WO2007108295A1 - プレス機械のダイクッション制御装置 - Google Patents
プレス機械のダイクッション制御装置 Download PDFInfo
- Publication number
- WO2007108295A1 WO2007108295A1 PCT/JP2007/054026 JP2007054026W WO2007108295A1 WO 2007108295 A1 WO2007108295 A1 WO 2007108295A1 JP 2007054026 W JP2007054026 W JP 2007054026W WO 2007108295 A1 WO2007108295 A1 WO 2007108295A1
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- WIPO (PCT)
- Prior art keywords
- pressure
- signal
- command signal
- die cushion
- speed
- Prior art date
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42094—Speed then pressure or force loop
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.
- the die cushion control device provided so as to be able to switch between position control and pressure control
- the slide when the slide reaches bottom dead center, it is switched again to pressure control force position control, and the slide starts to rise.
- the die cushion pad is raised and returned to the standby position for the next processing.
- stop the dictation pad at its bottom dead center position for a predetermined time (bottom dead center locking), and make sure that the squeezing is performed to the end.
- Patent Document 1 Japanese Patent Laid-Open No. 10-202327 (page 3)
- a main object of the present invention is to provide a die cushion control device capable of accurately stopping the bottom dead center locking by accurately stopping the die cushion at the bottom dead center position.
- a die cushion control device for a press machine includes a position command signal output unit that outputs a position command signal according to a position target value of a die cushion pad, and a position detection 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 command signal and a position detection value based on the position detection signal of the position detection means, and the position deviation signal
- a position control unit that outputs a position speed command signal based on the position control unit, a speed control unit that outputs a motor current command signal based on the position speed command signal from the position control unit, and the motor A servo amplifier that supplies a current corresponding to the current command signal to the electric servo motor for driving the die cushion, and a press signal that is output when the slide of the press machine reaches the bottom dead center position.
- Group Hazuki characterized in that an output switching unit for outputting a position detection signal from said position detecting means to the position comparison unit is switched to position command signal from the position command signal output section to.
- the die cushion pad that descends following the slide when the slide reaches the bottom dead center position, the die cushion pad that descends following the slide also stops at its bottom dead center position. Even if there is a discrepancy between the bottom dead center position given by the position target value and the bottom dead center position where the die cushion pad is actually stopped, the output switching unit will perform the original bottom dead center position.
- the position detection value at the position can be replaced with the position target value. As a result, the deviation between the position detection value and the position target value can be followed up to zero. Therefore, the die cushion pad can be surely positioned at the original bottom dead center position both in practice and in position control, and the bottom dead center locking can be performed accurately.
- the pressure corresponding to the pressure target value is used.
- Pressure command signal output unit for outputting a force command signal, pressure detection means for detecting the pressure applied to the die cushion pad, pressure target value based on the pressure command signal, and pressure detection based on the pressure detection signal from the pressure detection means
- a pressure comparison unit that outputs a pressure deviation signal corresponding to the deviation from the value
- a pressure control unit that outputs a pressure speed command signal based on the pressure deviation signal, the pressure speed command signal, and the position A position for selecting the smaller one of the speed command signals, and a pressure control switching unit.
- the speed control unit is configured to output the pressure command signal for pressure when the position 'pressure control switching unit is output. It is desirable to output a motor current command signal based on the pressure speed command signal.
- 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 uses the pressure deviation signal based on the pressure deviation signal.
- a speed command signal is output.
- the position comparison unit outputs a position deviation signal corresponding to the deviation between the position target value and the position detection value. Based on this position deviation signal, the position control unit outputs the position speed command signal. Output.
- the position 'pressure control switching unit always monitors and compares these pressure speed command signals and position speed command signals, and selects the smaller one.
- the switching is performed only by outputting the detection signal of the current change of the servo motor, the change in pressure and the change in position can be grasped more accurately, and thus stable switching is possible. Therefore, the operation of the die cushion is stabilized.
- FIG. 1 is a schematic configuration diagram of a press machine according to an embodiment of the present invention.
- FIG. 2 is a schematic configuration diagram of a die cushion according to the embodiment.
- FIG. 3 is a functional block diagram illustrating the configuration of a die cushion control device.
- FIG. 4 is a control block diagram illustrating the configuration of the die cushion control device.
- FIG. 5 is a diagram showing a relationship between time and a position speed command signal.
- FIG. 6 is a diagram showing a relationship between time and a pressure command signal for pressure.
- FIG. 7 is an explanatory diagram for explaining a switching operation between position control and pressure control.
- FIG. 8 is a diagram showing a position pattern.
- FIG. 9 is a diagram showing a pressure pattern.
- FIG. 10 is a diagram illustrating the operation of the slide and the die cushion pad.
- FIG. 11 is a flowchart for explaining the operation of the output switching unit.
- FIG. 12 is a flowchart for explaining a modification of the operation of the output switching unit.
- FIG. 1 shows a schematic configuration diagram of a press machine according to an embodiment of the present invention.
- FIG. 2 shows a schematic configuration diagram of the die cushion 13 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, and is mounted on a bed 5 that is disposed opposite to the slide 4. It is equipped with a bolster 6. An upper die 7 is attached to the lower surface of the slide 4, and 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 built-in die cushion 13.
- This die cushion 13 has the required die cushion pin 14 and the bed 5 in the bed 5
- a die cushion pad 15 that is supported at present, and a die cushion pad drive mechanism 16 that drives the die cushion pad 15 to move up and down.
- Each die cushion pin 14 is passed through a hole formed in each of the bolster 6 and the lower mold 8 and extending in the upward and downward 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.
- each guide member for guiding the die cushion pad 15 in the vertical direction are provided.
- Each guide member also acts as a pair of inner guide and outer guide that engage with each other, and an inner guide is attached to each side of the die cushion pad 15 and an outer guide is attached to the inner wall surface of the bed 5.
- the dictation pad 15 is supported in the bed 5 so as to be movable up and down.
- the die cushion pad drive mechanism 16 includes an electric servo motor 21 as a drive source, a ball screw mechanism 22 as an elevating 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.
- the encoder 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 has 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. Out It has a function to help.
- 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 moves up and down 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, and the hydraulic chamber 83 is filled with pressure 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 a hydraulic circuit, and pressure oil is exchanged between the hydraulic chamber 83 and the hydraulic circuit.
- the pressure oil in the hydraulic chamber 83 reduces the impact generated when the upper mold 7 and the cake 9 are in contact with each other, and is discharged to the tank 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 brought into contact with the upper end of the threaded portion 26 in the ball screw mechanism 22. ing.
- 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 26.
- 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 port of the hydraulic chamber 83 communicates with a pipe 85 constituting a hydraulic circuit, and a pressure gauge (pressure detection means) 93 is provided in the middle of the pipe 85.
- the pressure gauge 93 detects the pressure in the hydraulic chamber 83, that is, the load generated on the die cushion pad 15.
- a pressure detection signal Pr is output from the pressure gauge 93 to the controller 41.
- a die cushion control device 40 shown in FIGS. 3 and 4 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 not described in detail, but is mainly composed of an input interface for converting and shaping various input signals, a microcomputer, a high-speed numerical processor, etc., and inputs according to a predetermined procedure. It is configured with a computer device that performs arithmetic operation of data 'logic and an output interface that converts the operation result into a control signal and outputs it.
- This 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, a pressure comparison unit. 49, a pressure control unit 50, a position / pressure control switching unit 51, a speed comparison unit 52, a speed control unit 53, and an output switching unit 57 are provided. These functional units are the software processed by the computer. Is formed.
- the die cushion pad position calculation unit 43 inputs a motor rotation angle detection signal ⁇ from an encoder 36 attached to the electric servomotor 21 and has a predetermined relationship with the motor rotation angle based on this input signal. It has a function of obtaining the position of a certain die cushion pad 15 and outputting the result as a die cushion pad position detection signal (position detection signal) 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 indicates a desired correspondence between time (or press angle or slide position) and die cushion pad position.
- the position comparison unit 46 includes a position command signal he output from the position command signal output unit 45 via the output switching unit 57 and a die cushion pad position detection signal from the die cushion pad position calculation unit 43. Compared with hr, the position deviation signal eh is output.
- 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 (or press angle or slide position) and the pressure generated in the 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.
- An integrator 72 that inputs the deviation signal ep and integrates and outputs the input signal (the symbol s in the block is a Laplace operator) and the output signal from the integrator 72 are input to the input signal.
- a coefficient multiplier 73 that multiplies a predetermined integral gain K3 and outputs it, and a function to generate and output a pressure speed command signal ⁇ pc by adding the output signal from the coefficient multiplier 73 to the output signal from the coefficient multiplier 71.
- 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. 5 shows the position speed command signal ⁇ 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.
- the deviation signal eh is 0, and the position speed command signal ⁇ he is 0.
- the die cushion pad 15 descends downward at a predetermined acceleration and then at a constant speed. Therefore, the position speed command signal ⁇ he is constant after being lowered from the standby state by a predetermined time constant. Maintained at the value.
- the dictation pad 15 is actually lowered together with the slide 4, while the position pattern 54 is set to a position higher than the actual dies cushion pad 15. Therefore, the position deviation signal eh gradually increases upward, and the position speed command signal ⁇ he also increases accordingly.
- FIG. 6 shows a pressure speed command signal ⁇ pc.
- the pressure pattern (pressure target value) of the dichroic pad 15 is always set to a constant value, the pressure is not generated in the die cushion pad 15 before contacting the upper die 7 force S work 9, so the pressure The deviation signal ep matches the constant value of the pressure pattern, and the pressure speed command signal ⁇ 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.
- This pressure increases as the die cushion pad 15 descends and approaches the pressure target value for which the initial force has been set, so the pressure deviation signal ep gradually decreases, and the pressure speed command signal ⁇ pc 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. Have been. Therefore, when the upper die 7 is lowered before coming into contact with the work 9, the position speed command signal he is selected because the position speed command signal he is smaller than the pressure speed command signal pc. 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 pressure speed command signal ⁇ pc smaller than the position speed command signal ⁇ he and Contact and c contact are connected. By this connection switching operation, the pressure speed command signal V pc flows into 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 can be reliably grasped, and it can be performed quickly and reliably. Can be switched easily.
- 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 A motor current command signal ic is output that has a magnitude commensurate with the speed deviation signal ev and increases as long as the speed deviation signal ev is present, and the detected speed is quickly and accurately matched to the target speed. . In this way, stable position / pressure control is possible.
- PI operation proportional + integral operation
- P operation proportional operation
- I operation integration operation
- the output switching unit 57 functions as a switch with a timer that switches for a predetermined time by a press signal S from the press signal generation unit 10 provided in the press machine 1, and is a contact d in terms of a control block. E, f.
- the position command signal he from the position command signal output unit 45 is sent to the position comparison unit 46 as described above. Is output.
- die cushion pad position detection signal hr from die cushion pad position calculation unit 43 is directly output to position comparison unit 46. Is done. That is, on the control program, the actual detection position is given as the position target value of the die cushion pad 15.
- the press signal S generated by the press signal generation unit 10 is related to the slide position, and the motor rotation angle signal ⁇ from the encoder 12 provided in the servo motor 11 for driving the slide 4 Generated based on p.
- the ON signal is output as the press signal S until slide 4 reaches the top dead center until the top dead center is reached, and the press signal S is output until the top dead center is reached.
- An OFF signal is output.
- 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. 8 shows the position pattern 54 and the press signal S in the present embodiment in association with the slide operation
- FIG. 9 shows the pressure pattern 56 in the present embodiment.
- the position pattern 54 as shown in FIG. 8, the position hi corresponding to the standby position of the die cushion pad 15 is first set from time tl to time t2 for preliminary acceleration. The position is set to descend to position h2 with a predetermined time constant! Then, at the position hl2 on the way to the position h2, the upper die 7 comes into contact with the workpiece 9 (time tl2).
- the position target value by the position pattern 54 until the time t4 when the slide 4 reaches the bottom dead center is actually
- the die cushion pad 15 is set to be higher than the position of the die cushion pad 15.
- the position deviation signal eh increases as the die cushion pad 15 descends, and the pressure deviation signal ep smaller than the position deviation signal eh is selected and pressure control is performed.
- the position command signal he is output from the time t2 to the time t3 so as to descend to the position h3 with another time constant.
- the timer function allows the e-f contact connection operation to continue from time t4 to time t5, and the die cushion pad 15 continues to stop at the bottom dead center. Locking is performed.
- the output switching unit 57 automatically returns from the ef contact connection operation to the ed contact connection operation, and outputs the position command signal he according to the preset position pattern 54. From time t5 to time t6, because of the auxiliary lift operation that rises to a predetermined height, it is set to become position h5 at time t6, and after time t6, it returns to position hi corresponding to the standby position. Is set to
- the pressure pattern 56 is set to a predetermined value P 1 until time tl 2 before the upper mold 7 comes into contact with the work 9.
- This predetermined value P1 is set to a value higher than the preload of the die cushion pad 15 by a predetermined ratio, and as a result, a predetermined pressure deviation signal ep is generated before the upper die 7 comes into contact with the workpiece 9. .
- the optimum pressure is set for each pressure pattern 56 in a predetermined time.
- the pressure target value increases obliquely from the predetermined value P1 to the predetermined value P2 with a predetermined time constant, and the predetermined value P2 is held 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, and from time t22 to time t4 until the slide 4 reaches the bottom dead center.
- the predetermined value P3 is held. Since it is desirable to perform position control after slide 4 reaches bottom dead center (after time t4), the pressure target value is quickly set to a high value P4 to increase the pressure deviation signal ep. It has been.
- FIG. 10 is a diagram for explaining the operation of the slide 4 and the die cushion pad 15, and the 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 is determined.
- the die cushion pad speed detection signal ⁇ r from the degree calculator 44 is referred to as “speed feedback signal V rj”, and 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 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 stands by at the standby position until time tl, and then the die cushion pad 15 from time tl to time t2 to alleviate the impact when the upper die 7 and the workpiece 9 come into contact with each other. Perform preliminary acceleration.
- the position 'pressure comparison unit 61 When the pressure speed command signal ⁇ pc based on the pressure deviation signal ep becomes smaller than the position speed command signal ⁇ he based on the position deviation signal eh, the position 'pressure comparison unit 61 outputs the pressure speed command signal ⁇ pc select.
- the b-c contact connection operation in the position / pressure control switching unit 51 connects the b contact and the c contact by the switch 60, and the position feedback control force is also automatically applied to the pressure feedback control. Can be switched. Accordingly, the position / pressure control switching unit 51 can automatically switch between position control and pressure control immediately after the upper mold 7 contacts the workpiece 9. As described above, during the period from time tl2 to time t4, the slide 4 and the die cushion pad 15 are integrally lowered and the work 9 is drawn. During this time tl2 to time t4, 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 position / pressure comparison unit 61 selects the position speed command signal ⁇ he. Therefore, the b contact and the a contact are connected by the switch 60 in the b-a contact connecting operation in the position 'pressure control switching unit 51, and the pressure feedback control is automatically switched to the position feedback control. Also, because the position target at the bottom dead center of the die cushion pad 15 is replaced with the actual position h4 stopped at the bottom dead center, the die cushion pad 15 is also dead according to the position target from the viewpoint of position control. It can be stopped reliably at the point position, and accurate bottom dead center locking can be achieved.
- the operation of the output switching unit 57 will be described more specifically with reference to the flowchart of FIG. In FIG. 11, since the ON signal is output as the press signal from the press signal generation unit 10 when the slide 4 is between the top dead center and the bottom dead center, the output switching unit while the ON signal is input. 57 performs the ed contact connection operation and outputs a position command signal he based on the position target based on the position pattern 54 (ST1). This position command signal he is output so as to maintain the position h3 when the die cushion pad 15 reaches the position h3, and the output switching unit 57 is in a state waiting for input of an OFF signal as the press signal S.
- the output switching unit 57 switches to the ef contact connection operation related to the press signal S being an OFF signal, and the position command signal based on the position target based on the position pattern 54 Output he.
- the die cushion pad 15 is at the actual bottom dead center position. Lock correctly at position h4 and stop ascending. Between time t5 and time t6, the die cushion pad 15 is raised by the amount of the auxiliary lift. At time t6, the dictation pad 15 starts to move up again, returns to the standby position hi, and then stops. After time t4, position feedback control is performed, The position of the die cushion pad 15 is controlled by the signal flow so that the position detection value by the encoder 36 follows the preset position pattern 54.
- the height position of the slide 4 in the force increasing stroke according to the timer function of whether or not the force has reached time t5 is determined.
- the locking force may be shifted to the auxiliary lift in response to the press signal S when the predetermined set value H5 (FIG. 10) set in advance is reached. That is, the determination at step ST4 ′ in the flowchart of FIG.
- the transition is made in response to the press signal S when the height position of the slide 4 reaches the predetermined set value H6, which is not shifted when the time t6 is reached.
- a pressure gauge provided in the hydraulic circuit is used as the pressure detection means according to the present invention, but a strain gauge provided on the side surface of the die cushion pad is used. It may be.
- the position detecting means is not limited to the encoder provided in the electric servo motor for driving the die cushion, but may be a linear scale provided between the die cushion pad and the bed.
- the electric servo motor is not limited to the rotary type, and may be a direct acting type such as a linear servo motor.
- the force that the die cushion control device is configured to switch between the position control and the pressure control. If the position control is performed at least at the bottom dead center position, the position control is performed through the stroke. Even in this case, it is included in the present invention.
- the present invention can be used for a die cushion control device for controlling a die cushion used in a press machine that performs drawing or the like, and can be particularly suitably used as a die cushion control device for a die cushion driven by an electric servo motor.
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- Automation & Control Theory (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
Abstract
Description
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/225,461 US8042375B2 (en) | 2006-03-22 | 2007-03-02 | Press die cushion controller |
CN2007800161410A CN101437634B (zh) | 2006-03-22 | 2007-03-02 | 冲压机械的模具缓冲机构控制装置 |
DE112007000675.7T DE112007000675B4 (de) | 2006-03-22 | 2007-03-02 | Ziehkissen-Steuervorrichtung für eine Presse |
Applications Claiming Priority (2)
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JP2006078768A JP4787642B2 (ja) | 2006-03-22 | 2006-03-22 | プレス機械のダイクッション制御装置 |
JP2006-078768 | 2006-03-22 |
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WO2007108295A1 true WO2007108295A1 (ja) | 2007-09-27 |
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PCT/JP2007/054026 WO2007108295A1 (ja) | 2006-03-22 | 2007-03-02 | プレス機械のダイクッション制御装置 |
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US (1) | US8042375B2 (ja) |
JP (1) | JP4787642B2 (ja) |
CN (1) | CN101437634B (ja) |
DE (1) | DE112007000675B4 (ja) |
WO (1) | WO2007108295A1 (ja) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
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US7918120B2 (en) * | 2005-03-16 | 2011-04-05 | Komatsu Ltd. | Die cushion control device |
ES2452022T3 (es) * | 2006-02-06 | 2014-03-31 | Abb Research Ltd. | Sistema de línea de prensas y método |
JP5466834B2 (ja) * | 2008-05-22 | 2014-04-09 | 株式会社小松製作所 | ダイクッション装置 |
DE112011101683B4 (de) * | 2010-05-18 | 2023-08-31 | Mitsubishi Electric Corp. | Motorsteuervorrichtung |
CN102893515B (zh) * | 2010-05-18 | 2015-04-15 | 三菱电机株式会社 | 马达控制装置 |
JP5452720B2 (ja) * | 2010-07-14 | 2014-03-26 | 三菱電機株式会社 | モータ制御装置 |
US20120227452A1 (en) | 2011-03-07 | 2012-09-13 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system for controlling the quality of a stamped part |
US9778624B2 (en) * | 2013-04-18 | 2017-10-03 | Mitsubishi Electric Corporation | Motor control device |
US9782817B2 (en) * | 2014-06-10 | 2017-10-10 | Getter Dunn Technologies, Llc | System and method of varying dwell time in a honeycomb plate press |
JP5968385B2 (ja) * | 2014-09-16 | 2016-08-10 | 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 |
DE102015113267A1 (de) * | 2015-08-12 | 2017-02-16 | Rainer Naroska Verpackungsmaschinen Gmbh & Co. Kg | Tiefziehwerkzeug zum Tiefziehen von Rohlingen |
JP2017164753A (ja) * | 2016-03-14 | 2017-09-21 | 株式会社吉野機械製作所 | Acサーボプレス装置 |
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 |
WO2022159471A1 (en) | 2021-01-19 | 2022-07-28 | Milwaukee Electric Tool Corporation | Rotary power tool |
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JP2006007296A (ja) * | 2004-06-28 | 2006-01-12 | Fanuc Ltd | 鍛圧機械のサーボモータ制御装置 |
JP2006026738A (ja) * | 2004-06-14 | 2006-02-02 | Komatsu Ltd | ダイクッション制御装置及びダイクッション制御方法 |
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DE69121109T2 (de) * | 1990-11-02 | 1997-01-02 | Komatsu Mfg Co Ltd | Gesenkpolstereinrichtung für presse |
JP3308463B2 (ja) | 1996-12-27 | 2002-07-29 | アイダエンジニアリング株式会社 | 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 |
JP4722558B2 (ja) * | 2004-06-01 | 2011-07-13 | 株式会社小松製作所 | ダイクッション装置 |
CN1309499C (zh) * | 2004-06-01 | 2007-04-11 | 株式会社小松制作所 | 模具缓冲装置 |
CN100509198C (zh) * | 2004-06-14 | 2009-07-08 | 株式会社小松制作所 | 模具缓冲控制装置及模具缓冲控制方法 |
US7918120B2 (en) * | 2005-03-16 | 2011-04-05 | Komatsu Ltd. | Die cushion control device |
DE102005012876A1 (de) * | 2005-03-19 | 2006-09-21 | Müller Weingarten AG | Verfahren und Vorrichtung zur Steuerung und Regelung von servo-elektrischen Ziehkissen |
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 |
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2007
- 2007-03-02 US US12/225,461 patent/US8042375B2/en active Active
- 2007-03-02 DE DE112007000675.7T patent/DE112007000675B4/de active Active
- 2007-03-02 WO PCT/JP2007/054026 patent/WO2007108295A1/ja active Application Filing
- 2007-03-02 CN CN2007800161410A patent/CN101437634B/zh active Active
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JP2006026738A (ja) * | 2004-06-14 | 2006-02-02 | Komatsu Ltd | ダイクッション制御装置及びダイクッション制御方法 |
JP2006007296A (ja) * | 2004-06-28 | 2006-01-12 | Fanuc Ltd | 鍛圧機械のサーボモータ制御装置 |
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Publication number | Publication date |
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CN101437634A (zh) | 2009-05-20 |
DE112007000675B4 (de) | 2019-11-21 |
JP2007253174A (ja) | 2007-10-04 |
US20090126453A1 (en) | 2009-05-21 |
CN101437634B (zh) | 2010-12-08 |
US8042375B2 (en) | 2011-10-25 |
DE112007000675T5 (de) | 2009-01-29 |
JP4787642B2 (ja) | 2011-10-05 |
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