WO2008072426A1

WO2008072426A1 - Press machine, controller and control method of press machine

Info

Publication number: WO2008072426A1
Application number: PCT/JP2007/071200
Authority: WO
Inventors: Takeshi Takahashi; Dai Onishi; Kazumichi Okajima
Original assignee: Ihi Corporation
Priority date: 2006-12-15
Filing date: 2007-10-31
Publication date: 2008-06-19
Also published as: JP2008149336A; TW200902302A

Abstract

[PROBLEMS] To reduce motor power under wide operational conditions with an optimal control enabled even when a press operation speed or a press load energy changes. [MEANS FOR SOLVING PROBLEMS] The press machine comprises an angle detector (25) for detecting the rotation angle of a body of rotation (7), a device for determining a required motor torque dependent on the characteristics of the press machine based on the value of a rotation angle inputted from the angle detector, and a speed regulator for increasing the rotation command speed of a motor (1) over the above fixed command speed for such an rotation angle of the body of rotation that the required motor torque becomes smaller than a predetermined motor torque reference value. The press machine is further provided with a device (27) for correcting the amount of rotation command speed being increased by the speed regulator depending on variation in press operation speed or press load energy. The motor is rotary driven at such a rotation command speed as reflecting both the amount of rotation command speed being increased by the speed regulator and the amount being corrected by the correction device to correct the increased amount so as to reduce maximum power consumption of the motor.

Description

Specification

Press machine, control device and control method thereof

Background of the Invention

[0001] The present invention relates to a press machine having a mechanism for converting a rotary motion into a reciprocating motion, and a control device and control method thereof.

[0002] Press machines include a hydraulic press that drives a slide by hydraulic pressure and a mechanical press that drives a slide by a mechanical mechanism.

A crank press is a type of mechanical press, and is a press that rotates a crankshaft by a motor. In such a crank press, the slide is moved up and down by the rotation of the crankshaft, and the rotational motion of the crankshaft is converted into the reciprocating motion of the slide. An upper mold is fixed to the lower surface of the slide, and when the slide is lowered, the workpiece is sandwiched between the upper mold and the lower mold placed below the slide to form the workpiece. (Press).

[0003] In addition, the mechanical press uses a mechanical press that uses a flywheel in which rotational energy is stored, and a machine that uses a servo motor that can freely adjust forward rotation, reverse rotation, and speed change without using a flyhole. There is a press.

A press machine using a flywheel transmits the rotational driving force of a motor 41 to a flywheel 47 via a pulley 43 and a transmission belt 45, for example, as shown in FIG. clutch

49 connects the flywheel 47 to the main gear 51 in the connected state, and separates the flywheel 47 from the main gear 51 in the disconnected state.

The main gear 51 is fixed to one end of the crankshaft 53, and the crankshaft 53 is

Rotating drive with 51.

One end of a connecting member 55 is connected to the eccentric part of the crankshaft 53, and a slide 57 is connected to the other end of the connecting member 55. Thereby, the rotational motion of the crankshaft 53 is converted into the reciprocating linear motion of the slide 57, and the slide 57 is moved up and down.

[0005] In this configuration, the rotational energy accumulated in the flywheel 47 is released in the rotation angle region where the workpiece of the crankshaft 53 is pressed, and is accumulated in the flywheel 47 again in the other rotation angle regions. .

[0006] In the case of a press machine using a flywheel, a flywheel and a clutch are used. Therefore, the device becomes larger by that amount.

On the other hand, in the case of a press machine using a servo motor without using a flywheel, there is an advantage that a flywheel and a clutch can be omitted.

[0007] In the case of a press machine using a servomotor and a servomotor, rotational energy cannot be stored in the flywheel, so the power supply equipment for driving the servomotor and the motor must be large. Don't be.

[0008] In consideration of this point, in Patent Document 1 below, an electric energy storage capacitor is connected to an AC power supply facility, and accumulated in the capacitor in the rotation angle region of the crankshaft that presses the workpiece. Electric energy is supplied to the servo motor.

As a result, the AC power supply equipment is miniaturized, and energy required for pressing is ensured.

[0009] However, in the case of Patent Document 1, even if the AC power supply equipment can be reduced in size, a large current is supplied to the servomotor in the rotation angle region of the crankshaft that presses the workpiece, so the servomotor is driven directly. The driving circuit to be increased in size accordingly.

On the other hand, in press machines using flywheels, it is desirable to further reduce the size of motors and motor drive circuits.

It is also desirable to reduce power consumption in press machines.

[0010] Therefore, the present applicant has already described a press machine, a control apparatus and a control method for a press machine that can reduce the size of the motor and the motor drive circuit and reduce power consumption. ).

In this unpublished Patent Document 2, the required motor torque is determined for each rotation angle of the rotating body (crankshaft, etc.) according to the characteristics of the press machine, and this required motor torque is determined from a predetermined motor torque reference value. If the rotation angle of the rotating body is smaller, the rotation command speed of the motor is increased than the constant command speed, and if the rotation angle of the rotation body is greater than the motor torque reference value, the rotation command speed of the motor is greater than the constant command speed. Has also decreased. This effectively reduces the maximum motor torque value. As a result, the motor and the motor drive circuit can be reduced in size and the power consumption can be reduced.

Patent Document 1: Japanese Patent Application Laid-Open No. 2004-344946 “Press Machine”

Patent Document 2: Japanese Patent Application 2006-105575 "Press machine, press machine control device and control Method"

[0011] In Patent Document 2, the required motor torque described above varies depending not only on the rotation angle of the rotating body but also on the fluctuation of the press operation speed or the press load energy.

The press operating speed corresponds to the speed of the reciprocating motion of the slide force. For example, the press load energy can be expressed by the average rotational speed of the motor 41 over the period in which the slide reciprocates for the press. This corresponds to the amount of work performed by the press machine or the energy consumed by the press machine during this period, and is determined by, for example, the type of press mold and the cushion set pressure.

[0012] As described above, when the press operation speed or the press load energy fluctuates, it is very laborious to obtain the necessary motor torque in advance for each value of the press operation speed or the press load energy. .

Summary of invention

[0013] Therefore, an object of the present invention is to improve the invention of Patent Document 2 and, when the press operation speed or the press load energy fluctuates, the required motor torque for each value of the press operation speed or the press load energy. This makes it possible to save the labor required in advance and to enable optimum control even when the press operation speed or press load energy fluctuates, and to reduce the motor power under a wide range of operation conditions.

[0014] In order to achieve the above object, according to the present invention, a motor, a rotating mechanism that is rotationally driven by the motor, a converting mechanism that converts the rotating motion into a reciprocating motion, and the converting mechanism are connected. A reciprocating slide, and when the motor is rotated at a constant command speed, the required motor torque varies according to the rotation angle of the rotating body. An angle detection device for detecting the torque, a torque determination device for determining a required motor torque in accordance with the characteristics of the press machine based on the value of the rotation angle to which the force is also input, and the required motor torque is predetermined. A speed adjusting device for increasing a rotation command speed of the motor to be higher than the constant command speed at a rotation angle of the rotating body smaller than a motor torque reference value, and The amount of degree adjusting device increases the pre-Symbol rotation command speed, varying the press operation speed or press load energy A correction device that corrects the motor according to the movement, and the maximum amount of power consumption of the motor is determined by both the amount by which the speed adjustment device increases the rotation command speed and the amount by which the correction device corrects the increase amount. There is provided a control device for a press machine, wherein the motor is driven to rotate at a rotation command speed reflected so as to be reduced.

[0015] In the control device for the press machine, similarly to Patent Document 2, the speed adjustment device causes the motor rotation at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value. The command speed is increased from the constant command speed, and in addition to this, the correction device corrects the increased amount according to the change in the press operation speed or the press load energy. Furthermore, the motor is operated at a rotation command speed that reflects both the amount by which the speed adjustment device increases the rotation command speed and the amount by which the correction device corrects the increase command so as to reduce the maximum power consumption of the motor. Rotation drive.

Therefore, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the required motor torque in advance for each value of the press operation speed or the press load energy, and the press operation speed or the press load energy is reduced. Even if it fluctuates, optimal control is possible, and motor power can be reduced over a wide range of operating conditions.

[0016] In order to achieve the above object, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, converts the rotational motion into a reciprocating motion, and the conversion mechanism includes: A control device for a press machine, wherein a required motor torque varies according to a rotation angle of the rotating body when the motor is rotated at a constant command speed. An angle detection device that detects the rotation angle of the machine, a torque determination device that determines a required motor torque according to the characteristics of the press machine based on the value of the rotation angle input from the angle detection device, and the required motor torque A speed adjusting device that reduces the rotation command speed of the motor below the constant command speed at a rotation angle of the rotating body that is greater than a predetermined motor torque reference value; A correction device that corrects the amount by which the speed adjustment device decreases the rotation command speed in accordance with a change in press operation speed or press load energy, and the amount by which the speed adjustment device decreases the rotation command speed; The motor rotates the motor at a rotation command speed that reflects both the amount of correction by the correction device to reduce the maximum power consumption of the motor. There is provided a control device for a press machine, characterized by being driven by rolling.

[0017] In the control device for the press machine, similarly to Patent Document 2, the speed adjustment device causes the motor rotation at the rotation angle of the rotating body where the necessary motor torque is larger than a predetermined motor torque reference value. Force to reduce command speed below constant command speed In addition to this, corrector force This amount of reduction is corrected according to changes in press operation speed or press load energy. Furthermore, the rotation command speed reflecting both the amount by which the speed adjustment device decreases the rotation command speed and the amount by which the correction device corrects the decrease by the rotation command speed to reduce the maximum power consumption of the motor. Is driven to rotate.

[0018] In order to achieve the above object, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, converts the rotational motion into a reciprocating motion, and the conversion mechanism includes: A control device for a press machine, wherein a required motor torque varies according to a rotation angle of the rotating body when the motor is rotated at a constant command speed. An angle detection device that detects the rotation angle of the machine, a torque determination device that determines a required motor torque according to the characteristics of the press machine based on the value of the rotation angle input from the angle detection device, and the required motor torque At the rotation angle of the rotating body that is smaller than a predetermined motor torque reference value, the rotation command speed of the motor is increased above the constant command speed, and the required motor torque is determined in advance. A speed adjustment device that reduces a rotation command speed of the motor below the constant command speed at a rotation angle of the rotating body that is greater than a reference value of the motor torque, and further, the speed adjustment device is configured to rotate the rotation. A correction device that corrects the amount by which the command speed is increased or decreased according to a change in press operation speed or press load energy, the amount by which the speed adjustment device increases or decreases the rotation command speed, and the correction device. The motor is driven to rotate at a rotation command speed that reflects both the amount that increases or decreases the amount that increases or decreases so as to reduce the maximum power consumption of the motor. Control equipment A device is provided.

[0019] In the control device for the press machine, similarly to Patent Document 2, the speed adjustment device causes the motor rotation at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value. If the rotational speed of the rotating body is such that the command speed is increased above the constant command speed and the required motor torque is greater than the predetermined motor torque reference value, the motor rotation command speed is reduced below the constant command speed. In addition, a correction device corrects this increase or decrease in response to changes in press operating speed or press load energy. Furthermore, a rotation command that reflects both the amount by which the speed adjustment device increases or decreases the rotation command speed and the amount by which the correction device corrects the increase or decrease by reducing the maximum power consumption of the motor. The motor is driven to rotate at speed.

According to a preferred embodiment of the present invention, the correction device increases the amount by which the speed adjustment device increases or decreases the rotation command speed as the press operation speed is lower or as the press load energy is higher. Make corrections.

[0021] The smaller the press operation speed or the greater the press load energy, the greater the amplitude of the required motor torque with respect to the angle of the rotating body. Accordingly, the motor power can be effectively reduced by increasing the amount by which the rotation command speed is increased or decreased as the press operation speed is reduced or as the press load energy is increased.

[0022] According to a preferred embodiment of the present invention, the correction device has an input unit for inputting a value of a press operation speed or a press load energy.

Thus, based on the value of the press operation speed or the press load energy input from the input unit, the correction device can correct the amount by which the speed adjustment device increases or decreases the rotation command speed.

[0024] Preferably, the speed adjustment device sets the motor rotation command speed by the magnitude of a value obtained by multiplying a difference between the required motor torque and the motor torque reference value by a certain gain. Increase or decrease from the constant command speed. As described above, since the rotation command speed of the motor is increased or decreased by an amount proportional to the torque fluctuation amount, rotational energy can be given to the rotation system more efficiently. Further, the speed adjusting device can reduce the rotation command speed of the motor. The amount of increase and the amount of decrease of the motor rotation command speed may be equal in time integration value over a predetermined time. In this way, the amount by which the rotation command speed is increased and the amount by which the rotation command speed is decreased are equal to the time integration value over a predetermined time, so that the press operation time over a predetermined time is rotated at a constant command speed. It is possible to match the press operation time over a predetermined time, and it is not necessary to reduce the press production speed.

[0025] According to a preferred embodiment of the present invention, the control device further includes a measurement calculation device for determining the press load energy, and the measurement calculation device is a kinetic energy force of a press movement mechanism driven by the motor. A first measurement unit that measures an amount of change in one reciprocation period of the slide, a second measurement unit that measures an energy value given to the press motion mechanism by the motor in the one reciprocation period, and a first measurement unit, A calculating unit that calculates the press load energy based on the amount of change of the kinetic energy and the energy value measured by the second measuring unit. A press load energy is used to correct the amount by which the rotation command speed is increased or decreased.

[0026] The sum S of the amount of change in the kinetic energy of the press movement mechanism during one reciprocation period of the slide (the amount of decrease) and the energy value given to the press movement mechanism by the motor, the press load energy, Become. Therefore, the force S for calculating the press load energy is calculated based on the amount of change in kinetic energy measured by the first measuring unit and the energy value measured by the second measuring unit.

[0027] According to the present invention, there is provided a press machine having the control device described above.

[0028] Further, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotational motion into a reciprocating motion, and a slide that is connected to the converting mechanism and reciprocates. And a method for controlling a press machine in which the required motor torque varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, the method comprising: detecting the rotation angle of the rotating body; And a press machine based on the detected rotation angle value. Determining the required motor torque in accordance with the characteristics of the motor, and at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value, the rotation command speed of the motor is set to the constant command. The step of increasing the rotation command speed and the amount by which the rotation command speed is increased are corrected according to the change in the press operation speed or press load energy, and the amount by which the rotation command speed is increased. And a step of rotationally driving the motor at a rotation command speed reflecting both the amount for correcting the amount and reducing the maximum power consumption of the motor. A method is provided.

[0029] This control method can also achieve the above object in the same manner as the control device for the press machine described above.

Yes

[0030] In this control method, the necessary motor torque may be determined based on the motor torque of the variable element due to the reciprocating motion of the slide and the motor torque of the variable element due to the rotational motion of the rotating body. As a result, the motor rotation speed can be controlled in consideration of the motor torque of the variable element due to the reciprocating motion of the slide and the rotating motion of the rotating body.

[0031] Further, according to the present invention, a motor, a rotating mechanism that is driven to rotate by the motor, a conversion mechanism that converts this rotational motion into a reciprocating motion, and a slide that is connected to the converting mechanism and reciprocates. And a control method for a press machine in which the required motor torque varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed. A step of creating a relationship between a required motor torque value corresponding to the characteristics of the press machine and a rotation angle value of the crankshaft, which is obtained from the supplied current, a step of detecting the rotation angle of the rotating body, Based on the detected rotation angle value and the relationship, a step of determining a required motor torque corresponding to the rotation angle value and the required motor torque is smaller than a predetermined motor torque reference value. The rotation angle of the rotating body becomes a step in which the rotation command speed of the motor is increased from the constant command speed, and the amount by which the rotation command speed is increased depends on the change in the press operation speed or the press load energy. The correction command, the amount by which the rotation command speed is increased, and the amount by which the increase command is corrected are reflected at the rotation command speed reflecting the maximum power consumption of the motor. And a step of rotating the press. A method of controlling the machine is provided.

[0032] This control method can also achieve the above-mentioned object, similarly to the control device for the press machine described above.

[0033] In this control method, the necessary motor torque can be determined simply by applying the detected rotation angle to the relationship obtained by the trial operation. In this case, even if the press operation speed or the press load energy fluctuates, the correction is performed by the correction device, so that it is not necessary to perform a trial run again to determine the necessary motor torque. For example, a press machine often operates at a low speed at the start of operation, and gradually increases the speed while checking the production quality of the panel. The correction device can cope with fluctuations in the press operation speed while continuing the press operation without performing the test operation again.

[0034] According to the present invention described above, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy. Even when the press operation speed or press load energy fluctuates, optimal control becomes possible, and motor power can be reduced under a wide range of operating conditions.

Brief Description of Drawings

FIG. 1 is a diagram showing a configuration of a conventional press machine using a flywheel.

FIG. 2 is a diagram showing a configuration of a press machine according to the first embodiment of the present invention.

FIG. 3 is a diagram showing crankshaft rotation angle, command speed value, and required motor torque fluctuation with respect to time when the motor is rotated at a constant speed.

FIG. 4 is a diagram showing a flow of processing of a calculation unit according to the first embodiment of the present invention.

FIG. 5 is a graph showing fluctuations in necessary motor torque over one cycle of crankshaft rotation.

FIG. 6 is a diagram showing the rotation angle of the crankshaft and the adjusted command speed value and torque fluctuation when the speed is adjusted.

[Fig. 7] Shows correction gains for two variables: press operation speed and press load energy.

FIG. 8 is a diagram showing a configuration example for measuring press load energy. FIG. 9 is a diagram showing a configuration of a press machine according to a second embodiment of the present invention.

FIG. 10 is a diagram showing a flow of processing of a calculation unit according to the second embodiment of the present invention.

FIG. 11 is a diagram showing a configuration of a press machine according to a third embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the duplicate description is abbreviate | omitted.

[0037] [First embodiment]

2 to 7 show a first embodiment of the present invention. In the calculation unit 26 of the first embodiment, the portion for calculating the necessary motor torque based on the input rotation angle of the crankshaft 7 constitutes the “torque determination device” of the present invention. Further, in the calculation unit 26 and the command adjustment unit 19 of the first embodiment, the portion for calculating the adjusted command speed straight based on the calculated required motor torque is the “speed adjustment device” of the present invention. Constitute. Furthermore, the “correction device” of the present invention includes a correction unit 27a and a correction unit 27b.

FIG. 2 is a diagram showing a configuration of the press machine 10 of the present invention. As shown in FIG. 2, the press machine 10 includes a motor 1, a pulley 3 and a transmission belt 5 that are rotated by the rotational driving force of the motor 1, and a driving force of the motor 1 is transmitted via the pulley 3 and the transmission belt 5. The rotating flywheel 6 and the crankshaft 7 to which the rotational driving force is transmitted from the flywheel 6 are connected to the flywheel 6 and the crankshaft 7 in the ON state (connected state), and the crankshaft is in the OFF state (disconnected state). The clutch 9 that separates 7 from the flywheel 6, the slide 11 that moves up and down as the crankshaft 7 rotates, and one end connected to the eccentric part of the crankshaft 7 and the other end connected to the slide 11 And a connecting member 12 that moves up and down.

An upper mold for pressing is fixed to the lower surface of the slide 11, and when the slide 11 is lowered, the workpiece is pressed between the upper mold and the lower mold provided below the slide 11. You

In addition, the press machine 10 incorporates a speed control device 15 that controls the rotational speed of the motor 1. The speed control device 15 includes, for example, a speed command unit 17 that outputs a rotation command speed value of the motor 1 (hereinafter referred to as a command speed value) according to a press condition of the workpiece input from the outside, and a speed command unit The command speed value from 17 is received via the command adjuster 19, A motor drive unit 21 (for example, a drive circuit) for supplying a current corresponding to the motor 1 to the motor 1; In the example of FIG. 2, the command speed value from the speed command unit 17 is input to the command adjustment unit 19 via the limiter 18a.

First, a case where a constant command speed value is directly input from the speed command unit 17 to the motor drive unit 21 without passing through the command adjustment unit 19 will be described.

In this case, the motor drive unit 21 supplies current to the motor 1 based on the input command speed value.

Furthermore, the motor drive unit 21 receives a detection value from an angular speed sensor 23 such as a tachometer that detects the rotation speed of the motor 1, determines whether the detected rotation speed of the motor 1 is the command speed value, and the speed is different. If so, adjust the current to motor 1. As a result, the detected rotational speed of the motor 1 is controlled to be a constant command speed value.

FIG. 3 is a graph showing the required torque fluctuation of the motor 1 when the press machine 10 is operated with the motor 1 rotated at a constant command speed (ie, constant speed) as described above. In the present specification and claims, the required motor torque refers to the required torque of the motor 1 determined by the characteristics of the press machine, the workpiece to be pressed, the desired constant rotational speed of the crankshaft 7, and the like.

In FIG. 3A, the horizontal axis indicates time, and the vertical axis indicates the rotation angle of the crankshaft 7. Since the rotation angle of the crankshaft 7 is displaced from 0 to 360 degrees every press cycle, the same waveform is repeated every press cycle in FIG. 3 (A).

In FIG. 3 (B), the horizontal axis represents time, and the vertical axis represents the commanded speed value output by the speed command unit 17. In this example, the command speed value is constant.

FIG. 3C shows the required torque fluctuation of the motor 1 when the press machine 10 is operated with the motor 1 rotated at a constant command speed. As shown in this figure, when the crankshaft 7 is rotated by the motor 1 at the constant command speed shown in Fig. 3 (B), the required torque of the motor 1 is increased according to time by various mechanical elements coupled to the crankshaft 7. Fluctuates. That is, the required motor torque of the press machine varies according to the rotation angle of the crankshaft 7.

[0042] As shown in FIG. 2, the press machine 10 according to the first embodiment includes an angle sensor such as a rotary encoder that detects the rotation angle of the main gear 29 coupled to one end of the crankshaft 7. S 25 is further provided.

As shown in FIG. 3 (B), the speed control device 15 is a motor that has a required torque force S when the motor 1 is rotated at a constant command speed, and is smaller than the motor torque reference value shown in FIG. 3 (C). At the rotation angle of the link shaft 7, the rotation command speed of the motor 1 is controlled to be higher than the constant command speed in Fig. 3 (B). As a result, rotational energy can be efficiently applied to the rotating system, so that the maximum motor torque value can be effectively reduced. Therefore, since the maximum motor torque value can be reduced, the electric capacities of the motor 1 and the motor drive unit 21 can be reduced, and the motor 1 and the motor drive unit 21 can be reduced in size. In addition, since rotational energy can be efficiently applied to the rotating system, power consumption can be reduced.

In this specification and claims, the motor torque reference value is, for example, the average value over one cycle of the fluctuating required motor torque indicated by the solid line in FIG. 3 (C) or the average value over a predetermined time of the required motor torque. However, the present invention is not limited to this, and is larger than the minimum value of the required motor torque indicated by the solid line in FIG. 3 (C) and smaller than the maximum value of the required motor torque shown by the solid line in FIG. 3 (C). ! / Is a constant value.

[0043] Further, the speed control device 15 is required when the motor 1 is rotated at the constant command speed. At the rotation angle of the crankshaft 7 at which the motor torque is larger than the motor torque reference value, the speed control device 15 The rotation command speed is decreased from the constant command speed. As a result, the maximum motor norekuy can be further reduced.

Hereinafter, the press machine 10 that performs such control will be described in detail.

As shown in FIG. 2, the speed control device 15 of the press machine 10 according to the first embodiment includes a calculation unit 26 that outputs a speed adjustment value of the motor 1 according to an output value from the angle sensor 25, and a calculation. And a command adjusting unit 19 that increases or decreases the command speed value input from the speed command unit 17 by the amount of the speed adjustment value input from the unit 26. The command adjusting unit 19 outputs the command speed value thus increased / decreased to the motor driving unit 21. In the example of FIG. 2, the speed adjustment value from the calculation unit 26 is input to the command adjustment unit 19 via the limiter 18b.

[0045] The speed control device 15 further includes a correction device described later. The correction device includes a correction unit 27a (see FIG. 2) and a correction unit 27b.

In the following, for the sake of convenience, first, a case where the correction device is not used will be described. The case where the correction device is incorporated in the speed control device 15 will be described later.

[0046] The angle sensor 25 detects the rotation angle of the main gear 29 coupled to the crankshaft 7, thereby detecting the rotation angle of the crankshaft 7 and continuously outputting the detected value.

The calculation unit 26 functions as a speed adjustment function that calculates a speed adjustment value for increasing or decreasing the rotation command speed of the motor 1 in accordance with the input rotation angle value of the crankshaft 7.

FIG. 4 is a diagram showing a flow from the input to the speed adjustment function to the output in the calculation unit 26.

When the value of the rotation angle is input from the angle sensor 25 to the calculation unit 26, that is, the speed adjustment function, first, based on this input, the necessary motor torque of the variable element due to the reciprocating motion of the slide and the rotational motion of the crankshaft The required motor torque of the variable element is calculated.

[0048] 1. Calculation of required motor torque of variable element due to reciprocating motion of slide

When the value of the rotation angle is input to calculate the required motor torque of the variable element due to the reciprocating motion of the slide (indicated by S1 in Fig. 4), the rotation angle is converted to the position of the slide 11 in S11.

Based on the information on the slide position, the necessary motor torque of the variable element due to the reciprocating motion of the slide is calculated.

This torque calculation is performed for the following variable elements (1) to (6) shown in S12.

[0049] (1) Slide friction

Obtained as the product of the slide friction coefficient and the slide speed. In this case, since the slide speed changes according to the rotation angle of the crankshaft, the frictional force of the slide also changes according to the rotation angle of the crankshaft.

(2) Slide inertia

Obtained as the product of slide weight and slide acceleration. In this case, since the acceleration of the slide changes according to the rotation angle of the crankshaft, the inertia of the slide also changes according to the rotation angle of the crankshaft.

(3) Cushion

Only while the die cushion is operating during pressing, the force acting on the die cushion force S-slide is determined from the set cushion force. Also in this case, die cushion force S slide The force used varies according to the rotation angle of the crankshaft.

(4) Pressing force

The press is modeled as a spring, and only when this panel is contracted (that is, only when the upper and lower molds are in contact), the generated press force is calculated as the product of the panel constant and the amount of contraction. The Also in this case, the press pressure changes according to the rotation angle of the crankshaft.

(5) Counter balancer

A counter balancer that urges slide 11 upward or downward to press machine 10 in order to balance the weight of slide 11 and the force acting on slide 11 due to the weight of the machine element connected to slide 11! May be provided.

The counter balancer is constituted by a pneumatic cylinder or the like, and the magnitude of the force that the counter balancer acts on the slide 11 varies depending on the position of the slide 11, that is, the rotation angle of the crankshaft 7.

(6) Other elements

In addition to the above, if there are other factors that exert a force on the reciprocating slide 11, this is also taken into consideration.

[0050] For the above (1) to (6), each force acting on the slide 11 is obtained in advance as a function of the rotation angle of the crankshaft.

[0051] With respect to the above (1) to (6), when the linear force acting on the slide 11 according to the input rotation angle is obtained, as shown in FIG. Add power. Subsequently, the linear force added in S14 is converted into the required torque of the motor. In FIG. 4, the correction gains indicated by symbols a to f are multiplied by the outputs from (1) to (6). These correction gains are generated by the correction unit 27b and will be described later.

[0052] 2. Calculation of required motor torque of variable factors due to rotational movement of crankshaft

On the other hand, calculation of the required motor torque of the variable element due to the rotational movement of the crankshaft (indicated by S2 in Fig. 4) is also performed. In this calculation, the required motor torque generated by converting the rotary motion into the reciprocating motion of the slide is obtained as a function of the rotation angle of the crankshaft. In the case of this embodiment, the required motor torque generated by the eccentricity of the crankshaft is obtained as a function of the crankshaft rotation angle. This necessary motor torque is also obtained in advance as a function of the rotation angle of the crankshaft, and the value of the necessary motor torque is calculated according to the rotation angle input by this function.

[0053] Thus, when the necessary motor torque of the variable element due to the reciprocating motion of the slide 11 and the required motor torque of the variable element due to the rotational motion of the crankshaft are calculated according to the input rotation angle, As shown in 4, adder S15 adds these to calculate the required motor torque.

Fig. 5 (A) shows an example of this required motor torque. In this figure, the horizontal axis indicates the rotation angle of the crankshaft, and the vertical axis indicates the torque fluctuation ratio without having a unit.

Yes

[0054] Subsequently, in the subtractor S16, the required motor torque that is the sum of the required motor torque of the variable element due to the reciprocating motion of the slide 11 and the required motor torque of the variable element due to the rotational motion of the crankshaft, and the motor torque reference The difference from the value is calculated as a torque fluctuation value.

FIG. 5 (B) shows the torque fluctuation value thus extracted. In this figure, the horizontal axis represents the rotation angle of the crankshaft, and the vertical axis represents the torque fluctuation ratio without having a unit.

[0055] Preferably, the value obtained by integrating the necessary motor torque expressed by the function shown in FIG. 5A with the rotation angle over one cycle (0 to 360 degrees) of the rotation angle of the crankshaft 7 becomes zero. Thus, the position of the horizontal axis (that is, the motor torque reference value) is determined as shown in Fig. 5 (B). Therefore, in this case, the position of the horizontal axis is determined so that the average value of the necessary motor torque over one rotation of the crankshaft 7 becomes zero.

Next, the torque fluctuation value, which is the difference between the necessary motor torque and the motor torque reference value, is multiplied by a constant gain (magnification), and this is output as a speed adjustment value.

As shown in FIG. 4, when the rotation angle of the crankshaft 7 is input to the calculation unit 26 in accordance with the above-described procedure, the speed adjustment value is output from the calculation unit 26.

[0058] As described above, in the present invention, the required motor torque corresponding to the characteristics of the press machine 10 is calculated, and the speed adjustment value is calculated according to the required motor torque.

In the present embodiment, when the motor 1 is rotated at the constant command speed, the required motor torque becomes smaller than the motor torque reference value at the rotation angle of the crankshaft 7, and the motor 1 The speed adjustment value is calculated so that the rotation command speed is increased from the constant command speed. Also, when the motor 1 is rotated at the constant command speed, the required motor torque becomes larger than the motor torque reference value. At the rotation angle of the crankshaft 7, the speed adjustment value is calculated so that the rotation command speed of the motor 1 is reduced below the above-mentioned constant command speed.

In the example of FIG. 4, when the rotation angle of the crankshaft 7 is input, the magnitude of the value obtained by multiplying the torque fluctuation value at the input rotation angle shown in FIG. The speed adjustment function of the calculation unit 26 is created so that the speed adjustment value is output. Note that when the motor 1 is rotated at the constant command speed, the output value of the speed adjustment function with respect to the rotation angle at which the required motor torque becomes smaller than the motor torque reference value is positive. On the other hand, when the motor 1 is rotated at the constant command speed, the required motor torque becomes larger than the motor torque reference value. The output value of the speed adjustment function with respect to the rotation angle is negative. In addition, by setting the gain to a constant positive value, the speed adjustment function at the rotation angle becomes smaller as the required motor torque shown in FIG. 3 (C) or FIG. 5 is smaller or larger than the motor torque reference value. The absolute value of the output value of becomes larger.

The above-described speed adjustment function is composed of, for example, a force S formed by an electronic circuit incorporated in the calculation unit 26.

[0060] When the rotation angle of the crankshaft 7 detected by the angle sensor 25 is input, the calculation unit 26 functioning as a speed adjustment function applies the rotation angle to the speed adjustment function and responds to the rotation angle. Calculate the speed adjustment value. The speed adjustment value calculated by the calculation unit 26 is output to the command adjustment unit 19.

The command adjustment unit 19 outputs a command speed value that is increased or decreased by adding the speed adjustment value from the calculation unit 26 to the constant command speed value from the speed command unit 17.

This command speed value is input to the motor drive unit 21, and the motor drive unit 21 adjusts the current supplied to the motor 1 so that the rotation speed of the motor 1 becomes the input command speed value. This adjustment can be performed using the speed sensor 23 as described above.

[0062] By the above control, the rotation command speed of the motor 1 is increased at the rotation angle of the crankshaft 7 where the required motor torque is smaller than the motor torque reference value in FIG. At the rotation angle of the crankshaft 7 where the required motor torque is larger than the motor torque reference value, the rotation command speed of the motor 1 is reduced.

Fig. 6 (B) shows the change over time of the command speed value adjusted in this way. FIG. 6C shows the motor torque fluctuation in this case. The broken line in Fig. 6 (B) shows the constant command speed value in Fig. 3 (B) for comparison, and the broken line in Fig. 6 (C) shows the necessary motor in Fig. 3 (C) for comparison. Torque fluctuation is shown. FIG. 6 (A) shows the time change of the rotation angle of the crankshaft 7 corresponding to FIG. 3 (A).

By adjusting the speed as shown in Fig. 6 (B), it is possible to efficiently apply rotational energy to the rotating system S, and as shown in Fig. 6 (C), the maximum motor torque value can be reduced and the motor torque can be reduced. The fluctuations of can also be reduced.

Thus, since the maximum motor torque value can be reduced, the electric capacities of the motor and the motor drive unit can be reduced, and the motor and the motor drive unit can be reduced in size.

In addition, since rotational energy can be efficiently applied to the rotating system, power consumption can be reduced.

[0063] Preferably, the amount by which the motor rotation command speed is increased from the constant command speed and the amount by which the motor rotation command speed is decreased from the constant command speed by the speed adjustment function are the crankshaft 7 The time integral over one period (0 to 360 degrees) of the rotation angle is equal. Therefore, the amount of increase in rotation command speed is the same as the amount of decrease in time integration value over one rotation angle period, so the press operation time over one rotation angle period is the same as rotating the motor at a constant command speed. In this case, it is possible to match the press operation time over one cycle of the rotation angle, and it is not necessary to reduce the press production speed.

In the first embodiment, a correction device having a correction unit 27a and a correction unit 27b is further incorporated in the speed control device 15. In the following, after describing the correction unit 27a, the correction unit 27b will be described.

The correction unit 27a performs correction to increase the absolute value of the speed adjustment value output from the calculation unit 26 as the press operation speed decreases or the press load energy increases. As a result, when the press operation speed or press load energy fluctuates, the required motor torque is calculated in advance for each value of the press operation speed or press load energy. In addition to saving power, optimal control is possible even when the press operating speed or press load energy fluctuates, and motor power can be reduced over a wide range of operating conditions. In FIG. 2, the force correction unit 27a and the calculation unit 26 in which the correction unit 27a and the calculation unit 26 are separate blocks may be integrated into one block.

[0066] The correction unit 27a will be described in detail.

[0067] Correction gains for various values of press operation speed or press load energy are set in the correction unit 27a.

[0068] This correction gain is determined with respect to the press operation speed or the press load energy as shown in FIG.

In FIG. 7, the origin corresponds to the press operation speed and the press load energy when the calculation unit 26 is set. That is, in FIG. 7, the press operation speed and the press load energy indicate values relative to the press operation speed and the press load energy when the calculation unit 26 is set!

[0069] As shown in FIG. 7, the correction gain is determined so that the value increases when the press operation speed decreases and when the press load energy increases.

In this way, the gain table is set in the correction unit 27a as a function that outputs the correction gain for the two-dimensional variables of the press operation speed and the press load energy.

[0070] Press operation speed or press load energy fluctuates by correcting the speed adjustment value by multiplying the speed adjustment value output from the calculation unit 26 based on the rotation angle of the crankshaft 7 by the correction gain shown in FIG. In this case, the motor torque fluctuation can be kept small, and the power consumption of the motor can be kept low.

Also, press machines often operate at a low speed at the start of operation, and gradually increase the speed while checking the production quality of the panel. Part 27a can keep the power consumption of the press equipment low.

[0071] The load energy E of the press largely depends on the mold and the cushion set pressure. Basically, the force that needs to be set for each mold can be determined as follows.

[0072] (1) Approximate from cushion setting When the cushion force F [N] is obtained from the set pressure of the cushion, and the cushion push-in amount is L [m], the work W performed by the press on the cushion is obtained by equation (1).

W [J] = F X L… hi)

Assuming that W is approximately equal to press 2 load energy E, equation (2) is treated as an approximate value.

丄

E = W (2)

[0073] (2) Measured by one-cycle operation during die try

Die trie is a test operation after installing the press machine or after changing the mold. By die try, the workpiece (panel) and workpiece (die) are mainly put in and trial molding is performed, and the press machine is finely adjusted while the operator determines the moldability. The press load energy can be obtained by performing one cycle operation during such a die try. Specifically, during die trip, the kinetic energy of the press motion mechanism driven by the motor 1 changes during one reciprocation period of the slide (the amount of decrease), and the motor 1 moves during one reciprocation period of the slide. The sum of energy values given to the press motion mechanism is obtained as press load energy. In the example of Fig. 2, the press movement mechanism is as follows: (in the order in which the driving force is transmitted from the motor 1), the pulley 3, the transmission benore 5, the fly hoist 6, the gear, the main gear 29, the crank wheel 7, Includes 12 years old and 11 slides.

[0074] One example will be specifically described. The press load energy is obtained by measuring the motor speed and motor torque at the time of die-try before continuous production. Here, the press load energy is obtained by approximating the press motion mechanism as a flywheel.

[0075] From the time the clutch is engaged at the top dead center of the slide, run for one cycle, the motor speed n [rad / s] and the motor from the slide to the bottom dead center until the next top dead center Torque τ [Nm] is measured in time series. The motor speed immediately after engaging the clutch is n, the motor speed immediately before reaching the next top dead center (disengaging the clutch) is n, and the motor shaft equivalent flywheel 6

f

If Nasha is I, the press load energy E can be calculated by the following equation 1].

[0076] [Equation 1]

E =

[0077] However, the integration interval [t, t] is the time from immediately after the clutch is connected to just before the clutch is disconnected.

In the above equation, the first term is the difference between the kinetic energy of the flywheel 6 immediately after the start of operation and the kinetic energy of the flywheel 6 immediately after the end of operation, and the second term is the flywheel during one cycle of the motor. The energy supplied to 6. In other words, the amount of decrease in kinetic energy at the end of one cycle and the total amount of energy supplied are the press load energy consumed in one cycle.

To exclude the effect of energy loss when the clutch is engaged, t is 0 after the clutch is engaged.

It is necessary to start measurement after about 5 seconds.

In addition, in inertia 1], inertia I that considers the entire force press motion mechanism that approximates inertia I of flywheel 6 may be inertia 1 of woman 1]. For example, the inertia that takes into account the pulley 3, the transmission belt 5, the flywheel 6, the gear, the main gear 29, the crankshaft 7, the connecting member 12, and the slide 11 included in the press motion mechanism is the female 1] inertia. I may also be used.

The speed control device 15 includes a measurement calculation device that obtains press load energy by performing one-cycle operation during die try. As shown in FIG. 8, the measurement / calculation device 30 includes a first measurement unit 31 that measures the amount of change in one reciprocation period of the kinetic energy slide 11 of the press movement mechanism of the press machine 10, and one reciprocation period. The second measuring unit 32 that measures the energy value given to the press movement mechanism by the motor 1 and the amount of change in the kinetic energy measured by the first measuring unit 31 and the second measuring unit 32 A calculating unit 33 for calculating press load energy based on the energy value.

[0079] The first measurement unit 31 includes an angular velocity sensor 23, data latches 31a and 31b, and a calculator 31c. The data latch 31a operates when receiving a clutch connection command signal output from the clutch control unit, receives the speed value n from the angular velocity sensor 23, and outputs the speed value n. In order to obtain a stable speed value n, the data latch 31a may be configured to operate immediately after the connection of the clutch 9 is completed after receiving the clutch connection command signal. The data latch 31b is activated when an inverter receives a clutch disengagement command signal (this signal force indicates the end of one reciprocating motion of the slide 1 1) from the clutch control unit via the inverter. Upon receiving the speed value n from the sensor 23, the speed value n is output.

f f

In order to obtain a stable speed value n, the data latch 31b has the clutch 9 disengaged.

f

It receives the speed value n from the angular velocity sensor 23 just before it is started and outputs this speed value n as an output.

f f

The speed value n received from the angular velocity sensor 23 and stored immediately before receiving the clutch disengagement command signal may be output so that the clutch disengagement command signal is received. The arithmetic unit 31c receives the speed from the data latches 31a and 31b.

f

Take the degree value n and the speed value n, square them, and subtract n ² from n ² to get the inertia I sfsf

Multiply by 1/2 to output the value of the first item of Woman 1].

The second measuring unit 32 includes a torque detector (not shown) incorporated in the motor driving unit 21, an angular velocity sensor 23, a multiplier 32a, and an integrator 32b. The torque detector measures and outputs the torque value τ of the motor 1. The angular velocity sensor 23 measures and outputs the velocity value η. The multiplier 32a receives the torque value τ from the torque detector and the speed value η from the angular velocity sensor 23, multiplies them, and outputs a value η · τ. The integrator 32b receives the value η · τ from the multiplier 32a, calculates the value of the second item of the woman 1] based on the input value η · τ, and outputs it. The calculation unit 33 adds the value input from the calculator 31c and the value input from the integrator 32b, and outputs the value of the above-mentioned woman 1] as the press load energy value.

Further, as described above, the value of the correction gain by the correction unit 27a is determined by the press speed and the press load energy, which are input values to the correction unit 27a.

The press operation speed and press load energy shown in FIG. 7 may be input to the correction unit 27a automatically or by an operator.

In the case of automatic input, the rotation speed value from the angular velocity sensor 23 or the command adjustment unit 19 is averaged over one reciprocating movement period of the slide, and this average value is input to the correction unit 27a as the press operating speed. A calculation unit may be provided. In this case, the input unit force correction unit 27a that receives the average value from the average value calculation unit may be provided. Further, the output of the press load energy measuring device described above may be input to the correction unit 27a. In this case, it may be provided in the input unit force correcting unit 27a that receives the press load energy output from the measuring device of FIG. In this way, the press operation speed and the press load energy may be automatically input to the correction unit 27a. It should be noted that the input unit that receives the press operation speed or the press load energy calculated or measured by other appropriate means is used as another appropriate method. You may comprise in steps.

In the case of input by the operator, the press operation speed and the press load energy may be input to the correction unit 27a by the operator operating a predetermined operation button. In this case, this operation button is another appropriate force that constitutes the input unit to the correction unit 27a, and is an input that inputs the press operation speed or the press load energy to the correction unit 27a when operated by the operator. You can configure the part.

On the other hand, as indicated by reference symbols a to f in FIG. 4, the correction unit 27b includes a gain multiplication unit that multiplies the linear force value output from “(1) sliding friction” by a correction gain, (2) A gain multiplier that multiplies the linear force value output from “sliding inertia” by the correction gain, and a gain multiplier that multiplies the linear force value output from “(3) Cushion” by the correction gain. Section, a gain multiplier that multiplies the linear force value output from the “(4) press pressurizing” force by the correction gain, and a linear force value output from the “(5) counter balancer”. A gain multiplier that multiplies the correction gain, and a gain multiplier that multiplies the linear force value output from “(6) Other elements” by the correction gain.

The correction gains by these gain multipliers can be set independently of each other. The method of setting the correction gain of each gain multiplication unit may be the same as the correction gain of the correction unit 27a. That is, from the values of the press operation speed and the press load energy when the calculation unit 26 is set, each gain multiplication unit is set so that the press load energy becomes larger as the press operation speed becomes smaller. Determine the correction gain. Each gain multiplication unit is provided with an input unit for inputting a press operation speed and press load energy. This input unit may have the same configuration as the input unit of the correction unit 27a.

By providing the correction unit 27b, it is possible to set the correction gain for each of the variable elements (1) to (6) in FIG. 4, so that it is possible to achieve a more optimal reduction in power consumption.

[0082] [Second Embodiment]

FIG. 9 shows a second embodiment of the present invention. In the calculation unit 26 of the second embodiment, the portion for calculating the necessary motor torque based on the input rotation angle of the crankshaft 7 constitutes the “torque determination device” of the present invention. Further, in the calculation unit 26 and the command adjustment unit 19 of the second embodiment, the adjusted command speed value is calculated based on the calculated required motor torque. The part which comprises comprises the "speed control apparatus" of this invention.

FIG. 9 is a configuration diagram of a press machine 10 ′ according to the second embodiment of the present invention. The press machine 10 ′ of the second embodiment is configured such that the value of the command torque is input from the motor drive unit 21 to the calculation unit 26, and the configuration of the calculation unit 26 is different from that of the first embodiment. . The other configuration of the press machine 10 ′ of the second embodiment is the same as that of the first embodiment.

Similarly to the above, the motor drive unit 21 receives the command speed value directly from the speed command unit 17 or via the command adjustment unit 19, and supplies a current having a value corresponding to the command speed value to the motor 1. At this time, the value of the actual speed of the motor 1 is input from the speed sensor 23 to the motor drive unit 21, and in response to this, the actual speed of the motor 1 is set to the commanded speed value. The current value is feedback controlled.

FIG. 10 shows a configuration of the calculation unit 26 according to the second embodiment.

According to the second embodiment, a constant command speed value is input to the motor drive unit 21 from the speed command unit 17 without going through the command adjustment unit 19, and the press machine 10 ′ is tested. In this trial run, the workpiece is actually pressed. The test run may be carried out over one or several cycles at the beginning of the press production operation.

At the time of this trial operation, a command torque value is input from the motor drive unit 21 to the calculation unit 26, and a rotation angle of the crankshaft 7 is input from the angle sensor 25.

The command torque value input from the motor drive unit 21 to the calculation unit 26 is a necessary motor torque value according to the current value supplied to the motor 1 by the motor drive unit 21, and is a value proportional to this current value. Therefore, it is calculated from the value of the current supplied to the motor 1.

By trial operation of the press machine 10 ', the relationship between the rotation angle of the crankshaft 7 and the command torque value is obtained and created as a table. Thereby, the command torque value for each rotation angle of the crankshaft 7 can be obtained by referring to the created table.

[0086] The table creation in the case of the operation method in which the press is stopped and stopped at each top dead center will be described.

In this operation method, the operation is repeated from the state where the slide 11 is stopped at the top dead center until it returns to the top dead center and stops again, and this operation is repeated. In this case, since the clutch 9 is turned on / off every cycle, the influence of the clutch 9 in each cycle is the same, and every cycle. Is equal to the command torque value.

Therefore, the relationship between the rotation angle of the crankshaft 7 and the command torque value can be obtained over an arbitrary cycle and created as a table, or the data on the above relationship obtained over several cycles can be obtained for each angle. On average, the data for one cycle may be created as a table.

[0087] Table creation in the case of an operation method in which the press is continuously operated without stopping at the top dead center will be described.

In this operation method, after starting operation, slide 11 is not continuously stopped at top dead center, but slide 11 is not stopped at top dead center every cycle. In this case, since the clutch 9 is not disengaged after the clutch 9 is engaged at the start of operation, the command torque value differs between the first period and the subsequent periods.

Therefore, data of several cycles (for example, n cycles) until the command torque value is stabilized is obtained by trial operation, and the above table representing the command torque fluctuation over these several cycles is created. The data for each period in this table is applied to the corresponding period in actual operation. The data of the last period (nth period) in this table is repeatedly applied to the period after the nth period in actual operation.

Alternatively, the press may be trial run until the command torque value stabilizes, and after the command torque value stabilizes, data for one cycle may be obtained to create a table. The data in this table, which represents the above relationship at the time of stability, may be applied repeatedly in each cycle from the start of the actual operation!

[0088] As described above, when the table is created by the trial operation of the press machine 10 ', the table is stored in the calculation unit 26, and the actual operation of the press machine 10' is performed as follows.

During operation, if the rotation angle of the crankshaft 7 is input from the angle sensor 25 to the calculation unit 26, the calculation unit 26 must apply the input rotation angle to the table to correspond to the input rotation angle. Calculate the motor torque value.

Subsequently, as in the case of the first embodiment, the calculation unit 26 calculates the difference between the required motor torque and the motor torque reference value, and then multiplies the difference by a certain gain, and performs this multiplication. The adjusted value is output as a speed adjustment value. The subsequent operation is the same as in the first embodiment. The description is omitted. In the actual operation of the press machine 10 ′, the command torque value does not have to be input from the motor drive unit 21 to the calculation unit 26.

In the second embodiment, the required motor torque can be determined simply by applying the detected rotation angle to the table obtained by the trial operation, and the motor rotation can be achieved with a simple configuration and processing. The command speed can be adjusted.

Further, in the case of the second embodiment, even if the press operation speed or the press load energy fluctuates, the correction for the fluctuation is performed by the correction unit 27 described above, so that a trial operation is performed again to obtain the necessary motor torque. No need to decide. For example, a press machine often operates at a low speed at the start of operation, and gradually increases the speed while checking the production quality of the panel. The correction unit 27 can cope with fluctuations in the press operation speed while continuing the press operation without performing the test operation again.

[0091] [Third embodiment]

FIG. 11 is a configuration diagram of a press machine 10 ′ ′ according to the third embodiment of the present invention. In the third embodiment, an integrator 34 is used instead of the angle sensor 25 of FIG. 2 described in the first embodiment or the second embodiment. The other configuration is the same as the press machine 10 of the first embodiment, and the force corresponding to the first embodiment is described in FIG. It is configured so that the command torque is input from the motor drive unit 21 to the calculation unit 26 during the test run.

As shown in FIG. 11, the adjusted command speed value from the command adjusting unit 19 is input to the integrator 34, and the integrator 34 integrates the input command speed value with time.

If the command speed value is integrated over time from the start of motor drive, the force S for obtaining the current rotation angle of motor 1 can be obtained.

The current value of the rotation angle of the motor 1 obtained by the integrator 34 in this way is input to the calculation unit 26. Similar to the first embodiment, the calculation unit 26 outputs a speed adjustment value based on the rotation angle value input from the integrator 34. Other configurations and operations are the same as those in the first embodiment.

[0094] According to the third embodiment, the angle for detecting the rotation angle of the main gear 29 as in the first embodiment. Even if the degree sensor 25 is not provided, the rotation angle of the motor 1 can be detected by integrating the command speed value with the integrator 34 over time.

Accordingly, since the angle sensor 25 can be omitted, the configuration is simplified.

[0095] [Fourth Embodiment]

In the first embodiment or the second embodiment, the calculation unit 26 outputs the speed adjustment value added to the command speed value from the speed command unit 17, but in the fourth embodiment, the calculation unit 26 The adjustment gain value (magnification) multiplied by the command speed value from the speed command section 19 is output.

The command adjustment unit 19 outputs a command speed value adjusted by multiplying the command speed value input from the speed command unit 17 by the adjustment gain input from the calculation unit 26 via the correction unit 27. .

[0097] When the adjustment gain calculated by the calculation unit 26 is multiplied by the command speed value from the speed command unit 17, the same adjustment as in the first embodiment or the second embodiment shown in FIG. It is necessary to determine that the specified command speed can be obtained.

That is, the adjustment gain calculated by the calculation unit 26 changes depending on the value of the rotation angle input to the calculation unit 26, and the value of the necessary motor torque shown in FIG. 3C at the input rotation angle.

1S The larger the value is, the smaller the reference motor torque value is, and the smaller the required motor torque value shown in Fig. 3 (C) at the input rotation angle is, the larger the value is, the smaller the value is.

[0098] [Other Embodiments]

The angle sensor 25 that detects the rotational speed of the main gear 29 described above and the integrator 34 that integrates the command speed value that is input to the motor drive unit 21 over time. The force is configured by other appropriate means. You can also. For example, the angle detection device may be constituted by an angular velocity detection device or a device that detects the position or velocity of the slide 11.

[0099] As described above, in the calculation unit 26 of the first embodiment and the second embodiment, the portion for calculating the necessary motor torque based on the input rotation angle of the crankshaft 7 constitutes a torque determination device. To do. Further, in the calculation unit 26 and the command adjustment unit 19 of the first embodiment and the second embodiment, the part for calculating the adjusted command speed value based on the calculated required motor torque Constitute.

However, the torque determination device is not limited to the configuration of the above-described embodiment, and an input rotation angle. As long as it determines the required motor torque according to the characteristics of the press machine based on the value of, it should be configured with appropriate means such as an electronic circuit so that this function can be realized.

Further, the speed adjusting device is not limited to the configuration of the above-described embodiment, and at the rotation angle of the rotating body (for example, the crankshaft 7) in which the necessary motor torque is smaller than a predetermined motor torque reference value, At the rotation angle of the rotating body where the rotation command speed is increased above the constant command speed or the required motor torque is greater than the predetermined motor torque reference value, the motor rotation command speed is set higher than the constant command speed. If it can be reduced, it may be configured by appropriate means such as an electronic circuit so that the function can be realized.

[0100] In the above embodiment, the correction unit 27a multiplies the output from the calculation unit 26 by the correction gain. However, the correction unit 27a is configured so as to obtain the same effect as the correction unit 27a of the above embodiment. The value may be changed to be added to the output from the calculation unit 26. Similarly, the configuration of the correction unit 27b is changed so that the correction value is added to the output value from (1) to ½) of FIG. 4 so that the same effect as the correction unit 27b of the above embodiment is obtained. May be. Note that the corrector 27a and the corrector 27b may be configured with one of the!

[0101] In addition, in the above, in order to match the operation time per cycle of crankshaft rotation, the motor rotation command speed is increased from the constant command speed, and the motor rotation command speed is decreased from the constant command speed. The amount to be made to be equal to the time integral value over one cycle (0 to 360 degrees) of the rotation angle of the crankshaft 7. However, the command speed value may be adjusted so that these time integrals over an appropriate predetermined time (for example, 1 minute) are equal depending on various conditions and situations.

[0102] The crankshaft 7 described above is a rotating body, and the crankshaft 7 and the connecting member 12 connected thereto constitute a conversion mechanism that converts the rotational motion of the motor 1 into the reciprocating motion of the slide 11. The conversion mechanism may be configured by a cam or other appropriate member that is rotationally driven by the motor 1.

[0103] Although the press machines 10, 10 ', 10''using the flywheel have been described in the above embodiment, the present invention is a press that is operated by a servo motor without using the flywheel. It can also be applied to machines. As described above, the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made within the scope of V and scope without departing from the gist of the present invention.

Claims

The scope of the claims

[1] A motor including a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotational movement into a reciprocating movement, and a slide that is connected to the conversion mechanism and reciprocates. When the motor is rotated at a constant command speed, the required motor torque varies according to the rotation angle of the rotating body,

An angle detection device for detecting a rotation angle of the rotating body;

A torque determination device that determines a necessary motor torque according to the characteristics of the press machine based on the value of the rotation angle input from the angle detection device;

A speed adjusting device for increasing the rotation command speed of the motor to be higher than the constant command speed at a rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value;

Further, the speed adjustment device includes a correction device that corrects an amount by which the rotation command speed is increased according to a change in press operation speed or press load energy, and the speed adjustment device increases the rotation command speed. The motor is driven to rotate at a rotation command speed reflecting both the amount and the amount that the correction device corrects the increase amount so as to reduce the maximum power consumption of the motor. Control device for press machine.

[2] A motor, including a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotational movement into a reciprocating movement, and a slide that is connected to the conversion mechanism and reciprocates. When the motor is rotated at a constant command speed, the required motor torque varies according to the rotation angle of the rotating body,

An angle detection device for detecting a rotation angle of the rotating body;

A speed adjusting device that reduces the rotation command speed of the motor below the constant command speed at a rotation angle of the rotating body at which the required motor torque is greater than a predetermined motor torque reference value;

Further, the amount by which the speed adjusting device decreases the rotation command speed is set to the press operation speed. And a correction device that corrects according to fluctuations in degree or press load energy, both the amount by which the speed adjustment device decreases the rotation command speed and the amount by which the correction device corrects the decrease amount. A control apparatus for a press machine, wherein the motor is driven to rotate at a rotation command speed reflected so as to reduce the maximum power consumption of the motor.

[3] The correction device performs correction to increase the amount by which the speed adjustment device increases or decreases the rotation command speed as the press operation speed is lower! /, Or as the press load energy is V. 3. The control device for a press machine according to claim 1, wherein the control device is a press machine.

4. The control device for a press machine according to any one of claims 1 to 3, wherein the correction device has an input unit to which a value of a press operation speed or press load energy is input.

[5] It further comprises a measurement calculation device for obtaining the press load energy,

The measurement calculation device

A kinetic energy of a press movement mechanism driven by the motor; a first measurement unit that measures an amount of change in one reciprocation period of the slide;

A second measuring unit for measuring an energy value given to the press motion mechanism by the motor in the one reciprocating period;

A calculation unit for calculating the press load energy based on the amount of change in the kinetic energy measured by the first measurement unit and the energy value measured by the second measurement unit;

5. The control device for a press machine according to claim 1, wherein the correction device corrects an amount by which the rotation command speed is increased or decreased by using the press load energy. .

6. A press machine having the control device according to any one of claims 1 to 5.

[7] A motor, a rotating mechanism that is driven to rotate by the motor, a conversion mechanism that converts the rotational motion into a reciprocating motion, and a slide that is connected to the converting mechanism and reciprocates. A control method for a press machine in which the required motor torque varies according to the rotation angle of the rotating body when rotated at a constant command speed, Detecting a rotation angle of the rotating body;

Determining a necessary motor torque in accordance with the characteristics of the press machine based on the detected rotation angle value;

At a rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value, a step of increasing the rotation command speed of the motor beyond the constant command speed;

Correcting the amount by which the rotation command speed is increased according to a change in press operation speed or press load energy;

Rotationally driving the motor at a rotation command speed reflecting both the amount by which the rotation command speed is increased and the amount by which the increase is corrected so as to reduce the maximum power consumption of the motor; A control method for a press machine, comprising:

A motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotational motion into a reciprocating motion; and a slide that is connected to the converting mechanism and reciprocates, A control method of a press machine in which a necessary motor torque varies according to a rotation angle of the rotating body when rotated at a speed,

Creating a relationship between the required motor torque value according to the characteristics of the press machine and the value of the rotation angle of the crankshaft obtained from the current supplied to the motor by performing a trial operation of the press machine;

Detecting a rotation angle of the rotating body;

Determining a required motor torque corresponding to the rotation angle value based on the detected rotation angle value and the relationship;

The rotation command speed that reflects both the amount by which the rotation command speed is increased and the amount by which the amount to be increased is corrected so as to reduce the maximum power consumption of the motor, A method of controlling the press machine.