JP2018103235A - Mold press device and control method for mold press device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mold press device which can easily set an optimum composite motion to a mold when performing a plurality of processing in one stroke and reduce unnecessary motions not contributing to processing among motions.SOLUTION: A mold press device comprises a controller 14 which generates a storage table for controlling a drive motor 4 and a synthetic table where a plurality of processing are synthesized to control the drive motor 4 in accordance with a generated storage table or a synthetic table, where the controller 14, when generating a synthetic table to perform synthetic processing where a first processing and a second processing are synthesized, generates an interpolation table during movement from an angle position at which a crank shaft 8 finishes the first processing to an angle position at which it starts a second processing succeeding the first processing, thereby controlling the drive motor 4 in accordance with the interpolation table during movement from an angle position at which a crank shaft 8 finishes the first processing to an angle position at which it starts a second processing.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a mold press apparatus that performs processing on an object and a method for controlling the mold press apparatus.

  2. Description of the Related Art Conventionally, press working using a metal mold pressing device for a processing target (object) such as metal or resin has been performed. In a die press apparatus driven by a servo motor, in a slide motion (hereinafter referred to as motion), the target position of the slide, the moving speed (or the rotation speed of the servo motor), and the stop time at the target position are within one cycle. A few to a dozen points are set. Various operations are possible by connecting the set points. For operations that are frequently used and operations that have a large number of points set in one cycle, such as repetitive operations, a dedicated setting screen and dedicated arithmetic processing are prepared for each operation. . Thereby, a user can set a motion easily (for example, refer patent document 1).

  In general, there are effective operation patterns depending on the type of processing, such as “pull out” and “diaphragm”, so that the motion to be used is changed for each type. Depending on the die press apparatus, a plurality of processes such as “drawing” and “squeezing” may be performed. In the case of performing a plurality of processes, a program and a table for realizing a motion in which a motion suitable for each process is combined are prepared separately.

JP 2006-192467 A

  However, when multiple processes are performed, in the method in which a program and data for realizing a motion that combines a plurality of motions suitable for each process are individually prepared, a dedicated input screen is provided for each motion to be combined. And dedicated arithmetic processing is required. For this reason, the flexibility in setting points is lacking, and the program for realizing the motion (hereinafter referred to as a motion program) is enlarged. In recent years, there are also requests for high-mix low-volume production and compact production lines. The conventional processing that has been performed on multiple machines and large machines is incorporated into a mold with a small machine, An increasing number of methods perform a plurality of processes within one stroke. Therefore, if you select and combine the most suitable motion for each process, there may be more than three types of motion to be used, which increases the number of setting patterns, and a dedicated compound motion program is prepared in advance. It is becoming difficult to deal with this method. For example, if a sequential motion that is advantageous in “deep drawing” or a coining motion that reduces the springback of the material is used, a large number of set points are required.

  When the two processes are combined, the crankshaft of the die press device is rotated from the position when the first process is completed to the position where the second process is started via the top dead center. In this way, when a plurality of processes are combined, unnecessary rotation of the crankshaft that does not contribute to the process occurs between motions that transition from one process to another.

  The present invention has been made in view of the above circumstances, and it is possible to easily set an optimal composite motion for a mold when performing a plurality of processing within one stroke, and it does not contribute to processing between motions. An object of the present invention is to provide a mold pressing apparatus and a method for controlling the mold pressing apparatus that can reduce various operations.

  In order to solve the above problems, the present invention has the following gist.

[Purpose 1]
Driving means;
A slide that moves a mold for processing an object up and down;
A connecting rod for moving the slide up and down;
A crankshaft that is rotated by the drive means and transmits the power of the drive means to the slide via the connecting rod;
A mold press device for processing the object,
Storage table generating means for generating a storage table storing a procedure of operation for controlling the driving means;
A synthesis table generating means for generating a synthesis table for performing a process in which a plurality of processes are combined;
Control means for controlling the driving means in accordance with the storage table generated by the storage table generation means or the synthesis table generated by the synthesis table generation means;
With
The synthesizing table generating means generates the synthesizing table for synthesizing the first machining and the second machining different from the first machining, and the crankshaft performs the first machining. Generating an interpolation table while moving from the angular position at the end to the angular position at the time of starting the second machining performed following the first machining;
The control means controls the driving means according to the interpolation table while the crankshaft moves from an angular position when the first machining is completed to an angular position when the second machining is started.

[Purpose 2]
The synthesis table generation means includes
When generating the table for performing the second machining in the composite table, the angular position when the first machining is finished is upstream from the bottom dead center in the rotation direction of the first machining. When using the table of the rotation direction,
When the angular position when the first machining is finished is the bottom dead center in the rotational direction or the downstream side of the bottom dead center, use a table in the rotational direction opposite to the rotational direction. , Generating the synthesis table.

[Purpose 3]
The synthesis table generating means is based on the angular position and the number of strokes of the crankshaft when the first machining is completed and the angular position and the number of strokes of the crankshaft when the second machining is started. The interpolation table is generated.

[Purpose 4]
When the composite table is generated, when the composite table is generated, with respect to a predetermined process included in the plurality of processes, from the start of rotation of the crankshaft to the start of the predetermined process A first table for controlling the driving means; a second table for controlling the driving means from the start of the predetermined machining to the end of the predetermined machining; and the predetermined machining And a third table for controlling the driving means from when the crankshaft is stopped to when the crankshaft is stopped.

[Purpose 5]
The synthesis table generating means generates the synthesis table for performing the synthesis process for performing the second process after the first process, and the first table for the first process, Generating the composite table having a second table for first processing, the interpolation table, a second table for second processing, and a third table for second processing To do.

[Purpose 6]
When synthesizing a plurality of processes, the apparatus includes a registration unit for registering the plurality of processes in one group in the order in which the processes are performed.
The synthesis table generation unit generates a synthesis table for performing a synthesis process composed of the plurality of processes in the order registered by the registration unit.

[Purpose 7]
When the synthesis table generating means generates the synthesis table by synthesizing N processes, the position at which the slide starts to move and the N-th process are completed in the first process. The synthesis table is generated so that the position where the slide stops is substantially the same position.

[Purpose 8]
A drive means, a slide for moving the mold for processing the object up and down, a connecting rod for moving the slide up and down, and the drive means to rotate the power of the driving means to the slide via the connecting rod A method of controlling a die press apparatus that performs processing on the object,
The die press apparatus includes a storage table generation unit that generates a storage table that stores an operation procedure for controlling the driving unit, and a composite table that generates a composite table for performing a process in which a plurality of processes are combined. Table generating means, and control means for controlling the driving means in accordance with the storage table generated by the storage table generating means or the synthesis table generated by the synthesis table generating means,
The crankshaft ends the first machining when the synthesis table generating means generates a synthesis table for performing a synthesis process in which the first process and a second process different from the first process are synthesized. A generation step of generating an interpolation table during the movement from the angular position at the time to the angular position at the time of starting the second machining performed following the first machining;
A control step of controlling the driving means according to the interpolation table while the crankshaft moves from the angular position when the crankshaft has finished the first machining to the angular position when the second machining is started. And comprising.

  Further objects and other features of the present invention will become apparent from the preferred embodiments described below with reference to the accompanying drawings.

  ADVANTAGE OF THE INVENTION According to this invention, the die press apparatus which can set easily the optimal composite motion for the metal mold | die in the case of performing several processes within 1 stroke, and reduces the unnecessary operation | movement which does not contribute to the process between motions And the control method of a die press apparatus can be provided.

The figure which shows the structure of the metal mold | die press apparatus of Example 1. Block diagram of the die press apparatus of Examples 1 and 2 The figure which shows the movement of the crankshaft and slide of Example 1,2. The figure which shows the setting screen of the motion of Example 1,2. The figure explaining the production | generation of the table of the normal motion of Example 1,2. The figure explaining the production | generation of the table of the composite motion of Example 1,2. (A) a graph showing the position and number of strokes of the first motion, (b) a graph showing the position and number of strokes of the second motion, and (c) the angle of the normal rotation table of the first motion in Examples 1 and 2. (D) The figure which shows the angle of the normal rotation table of 2nd motion, (e) The figure which shows the angle of the reverse rotation table of 2nd motion, (f) The graph which shows the position and stroke number of compound motion Flowchart showing selection processing of normal rotation table and reverse rotation table according to the first and second embodiments. FIGS. 2A and 2B show (a) the relationship between the first motion processing end position and the number of strokes and the second motion processing start position and the number of strokes, and (b) an interpolation table pattern. The figure which shows the pattern of the interpolation table of Example 1,2. The figure which shows the pattern of the interpolation table of Example 1,2. The figure which shows the pattern of the interpolation table of Example 1,2. The figure which shows the structure of the metal mold | die press apparatus of Example 2.

[Embodiment 1]
<Explanation of die press device>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic view of a die press apparatus (hereinafter abbreviated as a press apparatus) S according to the first embodiment. The press device S includes a drive motor 4, a transmission mechanism 6, a crankshaft 8, a connecting rod 10, and a slide 12 inside and outside the housing 2. The press apparatus S includes a controller 14, a display screen 16, an input device (input means) 18, and a storage unit 15. The input device 18 is provided with a port for inserting a non-volatile memory 17 such as a memory card. The controller 14 can read information from the non-volatile memory 17 and write the read information to the storage unit 15.

  The drive motor 4 is a servomotor that is servo-controlled, for example, and moves the mold 20 (described later) up and down via the transmission mechanism 6, the crankshaft 8, and the connecting rod 10 while controlling the amount and direction of rotation. The transmission mechanism 6 includes a transmission member such as a gear or a belt, and transmits the rotation of the motor shaft of the drive motor 4 to the crankshaft 8. A control signal to the drive motor 4 is sent from the controller 14.

  The crankshaft 8 and the connecting rod 10 are for converting the rotational movement of the motor shaft transmitted by the transmission mechanism 6 into a reciprocating movement (up and down movement in the first embodiment). The crankshaft 8 is rotated by the rotation of the motor shaft, and the rotation is transmitted to the connecting rod 10 connected in the vicinity of one end of the crankshaft 8 so that the connecting rod 10 moves up and down (moves up and down).

  A slide 12 is connected to the vicinity of the other end of the connecting rod 10. As the connecting rod 10 moves up and down, the slide 12 moves up and down along a guide (not shown). The slide 12 faces the bolster 22. In the press device S, a bolster 22 is disposed so as to face the slide 12. A mold mounting portion 12a is disposed on the surface of the slide 12 facing the bolster 22 (the lower surface in the first embodiment), and the upper mold 20a as a part of the mold 20 is mounted on the mold mounting portion 12a. Is done. A mold mounting portion 22a is disposed on the surface of the bolster 22 facing the slide 12 (the upper surface in the first embodiment). A lower mold 20b as a part of the mold 20 is disposed on the mold mounting portion 22a. Installed.

  By placing a workpiece (object) W as a processing target between the upper mold 20a and the lower mold 20b and pressing the workpiece with the upper mold 20a and the lower mold 20b, the press apparatus S can press the workpiece W. Done. Specifically, the drive motor 4 rotates under the control of the controller 14. The rotation of the drive motor 4 is transmitted to the connecting rod 10 via the transmission mechanism 6 and the crankshaft 8, and the slide 12 moves up and down. The upper mold 20a and the lower mold 20b are pressed by the downward movement of the slide 12, and the workpiece W is pressed. That is, in the press device S, the drive motor 4, the transmission mechanism 6, the crankshaft 8, the connecting rod 10, and the slide 12 constitute a press portion. The transmission mechanism 6 is provided with a rotary encoder 25 for detecting the rotational speed of the drive motor 4.

  The display screen 16 is used for displaying the operating status of the press apparatus S, setting parameters, and the like. The display screen 16 is configured by, for example, a liquid crystal monitor, an LED display device, a CRT, or the like. The input device 18 is for inputting an operation command (for example, ON, OFF, etc.) of the press device S, setting parameters, and the like. The input device 18 is configured by, for example, a keyboard, buttons, switches, a touch panel, and the like. Both the display screen 16 and the input device 18 are connected to the controller 14. Information input from the input device 18 is sent to the controller 14, and the display screen 16 displays information based on the display information sent from the controller 14.

<Block diagram of press machine>
FIG. 2 is a block diagram of the press apparatus S. The controller 14 controls the drive motor 4. The controller 14 is also connected to the display screen 16 and the input device 18. The controller 14 can read information from the nonvolatile memory 17 through the port of the input device 18 and write it to the storage unit 15. The rotary encoder 25 detects the rotational speed of the output shaft (not shown) of the drive motor 4 and outputs the detected result to the controller 14. The controller 14 controls the drive motor 4 based on the detection result by the rotary encoder 25.

<Crankshaft and slide>
FIG. 3 schematically shows the rotational motion of the crankshaft 8 around the rotational shaft of the crankshaft 8 and the vertical motion of the slide 12 connected to the crankshaft 8 via the connecting rod 10 and performing vertical motion. FIG. One stroke is one rotation of the crankshaft 8, that is, 360 °, and the rotation speed of the crankshaft 8 can be expressed by the number of strokes S. The unit of the number of strokes (spm (stroke per minute)) is min− ¹ , and one stroke (1 spm) is 6 ° / s.

  The crankshaft 8 is rotated in the right direction (clockwise direction) in FIG. 3 by the drive motor 4 and from the top dead center to the top dead center through the start angle, machining start angle, bottom dead center, machining end angle, and stop angle. And return. When the crankshaft 8 reaches the stop angle, the slide 12 reaches the same position as when the crankshaft 8 is located at the start angle. Therefore, the stop angle may be referred to as the start angle. Further, the stop angle here is not an angle at the time of temporary stop during the processing, but an angle after the processing is completed. The rotational movement of the crankshaft 8 is converted into the vertical movement of the slide 12. For this reason, the crankshaft 8 start angle is set to the slide 12 start position, the crankshaft 8 processing start angle is set to the slide 12 processing start position, and the crankshaft 8 processing end angle is set to the slide 12 processing end position. The stop angle of the shaft 8 corresponds to the stop position of the slide 12, respectively. The motion of the press device S includes an approach area Ar from the start position to the machining start position, a machining area Br from the machining start position to the machining end position, and a return area Cr from the machining end position to the stop position in one stroke. Including. Each region is shown in FIG.

  In the press device S, a target position, a moving speed (number of rotations), and a stop time at the target position are set from several points to several tens of points in one stroke, and various operations can be performed by connecting each point. Has been. For operations that are frequently used and operations that have a large number of points (such as repetitive operations), a setting screen for each operation pattern and a calculation module for generating a table for performing the operation (hereinafter referred to as arithmetic logic) Prepared in advance. The calculation module here refers to a program such as a subroutine. Thereby, the motion of the press apparatus S can be set easily. Information on the setting screen and arithmetic logic are stored in the storage unit 15. FIG. 4 is a diagram showing a setting screen for a predetermined operation prepared in advance. For example, the storage unit 15 stores setting screens such as crank motion, sequential motion, coining motion, and program motion, and arithmetic logic. The sequential motion is an operation of lowering the slide 12 as a whole while repeating the operation of lowering the slide 12 and returning it slightly upward.

  For example, when the crank motion setting is called using the input device 18, the crank motion setting screen is displayed on the display screen 16. When parameters as shown in Table 1 are input using the input device 18, the controller 14 performs calculations according to the crank motion calculation logic using the input parameters to control the drive motor 4. A storage table (hereinafter simply referred to as a table) storing the procedure of the operation is generated. The controller 14 functions as a storage table generation unit. Table 1 is a table showing the set values of the crank motion. For example, the start position, the approach stroke number, the machining start position, the machining stroke number, the machining end position, and the like are set.

  Further, the press device S is provided with a program motion in which various data are input at an arbitrary set point by the user. In the program motion, set points are prepared from P1 to Pn, for example, and the position of each set point, the number of strokes, the stop time, and the like can be set by the user. The controller 14 performs a calculation according to the calculation logic of the program motion using the values sequentially input from P1, and generates a table for controlling the drive motor 4. Table 2 is a table showing each set point of the program motion and parameters (position, number of strokes, stop time, etc.) at each set point.

  The controller 14 can also generate a table that combines two or more different motions. The controller 14 functions as a synthesis table generation unit. For example, a table of newly synthesized motion (hereinafter referred to as synthesized motion) as shown in Table 3 can be generated by synthesizing the crank motion and the program motion.

  Table 3 shows the combination of two motions, No. 0 to No. It is a table | surface which shows that a target angle, the number of strokes, movement time, and stop time are set to each point to M, respectively. The controller 14 stores the generated synthesized motion table in No. The drive motor 4 is controlled by referring sequentially from 1.

  The controller 14 can control the rotation direction of the drive motor 4. For this reason, the controller 14 according to the first embodiment has a table (hereinafter referred to as a reverse rotation table) when the drive motor 4 is rotated forward with respect to one motion and a table (hereinafter referred to as a normal rotation table) when rotated reversely. Are generated and stored in the storage unit 15.

<Generate normal motion table>
Generation of a normal motion table (hereinafter referred to as normal motion) that does not generate an interpolation table, which will be described later, will be described. FIG. 5 is a diagram for explaining normal motion table generation by the controller 14. For example, a case will be described in which a composite motion table is generated in which a program motion (second processing) as a second motion is executed after a crank motion (first processing) as a first motion.

  With the crank motion setting screen and the program motion setting screen described with reference to FIG. 4, the respective motion setting values (Tables 1 and 2) are input by the input device 18. The controller 14 generates a synthesized motion table (Table 3) from each motion table according to the arithmetic logic prepared for each motion using the input set value. The controller 14 operates the drive motor 4 according to the crank motion table, and then operates the drive motor 4 according to the program motion table.

  In the normal motion, when the processing of the first motion is completed, the controller 14 causes the drive motor 4 to rotate the crankshaft 8 to the starting angle of the second motion through the starting angle and the top dead center after finishing the processing. .

<Composite motion table generation>
The composite motion of Embodiment 1 will be described. When the composite motion table of the first embodiment is generated from a plurality of motions, the plurality of motions are registered in advance in the order in which they are to be operated. For example, the controller 14 displays a group registration screen (not shown) on the display screen 16 and registers a plurality of motions in the order of operation. The controller 14 also functions as a registration unit. Table 4 shows an example in which the number of synthesis is N and N motions are registered as a group. The motion sequence is as follows: first motion → second motion →... → nth motion →. Note that n is an integer from 1 to N, and N is an integer of 2 or more. For example, the group registration information and the nth motion are associated with the number assigned to the nth motion. Further, for example, the group registration information may be associated with the nth motion name (crank motion or the like). Table 4 shows a case where the group registration information is associated with the number (nth motion No.) assigned to each motion.

  FIG. 6 is a diagram for explaining the composite motion table generation by the controller 14. For example, a group registration is performed so that a program motion (second motion) is executed next to a crank motion (first motion) (N = 2), and a composite motion table of crank motion and program motion is generated. explain.

  With the crank motion setting screen and the program motion setting screen described with reference to FIG. 4, the respective motion setting values (Tables 1 and 2) are input by the input device 18. The controller 14 generates a crank motion table according to the arithmetic logic prepared for the crank motion using the set value input for the crank motion. At this time, the controller 14 includes the normal rotation table A and the reverse rotation table A ′ corresponding to the approach area Ar, the normal rotation table B and the reverse rotation table B ′ corresponding to the machining area, and the normal rotation table C corresponding to the return area, A reverse rotation table C ′ is generated. In addition, when there is no need to specify the rotation direction in particular, the controller 14 generates a normal rotation table and a reverse rotation table for other motions, although it is simply expressed as table A or the like.

  Further, the controller 14 generates a table of the program motion according to the arithmetic logic prepared for the program motion using the setting value input for the program motion. At this time, the controller 14 is a table A that is the first table corresponding to the approach area Ar, a table B that is the second table corresponding to the machining area, and a table that is the third table corresponding to the return area. C, respectively. As described above, in the first embodiment, when a table of predetermined motion is generated, the table is generated separately for the approach area Ar, the processing area Br, and the return area Cr.

  In the first embodiment, the controller 14 executes a calculation module (hereinafter referred to as interpolation logic) for generating interpolation data, which will be described later, and generates an interpolation table for smoothly connecting the crank motion and the program motion. As shown in FIG. 6, the controller 14 generates a composite motion table in the order of a crank motion table A, a crank motion table B, an interpolation table, a program motion table B, and a program motion table C. Thus, the controller 14 can smoothly connect the operation of the return area Cr of the crank motion and the approach area Ar of the program motion by replacing the table C of the crank motion and the table A of the program motion with the interpolation table.

<Operation of compound motion>
(First motion)
FIG. 7 is a diagram for explaining the table and operation of the composite motion generated by the controller 14 when the first motion and the second motion are registered as a group. FIG. 7A illustrates the first motion. FIG. 7A shows the time T on the horizontal axis and the stroke number S and the position P of the slide 12 on the vertical axis. In Fig.7 (a), a continuous line shows the number of strokes, ie, a speed diagram. A broken line indicates the position of the slide 12. The crankshaft 8 in the first motion is accelerated from the state in which the slide 12 is at the starting position Po1, reaches an equal speed when the predetermined speed is reached, and decelerates toward the machining start position Ps1. The crankshaft 8 operates at a predetermined constant speed from the state in which the position of the slide 12 is at the machining start position Ps1 to the machining end position Pe1. It operates at a constant speed faster than that, and decelerates toward the starting position Po1.

  When the machining operation is only the first motion, the controller 14 controls the drive motor 4 as follows. In FIG. 7A, the controller 14 controls the drive motor 4 using the first motion table A1 when the position P of the slide 12 is from the start position Po1 to the machining start position Ps1. In FIG. 7A, the controller 14 controls the drive motor 4 using the table B of the first motion in a section where the position P of the slide 12 is from the processing start position Ps1 to the processing end position Pe1. In FIG. 7A, the controller 14 controls the drive motor 4 using the table C of the first motion when the position P of the slide 12 is from the processing end position Pe1 to the start position Po1.

(Second motion)
FIG. 7B is a diagram for explaining the second motion, and the horizontal axis and the vertical axis are the same as those in FIG. The crankshaft 8 in the second motion is accelerated from the state in which the slide 12 is at the starting position Po2, reaches an equal speed when it reaches a predetermined speed, and decelerates toward the machining start position Ps2. Further, the crankshaft 8 once operates at a constant speed at a predetermined speed from the state where the position of the slide 12 is at the machining start position Ps2, and then is further decelerated and temporarily stopped. Thereafter, in a region where the number of strokes is negative, it indicates that the rotation of the drive motor 4 is reversed. The crankshaft 8 reversely rotates and accelerates, reaches a constant speed at a predetermined speed, decelerates again, stops, and returns to normal rotation. Thereafter, the crankshaft 9 is accelerated, operates at a constant speed when the predetermined speed is reached, and accelerates when the position of the slide 12 reaches the machining end position Pe2. Thereafter, the crankshaft 8 becomes equal speed at a predetermined speed, and decelerates toward the starting position Po2 of the slide 12. The crankshaft 8 stops when the slide 12 reaches the starting position Po2.

  When the machining operation is only the second motion, the controller 14 controls the drive motor 4 as follows. In FIG. 7B, the controller 14 controls the drive motor 4 using the table A of the second motion when the position P of the slide 12 is from the start position Po2 to the machining start position Ps2. In FIG. 7B, the controller 14 controls the drive motor 4 using the second motion table B in a section where the position P of the slide 12 is from the machining start position Ps2 to the machining end position Pe2. In FIG. 7B, the controller 14 controls the drive motor 4 using the second motion table C when the position P of the slide 12 is from the processing end position Pe2 to the start position Po2.

(Relationship between the position of the slide 12 and the angular position of the crankshaft 8)
FIG. 7C is a diagram showing the angular position of the crankshaft 8 in the first motion. FIG. 7D shows the angular position of the crankshaft 8 in the second motion. FIG. 7E is a diagram showing the angular position of the crankshaft 8 in the second motion, and FIG. 7D is a diagram in which the rotation direction of the crankshaft 8 is opposite. In the first embodiment, the clockwise direction in FIGS. 7C and 7D is the forward direction, the counterclockwise direction is the reverse direction, and the top dead center is 0 °. For this reason, the angle A ° during forward rotation is equal to the angle during reverse rotation (360 ° -A °). It should be noted that which rotation direction is the normal rotation direction and which position is the reference is not limited to the above-described example.

  In FIG. 7C, the starting angle Ao1 corresponds to the starting position Po1, the processing start angle As1 corresponds to the processing start position Ps1, the processing end angle Ae1 corresponds to the processing end position Pe1, and the start angle Ao1 ′ corresponds to the start position Po1. doing. In FIG. 7D, the starting angle Ao2 corresponds to the starting position Po2, the processing start angle As2 corresponds to the processing start position Ps2, the processing end angle Ae2 corresponds to the processing end position Pe2, and the start angle Ao2 ′ corresponds to the start position Po2. doing. The n-th motion is expressed as a start position Pon, a start angle Aon, a processing start position Psn, a processing start angle Asn, and the like.

(Operation combining 1st motion and 2nd motion)
The operation when the controller 14 synthesizes the first motion and the second motion and controls the drive motor 4 in accordance with the composite motion table of FIG. 6 will be described with reference to FIGS. 7C to 7F. FIG. 7F is a graph showing the position of the slide 12 and the number of strokes of the crankshaft 8 when the first motion and the second motion are combined. In FIG. 7F, the number of strokes in the composite motion of this embodiment is indicated by a solid line, and the position of the slide 12 is indicated by a broken line. For comparison with the present embodiment, the region of the table C for the first motion in the normal motion is indicated by a one-dot chain line, and the region of the table A for the second motion in the normal motion is indicated by a two-dot chain line. In the second motion in FIG. 7F, a reverse rotation table is used.

  When the first motion is started, the controller 14 controls the drive motor 4 according to the table A and the table B of the first motion. Thereby, the slide 12 moves from the starting position Po1 to the processing end position Pe1 via the processing start position Ps1. At this time, as shown in FIG. 7C, the angular position of the crankshaft 8 becomes the machining end angle Ae1 through the bottom dead center.

  In the first embodiment, as described with reference to FIG. 6, the controller 14 generates an interpolation table instead of the first motion table C and the second motion table A. For this reason, the controller 14 controls the drive motor 4 according to the interpolation table in the section from the processing end position Pe1 (processing end angle Ae1) of the first motion to the processing start position Ps2 (processing start angle As2) of the second motion. . The interpolation table will be described later.

  The controller 14 controls the drive motor 4 in accordance with the interpolation table, and then starts from the machining start position Ps2 (machining start angle As2) of the second motion through the machining end position Pe2 (machining end angle Ae2) to the starting position Po2 (starting angle Ao2 ′). ). At this time, the controller 14 controls the drive motor 4 in accordance with the reverse table B ′ and the reverse table C ′ of the second motion. In addition, when the start position Po1 of the first motion is different from the start position Po2 (PoN) after finishing the processing of the second motion, which is the final motion (Nth motion), the controller 14 The table C of the return area of the final motion is recalculated so that the start position PoN ends at the start position Po1 of the first motion, that is, the start position PoN is substantially the same position as the start position Po1.

The reverse rotation table B ′ and the reverse rotation table C ′ are obtained by inverting the normal rotation table B and the normal rotation table C in both the angular position and the number of strokes, and FIG. 7E reverses FIG. 7D. Corresponds to what is illustrated. The angle A ′ and the stroke number S ′ of the reverse rotation table have the following relationship with the angle A and the stroke number S of the normal rotation table.
A ′ = 360 (°) −A
S ′ = − 1 × S
(Forward / reverse table selection process)

  FIG. 7 shows an example in which the controller 14 controls the drive motor 4 using a reverse rotation table in the second motion. In the n-th motion performed after the (n-1) -th motion, which of the normal rotation table and the reverse rotation table is selected depends on the machining end angle Ae (n-1) of the (n-1) -th motion. It is determined according to whether it is above the bottom dead center (180 °) or not exceeding the bottom dead center (less than 180 °).

  FIG. 8 is a flowchart for explaining the selection process of the normal rotation table and the reverse rotation table. The controller 14 executes the processing after step 101 (hereinafter referred to as S) 101 when generating the composite motion table. In S101, the controller 14 initializes a variable n indicating the order of the plurality of motions registered in the group (n = 1). In S102, the controller 14 determines whether or not the variable n is 2 or more. If the controller 14 determines that the variable n is not 2 or more (n = 1), the process proceeds to S103, and the variable n is 2 or more. If it is determined, the process proceeds to S104. In S103, the controller 14 selects a normal rotation table as the first motion table, and advances the process to S107.

  In S104, the controller 14 determines whether or not the machining end angle Ae (n-1) of the (n-1) th motion is 180 ° or more. If the reverse rotation table is selected in the (n−1) th motion, the controller 14 determines whether or not the processing end angle Ae (n−1) ′ is 180 ° or more.

  If the controller 14 determines in S104 that the processing end angle Ae (n-1) (or Ae (n-1) ') of the (n-1) th motion is 180 ° or more, the process proceeds to S105. In S105, the controller 14 selects a reverse rotation table as a table used for the n-th motion, and advances the process to S107. If the controller 14 determines in S104 that the processing end angle Ae (n−1) (or Ae (n−1) ′) is less than 180 °, the process proceeds to S106. In S106, the controller 14 selects a normal rotation table as a table used for the n-th motion, and advances the process to S107.

  In S107, the controller 14 determines whether or not the variable n is N or more. If it is determined that the variable n is N or more, the process ends. If the controller 14 determines in S107 that the variable n is less than N, the process proceeds to S108. In S108, the controller 14 adds 1 to the variable n (n = n + 1), and returns the process to S102.

  Thus, when the controller 14 generates a table for performing the second motion in the synthesis table, the angular position when the first motion is finished is upstream of the bottom dead center in the rotation direction of the first motion. The forward rotation table is used when it is on the side, and the reverse rotation table is used when the angular position when the first motion is finished is at the bottom dead center or the downstream side in the rotation direction of the first motion. To generate a synthesis table.

<Generation of interpolation table>
An interpolation table generation process used to control the drive motor 4 from the machining end angle Ae (n-1) of the (n-1) th motion to the machining start angle Asn of the nth motion will be described. FIG. 9 is a diagram for explaining generation of an interpolation table by the controller 14. Here, symbols used in the description are defined as follows.

A1: Processing end angle Ae (n-1) of the (n-1) th motion
S1: Number of strokes at the end of machining of the (n-1) th motion A2: Machining start angle Asn of the nth motion
S2: Number of strokes at the start of machining of the nth motion ΔA: Angular difference (= | A2-A1 |)
Δa 1: an angle at which the crankshaft 8 moves when shifting from 0 to S1 or from S1 to 0 (hereinafter referred to as a shifting angle) (= (S1) ² / (2α))
Δa2: angle at which the crankshaft 8 moves when shifting from 0 to S2 or from S2 to 0 (shifting angle) (= (S2) ² / (2α))
α: Acceleration (deceleration)

  FIG. 9A is a diagram illustrating A1, A2, S1, S2, and ΔA in the rotation of the crankshaft 8. FIG. That is, the black circle in FIG. 9A indicates the machining end angle A1 of the (n-1) th motion, and the number of strokes at the machining end angle A1 is S1. The white circle in FIG. 9A indicates the machining start angle A2 of the nth motion, and the number of strokes at the machining start angle A2 is S2. The controller 14 generates an interpolation table based on the relationship between the angle A1 and the angle A2 and the relationship between the stroke number S1 and the stroke number S2.

  Hereinafter, [1] to [12] in FIG. 9B, which are patterns for generating the interpolation table, will be described. The graph shown in FIG. 9B shows time T on the horizontal axis and the number of strokes S on the vertical axis, and is the same graph as the velocity diagram in FIG. Corresponds to the angle (shift angle) by which the crankshaft 8 has moved.

[1] When A1 = A2 and S1 = S2 = 0 The controller 14 does not generate an interpolation table. The controller 14 generates a composite motion table in the order of the (n-1) th motion table A, the (n-1) th motion table B, the nth motion table B, and the nth motion table C. To do.

[2] When A1 = A2, S1 = 0, and S2 ≠ 0 The controller 14 stops the machining start angle of the nth motion from the state stopped at the machining end angle A1 of the (n−1) th motion (S1 = 0). The interpolation table is generated so that the area of the trapezoid in the forward rotation portion is Δa2 and the area of the triangle in the reverse rotation portion is Δa2 so that the number of strokes is S2 in A2.

[3] When A1 = A2, S1 ≠ 0, S2 = 0 The controller 14 determines the machining start angle A2 of the nth motion from the machining end angle A1 of the (n−1) th motion whose stroke number is S1. The interpolation table is generated so that the triangle area of the forward rotation portion is Δa1 and the trapezoid area of the reverse rotation portion is Δa1 so that the number of strokes becomes zero.

[4] When A1 = A2, S1 ≠ 0, S2 ≠ 0 In this case, the controller 14 generates an interpolation table according to the relationship between the stroke number S1 and the stroke number S2, as shown in FIG.

[4-1] In the case of S1> S2 (Δa1> Δa2) The controller 14 changes the machining start angle A2 of the nth motion from the machining end angle A1 of the (n−1) th motion whose stroke number is S1. The interpolation table is set so that the area of the triangle of the forward rotation portion is Δa1, the area of the triangle of the reverse rotation portion is Δa2, and the area of the square of the reverse rotation portion is (Δa1−Δa2) so that the number of strokes is S2. Generate.

  Note that when S1 = S2, Δa1 = Δa2, and therefore the controller 14 generates an interpolation table so that the area of the square of the reverse rotation portion in [4-1] becomes 0 ([4-2 ]).

[4-3] When S1 <S2 (Δa1 <Δa2) The controller 14 changes the machining start angle A2 of the nth motion from the machining end angle A1 of the (n−1) th motion whose stroke number is S1. The interpolation table is set so that the square area of the forward rotation part is (Δa2−Δa1), the area of the triangle of the forward rotation part is Δa1, and the area of the triangle of the reverse rotation part is Δa2 so that the number of strokes is S2. Generate.

[5] When A1 <A2 and S1 = S2 = 0 The controller 14 stops at the machining end angle A1 of the (n-1) th motion (S1 = 0), and then starts at the machining start angle A2 of the nth motion. The interpolation table is generated so that the trapezoidal area of the forward rotation portion is ΔA so that the stop (S2 = 0) state is obtained.

[6] When A1 <A2, S1 = 0, and S2 ≠ 0 The controller 14 has stopped at the processing end angle A1 of the (n−1) th motion (S1 = 0), and has started the processing start angle of the nth motion. The interpolation table is generated so that the trapezoidal area of the forward rotation portion is (ΔA + Δa2) and the triangular area of the reverse rotation portion is Δa2 so that the number of strokes is S2 at A2.

[7] When A1 <A2, S1 ≠ 0, S2 = 0 ・ When ΔA <Δa1 (solid line)
The controller 14 rotates forward from the machining end angle A1 of the (n-1) th motion whose stroke number is S1 to a state where it stops at the machining start angle A2 of the nth motion (S2 = 0). The interpolation table is generated so that the area of the triangle of the part is Δa1 and the area of the trapezoid of the reverse rotation part is (Δa1−ΔA).

・ When ΔA ≧ Δa1 (broken line)
The controller 14 rotates forward from the machining end angle A1 of the (n-1) th motion whose stroke number is S1 to a state where it stops at the machining start angle A2 of the nth motion (S2 = 0). The interpolation table is generated so that the area of the trapezoid of the part becomes ΔA.

[8] When A1 <A2, S1 ≠ 0, S2 ≠ 0 In this case, the controller 14 generates an interpolation table in accordance with the relationship of ΔA, Δa1, and Δa2, as shown in FIG.

When ΔA ≧ Δa1−Δa2 The controller 14 makes the stroke number S2 at the machining start angle A2 of the nth motion from the machining end angle A1 of the (n−1) th motion whose stroke number is S1. Further, the interpolation table is generated so that the square area of the forward rotation portion is a predetermined area, the triangle area of the forward rotation portion is Δa1, and the triangle area of the reverse rotation portion is Δa2.

The area of the square of the forward rotation portion is as follows according to S1, S2, and ΔA.
When S1> S2 (Δa1> Δa2) and ΔA ≧ (Δa1−Δa2), the controller 14 generates an interpolation table so that the square area of the forward rotation portion is (ΔA−Δa1 + Δa2) ([8− 1]).
When S1 = S2 (Δa1 = Δa2), the controller 14 generates an interpolation table so that the square area of the forward rotation portion is ΔA ([8-2]).
In the case of S1 <S2 (Δa1 <Δa2), the controller 14 generates an interpolation table so that the square area of the positive rotation portion is (ΔA + Δa2−Δa1) ([8-3]).
[8-1] to [8-3] are basically the same pattern.

In the case of S1> S2 and (ΔA <Δa1-Δa2), the controller 14 strokes at the machining start angle A2 of the nth motion from the machining end angle A1 of the (n-1) th motion where the number of strokes is S1. The interpolation table so that the area of the triangle of the forward rotation part is Δa1, the area of the triangle of the reverse rotation part is Δa2, and the area of the square of the reverse rotation part is (Δa1−ΔA−Δa2) so that the number is S2. ([8-4]).

[9] In the case of A1> A2 and S1 = S2 = 0 The controller 14 stops at the machining end angle A1 of the (n-1) th motion (S1 = 0), and then starts at the machining start angle A2 of the nth motion. An interpolation table is generated so that the trapezoidal area of the reverse rotation portion is ΔA so that the state is stopped (S2 = 0).

[10] When A1> A2, S1 = 0, S2 ≠ 0 When ΔA <Δa2 (solid line)
From the state where the controller 14 is stopped at the machining end angle A1 of the (n-1) th motion (S = 0), the forward rotation portion is set so that the stroke number becomes S2 at the machining start angle A2 of the nth motion. The interpolation table is generated so that the area of the trapezoid is (Δa2−ΔA) and the area of the triangle of the reverse rotation portion is Δa2.

・ When ΔA ≧ Δa2 (broken line)
The controller 14 moves from the state stopped at the processing end angle A1 of the (n-1) th motion (S = 0), so that the number of strokes becomes S2 at the processing start angle A2 of the nth motion. The interpolation table is generated so that the area of the trapezoid of becomes ΔA.

[11] When A1> A2, S1 ≠ 0, S2 = 0 The controller 14 determines the machining start angle A2 of the nth motion from the machining end angle A1 of the (n−1) th motion whose stroke number is S1. The interpolation table is generated so that the area of the triangle of the forward rotation portion is Δa1 and the area of the trapezoid of the reverse rotation portion is (Δa1 + ΔA) so that the state is stopped (S2 = 0).

[12] When A1> A2, S1 ≠ 0, S2 ≠ 0 In this case, the controller 14 generates an interpolation table according to the relationship of ΔA, Δa1, and Δa2, as shown in FIG.

  The controller 14 determines the triangular shape of the forward rotation portion so that the stroke number becomes S2 at the machining start angle A2 of the nth motion from the machining end angle A1 of the (n-1) th motion whose stroke number is S1. The interpolation table is generated such that the area is Δa1, the triangular area of the reverse rotation portion is Δa2, and the square area of the reverse rotation portion is a predetermined area.

The area of the square of the reverse rotation portion is as follows according to S1, S2, and ΔA.
When S1 <S2 (Δa1 <Δa2) and ΔA ≧ (Δa2−Δa1), the controller 14 generates an interpolation table so that the square area of the reverse rotation portion is (ΔA + Δa1−Δa2) ([12− 1]).
When S1 = S2 (Δa1 = Δa2), the controller 14 generates an interpolation table so that the square area of the reverse rotation portion is ΔA ([12-2]).
In the case of S1> S2 (Δa1> Δa2), the controller 14 generates an interpolation table so that the square area of the reverse rotation portion is (Δa1−Δa2 + ΔA) ([12-3]).
[12-1] to [12-3] are basically the same pattern.

[12-4] When S1 <S2 and (ΔA <Δa2-Δa1) The controller 14 starts machining the n-th motion from the machining end angle A1 of the (n-1) -th motion whose stroke number is S1. The square area of the forward rotation portion is (Δa2−Δa1−ΔA), the area of the triangle of the forward rotation portion is Δa1, and the area of the triangle of the reverse rotation portion is Δa2 so that the number of strokes is S2 at the angle A2. Then, an interpolation table is generated.

  As described above, the controller 14 determines the machining end angle Ae (n-1) of the (n-1) th motion and the number of strokes at the end of machining, the machining start angle Asn of the nth motion, and the number of strokes at the start of machining. Based on the above, an interpolation table is generated.

  When the controller 14 generates an interpolation table and controls the drive motor 4 according to the interpolation table, as shown in FIG. 7 (f), the processing end angle Ae (n-1) of the (n-1) th motion is The machining start angle Asn of n motion can be shifted in a shorter time compared to the case where the control indicated by the one-dot chain line and the two-dot chain line without using the interpolation table is performed.

  As described above, according to the first embodiment, it is possible to easily set an optimal composite motion for a mold when performing a plurality of processing within one stroke, and to reduce unnecessary operations that do not contribute to processing between motions. It is possible to provide a method for controlling a mold press apparatus and a mold press apparatus.

[Embodiment 2]
In the first embodiment, the controller 14 of the press apparatus S generates an interpolation table. In the second embodiment, a configuration will be described in which a control unit of an external device such as a personal computer functions as a storage table generation unit and a synthesis table generation unit to generate an interpolation table.

  FIG. 13 is a diagram illustrating a system that generates a composite motion table and performs processing by the press device S according to the generated composite motion table. The same reference numerals are given to the same components as those described in FIG. The description is omitted. In the second embodiment, a composite motion table is generated by an external device D such as a notebook personal computer. The external device D has a display screen 116, an input device 118, a CPU 114a, and a memory 114b. The compound motion interpolation table generation method and normal rotation table / reverse table selection processing by the CPU 114a are the same as the interpolation table generation method and normal rotation table / reverse table selection processing by the controller 14 of the first embodiment. Description is omitted.

  The information of the composite motion table including the interpolation table generated by the external device D is stored in, for example, the nonvolatile memory 17. The controller 14 of the press device S reads information on the composite motion table including the interpolation table from the nonvolatile memory 17 inserted in the input port of the input device 18 and stores the information in the storage unit 15. The controller 14 controls the drive motor 4 according to the composite motion table stored in the storage unit 15 and executes the processing.

  As described above, according to the second embodiment, it is possible to easily set an optimal composite motion for a mold when performing a plurality of processes within one stroke, and to reduce unnecessary operations that do not contribute to the process between the motions. It is possible to provide a method for controlling a mold press apparatus and a mold press apparatus.

D: External device W: Work piece 4: Drive motor 6: Transmission mechanism 8: Crankshaft 10: Connecting rod 12: Slide 12a: Mold mounting part 14: Controller 15: Storage part 16: Display screen 17: Non-volatile memory 18: Input Device 20: Mold 20a: Upper mold 20b: Lower mold 22: Bolster 22a: Mold mounting part 25: Rotary encoder 114a: CPU
114b: Memory 116: Display screen 118: Input device

Claims (8)

Driving means;
A slide that moves a mold for processing an object up and down;
A connecting rod for moving the slide up and down;
A crankshaft that is rotated by the drive means and transmits the power of the drive means to the slide via the connecting rod;
A mold press device for processing the object,
Storage table generating means for generating a storage table storing a procedure of operation for controlling the driving means;
A synthesis table generating means for generating a synthesis table for performing a process in which a plurality of processes are combined;
Control means for controlling the driving means in accordance with the storage table generated by the storage table generation means or the synthesis table generated by the synthesis table generation means;
With
The synthesizing table generating means generates the synthesizing table for synthesizing the first machining and the second machining different from the first machining, and the crankshaft performs the first machining. Generating an interpolation table while moving from the angular position at the end to the angular position at the time of starting the second machining performed following the first machining;
The control means controls the driving means according to the interpolation table while the crankshaft moves from an angular position when the first machining is completed to an angular position when the second machining is started. A die press machine characterized by the above. The synthesis table generation means includes
When generating the table for performing the second machining in the composite table, the angular position when the first machining is finished is upstream from the bottom dead center in the rotation direction of the first machining. When using the table of the rotation direction,
When the angular position when the first machining is finished is the bottom dead center in the rotational direction or the downstream side of the bottom dead center, use a table in the rotational direction opposite to the rotational direction. The die press apparatus according to claim 1, wherein the synthesis table is generated.   The synthesis table generating means is based on the angular position and the number of strokes of the crankshaft when the first machining is completed and the angular position and the number of strokes of the crankshaft when the second machining is started. The die press apparatus according to claim 2, wherein the interpolation table is generated.   When the composite table is generated, when the composite table is generated, with respect to a predetermined process included in the plurality of processes, from the start of rotation of the crankshaft to the start of the predetermined process A first table for controlling the driving means; a second table for controlling the driving means from the start of the predetermined machining to the end of the predetermined machining; and the predetermined machining 4. The third table for controlling the drive means from when the crankshaft is stopped to when the crankshaft is stopped is generated. 5. Mold press machine.   The synthesis table generating means generates the synthesis table for performing the synthesis process for performing the second process after the first process, and the first table for the first process, Generating the composite table having a second table for first processing, the interpolation table, a second table for second processing, and a third table for second processing The mold press apparatus according to claim 4, wherein: When synthesizing a plurality of processes, the apparatus includes a registration unit for registering the plurality of processes in one group in the order in which the processes are performed.
6. The composite table generation unit generates a composite table for performing a composite process composed of the plurality of processes in the order registered by the registration unit. The mold press apparatus of Claim 1.   When the synthesis table generating means generates the synthesis table by synthesizing N processes, the position at which the slide starts to move and the N-th process are completed in the first process. The die press apparatus according to any one of claims 1 to 6, wherein the synthesis table is generated so that a position at which the slide stops is substantially the same position. A drive means, a slide for moving the mold for processing the object up and down, a connecting rod for moving the slide up and down, and the drive means to rotate the power of the driving means to the slide via the connecting rod A method of controlling a die press apparatus that performs processing on the object,
The die press apparatus includes a storage table generation unit that generates a storage table that stores an operation procedure for controlling the driving unit, and a composite table that generates a composite table for performing a process in which a plurality of processes are combined. Table generating means, and control means for controlling the driving means in accordance with the storage table generated by the storage table generating means or the synthesis table generated by the synthesis table generating means,
The crankshaft ends the first machining when the synthesis table generating means generates a synthesis table for performing a synthesis process in which the first process and a second process different from the first process are synthesized. A generation step of generating an interpolation table during the movement from the angular position at the time to the angular position at the time of starting the second machining performed following the first machining;
A control step of controlling the driving means according to the interpolation table while the crankshaft moves from the angular position when the crankshaft has finished the first machining to the angular position when the second machining is started. And a method for controlling a die press apparatus.

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