JPWO2013118656A1 - Dynamic displacement measuring device and linkage device - Google Patents

Abstract

Provided is a dynamic displacement measuring device capable of grasping in detail a machining situation or the like that has been difficult to analyze in the past. The dynamic displacement measuring device of the present invention is directed to at least one of the base body (18), the detected body (17) that can move forward and backward relative to the base body, and the relative advance and retreat direction of the base body and the detected body. A forward / backward drive means (15) for driving at least one of the base body and the detected body, an advancing / retreating position detecting means for detecting a forward / backward position which is a relative position of the base body and the detected body in the forward / backward direction, and a displacement direction different from the forward / backward direction Displacement detecting means (19) for detecting the relative displacement between the base body and the object to be detected and display means for displaying the relative displacement corresponding to the advance / retreat position. According to this dynamic displacement measuring device, it is possible to measure the dynamic displacement of the substrate and the object to be detected. By analyzing the processing status of the forging machine etc. based on the measurement result, the productivity is improved and the product quality is stabilized. Etc. can be easily achieved.

Description

  The present invention relates to a dynamic displacement measuring apparatus capable of measuring a dynamic displacement between cooperating members and a cooperation apparatus using the same.

  In recent years, various member processing methods are being replaced from cutting to precision cold forging for the purpose of cost reduction. For example, products such as deep hole extrusion and near net shape, which have been difficult to forge in the past, are now forged. To meet this demand, the forging process is multi-staged (for example, multiple processes such as 7.8 and 8 processes). Etc.) and higher precision are being promoted.

  Forging is a processing method in which a workpiece (work) disposed between a fixed die (die) and a movable die (punch) constituting a forming die is pressure-formed with both dies. The more accurate or fine molded products (forged products) are required, the higher the positional relationship (mating relationship) between the two molds is required. To be made. Conversely, if there is misalignment between the two molds, it will not only be possible to ensure product quality that meets the specifications, but also damage to very expensive molds, occurrence of adjustment work associated with mold replacement, and prolonged shutdown. Many inconveniences occur.

  In view of this, a measuring apparatus for accurately and efficiently performing a centering operation, a molding apparatus including the measuring apparatus, and the like have been proposed. For example, there are descriptions related to the following patent documents.

Japanese Patent No. 2634649 Japanese Patent No. 3035175 JP 2002-11539 A

  All the devices according to the above-mentioned patent documents focus only on static centering of a mold that has stopped before operation. However, no matter how much centering is performed before operation, misalignment may occur between cooperating molds due to various factors that occur during operation. If such a dynamic misalignment cannot be grasped, the mold will eventually be damaged as described above, and it will take a long time to replace the mold and align the core, further reducing the product cost and productivity. I cannot expect improvement.

  The present invention has been made in view of such circumstances, and provides a dynamic displacement measuring device capable of dynamically measuring relative displacement such as misalignment between cooperating members, and a cooperation device using the same. With the goal.

  The present inventor has intensively studied to solve this problem, and as a result of trial and error, by measuring the relative displacement in the direction different from the moving direction between the relatively moving members, I came up with the idea that the misalignment that occurs can be detected dynamically. By developing this idea, the present invention described below has been completed.

《Dynamic displacement measuring device》
(1) The dynamic displacement measuring device of the present invention is directed to at least one of a base, a detection object that can move relative to the base, and a relative advance / retreat direction of the base and the detection object. The forward / backward driving means for driving at least one of the base body and the detected body, and the forward / backward position detecting means for detecting a forward / backward position that is a relative position of the base body and the detected body in the forward / backward direction are different from the forward / backward direction. Displacement detecting means for detecting a relative displacement between the base body and the detected object in a displacement direction, and a display means for displaying a dynamic displacement that is the relative displacement corresponding to the advance / retreat position, the base body and the detected object It can measure the dynamic displacement of the body.

(2) According to the dynamic displacement measuring apparatus of the present invention, the base and the detected object are relatively moved to at least one of the advance / retreat positions by the advance / retreat driving means, and the relative position (advance / retreat position) is determined by the advance / retreat position detecting means. Detected. Also, the relative displacement between the two in a displacement direction different from the forward / backward direction is detected by the displacement detection means. Then, a dynamic displacement that is a relative displacement associated with each advance / retreat position is displayed by the display means.

  As a result, when the base body and the detection object move in the forward / backward direction, it is observed how they are displaced in a direction (displacement direction) different from the forward / backward direction, that is, the dynamic displacement of the base body and the detection body. It is possible to confirm.

  For example, if the dynamic displacement measuring device of the present invention is attached to a molding machine composed of a fixed mold and a movable mold, not only centering of both molds before operation but also displacement of both molds during operation (dynamic displacement) Can also be captured. By capturing such dynamic displacement, it is possible to grasp the processing situation in real time, such as early detection of abnormalities and defects, prevention of damage and deformation of the mold, change of the mold and secular change of machine accuracy, etc. Many things that have been impossible until now are possible, such as objective understanding. As a result, it is possible to reduce the product cost, improve the productivity and stabilize the product quality by optimizing the mold life, reducing and simplifying the setup work.

《Cooperation device》
(1) The present invention can be grasped not only as the above-described dynamic displacement measuring device but also as a cooperation device using it. That is, the present invention is a cooperation comprising a first member and a second member that moves along a predetermined trajectory set relative to the first member and conveys or processes the workpiece in cooperation with the first member. An apparatus comprising: a base provided on the first member; a detection object provided on the second member that is capable of moving back and forth relative to the base; and a relative advance and retreat of the base and the detection object. Advancing / retreating driving means for driving at least one of the base body and the detected body in at least one of directions; an advancing / retreating position detecting means for detecting a forward / backward position that is a relative position of the base body and the detected body in the forward / backward direction; A displacement detection means for detecting a relative displacement between the base body and the detected object in a displacement direction different from the advance / retreat direction, and a display means for displaying a dynamic displacement that is the relative displacement corresponding to the advance / retreat position, The dynamic displacement of the first member and the second member can be measured It can be understood also as the cooperation apparatus according to claim.

(2) The cooperation device of the present invention may be any device that can effectively utilize the above-described measurement of dynamic displacement, and may be of any specific type, field of use, application, or the like. For example, as a cooperation device of the present invention, a molding machine (forging) that forms a workpiece by moving a movable mold (second member) along a predetermined path (trajectory) with respect to the fixed mold (first member) described above. Machine, etc.), a processing machine that performs cutting, plastic working, etc. by moving a tool or tool base (second member) along a predetermined path (trajectory) with respect to a fixing base (first member) for fixing a workpiece, A transporter or assembly machine that transports or assembles a workpiece to a predetermined position by moving a chuck or an arm (second member) that grips the workpiece with respect to the base (first member) along a predetermined path (trajectory). is there.

<Others>
(1) It is preferable that the dynamic displacement measuring device or the cooperating device of the present invention further has a transmission means for indicating that the relative displacement has exceeded a threshold value. By providing the transmission means, it is possible to quickly know that the relative displacement has exceeded the threshold (abnormality or the like) even during operation. Note that the transmitting means may transmit an electronic signal (data) indicating that the relative displacement has exceeded a threshold, in addition to sounding an alarm sound, lighting an alarm lamp, or the like. As for the cooperation device, the transmission means may transmit a warning signal or a stop signal to the control device of the cooperation device or the like when the relative displacement exceeds a threshold value.

(2) The advancing / retreating direction or the displacement direction relating to the base body and the detection target or the first member and the second member may be linear or curved. Further, the displacement direction may be one direction or two or more directions. However, it is preferable that the dynamic displacement in at least two directions can be grasped because the relationship between the cooperating members can be grasped more accurately. Therefore, in the dynamic displacement measuring apparatus or the cooperating apparatus of the present invention, the displacement detecting means has the base body and the detected object in a first displacement direction (for example, the X-axis direction) orthogonal to the advance / retreat direction (for example, the Z-axis direction). First displacement detection means for detecting the first relative displacement of the first and second relative displacements of the base body and the detected object in the second displacement direction (for example, the Y-axis direction) orthogonal to the advance / retreat direction and the first displacement direction. The display means is configured to detect the first dynamic displacement that is the first relative displacement corresponding to the advance / retreat position and / or the second relative displacement corresponding to the advance / retreat position. It is preferable to display a certain second dynamic displacement.

(3) The term “relative” as used in this specification refers to a case where one of the relative objects (for example, the base and the object to be detected or the first member and the second member) is fixed and the other is movable. But you can. In addition, the relative position or relative displacement is sufficient if the positional relationship or displacement amount of the other relative to one is known, and the coordinate system setting method is not limited. Therefore, the relative position and relative displacement may be displayed using an absolute coordinate system with a fixed origin.

It is a plane sectional view of a horizontal single type forging machine which is one example. It is AA sectional drawing shown to FIG. 1A. It is BB sectional drawing shown to FIG. 1A. It is plane sectional drawing of the horizontal type multi-type forging machine which is another Example. It is CC sectional drawing shown to FIG. 2A. It is front sectional drawing which concerns on another Example. It is a wave form diagram of the normal dynamic displacement which concerns on a horizontal type single type forging machine. It is a wave form diagram of a dynamic displacement when the punch of the forging machine breaks during progress. It is a wave form diagram of a dynamic displacement when the punch of the forging machine breaks during retreat. It is a wave form diagram of the abnormal dynamic displacement which concerns on a horizontal type multi-type forging machine. It is plane sectional drawing of the horizontal type multi-type forging machine which is another Example. It is DD sectional drawing shown to FIG. 8A. It is a longitudinal cross-sectional view which shows a mode that the anisotropic type dynamic displacement measuring device was attached to the finger for transfer.

  The contents described in this specification can be applied not only to the dynamic displacement measuring apparatus of the present invention but also to a cooperation apparatus using the same. One or two or more components arbitrarily selected from the present specification may be added to the above-described components of the present invention. Which embodiment is the best depends on the target, required performance, and the like.

《Dynamic displacement measuring device》
(1) Substrate and object to be detected The substrate and the object to be detected are merely called for convenience of explanation, and their specific form and arrangement are not limited. That is, it is sufficient if the base body and the detection target body relatively advance and retreat along a predetermined trajectory, and their advance / retreat position and relative displacement can be associated with each other.

  For example, one of the substrate and the body to be detected is a rod-shaped body, and the other is a cylindrical body (annular body, tubular body) through which the rod-shaped body is inserted, and viewed from the center line (reference line) of the cylindrical body. The displacement of the rod-shaped body may be a relative displacement. Further, a planar body or the like may be used instead of the cylindrical body. In short, it is sufficient that the base body and the detection object are provided with a sensor which is a displacement detection means described later on one or both of them, and the proximity between them can be detected. Furthermore, the substrate and the detection target only have to appear at the time of measuring the dynamic displacement, and need not always appear. In particular, when other work (eccentricity adjustment or the like) is performed when the dynamic displacement measurement target device (cooperation device) is not operating, it is preferable that there is no protrusion such as a base or a detected body. In view of this, it is preferable that the base body or the object to be detected is of a type (cylinder type or the like) that protrudes when the dynamic displacement is measured and can be stored compactly at other times.

  Note that it is preferable that the base body and the detection object are non-contact at least in a region where relative displacement is detected. As a result, wear between the two can be suppressed, and the measurement accuracy can be stabilized for a long period of time and the life of the apparatus can be extended.

(2) Advancing / retreating drive means The advancing / retreating driving means relatively moves the base body and the detection target along the advancing / retreating direction. The advancing / retreating drive means may be capable of driving them in both the advancing direction and the retreating direction, or may be capable of driving only in one direction. In short, the advancing / retreating drive means may be any means as long as it can impart the advancing / retreating movement necessary for detecting the dynamic displacement to the base body and the detection target, and examples thereof include a motor, a hydraulic actuator, and an elastic body such as a spring and a spring.

(3) Detection means First, as the advance / retreat position detection means, one suitable for the movement form of the base body and the detection object is used. For example, when the advance / retreat driving means is a motor or the like, a rotary (position) sensor such as a rotary encoder attached to the drive shaft can serve as the advance / retreat position detecting means. The detected rotational position or rotation amount may be used as it is as the advance / retreat position, or a value obtained by converting the angle into a distance or the like may be used as the advance / retreat position. If the advance / retreat direction is a linear direction, a linear sensor or the like may be used as the advance / retreat position detecting means.

  Next, the relative displacement detected by the displacement detection means is usually slightly generated in an unintended displacement direction, unlike the displacement generated in the forward / backward direction. Therefore, a sensor or the like suitable for detecting such a relative displacement is used as the displacement detection means. For example, a displacement sensor (proximity sensor) using eddy current, magnetism, ultrasonic waves, light (laser, etc.), capacitance, or the like. The displacement detection means may be a contact type, but is preferably a non-contact type as described above. Further, these sensors may be provided on either the base body or the detection object.

  The displacement detection means only needs to detect a relative displacement in at least one direction different from the forward / backward direction. However, it is preferable that relative displacements in two or more directions are detected because analysis of not only mere relative displacements but also eccentricity and directions thereof is possible. For example, when the advancing / retreating direction is the Z-axis direction, it is preferable that the displacement detector can detect the relative displacement in the X-axis direction and the relative displacement in the Y-axis direction.

(4) Display means The display means need only be able to recognize the relative displacement (dynamic displacement) corresponding to the advance / retreat position, and any specific display method may be used. For example, the display means may display only the numerical values (coordinate values) of the advance / retreat position and the relative displacement, or may indicate a graph or a waveform indicating how the dynamic displacement changes.

  When relative displacements in two or more directions are detected, the display means may display the two or more relative displacements corresponding to the advance / retreat positions as direct dynamic displacements as they are, or based on these relative displacements. The calculated overall index value (such as the amount of eccentricity) may be displayed as an indirect dynamic displacement.

  The display means may be in a remote place away from the main body of the dynamic displacement measuring device. In this case, various information (position data, displacement data, etc.) is transmitted as electronic data by wire or wirelessly.

<Application>
The dynamic displacement measuring device of the present invention may be used for any purpose, but as described above, a cooperative device in which the dynamic displacement between the second members is important, for example, a molding machine, a processing machine, an assembly machine, and a transfer machine. It is suitable for etc. The dynamic displacement measuring apparatus of the present invention can be used not only for measuring dynamic displacement but also for measuring static displacement. For example, it can be used for centering of a molding machine before operation. The dynamic displacement measuring device of the present invention may be called as a centering device, a breakage detecting device, etc. according to its application.

<< First Example >>
An outline of a horizontal single type forging machine 1 (molding machine) which is an embodiment of a cooperation apparatus having a dynamic displacement measuring apparatus of the present invention is shown in FIGS. 1A to 1C (collectively referred to as “FIG. 1”). 1A is a plan sectional view of the forging machine 1, FIG. 1B is a sectional view taken along the line AA, and FIG. 1C is a sectional view taken along the line BB. In the coordinate system according to the present embodiment, the left-right direction is the X-axis direction, the top-and-bottom direction is the Y-axis direction, and the machining direction (advance / retreat direction) is the Z-axis direction.

  The forging machine 1 includes a bed frame 12 fixed to the ground, a die 13 (fixed die), a punch 14 (movable die), a ram 15 (advance / retreat driving means), and a displacement detection bar 17 (detected body). And a displacement detection pipe 18 (base) and a displacement detection sensor 19 (displacement detection means).

  The die 13 is a fixed mold having a cylindrical cavity, and is fixed to the bed frame 12 via a die block 135. A small-diameter hole for knocking out the forged workpiece W is provided at the bottom (the Z-axis direction positive side) of the die 13.

  The punch 14 is formed of a cylindrical pin that is inserted into the cavity of the die 13. The punch 14 is connected to the punch plate 147 by a bolt 149 via a hard plate 146 and a punch block 145. With this punch 14 and die 13, a deeply drawn bottomed cylindrical member (product) is obtained.

  The ram 15 includes a ram main body 151 coupled to the punch plate 147, a crankshaft 153 that is rotationally driven by a drive source such as a motor, and a connection housing 152 that connects the ram main body 151 and the crankshaft 153 and interlocks them. . Incidentally, the profile of the drive surface of the crankshaft 153 is a sine curve. The rotational position of the crankshaft 153 is measured by an encoder (advance / retreat position detecting means) (not shown). With this encoder, the advance / retreat position (Z coordinate) of the punch 14 with respect to the die 13 can be grasped. The advance / retreat position grasped in this way becomes an advance / retreat position (Z coordinate) of the displacement detection bar 17 with respect to the displacement detection pipe 18 described later.

  The displacement detection bar 17 is a long and narrow bar that protrudes from below the die 13 toward the punch block 145 in parallel with the Z-axis direction, and its base portion is fitted and fixed to the die block 135. The displacement detection pipe 18 is made of a tubular member provided in parallel with the Z-axis direction through which at least the distal end side (Z-axis direction negative side) of the displacement detection bar 17 can be inserted, and is embedded in the punch block 145.

  The displacement detection sensor 19 includes two pairs of capacitive proximity sensors fixed to the inner peripheral wall of the displacement detection pipe 18. One pair is fixed to the opposing inner peripheral walls in the X-axis direction (first displacement detection means), and the other pair is fixed to the opposing inner peripheral walls in the Y-axis direction (second displacement detection means). The displacement detection bar 17 is inserted through the inner peripheral side of these displacement detection sensors 19 in a non-contact state. As a result, the displacement detection sensor 19 detects the relative displacement (first relative displacement) in the X-axis direction and the relative displacement (second relative displacement) in the Y-axis direction of the displacement detection bar 17 with respect to the displacement detection pipe 18.

  By the way, since the displacement detection bar 17 is integrated with the die 13 and the displacement detection pipe 18 is integrated with the punch 14, the relative displacement between the displacement detection bar 17 and the displacement detection pipe 18 is detected, whereby the die 13 and the punch 14 are detected. The relative displacement of is also detected. That is, a transition (first dynamic displacement, second dynamic displacement) of a relative displacement in a direction (X-axis direction, Y-axis direction) that is different from the advance / retreat direction that occurs in accordance with the movement of the punch 14 in the advance / retreat direction is detected. .

  By displaying these dynamic displacements on a monitor or printing them out, it becomes possible to grasp the forging status of the die 13 and the punch 14 in detail.

<< Second Example >>
An outline of a horizontal multi-type forging machine 2 as another embodiment is shown in FIGS. 2A and 2B (collectively referred to as “FIG. 2”). 2A is a plan sectional view of the forging machine 2, and FIG. 2B is a CC sectional view thereof. Of the members described in the drawings, the same reference numerals are omitted for members similar to the forging machine 1.

  The forging machine 2 forges a cylindrical member (product) having a penetrating bottom in three processes. For this reason, the forging machine 2 includes three types of dies and punches according to each process. Specifically, first, the forging machine 2 forms the columnar material W0 set at the first station S1 including the die 231 and the punch 241 into the workpiece W1 (first step). Next, the workpiece W1 gripped and conveyed by the arm (not shown) of the transfer machine from the first station S1 is formed into the workpiece W2 at the second station S2 including the die 232 and the punch 242 (second step). Further, the workpiece W2 gripped and conveyed by the arm (not shown) of the transfer machine from the second station S2 is formed into the workpiece W3 by the third station S3 including the die 233 and the punch 243 (third step). In FIG. 1A related to the forging machine 1, the state where the punch 14 is most advanced is shown, but in FIG. 2A related to the forging machine 2, the state where the punches 241, 242 and 243 are most retracted is shown.

  The forging machine 2 further includes displacement detection bars 271, 272, 273 similar to the displacement detection bar 17, the displacement detection pipe 18, and the displacement detection sensor 19 below the dies 231, 232, 233 and the punches 241, 242, 243. Displacement detection pipes 281, 282, 283 and displacement detection sensors 291, 292, 293 are provided, respectively. As a result, as in the case of the forging machine 1, the dynamic displacement with respect to each of the dies 231, 232 and 233 and the punches 241, 242 and 243, and the forging situation by the forging machine 2 can be grasped in detail.

《Third embodiment》
The principal part of the forging machine 3 in which the arrangement of the displacement detection bar 17, the displacement detection pipe 18, and the displacement detection sensor 19 constituting the dynamic displacement measuring device of the present invention is changed is shown in FIG. That is, in the forging machine 3, contrary to the case of the forging machine 1, the displacement detection bar 37 is fitted and fixed to the punch block 145, and the displacement detection pipe 38 is embedded in the die block 135. The arrangement of the displacement detection sensor 39 is the same as that of the displacement detection sensor 19. In the case of the forging machine 3, the dynamic displacement is measured as in the case of the forging machine 1, and there is no substantial functional difference between the two. A suitable form may be selected according to convenience such as wiring and arrangement.

《Single type dynamic displacement》
(1) Normal dynamic displacement The waveform of the dynamic displacement obtained when the workpiece W is formed using the forging machine 1 is shown in FIG. This waveform is obtained by capturing an electric signal obtained from the displacement detection sensor 19 provided in the X-axis direction and the Y-axis direction into a computer and displaying it on a display screen (display means). At the top of each waveform, the correspondence between the dynamic displacement Lx in the X-axis direction and the dynamic displacement Ly in the Y-axis direction generated between the die 13 and the punch 14 and the advance / retreat position (Z coordinate value) of the punch 14 is clearly shown. Therefore, the raw material W0 before forging and the workpiece W and the punch 14 formed by forging it are shown.

  A section (advanced section D) from when the tip of the punch 14 abuts on the material W0 to advancing to the front dead center (the most advanced position in the direction of travel), and the front end of the punch 14 leaves the workpiece W from the front dead center. FIG. 4 also shows a section until the end (retreat section E). Although the punch 14 reciprocates in a predetermined section, the dynamic displacement Lx and the dynamic displacement Ly waveforms are continuously displayed in one direction (Z-axis direction).

  As is clear from FIG. 4, in the case of the forging machine 1 operating normally in a state where accurate centering is performed, the dynamic displacement Lx and the waveform relating to the dynamic displacement Ly have the same form within the threshold Th. Thus, no significant disturbance was observed in both waveforms. Note that the dynamic displacement Lx and the dynamic displacement generated in the section (free section F) in which the punch 14 advances until it comes into contact with the material W0 and the section (free section F ′) in which the punch 14 moves back after being detached from the workpiece W (dynamic section F ′). The displacement Ly is based on the clearance Cx in the X-axis direction and the clearance Cy in the Y-axis direction set in the forging machine 1. In addition, the dynamic displacement Lx and the dynamic displacement Ly slightly fluctuate in the section near the front dead center where the movement of the punch 14 reverses from advance to backward (small section G). Based on Cz (= Cz1 + Cz2). The fluctuations in the dynamic displacements Lx and Ly based on these clearances are as expected and not abnormal.

  Further, in the traveling section D and the backward section E, the dynamic displacements Lx and Ly are almost stable near the reference line (a line indicating zero relative displacement). This is because the punch 14 is in contact with and held by the material W0 or the workpiece W within these sections.

  Therefore, if the waveforms of the dynamic displacements Lx and Ly as shown in FIG. 4 are obtained, it can be determined that the forging machine 1 is operating normally. Such a waveform of the dynamic displacements Lx and Ly is referred to as a reference waveform. By comparing this reference waveform with the waveforms of the dynamic displacements Lx and Ly obtained for each forging, it becomes possible to grasp a slight change occurring during forging. As a result, for example, the replacement time of the punch 14 can be objectively determined from the waveforms of the dynamic displacements Lx and Ly without depending on the operator's feeling or the like. Of course, the presence or absence of misalignment between the die 13 and the punch 14, the presence or absence of breakage of the punch 14 and the position thereof can be easily grasped. In addition, as the reference waveform, a sample collected on a trial basis before the full-scale operation of the forging machine 1 can be fixed and used even during operation. However, the situation of the forging machine 1 changes gradually due to heat, vibration, wear, and the like as the number of processes increases. The status of the forging machine 1 is also affected by external environmental changes (changes in temperature, etc.) due to operating days, operating hours, and the like. For this reason, it is preferable to update the reference waveform as a comparison reference manually or automatically at an appropriate timing.

(2) Abnormal dynamic displacement during travel Consider a case where the punch 14 of the forging machine 1 breaks during travel. An example of the waveforms of the dynamic displacements Lx and Ly appearing at this time is shown in FIG. This will be described in detail. First, all the waveforms until the punch 14 breaks are the same as the reference waveform described above. Next, when the punch 14 is broken, the punch 14 is displaced along the shearing direction (oblique direction). For this reason, large dynamic displacements Lx and Ly exceeding the threshold Th are generated, and their waveforms are disturbed. From this, it can be seen that the punch 14 was broken during the process.

  When such a waveform is observed, if the forging machine 1 issues a warning or stops (transmitting means), the generation of defective products can be suppressed, and the replacement work of the punch 14 can be performed in a timely manner. Is improved.

  Incidentally, the waveforms of the dynamic displacements Lx and Ly in the retreating section E after the punch 14 is broken are the same as the waveforms of the dynamic displacements Lx and Ly in the free section F ′. This is because the punch 14 after breakage is substantially released from the restraint of the workpiece W.

(3) Abnormal dynamic displacement during retraction Consider a case where the punch 14 of the forging machine 1 breaks during retraction. An example of the waveforms of the dynamic displacements Lx and Ly appearing at this time is shown in FIG. This will be described in detail. First, both waveforms until the punch 14 breaks are the same as the reference waveform described above. Next, even if breakage of the punch 14 occurs during retraction, since it is already after forging, the waveform of the dynamic displacements Lx and Ly is large, unlike the case where breakage occurs during the progress (see FIG. 5). Does not fluctuate. However, the waveform in the backward section E after the breakage of the punch 14 is the same as the waveform of the dynamic displacements Lx and Ly in the free section F ′. From this, it can be seen that the punch 14 is substantially released from the restraint of the workpiece W1, that is, the punch 14 is broken during the backward movement. In such a case, it is preferable that the forging machine 1 is automatically stopped.

(4) Others In addition to the above, various types of dynamic displacements Lx and Ly waveforms can be obtained according to the operating conditions of the forging machine 1. By comparing these with the reference waveform, the operating status of the forging machine 1 in operation can be grasped in detail. For example, if fluctuations in the dynamic displacements Lx and Ly increase in the traveling section D and the backward section E, it can be objectively understood that the misalignment has occurred, and the necessity of the centering work can be judged objectively or scientifically. it can.

  Further, if the advancing section D and the retreating section E in the waveform of the dynamic displacements Lx and Ly are extended, it can be objectively understood that the clearance Cz has decreased due to the drive heat and the processing heat, and the punch 14 is moved backward (Z-axis). Useful for determining when to adjust to the negative direction.

《Multi-type dynamic displacement》
FIG. 6 is a diagram illustrating an example of waveforms of dynamic displacements Lx1, Lx2, and Lx3 in the X-axis direction obtained at the stations S1, S2, and S3 when the material W0 is formed in three processes using the forging machine 2, respectively. 7 shows. As in the case of the forging machine 1, free sections F1, F2, F3, free sections F1 ′, F2 ′, F3 ′, traveling sections D1, D2, D3, and reverse sections E1 corresponding to the stations S1, S2, S3, respectively. , E2 and E3 are also shown in FIG.

  The forging machine 2 is a multi-type in which a plurality of punches 241, 242, and 243 are driven by a single ram 15 and forging is performed at different processing stages simultaneously. In this case, the state of forging by a certain punch tends to spread to forging by another punch. For example, considering the case where the punch 243 breaks in the traveling section D3, the cause may not be in the station S3 where the punch 243 is present, but may be present in the station S1 where the punch 241 is present or the station S2 where the punch 242 is present.

  An example of this can be seen from FIG. That is, although it is not clear from the waveform of the dynamic displacement Lx2 of the station S2, as can be seen from the waveform of the dynamic displacement Lx1, when the punch 241 contacts the material W0, the dynamic displacement Lx1 has a reference line. Beyond that, it grows in the opposite direction. From this, it can be understood that the punch 241 hits the vicinity of the mouth of the die 231 and the movement of the punch 241 moves the ram 15 in the direction opposite to the center misalignment direction, and the influence has reached the punch 243 being drilled. Accordingly, it is understood that the punch 243 of the third station S3 is broken, but the die 231 and the punch 241 of the first station S1 are to be adjusted for alignment.

  As described above, according to the dynamic displacement measuring device or the cooperating device (forging machine, etc.) of the present invention, it becomes possible to grasp in detail the processing situation that has been difficult to analyze in the past, improving productivity, It becomes possible to easily stabilize the quality.

<< 4th Example >>
(1) The outline | summary of the forging machine 4 (cooperation apparatus) which improved the horizontal type multi-type forging machine 2 mentioned above was shown to FIG. 8A and FIG. 8B (it is collectively called "FIG. 8"). 8A is a plan sectional view of the forging machine 4, and FIG. 8B is a DD sectional view thereof. Among the members described in the drawings, detailed description of the same members as those of the forging machine 1 or the forging machine 2 is omitted, but the same reference numerals are given to the same members as appropriate.

  The forging machine 4 adjusts a preset clearance (gap) between the ram body 151 (driving body) that moves in the Z-axis direction and the bed frame 12 (housing) that supports the ram body 151. The forging machine 2 is different in that it includes one servo mechanism 41 and a second servo mechanism 42 (gap adjusting means).

  The first servo mechanism 41 includes servo mechanisms 411, 412, 413, and 414 that adjust a clearance Cx in the X-axis direction formed between the ram body 151 and the bed frame 12. The second servo mechanism 42 includes servo mechanisms 421, 422, 423, and 424 that adjust a clearance Cy in the Y-axis direction formed between the ram body 151 and the bed frame 12. The servo mechanisms 411 and 412 and the servo mechanisms 421 and 422 are provided on the positive side in the Z-axis direction of the crankshaft 153, and the servo mechanisms 413 and 414 and the servo mechanisms 423 and 424 are provided on the negative side in the Z-axis direction of the crankshaft 153. ing. The servo mechanisms 411 and 413 and the servo mechanisms 421 and 423 are provided on the X axis direction positive side of the ram body 151, and the servo mechanisms 412 and 414 and the servo mechanisms 422 and 424 are provided on the X axis direction negative side of the ram body 151. ing. The servo mechanisms 411, 412, 413, and 414 are embedded in the bed frame 12, and the servo mechanisms 421, 422, 423, and 424 are fixed to the bed frame 12 with bolts via fixed blocks 451, 452, 453, and 454. Has been.

  Each servo mechanism has the same structure, and is composed of hydraulic cylinders that are independently hydraulically controlled. By this hydraulic control, the protruding amount of the rod protruding from the hydraulic cylinder changes, and thereby each clearance described above is adjusted. This hydraulic pressure control is performed in consideration of each dynamic displacement measured for the punches 241, 242, and 243 (first member) and the dies 231, 232, and 233 (second member).

  In this embodiment, the clearance Cx in the X-axis direction and the clearance Cy in the Y-axis direction are adjusted by four servo mechanisms so as to surround the crankshaft 153, respectively. For this reason, not only each clearance is adjusted, but also the inclination of the ram body 151 around the Y axis with respect to the bed frame 12 can be adjusted. If each servo mechanism is feedback-controlled so that the measured dynamic displacement falls within a predetermined set value, centering can be performed efficiently before the forging machine 4 is operated, and also during the operation of the forging machine 4 Center alignment can be performed continuously. Thus, according to the forging machine 4 of the present embodiment, the ram body 151 can be stably reciprocated along the planned track (Z-axis direction), and as a result, the punches 241, 242, 243 and the dies 231, 232, Forging by 233 can also be performed stably. In order to prevent an overload from acting on each servo mechanism during an abnormality or the like, a relief valve may be provided in a hydraulic cylinder constituting the servo mechanism, or an electric actuator, an air cylinder, or the like may be used for the servo mechanism.

(2) Based on the present embodiment, the present invention can be grasped as follows. That is, the present invention relates to a first member, a second member that moves along a predetermined trajectory set relative to the first member, and a driver that drives at least one of the first member or the second member. And a casing that supports the driving body, the base member provided on the first member, and the detection target that is provided on the second member and can be moved forward and backward relative to the base member. A body, forward / backward drive means for driving at least one of the base body and the detected body in at least one of the relative forward and backward directions of the base body and the detected body, and the base body and the detected body in the forward / backward direction An advancing / retreating position detecting means for detecting an advancing / retreating position, a displacement detecting means for detecting a relative displacement between the base body and the detected object in a displacement direction different from the advancing / retreating direction, and the relative corresponding to the advancing / retreating position. Based on the dynamic displacement that is the displacement, the driver and the And gap adjusting means for adjusting the gap of the body can be grasped as a cooperation apparatus, characterized in that it comprises a.

(3) In order to prevent seizure or the like, a clearance (gap) in consideration of the difference in thermal expansion is generally provided between the relatively movable members. However, this clearance varies depending on the operating time of the machine, aging deterioration, etc., and is often not maintained as originally set or planned. For example, in the case of a processing machine (molding machine, forging machine, etc.), such a change in clearance may lead to deterioration of processing accuracy, shortening of the mold life, and the like. Therefore, it is preferable that an appropriate clearance is stably maintained over a long period between relatively movable members.

  Conventionally, however, it has been difficult to indirectly understand the clearance that occurs due to the difference in thermal expansion during machine operation and aging of the machine. There was no idea of keeping it movable. Under such circumstances, according to the cooperation device of the present invention including the dynamic displacement measuring device and the gap adjusting means as described above, the clearance can be maintained at an appropriate value, and high-precision operation can be stably performed over a long period of time. Can be performed.

<< 5th Example >>
(1) In the above-described embodiment, the base (displacement detection pipes 18, 281, 282, 283, etc.) and the object to be detected (displacement detection bars 17, 271, 272, 273, etc.) constituting the dynamic displacement measuring device are advanced and retracted. This is the case where the direction and the moving direction of the first member (punch 14, 241, 242, 243, etc.) to which they are attached and the second member (die 13, 231, 232, 233, etc.) are parallel. In this example, when an example of an anisotropic dynamic displacement measuring device having a base body and a detected body that advance and retreat in a direction different from the moving direction of the first member and the second member is attached to a multi-type forging machine Will be described.

  First, a multi-type forging machine is provided with a transfer that sequentially conveys each workpiece to each station at a high speed, and this transfer is provided with a finger that rotates in parallel with the die opening surface (the rotation axis is orthogonal to the opening surface). . For example, the fingers grip a first work formed at the first station, and transfer the first work from the first station to the second station of the next process to release it. Incidentally, the second workpiece formed at the second station is conveyed to the third station by another finger.

  By the way, the finger performs the above-described operation at high speed and with high accuracy. The workpiece conveyance accuracy by the fingers affects not only the machining accuracy but also the die life. Therefore, so-called centering is also performed for the fingers in order to ensure the conveyance accuracy. However, conventionally, the fingers are in a static state in which the forging machine is stopped, and centering is performed. However, since the transfer including fingers is a heavy object and moves at high speed, it is greatly affected by inertia, etc., so it is difficult to stably secure the workpiece conveyance accuracy only by static alignment. It is.

  Therefore, by attaching an anisotropic dynamic displacement measuring device 50 as shown in FIG. 9 to the finger 54 and measuring the dynamic displacement, a highly accurate core that matches the actual operating condition of the forging machine. Matching is possible.

  The anisotropic dynamic displacement measuring device 50 includes a cylindrical displacement detection jig 58 (base) that is temporarily attached to a die 53 of a forging machine, and an air cylinder 57. The point that a displacement detection sensor (not shown) is attached to the inner peripheral wall of the displacement detection jig 58 is the same as in the case of the above-described dynamic displacement measurement device, and thus the description thereof is omitted.

  The air cylinder 57 (advance / retreat drive means) is housed in a housing 572 that is firmly fixed to the finger 54 with bolts (not shown), an air valve 573 that is fixed to one end of the housing 572, and the other end of the housing 572. It consists of a displacement detection rod 571 (detected body) that protrudes or retracts instantaneously by opening and closing the air valve 573.

  In the anisotropic dynamic displacement measuring device 50, the air valve 573 is opened when the finger 54 moves to a predetermined position of a specific station, and the displacement detection rod 571 is provided on the die 53 side from the tip of the housing 572 by compressed air. Projects to the detection jig 58 for a moment. Immediately thereafter, the air valve 573 is switched, and the displacement detection rod 571 is instantaneously accommodated in the housing 572 by being urged by compressed air introduced into a separate chamber or a spring (not shown) incorporated in the housing 572.

  In this way, the anisotropic dynamic displacement measuring apparatus 50 is configured to perform dynamic displacement of the finger 54 via the displacement detection rod 571 and the displacement detection jig 58 in the same situation as when the finger 54 is actually carrying a workpiece. Can be measured continuously. By using this measurement result, it is possible to efficiently perform centering that matches the actual machining situation.

  The dynamic displacement measured by the anisotropic dynamic displacement measuring device 50 is not necessarily a continuous relative displacement corresponding to the advance / retreat positions of the displacement detection rod 571 and the displacement detection jig 58. Each time the displacement detection rod 571 is projected to the displacement detection jig 58, only one relative displacement data may be acquired at a predetermined timing. Even in this case, the finger 54 repeats the repetitive movement many times within a short time, and a lot of relative displacement data corresponding to the number of times is obtained. By using these relative displacement data, it is possible to grasp the eccentric state of the finger 54 during operation.

(2) Based on the present embodiment, the present invention can be grasped as follows. That is, the present invention is provided on the base member provided on the first member and the second member that moves along a predetermined trajectory set relative to the first member, and can move forward and backward relative to the base member. A detected object; a relative position detecting means for detecting a relative position between the first member and the second member; and when the first member and the second member are at a predetermined relative position, Advance / retract drive means for driving at least one of the detected bodies in a relative advance / retreat direction, displacement detection means for detecting relative displacement between the base body and the detected object in a displacement direction different from the advance / retreat direction, and the first member And a display means for displaying the relative displacement between the substrate and the detected object at a predetermined relative position of the second member. In this case, for example, the first member is a mold, and the second member is a transfer finger that holds the workpiece and conveys it to the mold.

  In addition, the dynamic displacement measuring device of this invention differs in a required component according to the use etc. For example, the advance / retreat position detecting means and the display means may be omitted. Further, the relative displacement data of the base to be detected and the detection target need not necessarily be associated with detailed advance / retreat position data of the base and the detection target.

W Work 13 Die (first member)
14 Punch (second member)
15 Ram 17 Displacement detection bar (object to be detected)
18 Displacement detection pipe (base)
19 Displacement detection sensor (displacement detection means)

《Dynamic displacement measuring device》
(1) The dynamic displacement measuring device of the present invention is directed to at least one of a base, a detection object that can move relative to the base, and a relative advance / retreat direction of the base and the detection object. The forward / backward driving means for driving at least one of the base body and the detected body, and the forward / backward position detecting means for detecting a forward / backward position that is a relative position of the base body and the detected body in the forward / backward direction are different from the forward / backward direction. Displacement detecting means for detecting the relative displacement between the base body and the detected object in the displacement direction, and display means for displaying dynamic displacement, which is the relative displacement corresponding to the advance / retreat position, are generated during processing of the workpiece. It is possible to measure a dynamic displacement between the substrate and the detection object.

《Cooperation device》
(1) The present invention can be grasped not only as the above-described dynamic displacement measuring device but also as a cooperation device using it. That is, the present invention is a cooperation comprising a first member and a second member that moves along a predetermined trajectory set relative to the first member and conveys or processes the workpiece in cooperation with the first member. An apparatus comprising: a base provided on the first member; a detection object provided on the second member that is capable of moving back and forth relative to the base; and a relative advance and retreat of the base and the detection object. Advancing / retreating driving means for driving at least one of the base body and the detected body in at least one of directions; an advancing / retreating position detecting means for detecting a forward / backward position that is a relative position of the base body and the detected body in the forward / backward direction; A displacement detection means for detecting a relative displacement between the base body and the detected object in a displacement direction different from the advance / retreat direction, and a display means for displaying a dynamic displacement that is the relative displacement corresponding to the advance / retreat position, It said first member and said second parts that occurs during machining of a workpiece The dynamic displacement can be understood as the cooperation apparatus characterized by possible measurement.

Claims (9)

A substrate;
An object to be detected that can move relative to the substrate;
Advancing / retreating driving means for driving at least one of the substrate and the detected body in at least one of the relative advancing / retreating directions of the substrate and the detected object;
An advancing / retreating position detecting means for detecting an advancing / retreating position which is a relative position of the base body and the detected object in the advancing / retreating direction;
A displacement detecting means for detecting a relative displacement between the base body and the detected body in a displacement direction different from the advancing / retreating direction;
Display means for displaying a dynamic displacement that is the relative displacement corresponding to the advance / retreat position;
A dynamic displacement measuring apparatus capable of measuring a dynamic displacement between the substrate and the object to be detected.   The dynamic displacement measuring apparatus according to claim 1, further comprising a transmission unit that indicates that the relative displacement has exceeded a threshold value. The displacement detection means includes
First displacement detection means for detecting a first relative displacement between the base body and the detected body in a first displacement direction orthogonal to the advance / retreat direction;
A second displacement detecting means for detecting a second relative displacement of the base body and the detected body in a second displacement direction orthogonal to the advance / retreat direction and the first displacement direction;
The display means displays a first dynamic displacement that is the first relative displacement corresponding to the advance / retreat position and / or a second dynamic displacement that is the second relative displacement corresponding to the advance / retreat position. Or the dynamic displacement measuring device according to 2;
A cooperation device comprising a first member and a second member that moves a predetermined trajectory set relative to the first member and conveys or processes a workpiece in cooperation with the first member,
A base provided on the first member;
A detected object provided on the second member and capable of moving forward and backward relative to the substrate;
Advancing / retreating driving means for driving at least one of the substrate and the detected body in at least one of the relative advancing / retreating directions of the substrate and the detected object;
An advancing / retreating position detecting means for detecting an advancing / retreating position which is a relative position of the base body and the detected object in the advancing / retreating direction;
A displacement detecting means for detecting a relative displacement between the base body and the detected body in a displacement direction different from the advancing / retreating direction;
Display means for displaying a dynamic displacement that is the relative displacement corresponding to the advance / retreat position;
A cooperating apparatus capable of measuring a dynamic displacement of the first member and the second member.   Furthermore, the cooperation apparatus of Claim 4 which has a transmission means which emits a warning signal or a stop signal when the said relative displacement exceeds a threshold value. A first member;
A second member that moves along a predetermined trajectory set relative to the first member;
A driving body for driving at least one of the first member and the second member;
A housing for supporting the driving body;
A cooperation device comprising:
A base provided on the first member;
A detected object provided on the second member and capable of moving forward and backward relative to the substrate;
Advancing / retreating driving means for driving at least one of the substrate and the detected body in at least one of the relative advancing / retreating directions of the substrate and the detected object;
An advancing / retreating position detecting means for detecting an advancing / retreating position which is a relative position of the base body and the detected object in the advancing / retreating direction;
A displacement detecting means for detecting a relative displacement between the base body and the detected body in a displacement direction different from the advancing / retreating direction;
A gap adjusting means for adjusting a gap between the driving body and the housing based on a dynamic displacement that is the relative displacement corresponding to the advance / retreat position;
The cooperation apparatus characterized by comprising. The first member is a fixed type,
The second member is movable;
The cooperation apparatus according to any one of claims 4 to 6, which is a molding machine that forms the workpiece by the fixed mold and the movable mold. A base provided on the first member;
An object to be detected that is provided on a second member that moves along a predetermined trajectory set relative to the first member, and that is capable of moving back and forth relative to the base;
A relative position detecting means for detecting a relative position between the first member and the second member;
Forward / backward drive means for driving at least one of the base body and the detected body in a relative forward / backward direction when the first member and the second member are in a predetermined relative position;
A displacement detecting means for detecting a relative displacement between the base body and the detected body in a displacement direction different from the advancing / retreating direction;
Display means for displaying a relative displacement between the base and the detected body at a predetermined relative position between the first member and the second member;
A dynamic displacement measuring device comprising: The first member is a mold;
The dynamic displacement measuring apparatus according to claim 8, wherein the second member is a transfer finger that grips a workpiece and conveys the workpiece to the mold.

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