JP4720034B2 - Press transfer control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a press transfer control device.
[0002]
[Prior art]
In general, a press transfer device is configured by a plurality of press stages and a transfer device for conveying a pressed workpiece, and is a device that realizes a plurality of continuous pressing processes with a single machine.
[0003]
FIG. 7 shows an example of a servomotor-driven press transfer device. The operation principle of the press transfer device is that the main motor 1 first drives the flywheel 2 to accumulate kinetic energy. The flywheel 2 is connected to the press crankshaft 4 via a clutch (not shown) and drives it. The press crankshaft 4 is connected to a plurality of press slide drive mechanisms 3. The press slide drive mechanism 3 incorporates a crank mechanism that converts rotational motion into vertical motion, and moves the press slide 5 up and down. By this vertical movement, the press slide 5 presses a workpiece (not shown) with the lower die 6.
[0004]
The pressed work must be conveyed to the next stage while the press slide 5 is raised, which is realized by a servo control system as shown in FIG.
[0005]
Since the vertical movement of the press slide 5 is a movement generated by mechanically converting the rotational movement of the press crankshaft 4, the vertical position of the press slide 5 is synchronized with the rotational angle of the press crankshaft 4. Therefore, first, the rotation angle of the press crankshaft 4 is detected by the press crank angle detector 7. The press crank angle detector 7 uses a sensor such as an optical encoder or a magnetic resolver.
[0006]
The detected rotation angle of the press crankshaft 4 is sent to the transfer control device 8. The transfer control device 8 is a calculation device that outputs a target trajectory for transporting a workpiece. A target trajectory generator 101 is built in the transfer control device 8, and the target trajectory does not interfere with the movement of the press slide 5 and the movement of the conveying device corresponding to the rotation angle of the press crankshaft 4. Arithmetic function to output the trajectory is provided.
[0007]
The target trajectory output by the transfer control device 8 is sent to the feed motor servo control device 9, the lift motor servo control device 10, and the clamp motor servo control device 11 for each independent direction axis.
[0008]
The feed motor servo control device 9 drives the feed motor 12 according to the sent target trajectory. The feed motor 12 drives the rotary-linear motion converter 14 via the speed reducer 13. The rotation-linear motion converter 14 converts the rotational motion of the feed motor 12 into linear motion by a rack and pinion mechanism or the like. The linear motion side of the rotation-linear motion converter 14 is connected to the feed bar 15 and drives the feed bar 15 in the horizontal front-rear direction.
[0009]
Similarly, the lift motor servo control device 10 drives the lift motor 16 in accordance with the sent target trajectory. The lift motor 16 drives the clamp housing 18. The clamp housing 18 has a built-in mechanism for converting a rotational motion such as a rack and pinion mechanism into a linear motion, and converts the rotational motion of the lift motor 16 into a linear motion. A linear motion drive mechanism from the clamp housing 18 is also connected to the feed bar 15 and drives the feed bar 15 vertically and vertically.
[0010]
Similarly, the clamp motor servo control device 11 drives the clamp motor 17 in accordance with the sent target trajectory. The clamp motor 17 drives the clamp housing 18. In addition to the lift mechanism, the clamp housing 18 incorporates a mechanism that converts rotational motion into linear motion, and converts the rotational motion of the clamp motor 17 into linear motion. The converted linear motion driving force drives the feed bar 15 in the horizontal opening and closing direction.
[0011]
The apparatus illustrated in FIGS. 7 and 8 is a three-dimensional press transfer apparatus, and operates a single feed bar 15 in three directions orthogonal to a feed shaft, a lift shaft, and a clamp shaft. FIG. 9 shows an example of the transport path of the feed bar 15.
[0012]
When the press slide 5 passes the bottom dead center and one press process is completed, first, the clamp shaft moves the feed bar 15 in the clamping direction. A tool (not shown) for gripping the workpiece is attached to the feed bar 15 and grips the pressed workpiece when the movement in the clamping direction is completed. When gripping is completed, the feed bar 15 moves the lift shaft in the up direction. When the movement in the up direction is completed, the feed bar 15 moves the feed shaft in the advance direction. The advance direction is a direction in which the workpiece is sent to the next process of the press. When the movement in the advance direction is completed, the feed bar 15 moves the lift shaft in the down direction. This is an operation of placing the workpiece on the lower die 6 of the next press. When the movement in the down direction is completed, the gripping tool releases the workpiece and completes the movement of the workpiece. Next, the feed bar 15 moves the clamp shaft in the unclamping direction. This is an operation for retracting the press slide 5 and the gripping tool so as not to interfere with each other. When the movement in the unclamping direction is finished, the feed bar 15 now moves the feed shaft in the return direction. This is an operation of returning to the previous pressing step for the next transport operation. The press slide 5 presses the workpiece during this return operation. The press transfer device periodically executes this series of conveying operations in synchronization with the angle of the press crankshaft 4.
[0013]
FIG. 10 shows an example of the target trajectory output from the target trajectory generator 101 in order to realize the transport trajectory of the feed bar 15 as shown in FIG. The horizontal axis is the angle of the press crankshaft 4 input to the target trajectory generator 101, and the vertical axis is the coordinates of the target trajectory output for each axis. By associating the angles with the coordinates, the feed bar 15 operates in synchronization with the angle of the press crankshaft 4. The angles of the press crankshaft 4 are shown with the top dead center being 0 degrees (360 degrees) and the bottom dead center being 180 degrees.
[0014]
[Problems to be solved by the invention]
By the way, in the vicinity of the bottom dead center where the press slide 5 presses the workpiece, vibration in the rotational direction is generated in the press crankshaft 4 due to an impact when the workpiece is pressed. This vibration component naturally disappears due to mechanical damping, but when the press crank angle passes the bottom dead center, it is detected by the press crank angle detector 7 and sent to the transfer control device 8.
[0015]
When a press crank angle including a vibration component is input to the target trajectory generator 101, the output target trajectory also includes a vibration component. In the example of the target trajectory shown in FIG. 10, when the press crank angle on the horizontal axis vibrates near the bottom dead center (180 degrees), the feed shaft target position during the return operation also vibrates.
[0016]
This is because the target trajectory vibrates, and the feed motor servo control device 9 also controls the feed motor 12 to follow the vibration component. The vibration generated in the feed motor 12 is caused by the speed reducer 13, This is transmitted to the feed bar 15 via the rotation-linear motion converter 14, and finally the entire feed bar 15 is vibrated.
[0017]
When the feed bar 15 vibrates, the mechanical system is adversely affected, resulting in a decrease in the mechanical life and the occurrence of a failure. In addition, there is a disadvantage that noise accompanying the vibration is generated and adversely affects the surrounding environment. It was.
[0018]
On the other hand, as a method for suppressing the vibration of the transport mechanism system accompanying the vibration of this kind of press crank angle, there is a conventional one disclosed in, for example, Japanese Patent Application Laid-Open No. 11-104899, After converting the signal of the press crank angle into the speed signal by the speed signal converting means, the vibration component is removed by the vibration component removing means, and the position signal converting means is converted to the press crank angle signal from which the vibration component is removed. Is.
[0019]
However, in the one disclosed in Japanese Patent Application Laid-Open No. 11-104899, the vibration component removing means limits the speed value to an allowable value when a large speed value greater than a predetermined allowable value is input. Since the vibration component is removed, it is difficult to remove the vibration of the speed change below the allowable value, and even if it is converted into the press crank angle by the position signal conversion means, the vibration component cannot be completely removed. there is a possibility.
[0020]
Also, the acceleration component and jerk (acceleration differential value) component of the press crank angle vibration can be large values even when the velocity component is small, but the one disclosed in JP-A-11-104899 is limited to the velocity. Since no attention is paid, even if the acceleration component or the jerk component is large, it cannot be removed, which may adversely affect the mechanical system.
[0021]
Therefore, it is necessary to take measures to remove the vibration regardless of the magnitude and frequency of the vibration component of the press crank angle.
[0022]
In view of such circumstances, the present invention can completely remove the vibration component from the press crank angle, prevent various adverse effects caused by the vibration of the mechanical system, and improve the mechanical system life and the production speed. Furthermore, the present invention is intended to provide a press transfer control device that can reduce noise caused by vibration and is also useful for improving the surrounding environment.
[0023]
[Means for Solving the Problems]
The present invention includes a plurality of press stages, drives a press slide by rotation of a press crankshaft to press a workpiece, and controls a target position of a conveyance motor in conjunction with the operation of the press crankshaft. In the press transfer control device designed to transport the workpiece to the next press stage,
The actual press crank angle detected by the press crank angle detector is differentiated and converted into a press crank angular velocity signal, the converted press crank angular velocity signal is stored based on the actual press crank angular position, and the stored contents are integrated. A virtual press crank angle generator that reconverts the press crank angle signal and outputs the reconverted press crank angle signal as a virtual press crank angle;
A combined press crank angle output device that combines the actual press crank angle and the virtual press crank angle while correcting with the value of the weight function based on the actual press crank angle position, and outputs a combined press crank angle that does not include a vibration component;
A target trajectory generator for converting the combined press crank angle into the target position of the conveying motor;
The present invention relates to a press transfer control device characterized by comprising:
[0024]
According to the above means, the following operation can be obtained.
[0025]
When the press slide is driven by the rotation of the press crankshaft to press the workpiece and convey it to the next press stage, the actual press crank angle detected by the press crank angle detector is determined by the virtual press crank angle generator. Differentiated and converted into a press crank angular velocity signal, the converted press crank angular velocity signal is stored based on the actual press crank angular position, the stored content is integrated, reconverted into a press crank angle signal, and reconverted A press crank angle signal is output as a virtual press crank angle to a composite press crank angle output device, where the actual press crank angle and the virtual press crank angle are represented by a weight function based on the actual press crank angle position. The image is synthesized while being corrected with the The composite press crank angle that does not include the component is output to the target trajectory generator, where the composite press crank angle is converted into the target position of the conveying motor, and thus the vibration component is completely removed from the press crank angle. It can be removed, and the mechanical system does not vibrate.
[0026]
In the press transfer control device, when the press crankshaft stops in the vibration generation angle range,
In the virtual press crank angle generator, an angle stop detector is provided to determine that the press crank angular velocity obtained by differentiating and converting the actual press crank angle is zero, and the angular stop is detected when the press crank angular velocity becomes zero. While outputting a stop signal from the detector, the integration operation in the virtual press crank angle generator is stopped, and the change of the virtual press crank angle is stopped,
When the press crank angular velocity is no longer zero, the stop signal output from the angle stop detector is stopped, the integration operation in the virtual press crank angle generator is restarted, and the set signal is output from the angle stop detector. The press crank angular velocity signal at that moment can be stored again.
[0027]
In this way, when it is assumed that the press crankshaft stops within the vibration generation angle range, the virtual press crank angle can be stopped and the actual press crank angle stopped within the vibration generation angle range. When it starts to move again, the virtual press crank angle can also start to move.
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0029]
1 to 5 show an example of an embodiment of the present invention. In the figure, the same reference numerals as those in FIGS. 7 to 10 denote the same components, and the basic configuration is shown in FIGS. Although it is the same as the conventional one shown in FIG. 10, the features of this illustrated example are as shown in FIGS.
The actual press crank angle detected by the press crank angle detector 7 (hereinafter referred to as the actual press crank angle) is differentiated and converted into a press crank angular velocity signal, and the converted press crank angular velocity signal is converted into the actual press crank angle position. A virtual press crank angle generator 201 that integrates the stored content and reconverts it into a press crank angle signal, and outputs the reconverted press crank angle signal as a virtual press crank angle;
A combined press crank angle output unit 202 that combines the actual press crank angle and the virtual press crank angle while correcting the actual press crank angle with a value of a weight function based on the actual press crank angle position, and outputs a combined press crank angle that does not include a vibration component; ,
A target trajectory generator 101 for converting the combined press crank angle into a target position of a transport motor (feed motor 12, lift motor 16, clamp motor 17);
Therefore, the transfer control device 208 is configured.
[0030]
The virtual press crank angle generator 201 is, as shown in FIG.
An angle range setting memory 301 in which the vibration generation angle range of the actual press crank angle is preset,
The angle preset in the angle range setting memory 301 is compared with the actual press crank angle, and a set signal and a reset signal are output at the moment when the actual press crank angle reaches the vibration generation angle range. An angle comparator 302 for outputting a switching signal when an actual press crank angle exists in
A differentiator 303 for differentiating an actual press crank angle and converting it into a press crank angular velocity signal;
By storing the press crank angular velocity signal converted by the differentiator 303 at the moment when the set signal is output from the angle comparator 302, the press crank angular velocity signal immediately before entering the vibration generation angle range is stored. The angular velocity storage memory 304,
The press crank angular velocity signal immediately before the vibration generation angle range output from the angular velocity storage memory 304 is input, and at the moment when the reset signal is output from the angle comparator 302, the actual press crank angle at that time is preset and integration operation is performed. An integrator 305 for outputting an angle signal of an equiangular velocity,
Only when the actual press crank angle and the output of the integrator 305 are input and the switching signal is output from the angle comparator 302, the output from the integrator 305 is output as a virtual press crank angle, otherwise, the actual press crank angle is output. An output switch 306 that outputs the crank angle as it is;
It has the structure which comprises.
[0031]
Further, the synthetic press crank angle output device 202 is, as shown in FIG.
A weighting function generator 203 in which a weighting function W1 (θ) with the actual press crank angle as a variable is preset;
A weighting function generator 204 in which a weighting function W2 (θ) with the actual press crank angle as a variable is preset;
A first multiplier 205 for determining a product of the value output from the weight function generator 203 and the actual press crank angle;
A second multiplier 206 for obtaining a product of the value output from the weight function generator 204 and the virtual press crank angle;
An adder 207 that adds the output from the first multiplier 205 and the output from the second multiplier 206 and outputs the result as a combined press crank angle;
It has the structure which comprises.
[0032]
In the weight functions W1 (θ) and W2 (θ), θ is an actual press crank angle, and the weight function W1 (θ) takes a value in the range of 0 ≦ W1 (θ) ≦ 1, and the weight function W2 ( θ) also takes a value in the range of 0 ≦ W2 (θ) ≦ 1, and between this W1 (θ) and W2 (θ), for any θ, W1 (θ) + W2 (θ ) = 1, and an example of the weight functions W1 (θ) and W2 (θ) is as shown in FIG.
[0033]
Next, the operation of the illustrated example will be described.
[0034]
When the press slide 5 is driven by the rotation of the press crankshaft 4 to press the workpiece and convey it to the next press stage, the actual press crank angle detected by the press crank angle detector 7 is the transfer control device 208. The virtual press crank angle generator 201 and the composite press crank angle output unit 202 are input.
[0035]
In the virtual press crank angle generator 201, as shown in FIG. 2, the angle preset in the angle range setting memory 301 is compared with the actual press crank angle, and the actual press crank angle exists within the vibration generation angle range. When the actual press crank angle reaches the vibration generation angle range, the set signal is output from the angle comparator 302 to the angular velocity storage memory 304. In addition, the reset signal is output to the integrator 305 and the switching signal is output to the output switching unit 306, whereby the actual press crank angle is differentiated by the differentiator 303 to be converted into a press crank angular velocity signal. Based on the actual press crank angular position, the press crank angular speed signal is stored in the angular speed storage memory 3 4, the stored contents are integrated by the integrator 305 and reconverted into a press crank angle signal, and the reconverted press crank angle signal is output from the output switch 306 as a virtual press crank angle to a combined press crank angle output device. When the actual press crank angle is out of the vibration generation angle range, the actual press crank angle is output again as it is.
[0036]
Here, the virtual press crank angle is integrated linearly with the constant value stored in the angular velocity storage memory 304 and thus changes linearly and does not include a vibration component.
[0037]
This is illustrated in FIG. In the actual press crank angle shown in the upper graph, vibration occurs near the bottom dead center. On the other hand, the virtual press crank angle shown in the lower graph is an angle signal that does not include a vibration component because it is switched to the output of the integrator 305 within the vibration generation angle range.
[0038]
As described above, the virtual press crank angle is generated by integrating the actual press crank angular velocity immediately before the vibration generation angle range stored in the angular velocity storage memory 304, and therefore does not include a vibration component. At the moment of switching to the actual press crank angle, an angle shift as shown in the lower graph of FIG. 3 occurs.
[0039]
Therefore, a composite press crank angle that does not include vibration components and does not cause an angle shift is generated from both the actual press crank angle and the virtual press crank angle signals. Implemented by the vessel 202.
[0040]
The combined press crank angle output unit 202 operates as follows.
[0041]
First, the value output from the weight function generator 203 and the actual press crank angle based on the actual press crank angle (θ) and the actual press crank angle are input to the first multiplier 205, and a multiplication value of two input values is calculated. Further, the value output from the weight function generator 204 based on the actual press crank angle and the virtual press crank angle are input to the second multiplier 206, and the product of the two input values is calculated. The calculation results of the first multiplier 205 and the second multiplier 206 are input to the adder 207 and added, and the calculation result is output from the combined press crank angle output unit 202 as a combined press crank angle.
[0042]
Here, when the combined press crank angle is Y, the actual press crank angle is X1, and the virtual press crank angle is X2, the value of the combined press crank angle output unit 202 is
[Expression 1]
Y = W1 (X1) × X1 + W2 (X1) × X2
It is expressed by the formula.
[0043]
The case of the weight functions W1 (θ) and W2 (θ) shown in FIG. 4 will be described as an example. When the actual press crank angle is the angle of section A,
[Expression 2]
W1 (θ) = 1, W2 (θ) = 0
Therefore, the composite press crank angle Y is
[Equation 3]
Y = 1 × X1 + 0 × X2 = X1
And equal to the actual press crank angle. When the actual press crank angle is B section,
[Expression 4]
W1 (θ) = 1 → 0, W2 (θ) = 0 → 1
The composite press crank angle Y is
[Equation 5]
Y = X1 → X2
Thus, the actual press crank angle gradually changes to the virtual press crank angle. When the actual press crank angle is C section,
[Formula 6]
W1 (θ) = 0, W2 (θ) = 1
Therefore, the composite press crank angle Y is
[Expression 7]
Y = 0 × X1 + 1 × X2 = X2
And is equal to the virtual press crank angle. When the actual press crank angle is D section,
[Equation 8]
W1 (θ) = 0 → 1, W2 (θ) = 1 → 0
The composite press crank angle Y is
[Equation 9]
Y = X2 → X1
Thus, the virtual press crank angle gradually returns to the actual press crank angle. When the actual press crank angle is E section,
[Expression 10]
W1 (θ) = 1, W2 (θ) = 0
And the composite press crank angle Y is
## EQU11 ##
Y = 1 × X1 + 0 × X2 = X1
It becomes equal to the actual press crank angle again.
[0044]
Here, by assigning the section C shown in FIG. 4 to be included in the vibration generation angle range, even if the actual press crank angle vibrates, the combined press crank angle is equal to the virtual press crank angle and does not include the vibration component. It will be a thing. Further, if the boundary angle between the D section and the E section is set to coincide with the angle at which the output of the “switching signal” from the angle comparator 302 of the virtual press crank angle generator 201 is finished, the actual press crank angle and virtual In a portion where the press crank angle shift occurs, a value equal to the actual press crank angle is output as the combined press crank angle.
[0045]
FIG. 5 shows an example of the composite press crank angle. This composite press crank angle is generated from the actual press crank angle and the virtual press crank angle shown in FIG. 3 using the weight function shown in FIG. Thus, it can be seen that neither the vibration component included in the actual press crank angle nor the angular deviation generated at the virtual press crank angle occurs at the combined press crank angle.
[0046]
The composite press crank angle obtained as described above is input to the target trajectory generator 101. However, since the input signal does not include a vibration component, the target trajectory output by the target trajectory generator 101 includes vibration. Thus, the output of the target trajectory generator 101 becomes the output of the transfer control device 208 as it is.
[0047]
The target trajectory output from the transfer control device 208 is sent to the feed motor servo control device 9, the lift motor servo control device 10, and the clamp motor servo control device 11 for each independent direction axis.
[0048]
The feed motor servo control device 9 drives the feed motor 12 in accordance with the sent target trajectory, and the feed motor 12 drives the rotation-linear motion converter 14 via the speed reducer 13 to rotate the rotation- The linear motion converter 14 converts the rotational motion of the feed motor 12 into linear motion by a rack and pinion mechanism or the like, and drives the feed bar 15 in the horizontal front-rear direction. Since no vibration component is included, the movement of the feed motor 12 does not generate vibration, the mechanism system driven by the feed motor 12 does not generate vibration, and the feed bar 15 also does not generate vibration. .
[0049]
Similarly, the lift motor servo controller 10 drives the lift motor 16 in accordance with the sent target trajectory, the lift motor 16 drives the clamp housing 18, and the clamp housing 18 has a rack and pinion mechanism. The rotary motion of the lift motor 16 is converted into a linear motion by, for example, and the feed bar 15 is driven in the vertical vertical direction, while the clamp motor servo control device 11 also drives the clamp motor 17 according to the sent target trajectory. The clamp motor 17 drives the clamp housing 18, and the clamp housing 18 converts the rotational motion of the clamp motor 17 into a linear motion by a mechanism different from the lift mechanism, and drives the feed bar 15 in the horizontal opening and closing direction. To do.
[0050]
In this way, the vibration component can be completely removed from the press crank angle, various adverse effects due to the vibration of the mechanical system can be prevented, the life of the mechanical system can be improved, the production speed can be improved, and the noise caused by the vibration can be reduced. It can be reduced and helps to improve the surrounding environment.
[0051]
The above illustrated example assumes that the press is operated continuously and the press crankshaft 4 does not stop near the bottom dead center (vibration generation angle range). FIG. 6 shows an example of the virtual press crank angle generator 201 when it is assumed that the vehicle stops in the vicinity (vibration generation angle range).
[0052]
When the press crankshaft 4 stops suddenly, the actual press crank angle also stops suddenly. When the stopped angle is within the vibration generation angle range, it is necessary to stop the virtual press crank angle. The angle stop detector 307 detects that the actual press crank angle has stopped. A value obtained by converting the actual press crank angle into a speed signal by the differentiator 303 is input to the angle stop detector 307. The angle stop detector 307 is set with a minimum set value for determining that the speed has become zero. When the speed signal drops below this value, a stop signal is output. The stop signal is input to the integrator 305, and the integrator 305 stops the integration operation while the stop signal is input. When the integration operation stops, the output of the integrator becomes a constant value, and the virtual press crank angle does not change.
[0053]
When the actual press crank angle that has been stopped in the vibration generation angle range starts to move again, the virtual press crank angle must also start to move. When the speed signal value input to the angle stop detector 307 is equal to or greater than the minimum set value for determining zero speed, the output of the stop signal is stopped and the integration operation of the integrator 305 is restarted. In addition, since the angular speed of the actual press crank angle after restarting the press operation may be different from the speed before stoppage, a set signal is sent from the angular stop detector 307 to the angular speed storage memory 304 simultaneously with the restart of the integration operation. Output. The angular velocity storage memory 304 stores the velocity value at the moment when the set signal is input again.
[0054]
Note that the output method of the set signal output from the angle stop detector 307 after the press operation has been resumed can be finely handled by changing the speed of the press crank angle. For example, the actual press crank angle after resuming the press operation does not change at a constant speed, but increases the speed at an accelerated speed. Therefore, if the virtual press crank angle is continuously generated by integrating the speed signal stored immediately after restarting the press operation, an error from the actual press crank angle increases. In order to prevent this, until the actual press crank angle passes through the bottom dead center, a set signal is output from the angle stop detector 307 in a short cycle so that the virtual press crank angle follows the speed change of the actual press crank angle. You may do it.
[0055]
As a result, when the press crankshaft 4 is assumed to stop near the bottom dead center (vibration generation angle range), the virtual press crank angle can also be stopped and stopped within the vibration generation angle range. When the actual press crank angle starts to move again, the virtual press crank angle can also start to move.
[0056]
It should be noted that the press transfer control device of the present invention is not limited to the illustrated example described above, and it is needless to say that various changes can be made without departing from the scope of the present invention.
[0057]
【The invention's effect】
As described above, according to the press transfer control device according to the first aspect of the present invention, since the virtual press crank angle signal is newly generated from the stored speed component data, the vibration component can be completely removed from the press crank angle. , Which can prevent various adverse effects due to vibration of the mechanical system, can improve the mechanical system life and production speed, can also reduce the noise caused by vibration, and also helps to improve the surrounding environment According to the press transfer control device according to claim 2 of the present invention, in addition to the above-described effect, when the press crankshaft is assumed to stop within the vibration generation angle range, the virtual press When the crank angle can also be stopped and the actual press crank angle that has been stopped in the vibration generation angle range starts to move again, An excellent effect can be made to be start moving the press crank angle.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an example of an embodiment for carrying out the present invention.
FIG. 2 is a block diagram of a virtual press crank angle generator in an example of an embodiment of the present invention.
FIG. 3 is a diagram representing a virtual press crank angle output by a virtual press crank angle generator according to an example of an embodiment of the present invention.
FIG. 4 is a diagram representing a weight function set in a combined press crank angle output device in an example of an embodiment of the present invention.
FIG. 5 is a diagram showing a combined press crank angle output by a combined press crank angle output device according to an example of an embodiment of the present invention.
FIG. 6 is a block diagram of a virtual press crank angle generator corresponding to a press crank angle stop near the bottom dead center.
FIG. 7 is an overall configuration diagram of a servomotor-driven press transfer device.
FIG. 8 is a block diagram showing an example of a conventional press transfer control device.
FIG. 9 is a diagram illustrating an example of a workpiece conveyance track of a three-dimensional press transfer apparatus.
10 is a diagram representing an example of a target trajectory output by a target trajectory generator to realize the trajectory of FIG. 9. FIG.
[Explanation of symbols]
1 Main motor
4 Press crankshaft
5 Press slide
7 Press crank angle detector
9 Feed motor servo controller
10 Lift motor servo controller
11 Clamp motor servo controller
12 Feed motor (transport motor)
15 Feed bar
16 Lift motor (transport motor)
17 Clamp motor (Conveyor motor)
101 Target trajectory generator
201 Virtual press crank angle generator
202 Synthetic press crank angle output device
203 Weight function generator
204 Weight function generator
205 first multiplier
206 Second multiplier
207 Adder
208 Transfer control device
301 Angle range setting memory
302 Angle comparator
303 Differentiator
304 Memory for storing angular velocity
305 integrator
306 Output selector
307 Angular stop detector

Claims (2)

A plurality of press stages are provided, and a workpiece is pressed by driving a press slide by the rotation of the press crankshaft, and the target position of the conveying motor is controlled in conjunction with the operation of the press crankshaft. In the press transfer control device designed to transport to the press stage,
The actual press crank angle detected by the press crank angle detector is differentiated and converted into a press crank angular velocity signal, the converted press crank angular velocity signal is stored based on the actual press crank angular position, and the stored contents are integrated. A virtual press crank angle generator that reconverts the press crank angle signal and outputs the reconverted press crank angle signal as a virtual press crank angle;
A combined press crank angle output device that combines the actual press crank angle and the virtual press crank angle while correcting with the value of the weight function based on the actual press crank angle position, and outputs a combined press crank angle that does not include a vibration component;
A press transfer control device comprising: a target trajectory generator for converting a combined press crank angle into a target position of a conveying motor. When the press crankshaft stops within the vibration generation angle range,
In the virtual press crank angle generator, an angle stop detector for determining that the press crank angular velocity obtained by differentiating and converting the actual press crank angle is zero is provided.
When the press crank angular velocity becomes zero, a stop signal is output from the angle stop detector, the integration operation in the virtual press crank angle generator is stopped, and the change of the virtual press crank angle is stopped,
When the press crank angular velocity is no longer zero, the stop signal output from the angle stop detector is stopped, the integration operation in the virtual press crank angle generator is restarted, and the set signal is output from the angle stop detector. 2. The press transfer control device according to claim 1, wherein the press transfer angular velocity signal at that moment is stored again.

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