TWI594819B - A controlling device and method of coil spring forming tool - Google Patents

Description

Tool control method and device for forming coil spring

Tool control method and device for forming coil spring

In the prior art, on the machine for producing the coil spring, there are disadvantages of high mechanism cost and high control difficulty for controlling the outer diameter of the spring. For example, in advanced countries in Europe and America, multi-axis numerical control motors are used for automatic machine control. Or the Japanese machine controls each spring outer diameter cutter with two CNC motors. Therefore, a total of four CNC motors are required. Because several CNC servo motors are used for positioning, and because of the concept of absolute coordinates, The position of the tool must be based on an absolute zero point on the spring table after the diameter of the spring is determined. The complex trigonometric function is used to calculate the relationship between each tool and the absolute zero at each time point. The desired coordinates of the position of the tool. Therefore, the calculation process is not only complicated, but also requires a higher-order computer to process, and requires different transmission devices to complete. Especially in the production of variable diameter springs such as hourglass, olive or conical springs, it is necessary to calculate quickly or the motor must wait for the coordinate calculation. The higher cost is not conducive to the automation of the small machine.

In order to reduce the complexity of the calculation of the spring outer diameter tool position corresponding to the spring radius variation, the present invention provides a coil spring forming tool control device comprising: at least two cutters for abutting the spring wire to shape the spring; at least two cutters Position control device respectively connected to at least two spring outer diameter cutters, and at least two cutter position control devices are disposed on the same mounting surface; and a tool lifting device that controls an up and down movement of the mounting surface Wherein: the tool position control device controls at least two displacements of the outer diameter of the spring outer diameter tool, and the displacement amount is at least two corresponding extension or contraction distances of the spring outer diameter tool matching the spring radius, and the displacement amount And the upward and downward movement amount is that the tool lifting device controls the mounting surface to match the spring radius change and causes a height movement of a virtual origin position, the virtual origin is the spring center, and the mounting surface The amount of up and down movement is proportional to the change in spring radius.

The power of a motor is transmitted to at least two of the tool position control device and the tool lifting device through a power transmission device.

Further, a single tool position control device is connected in series with the tool lifting device to synchronize the tool lifting device and the tool position control device connected thereto, and the motor transmits power to the tool through a power transmission device The device and another such tool position control device.

Alternatively, a single tool position control device is connected in series with the tool lifting device to synchronize the tool lifting device and the tool position control device connected thereto, and the other tool position control device and a motor drive shaft string The tool position control device is synchronized with the motor, and the motor transmits power to the tool lifting device through a power transmission device.

Or a single tool position control device is connected in series with the tool lifting device and a motor drive shaft, so that the single tool position control device and the tool lifting device are synchronized with the motor, and the motor is transmitted through a power transmission device. The power is transmitted to the tool position control device that is not in series with the tool lifting device.

Alternatively, at least two of the tool position control device and the tool lifting device are each driven by one of the motors.

Further, the coil spring formed tool control device includes three spring outer diameter cutters.

The present invention has the following advantages:

1. In the prior art, the control of the tool is performed by calculating the origin of the machine and the coordinates of the absolute position. This control method involves more complicated tool position calculation (for example, calculating the position of the tool corresponding to the origin of the machine through a trigonometric function) The amount of change). In contrast, the present invention performs position control of the spring outer diameter tool by providing a virtual origin and a relative coordinate concept, and performs tool position control with respect to coordinates, which can be calculated in a simple one-dimensional space position (for example, a spring outer diameter cutter) The amount of movement is proportional to the amount of change in the spring diameter, so that the displacement of the outer diameter of the spring corresponds to the change in the outer diameter of the spring, replacing the complicated position calculation in the prior art.

2. Due to the simplification of the spring outer diameter tool position control method, multiple driving devices for driving the tool can be simplified to share a single power source through a series connection or a belt set or a gear set or a chain to control the tool of the present invention. The device can uniformly drive a plurality of control devices by one power source, thereby effectively reducing the cost of system construction.

Please refer to FIG. 1 and FIG. 2 , a coil spring forming tool control method and device, comprising a wire feeding device 70 , a cutting device 60 , at least two spring outer diameter tools 10 , at least two tool position control devices 20 , and a cutter The lifting device 30, a mounting surface 40 and at least one motor 50.

The wire feeding device 70 outputs a spring wire 80 through the two fixed position rollers, and the spring wire 80 is transmitted to a position adjacent to the at least two spring outer diameter cutters 10, and at least two of the spring outer diameter cutters are transmitted. 10 against the spring wire 80, each of the spring outer diameter cutters 10 provides a twisting force of the spring wire 80, the twisting force causes at least two of the spring outer diameter cutters 10 to twist the spring wire 80, and wind the spring wire 80 It is a spring. The radius of the spring is determined by controlling at least two distances between the outer diameter tool 10 and the virtual origin, and the closer the distance between the spring outer diameter tool 10 and the virtual origin is, the smaller the radius of the spring is. The virtual origin is the center of the coil, and the outer diameter of the spring and the spring contact point form an extension line, and the intersection of the extension line is the center of the coil, that is, the virtual origin of the opposite coordinate.

For further reference to FIG. 1 , the starting point of the bending of the spring wire 80 is a bending point A. The spring wire 80 starts to bend at the starting point A, and the spring wire 80 is bent through the lower outer diameter cutter 10 to make the spring. The spring outer diameter cutter 10 of the wire 80 is bent upward, and the upper outer diameter cutter 10 continuously bends the spring wire 80 to complete the outer winding of the spring. After the spring wire 80 is wound into a spring, the spring is cut by the cutting device 60 according to the free height of the required spring. The cutting device 60 includes all the blades 61 and a knife drill 62, and the cutter 62 provides the cut. When the knife 61 cuts off the spring, the biasing base of the spring is fixed.

At least two spring outer diameter cutters 10 are respectively coupled to at least two of the tool position control devices 20, and the distance between the spring outer diameter cutters 10 and the virtual origin is controlled by the tool position control device 20, thereby generating springs of different radii. At least two of the tool position control devices 20 are disposed on the mounting surface 40, and at least two tool tip positions of the tool 10 are equidistant from the virtual origin, so that at least two of the spring outer diameter cutters are changed when the spring radius is changed. 10 is equal to a displacement amount adjusted for continuous contact with the outer diameter of the spring, wherein the displacement amount is at least two corresponding extension or contraction distances of the outer diameter cutter 10 of the spring outer diameter. Further, corresponding to the mechanical tolerance or the actual use requirement, the displacement amount is proportional to the change amount of the spring radius. In the embodiment of the present invention, the tool position control device may perform displacement of at least two of the spring outer diameter cutters 10 by a screw set, a cam set, a gear set or a mechanical device of the above combination.

Further, the number of the spring outer diameter cutters 10 may be three, and the third position of the increased outer diameter cutter 10 may be the original two outer diameter outer cutters 10, and the third spring is outside the spring. The additional torque provided by the radial cutter 10 can solve the problem that the curved shape of the spring wire 80 is not conformed to the preset perfect circle due to the material property or radius of the spring wire 80 after being bent by the spring outer diameter cutter 10 below. The appearance of the shape (for example, the bending angle is too large after bending).

The tool lifting device 30 is connected to the mounting surface 40, and controls an upward movement amount of the mounting surface 40. The vertical movement amount is a change of the tool lifting device controlling the position of the mounting surface relative to the ground height, and the virtual origin position is changed. The change in the amount of movement up and down, or the tool lifting device control 30, the amount of up and down movement of the mounting surface 40 relative to the origin of the absolute coordinate of the machine.

Referring to FIG. 3, in the embodiment of the present invention, the starting point A of the spring wire 80 is fixed, and the virtual origin has a height change with respect to the ground as the spring radius changes, for example, when the spring radius increases, The height of the origin position rises vertically relative to the starting point A. Corresponding to the change of the virtual origin, the tool lifting device 30 corresponds to vertically moving the height of the mounting surface 40 corresponding to the ground, and maintaining the spring outer diameter tool 10 has the same displacement amount corresponding to the virtual origin. In the embodiment of the present invention, the tool lifting device 30 can complete the movement of the mounting surface 40 by a screw set, a cam set, a gear set or a mechanical device of the above combination.

At least two power sources of the tool position control device 20 and the tool lifting device 30 can be provided by a motor 50. When one motor of the main machine is insufficiently burdened, each motor can be provided by a motor. The motor 50 can be a step. A motor 50 that controls the angle and speed of rotation, servo or digital control. The motor 50 transmits its output power to at least two of the tool position control device 20 and the tool lifting device 30 through a power transmission device, and the power transmission device can be a belt set, a gear set, a chain group, and a chain A combination of rod sets or the above examples.

In the embodiment of the present invention, the motor 50, at least two of the tool position control device 20 and the tool lifting device 30 can be connected in series to reduce the efficiency of the overall mechanism and reduce the use of the motor 50 or the associated speed reduction mechanism or transmission mechanism. the amount. For example, at least two of the tool position control device 20, the tool lifting device 30 and the motor 50 are independent mechanisms, and the motor 50 transmits power to at least two of the tool position control devices 20 and the tool lifting device through the power transmission device. Device 30.

Alternatively, in the embodiment of the present invention, the single tool position control device 20 is synchronously operated in series with the tool lifting device 30, and the motor 50 transmits power to the tool position control device 20 through the power transmission device.

Alternatively, in the embodiment of the present invention, the single tool position control device 20 is synchronously operated in series with the tool lifting device 30, and the other tool position control device 20 is connected in series with the drive shaft of the motor 50. The tool position control device 20 operates in synchronization with the motor 50, and the motor 50 transmits power to the tool lifting device 30 through the power transmission device.

Alternatively, in the embodiment of the present invention, after the tool position control device 20 is serially connected to the tool lifting device 30, the motor 50 is further connected in series to the tool position control device 20 and the tool lifting device 30. The motor 50 operates in synchronism, and the motor 50 transmits power through the power transmission device to the tool position control device 20 that is not in series with the tool lifting device 30.

Further, the embodiment of the present invention includes a plurality of the motors 50, and at least two of the tool position control device 20 and the tool lifting device 30 are each driven by one of the motors 50.

At least two of the amount of displacement of the spring outer diameter cutter 10 and the amount of up and down movement of the mounting surface 40 are equal or proportional to the amount of change in the spring radius.

For example, the coordinates of the starting point A of the spring wire 80 relative to the origin of a machine are defined as P0 (X0=0, Y0=0), and the radius of the spring is R, at least two of the outer diameter of the tool 10 and the spring The contact points are respectively P1 and P2, and at least two of the spring outer diameter cutters 10 are respectively displaced by Z1 and Z2, and the upper and lower movement amounts of the mounting surface 40 are Z3, and the upper outer diameter cutter 10 and the virtual original The angle between the horizontal line of the two-dimensional plane is θ, and the angle between the lower outer diameter of the tool 10 and the horizontal line of the two-dimensional plane of the virtual origin is ψ. Referring to FIG. 1, when the radius of the spring is R, the distance between the virtual origin and at least two of the spring outer diameter cutter 10 and the spring contact points P1 and P2 is R. The coordinates of the virtual origin relative to the starting point A are P3 (X3=0, Y3=R). Referring to Figures 2 and 3, the radius of the spring is reduced, the radius of the spring is changed to r, the amount of change in the radius of the spring is Rr, and the tool position control device 20 controls at least two of the outer diameter of the spring tool 10 to maintain the virtual origin. Moving at an angle (θ, ψ) of the horizontal line of the dimension plane, corresponding to a decrease in the radius of the spring, the distance between the virtual origin and at least two of the spring outer diameter cutter 10 and the spring contact points P1 and P2 is changed to Rr, and at least two The amount of displacement of the spring outer diameter cutter 10 is equal to the reduction of the spring radius, and both are Rr. At the same time, the virtual origin is changed to (X3=0, Y3=Rr) with respect to the coordinate P3 of the starting point A, and the tool lifting device 30 maintains at least two of the spring outer diameter tool 10 and the virtual origin in two dimensions. The angle between the horizontal lines of the plane (θ, ψ), the tool lifting device 30 correspondingly translates the mounting surface 40, and the amount of up and down movement is equal to the reduction of the spring radius, both of which are Rr. Further, in the embodiment of the present invention, at least two sums (θ+ψ) of the angle between the spring outer diameter tool 10 and the virtual origin on the horizontal line of the two-dimensional plane may not exceed 180 degrees, and the sum of the preferred angles (θ+ψ) ) is between 90 degrees and 150 degrees. Further, the angle (θ, ψ) between the at least two spring outer diameter cutters 10 and the horizontal line of the virtual origin two-dimensional plane may be unequal, and does not affect the control method or the shaping of the spring.

Further, the motor 50 can be connected to a control module, and the control module can control the action of the tool position control device 20 and the tool lifting device 30 by controlling the driving state of the motor 50, for example, the control. The module controls the driving state of the motor 50, and the transmission power of the motor 50 controls at least two of the tool position control device 20 and the tool lifting device 30 through the power transmission device, or the control module transmits the motor 50 and the single device After the tool position control device 20 or the tool lifting device 30 is connected in series, the control of the tool position control device 20 and the tool lifting device 30 is completed.

Further, in order to solve the problem of spring size variation caused by springback caused by residual stress after the spring is bent, the control module is connected with a size detecting module, and performs a spring size detection and a tool position through the size detecting module. An error correction method that includes the following steps:

Spring size detection and tool position error correction steps

Measuring the difference between the formed spring size and the standard spring size, the main cause of the difference in size includes the springback of the spring wire 80 due to the residual stress after the spring outer diameter tool 10 is flexed, or the spring is The error in the position setting of the outer diameter tool 10, and the like.

The method for measuring the size of the spring may be through an image measurement by taking a formed spring through a photographing device and calculating an error between the outer contour of the spring and the standard spring size. Alternatively, the measuring method may be to transmit an optical measurement by projecting a measuring beam to a spring, and calculating parameters such as time, angle, and the like of the projected beam, thereby calculating the size of the forming spring. The measured content may include spring specification parameters such as the inner diameter, outer diameter or free length of the spring.

Spring size detection and tool position error correction step 2

According to the measurement result of the spring size measurement and the tool position error correction step 1, the size detection module outputs a correction signal to the control module, and the control module controls the displacement amount of the spring outer diameter tool 10 according to the correction signal. The amount of up and down movement of the mounting surface 40 is used to correct the error of the spring specification.

Spring size detection and tool position error correction steps

Re-detect the spring formed by the spring size detection and the tool position error correction step 2, measure the difference between the corrected spring and the standard spring size, and repeat the spring size detection and tool position error correction steps 1 and 2 until the forming spring The ruler error falls within a tolerance range.

For example, when the spring diameter is initially set to 5 cm, since the actual spring diameter of the spring wire 80 is 5.2 cm, the error of 0.2 cm is measured at the time of the spring size detection and correction step. . In the spring size detection and correction step 2, in order to make the spring diameter close to the ideal spring diameter, the distance between the spring outer diameter tool 10 and the virtual origin is adjusted to be 2.4 cm, and the spring diameter correction is set to 4.8 cm. The spring diameter is formed to compensate for errors due to material properties. In the spring size detection and correction step 3, re-confirm the spring straight, if the ideal spring diameter or the dimensional error is less than the tolerance, determine the positional relationship between the spring outer diameter tool 10 and the virtual origin; if the ideal spring is not met If the diameter or size error is greater than the tolerance, the spring size detection and the correction step 2 are repeated, and the distance between the outer diameter tool and the virtual origin is further limited.

The length of the spring wire 80 drawn by the wire feeding device 70 corresponds to the circumference of the set spring diameter.

Further, the spring size detecting and correcting method controls the wire feeding device 70 to maintain the length of the drawn spring wire 80 corresponding to the initial diameter of the spring, instead of the spring diameter correction setting, so that the spring wire 80 is pulled out. The length is not insufficient due to the corresponding spring diameter correction setting. For example, according to the foregoing example, the length of the spring wire 80 drawn by the wire feeding device 70 should be maintained at 5 cm corresponding to the initial setting of the spring diameter instead of the corresponding spring diameter correction. Set 4.8 cm.

As can be seen from the above description, the present invention has the following advantages:

1. In the prior art, the control of the tool is performed by calculating the origin of the machine and the coordinates of the absolute position. This control method involves more complicated tool position calculation (for example, calculating the position of the tool corresponding to the origin of the machine through a trigonometric function) The amount of change). In contrast, the present invention performs position control of the spring outer diameter tool by providing a virtual origin and a relative coordinate concept, and performs tool position relative to the coordinate, which can be calculated in a simple one-dimensional space position (for example, spring outer diameter tool movement) The amount is proportional to the amount of change in the spring diameter, so that the displacement of the outer diameter of the spring corresponds to the change in the outer diameter of the spring, replacing the complicated position calculation in the prior art.

2. Due to the simplification of the spring outer diameter tool position control method, multiple driving devices for driving the tool can be simplified to share a single power source through a series connection or a belt set or a gear set or a chain to control the tool of the present invention. The device can uniformly drive a plurality of control devices by one power source, thereby effectively reducing the cost of system construction.

10‧‧‧Spring outer diameter cutter
20‧‧‧Tool position control device
30‧‧‧Tool lifting device
40‧‧‧Installation surface
50‧‧‧Motor
60‧‧‧cutting device
61‧‧‧Cutter
62‧‧‧Knife drill
70‧‧‧Wire delivery device
80‧‧‧Spring wire
A‧‧‧ starting point
P0‧‧‧ coordinates of the origin of the machine
P1, P2‧‧‧ spring outer diameter tool and the contact point of the spring
P3‧‧‧ virtual origin (θ, ψ) ‧ ‧ angle between two-dimensional plane horizontal lines
R‧‧‧Digital origin and spring contact point distance
R, r‧‧‧ spring radius is
Z1, Z2‧‧‧ shift
Z3‧‧‧Up and down movement

1 is a schematic view of a mechanism of a preferred embodiment of the present invention. 2 is a schematic view showing the mechanism movement of a spring outer diameter cutter according to a preferred embodiment of the present invention. Figure 3 is a schematic view of the mechanism movement of the preferred embodiment of the present invention.

10‧‧‧Spring outer diameter cutter

20‧‧‧Tool position control device

30‧‧‧Tool lifting device

40‧‧‧Installation surface

50‧‧‧Motor

60‧‧‧cutting device

61‧‧‧Cutter

62‧‧‧Knife drill

70‧‧‧Wire delivery device

80‧‧‧Spring wire

A‧‧‧ starting point

P0‧‧‧ coordinates of the origin of the machine

P1, P2‧‧‧ spring outer diameter tool and the contact point of the spring

P3‧‧‧ virtual origin

(θ, ψ) ‧‧‧An angle between two-dimensional plane horizontal lines

R‧‧‧ spring radius is

Claims (4)

A coil spring-formed tool control device comprising: at least two spring outer diameter cutters for abutting a spring wire to shape a spring; at least two tool position control devices respectively connected to at least two of the spring outer diameter cutters, and at least Two tool position control devices are disposed on the same mounting surface; and a tool lifting device controls an amount of up and down movement of the mounting surface, wherein: the tool position control device controls at least two of the outer diameter of the spring tool to expand and contract a displacement amount, wherein the displacement amount is at least two corresponding extension or contraction distances of the spring outer diameter tool matching the spring radius, and the displacement amount is the same as the spring radius change; and the up and down movement amount is controlled by the tool lifting device The mounting surface cooperates with the change of the radius of the spring to cause a height movement of the virtual origin position, the virtual origin is the center of the spring, and the up and down movement of the mounting surface is the same as the spring radius; the power of a motor is transmitted through a power transmission device At least two of the tool position control device and the tool lifting device; a control module, The control module is connected to the motor and a size detecting module. The size detecting module is provided with a photographing device for taking the spring to measure an error, and the size detecting module outputs a correction signal to the control module, and the control module is configured according to the The correction signal controls the amount of displacement of the outer diameter tool of the spring and the amount of up and down movement of the mounting surface, and compensates for the error by reducing the diameter of the spring formed initially. A coil spring-formed tool control device according to claim 1, which comprises three of the spring outer diameter cutters. A coil spring forming tool control method, the method comprising: sensing a change in a radius of the spring; correspondingly changing at least two displacement amounts according to a change in the radius of the spring, at least two of the displacement amounts providing a second twisting force for winding the spring, and at least The displacement amount has the same displacement distance, and at least the two displacement amounts are the same as the spring radius change; according to the change of the virtual origin position generated by the change of the spring radius, the amount of up and down movement is correspondingly changed, so that the up and down movement amount and the spring The amount of change in radius is the same, and the aforementioned two displacement amounts and the up and down movement amount are changed by the same power source. The method for controlling a coil spring forming tool according to claim 3, comprising a spring size detecting and a tool position error correcting step, the steps of which are: performing a size measurement of the spring; and changing at least two displacement amounts according to the measurement result and The amount of up and down movement; and repeating the above steps until the spring size error falls within a tolerance range.