201236859 六、發明說明： 【發明所屬之技術領域】 本發明是有關於一種曲軸式沖床及控制方法，特別是 指一種具有雙重保護機制的曲軸式沖床及控制方法。 【先前技術】 參閱圖1，已知一種具有過負載油壓保護的沖頭裝置 900，其包含一滑塊90、一設置在滑塊90内部的油槽91、 一設置在滑塊90旁側的座體92、一設置在座體92上的油 壓泵93 ’以及一過負載控制器94，滑塊90並設有一與油 槽91橫向連通的開口 901 ;座體92遮蔽開口 901且具有一 橫向貫穿的出油孔921，出油孔921是供油壓泵93將油槽 91内的油料抽出並打入位在油槽91上方的一油壓紅95内 ;過負載控制器94則是負責偵測油壓缸95的壓力。 當沖頭裝置900沖壓工件（圖未示）產生反作用力，將擠 壓油壓缸95内的液壓油而使液壓油產生油壓，過負載控制 器94測得油壓缸95的壓力超過預定壓力時，即控制油壓 泵93暫停對油壓缸％繼續供油或洩出液壓油，避免沖頭 裝置_ _壓力過高，另一方面，沖床的控制系統也 會驅動離合||_沖㈣置_與舰馬達的動力連接或 啟動煞車，進而達到過負載的保護效果。 然而’現有的油壓㉟負載控制機制有下述缺失: ，控制不易。 護，無法主動預防過負 1·油壓壓力變化有不穩定的現象 2·必須發生過負載時才能被動保 載發生。 201236859 【發明内容】 因此，本發明之目的，在於提供一種能精確控制並具 有雙重保護機制的曲軸式沖床及控制方法。 本發明具有雙重保護機制的曲軸式沖床包含一機台、 /月塊‘馬達驅動器、一受s亥馬達驅動器驅動帶動該滑 塊相對於該機台作動之伺服馬達，及一產生一位置指令之 輸入介面；其特徵在於：該曲軸式沖床還包括—編碼^、 -應變感測模組記憶單元及—控制器，該控制器並具 有一扭力控制單元及一負載控制單元。 該編碼器量測該伺服馬達的一角度量測值；該應變感 測模組包括-承受該滑塊之沖壓力所產生之應變值的應變 感測單元’及一接收該應變值並轉換為一負載量測值的應 變控制單元；該記憶單元内建至少-角度值對應一扭力上 限值及一負載上限值之關聯。 該扭力控制單元自該輸入介面取得該位置指令及自該 =碼器取得該角度量測值，利用該位置指令運算出對應的 才力卩7值，並自5亥記憶單元讀取該角度量測值對應的 -扭：上限值，且判斷該扭力命令值是否超出該扭力：限 值’右未超出則輸出該扭力命令值，若超出則輸出該扭 上限值。 、該負載控制單元自該應變控制單元取得該負載量測值 ’並自該記憶單元讀取該角度量測值對應的一負載上限值 ，且判斷該負載量靠是否超出㈣載上限值，若未超出 則正常運作，若超㈣控制該舰馬達停止運轉。 201236859 本發明具有雙重保護機 配合一機台、一滑塊、一馬 驅動帶動該滑塊相對於該機 至少一角度值對應一扭力上 記憶單元運作。 制的曲軸式沖床的控制方法是 達驅動器、一受該馬達驅動器 台作動之伺服馬達，及一内建 限值及一負裁上限值之關聯的 該控制方法包括下述步驟：⑷利用一位置指令運算出 對應的-扭力命令值；（b)量測該伺服馬達的—角度量測值 ’並依據該角度量測值取得對應的—扭力上限值；（C)判斷 該扭力命令值是否超出該扭力上限值’若未超出則輸出扭 力命令值’若超出則輸出扭力上限值；⑷取得—承受滑塊 之沖f力所產生之應變值所轉換之負載量測值；及⑷判斷 負載量測值是否超出該角度值對應之負載上限值，若未超 出則正常運作，若超出則控制該伺服馬達停止運轉。 較佳的，步驟（e)於該負載量測值超出該負载上限值時 並發出警報。 本發明具有雙重保護機制的曲轴式沖床及控制方法， 主要藉由内建至少一角度值對應一扭力上限值及一負載上 限值之關聯而’除了具有扭力回授控制的功能而達到第— 層的過負載保護，並藉由應變感測模組感測機台所受到的 滑塊沖壓力來達到第二層的過負載保護機制，使得本發明 的曲軸式沖床除了能精確控制，還具有雙重保護機制的功 能。 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 201236859 ’下配。參考圖式之_個較佳實施例的詳細說明中，將可 清楚的呈現。 參閱圖2 ’本發明的較佳實施例中，曲軸式沖床100的 基本架構包含一機台u、一滑塊12、一控制器13、一馬達 驅動器141、一文馬達驅動器141驅動之飼服馬達142，及 介Φ 17’輸入介面17是依據預定程式或使用者操作 產生-位置指令給予控制器13，控制器13再依據位置指令 控制馬達驅動器141驅使飼服馬達142驅動曲抽及連桿（圖 未示）帶動滑塊12相對於機台u往復動作。 本發明的曲軸式沖床100的特點是除了前述元件還 包括-編碼器143、-應變感測模組15及一記憶單元16， 控制器13並具有一扭力控制單元131及一負載控制單元 132，此外，記憶單元16内建至少一角度值對應一扭力上 限值及一負載上限值之關聯’該關聯如圖3之對照表Mi， 對照表⑹内建有預定的角度值'扭力上限值及負載上限 值等參數β 其中’編碼器143是為了測得伺服馬$ 142的轉動位 置，也就是量卿服㈣142的—角度量測值並提供給控 制器13 ;應變感測模組15是為了得到滑塊12向下沖廢時 的一負載量測值，因此，其包括數個應變感測單元15丨及 一應變控制單元152,該等應變感測單元151是承成#塊 12之沖壓力而產生應變值，應變控制單元152則0接 等應變值並計算出負載量測值，較佳的，應變感測 為應變規’應變控制單元丨52可為例如村田機械所Z產之 6 201236859 噸位監視器」。 參閱圖3’並配合圖2，控制琴丄 ?工刺盗i3的扭力控制單元ΠΙ 行包括步驟301〜雇，也就是第重保護機制·控制器 ^的負载控制單元132執行包括步驟4〇ί〜4〇4，也就是第 一重保護機制，本發明具有雙會存增她a , ^ 负又$保護機制的曲軸式沖床100 的控制方法詳述如下。 第-重保護機制··自編碼器143取得角度量測值(步驟 如υ’扭力控制單元⑶自輸入介面17取得位置指令（步驟 狗，然後，利用位置指令及角度量測值代人閉迴路控制運 算（步驟303)，藉此得到—扭力命令值（步驟3〇4) ·接著自 對照表⑹讀取角度量測值（角度值）對應的一扭力上限值（ 步驟305) ’然後，判斷扭力命令值是否超出該扭力上限值( 步驟3〇6)?若未超出，則如輸出扭力命令值（步驟307)，若 超出，則輸出扭力上限值（步驟3〇8)。 第二重保護機制··自應變控制單Α 152取得負載量測 值（步驟4(H)，並自對照表161讀取角度量測㈣應的一負 载上限值（步驟402)，且判斷負載量測值是否超出負載上限 值（步驟403)?若未超出，則正常運作（步驟4〇句，若超出， 則驅使馬達驅動器141令伺服馬達142停止運轉（步驟彻) '第二㈣護_是因為—般滑塊12在被驅動往下位移 的沖壓行程中，經常可能因為慣性力的作用，使得滑塊12 所產生的實際沖壓力量大於伺服馬達142㉟出的扭力所能 °月免產生的沖壓力，因此，本實施例藉由應變感測模 201236859 組15的設置’使感測元件151能感測機台11受滑塊沖麼所 =的變形量’使控制器13依據與預先以參 較來進行緊急停機或警示㈣作，相了主動= 因此’本發明除了具有扭力回授控制的功能而達到第 :層的過負載保護以外，更藉由應變感測㈣15的設置， 藉以感測機台11所受到的滑塊沖壓力，藉以達到第二層的 過負載保護機制，使該曲軸式沖A 100具有雙重保護機制 的功能。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是現有的具有過負載油壓保護的沖床滑塊； 圖2是本發明具有雙重保護機制的曲軸式沖床的較佳 實施例的示意圖；及 圖3是本發明具有雙重保護機制的曲軸式沖床的控制 方法的較佳實施例的流程圖。 8 201236859 【主要元件符號說明】 〔習知〕 13......... 控制器 900 ....... 沖床沖頭 131 ....... 扭力控制單元 90......... 沖頭 132....... 負載控制單元 901 ....... 開口 141 ....... 馬達驅動器 91......... 油槽 142....... 伺服馬達 92......... 座體 143....... 編碼 921 ....... 出油子L 15......... 應變感測模組 93......... 油壓泵 151 ....... 應變感測單元 94......... 負載控制器 152....... 應變控制單元 95......... 油壓缸 16......... 記憶單元 〔本創作〕 17......... 輸入介面 100....... 曲軸式沖床 301〜308 步驟 11......... 機台 401〜405 步驟 12......... 滑塊201236859 VI. Description of the Invention: [Technical Field] The present invention relates to a crank press and a control method, and more particularly to a crank press and a control method having a dual protection mechanism. [Prior Art] Referring to FIG. 1, a punch device 900 having an overload oil pressure protection is known, which includes a slider 90, an oil groove 91 disposed inside the slider 90, and a side disposed on the side of the slider 90. The base 92, a hydraulic pump 93' disposed on the base 92, and an overload controller 94, the slider 90 is provided with an opening 901 communicating with the oil groove 91; the seat 92 shields the opening 901 and has a transverse through The oil outlet hole 921 and the oil outlet hole 921 are for the oil pressure pump 93 to draw the oil in the oil groove 91 and drive into a hydraulic pressure red 95 located above the oil groove 91; the overload controller 94 is responsible for detecting the oil. The pressure of the cylinder 95. When the punch device 900 punches the workpiece (not shown) to generate a reaction force, the hydraulic oil in the hydraulic cylinder 95 is squeezed to generate hydraulic pressure, and the overload controller 94 measures the pressure of the hydraulic cylinder 95 to exceed the predetermined pressure. At the time of pressure, the control hydraulic pump 93 suspends the supply of oil to the hydraulic cylinder and continues to supply oil, avoiding the pressure of the punch device _ _ too high, on the other hand, the control system of the press will also drive the clutch ||_ (4) Set the power connection with the ship motor or start the brake to achieve the protection effect of the overload. However, the existing oil pressure 35 load control mechanism has the following drawbacks: Control is not easy. Protection, can not actively prevent over-reaction 1 · Oil pressure change is unstable. 2. When overload occurs, passive load can occur. 201236859 SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a crankshaft press and control method that can be accurately controlled and have a dual protection mechanism. The crank-type punching machine with double protection mechanism of the invention comprises a machine table, a / month block 'motor driver, a servo motor driven by the shai motor driver to drive the slider relative to the machine table, and a position command is generated The input interface is characterized in that: the crank-type punch further comprises a coded, - strain sensing module memory unit and a controller, the controller has a torque control unit and a load control unit. The encoder measures an angular measurement of the servo motor; the strain sensing module includes a strain sensing unit that receives a strain value generated by a pressure of the slider, and receives the strain value and converts it into A strain control unit with a load measurement; the memory unit has a built-in at least-angle value corresponding to a correlation between a torque upper limit value and a load upper limit value. The torque control unit obtains the position command from the input interface and obtains the angle measurement value from the coder, and uses the position command to calculate a corresponding force 卩7 value, and reads the angle quantity from the 5 hai memory unit. The measured value corresponds to the torsion: the upper limit value, and it is determined whether the torque command value exceeds the torque: the limit value 'the right is not exceeded, the torque command value is output, and if it is exceeded, the upper limit value is output. The load control unit obtains the load measurement value from the strain control unit and reads a load upper limit value corresponding to the angle measurement value from the memory unit, and determines whether the load quantity exceeds (4) the upper limit value. If it is not exceeded, it will operate normally. If Super (4) controls the ship's motor to stop running. 201236859 The present invention has a double protection machine, which cooperates with a machine table, a slider, and a horse drive to drive the slider to operate with a torque corresponding to at least one angle value of the slider. The control method of the crankshaft punch is a driver, a servo motor actuated by the motor driver, and a control limit associated with a built-in limit and a negative cut limit. The control method includes the following steps: (4) utilizing one The position command calculates a corresponding torque command value; (b) measures the angle measurement value of the servo motor and obtains a corresponding torque upper limit value according to the angle measurement value; (C) determines the torque command value Whether the torque upper limit value 'if the output torque command value is not exceeded, the output torque command value' exceeds the output torque upper limit value; (4) obtains the load measurement value converted by the strain value generated by the thrust force of the slider; (4) Determine whether the measured value of the load exceeds the upper limit of the load corresponding to the angle value. If it is not exceeded, it will operate normally. If it exceeds, the servo motor will be stopped. Preferably, step (e) is to issue an alarm when the load measurement exceeds the load upper limit. The crank-type punching machine and the control method with double protection mechanism of the invention mainly achieve the function of the function of the torque feedback control by the built-in at least one angle value corresponding to a correlation between the upper limit of the torque and the upper limit of the load. - Over-load protection of the layer, and the overload protection mechanism of the second layer is achieved by the strain sensing module sensing the pressure of the slider received by the machine, so that the crank-type punch of the present invention has precise control The function of the dual protection mechanism. [Embodiment] The foregoing and other technical contents, features, and effects of the present invention are assigned at 201236859'. The detailed description of the preferred embodiment with reference to the drawings will be apparent. Referring to FIG. 2, in a preferred embodiment of the present invention, the basic structure of the crank press 100 includes a machine u, a slider 12, a controller 13, a motor driver 141, and a motor motor driven by a motor driver 141. 142, and the Φ 17' input interface 17 is given to the controller 13 according to a predetermined program or user operation-position command, and the controller 13 controls the motor driver 141 to drive the feeding motor 142 to drive the curve pump and the connecting rod according to the position command ( The figure (not shown) drives the slider 12 to reciprocate relative to the machine table u. The crank press 100 of the present invention is characterized in that, in addition to the foregoing components, an encoder 143, a strain sensing module 15 and a memory unit 16, the controller 13 has a torque control unit 131 and a load control unit 132. In addition, the memory unit 16 has at least one angle value corresponding to a correlation between a torque upper limit value and a load upper limit value. The correlation is shown in FIG. 3, and the comparison table (6) has a predetermined angle value built in. Value and load upper limit value and other parameters β where 'encoder 143 is for measuring the rotational position of the servo horse $ 142, that is, the angle measurement value of the volume (4) 142 and is supplied to the controller 13; the strain sensing module 15 is to obtain a load measurement value when the slider 12 is rushed downward. Therefore, it includes a plurality of strain sensing units 15 and a strain control unit 152. The strain sensing units 151 are Cheng # blocks. The strain value is generated by the pressing force of 12, and the strain control unit 152 receives the equal strain value and calculates the load measurement value. Preferably, the strain sensing is the strain gauge 'strain control unit 丨 52 can be, for example, Murata Machinery Co., Ltd. Production 6 201236859 Tonnage monitoring . " Referring to FIG. 3' and in conjunction with FIG. 2, the torque control unit for controlling the hammer thief i3 includes step 301 hiring, that is, the load control unit 132 of the TOP protection mechanism controller ^ includes step 4 〇 ~4〇4, which is the first heavy protection mechanism, the control method of the crank-type punching machine 100 of the present invention having double-accumulation and a negative and protection mechanism is detailed below. The first-heavy protection mechanism·· obtains the angle measurement value from the encoder 143 (steps such as “the torque control unit (3) obtains the position command from the input interface 17 (step dog, and then uses the position command and the angle measurement value to replace the circuit) Controlling the operation (step 303), thereby obtaining a torque command value (step 3〇4). Then reading a torque upper limit value corresponding to the angle measurement value (angle value) from the comparison table (6) (step 305) 'then, Determine whether the torque command value exceeds the torque upper limit value (step 3〇6)? If not, output the torque command value (step 307), and if it exceeds, output the torque upper limit value (step 3〇8). The double protection mechanism·· self-strain control unit 152 obtains the load measurement value (step 4(H), and reads an upper load limit value (step 402) from the angle measurement (4) from the comparison table 161, and judges the load. Does the measured value exceed the load upper limit value (step 403)? If not, the normal operation (step 4 ,, if it is exceeded, drives the motor driver 141 to stop the servo motor 142 (step is complete) 'second (four) protection _ is because the slider 12 is driven down In the moving stroke of the shift, it is often possible that the actual punching force generated by the slider 12 is greater than the punching force generated by the torque generated by the servo motor 14235 due to the inertial force. Therefore, the present embodiment relies on the strain sense. The setting of the model 201236859 group 15 'so that the sensing element 151 can sense the amount of deformation of the machine table 11 by the slider=' causes the controller 13 to perform an emergency stop or warning (four) according to the prior reference. Active = Therefore, the present invention achieves the overload protection of the first layer in addition to the function of the torque feedback control, and the sensing force of the slider 11 is sensed by the strain sensing (four) 15 setting. In order to achieve the overload protection mechanism of the second layer, the crankshaft A 100 has the function of double protection mechanism. However, the above is only the preferred embodiment of the present invention, and the implementation of the invention cannot be limited thereto. The scope of the invention, that is, the simple equivalent changes and modifications made by the invention in the scope of the invention and the description of the invention are still within the scope of the invention. 1 is a conventional punch slider with overload protection; FIG. 2 is a schematic view of a preferred embodiment of a crank press with double protection mechanism of the present invention; and FIG. 3 is a crankshaft of the present invention having a double protection mechanism Flowchart of a preferred embodiment of the control method of the punching machine. 8 201236859 [Explanation of main component symbols] [General] 13......... Controller 900....... Punch punch 131. ... Torque control unit 90......... Punch 132....... Load control unit 901 ....... Opening 141 ....... Motor Driver 91......... Oil tank 142....... Servo motor 92......... Seat 143....... Code 921 ...... . Oil out L 15......... Strain sensing module 93......... Hydraulic pump 151 ....... Strain sensing unit 94.... ..... load controller 152....... strain control unit 95......... hydraulic cylinder 16......... memory unit [this creation] 17. ........ Input interface 100....... Crank-type punch 301~308 Step 11...... Machine 401~405 Step 12........ Slider