JP4783106B2 - Inter-press synchronization controller - Google Patents

Description

  The present invention relates to an inter-press synchronization control apparatus, and more particularly to an inter-press synchronization control apparatus for a transfer press line and a tandem press line configured by a plurality of servo presses.

  In recent years, it has been proposed to configure a transfer press line using a plurality of servo presses. Moreover, in such a press line, in order to improve productivity, it is requested | required that each servo press should be controlled synchronously (patent document 1, patent document 2).

  In Patent Document 1, a plurality of single servo presses each provided with a slide driven by a servo motor are arranged side by side, and each servo press is individually controlled by a master controller. It is disclosed that other servo presses on the downstream side are controlled in synchronization with the first servo press on the upstream side.

  In Patent Document 2, a servo press having the slowest slide movement speed from the plurality of servo presses to the workpiece transfer operation allowable position is detected, and a speed reduction correction operation is performed on the other servo presses. Thus, it is disclosed that all the servo presses are made to reach the workpiece transfer operation allowable position in synchronization.

JP 2000-343294 A JP 2003-191096 A

  However, according to the technical content described in Patent Document 1, since the downstream servo press is controlled to synchronize with the most upstream first servo press, a delay due to, for example, a molding load occurs in the downstream servo press. However, there is a concern that it becomes impossible to synchronize each other when the first servo press cannot be synchronized. Further, when a delay occurs in the first servo press, other servo presses are delayed in synchronization with the first servo press, resulting in a problem that the production speed on the press line is lowered.

  On the other hand, according to the technical content described in Patent Document 2, in each servo press, the slide motion set in advance by the user is changed in order to correct the low speed so that the slide motion matches the slowest slide movement speed. As a result, there is a possibility that the quality of the product is greatly different from the quality at the time of setting.

A first object of the present invention is to provide an inter-press synchronization control device that can synchronize with each other even if a delay or advance occurs in any servo press and can maintain a good production speed of a press line. is there.
In addition to the first object, a second object of the present invention is to provide an inter-press synchronization control device that can reliably reproduce the product quality at the time of setting even if synchronous control is performed between servo presses. is there.

An inter-press synchronization control apparatus according to claim 1 of the present invention is an inter-press synchronization control apparatus used for performing synchronous control between a plurality of servo presses constituting a series of press lines, and includes a slide for each servo press. Input setting means for inputting motion information for moving the desired press motion, progress table creating means for creating a progress table in which the motion of each servo press input by the input setting means is allocated on the time axis, and The position information of each servo press slide is detected at predetermined time intervals, the motion program time corresponding to the detected predetermined position information of the slide is obtained based on the progress table, and each servo input by the input setting means when the motion program determined on the basis of the progress table for one cycle of the press motion The ratio of the generation and progress value calculating means for calculating a progress value indicating the progress of the slide during operation, the reference value for determining whether the progress of each servo press is how lagging or are willing Reference value generation means, comparison means for comparing the reference value and the progress value of each servo press, and command value generation means for generating the slide drive command value of each servo press based on the comparison result It is characterized by having.
According to a second aspect of the present invention, in the inter-press synchronous control device according to the first aspect, the slide position information is a main crank angle in each servo press.
The inter-press synchronization control device according to claim 3 is the inter-press synchronization control device according to claim 1, wherein the position of the slide is detected by a position sensor, and the position information of the slide is the position of the detected slide. It is a virtual main crank angle calculated from

The inter-press synchronization control device according to claim 4 is the inter-press synchronization control device according to any one of claims 1 to 3 , wherein the slide is driven based on the command value when the slide position is not formed. It is performed when it is in the area.

The inter-press synchronization control device according to claim 5 is the inter-press synchronization control device according to any one of claims 1 to 4, wherein the clock (17) for generating a clock pulse and the press line starts to operate. counting the number of clock pulses from the time, and a counter for outputting a count result of that the period in time, the reference value generating means, said reference period time is the period time of a preset press line period The ratio value with the internal time is calculated as the reference value.

  In the above, according to the first aspect of the present invention, the progress of the slide of a certain servo press is delayed from the reference by comparing the progress value obtained using the progress table with the reference value obtained by a predetermined algorithm. If it is determined that (advance), a command value for accelerating (delaying) the movement of the slide is output to the servo press so that the progress of all the servo presses converges to the reference progress. Synchronize. Therefore, even if a delay (advance) occurs in any press, all servo presses can be synchronized with each other. Further, in any servo press, when the progress is delayed from the reference due to a molding load or the like, the command value is generated and controlled so that the progress is accelerated, so that it is possible to prevent the production speed from being lowered. As described above, the first object of the present invention can be achieved.

Further, according to the present invention of claim 4 , since the control for changing the progress is performed only when the slide is in the non-molding region not involved in the molding of the product, the slide motion of the molding region is not performed at all even if the synchronous control is performed. There is no need to change, and the product quality at the time of setting can be reliably reproduced. Thereby, the second object of the present invention can be achieved.

According to the fifth aspect of the present invention, the reference value for determining how much the progress of each servo press is delayed or advanced is set in advance with the in-cycle time obtained from the count result of the number of clock pulses. Since it is calculated from the ratio to the reference cycle time, the progress of a specific servo press is not reflected in the reference value. Accordingly, it is possible to prevent the delay or progress of a specific servo press from affecting the progress of other servo presses, and it is possible to prevent a decrease in production speed.

[First Embodiment]
DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a first embodiment of the invention will be described with reference to the drawings.
FIG. 1 is an overall perspective view schematically showing a transfer press 1 to which an inter-press synchronization control device 10 according to a first embodiment of the present invention is applied. FIG. 2 is a block diagram showing the inter-press synchronization control device 10 used in the transfer press 1.

  In FIG. 1, a transfer press 1 has a configuration in which a plurality of modular servo presses (hereinafter may be simply abbreviated as “presses”) P1 to P7 are arranged along the workpiece conveyance direction. A series of transfer press lines are formed with processing stations corresponding to P1 to P7. In addition to the inter-press synchronization control device 10 (FIG. 2), the transfer press 1 is provided with a workpiece supply stacker device (not shown), a transfer feeder 3 having a pair of transfer bars 3A and 3B across all processing stations, and the like. Has been. In such a transfer press 1, the workpiece is conveyed from the left front side in the drawing to the right back side (the left front side in the drawing is upstream and the right back side is downstream).

  Each of the servo presses P1 to P7 constituting the transfer press 1 includes a servo motor (not shown), a crown 4 incorporating a main crank driven by the servo motor, a main crank connected to the main crank via a plunger, and an upper die. The slide 5 to be attached and the bed 6 that can accommodate the moving bolster to which the lower mold is attached are configured as one set. However, a normal bolster fixed to the bed 6 may be used instead of the moving bolster.

  In FIG. 2, the inter-press synchronization control device 10 is based on a controller 2 that controls the servo presses P1 to P7 in an integrated manner, and a speed command value (command value) from the controller 2 provided in the servo presses P1 to P7. The motor controller 7 that drives the servo motor and the rotary encoder 8 that can detect the main crank angle θ are provided.

  The controller 2 controls the movement of the slide 5 of the servo presses P1 to P7 and the movement of the transfer feeder 3, and is constructed by a control technique using a computer. Specifically, the controller 2 includes hardware and software that cause the computer to function as a progress table creation unit 11, a progress value calculation unit 12, a reference value generation unit 13, a comparison unit 14, and a command value generation unit 15. These means 11 to 15 control the slides 5 of the servo presses P1 to P7 to be synchronized with each other.

  The controller 2 is connected to an operation panel (input setting means) 9 operated by a user. The operation panel 9 is provided so that a motion program (motion information) indicating how to move each slide 5 can be input. As shown in FIG. 3, the motion program determines in which position the slide 5 is to be moved when machining the workpiece. The target main crank angle is input in order, and the target speed at that time and the stop time at the destination are input. The motion program is input and set for each of the servo presses P1 to P7.

  If the motion program is described based on the example shown in FIG. In 1, the main crank is rotated 110 degrees to lower the slide 5 from the top dead center position. The target speed at that time is 70% of the maximum output speed, and the NO. The slide 5 is continuously moved to the position 2. Then NO. 2, slide 5 is set to NO. It is moved from position 1 to a position of 180 degrees, that is, to the bottom dead center. The target speed at that time is 40% of the maximum output speed because the workpiece is actually processed, and after the movement, the slide 5 is stopped at the bottom dead center for 100 msec. After this, NO. 3, the slide 5 is raised at a target speed of 80% at a stroke to a position of 360 degrees, that is, to the top dead center (same as 0 degrees). Do not stop at top dead center. Return to 1 and drive.

Returning to FIG. 2, the progress table creation means 11 of the controller 2 has a function of creating the progress table shown in FIG. 4 from the motion program described above. In FIG. 4, a progress table of servo presses P1, P2, and P3 is illustrated as a representative. The progress table is a table in which the motions of the servo presses P1 to P3 input on the operation panel 9 are allocated on the time axis. In the present embodiment, the progress table is represented by a graph in which the horizontal axis is the motion program time T and the vertical axis is the main crank angle θ. The solid line in the table is the motion curve of the slide 5 generated from the motion program, and the slide 5 basically moves according to this curve.
The progress table of the press P2 is generated by the motion program shown in FIG. In the following description of the synchronous control, the synchronous control with the three servo presses P1 to P3 will be described for the sake of simplicity.

  In FIG. 4, according to each progress table, the period time (one-time motion program time) T1, T2, and T3 required for one rotation of the main crank in the servo presses P1, P2, and P3 are set to different values. Is set. This is because the movement of each slide 5 is set to be the best based on the processing conditions at each processing station. The cycle times T1 to T3 are also input from the operation panel 9. And it is also one of the merits of a servo press that the movement of the slide 5 can be set freely as described above. Further, the cycle times T1 to T3 may vary depending on the machining load during machining. For example, in the press P3, when the movement of the slide 5 is delayed due to the processing load, the cycle time T3 is further increased.

  As described above, the period times T1 to T3 are often set to be different from each other and fluctuate depending on the machining load. In order to perform synchronous control between the servo presses P1 to P3, the period time T1 is used. It is necessary to arrange ~ T3 as much as possible. However, if the conventional method is used to synchronize the slide 5 without stopping at the top dead center, the above-described problem occurs. Therefore, in the present embodiment, the synchronization control is performed by means different from the conventional method by means 12 to 15 executed by the controller 2. Below, each means 12-15 is demonstrated.

  The progress value calculating means 12 sequentially detects the main crank angle θ at each servo press P1 to P3 at predetermined time intervals, and calculates the progress value PRG of each servo press P1 to P3 based on these main crank angles θ. It has a function. The progress value PRG represents the degree of completion of the machining cycle when the main crank angle θ is detected. For example, in the servo press P1 in FIG. 4, if the motion program time T1i at the time of detecting the main crank angle θ1i has passed 70% of the cycle time T1, the degree of completion is also 70%, and the progress value is “0.7”. The calculation of the progress value will be described in order with reference to FIGS.

  4 and 5, the progress value calculation means 12 first detects the main crank angle θ of the servo presses P1 to P3 at the detection times t1, t2, t3. In this detection, a detection signal from the rotary encoder 8 (FIG. 2) is used. The detected values are tabulated and stored in storage means (not shown). For example, if the main crank angle is θ1i in the servo press P1 at the detection time ti, this value is stored. The same applies to the main crank angles θ2i and θ3i in the servo presses P2 and P3.

Next, the progress value calculation means 12 refers to the progress table shown in FIG. 4 and calculates motion program times T1i, T2i, T3i corresponding to the main crank angles θ1i to θ3i, and these motion program times T1i to T3i. Is stored as shown in FIG.
By the way, in the servo press P2, the main crank angle θ is set to NO. If it is at the position 2, the motion program time T cannot be uniquely determined because the slide 5 is stopped (the slope of the line segment NO.2-NO.2 ′ is 0). Therefore, in the present embodiment, as shown in FIG. 6, when the main crank angle θstop at which the slide 5 stops is stored in advance and this main crank angle θstop is detected as the main crank angle θ2i, the main crank angle θstop is first detected. The detection time t is added for each detection to the motion program time T2stop at the time when the angle θstop is detected, and this accumulated time is calculated as the motion program time T2i. Thus, even if the slide 5 is stopped, it can be determined that the motion program time has elapsed and the motion program is being executed.

Thereafter, the progress value calculation means 12 calculates a progress value PRG. The progress value PRG can be obtained by the ratio between the cycle time and the motion program time. In each servo press P1 to P3, for example, the motion program time at the detection time ti is T1i to T3i, and each cycle time is T1 to T3. Therefore, the progress value PRG at this point is as follows: Calculated by the formula. The calculated progress value PRG is stored in the storage means as shown in FIG.
・ Progression value PRG of servo press P1 = T1i / T1
-Progress value PRG of servo press P2 = T2i / T2
-Progress value PRG of servo press P3 = T3i / T3

The reference value generation unit 13 has a function of calculating a reference value PRGstd for determining how much the progress of the servo presses P1 to P3 is delayed or advanced. In the present embodiment, the average value PRGave of the progress values PGR is set as the reference value PRGstd. Therefore, the reference value PRGstd (average value PRGave) is calculated by the following equation. The calculated reference value PRGstd is stored in the storage unit as shown in FIG.
Reference value PRGstd = (T1i / T1 + T2i / T2 + T3i / T3) / 3

  Here, in FIG. 7, values as examples of the progress value PRG and the reference value PRGstd (average value PRGave) are shown in parentheses. The progress value PRG of the servo press P1 is “0.80”, which means that the slide 5 has changed with 80% progress after the detection time ti has elapsed. The progress value PRG of the servo press P2 is “0.47”, which means that the progress is 47%. The progress value PRG of the servo press P3 is “0.12”, which means that the progress is 12%. From this, it can be determined that the servo press P1 is the most advanced and the servo press P3 is the most delayed. Furthermore, the reference value PRGstd is “0.46” because it is the average of the progress values PRG.

The comparison unit 14 has a function of comparing the progress value PRG of the servo presses P1 to P3 and the reference value PRGstd to determine whether the progress of the servo presses P1 to P3 is delayed or advanced with respect to the reference. ing. The comparison means 14 determines delay or advance based on the deviation between the progress value PRG and the reference value PRGstd. That is, in a specific numerical example, the following results are obtained. If the value is positive, it can be determined that the vehicle is progressing, and if the value is negative, it can be determined that the device is late. If it is “0”, it is as standard.
・ Difference in servo press P1 = 0.80-0.46 = 0.36 → Advanced ・ Difference in servo press P2 = 0.47-0.46 = 0.01 → Advanced ・ Servo press P3 Difference at = 0.12-0.46 = -0.34 → delayed

  The command value generating means 15 has a function of generating a speed command value corresponding to the deviation between the progress value PRG and the reference value PRGstd. Therefore, a speed command value for deceleration corresponding to “0.36” is generated for the servo press P1 that is determined to be moving, and this is output to the motor controller 7. Drive and slow down at low speed against the program. For the servo press P2, a speed command value for deceleration corresponding to “0.01” is generated and output to the motor controller 7, and the servo motor is driven at a low speed and delayed. For the servo press P3 determined to be delayed, a speed command value for speed increase corresponding to “−0.34” is generated, and the servo motor is driven at a higher speed to advance.

  However, according to the command value generating means 15, the servo motor is driven by the speed command value against the motion program only when the position of the slide 5 is in the non-molding region. That is, in the case of the press P2 shown in FIG. 4, since the main crank angle θ2i at the time of the detection time ti is in the forming region, the comparison by the comparison unit 14 is performed, but the progress value PRG and the reference value PRGstd are A speed command value corresponding to the deviation is not generated. For this reason, the movement of the slide 5 is controlled along the original motion program (slide motion) in the molding region.

  Then, a speed command value corresponding to the deviation between the progress value PRG and the reference value PRGstd is generated over the entire non-molding region, and the servo motor is driven based on this speed command value to change the speed of the slide 5. Then, as indicated by the alternate long and short dash line in FIG. 4, the cycle times T1 and T2 are increased for the advanced presses P1 and P2, and the cycle time T3 is reduced for the delayed press P3. The slide motion in the non-molding area is changed (the inclination of the slide motion in the molding area does not change). For this reason, in all the servo presses P1 to P3, the cycle times T1 to T3 converge to, for example, the cycle time Tfoc, and the servo presses P1 to P3 can be synchronized with each other.

The above control procedure will be briefly described with reference to the flowchart of FIG.
First, the user inputs a motion program from the operation panel 9 after starting the operation of the transfer press 1 (S1). Next, the progress table creation means 11 functions in the controller 2 to automatically create a progress table (S2).
The input of the motion program and the creation of the progress table are performed at the trial hitting stage of the product. Since the created progress table is stored in the storage means, it must be repeated every time the operation is restarted. There is no.

  Next, when a start operation is performed to perform actual machining (S3), the progress value calculation means 12 functions to monitor whether an end operation is performed (S4). The main crank angles θ1i to θ3i are sequentially read (S5). Subsequently, referring to the progress table, motion program times T1i to T3i corresponding to the main crank angles θ1i to θ3i are obtained, and the respective progress values PRG are calculated based on the ratio to the cycle times T1 to T3 (S6).

  Thereafter, the reference value generating means 13 is executed to calculate the reference value PRGstd (S7). Then, each of the progress values PRG and the reference value PRGstd is compared by the comparison means 14 to determine the delay or advance in the servo presses P1 to P3 (S8). Further, the command value generation means 15 functions to generate a speed command value corresponding to the deviation between the progress value PRG and the reference value PRGstd (S9) and output it from the controller 2 to the motor controllers 7 of the servo presses P1 to P3. (S10).

  The flow of S4 to S10 described above is continuously performed at intervals of detection times t1, t2, t3... Of several msec, and the progress of each slide 5 is adjusted to the reference, so that each cycle time T1 to T3 is 1 It is possible to converge to Tfoc in the cycle, to converge to Tfoc while repeating the processing a plurality of times, or to finally synchronize the presses P1 to P3. In the above description, the servo presses P1 to P3 have been described, but actually, the servo presses P1 to P7 are performed, and all can be synchronized. Of course, the number of servo presses is arbitrary and may be plural.

  Thus, in this embodiment, in order to set a reference from the degree of progress of the servo presses P1 to P3 and determine whether it is delayed or advanced with respect to this reference, it is possible to delay with any press P1 to P3. Even if the advance occurs, all the servo presses P1 to P3 can be synchronized with each other. Also, in any servo press P1 to P3, when the progress is delayed from the reference due to molding load or the like, the speed command value is generated and controlled so that the progress is accelerated, so that the production speed is prevented from decreasing. it can.

  Further, only when the slide 5 is in a non-molding region that is not involved in the molding of the product, the cycle times T1 and T2 are set for the advanced presses P1 and P2, so that the cycle time T3 is shortened for the press P3 that has been delayed. Since each slide motion is changed so as to be longer, it is not necessary to change the slide motion in the molding area at all even if synchronous control is performed, and the product quality at the time of setting can be reliably reproduced.

Further, the delay or advance of the slide 5 is not determined only by the comparison of the main crank angle θ, but is determined by the progress value PRG obtained based on the main crank angle θ and the progress table. It can be synchronized and surely synchronized.
For example, when two presses are compared, if one of the presses is advanced as the main crank angle θ but is delayed as progress, it can be determined that this is delayed in this embodiment. Even if the crank angle θ is advanced, the speed reduction control is not performed. This is because if the speed is reduced, the cycle time in one press becomes more delayed and synchronization cannot be achieved, and on the other press side, it is necessary to stop the slide 5 at the top dead center.
Similarly, in the other press, even if the main crank angle θ is delayed, the progress is advanced, but in this case, the speed is increased just because the main crank angle θ is delayed. No control. If the speed is increased, the cycle time on the other press will become shorter and synchronization will not be achieved, and one press will not be able to catch up, and again the slide 5 will be at top dead center on the other press side. It needs to be stopped.

  In the above embodiment, the pattern that does not stop the slide 5 is shown as the motion program of the servo presses P1 and P3, and the pattern that temporarily stops the slide 5 in the molding area is shown as the motion program of the servo press P2. As another motion program, as shown in FIG. 9, a pattern may be used in which the slide 5 is temporarily raised to the bottom dead center (for example, 180 degrees) and then lowered to the bottom dead center. It may be arbitrarily determined according to the processing conditions.

  In the case of a motion program as shown in FIG. 9, three motion program times Ti are obtained for the men-in crank angle θi detected at a predetermined detection timing. By storing the motion program time at the detection timing, and selecting the motion program time Ti closest to this, the correct value can be obtained.

[Second Embodiment]
FIG. 10 shows a tandem press line to which the inter-press synchronization control device according to the second embodiment of the present invention is applied. In the tandem press line, a plurality of (four in this embodiment) servo presses P1 to P4 are arranged at intervals, a work loading device 21 is arranged upstream of the servo press P1, and the downstream side of the servo press P4. The work carry-out device 22 is arranged in the above, and the work conveyance device 23 is arranged between the servo presses P1 to P4.

  Each workpiece loading / unloading / conveying device 21 to 23 is provided between a pair of lift beams 24 arranged in parallel along the workpiece conveyance direction, a lift device 25 for moving the lift beam 24 up and down, and the lift beam 24. It is configured to include a cross bar 26 with a carrier that is provided so as to be movable in the workpiece conveyance direction. The workpiece is held by a workpiece holding device such as a vacuum cup (not shown) provided on the cross bar 26, and the workpieces are sequentially moved. It is provided to transfer to the next process.

  Even in such a tandem press line, the same press-to-press synchronization control apparatus as in the first embodiment can be used. However, as the inter-press synchronization control apparatus in this embodiment, the reference value generating means 13 shown in FIG. Different functions are used. Other configurations are the same as those of the first embodiment. In the following, as in the first embodiment, the synchronous control of the servo presses P1 to P3 will be described as a representative.

  The reference value generation means in this embodiment uses the reference value PRGstd for determining how much the progress of the servo presses P1 to P3 is delayed or advanced, and the progress value PRG of each servo press P1 to P3. Instead of calculating on average, it has a function of setting the progress value PRG of one upstream press as the reference value PRGstd. Therefore, as shown in FIG. 11, in the most upstream servo press P1, there is no press upstream thereof, so the progress value PRG of the servo press P1 itself becomes the reference value PRGstd as it is. Therefore, the deviation between the progress value PRG and the reference value PRGstd at the servo press P1 is “0”.

  On the other hand, in the servo press P2, the progress value PRG of one upstream servo press P1 becomes the reference value PRGstd, which is the same as the reference value PRGstd of the servo press P1. In the servo press P3, the progress value PRG of the servo press P2 on the upstream side becomes the reference value PRGstd. In the case of such a configuration, since the progress of the servo presses P2 and P3 eventually converges to the progress of the servo press P1, if a delay occurs in the servo press P1, a delay may occur even below the servo press P2. However, it is possible to synchronize the servo presses P1 and P2 with the original slide motion substantially maintained.

  The control method in the present embodiment will be described with reference to the flowcharts shown in FIGS. FIG. 12 shows a control flow of the servo press P1, and FIG. 13 shows a control flow after the servo press P2.

  In FIG. 12, in the servo press P1, S11 to S16 are the same as S1 to S6 shown in FIG. After S16, the command value generating means functions for the servo press P1, and generates a speed command value according to the motion program input in S11 (S17), and the controller 2 changes the servo command to the motor controller of the servo press P1. Output (S18). That is, for the servo press P1, it is known in advance that the reference value PRGstd is the same as its own progress PRG and the deviation thereof is “0”. A corresponding speed command value is generated and output.

  In FIG. 13, in the servo presses P1 to P3, S21 to S30 correspond to S1 to S10 shown in FIG. 8 in the first embodiment. However, in this embodiment, in S27, the reference value generating means sets the progress value PRG of the servo press P1 upstream thereof as the reference value PRGstd of the servo press P2, and upstream of it as the reference value PRGstd of the servo press P3. The progress value PRG of a certain servo press P2 is set.

  In this embodiment, the case where the tandem press line is configured by the servo presses P1 to P4 has been described. However, the above control method may be applied to each servo press of the transfer press line as in the first embodiment. . Conversely, the control method of the first embodiment may be applied to a tandem press line as in this embodiment. The same applies to third and fourth embodiments described later.

[Third Embodiment]
FIG. 14 shows a progress value PRG and a reference value PRGstd according to the third embodiment of the present invention. In the present embodiment, the most upstream servo press P1 constituting the transfer press line or the tandem press line is a so-called master press, and the reference value generating means is the progress value of the servo press P1 for all the servo presses P1 to P3. PRG is set as the reference value PRGstd as it is.

  Accordingly, in the flowchart shown in FIG. 15, S31 to S40 correspond to S1 to S10 in the first embodiment, but in S37, the progress value of the servo press P1 as the reference value PRGstd of all the servo presses P1 to P3. PRG is set. Therefore, for the servo press P1, the deviation between the progress value PRG and the reference value PRGstd in S38 is “0”. Therefore, in S39, the control in the servo press P1 in the second embodiment described above is performed. Similarly, a speed command value corresponding to the motion program of the servo press P1 is generated and output.

[Fourth Embodiment]
FIG. 16 is a block diagram of the inter-press synchronization control apparatus 10 according to the fourth embodiment of the present invention. Press synchronizing control device 10 of the present embodiment includes an internal clock 17 for outputting a clock pulse, and a counter 16 for counting the number of pulse clock pulse, the counter 16 starts to operate the press line The number of pulses from that time point is counted, and the count result is output to the controller 2 as the in-cycle time Tcntr.

  In addition, the operation panel 9 in the present embodiment is provided so that a reference cycle time Tstd can be input in addition to the motion programs and cycle times T1 to T3 of the servo presses P1 to P3 described in the first embodiment. The reference cycle time Tstd is a press line cycle time which is a reference for determining progress, and is arbitrarily set and input. Then, the reference value generating means 13 in the present embodiment calculates the reference value PRGstd from the ratio between the in-cycle time Tcntr and the reference cycle time Tstd as shown in FIG.

  Accordingly, in the flowchart shown in FIG. 18, S41 to S50 correspond to S1 to S10 in the first embodiment. Further, in the present embodiment, time counting is started by the counter 16 after S43 (S43A), and in S47, the reference value generation means 13 calculates the reference value PRGstd from the ratio between the in-cycle time Tcntr and the reference cycle time Tstd. . Further, after outputting the speed command value based on the deviation between the progress value PRG and the reference value PRGstd in S50, the comparison means 14 determines whether or not the in-cycle time Tcntr has reached the reference cycle time Tstd ( S50B), if not reached, return to S44 to repeat the process, and if reached, reset the counter 16 to finish the synchronization control within one cycle (S50C), return to S43A and synchronize within the next cycle. Start control. At the end of the operation, the time counting by the counter 16 is also ended.

In addition, this invention is not limited to the said embodiment, Including other structures etc. which can achieve the objective of this invention, the deformation | transformation etc. which are shown below are also contained in this invention.
For example, the motion information of the embodiment is a motion program consisting of a target main crank angle, a target speed, and a stop time. However, the form of motion information is not limited to this, and a progress table can be created. May be any arbitrary information.
Further, such information may be input from the operation panel 9 or a personal computer connected to the controller 2 via a network. In such a case, the personal computer is related to the present invention. Input setting means.

  In the embodiment, the progress value calculation means 12 detects the main crank angle θ by the rotary encoder 8 and calculates the progress value PRG. However, the progress of the slide 5 within one cycle of the motion can be specified. If so, it may be position information detected by other detection means. For example, Japanese Patent Application Laid-Open No. 2004-58152 uses a position sensor such as a linear scale to slide during one cycle from a preset upper limit position of a slide motion through a lower limit position to an upper limit position during a press operation. Is detected, and a virtual rotation angle corresponding to the detected slide position is output to an external peripheral device. In this case, the slide position may be detected with a linear scale, and the progress value may be calculated using the output virtual rotation angle.

In the servo press described in the above publication, a power transmission mechanism to the slide is configured by an eccentric shaft driven by a servo motor and a toggle link mechanism connected to the eccentric shaft. In the configuration, since the rotation angle of the eccentric shaft corresponds to the main crank angle in the embodiment, the rotation angle of the eccentric shaft may be detected by a detection means such as a rotary encoder.
Furthermore, as a mechanism for transmitting power to the slide, the toggle link mechanism is driven by using a ball screw in addition to the configuration described in the above publication in which the toggle link mechanism is driven by an eccentric shaft, or the configuration of the embodiment using the main crank. It is also possible to move the slide directly up and down with a ball screw. Any detection means for detecting the slide position can be used in accordance with these power transmission mechanisms.

  In the first embodiment, the reference value PRGstd is an average value of all the progress values PRG of the servo presses P1 to P3. However, as the reference value according to the present invention, for example, the servo press with the least progress is delayed. It may be a progress value or the progress value of the servo press that is most advanced. When the average value of the progress values is used as the reference value, the average value of the progress values in each press excluding the press for which the command value is to be calculated may be used as the reference value in the press for which the command value is to be calculated. In such a case, a different reference value is determined for each servo press.

  In the fourth embodiment, the reference cycle time Tstd is arbitrarily set and inputted from the operation panel 9, but this is automatically set from the cycle times T1 to T3 of the servo presses P1 to P3. You may comprise so that it may calculate to. For example, the reference cycle time Tstd may be an average value of the cycle times T1 to T3, or may be the cycle time having the longest cycle or the shortest cycle time among the cycle times T1 to T3.

In addition, the best configuration, method and the like for carrying out the present invention have been disclosed in the above description, but the present invention is not limited to this. That is, the invention has been illustrated and described primarily with respect to particular embodiments, but may be configured for the above-described embodiments without departing from the scope and spirit of the invention. Various modifications can be made by those skilled in the art in terms of quantity, other details, and the like.
Therefore, the description limited to the shape, quantity and the like disclosed above is an example for easy understanding of the present invention, and does not limit the present invention. The description by the name of the member which remove | excluded the limitation of one part or all of such restrictions is included in this invention.

  The present invention can be used for a transfer press line, a tandem press line, and the like configured by using a plurality of servo presses.

1 is an overall perspective view schematically showing a transfer press to which an inter-press synchronization control device according to a first embodiment of the present invention is applied. The block diagram which shows the controller of the synchronous control apparatus between presses in 1st Embodiment. The figure which shows a motion program. The figure which shows a progress table. The figure which shows a main crank angle and a motion program time. The figure which shows a part of motion program in which the slide stop was included. The figure which shows the progress value and reference value in 1st Embodiment. The flowchart which shows the control method in 1st Embodiment. The figure which shows the progress table which concerns on the modification of this invention. The whole side view which shows typically the tandem press line to which the synchronous control apparatus between presses concerning 2nd Embodiment of this invention was applied. The figure which shows the progress value and reference value in 2nd Embodiment. The flowchart which shows the control method in 2nd Embodiment. The flowchart which shows the other control method in 2nd Embodiment. The figure which shows the progress value and reference value in 3rd Embodiment. The flowchart which shows the control method in 3rd Embodiment. The block diagram which shows the controller of the synchronous control apparatus between presses in 4th Embodiment. The figure which shows the progress value and reference value in 4th Embodiment. The flowchart which shows the control method in 4th Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Transfer press, 5 ... Slide, 9 ... Operation panel (input setting means), 10 ... Synchronous control apparatus between presses, 11 ... Progress table creation means, 12 ... Progress value calculation means, 13 ... Reference value generation means, 14 ... Comparison means, 15 ... command value generation means, 16 ... counter, 17 ... clock, P1, P2, P3, P4, P5, P6, P7 ... servo press, PRG ... progress value, PRGstd, PRGave ... reference value, Tstd ... reference Cycle time, Tcntr ... time in cycle.

Claims (5)

A press-to-press synchronous control device (10) used for performing synchronous control among a plurality of servo presses (P1 to P7) constituting a series of press lines,
Input setting means (9) for inputting motion information for moving the slide (5) of each servo press (P1 to P7) in a desired motion;
Progress table creating means (11) for creating a progress table in which the motions of the servo presses (P1 to P7) input by the input setting means (9) are allocated on the time axis;
The position information of the slide (5) of each servo press (P1 to P7) is detected at predetermined time intervals, and the motion program time corresponding to the predetermined position information of the detected slide (5) is obtained based on the progress table. the progress of each slide during operation the ratio of the motion program time determined based on the progress table for one cycle of the motion of each servo press which is input by the input setting means (9) (P1~P7) Progress value calculating means (12) for calculating as a progress value (PRG) to be expressed ;
A reference value generating means (13) for generating a reference value (PRGstd) for determining how much the progress of each servo press (P1 to P7) is delayed or advanced;
Comparison means (14) for comparing the reference value (PRGstd) and the progress value (PRG) of each servo press (P1 to P7);
Command value generating means (15) for generating a command value for driving the slide (5) of each servo press (P1 to P7) based on the comparison result Device (10). In the inter-press synchronous control device (10) according to claim 1,
The position information of the slide (5) is a main crank angle in each servo press (P1 to P7).
  A press-to-press synchronous control device (10). In the inter-press synchronous control device (10) according to claim 1,
The position of the slide (5) is detected by a position sensor;
The position information of the slide (5) is a virtual main crank angle calculated from the detected position of the slide (5).
  A press-to-press synchronous control device (10). In the inter-press synchronous control device (10) according to any one of claims 1 to 3 ,
The inter-press synchronous control device (10), wherein the driving of the slide (5) based on the command value is performed when the position of the slide (5) is in a non-forming region of the workpiece. In the inter-press synchronous control device (10) according to any one of claims 1 to 4 ,
A clock (17) for generating clock pulses;
Counting the number of clock pulses from the time the press line started to run, and an output counter (16) the count result of that the period in time (Tcntr),
It said reference value generating means (13) calculates the value of the ratio of the reference period time (Tstd) and the period in time (Tcntr) is the period time of a preset press line as the reference value (PRGstd) A press-to-press synchronous control device (10).