JP5937024B2 - Press apparatus and control method thereof - Google Patents

Description

  The present invention relates to a press apparatus and a control method thereof.

  2. Description of the Related Art Conventionally, in a press machine, for example, a die cushion control device described in cited document 1 is known as a technique for alleviating the impact at the time of collision between a slide and a die cushion member when a workpiece such as a sheet metal is sandwiched between the molds by a slide. It has been. In this die cushion control device, the position of the die cushion member is controlled by the servo motor until the slide is lowered to a predetermined position. During this position control, the torque of the servo motor is limited by the torque limit means. When the slide is lowered to a predetermined position, the control is switched to pressure control.

JP 2006-212644 A

  However, according to the technique described in Patent Document 1, although the impact force when the slide collides with the die cushion shaft is reduced, the productivity is lowered. In other words, if the press shaft (slide) is moved at a high speed, the press shaft cannot be stopped suddenly during the transition to pressure control, so the press shaft after the press shaft contacts the workpiece on the die cushion member. It is necessary to set the operation of the press shaft so that the speed of the press becomes low.

  An object of this invention is to provide the press apparatus which can make productivity high, and its control method, alleviating the impact force at the time of a press.

  The press device according to the present invention includes a bed on which a first mold is provided, a slide that is disposed opposite to the bed, is movable with respect to the bed, and is provided with a second mold, the bed, and the first Die cushion provided between at least one of the mold and between the slide and the second mold, a position detecting unit for detecting the position of the die cushion, and load detection for detecting the load of the die cushion And a control unit that controls the position and load of the die cushion, and the control unit is based on the first operation amount based on the position of the die cushion when the detection value of the load detection unit is equal to or less than a predetermined threshold value. After the die cushion is controlled and the detection value of the load detection unit exceeds the threshold value, the die cushion is controlled based on the first operation amount and the second operation amount based on the load of the die cushion to detect the load. Detected value is After exceeding a value, along with reducing the first operation amount progressively controls the die cushion while gradually increasing the second operation amount.

  A control method of a press apparatus according to the present invention includes a bed provided with a first mold, a slide disposed opposite to the bed, movable with respect to the bed, and provided with a second mold, and a bed A die cushion provided between at least one of the first mold and the slide and the second mold, a position detecting unit for detecting the position of the die cushion, and detecting a load of the die cushion. A load detecting unit that controls the die cushion based on the first operation amount based on the position of the die cushion when the detected value of the load detecting unit is a predetermined threshold value or less. After the detection value of the load detection unit exceeds the threshold value, the die cushion is controlled based on the first operation amount and the second operation amount based on the load of the die cushion, and the detection value of the load detection unit is the threshold value. After With reducing the first operation amount progressively controls the die cushion while gradually increasing the second operation amount.

  According to the press device and the control method thereof according to the present invention, the die cushion is controlled based on the first operation amount based on the position of the die cushion when the detection value of the load detection unit is equal to or less than the predetermined threshold value. And after a metal mold | die contacts a workpiece | work and the detection value of a load detection part exceeds a threshold value, while reducing the 1st operation amount gradually, the 2nd operation amount based on the load of a die cushion is gradually used. Control the die cushion. Therefore, even when the slide is moved at high speed, the transition from the position control based on the position of the die cushion to the load control based on the load of the die cushion is performed smoothly and quickly. Therefore, productivity can be increased while reducing the impact force during pressing.

  In the press device and the control method thereof according to the present invention, after the detection value of the load detection unit exceeds the threshold value, the ratio of the first operation amount with respect to the value before the decrease and the second operation amount with respect to the value after the increase. The ratio and the sum may be constant. In this case, when the control is performed based on the sum of the first operation amount and the second operation amount, the degree of decrease in the first operation amount and the degree of increase in the second operation amount are determined. It can be the same level. Therefore, the transition from position control to load control can be made smooth.

  In the press device and the control method thereof according to the present invention, the threshold value may be smaller than a target value of the die cushion load. In this case, a smooth transition from position control to load control can be started before the detection value of the load detection unit reaches the target value in the load control. Therefore, the control can be stably performed without the load of the die cushion exceeding the target value.

  ADVANTAGE OF THE INVENTION According to this invention, the press apparatus which can make productivity high, and its control method are provided, relieving the impact force at the time of a press.

It is front sectional drawing of the press apparatus which concerns on embodiment of this invention. It is the II-II arrow directional view of FIG. It is a figure which shows the functional structure of a press apparatus. It is a figure which shows typically the time change of the slide displacement, the displacement of a die cushion, and a load. It is a figure which shows the control block of the press apparatus which uses hydraulic pressure. It is a figure which shows typically the ratio of the 1st operation amount and the 2nd operation amount. It is a figure which shows the time change of command value. It is a figure which shows another example of the time change of command value. It is a figure which shows the total value of the command value shown in FIG. It is a figure which shows the effect of this invention. It is a figure which shows the control block of the press apparatus which uses a servomotor. It is a figure which shows the modification of the control block of the press apparatus which uses a servomotor. It is a figure which shows another modification of the control block of the press apparatus which uses a servomotor.

  Hereinafter, an embodiment of a press apparatus according to the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a front sectional view of a press device according to an embodiment of the present invention. 2 is a view taken along the line II-II in FIG. In the following description, one direction in the horizontal plane is defined as the X-axis direction, a direction perpendicular to the X-axis in the horizontal plane is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction.

  As shown in FIGS. 1 and 2, the press device 1 includes a frame 2 and a bed 3. The frame 2 and the bed 3 are connected by four tie rods 4 extending in the vertical direction.

  An eccentric shaft 5 is attached to the frame 2. The eccentric shaft 5 extends in the horizontal direction (X-axis direction). An eccentric portion 5 a is provided at the axial center of the eccentric shaft 5. In the eccentric shaft 5, a pair of coaxial parts 5b, 5b are provided at both ends of the eccentric part 5a. The pair of coaxial portions 5b, 5b are rotatably supported by the frame 2. Both the eccentric part 5a and the coaxial part 5b have a cylindrical shape. The diameter of the eccentric part 5a is made larger than the diameter of the coaxial part 5b. When viewed from the axial direction of the eccentric shaft 5, the central axis of the eccentric portion 5a is deviated from the central axis of the coaxial portion 5b. A drive mechanism (not shown) such as a servomotor is connected to the eccentric shaft 5 via a speed reducer or the like. The eccentric shaft 5 is rotationally driven by this drive mechanism.

  A slide 7 is attached to the eccentric portion 5 a of the eccentric shaft 5. The slide 7 is disposed to face the bed 3. The slide 7 is provided with a sliding chamber 7h. The sliding chamber 7h penetrates the slide 7 in a horizontal direction (Y-axis direction) orthogonal to the axial direction (X-axis direction) of the eccentric shaft 5. The slide 7 is guided to move in the vertical direction (Z-axis direction) by a slide guide.

  A yoke 6 is fitted in the sliding chamber 7 h of the slide 7. The yoke 6 is slidable in the Y-axis direction in the sliding chamber 7h. An eccentric portion 5 a of the eccentric shaft 5 is fitted into the yoke 6, and is rotatable about the axial direction of the eccentric shaft 5.

  With this configuration, when the drive mechanism is operated, the eccentric shaft 5 rotates. As the eccentric shaft 5 rotates, the yoke 6 performs an operation combining the movement in the Y-axis direction and the movement in the Z-axis direction. As the yoke 6 moves, the slide 7 is guided by the slide guide and moves up and down. In this way, the slide 7 is movable with respect to the bed 3.

  A die cushion 8 and a hydraulic cylinder 9 that controls the die cushion 8 are provided below the slide 7. The hydraulic cylinder 9 includes a frame body 10 and a piston 12. An oil chamber 11 is provided inside the frame body 10. The piston 12 is accommodated inside the oil chamber 11 so as to be movable in the vertical direction. The oil chamber 11 is divided into an upper oil chamber 11 a and a lower oil chamber 11 b by a piston 12.

  The press device 1 further includes servo valves 13a and 13b. The servo valve 13a is connected to the upper oil chamber 11a through the pipe 14a. The servo valve 13a adjusts the amount of oil in the upper oil chamber 11a. The servo valve 13b is connected to the lower oil chamber 11b via the pipe 14b and adjusts the amount of oil in the lower oil chamber 11b. In the following description, the servo valve 13a and the servo valve 13b may be referred to as the servo valve 13. Moreover, the press apparatus 1 may be provided with the electromagnetic proportional valve instead of the servo valves 13a and 13b.

  A cylinder rod 15 that extends downward in the vertical direction is attached to the piston 12. An upper mold 16 (second mold) is attached to the end of the cylinder rod 15 opposite to the piston 12. That is, the upper die 16 is provided on the slide 7 in a state of being movable in the vertical direction with respect to the slide 7 by the operation of the piston 12.

  A lower mold 17 (first mold) is provided on the upper portion of the bed 3. The press device 1 lowers the slide 7 with respect to the bed 3, sandwiches a workpiece W (molded product) between the upper mold 16 and the lower mold 17, and further vertically moves the piston 18 with respect to the upper mold 16. By adjusting the load, the load applied to the workpiece W is adjusted, and a desired forming process is performed on the workpiece W.

  Furthermore, as shown in FIG. 3, the press device 1 includes a position detection unit 21, a load detection unit 22, and a control unit 23.

  The position detection unit 21 detects the position of the die cushion 8. The position of the die cushion 8 may be, for example, a relative position of the piston 12 with respect to the frame body 10 or a cylinder rod position indicating how far the cylinder rod 15 protrudes from the frame body 10. . Further, the position of the die cushion 8 may be the absolute position of the upper mold 16 provided in the die cushion 8. The detection value obtained by the sensors may be used as it is, or a value calculated based on the detection value may be used. As long as it indicates the position of the die cushion 8, any value may be detected as the cylinder position, and the absolute position of the hydraulic cylinder 9 may be adopted.

  The load detection unit 22 detects the load of the die cushion 8. As the load of the die cushion 8, for example, a differential pressure that is a difference between the hydraulic pressure in the upper oil chamber 11a and the hydraulic pressure in the lower oil chamber 11b may be detected. As the load of the die cushion 8, the detection value obtained by the sensors may be used as it is, or a value calculated based on the detection value may be used. Any value may be detected as long as it indicates the load applied by the die cushion 8.

  The control unit 23 controls the die cushion 8. More specifically, the control unit 23 controls the die cushion 8 based on the first operation amount based on the position of the die cushion 8 when the detection value of the load detection unit 22 is equal to or less than a predetermined threshold value. Here, the threshold value is a value based on a target value of a load to be applied to the workpiece W by the die cushion 8. Specifically, the threshold value is a value obtained by multiplying the target value of the load by a predetermined threshold coefficient. This threshold value may be smaller than the target value of the load of the die cushion 8.

  The control unit 23 controls the die cushion 8 based on the first operation amount and the second operation amount based on the load of the die cushion 8 after the detection value of the load detection unit 22 exceeds the threshold value. The control unit 23 controls the die cushion while gradually decreasing the first operation amount and gradually increasing the second operation amount after the detection value of the load detection unit 22 exceeds the threshold value.

  FIG. 7 shows an example of an operation amount command value output by the control unit 23. The horizontal axis indicates time in milliseconds. The vertical axis indicates the magnitude of the command value. A straight line Y <b> 1 indicates a position operation amount that is an operation amount based on the position of the die cushion 8. A curve Y2 indicates a command value for the position operation amount as the first operation amount. A polygonal line P1 indicates a load operation amount that is an operation amount based on the load of the die cushion 8, and rises to a constant value 30 at time 0. A curve P2 shows a command value of the load operation amount as the second operation amount. A curve T1 represents the sum of the command value for the position operation amount indicated by the curve Y2 and the command value for the load operation amount indicated by the curve P2. The control unit 23 controls the die cushion 8 based on the total value T1. The control unit 23 outputs the command value Y2 of the position operation amount as the first operation amount so as to decrease from the position operation amount Y1 with the passage of time. At the same time, the control unit 23 outputs the command value P2 of the load operation amount as the second operation amount so as to increase so as to approach the load operation amount P1 as time passes.

  Here, gradually means that when the manipulated variable is plotted on the graph with respect to time, the manipulated variable fluctuates so as to be substantially a curve, and the fluctuation is a monotone increase or a monotone decrease. Point to. The fluctuation that the operation amount becomes substantially a curve is not only a fluctuation that completely becomes a curve, but also a fluctuation that can be approximated to a curve when viewed as a whole plot (for example, a plurality of straight lines with slopes). (Variation such as stitched together) may also be included.

  Further, after the detection value of the load detection unit 22 exceeds the threshold value, the sum of the ratio of the first manipulated variable to the value before the decrease and the ratio of the second manipulated variable to the value after the increase is constant. May be. The ratio of the first operation amount to the value before the decrease is the first operation amount before the decrease before the transition is started (in the example shown in FIG. 7, the post-filter position operation at time -2 milliseconds). It means the ratio of the first manipulated variable that is decreasing to the value of the quantity Y2. The ratio of the second manipulated variable to the increased value is relative to the final second manipulated variable after completion of the increase (in the example shown in FIG. 7, the value of the post-filter load manipulated variable P2 at time 20 milliseconds). Means the ratio of the second manipulated variable that is increasing.

  Next, with reference to FIG. 4, an outline of the operation of the press apparatus according to the present embodiment will be described. In the following description, in addition to the die cushion 8 provided on the slide 7 side, a bed-side die cushion for making the lower mold 17 movable with respect to the bed 3 is also provided on the bed 3 side. It shall be. FIG. 4A shows the vertical position of each die cushion on the slide 7 and the slide 7 side and the bed 3 side, with the vertical upward direction being positive. FIG. 4B shows the relative displacement of the die cushion 8 on the slide 7 side with respect to the slide 7. More specifically, the relative displacement of the die cushion 8 with respect to the slide 7 is the relative displacement of the upper mold 16 provided on the die cushion 8 with respect to the slide 7. FIG. 4C shows a die cushion load that is a load applied to the workpiece W by the die cushion 8.

  As shown in FIG. 4A, the slide 7 descends with respect to the bed 3 at a constant speed. For this reason, the slide position changes to the negative side at a constant rate with respect to time. At time t1, the work W on the bed 3 comes into contact with the upper die 16 provided on the die cushion 8. As shown in FIG. 4C, after the time t1, the die cushion load increases until the time t2, and reaches the load target value. From time t1 to time t2, the die cushion 8 moves while increasing in speed downward, and after time t2, the die cushion 8 moves vertically downward at the same speed as the slide 7. Hereinafter, switching of control of the die cushion 8 from time t1 to time t2 will be described. In addition, the following description applies similarly not only when the speed at which the slide 7 descends with respect to the bed 3 is constant, but also when it changes in a curve with respect to time.

  Next, with reference to FIG. 5, the control performed by the control part 23 in the press apparatus 1 of this embodiment is demonstrated.

A die cushion position command value Y _ref (Δ) that is a command value for the position of the die cushion 8 and a cylinder differential pressure command value (load command value) P _ref are input to this control system. Then, from the control system, the cylinder pressure difference P _L indicating the load of the die cushion, is output and a cylinder displacement Y. In this embodiment, the die cushion position command value Y _ref (Δ) is a value that is periodically given per unit time, and is given as a difference value with respect to the die cushion position in the previous cycle. Hereinafter, this control system will be described in order from the input. Note that the adder, subtractor, multiplier, accumulator, comparator, filter, switch, and the like used in the following description may be realized by individual hardware, for example, a microprocessor or the like. It may be realized by software.

First, switching of control methods in this control system will be described. The cylinder differential pressure command value is multiplied by a predetermined threshold coefficient by the multiplier 31 to obtain a threshold value P _TH (predetermined threshold value). Next, the threshold value P _TH and the measured value P _L of the cylinder differential pressure obtained by the load detection unit from the die cushion 8 (the detection value of the load detection unit 22) are compared by the comparator 32 to perform touch determination. Is called. When the measured value P _L of the cylinder differential pressure is equal to or less than the threshold value P _TH, it is determined that the upper mold 16 is not in contact with the workpiece W. After the actually measured value P _L of the cylinder differential pressure exceeds the threshold value P _TH , it is determined that the upper mold 16 is in contact with the workpiece W, that is, touched. Based on the result of this touch determination, the switch in the control system is switched, and the control method is switched. The threshold value P _TH is preferably smaller than the final target value of the load on the die cushion 8. The threshold coefficient can be arbitrarily determined in the range from 0 to 1. For example, when the upper mold 16 contacts the workpiece W at a relatively high speed, the threshold coefficient is set to a small value such as 0.2 to 0.3, and the upper mold 16 is relatively slow with respect to the workpiece W. In the case of touching with, the threshold coefficient can be set to a large value such as 0.8 to 1.0. The result of the touch determination is used for switching a switch 51 and a switch 61 which will be described later.

Next, control based on the position command value will be described. First, the position command value Y _ref (Δ) is input via the switch 33 as a difference value from the previous cycle. Next, the input position command value is cumulatively added by the accumulator 34 to obtain a position command value that can be compared with the actually measured value. Next, the subtractor 35 calculates the difference between the position command value output from the accumulator 34 and the actual measured value Y (detected value of the position detector 21) of the cylinder displacement output from the die cushion 8. Next, based on the difference value calculated by the subtracter 35, proportional calculation and integral calculation for PI control are performed. More specifically, the output of the subtracter 35, a proportional gain K _p is multiplied by the multiplier 36. At the same time, the output of the subtracter 35 is integrated by the integrator 37, the integral gain K _I is multiplied by the multiplier 38. Then, the output of the multiplier 36 and the output of the multiplier 38 are added by an adder 39 to obtain a position operation amount Y1 (first operation amount). Thus, the position operation amount Y1 is an operation amount based on the measured value Y of the cylinder displacement, that is, the position of the die cushion 8. The position operation amount Y1 is input to the reduction filter block 50.

  Here, the reduction filter block 50 includes a first filter F1, a switch 51, and an adder 52. The input of the reduction filter block 50 is connected to the input of the switch 51. The switching of the path by the switch 51 is performed according to the result of the touch determination by the comparator 32. While it is determined that the upper mold 16 is not in contact with the workpiece W, the switch 51 directly outputs the position operation amount Y1 as an input value from the adder 39 to the adder 52. After it is determined that the upper mold 16 has contacted the workpiece W, the switch 51 filters the position operation amount Y1 that is an input value from the adder 39 by the first filter F1 to provide a post-filter position operation amount. The result is output to the adder 52 as Y2.

  The first filter F1 is a filter that gradually decreases an input value. In other words, the first filter F1 is a filter that gradually decreases the input value and outputs it. As the first filter, for example, a high-pass filter (primary advance filter) can be used. As another example of the first filter, a filter that multiplies the input by a ramp function that decreases at a constant rate with respect to time and further passes through a low-pass filter (first-order lag filter) may be used.

The transfer function G (s) of the primary advance filter is expressed by the following equation (1) when the input is X (s), the output is Y (s), and the time constant is T seconds.
G (s) = Y (s) / X (s) = Ts / (Ts + 1) (1)

Next, control based on the load command value will be described. First, a cylinder differential pressure command value P _ref as a load command value is input, and a subtracter 41 calculates a difference between the cylinder differential pressure command value P _ref and the cylinder differential pressure value P _L output from the die cushion 8. Calculated. Next, based on the difference value calculated by the subtractor 41, proportional calculation and integral calculation for PI control are performed. More specifically, the output of the subtracter 41, a proportional gain K _p is multiplied by the multiplier 42. At the same time, the output of the subtracter 41 is integrated by the integrator 43, the integral gain K _I is multiplied by the multiplier 44. Then, the output of the multiplier 42 and the output of the multiplier 44 are added by the adder 45, and a load operation amount P1 (second operation amount) is obtained. As described above, the load operation amount P1 is an operation amount based on the actually measured value P _L of the cylinder load, that is, the load on the die cushion 8. The load operation amount P <b> 1 is input to the increase filter block 60.

  Here, the increase filter block 60 includes a second filter F2 and a switch 61. The input of the increase filter block 60 is connected to the input of the switch 61. Switching of the switch 61 between the on state and the off state is performed according to the result of the touch determination by the comparator 32. While it is determined that the upper mold 16 is not in contact with the workpiece W, the switch 61 is in an OFF state, and the load operation amount P1 that is an output value from the adder 45 is not output to the filter F2. After it is determined that the upper mold 16 has contacted the workpiece W, the switch 61 is turned on, and the load operation amount P1, which is an output value from the adder 45, is output to the filter F2. In this case, the load operation amount P1 is filtered by the filter F2, and becomes the post-filter load operation amount P2.

  The second filter F2 is a filter that gradually increases the input value. In other words, the second filter F2 is a filter that outputs an input value that is gradually increased. For example, a low-pass filter (first-order lag filter) can be used as the second filter. As another example of the second filter, a filter that multiplies the input by a ramp function that increases at a constant rate with respect to time and further passes through a low-pass filter (first-order lag filter) may be used.

The transfer function G (s) of the first-order lag filter is expressed by the following equation (2) when the input is X (s), the output is Y (s), and the time constant is T seconds.
G (s) = Y (s) / X (s) = 1 / (Ts + 1) (2)

  The output from the decrease filter block 50 and the output from the increase filter block 60 are added by the adder 46 to obtain a total manipulated variable T1. The value of the total operation amount T1 varies depending on the result of the touch determination in the comparator 32.

Specifically, when the measured value P _L of the cylinder differential pressure is equal to or less than the threshold value P _TH, the position operation amount Y 1 itself output from the adder 39 is output from the adder 52. Further, since the switch 61 is in the off state, the output from the filter F2 is zero. Therefore, the total operation amount T1 output from the adder 46 becomes the position operation amount Y1.

On the other hand, when the measured value P _L of the cylinder differential pressure exceeds the threshold value P _TH , the post-filter position operation amount Y2 output from the filter F1 is output from the adder 52. Further, since the switch 61 is in the ON state, the output from the filter F1 is a post-filter load operation amount P2. Therefore, the total operation amount T1 is the sum of the post-filter position operation amount Y2 and the post-filter load operation amount P2.

The total operation amount T1 is the output of the adder 46 is K _a multiplied by the multiplier 47, the opening command value I to the servo valve 13.

The servo valve 13 adjusts the valve opening X based on the opening command value I to adjust the amount of oil supplied to the hydraulic cylinder 9. The servo valve 13 has a second order lag system transmission characteristic. Assuming that the opening command value I and the valve opening X are the input and output of the servo valve 13, respectively, the transfer function of the servo valve 13 is expressed by the following equation (3).

The valve opening X, which is the output of the servo valve 13, is input to the die cushion 8. From the die cushion 8, together with the cylinder displacement Y is detected by the position detection unit, the load detection unit, the cylinder pressure difference P _L as a quantity representing the load is detected.

  Next, the input / output characteristics of the filters F1 and F2 will be described with reference to FIG. A curve C1 is an input / output characteristic of the filter F1. A curve C2 is an input / output characteristic of the filter F2. Both curves C1 and C2 show the ratio of output to input. At time -2 milliseconds, the output of the filter F1 is a ratio 1.0, and the output of the filter F2 is a ratio 0.0. Thereafter, as time passes, the output of the filter F1 gradually decreases, and the output of the filter F2 gradually increases. Here, the sum of the ratio of the filter F1 and the ratio of the filter F2 is constant. In other words, the filter F1 and the filter F2 have the same time constant. The ratio here refers to the ratio of the amount that is decreasing to the amount before the decrease starts, or the ratio of the amount that is increasing to the amount after the increase is completed.

  FIG. 7 shows the time variation of the command value obtained by the control system shown in FIG. 5 using such filters F1 and F2. The position operation amount Y1 takes a constant value 20 regardless of time. The post-filter position operation amount Y2 is obtained by multiplying the position operation amount Y1 by the ratio represented by the curve C1 in FIG. 6, and gradually decreases with the passage of time. The load operation amount P1 rises from time 0 and takes a value of 30, and then remains at a constant value of 30. The post-filter load operation amount P2 is obtained by multiplying the load operation amount P1 by the ratio represented by the curve C2 in FIG. 6, and gradually increases with the passage of time. The total operation amount T1 is the sum of the post-filter position operation amount Y2 and the post-filter load operation amount P2. Thus, the total manipulated variable T1 smoothly changes from the position manipulated variable Y1 toward the load manipulated variable P1 between time 0 milliseconds and time 20 milliseconds.

  In addition, you may use the thing of the characteristic shown by FIG. 8 as the filter F1 and the filter F2. In FIG. 8A, first, a value Y3 is obtained by multiplying the position operation amount Y1 by a ramp waveform that decreases at a constant rate from time 0 milliseconds to time 10 milliseconds. Next, the value Y3 is filtered by a low-pass filter (first-order lag filter) to obtain a post-filter position operation amount Y4. In FIG. 8B, first, a value P3 is obtained by multiplying the load operation amount P1 by a ramp waveform that increases at a constant rate from time 0 milliseconds to time 10 milliseconds. Next, the value P3 is filtered by a low-pass filter to obtain a post-filter load operation amount P4.

  FIG. 9 shows a case where the post-filter position operation amount Y4 and post-filter load operation amount P4 shown in FIG. 8 are added by the adder 46 to obtain a total operation amount T2. As in the case of the total manipulated variable T1 shown in FIG. 7, the total manipulated variable T2 smoothly changes from the position manipulated variable Y1 toward the load manipulated variable P1 between time 0 milliseconds and time 20 milliseconds. doing.

  Next, the effect of the press apparatus 1 which concerns on embodiment of this invention and the control method of this press apparatus 1 is demonstrated.

  FIG. 10 is a diagram for explaining the function and effect of the present invention. FIG. 10A shows that the slide position changes to the negative side with time as the slide 7 moves relative to the bed 3. FIG. 10B shows the die cushion displacement. FIG. 10C shows the die cushion load. Time t1 is the time when the upper die 16 provided on the die cushion 8 contacts the workpiece W, and time t2 is the time when the load on the die cushion 8 reaches the target value.

  A curve D1 in FIG. 10B and a curve L1 in FIG. 10C indicate that the control of the die cushion 8 is immediately changed from the control based on the position of the die cushion 8 to the control based on the load of the die cushion 8 at time t1. Indicates the case of switching. In this case, the response of the die cushion 8 is delayed.

  On the other hand, the curve D2 in FIG. 10B and the curve L2 in FIG. 10C indicate that the control of the die cushion 8 is changed from the control based on the position of the die cushion 8 to the control based on the load of the die cushion 8 at time t2. Indicates the case of switching immediately. In this case, a large impact occurs in the response of the die cushion 8 and a large vibration resulting from the impact occurs.

  Further, a curve D4 in FIG. 10B and a curve L4 in FIG. 10C indicate that the control of the die cushion 8 is changed from the control based on the position of the die cushion 8 to the control based on the load of the die cushion 8 at time t1. A case where the load feedback gain is larger than the curve D1 in FIG. 10B and the curve L1 in FIG. In this case, since the load feedback gain is large, after the control is switched at the time t1, as shown by a curve L4 in FIG. 10C, a large shock is caused by the response of the die cushion 8, and a large shock due to this shock. Vibration occurs. Further, in order to make the load reach the target value, the displacement of the die cushion 8 swings to the negative side as shown by a curve D4 in FIG. That is, the displacement of the die cushion 8 is unnecessarily swung toward the bed 3 side.

  On the other hand, a curve D3 in FIG. 10B and a curve L3 in FIG. 10C show the die cushion displacement and the die cushion position by the control in the press device 1 according to the embodiment of the present invention. According to this control, there is less response delay compared to the case indicated by the curves D1 and L1, and no large vibrations or impacts as indicated by the curves D3 and L3 occur.

  According to the press device 1 and the control method thereof according to the embodiment of the present invention, the die cushion 8 is based on the first operation amount based on the position of the die cushion 8 when the detection value of the load detection unit is equal to or less than a predetermined threshold value. Controlled. After the upper mold 16 provided on the die cushion 8 contacts the workpiece W on the bed 3 and the detection value of the load detection unit exceeds the threshold value, the position operation amount as the first operation amount is gradually increased. The die cushion 8 is controlled by gradually increasing the load operation amount that is the second operation amount based on the load of the die cushion 8 and gradually increasing the load operation amount. Therefore, even when the slide 7 is moved at high speed, the transition from the position control based on the position of the die cushion 8 to the load control based on the load of the die cushion 8 is performed smoothly and quickly. . Therefore, productivity can be increased while reducing the impact force during pressing.

  When the control is performed based on the sum of the position operation amount that is the first operation amount and the load operation amount that is the second operation amount, the degree of the decrease in the position operation amount and the increase in the load operation amount Can be made comparable. Therefore, the transition from position control to load control can be made smooth.

  When the threshold value is smaller than the target value of the die cushion load, a smooth transition from position control to load control is started before the detection value of the load detection unit 22 reaches the target value in the load control. be able to. Therefore, the control can be stably performed without the load of the die cushion 8 exceeding the target value.

  The present invention is not limited to the press device and method according to the embodiment described above, and various modifications are possible. For example, instead of the press device using the hydraulic servo valve shown in FIGS. 1, 2 and 5, a similar die cushion control can be performed also in a press device that controls the die cushion with an electric servo motor.

11 to 13 show control blocks of a press device that uses a servo motor. FIG. 11 shows a case where the coupling rigidity between the motor and the die cushion is high. FIG. 12 shows a case where the coupling rigidity between the motor and the die cushion is medium. FIG. 13 shows a case where the coupling rigidity between the motor and the die cushion is low. The main difference between the control block of a hydraulic press apparatus shown in FIG. 5, whereas in the case of a hydraulic press apparatus of Figure 5 has been performed a touch determination in accordance with the measured values of the cylinder pressure difference P _L In the case of the electric servo motor type press device of FIGS. 11 to 13, the touch determination is performed according to the detected torque (current) value of the motor. Also, as shown in FIGS. 11 to 13, parameters used for feedback differ depending on the strength of the coupling rigidity between the motor and the die cushion.

More specifically, the difference between the hydraulic press shown in FIG. 5 and the electric servo motor press shown in FIG. 11 will be described. The touch determination by the comparator 32 is performed by comparing the threshold value P _{TH obtained} by multiplying the load command value P _ref with a predetermined threshold coefficient by a multiplier and the torque (current) detection value of the motor 82. If the torque is equal to or less than the threshold value _PTH, it is determined that the upper mold 16 provided on the die cushion 8 has not yet contacted the workpiece W. If the torque exceeds the threshold value P _TH, the upper die 16 is determined to be in contact with the workpiece W.

With respect to the control based on the position command value and the die cushion position, the output of the multiplier 36 and the output of the multiplier 38 are added by the adder 39 to obtain a value Y10. The subtracter 71 subtracts the speed dY / dt detected in step (1). Then, proportional to the output value of the subtracter 71 the gain K _p is multiplied by the multiplier 72. At the same time, the output value of the subtracter 71 is integrated by the integrator 73, the integral gain K _I is multiplied by the multiplier 74. The output of the multiplier 72 and the output of the multiplier 74 are added by the adder 75 to obtain the position manipulated variable Y11. The position operation amount Y11 is input to the reduction filter block 50 described with reference to FIG. The position operation amount Y11 becomes the post-filter position operation amount Y12 by being filtered by the filter F1 of the reduction filter block.

On the other hand, regarding the control based on the load command value, the load command value P _ref is directly input to the increase filter block 60 as the load operation amount P11. The load operation amount P11 becomes the post-filter load operation amount P12 by being filtered by the filter F2 of the increase filter block 60.

The output of the adder 52 of the decreasing filter block 50 and the output of the adder 62 of the increasing filter block 60 are added by the adder 46 to obtain a total manipulated variable T11. Then, the subtracter 76 subtracts the detected torque value at the motor from the total manipulated variable T11. The output of the subtractor 76 is multiplied by a proportional gain K _p by a multiplier 77. At the same time, the output of the subtracter 76 is integrated by the integrator 78, the integral gain K _I is multiplied by the further multiplier 79. The output of the multiplier 77 and the output of the multiplier 79 are added by an adder 81 to obtain a torque command value. This torque command value is input to a motor 82 that is a servo motor that drives the die cushion.

  Even a press device using such a servo motor can smoothly shift from position control based on a position command value to load control based on a load command value.

  In the case where the coupling rigidity between the motor and the die cushion shown in FIG. 12 is medium, unlike the case of FIG. 11, the subtractor 71 detects the motor speed instead of the die cushion speed dY / dt. The value is subtracted as a feedback value.

  When the coupling rigidity between the motor and the die cushion shown in FIG. 13 is weak, the value subtracted as the feedback value in the subtractor 35 is different from the case of FIG. The value subtracted by the subtracter 35 differs depending on whether the displacement of the die cushion 8 is in a transient state or converges within a certain range. This determination is performed by the output value of the subtractor 35 using the positioning determination unit 84. When the displacement of the die cushion 8 is in a transient state, the detected value of the motor torque (current) is integrated by the integrator 85 to become the motor position, and this motor position is directly returned to the subtractor 35 via the adder 87, and the accumulator 34 is subtracted from the output. When the displacement of the die cushion 8 converges within a certain range, the motor torque (current) detection value is integrated by the integrator 85, and then filtered by the primary advance filter F3 via the switch 86 to the adder 87. Entered. At the same time, the displacement obtained by integrating the speed dY / dt of the die cushion 8 by the integrator 83 is input to the primary delay filter F4 via the switch 88, is filtered by the primary delay filter F4, and is input to the adder 87. . Then, the primary advance filter F3 and the primary delay filter F4 are added by the adder 87 and input to the subtractor 35. This input value is subtracted from the output value of the accumulator 34 in the subtractor 35.

  In the above-described embodiment, the press device has been described by taking an example in which the die cushion is provided only between the slide and the upper die, but the die cushion is provided only between the bed and the lower die. Alternatively, a press apparatus in which a die cushion is provided between the slide and the upper mold and a die cushion is provided between the bed and the lower mold may be employed.

  DESCRIPTION OF SYMBOLS 1 ... Press apparatus, 3 ... Bed, 7 ... Slide, 8 ... Die cushion, 16 ... Upper metal mold (2nd metal mold), 17 ... Lower metal mold (1st metal mold), 21 ... Position detection part, 22 ... load detection unit, 23 ... control unit, Y1 ... position operation amount (first operation amount), P1 ... load operation amount (second operation amount).

Claims (6)

A bed provided with a first mold;
A slide disposed opposite the bed, movable relative to the bed, and provided with a second mold;
A die cushion provided between at least one of the bed and the first mold and between the slide and the second mold;
A position detector for detecting the position of the die cushion;
A load detector for detecting the load of the die cushion;
A control unit for controlling the die cushion,
The controller is
When the detection value of the load detection unit is equal to or less than a predetermined threshold value, the die cushion is controlled based on a first operation amount based on the position of the die cushion.
After the detection value of the load detection unit exceeds the threshold value, the die cushion is controlled based on the first operation amount and the second operation amount based on the load of the die cushion,
After the detection value of the load detection unit exceeds the threshold, the first operation amount is gradually decreased and the die cushion is controlled while the second operation amount is gradually increased.
Press device.   After the detection value of the load detection unit exceeds the threshold, the sum of the ratio of the first manipulated variable to the value before the decrease and the ratio of the second manipulated variable to the value after the increase is constant. The press device according to claim 1, wherein   The press apparatus according to claim 1 or 2, wherein the threshold value is smaller than a target value of the load of the die cushion. A bed provided with a first mold;
A slide disposed opposite the bed, movable relative to the bed, and provided with a second mold;
A die cushion provided between at least one of the bed and the first mold and between the slide and the second mold;
A position detector for detecting the position of the die cushion;
A load detector for detecting the load of the die cushion;
A control method of a press device comprising:
When the detection value of the load detection unit is equal to or less than a predetermined threshold value, the die cushion is controlled based on a first operation amount based on the position of the die cushion.
After the detection value of the load detection unit exceeds the threshold value, the die cushion is controlled based on the first operation amount and the second operation amount based on the load of the die cushion,
After the detection value of the load detection unit exceeds the threshold, the first operation amount is gradually decreased and the die cushion is controlled while the second operation amount is gradually increased.
Control method of press machine.   After the detection value of the load detection unit exceeds the threshold, the sum of the ratio of the first manipulated variable to the value before the decrease and the ratio of the second manipulated variable to the value after the increase is constant. The control method of the press apparatus according to claim 4, wherein   The control method for a press apparatus according to claim 4 or 5, wherein the threshold value is smaller than a target value of the load of the die cushion.

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