JPH0347628A - Back gage equipment in metal plate working machine - Google Patents

Abstract

PURPOSE:To securely position a metal plate and to precisely bend it by positioning a stopper member at a high speed to a target position and providing a linear servomotor for positioning the metal plate at a low speed to the stopper member on a back gage equipment. CONSTITUTION:When the metal plate W is worked by a metal plate working machine, the linear servomotor on the back gage equipment 17 is driven to move a movable piece 63 provided with the stopper member 67 to the working side of a fixed piece 57 and to position the movable piece at a high speed to the target position detected by a position sensor 59. When the metal plate W is struck against the stopper member 67, it is positioned at a slow speed. Consequently, the equipment is miniaturized, made light in weight and the metal plate W is positioned precisely. Further, the lower frame is hardly deformed and is bent with high precision.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) This invention relates to a back gauge in a plate processing machine that accurately positions a plate in order to perform high-precision plate processing on a plate with a plate processing machine. Regarding equipment.

(Prior Art) Conventionally, in a press brake equipped with a manipulator that clamps and moves a plate material as a plate processing machine, for example, when the manipulator that has clamped the plate material is moved to abut the plate material against the abutting member of a backgauge device. , the manipulator itself cannot control the force with which the plate material abuts against the abutting member. Therefore, in order to accurately position the plate material, the back gauge device is equipped with a plurality of potentiometers.

The plate material hits the potentiometers, and after confirming that each potentiometer is within the standard for the dimensions, the signal from the potentiometers is taken into the controller, the lower frame rises, and the bending process begins. It is supposed to be done.

(Problem to be Solved by the Invention) By the way, in a series of bending operations in the above-mentioned conventional breath brake equipped with a manipulator, in order to obtain accurate bending dimensions of the plate material, it is necessary to position the backgauge device and use the potentiometer. The system performs a series of confirmation operations, but there is a problem in that the mechanism and control method of the current backgauge device itself are complicated.In other words, conventional backgauge devices use a rotary motor and a ball screw to perform rotation/linear conversion. Since it consists of a mechanism, it is difficult to make it even smaller and weigh more.

Further, since the conventional backgauge device is attached to the lower frame in a cantilevered structure, the lower frame is deformed by the bending moment caused by the backgauge device, so there is a problem that highly accurate bending cannot be performed.

The purpose of this invention is to reduce the size and weight of the back gauge device itself, to reduce the deformation of the lower frame, and to enable highly accurate bending in order to improve the above problems.
An object of the present invention is to provide a backgauge device for a sheet processing machine according to the present invention.

[Structure of the Invention (Means for Solving the Problems) In order to achieve the above object, the present invention provides a plate material processing machine that processes a plate material so that it can freely approach and leave the processing position behind the processing position. A backgauge device for a plate processing machine provided with a stator extending in the front-rear direction, a position sensor provided on one side of the stator and extending in the front-rear direction, and a back gauge device extending in the front-rear direction with respect to the stator. A movable element that is movable and has an abutting member via a stretch member, and a speed feedback system is added at the time of positioning to advance this movable element and position the abutting member to a target position. A linear servo motor is equipped with a linear servo motor that performs high-speed positioning by increasing the speed of the workpiece, and also removes the speed feedback system and controls the gain of the servo system to a low level when the workpiece is brought into contact with the abutting member, thereby performing low-speed positioning. The back gauge device for the aircraft was configured.

(Function) By employing the baggage device in the sheet material processing machine of the present invention, when performing sheet material processing on the sheet material with the sheet material processing machine, the linear servo motor of the backgauge device is driven in advance, and the movable member equipped with the abutment member is is moved toward the processing position with respect to the stator and positioned at high speed to the target position detected by the position sensor. Next, when abutting the plate material against the abutment member, the plate material is positioned at a low speed.

Therefore, the back gauge device itself is smaller and lighter than conventional ones, and the positioning of the plate material is performed accurately. Furthermore, there is little deformation of the lower frame (,
High precision bending is performed.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

Referring to FIGS. 10 and 11, a sheet material bending device 1 as a sheet material processing machine is composed of, for example, a press brake, and a manibu 17 is installed on the front side of the sheet material bending device 1. 3 is installed. Further, on the side of the sheet material bending apparatus, a magazine section 5 containing sheet materials W is provided, and a conveyance device 7 for conveying the bent product P to the next process is arranged. Since the configurations of the magazine section 5 and the transport device 7 may be general configurations, a detailed explanation thereof will be omitted.

The sheet material bending device 1 includes an upper frame 9 and a lower frame 1.1, similar to an internal press brake, and an upper mold 13 is detachably attached to the two-part frame 9. has been done. Further, a lower mold 15 is attached to the lower frame 11.

As is well known, a plate material bending apparatus 1 having the above configuration is used.
In this method, one of the upper and lower frames 9.11 is moved up and down to engage the upper die 13 and the lower die 15, thereby bending the plate material W interposed between the upper die 13 and the lower die 15. It is used for processing.

Although detailed illustrations are omitted, in this embodiment, the lower frame 11 is configured to move up and down.

Furthermore, the plate material bending apparatus 1 is provided with a back gauge device 17 that positions the plate material W in the front-rear direction (horizontal direction: Y-axis direction in FIG. 11) and is movable in the front-rear direction.

In this embodiment, the manipulator 3 is attached to a base plate integrally attached to a lower frame 11 that can be moved up and down.

More specifically, the base plate 1 extends (2) in the left-right direction (X-axis direction) along the longitudinal direction of the lower die 15, and the first moving table 21 is arranged in front of the base plate 19 in the X-axis direction.
It is supported so as to be movable in the axial direction. This first moving platform 2
] is rotatably provided with a pinion (not shown) meshing with a rack rod 23 in the X-axis direction provided on one of the base plates, and a first servo motor 25 for rotationally driving the pinion. It is provided. In addition,
The power transmission mechanism for rotationally driving the pinion by the first servo motor 25 may have a general configuration, so a detailed explanation thereof will be omitted. The first servo motor 25 is
For example, it is composed of a stepping motor or the like, and is equipped with a position detection device such as an encoder.

With the above configuration, the first moving table 21 can be moved in the X-axis direction by operating the first servo motor 25, and the moving position of the first moving table 21 in the X-axis direction with respect to the reference position can be detected. I can do it.

As is clear from FIGS. 10 and 11, the first movable table 21 is provided with a fan-shaped portion 27 whose upper side is enlarged in the front-rear direction (Y-axis direction). is provided with two arc-shaped rack members. A second moving table 31 is supported on the rack member 29 and is movable along the rack member 29 in the Y-axis direction. The second movable table 31 is rotatably provided with a pinion (not shown) that meshes with two rack members, and is also equipped with a second servo motor 33 that rotationally drives the pinion. This second servo motor 33 is connected to the first servo motor 2
5, it is equipped with a position detection device such as an encoder.

With the above configuration, by driving the second servo motor 33, the second moving table 31 is moved in an arc shape along the rack member 29 in the Y-axis direction. The position of the second movable table 31 in the Y-axis direction is detected by a position detecting device provided in the second navigation unit 33.

As is clear from FIGS. 10 and 11, the second movable table 31 supports an elevating column 35 that is movable in the vertical Z-axis direction perpendicular to the moving direction of the second movable table 31. ing. A vertical rack is formed on this elevating column 35. Pinion meshed with this rack (not shown)
is rotatably supported by the second movable table 31, and a third servo motor 37 for rotationally driving this pinion is mounted on the second movable table 31. This third servo motor 37 is equipped with a position detection device like the first servo motor 25.

With the above configuration, the elevating column 35 is moved by the third servo motor 3
7, and the position of the vertical movement is detected by the position detection device.

Three arms extending in the Y-axis direction are appropriately fixed to the upper part of the lifting column 35. At the tip of the am 39, there is a plate gripping device 41 that can grip one side edge of the plate W.
is installed. More specifically, as shown in FIGS. 10 and 11, the plate gripping device 41 is provided so as to be rotatable in the vertical direction about an axis parallel to the X-axis, and parallel to the B-axis. It is provided so as to be able to freely rotate around the orthogonal A axis.

A fourth servo motor 43 for rotating the plate gripping device 41 around the A axis, and a fifth servo motor 4 for rotating the plate gripping device 41 up and down around the B axis.
5 is attached to the arm 39. 4 above. Fifth
The servo motors 43 and 45 are equipped with a position detection device like the first servo motor 25 described above. Note that the power transmission mechanism for rotating the plate material gripping device 41 around the A axis by the fourth servo motor 43 and the power transmission mechanism for vertically rotating it by the fifth servo motor 45 can have various configurations. However, since this configuration is not unique, detailed explanation will be omitted.

Referring again to FIG. 10, an auxiliary gripping device 47 is attached to one side of the lower frame 11 or one base plate, and is capable of temporarily gripping the plate material W.
A side gauge device 49 is attached via a suitable bracket.

The auxiliary gripping device 47 includes an upper jaw 51 and a lower jaw 53 for gripping the plate material W, and the vertical movement of the upper jaw 51 is performed by an actuator (not shown).

The side gauge device 49 is used to detect the positional relationship between the manipulator 3 and one side edge of the plate material W held by the plate material gripping device 41, and includes a side sensor 55. The lateral sensor 55 is, for example, a linear transducer such as a direct-acting potentiometer.

With the above configuration, the plate material W is gripped by the plate material gripping device 41, moved in the X-axis, Y-axis, and Z-axis directions, and rotated around the A-axis and B-axis. By working together, bending processes can be performed into various shapes.

As shown in FIGS. 1 and 2, the back gauge device 17 includes a stator 57 of a linear servo motor attached to the upper rear wall of the F section frame 1.1 and extending in the Y-axis direction; A position sensor 59, such as a magnetic scale, provided on one side of the stator 57, and a position sensor 59 provided on one side of the stator 57.
It is composed of a movable element 63 that is movable via a bearing 61 in the longitudinal direction, that is, in the Y-axis direction.

This mover 63 has a stretched stretch 6 in the X-axis direction.
5 is provided, and this stretch 65 is provided with a plurality of abutment members 67 at appropriate intervals.

With the above configuration, when the linear servo motor is driven,
Since the mover 63 is moved in the Y-axis direction with respect to the stator 57 via the bearing 61, the abutment member 67 is also moved in the same direction via the stretch 65. Note that the position at which the abutting member 67 is moved in the Y-axis direction is always detected by the position sensor 59.

Referring again to FIG. 11, the sheet material bending device 1 is controlled by a sheet material bending device controller 69, and the manipulator 3 is controlled by a manipulator controller 71.
The back gauge device 73 is further controlled by a back gauge device controller 73.

Furthermore, the plate material bending device controller 69 and the manipulator controller 71. The manubulator controller 7 and the back gauge device controller 73 are connected to each other so that signals can be exchanged.

A control configuration block diagram of the back gauge device controller 73 is shown in FIG. In FIG. 3, the back gauge controller 73 has a deviation counter 75. Gain 77, D/A converter 79° servo amplifier 81. Linear servo motor 83. F/V converter 85° switch SWI
The position sensor 59 is connected to the linear servo motor 83.

The movement command is given to the deviation counter 75 as a command pulse, and feedback pulses from the five position detectors are also given to the deviation counter 75.

The back gauge device controller 73 is provided with a speed mode and a position mode, and is controlled by switching between the speed mode and the position mode. The speed mode is the mode when the linear servo motor 83 is moving.

For example, FIG. 4 shows a graph of the magnitude of the gain 77 in relation to the accumulated pulses of the deviation counter 75 and the output of the D/A converter 79.

Further, FIG. 5 shows a graph showing the response of the near servo motor 83 to the magnitude of the gain 77 in the relationship between time and speed command. Furthermore, FIG. 6 shows differences in positioning commands depending on damping magnitude in the relationship between time and speed commands.

In the speed mode, as shown in FIGS. 4 and 5, the gain 77 is increased to improve the ability of the linear servo motor 83 to follow the command.

Further, as shown in FIG. 6, a speed loop system is added (switch SWI is turned on) to provide damping to the control system and shorten the positioning time.

The position mode is a positioning mode of the linear servo motor 83, and by reducing the gain 77 in FIG. The motor 3 is moved rearward.

That is, the manufacturer 3 abuts the plate material W against the abutment member 67 while the linear servo motor 83 is not stopped at the positioning point (within the accumulated pulse -±1 pulse). The linear servo motor 83 is pushed backward and moves. Then, a feedback pulse from the position sensor 59 is input to the deviation counter 75.

Since the gain 77 is small, as can be seen from Fig. 7, the D/A
The output of converter 7 is small. If the control system does not include integral action, the relationship between the accumulated pulses and the thrust of the linear servo motor 83 will be as shown in FIG.
The thrust generated by the linear motor 83 is small.

Therefore, the linear servo motor 83 is pushed by the plate W and moves rearward without deforming the plate W. The value of the deviation counter 75 when the manipulator 3 completes the abutting operation is the movement 1 of the linear servo motor 83 from the positioning point. From this value, the current bending dimension can be accurately obtained.

Further, if the bending dimension is different from the target bending dimension, the position of the manipulator 3 can be corrected based on the amount of movement of the linear servo motor 83, and an accurate bending dimension can be obtained.

As shown in FIGS. 7 and 8, if the output of the D/A converter 79 has a saturation characteristic with respect to the accumulated pulses of the deviation counter 75, the thrust of the linear servo motor 83 also has a saturation characteristic. It comes to show that. Therefore, the linear servo 83 can push back the plate material W with a constant force.

Next, the bending operation using the back gauge device 17 will be explained based on the flowchart shown in FIG. In FIG. 9, in step S1, the linear servo is moved to the target position in speed mode.

After the linear servo motor 83 positions the target position in step S2, the control mode of the linear servo motor 83 is changed to position mode.

In step S3, the back gauge device controller 73 causes the manipulator controller 71 to output a positioning completion signal. In step S4, the manubulator 3
is abutted against the abutment member 67.

In step S5, since the plate W pushes the rear of the linear servo motor 83, the linear servo motor 83 is also pushed by the plate W and moves rearward. This amount of movement is output to the manipulator controller 71. Note that the linear servo motor 83 is controlled in the retention mode and the servo gain is set sufficiently low, so even if the manipulator 3 hits the plate W, it will not deform the plate W.
In step S6, the position of the manubrake 3 is corrected based on the amount of movement to obtain accurate bending dimensions. In step S7, the abutting member 67 is moved rearward to prevent interference between the plate material W and the abutting member 67. Step S
8, the lower frame 11 is raised, and the upper mold 13 and lower mold 1
5 to bend the plate material W.

When the bending of the plate material W is completed, the process returns to step S1, a predetermined number of sheets are bent based on steps 81 to S8, and the process ends.

In this way, the back gauge device 17 is directly driven by the linear servo motor 83, so it can perform high-speed positioning. Furthermore, the linear servo motor 83 is composed of a stator 57 and a movable element 63, and has a simple mechanism, a small number of parts, and high reliability.

When the manipulator 3 abuts the plate material W against the abutting member 67, the bending dimension error (bending dimension) can be measured by the linear servo motor 83, so the back gauge device 17 has a simpler structure than the conventional one. becomes.

Further, since the bending dimension of the plate material W is determined by the position sensor 59 added to the linear servo motor 83, the bending dimension can be measured with high precision, and thus the bending process can be performed with high precision.

Since the linear servo motor 83 is used, the back gauge device 17 can be made smaller and lighter, and the deformation of the lower frame 11 can be reduced, so that highly accurate bending can be performed. Since the back gauge device 17 is driven by a linear servo motor 83, low noise can be achieved.

Note that the present invention is not limited to the embodiments described above, and can be implemented in other embodiments by making appropriate changes. In this embodiment, for example, a linear pulse motor can be used as the linear servo motor 83, but it may also be a linear A or C motor, a linear DC motor, a linear induction motor, or the like. Further, for example, a magnetic scale is used as the position sensor 59, but a rotary encoder or a rack and pinion type may also be used. The bearing 61 may be not only a rolling bearing but also a linear guide.

[Effects of the Invention] As can be understood from the description of the embodiments as described above, according to the present invention, when processing a plate material with a plate processing machine, the linear servo motor of the back gauge device is driven in advance and the It is possible to move the abutting member toward the processing position and position it at high speed to the target position detected by the position sensor. Next, when abutting the plate material against the abutment member, the plate material can be positioned at a low speed.

Therefore, since a linear servo motor is used as the drive source of the back gauge device, the back gauge itself can be made smaller and lighter, and the plate material can be positioned accurately.

Furthermore, the lower frame is less deformed and bending can be performed with high precision.

[Brief explanation of drawings]

FIG. 1 shows the main part of this invention, and in FIG.
2 is a perspective view of the linear motor used in the backgauge device, FIG. 3 is a block diagram of the control configuration of the backgauge device controller, and FIGS. 4 to 8 are the backgauge device The characteristics in the controller are shown in Figure 4, which shows the deviation counter accumulation pulse and D/
Figure 5 is a diagram showing the relationship between the output of the A converter, Figure 5 is a diagram showing the relationship between the linear motor response when the gain is large and small, and Figure 6 is a diagram showing the relationship between the positioning time due to the damping level and the speed command, and Figure 7 is the deviation due to the small gain. A diagram showing the relationship between the counter accumulation pulse and the D/A converter output, Figure 8 is a diagram showing the relationship between the deviation counter accumulation pulse and the thrust of the near motor due to a small gain, and Figure 9 is a flowchart of the bending operation using the backgauge device. FIG. 10 is a perspective view of a sheet material bending device which is an embodiment of a sheet material processing machine, and FIG.
This is a side view of the figure with each controller added. 1... Plate material bending device (plate material processing machine) 3... Manipulator 11... Lower frame 13...
Upper die 15...Lower die 17...Back gauge device 57...Stator 59...Position sensor
63...Mover 65...Stretch 6
7. Abutting member 83... Linear servo motor

Claims (1)

[Claims] A backgauge device for a plate processing machine that processes plate materials and is installed at the rear of a processing position so as to be able to move toward and away from the processing position, and includes a stator extending in the front-rear direction, and the stator. a position sensor provided on one side and extending in the front-rear direction; a movable element that is movable in the front-rear direction with respect to the stator and has an abutment member via a stretch member; and a movable element that moves the movable element forward. At the time of positioning to position the abutment member to the target position, a speed feedback system is added and the gain of the servo system is increased to perform high-speed positioning, and at the time of abutment where the plate material is abutted against the abutment member, the speed feedback system is removed and A backgauge device for a plate material processing machine, comprising: a linear servo motor that controls the gain of a servo system to a low level to perform low-speed positioning.