponding to the relative speed command signal is added from the position control compensator 57 to the other input of the adder 82, and the adder 82 receives the second operation amount. The feedforward signal is added to the signal, and the added signal is output to the adder 83. A feedforward signal generated from the position control compensator 55 based on the angular velocity signal of the servo motor 3 and the second manipulated variable signal is added to the other input of the adder 83. A signal obtained by adding the two input signals is output to the adder 84. A feedforward signal corresponding to the pressure in the descending hydraulic chamber 24 detected by the pressure detector 11 from the position control compensator 54 is added to the other input of the adder 84, and the adder 83 has two inputs. A signal obtained by adding the signals is output to the servo amplifier 61 as a torque command signal for the servo motor 3.

  The slide motion controller 100-1 calculates a torque command signal for controlling the torque of the servo motor 3 as described above, and outputs the calculated torque command signal to the servo motor 3 via the servo amplifier 61. The hydraulic cylinder mechanism (the slide built-in cylinder 25 and the slide built-in piston 23) is driven via the hydraulic pump / motor 2 driven by the servo motor 3 so that the relative position of the slide 26 follows the relative position command. .

  When the pressure in the lower hydraulic chamber 24 of the hydraulic cylinder mechanism is reduced after press working, the rotational shaft torque generated in the hydraulic pump / motor 2 exceeds the drive torque of the servo motor 3, and the hydraulic pump / motor 2 Acting as a motor, the servo motor 3 is rotated (regenerative action). The electric power generated by the regenerative action of the servo motor 3 is regenerated to the AC power source 62 via the servo amplifier 61 and the DC power source 63 with a power regeneration function.

[Description of 1-cycle operation of press]
Next, the slide motion within one cycle operation of the press will be described with reference to the waveform diagram shown in FIG.

  The mechanical press shown in FIG. 1 is a servo press that drives the crankshaft 21 with the driving force of the servomotor 33, but the waveform shown in FIG. 4 shows that the crankshaft 21 is flywheel with a constant angular velocity of 20 spm (number of strokes / minute). The slide motion and the like when the slide motion control device according to the present invention is applied to a general mechanical press with a stroke of 250 mm, which is driven in FIG.

<A: Non-working process>
In the non-processed region (in this example, approximately 0 to 0.8 seconds and 2 to 3 seconds on the waveform) where the connecting rod tip position (crank angle conversion slide position) includes the top dead center, the slide 26 is connected to the connecting rod 22. The position is controlled to the lowest position (projected) with respect to the tip (the relative slide position is 0). At this time, the air pressure of the hydraulic pump / motor 2 is proportional to the torque of the servomotor 3 so that the air pressure of the air tank 7 resists the force that raises the slide 26 caused by acting on the hydraulic cylinder / upward hydraulic chamber 29. The hydraulic pressure generated at the one-side port acts on the lowering hydraulic chamber 24 of the hydraulic cylinder mechanism. The pilot operation check valve 4 is opened by its hydraulic pressure.

<B: Processing step>
When the connecting rod position (crank angle conversion slide position) reaches 110 mm in the machining area (in the case of this example, approximately 0.8 seconds to 2 seconds in the waveform), the slide relative position command device 51 indicates that the slide 26 is the bolster reference. The relative position command signal (waveform indicated by the broken line in FIG. 4B) and the relative speed command signal (waveform indicated by the broken line in FIG. 4A) are calculated so that the target speed command (−50 mm / second) is obtained. Output.

  The slide motion controller 100-1 is based on the relative position command signal and the relative speed command signal output from the slide relative position command unit 51, the slide relative position detection signal detected respectively, the angular velocity signal of the servo motor 3, and the like. In order to control the relative position of the slide 26, a torque command signal for the servo motor 3 is generated, and the servo motor 3 is driven and controlled via the servo amplifier 61.

  The hydraulic pressure acting on the descending hydraulic chamber 24 of the hydraulic cylinder mechanism (generated at one side port of the hydraulic motor) acts according to the load associated with the machining, and the load is compensated by the action of the position control compensators 54, 55, 56, 57. Regardless of the magnitude (the magnitude of hydraulic pressure), stable and accurate control (less positional deviation (relative position command signal-relative position detection signal) is small) is performed.

  After all, in the machining area, the crankshaft 21 rotates at a constant 20 spm, and the slide 26 based on the bolster 27 takes about 0.8 seconds to 2 seconds (more specifically, 0.85 seconds to 1.9 seconds). ) For a period of -50 mm / sec (refer to the waveform indicated by the dashed line in FIG. 4A) to reduce shock when the upper and lower molds are in contact and to stabilize the moldability. It becomes possible. In this example, as a result, the bottom dead center of the slide is 60 mm above the crankshaft angle conversion and bottom dead center.

  Next, another slide motion within one cycle operation of the press will be described with reference to the waveform diagram shown in FIG.

  The waveform shown in FIG. 5 applies the slide motion control device according to the present invention to a general servo (motor driven) press having a stroke of 250 mm, in which the crankshaft 21 is driven by the servomotor 33 as shown in FIG. The slide motion is shown when

<A: Non-working process>
In the non-processed region (in this example, approximately 0 to 1.6 seconds and 4.5 seconds or more on the waveform in this example) where the leading end position of the connecting rod (crankshaft angle conversion slide position) includes the top dead center, the slide 26 The position is controlled to the lowest position (projected) with respect to the front end portion of 22 (the relative slide position is 0). At this time, the hydraulic pressure generated in the one-side port of the hydraulic pump / motor 2 in proportion to the torque of the servo motor 3 so as to resist the force that raises the slide 26 by the balancer cylinder 8 is the lowering side hydraulic chamber 24 of the hydraulic cylinder mechanism. It is acting on. The pilot operation check valve 4 is opened by its hydraulic pressure.

<B: Processing step>
When the connecting rod position (crank angle conversion slide position) reaches 90 mm in the machining area (in this example, approximately 1.6 seconds to 4.2 seconds on the waveform), the slide relative position commander 51 ′ Relative position command signal, relative so that vibration (sin (2π · 10 (Hz) · t (s)) with an amplitude of 1 mm and a frequency of 10 Hz is applied to the connecting rod tip (or slide) controlled by the control device 71. Calculates and outputs the speed command signal.

  Here, the control device 71 (FIG. 2) of the servo press controls the position and speed of the connecting rod tip (or slide) based on the base position command signal and the base speed command signal, and is indicated by a solid line in FIG. In this way, control is performed so as to achieve a desired slide motion. However, since the mass of the slide 26, the rotary shaft of the servo motor 33, the inertia of the main gear 35 and the crankshaft 21 are large, the frequency response of the slide motion is about 1 Hz.

  As shown in FIG. 6, the slide relative position commander 51 'includes a target position commander 51a' and a subtractor 51b '.

  The target position commander 51a ′ outputs a target position command signal for the slide 26 for a predetermined period within the press cycle. As shown by the waveform shown by the one-dot chain line in FIG. The target position command signal having a value obtained by adding a vibration having an amplitude of 1 mm and a frequency of 10 Hz to the base position (crank angle conversion slide position) is output to the subtractor 51b ′ at approximately 1.6 seconds to 4.2 seconds on the waveform.

  A base position command signal is added to the other input of the subtractor 51b ′ from the control device 71 of the servo press (see FIG. 2). The subtractor 51b ′ receives the target position command signal and the base position command to be input. The deviation from the signal is obtained, and this deviation signal is output as a relative position command signal (broken line in FIG. 5).

  The slide motion controller 100-1 controls the relative position of the slide 26 based on the relative position command signal output from the slide relative position commander 51 ′, the slide relative position detection signal, the angular velocity signal of the servo motor 3, and the like. Therefore, a torque command signal for the servo motor 3 is generated, and the servo motor 3 is driven and controlled via the servo amplifier 61.

  The hydraulic pressure acting on the descending hydraulic chamber 24 of the hydraulic cylinder mechanism (generated at one side port of the hydraulic motor) acts according to the load associated with the machining, and the load is compensated by the action of the position control compensators 54, 55, 56, 57. Regardless of the magnitude (the magnitude of hydraulic pressure), stable and accurate control (less positional deviation (relative position command signal-relative position detection signal) is small) is performed.

  Eventually, in the machining area, the crankshaft 21 rotates at a constant 10 spm, while the slide 26 based on the bolster 27 has an amplitude of 1 mm · 10 Hz at the slide position (base position) controlled by the control device 71 of the servo press. Control is performed so that vibration is applied.

  By applying such vibration to the slide 26, it is possible to prevent the oil film from being cut off on the surface of the material and to improve the surface after processing.

  Note that the slide relative position command device 51 ′ shown in FIG. 6 calculates the deviation between the target position command signal and the base position command signal and generates a relative position command signal for applying vibration. Instead, the base position (crank angle conversion slide position) may be detected instead of the base position command signal, and the detected base position detection signal may be used. Furthermore, a relative position command signal for directly applying vibration may be output.

[Configuration of Slide Motion Control Device for Mechanical Press (Second Embodiment)]
FIG. 7 is a block diagram showing a driving mechanism including a mechanical press and a hydraulic circuit of the slide motion control device to which the second embodiment of the slide motion control device of the mechanical press according to the present invention is applied. In addition, the same code | symbol is attached | subjected to the part which is common in 1st Embodiment shown in FIG. 1, and the detailed description is abbreviate | omitted.

  The mechanical press 10-2 of the second embodiment is the machine of the first embodiment in that the slide relative position detector 17 is mainly incorporated in the hydraulic cylinder mechanism (slide built-in cylinder 25, slide built-in piston 23). It differs from the press 10-1. The slide relative position detector 17 can directly detect the connecting rod reference slide position (relative position) and output a slide relative position detection signal.

  FIG. 8 is a block diagram showing a second embodiment of the control unit of the slide motion control device of the mechanical press, and corresponds to the mechanical press 10-2 shown in FIG.

  As shown in FIG. 8, the control unit (slide motion controller) 100-2 of the second embodiment includes a slide relative position detector 58 as compared to the slide motion controller 100-1 shown in FIG. The difference is that the slide relative position detection signal detected by the slide relative position detector 17 described above is directly input and applied to the subtractor 80. Since the other configuration is common to the slide motion controller 100-1 shown in FIG. 2, detailed description thereof is omitted.

[Configuration of Slide Motion Control Device for Mechanical Press (Third Embodiment)]
FIG. 9 is a block diagram showing a drive mechanism (screw mechanism) of the mechanical press and slide motion control device to which the third embodiment of the slide motion control device of the mechanical press according to the present invention is applied. In addition, the same code | symbol is attached | subjected to the part which is common in 1st Embodiment shown in FIG. 1, and the detailed description is abbreviate | omitted.

  In the mechanical press 10-3 of the third embodiment, the mechanical press 10-1 of the first embodiment mainly moves the slide 26 up and down with respect to the slide built-in piston 23 (driven body) driven by the connecting rod 22. As the drive mechanism for driving the cylinder, a cylinder-piston mechanism (slide built-in cylinder 25, slide built-in piston 23) provided in the slide and the hydraulic circuit 9 are applied, but driven by servo motors 41a and 41b, respectively. The difference is that a pair of screw mechanisms (screws 42a, 42b, nuts 43a, 43b) are applied.

  That is, in the mechanical press 10-3 according to the third embodiment, the slide plate 44 (slide) is arranged to be movable up and down with respect to the slide 26 (driven body) driven by the connecting rod 22. Servo motors 41a and 41b and screws 42a and 42b driven by the servo motors 41a and 41b are arranged, and the slide plate 44 is provided with nuts 43a and 43b screwed with the screws 42a and 42b. .

  Accordingly, when the screw mechanism configured as described above is driven by the servo motors 41a and 41b, the slide plate 44 (slide) that can move up and down relatively with respect to the slide 26 (driven body) can be moved. .

  FIG. 10 is a block diagram showing a third embodiment of the control unit of the slide motion control device of the mechanical press, and corresponds to the mechanical press 10-3 shown in FIG.

  As shown in FIG. 10, the control unit (slide motion controller) 100-3 of the third embodiment has a screw mechanism (screws 42a and 42b) as compared with the slide motion controller 100-1 shown in FIG. The servo motors 41a and 41b that respectively drive the servo motor torque command are calculated and output.

  Accordingly, angular velocity signals indicating the angular velocities of the servomotors 3a and 3b are input from the two angular velocity detectors 13a and 13b as input signals to the slide motion controller 100-3. Further, although the processing unit until the first manipulated variable signal output from the proportional controller 52 is generated is common, the subsequent signal generation processing unit branches into two systems, each of which is an angular velocity detector 13a. , 13b is used.

  According to the third embodiment, the torque of the servo motors 41a and 41b that respectively drive the screw mechanisms (screws 42a and 42b) is individually controlled, so that the left and right direction of the slide plate 44 is controlled regardless of the eccentric load in the left and right direction. Can be made the same descent speed.

  In the third embodiment, the screw is rotated by the servo motor to move the slide plate 44 relatively. However, the present invention is not limited to this, and the nut is rotated to move the slide plate 44 relatively. You may do it.

[Configuration of Slide Motion Control Device for Mechanical Press (Fourth Embodiment)]
FIG. 11 is a block diagram showing a drive mechanism (rack and pinion mechanism) of a mechanical press and slide motion control device to which the fourth embodiment of the slide motion control device of the mechanical press according to the present invention is applied. In addition, the same code | symbol is attached | subjected to the part which is common in 3rd Embodiment shown in FIG. 9, and the detailed description is abbreviate | omitted.

  In the mechanical press 10-4 of the fourth embodiment, the mechanical press 10-3 of the third embodiment mainly has a slide plate 44 (slide) with respect to a slide 26 (driven body) driven by the connecting rod 22. The difference is that the rack-equipped slide plate 46 is moved up and down by a rack and pinion mechanism, while the screw mechanism relatively moves up and down.

  That is, in the mechanical press 10-4 of the fourth embodiment, a slide plate 46 with a rack (slide) is disposed so as to be movable up and down with respect to a slide 26 (driven body) driven by a connecting rod 22. Are provided with servo motors 41a and 41b and pinions 45a and 45b to which the rotational driving force is transmitted from the servo motors 41a and 41b through the rotation transmission shafts 42a and 42b. Racks that mesh with 45a and 45b are provided.

  Therefore, when the rack and pinion mechanism having the above-described configuration is driven by the servo motors 41a and 41b, the rack-equipped slide plate 46 (slide) that can move up and down relatively with respect to the slide 26 (driven body). Can be moved.

  The configuration of the control unit of the slide motion control device that controls the servo motors 41a and 41b is the same as that of the slide motion controller 100-3 of the third embodiment shown in FIG. To do.

[Configuration of Slide Motion Control Device for Mechanical Press (Fifth Embodiment)]
FIG. 12 is a configuration diagram showing a drive mechanism including a mechanical press and a hydraulic circuit of the slide motion control device to which the fifth embodiment of the slide motion control device of the mechanical press according to the present invention is applied. In addition, the same code | symbol is attached | subjected to the part which is common in 1st Embodiment shown in FIG. 1, and the detailed description is abbreviate | omitted.

  In the mechanical press 10-5 of the fifth embodiment, two cylinder-piston mechanisms are mainly constituted by an inner slide 23d composed of a slide built-in cylinder 23a and slide built-in pistons 23b and 23c. A difference from the first embodiment is that a slide 26 (driven body) is connected, and an inner slide 23 d is provided so as to be movable up and down with respect to the slide 26.

  In addition, pressure oil can be supplied from the hydraulic circuits 90 and 90 'to the two descending hydraulic chambers of the two cylinder-piston mechanisms comprising the slide built-in cylinder 23a and the slide built-in pistons 23b and 23c, respectively. The pressure oil supplied from the hydraulic circuits 90, 90 ′ serves as a power source for lowering the slide built-in pistons 23b, 23c relative to the connecting rod tip (slide built-in cylinder 23a). The power source for raising the slide-incorporated pistons 23b and 23c relative to the connecting rod tip is provided by the force generated by supplying air pressure from the air tanks 7 and 7 'to the ascending hydraulic chamber, or the balancer cylinder. Or 8 thrust.

  The hydraulic circuits 90, 90 ′ are configured in substantially the same manner as the hydraulic circuit 9 shown in FIG. 1, and mainly two sets of hydraulic pumps / motors 2 and servomotors 3 in the first embodiment are used. Are different in that a hydraulic pump / motor and a servo motor (hydraulic pump / motor 2a and servo motor 3a and hydraulic pump / motor 2b and servo motor 3b (see FIG. 13)) are provided. The two hydraulic circuits 90 and 90 'are configured in the same manner.

  In addition, slide position detectors 15 and 15 ′ for detecting the positions of the slide built-in pistons 23 b and 23 c (slide) are provided on the bolster 27 side of the mechanical press 10-5 of the fifth embodiment.

  FIG. 13 is a block diagram showing an embodiment of a control unit of the slide motion control device of the mechanical press shown in FIG.

  As shown in FIG. 13, the slide motion controller 100-5 is composed of two slide motion controllers 100-5 and 100-5 ′. The slide motion controller 100-5 applies torque to the two servo motors 3 a and 3 b of the hydraulic circuit 90. The slide motion controller 100-5 ′ outputs a torque command to each of the two servo motors 3a ′ and 3b ′ of the hydraulic circuit 90 ′. The slide motion controllers 100-5 and 100-5 ′ are configured in the same manner as the slide motion controller 100-3 shown in FIG. 10, but the slide position detectors 15 and 15 ′ each incorporate a slide. The difference is that the position detection signals of the pistons 23b and 23c (slide) are input.

  As a result, the slide motion controllers 100-5 and 100-5 ′ control the torques of the servo motors 3a and 3b and the servo motors 3a ′ and 3b ′, respectively, and the built-in slide pistons 23b and 23c (slides) Each of the slides 26 (driven body) can be controlled so as to have a relative position commanded.

  Note that the present invention is not limited to two sets of hydraulic pumps / motors and servo motors, and three or more sets of hydraulic pumps / motors and servo motors may be used.

[Explanation of Action of Slide Motion Control Device for Mechanical Press of Fifth Embodiment]
<Problem with conventional technology>
Press molding using a so-called tailored blank material, in which multiple flat plates (two in this example) with different thicknesses and materials are arranged (by left and right in this example) and joined together by welding or the like. When a conventional mechanical press is used due to differences in rigidity or hardness due to differences in sheet thickness or material, the strength of the forming load is partially (every left and right in this example) strong and weak. Occurs. As a result, an eccentric load acts on the mechanical press.

  This and the effect obtained by the present invention will be described with reference to a simple schematic diagram shown in FIG.

  As shown in FIG. 14A, when materials having different rigidity are press-formed on the left and right, a larger forming load acts on the right side having a strong rigidity as shown in FIG. 14B. At that time, the right side of the press machine extends more than the left side of the frame due to the eccentric load on the left and right.

  If the amount of die height (corresponding to the distance between the upper and lower molds) is adjusted so that the necessary pressing load is applied to the left side material (to accurately transfer the material to the mold), The above large load is applied, and this is likely to cause a situation that is not appropriate in forming the right material. At that time, an eccentric load exceeding the strength is likely to act on the press machine. These are problems that hinder formability and hinder press machine performance.

  In order to solve the problems as described above, in the fifth embodiment, a plurality of (in this example, two) inner slides (slide built-in pistons) that can be independently operated in a slide are provided (in this example). Now on the left and right).

  As shown in Fig. 15 (a), two inner slides that operate independently are provided in the slide, and the positions of the left and right inner slides are adjusted according to the molding process according to the material rigidity of the left and right. To do. In FIG. 15 (b), the left and right bottom dead center positions are controlled so that the left and right molding loads are uniform according to the left and right material rigidity (so that the left inner slide position is less than the right inner slide position). Indicates the state. By doing so, an eccentric load does not act on the press machine. However, the mold is tilted from side to side. Therefore, as shown in FIG. 15 (c), if the mold is used in accordance with the present invention and has a structure that can be independently operated in the vertical direction on the left and right sides, the problem of the inclination of the mold is also solved.

  Furthermore, in order to generate molding loads according to the left and right molding processes, giving priority to moldability, which is the main purpose, the left and right inner slide operations (positions during the molding process) are indicated by broken lines in FIG. And it controls like the waveform shown with a dashed-dotted line. At the bottom dead center, as shown in FIG. 16B, the bottom dead center position is different on the left and right, and the molding load is different. This load difference is the minimum necessary for molding and promotes moldability. In addition, as a result, there are more cases where the press machine can be accommodated within an allowable load range due to the strength of the press machine, and it is difficult to hinder the performance of the press machine. Thus, by applying the present invention, the advantage of improving the press formability of the tailored blank material can be obtained without impairing the performance of the press machine.

[Others]
The slide motion control device according to the present invention can be applied not only to a crank press as a mechanical press but also to a link press driven by a link mechanism.

  The present invention can also be applied to a mechanical press that drives one or a plurality of driven bodies by a plurality of connecting rods.

  Furthermore, it goes without saying that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

  2, 2 ', 2a, 2b, 2a', 2b '... hydraulic pump / motor, 3, 3', 3a, 3b, 3a ', 3b', 33, 41a, 41b, ... servo motor, 9, 9 ', 90, 90 '... hydraulic circuit, 10-1, 10-2, 10-3, 10-4, 10-5 ... mechanical press, 11, 12 ... pressure detector, 13, 13', 13a, 13b, 14 ... Angular velocity detector 15, 15 '... slide position detector, 16 ... angle detector, 17, 58 ... slide relative position detector, 20 ... column, 22 ... connecting rod, 23, 23b, 23c ... slide built-in piston, 23d ... Inner slide, 24 ... Lower hydraulic chamber, 23a, 25 ... Slide built-in cylinder, 26 ... Slide, 27 ... Bolster, 28 ... Bed, 31 ... Mold, 42a, 42b ... Screw, 43a, 43b ... Nut, 44 ... Sly Plate, 51, 51 '... Slide relative position commander, 51a ... Target speed commander, 51b ... Calculator, 51c, 51b', 80 ... Subtractor, 51d ... Integrator, 51a '... Target position commander, 52, 53 ... Proportional controller, 54, 55, 56, 57 ... Position control compensator, 61, 61a, 61b, 61a ', 61b' ... Servo amplifier, 62, 62a, 62b, 62a ', 62b' ... AC power supply, 63 63a, 63b, 63a ', 63b' ... DC power supply with power regeneration function, 81 ... Adder / Subtractor, 82, 83, 84 ... Adder, 100-1, 100-2, 100-3, 100-5 ... Slide motion Controller

Claims (14)

A slide disposed so as to be movable up and down relatively with respect to a driven body to which a driving force is transmitted via a connecting rod of a mechanical press;
A relative position command means for outputting a relative position command signal indicating a relative position of the slide with respect to the driven body, and a relative position command means for outputting a relative position command signal for vibrating the slide;
A relative position detecting means for detecting a relative position of the slide with respect to the driven body and outputting a relative position detection signal indicating the detected relative position;
A servo motor,
A drive mechanism for moving the slide relative to the driven body by a driving force of the servo motor;
Control means for controlling the servo motor based on the relative position command signal output from the relative position command means and the relative position detection signal output from the relative position detection means;
A slide motion control device for a mechanical press.   The drive mechanism includes a cylinder-piston mechanism provided in the slide, and a hydraulic pump / motor that is driven by the servo motor and supplies pressurized fluid to the hydraulic chamber of the cylinder-piston mechanism. The slide motion control device for a mechanical press according to claim 1.   3. The slide motion control device for a mechanical press according to claim 1, wherein the mechanical press continuously moves the driven body through the connecting rod for at least a press working period. 4.   4. The relative position command means outputs a relative position command signal corresponding to a movement position of the driven body for a predetermined period during the movement of the driven body. 5. The slide motion control device of the mechanical press described in 1.   The relative position command means includes a target speed command means for outputting a target speed command signal for the slide, a speed detection means for detecting the speed of the driven body, and a target speed command signal commanded by the target speed command means. And a subtractor that calculates the difference between the speed signal of the driven body detected by the speed detecting means and an integrator that integrates the difference calculated by the subtractor, and is integrated by the integrator The slide motion control device for a mechanical press according to any one of claims 1 to 4, wherein an integral signal is output as the relative position command signal.   The relative position command means includes a target position command means for outputting a target position command signal for the slide, a position detection means for detecting the position of the driven body, and a target position command signal commanded by the target position command means. And a subtractor for calculating a difference between the position signal of the driven body detected by the position detecting means, and outputting the difference signal calculated by the subtracter as the relative position command signal. The slide motion control device for a mechanical press according to any one of claims 1 to 4.   The relative position command means includes a first target position command means for outputting a first target position command signal for the slide, and a second target position command for outputting a second target position command signal for the driven body. And a subtractor for calculating a difference between the first target position command signal output from the first target position command means and the second target position command signal output from the second target position command means 5. The slide motion control device for a mechanical press according to claim 1, wherein the differential signal calculated by the subtractor is output as the relative position command signal. 6.   The relative position detection means includes a slide position detection means for detecting the position of the slide, a driven body position detection means for detecting the position of the driven body, and a slide position detection signal output from the slide position detection means. And a subtractor that calculates a difference between the driven body position detection signal output from the driven body position detection means and outputs the difference signal calculated by the subtracter as the relative position detection signal. The slide motion control device for a mechanical press according to any one of claims 1 to 6. An angular velocity detecting means for detecting an angular velocity of the servo motor;
The control means includes a first operation amount corresponding to a deviation between the relative position command signal and the relative position detection signal and a second operation amount corresponding to a deviation between the angular velocity signal detected by the angular velocity detection means. The slide motion control device for a mechanical press according to claim 1, wherein the servo motor is controlled based on the control.   The drive mechanism includes a screw mechanism including a screw portion and a nut portion provided between the driven body and the slide, and a power transmission means for transmitting a driving force of the servo motor to the screw portion or the nut portion. The slide motion control device for a mechanical press according to claim 1, wherein the slide motion control device is a mechanical press.   The drive mechanism includes a rack and pinion mechanism provided between the driven body and the slide, and power transmission means for transmitting the drive force of the servo motor to the pinion of the rack and pinion mechanism. The slide motion control device for a mechanical press according to claim 1, wherein the slide motion control device is a mechanical press. A slide arranged to be movable up and down with respect to a driven body to which a driving force is transmitted via a connecting rod of a mechanical press;
A relative position command means for outputting a relative position command signal indicating a relative position of the slide with respect to the driven body, and a relative position command means for outputting a relative position command signal for vibrating the slide;
A plurality of relative position detection means for detecting a relative position of each of a plurality of positions of the slide with respect to the driven body and outputting a relative position detection signal indicating the detected relative position;
Multiple servo motors,
A plurality of drive mechanisms for moving the slide relative to the driven body by a driving force of the plurality of servo motors;
Control means for controlling each of the plurality of servo motors based on a relative position command signal output from the relative position command means and a plurality of relative position detection signals output from the plurality of relative position detection means;
A slide motion control device for a mechanical press. The slides are a plurality of inner slides arranged so as to be vertically movable with respect to the driven body,
The plurality of relative position detecting means detect relative positions of the plurality of inner slides with respect to the driven body,
13. The slide motion control device for a mechanical press according to claim 12, wherein the plurality of driving means move the plurality of inner slides independently and relatively. The relative position command means outputs a relative position command indicating a relative position of the plurality of inner slides with respect to the driven body,
The control means is based on a plurality of relative position command signals corresponding to the plurality of inner slides output from the relative position command means and a plurality of relative position detection signals output from the plurality of relative position detection means. The slide motion control device for a mechanical press according to claim 13, wherein each of the plurality of servo motors is controlled.

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