200918300 九、發明說明： ，【發明所屬之技術領域】 、、本發明係關於衝墨機器，特別是關於利用飼服控制使 滑塊升降•停止來進行衝壓的衝壓機器。 【先前技術】 ·· 衝壓機器係具有：上模具及下模具，係在上下方向夾 f被加工材進行衝壓；滑塊，係在下面固定有上模具而使 (了進仃升降運動；驅動馬達，制來使該滑塊升降；以及 、夂換機構’係使驅動馬達的旋轉運動變換為升降運動並傳 達至滑塊。 在衝壓機器的運轉中’係將已衝壓成形的被加工材（板 等）從上模具與下模具之間搬出，並將衝壓加工前的板件 =上模具與下模具之間。因此，每成形—片板件，係重 2滑塊料、停止，待㈣的搬人結权後再次使滑塊 的動作。上述滑塊的下降、上升、停止係依每次循環 進：’故期望從停止到下降、從上升到停止的切換可以在 知日才間内進行。 沾免因此可使用伺服控制來進行控制。在使則司服控制 2壓機器中，由於可利㈣服馬達旋轉角的伺服控制使 二、加減速度•停止，因此滑塊運動之從上升到停止、從 ::到：降刀換可以在短時間内進行。使用上述飼服控 '衝壓機器例如係記载於下述的專利文獻卜 t專，文獻1]日本特開2005_271〇7〇號公報 名又而吕’在衝壓機器會設有用來抵抗重力並支撐滑 320035 200918300 塊的平衡裝置（Counter Balance)。此種情況下，對滑塊雖 ，然有兩種作用力：藉由本身重量往下方拉的力量、與藉由 平衡裝置往上舉起的力量，但兩者通常不會保持平衡。因 此，在使用伺服控制的衝壓機器中，為使滑塊保持在停止 位置，必須在伺服馬達產生轉矩（torque)。故在伺服馬達 流通有電流而發熱，因而造成能量的浪費。 “此外，在滑塊停止中，雖以使伺服馬達的旋轉角與相 虽於滑塊停止位置之一定旋轉角度一致的方式進行伺服控 制仁由於一疋旋轉角度與檢測角度值的些微差距，伺服 馬達會重複微小的正反轉運動。因此，在從伺服馬達到滑 塊的動力傳達路徑中，可能㈣齒輪間重複接觸齒面的現 象導致動力傳達機構的惡化。 月匕置的浪費及動力傳達機構惡化的問題，在滑塊停止 時間較長時特別顯著。例如：以手動或低速的搬運裝置進 订，件在模具間的搬入•搬出時，滑塊停止時間會變長， 能量的浪費及動力傳達機構惡化的問題更加明顯。、 【發明内容】 飼服m二明的目的在於提供-種衝壓機器，在使用 =達壓機器於滑塊處在停止狀態中時， 孝毛包力’並可防止因伺服$ 重⑽…反轉運動在齒輪間 重钕接觸齒面叩導致動力傳達機構的惡化。 為達成上述目的，本發明提供_ 上模具及下模具’係在上 =具有. 墨；滑塊，係在下面固定有上模呈而、隹破加工材以進行衝 虿上杈具而進行升降運動， ·伺服 320035 6 200918300 -馬達，係用來使該滑塊升降；以及變換機構，係使伺服馬 _，達的旋轉運動變換為升降運動並傳達至滑塊；該衝壓機器 係具備：控制褒置，係將依據用以賦予所期望的滑塊運動 之滑塊動作模式的指令旋轉角度值、與祠服馬達之旋轉角 的檢測值予以比較，以依循前述指令旋轉角度值的方式控 制词服馬達的旋轉角；切換機構，係設於從飼服馬達到^ =動力傳達路彳至’選擇性地切換··使來自伺服馬達的動 ，達至滑塊的動力傳達狀態、與不使來㈣服馬達的動 2傳達至滑塊的動力非傳達狀態；以及滑塊保持 倉匕_ 吏'月塊的升降運動不$限制的非保持狀 :”使滑塊的升降運動受限制的滑塊保持 蝴藉由飼服馬達的旋轉角控制而使滑塊停 塊保持機構切換為前述滑塊保持狀態： 接者使則述切換機構切換為動力非傳達狀態。 另外’為達成上述目的太恭 栌制方夺本發明美供一種衝壓機器的 二 有：上模具及下模具，係在上下 方向夾住被加工材以進行滑塊，係在下面 y 拉具而進行料運U服馬達，❹來使料塊 構，係使飼服馬達的旋轉運動變換為升降運動 方法具…特徵:將選擇.= 秧卜k —狀恶之切刼機構設於從伺服 刀 達路徑：使來自飼服馬達的動；^ =二動力傳 態：與不使來自飼服馬達的動力傳達至傳達狀 狀悲，設置選擇性地切換 … 非傳達 下这一狀恶之滑塊保持機構··使 320035 7 200918300 .滑塊的升降運動不受限制的非保持狀態、與使滑塊的升降 .運動受限制的滑塊保持狀態；將依據用以賦予所期望的滑 塊運動之滑塊動作模式的指令旋轉角度值、愈飼服尋達: 旋轉角的檢測值予以比較，以依循前述指令旋轉角度值的 方式控制飼服馬達的旋轉角，藉此使滑塊下降進行衝I， 之後y吏滑塊上升並停止在目標停止位置；在滑塊停止在 目標停止位置之後，使前述滑塊保持機構切換為前述滑塊 態i以及在使前述滑塊保持機構切換為前述滑塊保 持狀九、之後’使前述切換機構切換為動力非傳達狀態。 在上述本發明之衝壓機器及其控制方法中，在藉由伺 月民馬達的旋2角控制而使滑塊停止之後，使前述滑塊保持 ^, 〜、接者使則述切換機構成為 動力非傳達狀態。因此，在滑塊的停止狀態中， 係利用滑塊保持機構予以保持，益 β 達以使滑塊保持在停止位置，且因、應電流至伺服馬 gB Α ^ , 因為伺服馬達與滑塊被分 開為動力非傳達狀態，因此伺 變小，社莩+ 馬達之正反轉所需的轉矩 =Μ果，亦可使供給至健馬達的電流變小。因而， 可降低滑塊停止中的消耗電力。 此外，在滑塊停止中，由於飼 、^ 反轉運動不會傳達奸她馬達之微小的重複正 動W争、/換機構來而自飼服馬達7的 動力傳達被分開之處到 力僂魏π 、心塊的動力傳達路徑，因此在該動 彳工不會產生微小的重複運動。因此，可防止在該 動力傳達路徑因齒輪間重複接 ^ 構的惡化。 &接觸-面寻而導致動力傳達機 320035 8 200918300 服馬達之正:::=::可降低消耗電力並可防止因飼 致動力傳達機構的惡化Γ輪間㈣合部重複接觸齒面而導 兩者分開’仍可利用_機二 (2)因為係使滑塊保持機構對停止中的滑 在該作動開始時’滑塊保持機構與動力傳達機構之門：： 發生因制動作用所致之摩擦、發熱。此外，在 會 ^中，由於飼服馬達之微小的正反轉運動不會傳達到= 會發m滑塊保持機構與動力傳達機構之間亦不 (3) 與使用習知伺服控制的衝壓機器相同地，由於利用 =服控制來控制滑塊運動，故滑塊運動之從上升到停止、 乂 止到下降的移轉可以在短時間進行。 (4) 藉由改變給滑塊減速中之伺服馬達的供給電力可 使能量再生’而提高能量的使用效率。 根據上述，本發明係在使用有伺服控制的衝壓機器於 滑塊停止中，可降低消耗電力並可防止因伺服馬達之微小 的正反轉運動使齒輪間重複接觸齒面而導致動力傳達機構 的惡化。 【實施方式】 以下’參照圖面說明本發明之實施形態 320035 200918300 ·- Μ 1圖係本發明之實施形態之衝壓 •弟1圖所示，衝壓機器i。係具有:上 ^圖。如 係在上下方向央住被加工材】進行衝厂;，= ^ ::::上模具3a並使其進行升降運動， ：： 用采使該滑塊5升降；以及變換 係 旋轉運動變換為升降運動並傳達至滑塊5。系使柯服馬達的 衝壓機器10復具備：控制裝置u、 塊保持機構15。 換機構J3、滑 指令Si二：比較依據預先設定之滑塊動作模式的 轉角度值的方式控制服馬達了的旋轉角。“盾 路徑切從酬達7到滑塊5的動力傳達 生地切換下述二狀態之構造 動力傳達至滑塊5的動力傳達狀態與不使來二 機構13係在藉由飼服;達鬼傳達狀態。該切換 停止之後，藉由控二:1/:1轉角的控制而使滑塊5 置與==達:::至相#於動力傳達狀態- 電磁力驅動心9位置之機構，可使用藉由以 作的機一d)使切換機構13直接動 氣壓，並的電磁線圈來控制油壓或 在第圖 用藉由摩擗：門:…切換機構13為離合器。離合器可使 相的摩擦力來傳達動力之乾式或濕式的構 320035 10 200918300 造，或利用機構的嚙合傳達來動力的構造等。 ，的升機構15係具有選擇性地切換至不使滑塊5 動糊的非保持狀態與使滑塊5的升降運動受 運動^塊保持狀態之構造。該滑塊保持機構15係在滑塊 由控：換機構13切換為動力非傳達狀態之後，藉 二裝置11而驅動至滑塊保持狀態。 作為使滑塊保持機構1 5 5 & π # 「持狀態的機構，可使用藉由 ”寺狀態與滑塊保 塊保持機構15直接動作的機構，磁線圈使滑 磁線圈來控制油㈣氣星…，用以電磁力驅動的電 保持機構15動作的機構。、’藉由油壓紅或㈣使滑塊 可使為 制動的制動器等作:機盤是以 =坪細說明控制褒置n的構造。控制裝 ^ 控制器山、飼服控制器训、馬達驅動放:器 衝壓機器控制器lla係依 來輸出指令旋轉角度值。 預先叹疋的滑塊動作模式 指令旋轉角度值（相當於滑^動作模式係設定對應時間之 在各時點中，根據严 ^立置），衝壓機器控制器lla 馬達7的指令旋轉角%、二莫式來輸出對應該時點之词服 服馬達7之旋轉角的：達衝壓控制器中，係從檢測飼 轉角度值。 馬達％轉角度編碼器π輸入有檢測旋 320035 200918300 衝壓機器控制器Ua係對離合哭 :接以使规•達7的輪出轴與後述:速：：接指 心輪入軸分開為與， 作動:二：：至：亦對制動器15輪㈣動器 置，並對制動器15輸出制動器非作 位置::立 作至不妨礙滑塊5之運動的位置。 冑紙。15動 另外，衝壓機器控制彳〗r & 邏輯電路或可程式控制器加㈣咖二c電路、數位200918300 IX. Description of the Invention: [Technical Field to Which the Invention Is Ascribed] The present invention relates to an ink-washing machine, and more particularly to a press machine that uses a feeding machine to control the slider to be lifted and stopped to perform pressing. [Prior Art] · The press machine has an upper mold and a lower mold, which are pressed by the workpiece in the vertical direction, and the slider is fixed with the upper mold on the lower side to make the lifting movement; The slider is moved up and down; and the switching mechanism converts the rotational motion of the drive motor into a lifting motion and transmits it to the slider. In the operation of the press machine, the workpiece is formed by stamping. Etc.) Move out between the upper mold and the lower mold, and press the plate before the press processing = between the upper mold and the lower mold. Therefore, for each forming-sheet member, the weight is 2 sliders, stop, wait (4) After the movement is completed, the slider is operated again. The lowering, rising, and stopping of the slider are performed every cycle: 'Therefore, it is desirable to switch from stop to fall and from rise to stop. Therefore, the servo control can be used for the control. In the servo control 2 press machine, the servo control of the motor rotation angle can be used to increase and decrease the speed and stop, so the slider movement rises to stop From: to: The reduction of the knife can be carried out in a short period of time. The use of the above-mentioned feeding service control 'pressing machine is described, for example, in the following patent documents, the special literature, the literature 1] Japanese special open 2005_271〇7〇 bulletin In the stamping machine, there will be a balancer (Counter Balance) that is used to resist gravity and support sliding 320035 200918300. In this case, although there are two kinds of forces on the slider: by its own weight The force pulled below and the force lifted up by the balancing device, but the two usually do not balance. Therefore, in the press machine using servo control, in order to keep the slider in the stop position, the servo motor must be Torque is generated, so that a current flows through the servo motor and generates heat, which causes waste of energy. "In addition, while the slider is stopped, the rotation angle of the servo motor and the phase are fixed at the slider stop position. The servo control is performed in a manner that the rotation angle is the same. Due to the slight difference between the rotation angle and the detection angle value, the servo motor repeats the slight forward and reverse movement. Therefore, from the servo motor to In the power transmission path of the block, it is possible that the phenomenon of repeated contact with the tooth surface between the gears causes deterioration of the power transmission mechanism. The waste of the moon and the deterioration of the power transmission mechanism are particularly remarkable when the slider stop time is long. For example: When the manual or low-speed conveying device is used for ordering, when the workpiece is moved in and out of the mold, the stopping time of the slider becomes longer, and the waste of energy and the deterioration of the power transmission mechanism are more conspicuous. [Summary of the Invention] The purpose of Ming is to provide a stamping machine that can prevent the contact between the gears due to the servo weight (10)...reverse motion when using the =pressure machine in the stop state of the slider. The surface defect causes deterioration of the power transmission mechanism. In order to achieve the above object, the present invention provides that the upper mold and the lower mold are attached to the upper mold and have the ink, and the slider is fixed on the lower mold to form the upper mold. Carrying out the lifting and lowering of the cookware for lifting movements, · Servo 320035 6 200918300 - The motor is used to lift the slider; and the changing mechanism is to make the servo horse _, the rotation movement Converted into a lifting motion and transmitted to the slider; the stamping machine is provided with: a control device, which is a commanded rotation angle value according to a slider action mode for imparting a desired slider motion, and a rotation angle of the servo motor The detected values are compared to control the rotation angle of the vocal motor according to the above-mentioned command rotation angle value; the switching mechanism is set from the feeding motor to the ^=power transmission path to 'selectively switch ··from The movement of the servo motor reaches the power transmission state of the slider, and the power transmission non-transmission state of the motor is not transmitted to the slider; and the lifting movement of the slider holding the magazine _ 吏 'month block is not Restricted non-retaining shape: "The slider holding the slider's lifting movement is restricted. The slider stopping holding mechanism is switched to the slider holding state by the rotation angle control of the feeding motor: The switching mechanism switches to a power non-communication state. In addition, in order to achieve the above-mentioned purpose, it is too conscientious to win the beauty of the invention. There are two types of stamping machines: the upper mold and the lower mold, which are clamped in the vertical direction to carry out the slider, and are attached to the lower y puller. Carrying the material to transport the U machine, and then making the block structure, the rotary motion of the feeding motor is converted into the lifting and lowering method. Features: The selection of the cutting machine is selected from the servo blade. Path: Make the movement from the feeding motor; ^ = two-power transmission: and do not let the power from the feeding motor communicate to the conveyance of the situation, set the selective switch... not convey the slider of this evil Holding mechanism ··320035 7 200918300. The non-retaining state of the slider lifting movement is unrestricted, and the slider holding state that limits the movement of the slider. The movement is based on the movement of the slider to be desired. The command rotation angle value of the slider action mode, the more the feed is found: the detected values of the rotation angle are compared, and the rotation angle of the feeding motor is controlled according to the above-mentioned command rotation angle value, thereby lowering the slider to perform the punching After y The slider is raised and stopped at the target stop position; after the slider stops at the target stop position, the slider holding mechanism is switched to the slider state i and the slider holding mechanism is switched to the slider holding shape. Then, the switching mechanism is switched to the power non-conveying state. In the above-described press machine and control method therefor, after the slider is stopped by the rotation of the servo motor, the slider is held, and the switch mechanism is powered. Non-communicating status. Therefore, in the stopped state of the slider, it is held by the slider holding mechanism, so that β is maintained to keep the slider in the stop position, and the current is applied to the servo horse gB Α ^ because the servo motor and the slider are Separately, the power is not transmitted, so the servo is small, and the torque required for the positive reversal of the motor + motor = the result, the current supplied to the motor can be made smaller. Therefore, the power consumption in the stop of the slider can be reduced. In addition, in the stop of the slider, since the feeding and reversing movements do not convey the slight repetitive positive movements of the motor, the mechanism of self-feeding motor 7 is separated from the power transmission. Wei π, the power transmission path of the heart block, so there is no slight repetitive motion in this work. Therefore, it is possible to prevent deterioration of the power transmission path due to repeated connection between the gears. & contact-surface search leads to power transmission 320035 8 200918300 The positive motor:::=:: can reduce power consumption and prevent the deterioration of the feed-to-power transmission mechanism and the repeated contact of the tooth surface between the wheels (4) Separating the two 'can still be used _ machine two (2) because the slider holding mechanism is sliding in the stop at the start of the operation - the door of the slider holding mechanism and the power transmission mechanism:: due to the braking effect Friction and heat. In addition, in the meeting, the slight forward and reverse movement of the feeding motor will not be transmitted to the = will be between the m slider holding mechanism and the power transmission mechanism (3) and the use of the conventional servo control press machine Similarly, since the slider movement is controlled by the = service control, the movement of the slider from the ascending to the stop, and the stop to the lower can be performed in a short time. (4) The energy can be regenerated by changing the power supplied to the servo motor during the deceleration of the slider to improve the efficiency of energy use. According to the above, the present invention can reduce the power consumption by using a servo-controlled press machine, and can prevent the power transmission mechanism from being repeatedly contacted between the gears due to the slight forward and reverse movement of the servo motor. deterioration. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 320035 200918300 - Μ 1 is a press machine according to an embodiment of the present invention. The system has: upper ^ map. If the material is processed in the up and down direction, the factory is rushed;, = ^ :::: the upper mold 3a is moved up and down, :: the slider 5 is lifted and lowered; and the rotary motion of the transformation system is converted into The lifting motion is transmitted to the slider 5. The press machine 10 of the Kefu motor is provided with a control device u and a block holding mechanism 15. The changing mechanism J3 and the sliding command Si 2: control the rotation angle of the service motor in accordance with the rotation angle value of the preset slider operation mode. "The shield path cuts the power from the reward 7 to the slider 5 to transfer the ground. The following two states of the structural power are transmitted to the power transmission state of the slider 5, and the two mechanisms 13 are not supported by the feeding; After the switch is stopped, the slider 5 is placed with the ==1:::: to the phase # in the power transmission state - the electromagnetic force drives the position of the heart 9 by the control of the control 1: 2:1 corner. By using the machine d) to make the switching mechanism 13 directly move the air pressure, and the electromagnetic coil to control the oil pressure or in the figure by the friction: the door: ... the switching mechanism 13 is the clutch. The clutch can make the phase The frictional force transmits the dry or wet structure of the power 320035 10 200918300, or the structure of the power transmitted by the meshing of the mechanism, etc. The lifting mechanism 15 is selectively switched to not move the slider 5 The holding state and the structure for holding the lifting movement of the slider 5 by the moving block. The slider holding mechanism 15 is driven by the second device 11 after the slider is switched to the power non-conveying state by the control mechanism 13 The slider remains in the state. As the slider holding mechanism 1 5 5 &a Mp; π # "The mechanism of the state can be used by the mechanism of the temple state and the slider block holding mechanism 15 directly, the magnetic coil enables the slip magnetic coil to control the oil (four) gas star... for electromagnetic force driving The mechanism in which the electric holding mechanism 15 operates. , 'The hydraulic pressure is red or (4), so that the slider can make the brake for braking, etc.: The machine disc is configured to control the setting n with the ping. Control device ^ Controller Hill, Feeding Device Controller Training, Motor Drive Release: The press machine controller lla outputs the command rotation angle value. The pre-slipping slider operation mode command rotation angle value (corresponding to the sliding operation mode setting corresponding to the time at each time point, according to the strict setting), the pressing machine controller 11a motor 7 command rotation angle %, two Mo style to output the corresponding point of time to obey the rotation angle of the motor 7: in the stamping controller, the value of the feed rotation angle is detected. Motor% to angle encoder π input has detection rotation 320035 200918300 Press machine controller Ua is for clutching and crying: to make the wheel of the gauge up to 7 and the following: speed:: the heart wheel into the shaft is separated, Actuation: 2:: to: The brake is also applied to the 15th (fourth) brake, and the brake 15 output brake is not in position: it is established to a position that does not interfere with the movement of the slider 5.胄 paper. In addition, the press machine control 彳 r & logic circuit or programmable controller plus (four) coffee two c circuit, digital
Controller，PLC)等構成。 服⑴係將來自馬達旋轉角度編碼器17之伺 ::達7的檢測旋轉角度、與來自. =轉角度值予以比較，輸出㈣服馬達7的： 循才曰々疑轉角度值的指令值。 制組mrub的控财法可❹依照需要將前馈控 八 比例積刀）、PID(比例-積分-微分）、IPD(積 刀比例-微分）等的反饋控制之構成。 馬達驅動放大器…係與伺服馬達7電性連接，沖 服馬達7的電流及電墨改變，藉此可改變飼服馬達 =轉矩及旋轉數。該馬達驅動放Α||…^從㈣㈣ 收指令值，將依照指令值的電流及電壓供給至伺 服馬達II此使滑塊5根據上述滑塊動作模式進行運動。 320035 12 200918300 關於馬達驅動放大器1 1 C，在使用交流伺服馬達時可 .使用利用功率金屬氧化物半導體場效電晶體（P0WER M0SFET)或絕緣閘雙極性電晶體（IGBT，Insulated GateController, PLC, etc. The service (1) compares the detected rotation angle of the servo from the motor rotation angle encoder 17 to: 7 from the value of the == angle, and outputs (4) the motor 7: the command value of the angle value . The mrub's money control method can be configured by feedback control such as feedforward control (proportional-scale tool), PID (proportional-integral-derivative), and IPD (product-scale-differential). The motor drive amplifier is electrically connected to the servo motor 7, and the current and the ink of the motor 7 are changed, whereby the feed motor = torque and the number of revolutions can be changed. The motor drive Α||...^ from (4) (4) receives the command value, and supplies the current and voltage according to the command value to the servo motor II, thereby causing the slider 5 to move according to the slider operation mode. 320035 12 200918300 About the motor drive amplifier 1 1 C, when using an AC servo motor, use a power metal oxide semiconductor field effect transistor (P0WER MOSFET) or an insulated gate bipolar transistor (IGBT, Insulated Gate)
Bipolar Transistor)之脈衝寬度變調（pWM)方式的換流器 (inverter)，在使用直流伺服馬達時可使用利用閘流體黎 歐納（Thyristor Leonard)系統或絕緣閘雙極性電晶體之 截波器（chopper)方式等。另外，馬達驅動放大器i丨c係使 用如4象限控制換流器般可再生能量之構造，藉以在词服 馬達7減速時將運動能量轉換^電能而时，而可減少能 量損失。 此外，祠服馬達7可使用感應馬達、同步馬達 馬達等。 。。馬達旋轉角度編碼器17可使用光學式編碼器或解角 器（resolver) ° /外’在第丨圖之财，設有檢測後述之曲柄轴Μ ，疑轉角度的曲柄軸旋轉角度編碼器19，並將來自曲柄軸 :轉角度編碼H 19的檢測曲柄軸旋轉 ::，。/於曲柄轴9一”…二 ::二此猎由計算可將曲柄軸旋轉角度與滑塊高度互相 、因此，可將輪入至衝壓機器控制器山之曲柄軸旋 度使用於動作確認。曲柄軸旋轉角度編碼器 先學式編碼器或解角器。 吏用 接著針對衝壓機器1G的其他部分的構造進行說明。 何服馬達7的旋轉係經由離合器13傳達至減速機 320035 13 200918300 =利用減速機21使旋轉減速，再藉由減速機21的輪出 —·:轴9a旋轉。曲柄軸9a與滑塊5係以連接 2連結，曲柄轴9a-旋轉，滑塊5便會上下動作。此= 減速機21例如可使用使齒數 的機構。 〜數相異之千齒輪或傘齒輪嚙合 於下模具扑係安裝在承板(b〇lster)23。衝壓加 用在上模具3a的負荷係經由滑塊5、連接桿9b、曲柄 如而以框體25上部支擇，作 運㈣干9b曲柄轴 承板23而以框體25 果，' 3b的負荷則經由 降而被加工材〗會I:: ^之間，滑㈣^ 模且” 下模具3b相接觸，從上 杈具3a及下換具3b會對被加工材卫作 攸上 另外，為了支撐滑塊5盥 ^ " 裝置…平衡裝置27的機構=第3;， 汽紅内的I缩空氣將、、^ 97 4 1圖所不’可使用以 以下針對具有上述構造之 +衡褒置專。 以說明。第2圖係表示1機盗10的控制方法加 在步驟S1巾，滑…/ 之控制方法的流程圖。 始準備。控㈣置〗“心機行衝壓開 不從伺服馬達7傳達 "时Ha對處在使動力 構13(在第】圖中:印之動力非傳達狀態的切換機 構13切換為動力傳達力^達指令，使切換機 對處在上述滑塊保持狀態的c器控制器山 為制動器）輪出保持解除指a， 機構15(在第1圖中 /、曰7使滑塊保持機構15切換為 320035 14 200918300 呆持狀態。此外，在步驟S1中，控制裝置旧系繼續進 订使飼服馬達7維持在一定旋轉角度的飼服控制。 在步驟Μ中，使滑塊5升降而進行衝壓。控制裝置 你=使滑塊5下降以進行被加1材1的衝壓加工，且再次 使滑塊5上升並停止在目椤粹 位置的控制。在此期間係 先—二 1的衝壓機器控制器山輸出依據預 ^又疋之滑塊動作模式的指令旋轉角度值，馬達旋轉角度 η輸出伺服馬達7的檢測旋轉角度值 角度值，以依循指令旋轉角声角度值與檢測旋轉 器nc來控制飼服馬達經由馬達驅動放大 上下叙4 m 的疋轉角。在此期間’滑塊5的 上下動作·加減速度係利用伺服馬達 使用能再生電力的馬達驅動放 支可精由 時運行能量再生，而使能量損耗減少卜在飼服馬達7減速 為使滑塊5保持在停止你¥ 輸出與滑塊停止位置對n f 制器山係 制…行使伺服，…的：二^ 值一致的控制。藉此，使_ =/ &的指令角度 此外，目標停止位置 ㈣在目標停止位置。 高的位置，亦即，可為滑塊5的上:：與=9b成為最 之後，衝二：二滑塊5停止在目標停止位置 持指令’使滑塊保持機構15(在==5輸出滑塊保 至滑塊保持狀態。藉此，使 ° “制動器）動作 &月塊5保持在目標停止位置。 320035 15 200918300 .接著，在步驟S4巾，衝壓機器控制器&對㈣機構 ，13(在第i圖之例為離合器)輸出動力非傳達指令(離人哭 分開指令 >使切換機構13切換為動力非傳達狀態（離合;; 分開狀態）。藉此，在飼服馬達7的驅動力不會傳達至 態：’严由滑塊保持機構15的滑塊保持力使滑塊5 服“。°因此’健馬達7:係成為僅驅動飼 身的狀態’故雖因一定的指令旋轉角 =度值的些微差距而導致重複進行由舰控 微小的正反轉運動，但僅會產生較小的轉矩。結果，= 於伺服馬達7及馬達驅動放大哭 IL、 咬％勑裒大裔丨丨c的電流變得較小。 運丄滑塊停止狀態中，利用手動操作或自動搬 卫材〗放：=:衝壓加工的被加工材1 ’並將新的'被加 、f曹 禺’、3b之上。之後，回到步驟S卜如上所 述重稷衝壓加工過程。 工所 此外’在上述衝壓加 lp , 過耘中，以曲柄軸旋轉角度編 器…，用於動作的t :係被輸入衝壓機器控制 伽“ 亦即，在切換機構13為動力傳 庫以：二擒服馬達7的旋轉角度與曲柄軸9a的旋轉角声 應以與減速機21的減谏士 π哥用度 llaf. k b冋枚的比率變化，故衝壓機械控 114比較利用馬達旋轉 二 角度與利用曲柄軸旋㈣^ 所^的知轉 度，若不是以與減速機21的又,，、益19戶斤檢測的旋轉角 判定為異常。在滑塊保持構=R樣的比率變化時，則 時，曲柄轴9a庫不㈠^ 位於滑塊保持位置之狀態 〜㈢紅4v，故衝壓機械控制器Ua係檢查 320035 16 200918300 :=旋轉角度是否未改變， 判定為異常時的動作 斷為異常。當被 使飼服馬達7停止、使曰構广丄度值保持-定值並 達狀態、使滑塊伴 1 σ盗）成為動力非傳 切斷供給馬達 該等動作的組合“llc電力的電路(未圖示)等，或 圮本發明之實施形態之衝壓機器丨並 法中，係藉由控制伺 八控制方 後使滑塊保持機構^ 角使滑塊5停止，然 構13成為動:非傳=為:::r態’接著使切換機 滑塊5係h、、 在滑塊5的停止狀態中， ▲ 滑塊保持機構15而被保持，故不± 達7盘滑塊5Γ 電流至伺服馬達7,且伺服馬 力非傳達狀態，健馬達7之正 反轉所而的轉矩因而變 7的電炉#1 η 、、·°果 使供給至伺服馬達 κ 爪熒小。因此可減少滑塊停止中的消耗電力。 ^外，在滑塊停止中，由於祠服馬達7之微小的重複 、轉運動不會傳達到從藉由切換機構13而來自伺服馬 達7的動力傳達被分開之處到滑塊5的動力傳達路徑，因 此在該動力傳達路徑不會產生微小的重複運動。因此，可 防止在4動力傳達路經因冑輪間重複接觸齒面#❿導致動 力傳達機構的惡化。 因此’在滑塊停止中，可降低消耗電力並可防止因伺 服馬達7之正反轉運動使齒輪間的嚙合部重複接觸齒面而 導致動力傳達機構的惡化。 17 320035 200918300Bipolar Transistor) A pulse width modulation (pWM) type inverter that uses a thyristor Thyristor Leonard system or an insulated gate bipolar transistor chopper when using a DC servo motor ( Chopper) way. Further, the motor drive amplifier i丨c uses a structure such as a 4-quadrant control inverter that can regenerate energy, thereby reducing the energy loss when the motor energy is converted to electric energy when the word motor 7 is decelerated. Further, the servo motor 7 can use an induction motor, a synchronous motor motor or the like. . . The motor rotation angle encoder 17 can use an optical encoder or a resolver ° / outer' in the figure of the figure, and is provided with a crankshaft rotation angle encoder 19 for detecting a crankshaft 后 which is described later. And will rotate the crankshaft from the crankshaft: rotation angle code H 19 ::,. / "Crankshaft 9" "... 2:: 2 This hunting can calculate the crank angle of rotation and the height of the slider. Therefore, the crankshaft rotation of the wheel of the press machine controller can be used for motion confirmation. The crankshaft rotation angle encoder is a pre-learning encoder or a retractor. The construction of the other parts of the press machine 1G will be described next. The rotation of the motor 7 is transmitted to the speed reducer via the clutch 13 320035 13 200918300 = The speed reducer 21 decelerates the rotation, and the shaft 9a is rotated by the rotation of the speed reducer 21. The crank shaft 9a and the slider 5 are coupled by the connection 2, and the crank shaft 9a- rotates, and the slider 5 moves up and down. For this, the reduction gear 21 can use, for example, a mechanism for the number of teeth. The number of different gears or bevel gears meshes with the lower mold and is mounted on the carrier plate 23. The press is applied to the load system of the upper mold 3a. Through the slider 5, the connecting rod 9b, and the crank, the upper part of the frame 25 is selected, and the (4) dry 9b crank bearing plate 23 is operated to form the frame 25, and the load of '3b is processed by the lowering. :: ^ between, slip (four) ^ mold and "the lower mold 3b is in contact, The upper cooker 3a and the lower changer 3b will be attached to the processed material. In addition, in order to support the slider 5盥^ " device...the mechanism of the balance device 27=3; , ^ 97 4 1 Figure does not 'can be used to the following for the above configuration of the + balance set. To illustrate. Fig. 2 is a flow chart showing the control method of the pirate 10 plus the control method of the step S1. Get ready. Control (four) set〗 "Spiriting of the heart machine is not communicated from the servo motor 7" When the Ha is in the power structure 13 (in the first picture): the switching mechanism 13 of the power non-communication state is switched to the power transmission force Instructing the switch to turn the hold release finger a to the switch controller in the above-mentioned slider holding state, and the mechanism 15 (in the first figure, /, 使7 switches the slider holding mechanism 15 to 320035 14 200918300 The state of staying. In addition, in step S1, the control device continues to staple the feeding control to maintain the feeding motor 7 at a constant rotation angle. In step Μ, the slider 5 is lifted and lowered for pressing. The device you = lowers the slider 5 to perform the stamping process of the material 1 and again raises the slider 5 and stops the control at the eye position. During this period, the first-two-1 stamping machine controller mountain The output rotates according to the command rotation angle value of the slider operation mode, and the motor rotation angle η outputs the angle value of the detection rotation angle value of the servo motor 7, so as to follow the command rotation angle angle value and the detection rotator nc to control the feeding service. Motor via motor In the meantime, the up and down movement of the slider 5 is increased. In the feeding machine motor 7 decelerate to keep the slider 5 in the stop of your ¥ output with the slider stop position on the nf system mountain system... exercise servo, ...: two ^ value consistent control. By this, make _ = / In addition, the target stop position (four) is at the target stop position. The high position, that is, the upper of the slider 5:: and =9b become the most, after the second: the second slider 5 stops at the target stop The position holding command 'makes the slider holding mechanism 15 (the ==5 output slider is held to the slider holding state. Thereby, the ° "brake" action & month block 5 is held at the target stop position. 320035 15 200918300 . In step S4, the press machine controller & (4) mechanism, 13 (in the case of the i-th diagram is a clutch), a power non-communication command (a separate instruction from the crying instruction) is made to switch the switching mechanism 13 to a power non-conveying state. (clutch;; separate Thereby, the driving force of the feeding motor 7 is not transmitted to the state: 'The slider holding force of the slider holding mechanism 15 is maintained so that the slider 5 is served." Therefore, the motor 7 is driven only. The state of the body of the body is caused by a slight deviation of the commanded rotation angle = degree value, and the small forward and reverse movement by the ship control is repeated, but only a small torque is generated. As a result, = servo motor 7 And the motor drive amplifies the crying IL, and the current of the bite %勑裒大勑裒丨丨c becomes smaller. In the stop state of the slider, the manual operation or automatic movement of the material is used: =: the processed material is processed by stamping 1 'and the new 'added, f Cao', 3b above. Thereafter, the process returns to step S as described above for the stamping process. In addition, in the above-mentioned stamping plus lp, in the middle of the cymbal, the crankshaft is rotated by the angler..., the action t: is input into the press machine to control the gamma", that is, the switching mechanism 13 is the power transfer to: The rotation angle of the second motor 7 and the rotation angle of the crankshaft 9a should be changed in proportion to the reduction of the speed of the reducer 21 by the llaf. kb, so that the press mechanical control 114 is compared with the motor by two angles. The degree of rotation with the crankshaft rotation (four)^ is determined to be abnormal if it is not the same as that of the reducer 21, and the rotation angle detected by the benefit of 19 jin. When the ratio of the slider holding structure = R sample changes Then, the crankshaft 9a is not in the state of the slider holding position (3) red 4v, so the stamping machine controller Ua checks 320035 16 200918300 := Whether the rotation angle has not changed, and the operation when it is determined that the abnormality is broken is Abnormality: When the feeding motor 7 is stopped, the 丄 丄 丄 - 定 定 定 llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc llc Circuit (not shown), etc., or the present invention In the stamping machine method of the embodiment, the slider 5 is stopped by controlling the servo control arm angle, and the frame 13 is moved: the non-transmission = is:::r state' The switch slider 5 is h, and in the stopped state of the slider 5, the slider holding mechanism 15 is held, so that the current of the slider 7 is not increased to the servo motor 7, and the servo horsepower is not transmitted. The electric furnace #1 η , , · , which is the torque of the positive rotation of the motor 7 , which is reversed by 7 , causes the servo motor κ claw to be small. Therefore, the power consumption in the stop of the slider can be reduced. In addition, during the stop of the slider, the slight repetition of the servo motor 7 and the turning motion are not transmitted to the power transmission from the position where the power transmission from the servo motor 7 is separated by the switching mechanism 13 to the slider 5. The path, therefore, does not produce a slight repetitive motion in this power transmission path. Therefore, it is possible to prevent the deterioration of the power transmission mechanism caused by the repeated contact of the tooth surface #❿ between the four power transmission paths. Therefore, in the stop of the slider, the power consumption can be reduced and the deterioration of the power transmission mechanism caused by the meshing portion between the gears repeatedly contacting the tooth surface due to the forward and reverse movement of the servo motor 7 can be prevented. 17 320035 200918300
另外，上述衝壓機器 〇及其控制方法亦具有以下優 (1)在滑塊停止中，即使以 到滑塊5之方式來將兩者分開，仍可馬達7傳達 使滑塊5保持在停止位置。 ^龙保持機構15 (2J因為係使滑塊保持機構15 動’因此在該作動開始時，滑 :中的滑塊5作 ::間不θ發生因制動作用所致之摩擦·發執。此外： ^ =持期間中’由於伽馬達7之微 :傳達到滑塊5’故在該期間，滑塊保持機構== 達機構之間亦不會發生摩擦•發熱。 /、 (3)與使用習知肩服控制的衝壓機器相同地，由於 來控制滑塊運動，故滑塊運動之從上升到停止、 仗停止到下降的移轉可在短時間進行。. 可使速+之㈣馬達7的供給電力 b里再生’而k尚能量的使用效率。 之要心不限方、上述貝施形態’只要在不脫離本發明 I要曰的乾圍内自可進行種種變更。 ^如在第1圖之财，係表示將離合器13與機械器式 制動杰]5設置在減速機21的高速轴側、亦即將其設置在 伺服馬達7與減速機21之間的構造，但亦可使用將$合器 U與機械器式制動器15兩者設置在減速機21的低速： 側、亦即將其設置在減速機21與連接桿9b之間的構造； 或將離合器13設置在減速機21的高速軸側，而將機械哭 320035 18 200918300 • / 又置在減速機21的低速轴側的構造。 伸亦叮 隹由曲柄軸9a與連接桿9b構成變換機構q 2可式料的連桿式切節式或 吏旋轉運動變換為升降運動的變換機構。…式 在第1圖之例中，係表示以】點 但亦可使用以2 I /月鬼5的機構， 第點支撐、4點支撐、複數點支撐的機構。 圖雖表不1台伺服馬達7 馬達7亦可。告之構但複數台伺服 之構造時，可在;mr服馬達7藤動1根曲括抽9a 1組離合器13、機械器式制動器15::在：=設置 曲…之間，就每台飼服…二二，馬達7與 51 , 馬運7设置離合器13、播妯 =式制動器15。當為複數台飼服馬達 ：： 的曲柄軸9a之構造時，就每台飼動獨立 機械器式制動器15即可。 馬達&置離合器13、 在第1圖之例中，伺服 ί 馬達旋轉角产編辟哭17 / 1 角的檢測手段為 得再度、扁瑪$ 17，但亦可為其他檢測手段。 旋韓ΓΓ在連接有離合器13的狀態’亦可使用以曲柄軸 方疋轉角度編碼器19所於.、目丨 m ^ 達錢备“ 柄轴旋轉角度來取代以馬 二=17所檢測的馬達旋轉角度進行利用伺 二制w l]b而進行之伺服馬達7的伺服控制。 廊哭此^亦可設置光學尺等直接檢測滑塊5之位置的感 =山來自該感應器之滑塊位置檢測值用在利用飼服控 =i lb而進行之鑛馬達7的旋轉角控制。此時， ^塊位置變換為舰馬達7料轉肖，或 320035 19 200918300 ，：旋：角變換為滑塊位置而進行 旋轉角度編碼二塊位置檢測值代替以曲柄軸 動作之進行。仏測的曲柄軸旋轉角度而用來確認 另外，在第1圖之例中，、、典祕j士 w 制動器，也亦可為η ς ''塊保持機構15雖為機械式 =所傳==5係具備設置在將動： 可在與該齒輪I5a的輪動告力λ達路徑途中的齒輪他、及 】5a的輪齒扣合的非 D的#合位置和不與該齒輪 扣合構件心:z::置時之:移成:的扣合構件_ 運動的滑塊保持狀態，um/^限制滑塊5之升降 時，則成Λ不HP在丨X仏 霉件15b位於非扣合位置 在^限制滑塊5之升降運動的非保持狀態。 第1圖之例中，預設之滑 服馬達7之旋轉角控制的「賦予所==係使用在飼 材之衝壓加工的進行狀況、或被依照被加工 t各種條件改變滑塊動作模式。例如二=裝置的動作 隨時檢測板件的變形狀況，再依昭 在衝壓成形中 式。此時，亦可將今微义、^狀况改變滑塊動作模 望的滑塊運動之滑塊二：^鬼。動作模式作為「赋予所期 【圖式簡單說明】 第1圖係本發明之實祐 貫苑形您'之衝壓機器的構造圖。 320035 20 200918300Further, the above-described press machine and its control method have the following advantages: (1) While the slider is stopped, even if the two are separated by the slider 5, the motor 7 can be conveyed to keep the slider 5 in the stop position. . ^The dragon holding mechanism 15 (2J is because the slider holding mechanism 15 is moved). Therefore, at the start of the operation, the slider 5 in the slip: the friction between the brakes is caused by the non-θ. : ^ = During the holding period 'Because of the gamma motor 7: transmitted to the slider 5', during this period, the slider holding mechanism == no friction or heat will occur between the mechanisms. /, (3) and use Similarly, the punching machine controlled by the shoulder-shoulder control, in order to control the movement of the slider, the movement of the slider from the ascending to the stop, the stopping of the sliding to the descending can be performed in a short time. The speed + (four) motor 7 can be made. The power supply b is regenerated, and the energy efficiency of k is still energy. The above-mentioned "Best form" can be changed as long as it does not deviate from the dry circumference of the present invention. In the figure, the clutch 13 and the mechanical brake 5 are provided on the high-speed shaft side of the speed reducer 21, that is, the structure is provided between the servo motor 7 and the speed reducer 21, but it is also possible to use Both the combiner U and the mechanical brake 15 are disposed at the low speed of the reducer 21: side, that is, It is disposed between the speed reducer 21 and the connecting rod 9b; or the clutch 13 is disposed on the high speed shaft side of the speed reducer 21, and the mechanical crying 320035 18 200918300 • / is placed on the low speed shaft side of the speed reducer 21 The extension shaft is formed by the crank shaft 9a and the connecting rod 9b, and the link type cutting or the cylindrical motion of the conversion mechanism q 2 is converted into a shifting mechanism for the lifting movement. In the example of Fig. 1, It is a mechanism that uses a mechanism of 2 I / month ghost 5, a support of the first point, a support of 4 points, and a support of a plurality of points. The figure shows that one servo motor 7 and the motor 7 can be used. However, when the configuration of the plurality of servos is used, the mr service motor 7 can be rotated by a ratcheting 9a 1 set of clutches 13 and the mechanical brakes 15:: between: set songs... 22, motor 7 and 51, MA Yun 7 set the clutch 13, the sowing = type brake 15. When the structure of the crankshaft 9a of the plurality of feeding machine::, each feeding independent mechanical brake 15 The motor & the clutch 13, in the example of Figure 1, the servo ί motor rotation angle production The detection method of crying 17 / 1 angle is re-introduction, and it is also possible to use other means of detection. Rotary Han ΓΓ in the state where the clutch 13 is connected' can also be used with the crankshaft yaw angle encoder 19于., 丨 m ^ 达 达 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备 备It is also possible to provide a feeling of directly detecting the position of the slider 5 such as an optical scale. The mountain slider position detection value from the sensor is used for the rotation angle control of the mine motor 7 by the feeding control = i lb. At this time, the position of the block is changed to the ship motor 7 or the 320035 19 200918300, : the rotation: the angle is converted to the position of the slider, and the rotation angle is encoded by the two position detection values instead of the movement of the crank axis. The measured crankshaft rotation angle is used to confirm that, in the example of Fig. 1, the j j 士 ′ brake can also be η ς '' block holding mechanism 15 is mechanical = transmitted = =5 is provided in the non-D position of the gear that is engaged with the gear of the gear I5a and the gear of the 5a, and does not engage with the gear. Member core: z:: Set time: Move into: The snap member _ The moving slider keeps the state, um/^ Limits the rise and fall of the slider 5, then the Λ HP HP is not in the 丨X仏 mold 15b The snapping position is in the non-holding state of the lifting movement of the limit slider 5. In the example of Fig. 1, the "giving unit ==================================================================================== For example, the action of the second device is used to detect the deformation of the plate at any time, and then it is in the form of stamping and forming. In this case, the slider of the slider movement of the slider can be changed. ^Ghost. The action mode is used as the "simplified description of the plan". The first picture is the structure diagram of the stamping machine of the present invention. 320035 20 200918300
第2圖係表示本發明 法的流裎圖。 只知形態之衝壓機器 =圖係表示滑壤保持機 1主要7L件符號說明】 再日1 之控制方 圖。Fig. 2 is a flow chart showing the method of the present invention. Only know the shape of the stamping machine = the figure shows the soil lobe retaining machine 1 main 7L parts symbol description] The control chart of the day 1 again.
13b79a 1〇HaUc15 I5a171921252?a 被加工材 下模具 伺服馬達 曲柄車由 衝壓機器 衝壓機器控制器 馬達驅動放大器 制動器（滑塊保持 齒輪 馬達旋轉角度編碼器 曲柄軸旋轉角度編碼 減速機 框體 活塞 3a59 9b 11lib13 機構）15b 器23 27 上模具 滑塊 變換機構 連接桿 控制裝置 伺服控制器 離合器（切換機構） 扣合構件 承板 平衡裝置 320035 2]13b79a 1〇HaUc15 I5a171921252?a Machining material under the die servo motor crank car by stamping machine stamping machine controller motor drive amplifier brake (slider keeping gear motor rotation angle encoder crankshaft rotation angle coding reducer frame body piston 3a59 9b 11lib13 Mechanism) 15b 23 27 Upper mold slide change mechanism Connecting rod control device Servo controller clutch (switching mechanism) Fastening member plate balance device 320035 2]