TW200902302A - Press machine, and control device and control method thereof - Google Patents

Abstract

An objective of the present invention is to provide a press machine and a control device as well as a control method thereof, allowing optimum control and reduction of motor power in broad operation conditions even when press operation speed or press load energy has changed. The press machine of the present invention includes an angle detecting device 25 detecting the rotation angle of a rotation body 7, a torque determining device determining required motor torque corresponding to characteristics of the press machine based on the value of the rotation angle inputted from said angle detecting device, and a speed adjusting device increasing a rotation instruction speed of a motor 1 to be higher than a constant instruction speed at rotation angles of the rotation body at which the required motor torque is lower than a predetermined motor torque reference value. The press machine further includes a compensation device 27 compensating the amount, by which the rotation instruction speed is increased by the speed adjusting device, based on variation of press operation speed or press load energy. The motor is rotationally driven with a rotation instruction speed which has reflected both of the amount by which the rotation instruction speed is increased by the speed adjusting device and the amount by which said increased amount is compensated by the compensation device, such that the maximum consuming power of the motor is decreased.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press machine having a mechanism for converting a rotary motion into a reciprocating motion, a control device thereof, and a control method. [Prior Art] The press has a hydraulic punching machine that hydraulically drives the sliding member, and a mechanical punching that drives the sliding member with a mechanical mechanism. Axial: A type of mechanical punching that drives the crankshaft with a motor. (4) The handle punch (4) The slider is lifted and lowered by the rotation of the crankshaft, and the rotary motion of the crankshaft is converted into the reciprocating motion of the slider. An upper mold is fixed to the slider 2, and when the slider is lowered, the workpiece is held between the upper mold and the lower mold disposed under the cow and formed (stamped).冲压 Stamping and Lrr is a mechanical press that uses a mechanical flywheel that uses a flywheel that accumulates rotational energy to use a servo motor that can freely adjust the forward and reverse rotation changes. The press using the flywheel transmits the rotational driving force of the motor 41 to the flywheel 47 via the pulley 仏 = belt 45 as shown in Fig. i. In the connected state, the flywheel 47 is coupled to the main gear 51, and the flywheel 47 is separated from the main gear 51. The main gear 51 is fixed to the end of the crank shaft 53, and the crank shaft μ is rotationally driven together with the main gear 51. One end portion of the coupling member 55 is coupled to the eccentric portion of the crank shaft 53, and a slider 57 is coupled to the other end portion of the coupling member 55. Thereby, the rotational motion of the crankshaft 319709 200902302 .53 is converted into the reciprocating linear motion of the slider 57, so that the slip.1 / 1,1 ! ρ·* | In this configuration, the rotational energy accumulated in the flywheel 47 is in the crank The shaft is discharged in the region of the rotation angle where the workpiece is punched, and is accumulated in the flywheel 47 in the region of the rotation angle. Shiba When using the flywheel press, the size of the device is increased due to the use of flywheels and clutches. On the other hand, when a press machine using a servo motor is used without using a flywheel, there is an advantage that the flywheel and the clutch can be omitted. However, when the dressing machine of the feeding motor is used, since the rotation cut-off cannot be accumulated on the flywheel, it is necessary to set the ship motor and the motor driving device to a large capacity. " In the following Patent Document 2, the electric energy capacitor is connected to the AC power supply device, and the electric energy stored in the capacitor is supplied to the rotation angle region of the crankshaft that is punched by the horse. Hunting this way, miniaturizing the AC power supply and ensuring energy. In the case of Patent Document 1, even if the AC power supply can be miniaturized, due to the rotation angle region of the crankshaft that punches the workpiece: a large current is supplied to the clothing. Since the motor is directly driven, the drive circuit of the motor of the feeding machine will be enlarged. On the other hand, in a press using a flywheel, it is also desired to further reduce the size of the drive circuit of the motor and the motor. 319709 7 200902302 In addition, it is also expected to reduce power consumption in presses. For this reason, the present applicant has proposed a press machine, a control device, and a control method for reducing the power consumption of the motor and the motor, and reducing the power consumption, as disclosed in the following Patent Document 2 (not disclosed). In the unpublished patent document 2, the required motor torque is determined according to the rotation angle of the condensing body (crankshaft or the like) corresponding to the characteristics of the press, and the required motor torque becomes smaller than the The rotation angle of the rotating body of the motor torque reference value is such that the rotation command speed of the motor is increased more than a certain command speed, and the rotation angle of the rotating body where the required motor torque becomes larger than the motor torque reference value Therefore, the rotation command speed of the motor is more salty than the command speed, whereby the maximum motor torque value can be effectively reduced. As a result, the drive circuit of the motor and the motor can be miniaturized, and the power consumption can be reduced. (Patent Document 1) Japanese Laid-Open Patent Publication No. 2004-344946 (Patent Document 2) Patent Document 2) Japanese Patent Application No. 2006_105575 "Control device and control method for press machine and punching machine" in Patent Document ^ τ, 上遮所The motor torque is required to change not only the % angle of the θ body, but also the change in the speed of the operation or the load of the dust load. (4) The speed of the swaying speed is the speed of the reciprocating motion. It can be expressed by the sliding speed of the sliding part of the stamping process. The energy of the 卞9 is equivalent to the sliding part of the punching (4), and the reciprocating period is 1 stamping and = the workload or the punching machine. The energy consumed, such as ~, the type, or the buffer setting pressure, etc. 319709 8 200902302 •...So, when the dust running speed or balance... Pressing the running speed or the punching load energy, when it is rushing, The moment system requires a lot of labor. The above-mentioned required motor is obtained in advance. [Inventive content] Therefore, the purpose of this (4) is to improve the speed of the patent document, or to change the load energy of the load, when the impulse or the load of the load is Each value is determined in advance, and even if the press operation is over, the 'force of torque' is optimally controlled, and the sound can be applied to the sound 4, and the force can be increased. According to the present invention, there is provided a control device for a machine that has a motor, a conversion mechanism, and a rotating body that is rotationally driven by the motor. Converting the rotary motion into a reciprocating motion, and the slider is coupled to the conversion mechanism for reciprocating motion; when the motor is rotated at a certain command speed, the required motor torque is related to the rotation angle of the rotating body. The control device of the press machine includes: an angle detecting device that detects a rotation angle of the rotating body; and a torque determining device that determines a corresponding pressing machine based on a value of a rotation angle input from the angle detecting device The required motor torque of the characteristic; and the speed adjusting device is such that the required motor torque becomes smaller than a predetermined motor torque reference value of the rotation angle of the rotating body to rotate the motor The speed is increased more than the aforementioned speed; the complex device has a correction device corresponding to the change of the punching operation speed or the punching load energy, and corrects the speed adjusting device to increase the speed of the rotation command; to reduce the maximum of the motor Power consumption 9 319709 200902302

The method of causing the speed adjusting device to increase the rotation command speed by increasing the rotation correction speed by the correction means, and the amount of the correction amount is reflected in the two-chain and the degree degree and rotating the C at the rotated rotation command speed. In the control of the punching machine, the speed adjustment device is set to rotate the rotation angle of the rotating body of the motor when the required motor torque becomes smaller than the preset motor base: : The second degree is more increased, in addition to the 'correction device system corresponding to the punch: speed or stamping load can be promoted to magnetic private, gentleman ~ operation ο- correction to make the aforementioned rotation command catch, σ 里 ° 'to reduce the motor The maximum power consumption mode, θ degrees = the amount by which the node device increases the rotation command speed, and the correction device pair = the amount of correction corrected by Gary, which is reflected in the rotation command speed, and rotates the drive motor at the rotation command speed after . -Refreshment Therefore, the values of the rushing operation speed or the ram load energy 1 =: speed or the ram load energy are obtained in advance, and the motor power is reduced even if the ram operation speed or the rush (4) load energy has been exceeded. According to the present invention, a wide range of operating conditions can be used to provide the above-mentioned objects. A type of punch is provided: a press machine is provided with: a motor; a conversion mechanism is a reciprocating transport I., The rotating body 'converts the rotary motion to: , , and π pieces, which are coupled to the switching mechanism for reciprocating motion; when the speed rotates the motor, the required motor torque will follow the corner of the k-turn body. Variation, the control device of the press is 319709 10 200902302. The levy is: the angle detection I is set to detect the rotation angle of the rotating body; the torque determining device is based on detecting the rotation angle of the agricultural input from the angle. The value 'to determine the required motor torque corresponding to the characteristics of the press; and the speed adjustment device ' is required to make the motor torque required to become greater than the preset motor torque, ten, one t into the "rotation command" The speed is lower than the previous two movements; the complex has the correction of the farmer's house, and the system corresponds to the speed of the second operation or the punching of the ruthlessness of the tyrannical typhoon, * set you a w person to correct the aforementioned speed adjustment device ^ 吏 歧 ^ ^ The amount of speed reduction; The maximum consumption of the low motor: the force mode, the speed adjusting device reduces the rotation command speed I, and the correction device is inserted into the reduction amount, *, and π are reflected in both (4) In the control device for the rotational speed of the 曰7 continuous degree, in the same manner as in Patent Document 2, the rotation of the agricultural system becomes larger than the preset motor torque, and the rotation of the (four) body is performed. The angle 'move the motor's rotation command speed more than a certain 曰 7 degree, in addition to this, the correction speed or the load can be ( (4) ❺ μ μ corresponds to the amount of punching operation, and then the speed of the aforementioned rotation command is reduced. In order to reduce the maximum power consumption of the motor, it means: the amount of speed reduction, and the compensation... :: 后 — 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 令 ' ' ' ' ' ' ' ' ' ' ' ' ' 负载 负载Each of the stamping load energy reaches the torque, and even the punching speed or the punching load; 319709 11 200902302 • When the change is made, the most appropriate control can be performed to reduce the motor power. In a wide range of operating strip presses: ί According to the present invention, there is provided a control device for a punching machine. The punching machine is provided with a rotating body that can be rotationally driven by the motor, and reciprocates the clock system at a certain command speed; The rotation angle of the rotating body is required. The required motor torque is provided with an angle detecting device that detects the rotation value of the rotating body and determines a node device corresponding to the rotation angle of the special machine. The rotation angle of the rotating body of the required motor rotation=reference value is increased to increase the torque of the motor to the commanded speed, and the above-mentioned catch is higher than the preset motor torque reference value. , the moment becomes greater than the command speed, and the rotation of the motor is set more than the above-mentioned fixed command speed, which corresponds to the running speed of the through-loading load cooker: the correcting speed adjusting device is used to make the aforementioned rotating finger === move, red to reduce the motor The maximum power consumption is 'increased or decreased by 1'. The speed of the rotation command is increased or decreased. = The amount of the above-mentioned catch adjustment device is added or decreased to correct the amount: and: the correction device reflects the increase The rotation command speed is then used to rotate the drive, and the second motor is used in the control device of the preceding paste machine. The arrest adjustment device is in the required motor torque;:: Document 2 is similarly 'the lower part is smaller than the preset motor torque 319709 12 200902302. The reference value of the rotating body's rotation is a certain increase in the command speed, and in ^ The rotation command catching degree is higher than the above; the rotating body called the torque reference value: the moment becomes larger than "the speed is higher than the aforementioned - the fixed angle" so that the rotating device of the motor corresponds to the running speed, and the speed is red, In addition, the speed of the above-mentioned rotation command is increased: reduction: c fluctuation, correction to maximize the power consumption, to reduce the amount of motor addition or reduction, and correction: = section device to increase the rotation command speed The amount is reflected in the amount of increase or decrease of the rotation finger 1=5 hai to correct the speed to rotate the drive motor yk and then to reflect the rotation finger. Therefore, when the stamping operation i relatives go according to the punching speed or punching ; load energy; ==, can save =: advance:;:! press operation speed or reduce the motor power under the stampings. And in a wide range of operating strips according to a preferred embodiment of the present invention, the aforementioned correction device rotation speed is smaller , or _ negative _ the more A, The amount of increase or decrease of the aforementioned rotation command speed is corrected to be two to T speed; the smaller, or the greater the punch load energy, the larger the amplitude of the motor torque relative to the rotation and the rotation. Therefore, the smaller the speed of the rushing I or the greater the load energy of the rush, the more the motor power can be effectively reduced by increasing the amount by which the rotational command speed is increased or decreased. s Furthermore, according to a preferred embodiment of the present invention In the form, the correction device is provided with an input unit for inputting a value of a press operation speed or a press load energy. 319709 13 200902302, whereby the correction device is based on a value of a press operation speed or a press load energy input from the input unit. The speed adjustment device can be used to make the above-mentioned rotation and the speed of the increase or decrease of the correction. 曰敉佳为刖 度 啊 丨 · · · · 丨 丨 丨 丨 丨 丨 丨 々疋锝 丨 丨 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝 々疋锝The speed increase and decrease is the magnitude of the difference between the aforementioned required motor torque and the front and 转矩 torque reference values multiplied by a certain gain. Thus, the rotation command speed of the motor is increased or decreased to the torque variation amount. ratio Therefore, the rotational energy can be supplied to the rotating system more efficiently. Further, the speed adjusting device can make the amount of rotation of the motor and the amount of rotation of the motor to be reduced; If the time integral values between the rotation commands are equal, the disk can be made to have a macro μ, " Operation time door: (4) During the predetermined time period of rotation, "The shirt will reduce the production speed of (4). The calculation device for the above-mentioned stamping load energy is obtained. The second system has the first measurement unit. The movement mechanism of the clothing movement is the measurement of the energy value of the pressure movement mechanism in the above-mentioned 冲压, and the amount of the movement energy supplied to the impulse, and the measurement by the measurement unit The energy value is determined by the tube A and the second measurement unit, and the correction device is used to increase or decrease the rotation command speed. 319709 14 200902302 The amount of kinetic energy of the rushing motion mechanism during the reciprocation of the slider i), and the energy supplied by the motor to the (four) motion mechanism. Therefore, the punching load energy can be extracted based on the amount of energy change measured by the first measuring unit and the energy value measured by the second measuring unit. According to the present invention, it is provided that the clock and the ancients are further, the step-and-step governor, and the control device are repeatedly used.冲嶋和备. "明转:: A method of controlling the object, the driving of the rotating card, is rotated by the motor And the moon piece, when the motor rotates, the required motor = two; the command speed is changed by the angle. The control method of the punching machine::= turn: the rotation angle of the rotating twisting body is $/有 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 裰 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性 特性Speed::: the phase of the rotation of the swivel; the corresponding increase in the speed of the punching operation or the negative speed of the punching, the increase of the speed of the rotation command, the change of the load, and the way of correcting the large power consumption, so that the aforementioned motor is reduced. The most important amount of the increase in the rod # τ θ is that the amount of increase in speed is reflected in the second one. In this control method, according to the reciprocating motion of the slider 3197〇9 15 200902302, The motor torque of the element and the change caused by the rotating body In this case, the reciprocating motion of the slider and the rotation of the slider can be considered. The motor rotation speed of the motor torque generated by the variable element is further improved. According to the present invention, A control U machine of a press machine includes: a motor; a conversion mechanism having a rotating body driven by the device, and converting the rotary motion into a reciprocating motion, and the rotating mechanism is coupled to the conversion mechanism for reciprocating motion; When the motor rotates widely, the required motor torque fluctuates according to the angle of the above-mentioned catching degree. The control method of the brewing machine is characterized in that the test operation of the rotary machine is repeated, and the electric power supplied to the motor is made. It is carried out: the relationship between the required motor torque value and the value of the value of the punching machine. The recognition, the rotation, the value of the rotation angle of the detected value of the rotation angle The stage of the rotation angle; the required horse according to the value determines the corresponding rotation angle: the preset motor torque reference value of the rotation speed of the rotating body is higher than the aforementioned - horse = rotation (four) load energy, the correction is made Before: Degree = plus the stage, and Decrease the maximum power consumption of the motor; : '...the amount of increase in the speed of the rotation command, and the amount of the two: the two quantities are reflected in the rotation command speed, and the above is reversed by the reverse:: The stage of the motor. , '^疋 The above method: the control method can also be achieved in the same way as the control device of the paste machine. 319709 16 200902302 In addition, in the control method _, as long as ^, into the system obtained by the test run, you can decide: ::The rotation angle generation changes even if the rushing speed or the ram load energy is two: moment: at this time, the device performs correction with respect to the change, and therefore; corrects the "motor torque. For example, the dust machine is at a low speed. Operation, while checking the production of the plate is used in the operation at the beginning of the operation, but even in this case, gradually increase the speed and continue to press, and the same can not be tried and run's change. I ^ by the correction device Corresponding _ the change of the running speed, the invention, the labor of the motor torque required for the rushing or the repeated load of the energy, and even if the values are reduced under a wide range of operating conditions = τ take appropriate control 'and DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the preferred embodiments of the present invention, the same reference numerals will be given to the same reference numerals, and the drawings (first embodiment) will be slightly repeated. FIG. 2 to FIG. Ming first embodiment Bear shaped house ,, thin tube 1 brother 1 〇C applied consistently form the desired number of the first angle calculation: 'according to the rotation of the input crank sleeve opposite "of 7. Further, in the "torque determining device" of the present invention, the part of the torque determining device according to the present invention, which is calculated by the calculation unit 26 and the command adjusting unit 19, which is different from the required motor torque, constitutes the present invention. "Speed adjustment device = the person refers to::: 319709 17 200902302," "Revising the device is a beautiful 1st second door grandson 1: Part 273 and the correction part 27 Budi 2 picture is shown in the present invention, the house system has: motor 】 二二成图. As shown in Figure 2, by the rotation of the motor 1 riding the power two and the transmission belt 5, the system, the driving force and the grain; the flywheel 6 and the transmission belt 5 transmission motor] Tian anti-43 from the flywheel 6 Wheel rotation driving force. Off: Turn '·Crank shaft 7, system state) Link flywheel (4): Stem shaft 7 : ^ Stem shaft 7 is separated from the flywheel 6 in the _ state (cut off state) so that Qu Mu, Yue Yue 11, borrow The shovel is lowered by the shovel of the crankshaft 7; and the connecting member 12 is raised at one end (4) and raised by @ma s, σ is at the eccentric portion of the crankshaft 7, and W is coupled to the slider u, and the slider is η lifting. The lower part of the lower ==11 is fixed with the upper die for stamping. When the sliding member U is lowered by π, the upper mold is placed on the upper part of the mold and the workpiece is punched. Pressure. #下模对对再者' Speed control for assembly in press 1〇. Controls the rotation speed of the motor 1. The speed control device 15 is connected to the speed control device 15 for example, for example, input from the outside. The rotation command speed value of the output motor 1 (dry hand and i 勰 W 卜 令 令 ; ; ; ; ; ; ; ; t t 加工 加工 加工 加工 加工 加工 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破 破The speed of the finger from the speed command unit 17; ^ is the power received by the unit 19, and the value of the 度 "degree value" is supplied to the motor 丄. (4) The command speed of the at-value command unit 17 The value is limited by the speed: from the speed to the command adjustment unit 19. a: The round-up speed = the case where the command speed value ... is not directly input to the motor drive unit 21 via the command adjustment unit 19. 319709 18 200902302 The motor drive unit 21 supplies a current to the motor 1 based on the input command speed value. Further, the 'motor drive unit 21 receives a tachometer generator (tach〇generat〇r) for detecting the rotational speed X of the motor 丨. Angular velocity detector f The measured value is used to determine whether the detected rotational speed of the motor 1 is the commanded speed value, and the right k-degree is different, and the current flowing to the motor j is controlled. Thereby, the detected rotational speed of the motor 1 is controlled to a constant commanded speed value. The third figure is the above-mentioned Wei Ma; Cha,), and the required motor torque variation of the motor 2 when the motor 1 is rotated at a command speed (ie, a constant speed). Motor: The required torque of the motor 1 set by the characteristics of the press, the workpiece to be punched and the crank, and the desired rotational speed. In r: 3 L(4), the horizontal axis represents time and the 縦 axis represents the crank angle 7: the corner. The angle of rotation of the crankshaft 7 is in the range of 360 degrees, so the waveform is the same in Fig. 3 (1). In the third diagram (8), the horizontal axis represents time and the vertical axis represents the commanded speed value output by the occupant. In this example, the third figure (C) of the finger and the 曰 τ section shows that the motor u: < „定二, = value is constant. The required motor rotation of the motor 1 during the operation of the press machine 10 In turn, when the crankshaft 7 is rotated by the motor 1 in one of the figures (B) to the figure, the speed required by the various mechanical jaws combined with the crankshaft 7 will be over time. And the change, that is, the _ machine's = up, the moment of 1 varies with the rotation angle of the crankshaft 7. Ling motor turn 319709 19 200902302 to check the second press 10 series as shown in Figure 2, The angle detector 25 for the main rotary encoder of the crank car from one end of the 7th. The mi angle & second degree device 15 performs the following control, that is, in the third place as the third one - In the case where the command speed is rotated, the horse = the required moment will become smaller than the _ angle of the second: 7 shown in Fig. 3 (c), and the control speed is increased. 2: = τ is given to the rotating system, so it can be effectively _ _ _ _ _ _ because the maximum motor torque value can be reduced, thereby reducing the capacitance of the motor 1 and the motor driving portion 21, and 1 and the motor drive unit 21 is miniaturized. Further, since the energy is supplied to the rotating system, the power consumption can be reduced, and the rotation value can be efficiently reduced in two cases == profit range, and the motor torque reference is as shown in the figure 3 The variation shown by the line: the second St is also a certain value smaller than the maximum value of the motor torque indicated by the solid line of the 3rd. The required torque of the required line is not required. It is larger than the above-mentioned motor torque-specific rotation angle, so that the rotation command speed of the motor 1 is higher than the upper moment value. By this, the maximum motor rotation can be further reduced. 319709 20 200902302 Hereinafter, the dust cleaner 1 that performs the above control will be described in detail. As shown in Fig. 2, the speed control device 15 of the press machine 1 of the second embodiment further includes: an arithmetic unit 26 that outputs a speed adjustment value corresponding to an output value from the angle detecting device; and an instruction adjusting unit 19 The amount of command speed input from the speed command unit 17 is increased or decreased by the amount of the speed adjustment value input from the calculation unit U. The command adjustment unit 19 rotates the command speed value of the increase/decrease adjustment in the above-described manner to the motor drive unit 21. Further, in the example of Fig. 2, the speed adjustment value from the calculation unit 26 is rotated to the command adjustment unit 19 via the limiter 18b. ° The speed control device 15 is provided with a correction device to be described later. It is the correction part 27b. For the convenience of description, first, the case where the correction device is not used will be described. Next, the case where the speed control device is equipped with the correction device 15 will be described. The angle detecting device 25 detects the main gear 29 coupled to the crank shaft 7. The rotation angle of the crankshaft 7 is detected and the value is continuously detected. The calculation unit 26 functions as a speed adjustment function for changing the rotation command speed of the motor 1 by a speed adjustment function corresponding to the value of the rotation angle of the input crankshaft 7. Fig. 4 is a view showing the flow from the input to the speed adjustment function to the output of the calculation unit 26. When the angle detecting device 25 rotates the value of the rotation angle to the calculation unit %, that is, the speed adjustment function, first, according to the input, the required motor torque of the variable element caused by the reciprocating motion of the slider and the crank are performed. Rotation of the shaft 319709 21 200902302 Calculation of the f-axis of the variable due to motion. 1. The calculation of the required motor torque of the swaying element caused by the reciprocating motion of the slider, please calculate the required motor torque of the variable element caused by the reciprocating motion of the slider (S1 of the figure 4) As shown in the figure, when the value of the rotation angle is input, the rotation angle is converted into the position of the slider 11 in Chuanzhong. Next, based on the information of the position of the slider, the required motor torque of the variable element caused by the reciprocating motion of the slider is calculated. This torque calculation is performed for each of the following variation elements (丨) (6) indicated by si 2 . (1) Sliding member friction Find the product of the dynamic friction coefficient of the slider and the speed of the slider. At this time, since the speed of the slider changes with the rotation angle of the crankshaft, the frictional force of the member also changes with the rotation angle of the crankshaft. (2) Inertia of the slider Find the product of the weight of the slider and the acceleration of the slider. At this time, since the acceleration of the slider changes with the rotation angle of the crankshaft, the inertia of the slider also changes with the rotation angle of the crankshaft. (3) Buffering Only when the die pad is operated at the time of punching the house - the set cushioning force is used to determine the force acting on the slider by the die pad. At this time, the force for the slider also changes with the rotation angle of the crankshaft. (4) The stamping and pressing force model the stamping as a spring, only during the contraction period of the spring 319709 22 200902302 - that is, the contact between the upper mold and the lower mold, and the resulting (four) plus screen force The product of the material constant and the contraction amount is obtained. At this time, the punching force also changes with the rotation angle of the crankshaft. (5) Counter balancer: 辛 = = = 111 The weight of itself and the machinery attached to the slider 11: the balance of the force itself and the force acting on the slider u, so there will be a slip The case where the workpiece 11 is biased upward or downward and the press 10 is applied. The balancer is composed of a gas house cylinder, etc., and the magnitude of the balancer action is changed according to the position of the slider n, that is, the rotation of the curve (4) (4) (6) if other elements act to reciprocate This element is also considered in the case of other elements of the action brought about by the slider U. The respective forces acting on the slider 11 are determined in advance as a function of the rotation angle of the crankshaft by the descriptions (1) to (6)'. The above (1) to (6) correspond to the rotation of the person (4) and the linear force is obtained. As shown in Fig. 4, please add in the addition! ::荨Linear force. Next, the required torque will be added to S14. Further, in Fig. 4, the following: (1) to (8) are multiplied by the rounds, and the second is generated by the correcting unit 27b, which will be described later. = required motor torque for the variable element due to the rotational motion of the crankshaft 319709 23 200902302 On the other hand, the calculation of the required motor torque for the variable element caused by the rotational motion of the crankshaft is also performed (Fig. 4) S2 is shown). The calculation is performed to convert the rotational motion into the required motor torque produced by the reciprocating motion of the slider as a function of the angle of rotation of the crankshaft. In the present embodiment, the required motor torque generated by the eccentricity of the arbor is obtained as a function of the rotational angle of the crankshaft. And the motor torque is calculated as a function of the rotation angle of the crankshaft, and the value of the required motor torque is calculated by the rotation angle input corresponding to the 忒 function. Thus, the rotation angle is calculated corresponding to the input rotation angle. The required motor torque of the variable element caused by the reciprocating $ of the slider u and the rotation of the curved phase axis: after the required motor torque of 5 is changed 'and as shown in Fig. 4': These motor torques are added to 15 to calculate the required motor torque. Fig. 5(A) shows an example of the required motor torque. The middle horizontal axis represents the rotation of the crankshaft negative _ Λ田 moving ratio. The (four) angle 'vertical axis table does not have the torque of the unit. Then, in the subtractor S16, the change of the tones of the sound caused by the slider u is calculated, and the motor is turned into a normal operation. The moment is the difference between the torque and the torque reference value caused by the change of the ♦I of the change of the curve, as the torque variation value. "The horse's figure 5 (8) shows the torque calculated by the above method. In the figure, the horizontal axis represents the rotation angle of the crankshaft, and the torque variation ratio is used. In the fifth figure (β), the position of the axis (ie, the motor 319709 24 200902302, the torque reference value) is determined, and the rotation degree of the crankshaft 7 is made to be the function shown in FIG. 5 (4). The period (the value of the integral applied from 0 to 360 corners becomes 0. Therefore, the motor torque is the average value of the motor rotation required to rotate one cycle t to become the position of the rotary axis of the curve. π U, In the horizontal direction, the torque adjustment value Μ is obtained by multiplying the required motor torque and the fluctuation value of the motor torque by the difference between the gain (magnification) and the value. The value of the product is used as the speed as shown in FIG. By the above, when inputting to the calculation unit 26, the speed adjustment value is rotated from the rotation angle of the derivation unit and the 26-axis C axis 7. As described above, in the present invention, the person in charge Go, "Export the characteristics of the 1 rushing machine and the motor torque, and should be in the implementation" In the form, in the torque: the speed adjustment value. The motor motor 1 uses the aforementioned motor torque to be rotated and the rotation angle of the 7-speed spindle 7 is changed. The motor torque reference value is calculated by calculating the speed adjustment value so that the rotation command speed of the motor 1 is increased more than the above-described constant daily speed. The motor torque required for a certain command speed rotation will become greater than the gain, +, and EI angles, and the crankshaft 7 of the motor torque reference value will be rotated. The rotation command speed of I is more than the above-mentioned fixed command speed. Decrease: Method, calculate the speed adjustment value. - In the case of -2:4, the speed adjustment function of the calculation unit 26 is created, and when the #_ 疋 corner of the crankshaft 7 is input, the fifth diagram (B) is output. The torque variation value of the large/two=angle shown is multiplied by the product value of a certain gain, which is the value of u, where the speed adjustment function is relative to the motor required to rotate the command speed of 319709 25 200902302 The torque will become smaller than the rotation angle of the motor torque reference value The value is positive. The other two = 'make the speed adjustment' (four) to make the motor 1 narrate - the spheroidal spheroidal motor torque will become greater than the aforementioned motor torque reference: the output value of the corner Negative. In addition, by setting the gain to a certain positive seek torque or the f motor torque shown in FIG. 5 is smaller than the aforementioned or larger than the aforementioned motor torque reference value, the rotation angle is generated. The larger the absolute value of the output value of the speed adjustment function is, the above-described speed adjustment function can be constituted, for example, by assembling to the sub-circuit of the calculation unit 26. The electric calculation unit that generates a function as a speed adjustment function is detected by the angle detector 25. The rotation angle of the crankshaft 7 = rotation (four) applies to the speed adjustment function, and calculates the corresponding rotation angle;; speed adjustment is the value. The adjustment unit 19 is calculated by the calculation unit 26. The speed adjustment value is output to the commander, and the speed adjustment value is added to the speed adjustment value of the ==^= from the Pan 瞀 9 β to the speed command unit 17 . Speed "value, and the rotation of the increase and decrease of the speed command value is the input ;$; check 5 & adjust the power supplied to the motor i, two =:: 1, the motor drive unit 21 rounds the command The speed value is 兮; the speed is measured by the detector 23. The speed sense is used as described above: by the above control, in the third figure (the required motor torque is less than the aforementioned motor torque reference value, the crank is light 7) The rotation angle causes the motor operator to rotate the finger 319709 26 200902302 to increase the speed. In Fig. 3 (c), the required motor torque is greater than the rotation angle of the crankshaft 7 of the front moment reference value, so that the motor: second, the rotation is reduced. The heart burns the pill to make the speed of Fig. 6 (8) shows the change between the adjustments in the above manner. In addition, the first system shows that the motor at this time is compared. 'The dotted line of Fig. 6 (8) shows the f 3 (8) movement. For comparison, the broken line of Fig. 6 (6) shows that the command speed ί requires the motor torque variation. In addition, Fig. 6 (4) shows the time change corresponding to the rotation angle of the crankshaft 7 of the first one. A) By adjusting the speed as shown in Fig. 6 (8), "the energy is supplied to the rotating system, such as 6 (6) can reduce the torque value, can also reduce the variation of the motor torque. - The large motor can reduce the maximum motor torque value, and the motor drive unit's capacitance, and / / Λ motorized. In addition, the squat motor and the motor drive unit are small in size, and the rotational energy can be efficiently supplied, thereby reducing the power consumption. Further, preferably, by the aforementioned speed adjustment, the speed ratio is made. The amount of increase in the above-mentioned command speed, and

The speed at which the St speed f ' is reduced by the above-mentioned certain command speed is the time integral value in the period of the crank shaft 7 (0 to 36 〇 degrees), because the rotation command speed is increased by 4 due to less The time integral value of the square turn rotation command is equal to the time integral value in the one cycle of the square turn angle, so that the payback time in one cycle of the rotation angle can be made 舆= 319709 27 200902302 -degree when the motor rotates The stamping action time in one cycle of the rotation angle is the same 'without reducing the press production speed. In the first step, the correction device having the correction portion 27a and the correction portion 2n is assembled to the speed control device 15. Hereinafter, the correction unit 27b will be described after the correction unit 27 & When the correction operation portion 27a is smaller in the press operation speed or the press load energy is larger, the absolute value of the speed adjustment value output from the calculation unit 26 is corrected to be larger. Therefore, when the press operation speed or the ram load energy fluctuates, the labor of the required motor torque can be obtained in advance by the values of the rush 1 operation speed or the rushing house load energy, and even if the ram operation speed or the rushing load Energy can, when moving, can also be optimally controlled and can reduce motor power under a wide range of operating conditions. Further, in Fig. 2, the correction unit 27a and the calculation unit % are individual blocks, but the correction unit 27a and the calculation (4) may be integrated to form one block. The correction unit 27a will be described in detail below. The energy is fixed with respect to the press operation speed, and the load is shown in Fig. 7, which is the same as the press operation, and the phase is equivalent to the value of the setting calculation unit green and the life. That is, in Fig. 7, the relative values of the operating speed and the value of the load (4) of the load of the punching operation and the load of the load are compared with those of the set calculation unit 26. 319709 28 200902302 ” Quantitative change The correction gain is set when the press operation speed becomes small and the ram load energy is increased to make the value larger. Operation:: and the front part 27& set the gain table as the number of punches. And the function of the 2nd-order variable output correction gain of the stamping load energy is multiplied by the correction gain of Fig. 7 to adjust the speed according to the crankshaft = wide speed adjustment value. The horse is low. (1) The power consumption of the horsepower is suppressed to a level. Most of the presses are operated at a low speed at the start of the operation, and the operation method of gradually increasing the speed of the production quality is low. Xiao by the correction department... will consume _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Coupling, and "also 疋, but can also be as follows (1) Find the approximation from the buffer set value. The set pressure of the buffer is set by the red dragon. When the amount is set to _, the buffer is punched and the buffer is pushed out. W (4) Material type (1) Find W[ J] = FxL... (1) Use this W as an approximation to the impulse load energy. Finding direction (2) 319709 29 200902302 . . . . (2) (2) Performing 1 cycle operation during test mode and performing measurement test mode means setting up the machine or after It is necessary to input the workpiece by the trial mold (the test operation of the panel is carried out. The main mold is formed, and the operator determines the molded article (10)) and performs the trial run. When the test mode is performed, the fine-tuning energy of the rushing machine can be performed. Specifically, at the time of the mold test:::, the kinetic energy of the ink absorbing motion mechanism is determined. When the slider Y is driven by 1 to 1, the motor 1 is applied to the ramjet motor.

The order of power) the pulley 3, the transmission belt 5, (: the wheel 29, the crank shaft 7, the coupling member 12, the slider 丨丨. w M, the above-described example is specifically described. By performing the test before the continuous production, by The motor speed and the motor torque are measured to obtain the ram load energy. Here, the ramming motion mechanism is set to approximate the flywheel 6 to obtain the ram load energy. The dead time connection clutch is measured in time series. When starting to cry, the cycle starts to run for 1 cycle and the slider reaches the bottom dead center and reaches the next top dead center. The motor speed n[rad/s] and the motor torque [Νω]. The motor speed is set just after the clutch is connected. For ns 'the motor speed before the next top dead center (disconnecting the clutch) is set to nf, and the inertia (inertia) of the flywheel 6 converted to the motor shaft is set to I, the punching load energy E is as follows: The formula is obtained. [Mathematical Formula 1] 319709 30 200902302 2 ' + fm.dt ] is the time from the moment the clutch is connected to the moment of separation from the integration interval [ts, before the combiner. Turn just = = the flywheel 6 sports energy and the period of the ring are supplied to the flywheel =!; '2nd The system is in the motor " Shielding energy reduction amount 俾 February:: 2, that is, the load load energy at the end of 1 cycle. (10) The total value of summer is the rush of 1 cycle consumption in order to connect the clutch. The inertia of energy, in the formula 1], is to set the inertia I to approximate the flywheel 6 彳 彳 亦可 亦可 亦可 亦可 亦可 亦可 亦可 亦可 冲压 冲压 冲压 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨 丨= mechanism [mathematical pulley 3, transmission belt 5, fly: test 6 considerations = included in the punching motion mechanism shaft 7, even the 釺 釺 〗 9, 汍 wheel 6, gear, main gear 29, crank j 〇 °, sliding parts The inertia of 11 is set to the inertia of [Math. 1]. Ϊ 15 is a measurement calculation device that is transmitted in the first δ genre: by one cycle operation during the test mode. The measurement calculation device 30 . ^ 〃 .. The first measurement 1 part 31, measured in the (four) motion mechanism of the press IQ during the sliding part η ^ ^, the second measuring part 32, measuring the energy value during the reciprocating period to the = (four) moving mechanism; And the calculation unit 33 calculates the amount of the above-described kinetic energy change measured by the amount = 319709 31 200902302 and the energy value of the first and the The first measuring unit 31 measured by the loader has an angular velocity sensing 31b and an operator 31c d贞湘 lock..., and the output clutch connection command is made to receive the crying action by the clutch control unit. And receiving the above speed value (1) from the angular velocity = two, and rotating the speed value L. In addition, the speed value n of the ^ (4) lock can also be configured to receive the clutch connection finger today, such as ^ 丄Warhorse Receiver 2: The axle is actuated by the reverser: the clutch connection command signal (this signal indicates the end of the movement above the slider u), and the action is received and received from the angular velocity sensor. The concatenation value (1) above 23, and the speed value (1) is output. k will be in Γ:, get the stable speed value ηί, the data input lb can also be = the speed value ηί output from the angular velocity sensing crying reception immediately before receiving the clutch cutoff command signal, 俾 can receive the clutch ^ cut LP = The speed of the angular velocity sensor 23 of T, and the speed value (1) is input. The nasal generator 31c receives the speed value ns and the speed value ηί' from the data flash lock &

The first! The value of the item. u 1 and 1/2, output [Mathematical U has torque detection (not shown) assembled to the motor drive unit 21, angular velocity sensor 23, multiplier 32a, and integral crying = moment, measuring system measuring motor The torque value of 1 is set and rounded up. The speed detector 23 measures the above speed value for output. The multiplier 319709 32 200902302 receives the torque value r from the torque detector and the heart rate value n, and multiplies the above two values, and the output value = the divider 32b receives the value η from the multiplier 32a. · r, and calculate the value of the second item of [Mathematical Formula 1] based on the input value ^ r and rotate it. The calculation unit 33 adds the value input from the calculator 3 to the value input from the integrator 32b, and rotates the value of the above [Mathematic Formula] as the impulse load energy value. Further, as described above, the value of the correction gain generated by the correction unit 27a is determined by the input value input to the correction unit 27a, that is, the press speed and the punch load energy. The input of the pressing operation speed and the pressing load energy pair correction portion 27a shown in Fig. 7 may be automatic input or input by an operator. In the automatic input, it is possible to set the rotation speed values from the angular velocity sensor 23 or the command adjustment portion 19 during the reciprocating motion of the entire slider, and input the average value as the punching operation speed to the correction portion. The average value calculation unit of 27a. At this time, the input unit that receives the average value from the average value calculation unit may be provided in the correction unit 27a. Further, the output of the above-described measuring device for the load energy can be input to the correcting portion 27a. At this time, the input portion that receives the punching load energy output from the measuring device of the $8 map may be provided in the correcting portion 27a. Thus, the press operation speed and the punch load energy can be automatically input to the correction portion 27a. In addition, an input portion for receiving a stamping operation speed or a stamping load energy calculated or measured by other appropriate means may be constructed by other appropriate means. When the operator makes an input, the operator operates the predetermined operation by pressing 319709 33 200902302 ‘=. 17=== and _load energy are input to the correction section, but can also be other: when the input of the part 27a is input, the eight-speed operation speed or the _load energy ^= is operated by (4), and the other side is Input section. It has a gain multiplication unit that multiplies the value of the force by the correction gain correction gain from the "(1) slippery change, the payout of the 4th figure, and the gain multiplication unit: from "V"::" ;) Slowly multiply >", but the value of the straight line force of the water is corrected by 2 々 multiplied by the complement J from the "(5) balancer" other elements" output of the mu: the correction is increased (four) benefit multiplication department; "(8) The value of the labor force is multiplied by the incrementing calculation unit of the correction gain. The correction gain of the second adjustment can be set independently of the complement of the % (4) and the correction part rotation speed and the stamping load energy: When the calculation unit 26 sets the punching gain, the value of the correction load energy of each gain multiplier is increased as the value is increased. The press-pressing operation speed and the press-benefit multiplication unit are provided with the same input unit as the input correction unit (4). The round person system can be compared with the above-mentioned variable elements (1) to (second embodiment). The fourth power consumption is reduced. Fig. 9 shows a second embodiment of the present invention. In the second embodiment, 319709 34 200902302, the calculation of sadness In the case of the input of the required torque of the motor, the calculation of the rotation angle of the Zhao, the calculation unit 26 of the second embodiment, and the instruction = the installation of the motor In the case of P19, the root system is a part of the second embodiment of the present invention, and the second embodiment of the present invention is a second embodiment of the present invention. The enthalpy value is different from the case where the motor drive unit 21 is rotated to the calculation unit J, and the torque is different from that of the first embodiment. The other components of the configuration of the first unit 26 are the (4) = state of the embodiment. (4) Machine 1〇' In the same manner as described above, the motor drive unit 21 receives the command speed value from the speed command unit 17, and supplies the current of the value of the two values to the motor 〖. At this time, 'will: 】 The catch value is input from the speed sensor 23 to the motor drive, and the value of the bounce value is set to the value of the current supplied to the motor i. The actual speed corresponding to the subordinate is the commanded speed value. 10 shows the calculation unit 2 of the second embodiment: according to the second embodiment, the instruction adjustment unit is not passed. The speed value is input from the speed command unit 17 to the motor drive unit _ Π ,), and the test operation is performed. In the test operation, the actual force is pressed by the force = 4. The operation system can be produced by stamping (4) The cycle is performed. i cycle or # ... during the test operation, the command torque value is output from the motor drive unit calculation unit 26, and the crankshaft 7 is input from the angle sensor 35. The moxibustion angle is 319709 35 200902302 • From The motor drive unit 21 is input to the calculation unit 26, and the value of the torque value to be supplied from the motor drive unit 21 to the motor ά, ά 7 is a value proportional to the current value, and is: The moment current value is calculated. 仏, ', ° to the motor 1 by the press 1 〇, the trial operation, the relationship between the values, and the relationship is made into a table. :==,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, The period of returning to the top dead center and stopping is set to i „ this action. At this time, since the shadow phase of the clutch 9 of each cycle of the sub-period is reversed from the clutch 9, the values are equal. 'And the mother-cycle command torque eight, therefore, the crank angle of the crankshaft 7 can be obtained at any time, and the relationship is made into a table, and the data related to the number of cycles can also be The angles are averaged to create a one-week-old wounded material, and the data is used as a table. «The production of the table in which the working method of the continuous operation is not stopped at the top dead center at the top dead center. In the method, after the start of the operation, the slider li is not continuously stopped at the top dead center, and the slider 11 is not stopped at the top dead center every cycle. At this time, the clutch 9 is connected after the start of the operation. Since it is not cut 319709 36 200902302 from the clutch 9, so the finger Let the torque value be different from the period after the first cycle. Therefore, the data of the number of cycles (for example, the number of η cycles) of the command torque value to be stabilized is obtained by trial operation, and is preliminarily made to represent the equal cycle. The above table of command torque fluctuations. The data of each cycle of the table is applicable to the cycle corresponding to the actual operation. Moreover, the data of the last cycle (the / cycle) of the table is applied in the actual operation. η 'TO J 1 Under cycle. In addition, the test can be performed until the command torque value is stabilized. After the command torque value is stabilized, the data of the cycle period is obtained and tabled. The (4) of the filaments can also be applied repeatedly, and each cycle after the start of the operation in the operation. ' 'Pre-10' is as described above, and the test run table is used to record the table in the (4) part 26 by the punching machine 10 The following operation is carried out. The performance of the rotation angle (four) degree sensor 25 of the flavor 7 is input to 14 26 %, and the rotation angle of the nose 26 is applied to the #, and the input is input. Required motor torque for the angle of rotation In the same way as in the case of the first #1 embodiment, the calculation unit 2 needs to determine the difference between the torque value and the motor torque reference value, and the value of the difference is obtained. The operation after the second transmission is the same as that of the first embodiment. In the actual operation of the press 0, the torque value may not be input from the motor drive unit 21 to the calculation unit 26. 4 TURN 319709 37 200902302. In the second embodiment, the required motor torque can be determined by substituting the detected rotation angle into the above-described table obtained by the operation, and the rotation command speed of the motor can be adjusted by simple configuration and processing. Further, in the case of the second embodiment, that is, the load energy of the press is changed, and the rotation speed of the Chuangshi is: or the movement of the hunting is performed by the correction unit. Therefore, the test operation is not required to determine the required motor rotation. Most of the resignation operations are operated at a low speed at the beginning of the operation, and the operation method of gradually increasing the speed while checking the product f of the second generation, but even in the case of 1 I I'm no longer performing the trial operation, continuing (4) operation, and simultaneously Corresponding by means of a correction device Pressure changes in operating speed. 3 (Third Embodiment) Fig. 11 is a configuration of a third embodiment of the third embodiment of the present invention, which is described in detail by using an integrator 34 instead of the first embodiment or the embodiment. The angle sensor 25 of Fig. 2 is the same as the press machine 10 of the first embodiment, and the u-picture is a configuration corresponding to the second embodiment, and is configured to correspond to the second embodiment. % is configured to rotate the command torque from the motor to the calculation unit 26 during the test operation. Ή11 shows the input of the command speed from the command adjustment unit 19 by 5 weeks. The command speed value is given by the product = 34, and the commanded speed value is integrated by time from the start of the motor drive, and the rotation angle of the motor 1 of the current point is obtained. Thus, the integrator 34 is obtained. The rotation angle of the motor 1 at the current point is 319709 38 200902302. The value is input to the calculation unit 26. The calculation unit 26 outputs the speed adjustment value based on the value of the rotation angle input from the integrator 34 as in the first embodiment. Other configurations and operations are the same as in the first embodiment. According to the third embodiment, even if the angle sensor 25 for detecting the rotation angle of the main gear 29 is not provided as in the first embodiment, it is possible to detect by applying the time integral to the command speed value by the integrator 34. The angle of rotation of the motor 1. Therefore, the angle sensor 25 can be omitted, and the configuration is simple. (Fourth Embodiment) In the first embodiment or the second embodiment, the calculation unit 26 outputs and outputs the speed command unit 17 In the fourth embodiment, the calculation unit 26 outputs an adjustment gain value (magnification) multiplied by the command speed value from the speed command unit 。. The command adjustment unit 19 outputs the speed adjustment value. The command speed value obtained by multiplying the command speed value from the speed command unit 攸7 by the adjustment gain input by the correction unit 26 via the correction unit 27. The adjustment gain calculated by the calculation unit 26 is multiplied by the adjustment gain. When the command speed value from the speed command unit 17 is set, the adjusted command speed value which is the same as the case of the first embodiment or the second embodiment of Fig. 6 (8) can be obtained. The adjustment gain calculated by the calculation unit 26 changes with the value of the rotation angle of the rotation to the calculation 4 26, and the value of the required motor torque which is not shown in the third figure (6) of the input rotation angle is larger than the reference motor. When the torque value is larger, the smaller value is taken. When the required motor torque 319709 39 200902302 shown in Fig. 3 (6) of the input rotation angle is smaller than the reference motor torque value, the larger the value is. (Other Embodiments) The angler 25 for detecting the rotational speed of the main gear 29 and the integrator 34 for integrating the command speed values input to the motor drive 21 are k-integrated. The angle detecting device is configured, but it may be constituted by a segment. For example, the angle detecting means may be constituted by an angular velocity detecting means or a skirt for detecting the position or speed of the slider 11. As described above, in the first embodiment and the calculation unit of the first embodiment and the second embodiment, the required motor torque is calculated as the rotation angle of the curve _7. Again, in the first! In the embodiment and the second embodiment, the portion of the command adjustment unit 19 that is configured to adjust the commanded speed value according to the calculated speed is configured such that::==襄 is not limited to the configuration of the above embodiment. Sexuality; need =: the value of the rotation angle to determine the special configuration of the machine to achieve the above work ^ ^ by the electronic circuit (four) as a means,]: the device is not limited to the configuration of the above embodiment The rotating body (for example, the crankshaft) whose required motor torque becomes smaller than the pre-value is more increased in the motor torque reference speed of the pre-sigh than the fixed command speed: the second rotation command is preset to the motor torque reference The signal or the torque of the motor becomes a large command speed ratio - the rotation of the rotating body, so that the appropriate means such as the rotation path of the motor can be used, or the electronic power can be used to achieve the above functions. 319709 40 200902302 In the above-described embodiment, the correction unit 27a outputs the correction unit 27a, but the correction unit 27a can be configured as a correction value of the same effect as the correction unit 27a of the above-described embodiment. Opened from the wheel from the shoulder 26. Similarly The configuration of the correction unit (10) may be changed so that the correction value is added to the outputs from (1) to (8) of Fig. 4 to obtain the same effect as that of the correction unit 27b of the above embodiment. The correction unit 27a may also be used. And the correction unit 27b constitutes a supplement. In the above description, in order to match the operation time of each cycle of the crankshaft rotation, the rotation command speed of the motor is made privateer than the above-mentioned predetermined command=degree. And the rotation command speed of the motor is set to be equal to the time integral value in one cycle (〇 to :) A of the rotation angle of the crankshaft 7 in the above-described predetermined command. However, according to various conditions and conditions, the circumference is The catch command value 'is equal to the appropriate predetermined time (for example, 1 minute, the time between the months). The crankshaft 7 is a rotating body, the crankshaft 7 and the components connected to the crankshaft. Although 12 or the like is a conversion mechanism that converts the rotational motion of the motor 1 into a reciprocating motion of the slide, the conversion mechanism may be constituted by a cam or other suitable member that is rotated by a motor cymbal. In the form, although the stamping using the flywheel is described as 1 〇, 1 η, 1 η, , , -κ, the present invention is also applicable to a press machine that operates by a motor without using a flywheel. The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the gist of the present invention. 319709 41 200902302 • [Simple description of the drawing 1 Figure 1 shows the use of the flywheel Fig. 2 is a punching diagram of the third embodiment of the present invention, and Fig. 3 is a diagram showing the rotational speed value of the crankshaft and the required motor torque variation when the motor is rotated at a constant speed. ^^^^^ 曰7 4 is a graph of the jth, opening "^" of the present invention. Fig. The flow diagram of the processing of the calculation section of the brother field η is a crankshaft of the required motor torque variation of one cycle of the crankshaft rotation The rotation angle, the curve of the 7-degree value and the torque variation adjusted when the speed is adjusted. The figure 7 shows the example of the configuration of the measured press load energy with respect to the press operation speed and (4) load energy. Fig. 9 is a configuration diagram of a press machine according to a second embodiment of the present invention. Figure. Fig. 1G is a flow chart showing the processing of the arithmetic unit of the second embodiment of the present invention. L main component symbol description] Motor 3, 43 Pulley belt 6, 47 Flywheel C, 9, 49 Clutch 10" Press 11 ' 57 Sliding member 15 Speed control device 1, 41 5, 45 7. 53 10, 1〇, 12, 55 319709 42 200902302 17 Speed command unit 18a, 18b limiter 19 Command adjustment unit 21 Motor drive unit 23 Speed sensor 25 Angle sensor 26 Calculation unit 27 Correction devices 27a, 27b Correction Part 29 ' 51 Main gear 30 Measurement calculation device 31 First measurement unit 31a, 31b Data latch 31c Calculator 32 Second measurement unit 32a Multiplier 32b, 34 Integrator 33 Calculation unit 35 Angle sensor 43 319709

Claims (1)

200902302 200902302 XI 1. Applying for a patent garden: A control device for a punching machine, the punching machine having: a horse mechanism having a rotating body driven by the motor, and: rotating motion into reciprocating motion; and sliding When the motor is rotated at a predetermined command speed, the required motor torque fluctuates according to the rotation angle of the rotating body, and the control device of the press is characterized by: The angle detecting device detects the rotation angle of the rotating body; the torque determining device determines the required motor torque corresponding to the characteristics of the press machine based on the value of the turning angle of the detecting device, and the speed adjusting device When the required motor torque becomes smaller than a predetermined motor torque reference value, the rotation angle of the rotating body of the motor is increased more than the predetermined command speed; and the correction device is provided, The speed of operation or the change of the load can be corrected, and the amount of speed adjustment and speed increase is corrected; that is, the device makes the rotation command-heart In the manner of greatly consuming power, the speed adjustment is performed: the amount of increase in the speed of the force LI, and the correction means are reflected in the rotation command speed by both the increase and the correction amount, and are rotationally driven by the rotation command speed. The aforementioned motor. 'The punching machine is equipped with: a motor; a rotating body that is converted into a rotary drive, and converts the rotary motion into a gamma main re-transportation. The other is a sport, and the slider is connected to the conversion mechanism and 319709 44 2. 200902302 ' When reciprocating motion, · 舍一 ^ , m 疋屯 速度 速度 使 使 使 前述 前述 前述 前述 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达 马达^Moving 'the rushing degree measuring device' is detecting the rotation angle of the rotating body; the moment determining device is based on the value from the corner angle, and I determines the rotation and wood input to the library.疋 所需 所需 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 疋 H H H H H H H H H H H H H H H The speed is reduced more than the above command speed. 疋Transfer load energy =====The speed of operation or the amount of _ speed reduction; J is the way to set the maximum power consumption of the above-mentioned rotation command to make the speed transfer command speed The amount of reduction, and the aforementioned correction device Both of the positive amounts are reflected in the rotation command speed, and the rotation command speed is thereafter rotated to drive the motor. - "The control of the first or second item of the machine is set, = the smaller the phase of the device is, the smaller the punching speed or the stamping load can be = two. The speed adjusting device increases or decreases the speed of the aforementioned rotation command. The correction is made larger. The control device of the 1st to the 3rd of the 1st to the 3rd is the input part of the wound wheel with the punching speed or the value of the punching load energy. 319709 45 200902302 • 5. If the device is in the range of items 至 to 4 of the patent application, the control device for determining the punching machine for the front punch is provided: the measuring device is equipped with: The nose is measured by the 1st part of the 'measured by the above-mentioned horse 2: the amount of change during the reciprocation of the slider 1; the second is measured in the I section, the measurement is in - 仏 to the balance, and the buckle 1 is only During the period, the energy value of the motor for the ', the mouth to the punching motion mechanism, and the < the disc, the different portion is based on the amount of change measured by the measuring unit, and the second, p, 丨田加 cites the movement This amount! (4) 2 measured in the I section measured by the aforementioned two stamping load energy; value and ^ out of just 6. Xuan Han strike The system uses the stamping load energy to correct the amount of increase or decrease of the speed of the above-mentioned square rotation command. The monthly overshoot (four)' is a press control device having any one of the first to fifth claims of the patent application scope. In the item, the two branches of the rushing, the rushing mechanism, and the ancient A 4 + skillfully, convert the rotating body driven by the 5X motor, and convert the 竽 rotary motion into a reciprocating 遝 / I bamboo. Reciprocating A, ~, is connected to the conversion mechanism and is required: when the motor speed is rotated by two command speeds, the pressure ', '' 1E e varies with the rotation angle of the rotating body, and the characteristics of the control method of the press In order to have: the stage of detecting the rotation angle of the rotating body by the swaying ride; determining the degree of the motor torque according to the value of the detected rotation angle, the end of the corresponding punching machine The required motor torque becomes smaller than the preset motor torque base 319709 46 200902302 'The rotation angle of the rotating body of the standard value, so that the rotation of the motor is protected by eight m, and the speed of the certain command speed is further increased; Specific material = punch (four) turn Degree or rush (4) the change of the load energy, the stage of correcting the amount of increase in the speed of the twirling command; and the way of commanding the most electric power, so that the above rotation:: rotates the command speed, and after the reflection, the == 8 Fang Fang turns to drive the aforementioned motor stage. The control method of the punching machine, the punching mechanism, the ancient, the 侑. motor, the conversion rotary shovel: the branch ~',, the rotating body of the rotating body, and the reciprocating motion of the rotation; When the speed of the motor is rotated by the switching mechanism, the pressure θ varies with the rotation angle of the rotating body, and the control method of the punch is characterized by: The trial operation is performed at a stage in which the electric power supplied to the motor corresponds to the required motor torque value of the characteristics of the press, and the value of the rotation angle of the crankshaft; and the phase of detecting the rotation angle of the rotating body; The value of the detected rotation angle and the aforementioned relationship are the phases of the required motor torque of the value of the rotation and the angle; and the required motor torque becomes smaller than the preset motor torque aesthetic value. The body (four) corner, the rotation speed of the motor is increased more than a certain command speed; corresponding to the change of the rushing speed or the ram load energy, the correction is 319709 47 200902302 The phase of increasing the amount; and the amount of increase in the command to reduce the maximum power consumption of the motor, and the weighting method to make the increase of 1 in the rotation command And the phase of the motor is driven by the rotation of the above-mentioned rotation command speed. 48 319709