WO2006098256A1 - ダイクッション制御装置 - Google Patents
ダイクッション制御装置 Download PDFInfo
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- WO2006098256A1 WO2006098256A1 PCT/JP2006/304858 JP2006304858W WO2006098256A1 WO 2006098256 A1 WO2006098256 A1 WO 2006098256A1 JP 2006304858 W JP2006304858 W JP 2006304858W WO 2006098256 A1 WO2006098256 A1 WO 2006098256A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- command signal
- die cushion
- signal
- control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
- B21D24/02—Die-cushions
Definitions
- the present invention relates to a die cushion control device for a press machine used for drawing or the like, and relates to a die cushion control device that controls the operation of a die cushion pad in synchronization with the operation of a slide.
- Patent Document 1 Japanese Patent Laid-Open No. 10-202327 (page 3)
- An object of the present invention is to provide a die cushion control device capable of stably switching between position control and pressure control, and capable of controlling molding operation with high accuracy and good molding.
- the die cushion control device of the present invention includes a pressure command signal output unit that outputs a pressure command signal corresponding to a pressure target value based on a predetermined pressure pattern, and a pressure detection unit that detects a pressure applied to the die cushion pad.
- a pressure comparison unit that outputs a pressure deviation signal according to a deviation between a pressure target value based on the pressure pattern and a pressure detection value based on the pressure detection signal from the pressure detection means, and a pressure speed based on the pressure deviation signal
- a pressure control unit that outputs a command signal, a position command signal output unit that outputs a position command signal corresponding to a position target value based on a predetermined position pattern, a position detection unit that detects the position of the die cushion pad, A position comparison unit that outputs a position deviation signal according to a deviation between a position target value based on the position pattern and a position detection value based on the position detection signal from the position detection means, and a position deviation
- the position control unit that outputs the position speed command signal, the position 'pressure control switching unit that selects the pressure speed command signal or position speed command signal, and the position' pressure control switching unit
- a speed controller that outputs a motor current command signal based on a pressure speed command signal or a position speed command signal from the
- the pressure comparison unit outputs a pressure deviation signal corresponding to the deviation between the pressure target value and the pressure detection value, and the pressure control unit outputs a pressure speed command signal based on the pressure deviation signal. Output the number.
- the position comparison unit outputs a position deviation signal corresponding to the deviation between the position target value and the position detection value, and the position control unit outputs a position speed command signal based on the position deviation signal.
- the position 'pressure control switching unit constantly monitors and compares these pressure speed command signals and position speed command signals, and selects the smaller one. Therefore, compared with the case where the switching is performed only by the output of the detection signal of the current change of the servo motor. Thus, the change in pressure and the change in position can be grasped more accurately, so that stable switching is possible. Therefore, the operation of the die cushion is stabilized.
- ⁇ 1 Schematic configuration diagram of a press machine according to the first embodiment of the present invention.
- FIG. 2 is a cross-sectional view taken along line AA in FIG.
- FIG. 5 is a functional block diagram of a die cushion control device.
- FIG. 6 is a diagram showing a control block of the die cushion control device.
- FIG. 7 is a diagram showing a relationship between time and a position speed command signal.
- FIG. 8 is a diagram showing a relationship between time and a speed command signal for pressure.
- FIG. 10 is a flowchart for explaining a switching operation between position control and pressure control.
- FIG. 11 is a diagram showing a position pattern.
- FIG. 12 shows a pressure pattern
- ⁇ 14 Schematic configuration diagram of a die cushion according to a second embodiment of the present invention.
- ⁇ 15 A block diagram illustrating the configuration of a die cushion control device according to a second embodiment.
- ⁇ 16 A diagram illustrating a first modification of the die cushion.
- ⁇ 17 A diagram illustrating a second modification of the die cushion.
- FIG. 20 is a diagram showing a relationship between time and a position speed command signal in a third modified example.
- FIG. 22 is a diagram showing functional blocks of a die cushion control device of a fourth modified example.
- FIG. 23 is a diagram showing a control block of a die cushion control device of a fourth modification.
- FIG. 24 is a diagram showing a relationship between time and a pressure speed command signal in a fourth modified example.
- FIG. 25 is an explanatory diagram for explaining a switching operation between position control and pressure control in a fourth modified example.
- FIG. 26 is a diagram showing a position pattern of a fifth modified example.
- FIG. 27 is a diagram showing functional blocks of a die cushion control device of a fifth modified example.
- FIG. 28 is a diagram showing a control block of a die cushion control device of a fifth modified example.
- FIG. 29 is a flowchart for explaining the operation of the pressure control holding unit.
- Pressure command signal ep ... Pressure deviation signal, ⁇ pc ... Pressure speed command signal, ic ... Motor current command signal, i ... Motor current that is current, he ... Position finger Signal, eh ... position deviation signal, upsilon he ... position-speed command signal.
- FIG. 1 shows a schematic configuration diagram of a press machine according to the first embodiment of the present invention.
- FIG. 2 shows a cross-sectional view taken along line AA in FIG.
- FIG. 3 shows a schematic configuration diagram of the die cushion according to the first embodiment.
- a press machine 1 shown in FIG. 1 is supported on a main body frame 2 so as to be movable up and down, and is driven up and down by a slide drive mechanism 3.
- the press machine 1 is disposed on the bed 5 so as to face the slide 4. It is equipped with a bolster 6.
- An upper mold 7 is attached to the lower surface of the slide 4.
- a lower die 8 is attached to the upper surface of the bolster 6. In this way, press work (drawing) is performed on the workpiece 9 disposed between the upper die 7 and the lower die 8 by the raising and lowering operation of the slide 4.
- the bed 5 has a die cushion 13 built therein.
- the die cushion 13 includes a required die cushion pin 14, a die cushion pad 15 that is supported by the bed 5 in the bed 5, and a die cushion pad drive mechanism 16 that drives the die cushion pad 15 to move up and down. And is configured.
- Each die cushion pin 14 is passed through a hole formed in each of the bolster 6 and the lower mold 8 and penetrating in the upper and lower direction.
- the upper end of each die cushion pin 14 is in contact with a blank holder 17 disposed in the recess of the lower mold 8, and the lower end thereof is in contact with the die cushion pad 15.
- one or more guides for vertically guiding the die cushion pad 15 are provided between each side surface of the die cushion pad 15 and the inner wall surface of the bed 5 facing each side surface.
- Upper (two in this embodiment) guide members 18 are provided.
- Each guide member 18 also acts as a pair of inner guide 19 and outer guide 20 that engage with each other, and the inner guide 19 is attached to each side of the die cushion pad 15, and the outer guide is attached to the inner wall surface of the bed 5. 20 is installed.
- the die cushion pad 15 is supported by the bed 5 so as to be movable up and down in the bed 5.
- the die cushion pad drive mechanism 16 includes an electric servo motor 21 as a drive source, a ball screw mechanism 22 as an elevator means for the die cushion pad 15, and an electric servo motor 21. Equipped with a hook transmission mechanism 23 and a connecting member 24 arranged in a power transmission path between the ball screw mechanism 22 and the power transmission between the die cushion pad 15 and the electric servo motor 21. It is composed of
- the electric servo motor 21 is a rotary AC servo motor having a rotation shaft, and the rotation speed and the rotation force of the rotation shaft are controlled by controlling the motor current (current) i supplied to the electric servo motor 21. It has come to be.
- the main body of the electric servo motor 21 is fixed to a beam 25 that is installed between the inner walls of the bed 5.
- the electric servo motor 21 is provided with an encoder (position detecting means) 36. This one The driver 36 detects the angle and angular velocity of the rotating shaft of the electric servomotor 21 and outputs the detected values as a motor rotation angle detection signal ⁇ and a motor rotation angular velocity detection signal ⁇ , respectively.
- the motor rotation angle detection signal ⁇ and the motor rotation angular velocity detection signal ⁇ output from the encoder 36 are input to the controller 41 described later.
- the ball screw mechanism 22 includes a screw portion 26 and a nut portion 27 screwed into the screw portion 26, and the rotational power input from the nut portion 27 is converted into linear power by the screw portion 26. It has a function to output.
- the lower end portion of the screw portion 26 is disposed so as to be able to advance and retreat in a space formed at the center portion of the connecting member 24, and the lower end portion of the nut portion 27 is coupled to the upper end portion of the connecting member 24.
- the connecting member 24 is supported by the beam 25 via a bearing device 28 including required bearings and a bearing housing that accommodates the bearings.
- the hook transmission mechanism 23 includes a timing belt 31 between a small pulley 29 fixed to the rotating shaft of the electric servomotor 21 and a large pulley 30 fixed to the lower end of the connecting member 24. Constructed by being disguised.
- the rotational power of the electric servomotor 21 is transmitted to the nut portion 27 in the ball screw mechanism 22 via the small pulley 29, the timing belt 31, the large pulley 30, and the connecting member 24.
- the screw portion 26 in the ball screw mechanism 22 is moved in the vertical direction by the rotational power transmitted to the portion 27, and the die cushion pad 15 is driven up and down. Further, by controlling the motor current i to the electric servomotor 21, the urging force applied to the die cushion pad 15 is controlled.
- a plunger rod 80 is connected to the lower end portion of the die cushion pad 15.
- the plunger rod 80 is slidably supported on its side by a cylindrical plunger guide 82.
- the plunger guide 82 has a function of guiding the plunger rod 80 and the die cushion pad 15 connected to the plunger rod 80 in the up and down direction.
- a cylinder 80A having a downward opening is formed in the lower part of the plunger rod 80, and a piston 81 is slidably accommodated in the cylinder 80A.
- a hydraulic chamber 83 is formed on the inner wall surface of the cylinder 80A and the upper surface of the piston 81. Chamber 83 is filled with pressurized oil.
- the axial center of the hydraulic chamber 83 is the same as that of the plunger rod 80 and the ball screw mechanism 22.
- the pressure oil port of the hydraulic chamber 83 is connected to the hydraulic circuit shown in FIG. 4, and pressure oil is exchanged between the hydraulic chamber 83 and the hydraulic circuit.
- the hydraulic oil in the hydraulic chamber 83 reduces the impact generated when the upper mold 7 and the work 9 come into contact with each other, and is discharged to the tank 91 (see FIG. 4) when the hydraulic pressure exceeds a predetermined value.
- the pressure oil in the hydraulic chamber 83 has such an overload protection function.
- the lower end of the piston 81 is in contact with the upper end of the thread portion 26 in the ball screw mechanism 22.
- a spherical concave surface 81A is formed at the lower end of the piston 81, and a spherical convex surface is formed at the upper end of the screw portion 26 facing the concave surface 81A.
- a convex surface may be formed at the lower end of the piston 81, and a concave surface may be formed at the upper end of the screw portion 26C.
- a rod-shaped member such as the screw part 26 is strong against the axial force acting on the end part, but weak against the bending moment.
- the pressure in the hydraulic chamber 83 is detected in the hydraulic circuit described above.
- the ports of the hydraulic chamber 83 are connected to one port of the supply-side control valve 86 and one port of the discharge-side control valve 87 via a pipe 85, respectively.
- the other port of the supply side control valve 86 is connected to the discharge port of the hydraulic pump 89 through a pipe line 88.
- the suction port of the hydraulic pump 89 is connected to the tank 91 via a pipe line 90.
- the other port of the discharge side control valve 87 is connected to the tank 91 through a pipe 92.
- the supply side control valve 86 is opened only when the hydraulic oil in the tank 91 is supplied to the hydraulic chamber 83, and the discharge side control valve 87 is opened only when the pressure oil in the hydraulic chamber 83 is discharged to the tank 91.
- a pressure gauge (pressure detection means) 93 is provided in the pipe line 85.
- the pressure gauge 93 detects the pressure in the hydraulic chamber 83, that is, the load generated on the die cushion pad 15.
- the pressure detection signal Pr is also output to the pressure comparison unit 49 and the pressure axis control unit 94 of the controller 41, respectively, as the pressure gauge 93 force.
- the pressure comparison unit 49 will be described later.
- Pressure shaft controller 94 is pressure The pressure detection signal Pr from the total 93 is input, and control signals are output to the supply-side control valve 86 and the discharge-side control valve 87 to control the opening / closing operations of the control valves 86 and 87.
- the hydraulic circuit shown in FIG. 4 has an overload prevention function.
- the pressure in the hydraulic chamber 83 increases. If the detected value of the pressure gauge 93 exceeds the specified value, there is a risk of overload. In such a case, an opening signal is output from the pressure shaft control unit 94 to the discharge side control valve 87, and the discharge side control valve 87 is opened. Then, the pressure oil in the hydraulic chamber 83 is discharged to the tank 91. Then, a system (not shown) is activated, and the operation of the press machine 1 is urgently stopped. Thus, since the press machine 1 stops at the timing when the pressure oil is discharged from the hydraulic chamber 83, overload is prevented.
- a relief valve may be provided in place of the discharge side control valve 87 so that when the pressure in the hydraulic chamber 83 exceeds a predetermined pressure, the relief valve is activated to discharge the pressure oil.
- a die cushion control device 40 shown in FIGS. 5 and 6 supplies a controller 41 and a motor current i corresponding to a motor current command signal ic output from the controller 41 to the electric servo motor 21.
- Servo amplifier 42 is provided.
- the controller 41 is mainly composed of an input interface for converting and shaping various input signals, a microcomputer, a high-speed numerical arithmetic processor, and the like, although explanation by detailed illustration is omitted, and input data according to a predetermined procedure.
- the computer device is configured to include a computer device that performs the arithmetic operation of logic and an output interface that converts the operation result into a control signal and outputs the control signal.
- the controller 41 includes a die cushion pad position calculation unit 43, a die cushion pad speed calculation unit 44, a position command signal output unit 45, a position comparison unit 46, a position control unit 47, a pressure command signal output unit 48, and a pressure comparison unit. 49, various functions such as a pressure control unit 50, a position / pressure control switching unit 51, a speed comparison unit 52, and a speed control unit 53 are formed.
- the die cushion pad position calculation unit 43 is an encoder attached to the electric servomotor 21.
- the motor rotation angle detection signal ⁇ from the driver 36 is input, the position of the die cushion pad 15 having a predetermined relationship with the motor rotation angle is obtained based on this input signal, and the result is obtained as the die cushion pad position detection signal (position detection Signal) has a function of outputting as hr.
- the die cushion pad speed calculation unit 44 receives the motor rotation angular speed detection signal ⁇ from the encoder 36, and the speed of the die cushion pad 15 having a predetermined relationship with the motor rotation speed based on the input signal. It has a function to calculate (elevating speed) and output the result as die cushion pad speed detection signal Vr.
- the position command signal output unit 45 obtains a position target value of the die cushion pad 15 by referring to a preset position pattern 54, and generates a position command signal he based on the obtained position target value.
- ⁇ Has a function to output.
- the position pattern 54 shows a desired correspondence between time and die cushion pad position.
- the position comparison unit 46 compares the position command signal he from the position command signal output unit 45 with the die cushion pad position detection signal hr from the dichroic pad position calculation unit 43, and outputs a position deviation signal eh. It has a function to perform.
- the position control unit 47 includes a coefficient unit 55 that receives the position deviation signal eh from the position comparison unit 46, multiplies the input signal by a predetermined position gain K1 and outputs the signal, and has a magnitude corresponding to the position deviation signal eh.
- the position speed command signal ⁇ he is generated and output.
- the pressure command signal output unit 48 obtains a pressure (cushion pressure) target value to be generated in the die cushion pad 15 by referring to a preset pressure pattern 56, and sets the obtained pressure target value to the obtained pressure target value. It has a function to generate and output a pressure command signal Pc based on it.
- the pressure pattern 56 shows a desired correspondence between time and the pressure generated in the die cushion pad 15.
- the pressure comparison unit 49 has a function of comparing the pressure command signal Pc from the pressure command signal output unit 48 with the pressure detection signal Pr from the pressure gauge 93 and outputting a pressure deviation signal ep.
- the pressure control unit 50 receives the pressure deviation signal ep from the pressure comparison unit 49, multiplies the input signal by a predetermined proportional gain K2 and outputs the coefficient, and the pressure from the pressure comparison unit 49.
- Integrator 72 (denoted in the block) that inputs deviation signal ep and integrates and outputs the input signal The sign s is a Laplace operator.
- a coefficient unit 73 that inputs the output signal from the integrator 72 and multiplies the input signal by a predetermined integral gain K3, and outputs the signal.
- the output signal from the coefficient unit 71 is output to the output signal from the coefficient unit 73. Is added to generate and output a pressure speed command signal ⁇ pc.
- this pressure control unit 50 a proportional + integral operation (PI operation) combining a proportional operation (P operation) and an integral operation (I operation) is performed, so that the pressure control is performed. From the section 50, a pressure speed command signal ⁇ pc is output which has a magnitude corresponding to the pressure deviation signal ep and increases as long as the pressure deviation signal ep is present, so that the detected pressure can quickly reach the target pressure. It will match exactly.
- PI operation proportional + integral operation
- P operation proportional operation
- I operation integral operation
- the position / pressure control switching unit 51 switches between position control for controlling the position of the die cushion pad 15 and pressure control for controlling the pressure generated in the die cushion pad 15, and is based on the b contact.
- a switch 60 for switching the connection between the a contact and the c contact, and a position / pressure comparison unit 61 for selecting the switching operation of the switch 60.
- the position / pressure comparison unit 61 compares the pressure speed command signal ⁇ pc from the pressure control unit 50 with the position speed command signal ⁇ he from the position control unit 47, and determines the smaller one of the two. It is set to be selected.
- FIG. 7 shows the speed command signal for position ⁇ he.
- the position pattern (position target value) of the die cushion pad 15 is always set to 0 (standby position)
- the position of the die cushion pad 15 is set to the standby position before the upper mold 7 contacts the workpiece 9. Therefore, the position deviation signal eh becomes 0 and the position speed command signal ⁇ he becomes 0.
- the die cushion pad 15 begins to drop as the upper die 7 descends, so the position deviation signal eh gradually increases and the position speed
- the command signal ⁇ he also increases.
- FIG. 8 shows a pressure speed command signal ⁇ pc.
- the pressure pattern of the die pad 15 is always set to a constant value, no pressure is generated in the die cushion pad 15 before the upper die 7 comes into contact with the work 9, so the pressure deviation signal ep is the pressure. It coincides with the constant value of the pattern, and the speed command signal for pressure ⁇ pc becomes a value corresponding to the constant value of the pressure pattern.
- the die cushion pad 15 is pushed by the upper die 7 to generate pressure. Since this pressure increases as the dictation pad 15 descends, the pressure deviation signal ep gradually decreases, and the pressure speed command signal ⁇ pc also decreases accordingly.
- the position / pressure comparison unit 61 compares the position speed command signal ⁇ he and the pressure speed command signal ⁇ pc, and selects the smaller one of the two. Therefore, when the upper die 7 is lowered before contacting the workpiece 9, the position speed command signal ⁇ he is smaller than the pressure speed command signal ⁇ pc, so the position speed command signal ⁇ he is selected. . With this selection, the switch 60 connects the b contact and the a contact, the position speed command signal ⁇ he flows to the speed comparison unit 52, and the position control is performed.
- the position speed command signal ⁇ he increases and the pressure speed command signal ⁇ pc decreases.
- the position / pressure comparison unit 61 selects a speed command signal ⁇ pc for pressure smaller than the speed command signal for position ⁇ he.
- the b and c contacts of switch 60 are connected. By this connection switching operation, the pressure speed command signal ⁇ pc flows to the speed comparison unit 52, and pressure control is performed.
- the position / pressure comparison unit 61 is set to constantly compare the position speed command signal ⁇ he and the pressure speed command signal ⁇ pc and select the smaller one of the two, Switching between position control and pressure control can be performed automatically at an appropriate timing. Therefore, the impact of impact and vibration when the upper die 7 contacts the die cushion pad 15 via the workpiece 9 can be minimized, and position control and pressure control can be performed stably and reliably at appropriate timing. Can be switched. In addition, since both the position speed command signal ⁇ he and the pressure speed command signal ⁇ pc are constantly monitored, the touch position when the upper die 7 contacts the workpiece 9 is ensured. Can be quickly and reliably switched.
- the speed comparison unit 52 calculates the position speed command signal ⁇ he from the position control unit 47 and the dictation pad speed calculation. Compared with die cushion pad speed detection signal ⁇ r from section 44, output speed deviation signal ev, and pressure control section when pressure control is selected by switching operation by position 'pressure control switching section 51 It has a function to compare the speed command signal pc for pressure from 50 and the die cushion pad speed detection signal ⁇ r from the die cushion node speed calculation unit 44 and output the speed deviation signal ev. .
- the pressure control unit 50 has a pressure corresponding to the pressure deviation signal ep, and the pressure increases such that the pressure deviation signal ep increases. Since the speed command signal V pc is output, the pressure deviation can be reduced quickly and reliably. Therefore, the accuracy of pressure control can be improved.
- the speed control unit 53 receives the speed deviation signal ev from the speed comparison unit 52, multiplies the input signal by a predetermined proportional gain K4, and outputs it, and a speed unit from the speed comparison unit 52.
- An integrator 63 that inputs the deviation signal ev and integrates and outputs the input signal (the symbol s in the block is a Laplace operator) and an output signal from the integrator 63 are input to the input signal.
- a coefficient multiplier 64 that multiplies a predetermined integral gain K5 and outputs it. The output signal from the coefficient multiplier 64 is added to the output signal from the coefficient multiplier 62 to generate a motor current command signal (torque command signal) ic It has a function to output.
- this speed control unit 53 by performing a proportional + integral operation (PI operation) combining a proportional operation (P operation) and an integration operation (I operation), the speed control unit 53 Is output with a motor current command signal ic that is large enough to match the speed deviation signal ev and increases as long as the speed deviation signal ev is present, and the detected speed matches the target speed quickly and accurately. Is done. In this way, stable position / pressure control is possible.
- PI operation proportional + integral operation
- P operation proportional operation
- I operation integration operation
- controller 41 configuring the die cushion control device 40 as described above will be briefly described as follows based on the operation flow shown in FIG.
- the die cushion pad position calculation unit 43 of the controller 41 is based on the motor rotation angle detection signal ⁇ from the encoder 36 provided in the electric servo motor 21.
- Output the die cushion pad position detection signal hr, and the position comparison unit 46 always outputs a position deviation signal based on the die cushion pad position detection signal hr and the position command signal he from the position command signal output unit 45.
- the pressure comparison unit 49 always calculates the pressure deviation signal ep based on the pressure detection signal Pr from the pressure gauge 93 and the pressure command signal Pc from the pressure command signal output unit 48.
- ST2 The position control unit 47 calculates the position speed command signal ⁇ he based on the position deviation signal eh, and the pressure control unit 50 calculates the pressure speed based on the pressure deviation signal ep.
- Command signal ⁇ pc is calculated and output to position / pressure control switching unit 51.
- the position / pressure control switching unit 51 selects the smaller speed command signal of the position speed command signal ⁇ he and the pressure speed command signal ⁇ pc.
- the speed comparison unit 52 calculates the speed deviation signal ev based on the position speed command signal ⁇ he or the pressure speed command signal ⁇ pc and outputs it to the speed control unit 53.
- the speed control unit 53 generates a motor current command signal ic based on the speed deviation signal ev and outputs it to the servo amplifier 42.
- the servo amplifier 42 includes a current comparison unit 65, a current control unit 66, and a current detection unit 67.
- the current detector 67 detects the motor current i supplied to the electric servo motor 21, and outputs the detected value as a motor current detection signal.
- the current comparator 65 compares the motor current command signal ic from the speed controller 53 with the motor current detection signal ir from the current detector 67 and outputs a motor current deviation signal ei.
- the current control unit 66 controls the motor current i to the electric servomotor 21 based on the motor current deviation signal ei from the current comparison unit 65.
- FIG. 11 shows a position pattern 54 force in the present embodiment
- FIG. 12 shows a pressure pattern 56 in the present embodiment.
- the position pattern 54 as shown in FIG. 11, first, the position hi corresponding to the standby position of the die cushion pad 15 is set until the time tl, and then the position tl until the position hi 1 that is the contact position with the slide 4 is reached. It descends with a predetermined time constant from time to til, waits again, and waits for slide 4 to touch at time tl2.
- the position deviation signal eh increases as the die cushion pad 15 moves down together with the slide 4 that has come into contact.
- the position is set to a fixed position hi 1 until time t3 when the slide 4 reaches the bottom dead center.
- time t3 After the bottom dead center of slide 4 (after time t3), at time t3, the position is set to the position h3 corresponding to the bottom dead center position of the die cushion pad 15 so that the position control is performed again.
- the position h3 is set up to time t4 so that do 15 keeps its bottom dead center position for a predetermined time.
- a constant predetermined value P1 is set until time tl2 before the upper die 7 contacts the workpiece 9.
- This predetermined value P1 is set to a value higher than the preload of the die cushion node 15 by a predetermined ratio.
- a predetermined pressure deviation signal is set. ep occurs.
- an optimum pressure is set in the pressure notch 56 for each predetermined time.
- the target pressure value increases obliquely from the predetermined value P1 to the predetermined value P2 with a predetermined time constant, and the predetermined value P2 is maintained until time t21 is reached.
- the pressure target value decreases diagonally from the predetermined value P2 to the predetermined value P3 with a predetermined time constant.
- the predetermined value P3 is held until time t3. Since it is desirable to perform position control after Slide 4 reaches bottom dead center (after time t3), the pressure target value is set to a high value P4 at a stretch so that the pressure deviation signal ep increases. It has been.
- FIG. 13 shows an operation explanatory diagram of the slide 4 and the die cushion pad 15, and a change in the position of the slide 4 and the die cushion pad 15 with the passage of time is represented by a diagram.
- the dictation pad position detection signal hr from the die cushion pad position calculation unit 43 is referred to as a “position feedback signal hr”, and the die cushion pad speed detection signal ⁇ r from the die cushion pad speed calculation unit 44.
- the pressure detection signal Pr from the pressure gauge 93 is referred to as “pressure feedback signal Pr”.
- the position control is referred to as “position feedback control” and the pressure control is referred to as “pressure feedback control”.
- the position speed command signal ⁇ he is 0, whereas the pressure cushion The speed command signal ⁇ pc is a value corresponding to the predetermined value P1.
- the position 'pressure comparison unit 61 selects the position speed command signal ⁇ he during the time t from the start of the press working operation, and the contact b and contact a are connected by the switch 60. Position feedback control is performed. Further, since the pressure speed command signal ⁇ pc becomes a value corresponding to the predetermined value P1 between the time tl and the time tl2, the position feedback control is continuously performed.
- the position comparison unit 46 subtracts the position feedback signal hr from the position command signal he and outputs a position deviation signal eh, and the position control unit 47 outputs the position deviation signal eh.
- the position speed command signal ⁇ he to be decreased is output
- the speed comparison unit 52 outputs the speed deviation signal ev by subtracting the speed feedback signal ⁇ r from the position speed command signal V he
- the speed control unit 53 The motor current command signal (torque command signal) ic that decreases the deviation signal ev is output, and the servo amplifier 42 supplies the motor current i corresponding to the motor current command signal ic to the electric servo motor 21.
- the position of the die cushion pad 15 is controlled such that the position detection value by the encoder 36 follows the preset position pattern 54.
- the die cushion pad 15 waits at the standby position hi until time tl, and then shifts to standby at the position hi 1 where the upper die 7 and the work 9 are in contact with each other.
- the position pattern 54 is displayed. Since the die cushion pad 15 is lowered while the standard value holds the predetermined position hl l, the position deviation signal eh becomes large. On the other hand, when the upper die 7 and the work 9 come into contact with each other, the pressure increases, and therefore approaches the predetermined value P1 that is the pressure target value of the pressure pattern 56. Therefore, the pressure deviation signal ep becomes small. When the pressure speed command signal ⁇ pc based on the pressure deviation signal ep is smaller than the position speed command signal ⁇ he based on the position deviation signal eh, the position 'pressure comparison unit 61 selects the pressure speed command signal pc.
- the b- and c-contacts are connected by the switch 60 in the b--c contact connection operation in the position / pressure control switching unit 51, and the position feedback control force is automatically switched to the pressure feedback control. Therefore, by the automatic switching operation by the position / pressure control switching unit 51, the position control and the pressure control can be surely switched immediately after the upper mold 7 comes into contact with the workpiece 9. As described above, during the period from time t2 to time t3, the slide 4 and the die cushion pad 15 are lowered together, and the work 9 is drawn. During this period from time t2 to time t3, pressure feedback control is performed.
- the pressure comparison unit 49 subtracts the pressure feedback signal Pr from the pressure command signal Pc and outputs a pressure deviation signal ep, and the pressure control unit 50 decreases the pressure deviation signal ep.
- the pressure speed command signal ⁇ pc is output
- the speed comparison unit 52 subtracts the speed feedback signal ⁇ r from the pressure speed command signal V pc and outputs the speed deviation signal ev
- the speed control unit 53 outputs the speed deviation signal.
- the motor current command signal (torque command signal) ic that decreases ev is output
- the servo amplifier 42 supplies the motor current i corresponding to the motor current command signal ic to the electric servo motor 21.
- the die cushion pad 15 locks at the position h3 and stops its ascent operation. Between time t4 and time t5, the die cushion pad 15 is raised by the amount of the auxiliary lift. At time t5, the die cushion pad 15 starts to move up again, returns to the standby position hi, and then stops. After time t3, position feedback control is performed, and by the flow of various signals as described above, the position of the dictation pad 15 is adjusted so that the position detection value by the encoder 36 follows the preset position pattern 54. The position is controlled.
- FIG. 14 is a schematic configuration diagram of a die cushion according to the second embodiment of the present invention.
- FIG. 15 is a block diagram illustrating the configuration of the die cushion control device according to this embodiment.
- the same or similar parts as those in the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted, and will be described below with a focus on differences from the first embodiment. I will do it.
- the upper end portion of the screw portion 26 is coupled to the lower end portion of the die cushion pad 15 to form the hydraulic chamber 83 as in the first embodiment.
- the hydraulic chamber 83 there is no plunger rod 80 to be used or a hydraulic circuit for supplying pressure oil to the hydraulic chamber 83, and no pressure gauge 93 is provided.
- a strain gauge (pressure detection means) 32 is attached to the side surface of the die cushion pad 15, and the strain gauge 32 detects the load generated on the die cushion pad 15, that is, the cushion pressure. The value is output to the controller 41 as the pressure detection signal Pr.
- a linear scale (position detection means) 33 for detecting the position of the die cushion pad 15 is provided between the die cushion pad 15 and the bed 5.
- the linear scale 33 includes a scale portion 34 and a head portion 35.
- the scale portion 34 is attached to a predetermined position on the inner wall surface of the bed 5, and the head portion 35 is disposed close to the scale portion 34. It is attached to the side of the die cushion pad 15, and the head part is 35 is adapted to move along the scale portion 34.
- the head unit 35 outputs a die cushion pad position detection signal hr corresponding to the position of the die cushion pad 15.
- the die cushion pad position detection signal hr output from the head unit 35 is input to the controller 41.
- the motor rotation angle detection signal 0 as in the first embodiment is not output from the encoder 36 attached to the electric servomotor 21, and only the motor rotation angular velocity detection signal ⁇ is output. Is output and input to controller 41.
- the pressure pattern 56 and the like used for the pressure feedback control are the same as those in the first embodiment, and this embodiment can obtain the same effects as those in the first embodiment.
- the present invention is not limited to the above-described embodiments, but includes other configurations that can achieve the object of the present invention, and modifications such as those shown below are also included in the present invention.
- a die cushion 13A shown in FIG. 16 (the same or similar parts as those of the die cushion 13 are given the same reference numerals in the figure). You can do it (first variation).
- the die pad drive mechanism 16A of the die cushion 13A the nut portion 27 ⁇ of the ball screw mechanism 22 ⁇ is connected to the lower end portion of the die cushion pad 15, and the screw portion 26 ⁇ screwed to the nut portion 27 ⁇ is connected to the connecting member 24 ⁇ . It is connected to a large pulley 30 via The rest is the same as the die cushion 13 of the second embodiment.
- the die cushion 13B shown in FIGS. 17 and 18 (the same reference numerals are given to the same or similar parts as those in the die cushion 13). )) May be adopted (second modified example).
- a linear servomotor (electric servomotor) 75 is provided between each side surface of the die cushion pad 15 and the inner wall surface of the bed 5 facing each side surface.
- the linear servo motor 75 includes a pair of coil portions 76 and a magnet portion 77.
- the coil portions 76 are provided on each side surface of the die cushion pad 15, and the magnet portion 77 is provided on the inner wall surface of the bed 5.
- a magnet part 77 is provided on each side of the die cushion pad 15 and a coil part 76 is provided on the inner wall surface of the bed 5! /, Or even! /.
- a coil portion 76 is provided on the die cushion pad 15.
- an attractive force and a repulsive force act between the coil part 76 and the magnet part 77, and the coil part 76 and the die cushion pad 15 receive an urging force in the up-and-down direction.
- the magnet portion 77 is provided on the die cushion pad 15, when the coil portion 76 is excited, attractive force and repulsive force act between the coil portion 76 and the magnet portion 77, and the magnet portion 77 and the die cushion pad. 15 receives a biasing force in the up and down direction.
- a pneumatic balancer 78 is also provided below the die cushion pad 15 so that the piston and cylinder and force can be used.
- the piston of the balancer 78 is supported by a beam 25 (FIG. 1) below.
- the die cushion control device 40 can be applied to the control system of the die cushion 13B.
- the motor speed feedback control system is slightly different. That is, in the die cushion pad speed calculation unit 44 in this modification, the die cushion pad position detection signal hr from the head unit 35 in the linear scale 33 for detecting the position of the die pad is input, and this input signal is expressed in time. The speed of the die cushion node 15 is obtained by differentiation, and the result is output to the speed comparison unit 52 as a die cushion pad speed detection signal ⁇ r.
- the pressure that was actually drawn and pressure control was performed from time t2 to time t3, and the position control was performed at other times. Even if pressure control is performed at this time, it is possible to satisfactorily switch between position control and pressure control by appropriately setting the pressure pattern and position pattern.
- the automatic switching between the pressure control and the position control is automatically performed in the above-described embodiments in the entire range of the force press-cage time when the drawing process is started and when the slide reaches the bottom dead center.
- the position-pressure control switching unit automatically switches, and when the slide reaches bottom dead center, switching to position control takes time. Control may be performed forcibly to switch.
- FIG. 19 shows a position pattern 54 according to a third modification of the present invention.
- the time tl force at the standby position hi is also lowered to the position h2 until the directional force time t2, and the dip pad 15 is lowered to perform preliminary acceleration, which is different from the above embodiment.
- the upper die 7 actually contacts at time tl2 while the workpiece 9 is descending.
- the die cushion pad 15 is set to be directed to the bottom dead center position between time t2 and time t3.
- FIG. 20 shows a position speed command signal ⁇ he that is output when such preliminary acceleration is performed.
- the pressure speed command signal ⁇ pc is the same as in the above embodiment.
- the position speed command signal V he generated in this modified example based on the position pattern 54 is constant after the die cushion pad 15 is lowered downward at a predetermined acceleration. Therefore, it is maintained at a constant value after falling from the standby state with a predetermined time constant. Then, after reaching the touch position in the middle of preliminary acceleration, the die cushion pad 15 is actually lowered together with the slide 4, while the position pattern 54 is set to a position higher than the actual die pad 15. Therefore, the position deviation signal eh gradually increases upward, and the position speed command signal ⁇ he also increases accordingly.
- FIG. 21 shows the relationship with the pressure speed command signal pc when such a position speed command signal ⁇ he is output.
- the switching operation between the position control and the pressure control will be described based on this figure as follows. That is, in this modification, the position speed command signal ⁇ he is smaller than the previous embodiment by the amount of preliminary acceleration. Will reach the touch position. Therefore, the position speed command signal he turns upward with a smaller value force than the pressure speed command signal ⁇ pc. From the touch position, the position speed command signal ⁇ he and the pressure speed command signal ⁇ pc It takes a longer time T2 than that of the above-described embodiment until the magnitude relationship is reversed. In other words, there is a slight delay before switching between position control and pressure control performed after the touch position. Quality improvement is expected by performing force preliminary acceleration.
- the controller 41 includes an offset signal output unit 100 and a signal synthesis unit 101. Even when the dictation pad 15 is pre-accelerated, the offset signal output unit 100 and the signal synthesis unit 101 switch between position control and pressure control after touching by correcting the pressure command signal ⁇ pc for pressure. To be done without delay! /
- the offset signal output unit 100 has a function of generating a preliminary acceleration offset signal shown in FIG.
- the signal synthesis unit 101 synthesizes the preliminary acceleration offset signal from the offset signal output unit 100 with the original pressure speed command signal ⁇ pc output from the pressure control unit 50, and uses the synthesized synthesis command signal for pressure. Output to position / pressure control switching unit 51 as speed command signal ⁇ pc.
- FIG. 25 shows the relationship with the position speed command signal ⁇ he when the combined pressure speed command signal ⁇ pc is output.
- the position speed command signal ⁇ he is the same as that of the above-described third modification because the preliminary calorie speed is performed.
- the synthesized speed command signal ⁇ pc is output, the value of the pressure speed command signal ⁇ pc at the touch position has become smaller, so it becomes smaller after touch.
- the position speed command signal ⁇ he intersects in a short time T3. Therefore, in the third modified example, it is assumed that the preliminary acceleration is performed, and the time T2 from the position control after the touch to the switching to the pressure control is large. In this modified example, the preliminary acceleration is performed. However, the time until switching can be shortened to time T3, and the rebounding of the workpiece 9 immediately after the touch can be effectively prevented, and the drawing process can be realized with higher accuracy!
- a fifth modification of the present invention will be described below.
- Position pattern of the third modification described above 54 As shown in FIG. 19, after the preliminary acceleration at time t2, the die cushion pad 15 is also directed to its own bottom dead center position so as to coincide with time t3 when the slide 4 reaches the bottom dead center position.
- the position target was set so as to force, and the bottom of the die cushion pad 15 was locked after reaching the bottom dead center position.
- the position target of the die cushion pad 15 is set to the bottom dead center position at an early time t23 as shown in FIG.
- the position target becomes smaller than the actual position of the die cushion pad 15 before reaching the bottom dead center position, and there is a possibility of switching to position control during pressure control. is there.
- the controller 41 is provided with a pressure control holding unit 102.
- Other configurations are the same as those of the fourth modified example.
- the pressure control holding unit 102 functions as a switch having contacts d, e, and f.
- the switch 60 switches to the b-c contact connection operation and switches to the position control force pressure control
- the position / pressure is performed by the switching signal from the comparison unit 61 (Fig. 26).
- the pressure / speed control signal V pc is always output to the speed comparison unit 52, bypassing the position / pressure control switching unit 51, and pressure control is maintained. Therefore, even if the position target of the die cushion pad 15 becomes smaller than the actual position during this period, switching to position control can be prevented.
- the press signal generation unit 10 turns ON-OFF when the slide 4 reaches the bottom dead center position based on the motor rotation angle detection signal ⁇ p output from the encoder 12 of the electric servomotor 11 for press. It is configured to output a press signal S that switches.
- the pressure control holding unit 102 monitors the switching signal from the position / pressure control comparison unit 61.
- the pressure control holding unit 102 holding the pressure control monitors the input of the press signal S from the press signal generating unit 10.
- the present invention can be used for a die cushion control device for controlling a die cushion used in a press machine for drawing or the like, and is particularly suitable as a die cushion control device for a die cushion driven by an electric servo motor. Available.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112006000608T DE112006000608B4 (de) | 2005-03-16 | 2006-03-13 | Ziehkissen-Steuereinrichtung |
JP2007508116A JP4571972B2 (ja) | 2005-03-16 | 2006-03-13 | ダイクッション制御装置 |
US11/908,485 US7918120B2 (en) | 2005-03-16 | 2006-03-13 | Die cushion control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2005-075336 | 2005-03-16 | ||
JP2005075336 | 2005-03-16 |
Publications (1)
Publication Number | Publication Date |
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WO2006098256A1 true WO2006098256A1 (ja) | 2006-09-21 |
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ID=36991598
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Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/304858 WO2006098256A1 (ja) | 2005-03-16 | 2006-03-13 | ダイクッション制御装置 |
Country Status (5)
Country | Link |
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US (1) | US7918120B2 (ja) |
JP (1) | JP4571972B2 (ja) |
CN (1) | CN100551574C (ja) |
DE (1) | DE112006000608B4 (ja) |
WO (1) | WO2006098256A1 (ja) |
Cited By (1)
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JP2016059929A (ja) * | 2014-09-16 | 2016-04-25 | アイダエンジニアリング株式会社 | ダイクッション装置及びダイクッション装置の制御方法 |
Families Citing this family (12)
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JP4787642B2 (ja) * | 2006-03-22 | 2011-10-05 | コマツ産機株式会社 | プレス機械のダイクッション制御装置 |
JP5528984B2 (ja) * | 2010-10-19 | 2014-06-25 | アイダエンジニアリング株式会社 | 機械プレスのプレス荷重制御装置 |
JP6068098B2 (ja) * | 2011-12-07 | 2017-01-25 | Thk株式会社 | リニアモータ装置、及び制御方法 |
JP5680121B2 (ja) * | 2013-01-24 | 2015-03-04 | アイダエンジニアリング株式会社 | プレス機械のダイクッション装置及びダイクッション制御方法 |
JP6002205B2 (ja) * | 2014-12-26 | 2016-10-05 | アイダエンジニアリング株式会社 | クッションパッドの傾き確認装置及び方法 |
JP6653598B2 (ja) * | 2016-03-09 | 2020-02-26 | 蛇の目ミシン工業株式会社 | 電動プレス及びその校正方法 |
JP6292545B1 (ja) * | 2016-10-11 | 2018-03-14 | 株式会社安川電機 | モータ制御システム、モータ制御装置、モータ制御方法 |
JP6542844B2 (ja) * | 2017-07-03 | 2019-07-10 | ファナック株式会社 | サーボモータ制御装置 |
JP7054614B2 (ja) * | 2017-07-21 | 2022-04-14 | 東芝テック株式会社 | サーバ、システムおよびプログラム |
DE102019119392A1 (de) * | 2019-07-17 | 2021-01-21 | Moog Gmbh | Vorrichtung und Verfahren zur Steuerung oder Regelung einer Bewegung eines Ziehkissens einer Ziehkissenpresse |
US11592499B2 (en) | 2019-12-10 | 2023-02-28 | Barnes Group Inc. | Wireless sensor with beacon technology |
US11819968B2 (en) | 2021-01-19 | 2023-11-21 | Milwaukee Electric Tool Corporation | Rotary power tool |
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JPH10192997A (ja) * | 1996-12-27 | 1998-07-28 | Aida Eng Ltd | ダイクッションの制御方法 |
JPH10202327A (ja) * | 1997-01-22 | 1998-08-04 | Aida Eng Ltd | プレス機械のダイクッション制御装置 |
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JP2002007296A (ja) | 2000-06-22 | 2002-01-11 | Ntt Communications Kk | コミュニケーション制御方法及びシステム及びコミュニケーション制御プログラムを格納した記憶媒体 |
JP5050238B2 (ja) | 2004-06-14 | 2012-10-17 | 株式会社小松製作所 | ダイクッション制御装置及びダイクッション制御方法 |
JP4015139B2 (ja) | 2004-06-28 | 2007-11-28 | ファナック株式会社 | 鍛圧機械のサーボモータ制御装置 |
JP2006122944A (ja) * | 2004-10-28 | 2006-05-18 | Fanuc Ltd | ダイクッション制御装置 |
JP4112577B2 (ja) * | 2005-07-05 | 2008-07-02 | ファナック株式会社 | ダイクッション機構並びにその制御装置及び制御方法 |
JP4787642B2 (ja) | 2006-03-22 | 2011-10-05 | コマツ産機株式会社 | プレス機械のダイクッション制御装置 |
-
2006
- 2006-03-13 DE DE112006000608T patent/DE112006000608B4/de not_active Expired - Fee Related
- 2006-03-13 JP JP2007508116A patent/JP4571972B2/ja active Active
- 2006-03-13 CN CNB2006800086576A patent/CN100551574C/zh not_active Expired - Fee Related
- 2006-03-13 WO PCT/JP2006/304858 patent/WO2006098256A1/ja active Application Filing
- 2006-03-13 US US11/908,485 patent/US7918120B2/en active Active
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JPH10192997A (ja) * | 1996-12-27 | 1998-07-28 | Aida Eng Ltd | ダイクッションの制御方法 |
JPH10202327A (ja) * | 1997-01-22 | 1998-08-04 | Aida Eng Ltd | プレス機械のダイクッション制御装置 |
Cited By (2)
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JP2016059929A (ja) * | 2014-09-16 | 2016-04-25 | アイダエンジニアリング株式会社 | ダイクッション装置及びダイクッション装置の制御方法 |
US10124390B2 (en) | 2014-09-16 | 2018-11-13 | Aida Engineering, Ltd. | Die cushion device and control method of die cushion device |
Also Published As
Publication number | Publication date |
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JP4571972B2 (ja) | 2010-10-27 |
DE112006000608T5 (de) | 2008-01-10 |
US7918120B2 (en) | 2011-04-05 |
DE112006000608B4 (de) | 2009-12-31 |
JPWO2006098256A1 (ja) | 2008-08-21 |
US20090025444A1 (en) | 2009-01-29 |
CN101142039A (zh) | 2008-03-12 |
CN100551574C (zh) | 2009-10-21 |
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