KR101921265B1 - Tapping Control System for Controlling Plurality of Tapping Apparatus in Single Control Unit - Google Patents

Abstract

The present invention relates to a tapping control system for controlling a plurality of tapping devices in a single control unit. The tapping control system for controlling a plurality of tapping devices in a single control unit according to an embodiment of the present invention is able to perform tapping by simultaneously controlling rotary motion and linear motion of a tap bit of each tapping device by a single control module, wherein each tapping device is inserted into a progressive mold so as to be mounted thereon, and each tapping device is connected to a plurality of communication protocol based channels.

Description

[0001] The present invention relates to a tapping control system for controlling a plurality of tapping devices in a single control unit,

The present invention relates to a tapping control system, and more particularly, to a tapping control system in which a tapping device is inserted into a progressive die, each tapping device is connected to a plurality of channels based on a communication protocol, The present invention relates to a tapping control system for controlling a plurality of tapping devices in a single control unit that simultaneously performs a tapping operation by simultaneously controlling the rotational motion and the linear movement of tap bits of a tapping device of the tapping device.

Progressive mold is a process in which when a plurality of processes are required for a single product, dies and punches are arranged at a constant pitch in the mold without using a plurality of molds and a plurality of press machines, It means a mold where one product comes out when finished.

The progressive mold is molded into an object to be mounted on a panel or the like. A tapping device is used to form a tapping hole by making holes in a molded workpiece or the like in a progressive mold.

However, when the worker manually processes the tapping device, the defect rate of the product is increased due to the tolerance, and the tapping operation is performed by combining the tapping device for each one of the molds. .

Korean Patent No. 10-1520925

It is an object of the present invention to provide an apparatus and a method for inserting a tapping device into a progressive mold and connecting each tapping device to a plurality of channels based on a communication protocol, And to provide a tapping control system for controlling a plurality of tapping devices in a single control unit that simultaneously performs linear movement and performs tapping.

According to an aspect of the present invention, there is provided a tapping control system for controlling a plurality of tapping devices in a single control unit, including: a progressive mold;

A plurality of tapping devices, each of which is inserted into the progressive mold and tapped on an object provided in a tapping working position; And

A control module for connecting each of the tapping devices to a plurality of channels based on a communication protocol to perform tap processing by simultaneously controlling rotary movement and linear movement of the tap bits of each tapping device;

. ≪ / RTI >

Wherein each tapping device is connected to a first motor controller which is a slave controlling the first motor drive of the first servo motor controlled by the control module which is the master and rotates the tap bit, And a second motor controller which is a slave for controlling the second motor drive of the second servo motor.

These solutions will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

Prior to this, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may appropriately define the concept of a term in order to best describe its invention The present invention should be construed in accordance with the spirit and scope of the present invention.

According to an embodiment of the present invention, a plurality of tapping devices are controlled by a single control module to perform tapping, thereby improving work efficiency and obtaining high quality and process stability.

In addition, according to the embodiment of the present invention, it is possible to design a device for mounting a tapping device in a mold, thereby making it possible to modularize the device, thereby improving the space utilization.

In addition, according to an embodiment of the present invention, a plurality of tapping devices having tap bits of various sizes are simultaneously controlled by inserting a tapping device into each of the progressive dies, thereby achieving high process efficiency.

1 is a view showing a state in which a tapping device is coupled to a progressive mold according to an embodiment of the present invention.
FIG. 2 is a view showing a state where a tapping device is installed in one mold in FIG.
3 is a diagram illustrating a configuration of a tapping control system for controlling a plurality of tapping devices in a single control unit according to an embodiment of the present invention.
4 is a perspective view illustrating a configuration of a tapping device according to an embodiment of the present invention
5 is a diagram illustrating an operational user interface unit of the tapping device according to an embodiment of the present invention.
6 is a diagram illustrating a method of controlling a tapping device in a control module according to an embodiment of the present invention to perform tapping processing.
FIG. 7 is a diagram illustrating modeling for performing robust control performance in a servo controller according to an exemplary embodiment of the present invention. Referring to FIG.
8 is a graph showing an output curve according to an embodiment of the present invention.
9 is a view illustrating a control value compensation flow according to a range of error when applying a load according to an embodiment of the present invention.

The specific aspects, specific technical features of the present invention will become more apparent from the following detailed description with reference to the accompanying drawings. Note that, in the drawings, like reference numerals denote like elements throughout the drawings, unless otherwise indicated. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, in the tapping control system for controlling a plurality of tapping devices in a single control unit, a plurality of tapping devices are inserted into the progressive mold, respectively, and the plurality of tapping devices are communicatively controlled by one control unit.

FIG. 1 is a view showing a state where a tapping device is coupled to a progressive mold according to an embodiment of the present invention. FIG. 2 is a view illustrating a state where a tapping device is installed in one of the molds in FIG. 1, FIG. 3 is a diagram illustrating a configuration of a tapping control system for controlling a plurality of tapping devices in a single control unit according to an exemplary embodiment.

The tapping control system 100 for controlling a plurality of tapping devices in a single control unit according to an embodiment of the present invention may include a first, second, third, and fourth molds 10, 20, 30, and 40 and the tapping device 200 are inserted into the first, second, third, and fourth dies 10, 20, 30, and 40, A PC 110 for controlling tapping, a master of the control module 120, a slave having motor controllers 130 and 140, motor drivers 132 and 142, and servomotors 134 and 144 .

The PC 110 performs a motion command request through a user input interface.

When receiving a motion command request from the PC 110, the control module 120 transmits control commands to a plurality of slaves in order to perform rotational movement and linear movement of the tapping device.

The plurality of slaves include a first slave, a second slave, a third slave, and a fourth slave for controlling the four tapping devices 200.

Each of the slaves includes a motor controller (rotation) 130 for performing a rotary motion and a linear movement of each of the tapping devices 200 under the control of the master control module 120 to tap the object provided at the tapping operation position, A driver (rotation) 132, a servo motor (rotation) 134, a motor controller (straight line) 140, a motor driver (straight line) 142 and a servo motor (straight line)

The tapping control system 100 of the present invention includes a first slave, a second slave, a third slave, a fourth slave to a maximum of sixteenth slaves in which a control module (master) 120 is connected by a plurality of channels, Each of the slaves includes a motor controller 130, a motor driver (rotation) 132, a servo motor (rotation) 134, a motor controller (straight line) 140, a motor driver (straight line) 142, And a motor (straight line) 144.

The motor controller 130 is connected to a motor driver 132 and the motor driver 132 is connected to a servo motor 134 to be driven.

The motor controller (straight line) 140 is connected to a motor driver (straight line) 142 and the motor driver (straight line) 142 is connected to a servo motor (straight line) 144 to be driven.

The plurality of channels may use the same type of communication protocol or different types of protocols. The communication protocol is RS-422, RS-485, Profibus, Fieldbus, CAN, Ethernet, etc. In the present invention, the same communication method (protocol) of RS-485 is used. The present invention is not limited to this, and different types of communication methods may be used.

The motor controller (rotation) 130 and the motor controller (straight line) 140 include a motor control command processing unit for receiving and processing motor control commands, a motor state information processing unit for receiving information on the motor status, Lt; RTI ID = 0.0 > directly < / RTI >

The control module 120 controls the data transmission between the slaves using a plurality of channels, receives the status information of the motor from the slave using the RS-485 communication channel, generates control commands for controlling the motors, 130, and 140, respectively.

Each of the tapping devices 200 is controlled through a respective slave having a unique address. Since each slave has a unique address, information is not crossed from the control module 120 to each slave distributed.

The control module 120 sequentially transmits control commands to the respective slaves per communication cycle and sequentially receives response signals from the respective slaves within the same communication cycle.

If the control command transmitted to each slave is not received within one communication cycle, the control module 120 retransmits the control command that failed to transmit, and transmits a response signal from each slave in one communication cycle If it can not receive, it sends a response signal to each slave requesting that it fails to receive from each slave and re-receives it.

4 is a perspective view showing a configuration of a tapping device according to an embodiment of the present invention.

The tapping apparatus 200 according to an embodiment of the present invention includes a plate 201 of a flat plate. A first cradle 203 and a second cradle 204 are spaced apart from each other at a predetermined height on the upper surface of the plate 201. The first cradle 203 and the second cradle 204 have constant The ball screw member 202 is coupled to both ends of the ball screw member 202. The ball screw member 202 is coupled to a moving block 210 through which the ball screw member 202 passes, A flat third longitudinal resting plate 211 is coupled to the upper portion of the movable block 210.

The moving block unit 210 is coupled with the ball screw member 202 through a central portion of the ball screw member 202. The ball screw member 202 has threads on the inner surface thereof.

A first moving block 212 and a second moving block (not shown) are coupled to lower surfaces of both ends of the third holder 211, and the first moving block 212 and the lower A first guide rail 213 and a second guide rail 214 are provided between the first guide rail 213 and the upper surface of the plate 201 so that the first guide rail 213 and the second guide rail 214 are connected to the first moving block 212 and the second moving block are movably coupled.

The first holder 203 and the second holder 204 are formed between the first guide rail 213 and the second guide rail 214.

A first member 215 formed of a pulley or a gear is coupled to one end of the ball screw member 202 and a second member 215 spaced from the first member 215 by a predetermined distance, 216 are coupled by a belt 217. The second member 216 is coupled to a first motor 144 that provides a driving force.

The second member 216 rotates by the driving force of the first motor 144 and the belt 217 rotates by the rotation of the second member 216 to provide the rotational force to the first member 215, The member 215 is rotated so that the ball screw member 202 coupled to the first end of the first member 215 rotates.

The movable block 210 moves linearly in the axial direction of the ball screw member 202 as the ball screw member 202 rotates.

A first vertical bar 220 and a second vertical bar 221 are vertically spaced from each other and are vertically spaced from each other on the upper surface of the third holder 211. The first vertical bar 220 and the second vertical bar 221 A third vertical bar 222 closing a space between the first vertical bar 220 and the second vertical bar 221 is coupled to one end of the vertical bar 221, The first vertical bar 220 and the second vertical bar 221 are provided at the opposite ends of the first vertical bar 220 and the second vertical bar 221. At the other end of the second vertical bar 221, The vertical base 223 is engaged.

The fourth vertical bar 223 is longer than the third vertical bar 222 so that the fourth vertical bar 222 is longer than the second vertical bar 221 in the first vertical bar 220.

The protrusion 224 is coupled to the front surface of the third vertical bar 222 and the collet chuck 225 to which the tap bit 226 is attached is coupled to the protrusion 224.

The tab bit 226 penetrates the collet chuck 225 and the protrusion 224 and is coupled to a tab mounting member (not shown). The tab mounting member passes through the space between the first vertical bar 220 and the second vertical bar 221 and passes through the fourth vertical bar 223.

This tap fitting member is coupled to the first gear 227, which is implemented as a helical gear, spur gear or bevel gear, through the fourth vertical table 223. The first gear 227 is engaged with the second gear 228 by gear engagement. The second gear 228 may also be implemented as a helical gear, spur gear or bevel gear.

The second gear 228 is formed on one side of the fourth vertical base 223 and the rotation axis of the second motor 134 for providing the rotational force of the second gear 228 is connected to the fourth vertical base 223 .

When the second gear 228 is rotated by the driving force of the second motor 134, the first gear 227 engaged with the second gear 228 is rotated.

The tap fitting member rotates as the first gear 227 rotates, so that the tap bit 226 coupled to the tap fitting member is also rotated to perform tapping.

Each tapping device 200 may have different sizes of tap bits 226. The tapping device 200 transmits power in the form of a belt or a gear in the case of a linear reciprocating motion, and can be precisely controlled by preventing an overload when a center value error of a workpiece occurs by applying a ball screw method.

The high torque and rotational speed of the tapping device 200 can reach up to 50 strokes per cycle.

The control module 120 receives a control status from a plurality of slaves and transmits the control status to the PC 110. The PC 110 can perform control and status checking of all slaves.

5, the operating user interface unit of the tapping apparatus 200 includes a usage ratio 205 of the servomotor torque, an input box 206 for setting a starting point for tapping, a displacement value setting (Manual shift mode setting) 208, and a torque use ratio 209 of the driving shaft and the rotary shaft motor.

6 is a view illustrating a method of controlling a tapping device in a control module according to an embodiment of the present invention to perform tapping processing.

Since the tapping process is the same in the four tapping devices 200, only one tapping device 200 will be described as an example for convenience of explanation.

The tapping device 200 is a step (S100) of setting the size of the tap bit 226 to be coupled to the tapping device 200 from the operation user interface unit, and a step S102 of setting the position of the running axis, (S104) of setting the torque value of the rotary shaft, and setting the feed distance indicating the tapping depth (S106).

(S108) of putting the material into the progressive mold.

The control module 120 generates a signal for sensing the position to perform tapping or drilling and transmits the signal to the motor controller 130 or the motor controller 140 in step S110, (Rotation) 130 or a motor controller (straight line) 140 (step S112), when a control command for performing tapping or drilling is generated.

The control module 120 periodically receives the position information of the tap bit 226 from the motor controller 130 (rotation) 130 or the motor controller (straight line) 140 and determines whether the position is the center position of the object provided in the tapping operation position (Steps S114 and S116) in which the tapping or drilling operation can be performed in the case of the center position

FIG. 7 is a diagram illustrating modeling for performing robust control performance in a servo controller according to an embodiment of the present invention, FIG. 8 is a diagram illustrating an output curve according to an embodiment of the present invention, and FIG. 9 Is a diagram illustrating a control value compensation flow according to a range of error when applying a load according to an embodiment of the present invention.

The motor controllers 130 and 140 may include a controller for generating an output to minimize the influence of the load when an error occurs due to a load or the like, and for determining the amount of electric current to be supplied to the motor.

The PID controller is modeled as a transfer function of the following equation (1) including the modeling of the motor.

는 PID 제어변수, e는 제어오차, sp는 설정값, y는 출력값, T_i는 적분시간, T_D는 미분시간, K_P는 비례이득, K_I는 적분이득, K_D는 미분이득을 나타낸다.here,

Is PID controlled variable, e is the control error, sp is set value, y is the output value, T _i is the integral time, T _D is a derivative time, K _P is a proportional gain, K _I is the integral gain, K _D represents a differential gain .

The multiple PID controller is modeled as a transfer function of the following equation (2) including the modeling of the motor.

는 n번째 복수 PID 제어출력,

는 n-1번째 복수 PID 제어출력, T_S는 iteration의 크기를 나타낸다.here,

Is an n-th multiple PID control output,

Is the (n-1) th multiple PID control output, and T _S is the size of the iteration.

Through the transfer functions of Equations (1) and (2), the control stability can be grasped clearly, the precise gain of the controller can be tuned, and high-precision motion can be performed when a load is generated.

The overall transfer function of the PID controller and the plurality of PID controllers is defined as the following equation (3).

는 복수 PID 컨트롤러로서 제어 입력이 적절하지 못해 발생한 오차로 이를 보정함을 나타내고, e는 제어오차이며,

는 오차 곡선을 미분하여 다음에 발생할 오차의 크기를 추정한 함수이다.Where U _PID is the size of the PID controller input,

Is a plurality of PID controllers, and indicates that the control input is corrected due to an inadequate error, e is a control error,

Is a function that differentiates the error curve and estimates the magnitude of the error to be generated next.

The control algorithm of the above-described expression (3) is used as a supervisory and inference rule flow chart of the initial error supervision (S200), the normal operation error supervision (S202), the control input reasoning rule (S204) .

FIG. 9 effectively limits the range of the steady state arrival time and the error by compensating an appropriate control value according to a specific error range when the iterative rule is applied.

As shown in FIG. 8, a plurality of PID controllers may be used in combination as compared with the case where the PID controller is used alone, thereby improving the control error due to the non-linear characteristics of the control values and ensuring robust control performance.

FIG. 8 is a diagram showing command speed change caused by disturbance when a speed command of, for example, 3000 RPM is given. It can be seen that the controller built in the motor controller of the present invention follows the speed more stably. This allows the motor to maintain a constant speed among the loads generated during tapping.

While the present invention has been described in detail with reference to the exemplary embodiments, it is to be understood that the present invention is not limited to the above-described embodiments, and that the present invention is not limited to the tapping control system for controlling a plurality of tapping devices in a single control unit. It is to be understood that the terms "comprises", "comprising", or "having", etc., as used herein, mean that a component can be implanted unless specifically stated to the contrary, And all terms including technical or scientific terms are to be construed as including, unless otherwise defined, by a person of ordinary skill in the art to which the invention pertains in general Have the same meaning.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: tapping control system 110: PC
120: control module 130: motor controller (rotation)
132: motor driver (rotation) 134: servo motor (rotation), second motor
140: Motor controller (straight line) 142: Motor driver (straight line)
144: servo motor (straight line), first motor 200: tapping device
201: plate 202: ball screw member
203: first holder 204: second holder
210: moving block unit 211: third holder
212: first moving block 213: first guide rail
214: second guide rail 215: first member
216: second member 217: belt
220: first vertical bar 221: second vertical bar
222: Third vertical stand 223: Fourth vertical stand
224: protrusion 225: collet chuck
226: tap bit 227: first gear
228: Second gear

Claims (6)

Progressive mold;
A plurality of tapping devices, each of which is inserted into the progressive mold and tapped on an object provided in a tapping working position; And
A control module for connecting each of the tapping devices to a plurality of channels based on a communication protocol to perform tap processing by simultaneously controlling rotary movement and linear movement of the tap bits of each tapping device;
/ RTI >
Each of the tapping devices being connected to a motor controller (rotation) which is a slave controlling the first motor drive of the first servo motor controlled by the control module which is the master and which rotates the tap bit, And a motor controller (straight line), which is a slave for controlling the second motor drive of the second servomotor to be moved,
Each of the tapping devices sets the size of the tap bit to be coupled to the tapping device from the operation user interface unit, sets the position of the running axis which is a starting point for machining, sets the torque value of the rotating axis, And performs the function of setting the distance,
The control module generates a signal for sensing a position where tapping or drilling is to be performed in a state where a workpiece is inserted into the progressive die, and transmits the signal to the motor controller (rotation) or the motor controller (straight line) A control command for performing tapping or drilling is generated and transmitted to the motor controller (rotation) or the motor controller (straight line)
The control module periodically receives the position information of the tap bit from the motor controller (rotation) or the motor controller (straight line), determines whether the position is the center of the object provided at the tapping operation position, and performs tapping or drilling Lt; / RTI >
Wherein each of the tapping devices includes a flat plate, and a first and a second cradle, which are set up at a predetermined height, are spaced apart from each other on an upper surface of the plate, and the first cradle and the second cradle are provided with balls Wherein the ball screw member is coupled to the center of the ball screw member at a lower portion of the ball screw member, and a moving block portion formed on the inner side of the ball screw member, And a flat third longitudinal resting platform is coupled to an upper portion of the movable block,
A first vertical bar and a second vertical bar spaced apart from each other by a predetermined distance are erected vertically on the upper surface of the third vertical bar and are fixed to one end of the first vertical bar and the second vertical bar, And a third vertical bar that closes a space between the first vertical bar and the second vertical bar is coupled to the other end of the first vertical bar and the second vertical bar, A fourth vertical bar that closes the space is coupled,
A first member made of a pulley or a gear is coupled to one end of the ball screw member and a second member made of a pulley or a gear is spaced apart from the first member by a predetermined distance, And a first motor for providing a driving force to the second member is coupled to the first member, a protrusion is coupled to the front surface of the third vertical member, a collet chuck to which the tap bit is attached is coupled to the protrusion, And is coupled to the tab mounting member through the chuck and the projection,
Wherein the tap mounting member is coupled to a first gear that passes through a space between the first vertical bar and the second vertical bar and passes through the fourth vertical bar to be formed on one surface of the fourth vertical bar, Is coupled to a second gear formed on one surface of the fourth vertical bar by gear engagement, and a rotation shaft of a second motor, which provides a rotational force of the second gear, is coupled to a central portion of the second gear Wherein the plurality of tapping devices are controlled by a single control unit.
delete The method according to claim 1,
Each said tapping device being controlled via a respective slave with a unique address, said control module sequentially sending control commands to said respective slave per communication cycle, and in each communication cycle, And a plurality of tapping devices are controlled in a single control unit.
delete The method according to claim 1,
Wherein each of the tapping devices forms a size of the tab bit differently from that of the tap control device.
The method of claim 3,
Wherein the control module retransmits control commands that failed to be transmitted when a control command transmitted to each slave is not received within one communication cycle,
Wherein when a response signal is not received from each of the slaves within one communication cycle, a request signal to the slaves is received from the respective slaves, Of the tapping device.

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