WO2013015005A1 - Servo press control device and servo press system - Google Patents
Servo press control device and servo press system Download PDFInfo
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- WO2013015005A1 WO2013015005A1 PCT/JP2012/063581 JP2012063581W WO2013015005A1 WO 2013015005 A1 WO2013015005 A1 WO 2013015005A1 JP 2012063581 W JP2012063581 W JP 2012063581W WO 2013015005 A1 WO2013015005 A1 WO 2013015005A1
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- motion data
- unit
- sequential
- control device
- servo press
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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
- B21D35/00—Combined processes according to or processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/002—Processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/005—Processes combined with methods covered by groups B21D1/00 - B21D31/00 characterized by the material of the blank or the workpiece
- B21D35/006—Blanks having varying thickness, e.g. tailored blanks
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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
- B21D31/00—Other methods for working sheet metal, metal tubes, metal profiles
- B21D31/005—Incremental shaping or bending, e.g. stepwise moving a shaping tool along the surface of the workpiece
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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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/06—Bending sheet metal along straight lines, e.g. to form simple curves by drawing procedure making use of dies or forming-rollers, e.g. making profiles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/14—Control arrangements for mechanically-driven presses
- B30B15/148—Electrical control arrangements
Definitions
- the present invention relates to a control device for an electric servo press that controls a slide position by controlling an electric servo press, and in particular, a control device for a servo press that performs sequential processing by controlling a servo press that processes a workpiece according to motion data. And a technology effective when applied to a servo press system having this control device.
- the motor's rotational motion is converted to linear motion using a linear motion power conversion mechanism such as a crank mechanism, link mechanism, ball screw mechanism, trapezoidal screw mechanism, etc., and the slide is moved up and down.
- a linear motion power conversion mechanism such as a crank mechanism, link mechanism, ball screw mechanism, trapezoidal screw mechanism, etc.
- the machine that moves the mold and processes the workpiece is called a mechanical press.
- Conventional mechanical presses have been processed by storing the power of a motor in a flywheel, connecting a clutch during processing, and transferring the energy to a slide through a rotary linear power conversion mechanism.
- Servo presses that have become popular in recent years have a structure in which the power of a servo motor with a large torque is directly connected to a rotary / linear motion power conversion mechanism without using a flywheel and a clutch. Therefore, it is characterized by being able to perform complicated movements such as low speed operation, speed change in the middle, and temporary stop reverse rotation in the middle, which were difficult in the
- the control device for servo press has a function to make the slide perform various movements by using as the processing conditions what is set the data with the time axis on the horizontal axis and the slide height on the vertical axis called motion data. It is installed.
- Patent Document 1 discloses a preliminary molding in which a molding pattern (motion pattern) in which the vertical axis is the slide height and the horizontal axis is the time is provided for the 7 molding patterns from 2 positions to 8 positions and 9 positions or more.
- a servo press forming pattern selecting apparatus is shown in which motion data is set by inputting the time and slide height of each position after selecting from eight forming patterns together with the pattern.
- Patent Document 2 has at least two patterns among a “rotation” pattern, a “reversal” pattern, a “reciprocation” pattern, and a “reversal reciprocation” pattern in advance, and any one of them is used during actual machining. There is shown a control device that selectively switches to one, controls a servo motor based on a selected control pattern, and controls the position and speed of a slide.
- Patent Document 3 discloses a servo press and control that can create new motion data based on existing motion data, in order to facilitate the setting of machining conditions complicated by the servo press.
- the data input means of the device is shown.
- Patent Document 4 using the fact that the motor can be reversed at an arbitrary position, the processing depth of the product is measured by image processing for a servo press using a ball screw mechanism, and the motor is turned on when a predetermined depth is reached.
- a bottom dead center search device for a servo press that is reversed and pulled up is shown.
- the servo press as described above can change the bottom dead center in a pseudo manner by using a reverse rotation function. Therefore, it is also possible to perform sequential processing for processing a single workpiece by moving the slide up and down a plurality of times while changing the pseudo bottom dead center.
- processing techniques using this sequential processing for example, there are those described in Patent Document 5 and Patent Document 6.
- Patent Document 5 describes a processing method in which a sequential forming processing tool attached to a spindle is continuously brought into contact with a workpiece, and the table is held by moving a table holding the workpiece. Furthermore, a method of removing machining strain by a strain relief tool that jets hot air is also described.
- Patent Document 6 discloses a process in which a sequential forming portion attached to a spindle for forming a metal denture base by sequential processing is brought into contact with the workpiece and the table is held by moving the table holding the workpiece. A method is described. This processing method measures the shape of a person's mouth and generates a tool path path based on the measured shape, and in order to form a surface that rises substantially vertically as required in a metal denture base, sequentially holds the forming part diagonally. Thus, the vertical surface can be processed.
- the method disclosed in Patent Document 4 enables the change of the processing depth for each workpiece only in the coining processing of a servo press using a ball screw mechanism.
- the machining depth is measured every time a predetermined slight depth, for example, 1 micrometer is machined, and after reaching the predetermined depth, machining is terminated by raising the ram. Is the method.
- this processing method it is not assumed that further processing is performed after the measurement, for example, a processing method using feedback control that measures the spring back amount of bending processing and performs processing in anticipation of this spring back amount. Can not respond. For this reason, there has been a demand for a control device that uses the high-performance functions of the servo press and performs higher-precision control.
- Patent Documents 5 and 6 have been conventionally performed using a dedicated device. These are costly and technically difficult to develop dedicated hardware.
- differential thickness steel plates or tailored blanks a material obtained by joining materials of different thicknesses
- tailored blanks a material obtained by joining materials of different thicknesses
- the example which applies the hybrid steel plate which joined the normal steel plate and the high-tensile steel plate to press work is increasing.
- weight reduction and price reduction can be realized while maintaining strength.
- Patent Documents 5 and 6 use a dedicated processing machine, but do not perform adaptive control or the like for performing high-precision processing. Therefore, there has been a demand for a control device for sequential processing of a servo press having an adaptive control function for differential thickness steel plates and hybrid steel plates.
- a typical object of the present invention is to process a material having a part with a different material or thickness, such as a hybrid steel plate or a differential thickness steel plate, under the optimum processing conditions for each part.
- An object of the present invention is to provide a control device for a servo press that enables this.
- a typical servo press control device includes a memory unit that stores sequential machining program data for sequential machining and a motion data change condition for changing motion data, and a drive command for driving the servo press.
- a drive command transmitter for transmitting a measurement a measurement command unit for transmitting a measurement command for driving a measuring instrument, a measurement result receiving unit for receiving a measurement result from the measuring instrument, and a drive for driving a mold actuator It has a mold actuator drive command unit that transmits a command, and a motion data change unit that changes the motion data according to the motion data change condition stored in the memory unit based on the measurement result received by the measurement result receiving unit.
- the drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive and measure the servo press multiple times for one workpiece in accordance with the sequential machining program data stored in the memory unit.
- the mold actuator drive, and the motion data changing unit is based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring instrument a plurality of times for one workpiece, The motion data is changed in accordance with the motion data change condition stored in the memory unit.
- the motion data change condition is characterized in that the pseudo bottom dead center in the motion data is described as a linear combination of a plurality of measurement results.
- the motion data calculation part for calculating the pseudo bottom dead center in the motion data, and the memory part saved
- the sequential machining program data it has a motion data calculation unit, a drive command transmission unit, a measurement command unit, a measurement result reception unit, and a sequential machining sequence control unit that transmits a command to the mold actuator drive command unit.
- the present invention is also characterized by being applied to a servo press system having the aforementioned servo press control device and a servo press controlled by this control device.
- a typical effect is that a workpiece having a portion having a different material or thickness, such as a hybrid steel plate or a differential thickness steel plate, can be processed under optimum processing conditions for each portion. As a result, the accuracy and quality of the molded product can be improved.
- the constituent elements are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say.
- the shapes, positional relationships, etc. of the components, etc. when referring to the shapes, positional relationships, etc. of the components, etc., the shapes are substantially the same unless otherwise specified, or otherwise apparent in principle. And the like are included. The same applies to the above numerical values and ranges.
- the servo press control device (for example, the reference numerals of the corresponding components in () are added) is for changing the sequential machining program data (40) and motion data for sequential machining.
- the drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive and measure the servo press multiple times for one workpiece in accordance with the sequential machining program data stored in the memory unit.
- the mold actuator drive, and the motion data changing unit is based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring instrument a plurality of times for one workpiece,
- the motion data is changed in accordance with the motion data change condition stored in the memory unit.
- the motion data changing condition is characterized in that the pseudo bottom dead center (33) in the motion data is described as a linear combination of a plurality of measurement results.
- a motion data calculation unit that calculates a pseudo bottom dead center in the motion data
- a memory unit A sequential processing sequence control unit (35) for transmitting a command to a motion data calculation unit, a drive command transmission unit, a measurement command unit, a measurement result reception unit, and a mold actuator drive command unit It is characterized by that.
- the present invention is also characterized by being applied to a servo press system having the aforementioned servo press control device and a servo press controlled by this control device.
- FIGS. An embodiment of the present invention will be described with reference to FIGS.
- a hybrid steel plate in which a normal steel plate and a high-tensile steel plate are joined will be described as an example, but the present invention is also applicable to a differential thickness steel plate in which materials of different plate thicknesses are joined. This makes it possible to perform processing under optimum processing conditions for each part for a workpiece having parts with different materials and plate thicknesses.
- FIG. 1 is a diagram showing an example of the configuration of the servo press and its control device.
- the left side of the frame 2 is deleted and shown for easy explanation of the servo press.
- a bed 3 is provided on the lower front surface of the main body of the servo press 1, and a bolster 4 is attached to the upper surface of the bed 3.
- a slide 5 is attached to the frame 2 at a position facing the bolster 4 so as to be movable up and down.
- the servo motor 6 fixed to the frame 2 is joined with a speed reduction mechanism 10 including a small pulley 7, a belt 8, and a large pulley 9.
- the large pulley 9 of the speed reduction mechanism 10 is joined to the rotary / linear motion power conversion mechanism 11, and this rotational / linear motion power conversion mechanism 11 is joined to the slide 5.
- the power of the servo motor 6 is decelerated through the small pulley 7, the belt 8, and the large pulley 9 to drive the rotation / linear motion power conversion mechanism 11.
- a timing belt or the like is used as the belt 8.
- the speed reduction mechanism 10 may be composed of a plurality of gears.
- Rotational linear motion power conversion mechanism 11 converts the rotational power of servo motor 6 into linear motion power and drives slide 5 in the vertical direction.
- FIG. 1 shows a crank mechanism 20 composed of a crankshaft 18 and a connecting rod 19 that are rotatably attached to the frame 2 as the rotational linear motion power conversion mechanism 11, the present invention is not limited to this. In addition to this, the present invention can also be applied to the rotational linear motion power conversion mechanism 11 using a knuckle mechanism, a link mechanism, or a ball screw mechanism.
- the control device 12 includes a press control device 13 and a sequential processing control device 14.
- the press control device 13 has a function of moving the slide 5 in accordance with the set motion data 15.
- the sequential processing control device 14 controls the movement of the servo press 1, the measuring instrument 16, and the mold actuator 17 in an integrated manner.
- the press control device 13 and the sequential processing control device 14 may be configured as the same hardware or software, or may be configured as separate hardware or software.
- the workpiece 21 is processed using a lower die 22 attached on the bolster 4 and an upper die 23 attached to the slide 5.
- the upper mold 23 and the lower mold 22 are collectively referred to as a mold 24.
- a measuring instrument 16 is attached in the mold 24.
- the measuring instrument 16 is intended to measure factors such as plate thickness and deformation resistance that vary from workpiece to workpiece, such as displacement sensors such as contact type, optical type, laser type, electrostatic capacity type and eddy current type.
- An image processing type sensor composed of a camera and an arithmetic unit, or a load sensor such as a pressure sensor or a load cell.
- These measuring instruments 16 are electrically connected to the measurement command unit 39 and the measurement result receiving unit 26 in the sequential machining control device 14.
- the measurement results 27 such as analog signals such as voltage, current, and resistance values output from the measuring device 16 and digital signals are received by the measurement result receiving unit 26 in the sequential processing control device 14.
- the press control device 13 controls the servo press 1.
- the base structure of the press control device 13 includes a servo amplifier 28, a motion control unit 29, a press control device memory unit 30, and a motion data change unit 31.
- the press control device memory unit 30 stores motion data 15 that defines the operation of the slide 5 and a motion pattern 32 (shown in FIG. 2).
- the motion pattern 32 is data serving as a template for the motion data 15 and includes a crank motion, a shift motion, a pulse motion, a reverse motion, and the like. Among these, the reverse motion can raise the slide 5 once lowered without passing through the mechanical bottom dead center, so that the pseudo bottom dead center 33 can be created.
- Motion data 15 is the processing conditions of the servo press 1 with the vertical axis indicating the height of the slide 5 or the rotation angle of the crankshaft and the horizontal axis indicating time.
- the movement of the slide 5 until one motion data 15 is completed is referred to as a motion 34.
- the sequential processing control device 14 controls the entire sequential processing.
- the main components constituting the sequential machining control device 14 are a sequential machining sequence control unit 35, a motion data calculation unit 36, a sequential machining control device memory unit 37, a mold actuator drive command unit 38, a measurement command unit 39, and a measurement result.
- the receiving unit 26 is included.
- the sequential machining sequence control unit 35 calls the sequential machining program data 40 stored in the sequential machining control device memory unit 37.
- the motion data 15 is called to the motion control unit 29 of the press control device 13, and a drive command 41 is issued to the servo press 1.
- a measurement command 43 is issued to the measuring instrument 16 attached to the mold 24 through the measurement command unit 39, and a drive command 42 is issued to the mold actuator 17 through the mold actuator drive command unit 38.
- the measurement result received by the measurement result receiving unit 26 is sent to the motion data calculating unit 36.
- the motion data calculation unit 36 calculates the pseudo bottom dead center 33 according to the calculation time 44 written in the sequential machining program data 40 and the motion data change condition 45 stored in the sequential machining control device memory unit 37.
- the measurement result 27 received by the measurement result receiving unit 26 is used. Then, the motion data 15 is changed.
- the pseudo bottom dead center 33 is a pseudo bottom dead center 33 by stopping and reversing the slide 5 at a position higher than the bottom dead center determined mechanically of the rotary linear motion power conversion mechanism 11 such as a crank by reverse rotation of the servo motor 6. It is the bottom dead center that rose to.
- the entire configuration including the servo press 1, the press control device 13 that is a control device for controlling the servo press 1, and the sequential processing control device 14 having the above-described configuration is referred to as a servo press system in the present embodiment.
- FIG. 2 is a diagram illustrating an example of the configuration of the press control device 13.
- the base structure of the press control device 13 includes a motion data creation unit 46 that creates the motion data 15, a motion data input unit 48 that inputs the motion data 15 to the press control device memory unit 30, and a press control device memory unit 30.
- the motion control unit 29 reads out the motion data 15 and transmits a servo speed command 49 to the servo amplifier 28.
- the press control device 13 includes a servo amplifier 28, a motion data changing unit 31, a drive command receiving unit 51, a press measurement data output unit 53, and the like.
- the motion control unit 29 is electrically connected to the servo amplifier 28, and the servo amplifier 28 is electrically connected to the servo motor 6 of the servo press 1.
- the motion control unit 29 issues a speed command 50 or a torque command to the servo amplifier 28 so as to drive the slide 5 in accordance with the description of the motion data 15.
- the servo amplifier 28 controls the servo motor 6 by adjusting the current flowing through the servo motor 6 so that the slide 5 is driven in accordance with a command from the motion control unit 29.
- the press control device 13 includes a drive command receiving unit 51 that receives the drive command 41 from the sequential processing control device 14 and delivers it to the motion control unit 29.
- the motion data changing unit 31 receives the motion data change command 52 from the sequential processing control device 14 and changes the motion data 15 in the press control device memory unit 30.
- the press measurement data output unit 53 sends the torque of the servo motor 6 measured by the torque measuring instrument 54 and the machining reaction force measured by the frame reaction force detector 55 attached to the frame 2 to the sequential machining control device 14. Output.
- FIG. 3 is a diagram illustrating an example of the configuration of the sequential machining control device 14.
- the sequential machining control device 14 includes a sequential machining control device memory unit 37, a sequential machining sequence control unit 35, a drive command transmission unit 25, a measurement command unit 39, a mold actuator drive command unit 38, a motion data calculation unit 36, and a measurement result reception.
- the unit 26 and the like are included.
- the sequential machining control device memory unit 37 stores sequential machining program data 40 and motion data changing conditions 45.
- the sequential machining program data 40 is created by the sequential machining program creation unit 57 and stored in the sequential machining control device memory unit 37 by the sequential machining program input unit 58.
- the motion data change condition 45 is created by the motion data change condition creation unit 59 and is stored in the sequential processing control device memory unit 37 using the motion data change condition input unit 60.
- the sequential machining sequence control unit 35 reads the sequential machining program data 40 from the sequential machining control device memory unit 37 and executes it.
- execution of a plurality of motions 34, execution of a measurement command 43, execution of a mold actuator drive command 61, and execution of a motion data calculation command 62 are described in time series.
- the drive command transmission unit 25 receives a command from the sequential processing sequence control unit 35 and issues a drive command to the servo press 1.
- the measurement command unit 39 receives a command from the sequential processing sequence control unit 35 and issues a drive command to the measuring device 16.
- the mold actuator drive command unit 38 receives a command from the sequential processing sequence control unit 35 and drives the mold actuator 17.
- the motion data calculation unit 36 receives a command from the sequential processing sequence control unit 35 and calculates a pseudo bottom dead center 33 of the motion data 15 according to the motion data change condition 45 read from the sequential processing control device memory unit 37.
- the above-described motion control unit 29 and motion data changing unit 31 constituting the press control device 13 shown in FIG. 2, and the sequential machining sequence control unit 35 and motion data calculating unit constituting the sequential machining control device 14 shown in FIG. 36 is constituted by a central processing circuit made of a semiconductor element such as a microcomputer.
- the motion data calculation unit 36 has a function of calculating arithmetic expressions such as four arithmetic operations, power functions, trigonometric functions, exponential functions, logarithmic functions, or piecewise polynomials. Further, the motion data calculation unit 36 may be configured as hardware in the same central processing circuit as the sequential processing sequence control unit 35 and may operate separately as a software function, and is configured by separate central processing circuits. May be.
- the press control device memory unit 30 and the sequential processing control device memory unit 37 use readable / writable memories (for example, semiconductor RAM, flash memory, MRAM, hard disk drive, floppy (registered trademark) disk).
- readable / writable memories for example, semiconductor RAM, flash memory, MRAM, hard disk drive, floppy (registered trademark) disk.
- FIG. 4 is a diagram showing an example of the configuration of this sequential bending mold.
- This sequential bending mold is a portion of a mold 24 including a lower mold 22 and an upper mold 23 included in the servo press 1 described above, and here, a thin metal plate is bent into a U-shape by sequential processing.
- die used for a process is shown. The description will be given using the coordinate system in the X, Y, and Z directions shown in the lower right of FIG.
- the lower die set plate 64 is fixed to the bolster 4 (shown in FIG. 1) of the servo press 1 (shown in FIG. 1).
- a movable die 65 is mounted on the lower die set plate 64, and the displacement of the movable die 65 in the Y direction and the Z direction is fixed by a movable guide 66 fixed to the lower die set plate 64. Is mobile.
- An actuator mounting plate 67 is joined to the lower die set plate 64, and the mold actuator 17 is fixed thereon.
- the mold actuator 17 has a built-in motor and can move the movable die 65 in the X direction via a trapezoidal screw 68.
- An electromagnet is built in the movable die 65, and the workpiece 21 can be attracted and fixed by electromagnetic force.
- the mold actuator 17 may be an air cylinder, a hydraulic cylinder, or a hydraulic servo cylinder.
- the workpiece 21 is a hybrid steel plate in which a normal steel plate and a high-tensile steel plate are joined by laser welding or the like. In FIG. 4, the workpiece normal steel plate portion 69 is before the dotted line, and the workpiece high-tensile steel plate portion 70 is beyond the dotted line.
- the upper die set plate 71 is fixed to the slide 5 (shown in FIG. 1) of the servo press 1 (shown in FIG. 1) and moves up and down in the Z direction.
- a die guide 72 is fixed to the upper die set plate 71, and a die 73 is attached to the die guide 72.
- the die 73 has a structure in which movement in the Z direction and the X direction is fixed by the die guide 72 and is movable inward in the Y direction from the position shown in the figure.
- the lower die set plate 64 has cams 74 attached to the left and right (Y direction).
- a measuring instrument 16 is attached to the inside of the cam 74, and factors such as plate thickness and deformation resistance that vary for each workpiece are measured.
- the die 73 moves inward in the Y direction.
- a width L1 of the workpiece 21 in the X direction is longer than a width L2 of the die 73 in the X direction.
- the movable movement amount 75 for each processing is set to a length L3 of about L2.
- the feed length L3 is preferably equal to or shorter than L2.
- FIGS. 5 to 10 are diagrams showing an example of each stage of the sequential machining process
- FIG. 11 is a diagram showing a measurement process
- FIG. 12 is an adjustment machining process
- FIG. 13 is a diagram showing an example of an end process.
- the movement direction of the mold may be reversed, but in this case, the reaction force in the X direction that occurs during processing acts in the compression direction, so it is necessary to have a mold structure that takes into account the buckling of the trapezoidal screw 68.
- the bending angle is different between the workpiece normal steel plate portion 69 and the workpiece high-tensile steel plate portion 70, as highlighted in FIG. In this way, the uniformity of the bending angle with one material is generally called accuracy.
- a measurement step 80 described later with reference to FIG. 14 is provided here.
- the shape of the workpiece 21 is measured a plurality of times using the measuring instrument 16 while moving the movable die 65 in the X direction.
- a sequential adjustment processing step 82 described later in FIG. 14 is performed.
- the processing amount in the sequential adjustment processing step 82 is calculated in the adjustment processing amount calculation step 81 described later with reference to FIG. 14 using the measurement result 27 in the measurement step 80.
- FIG. 11 to 13 show the cross section of the mold and workpiece 21 at this time.
- FIG. 11 corresponds to the measurement step 80
- FIG. 12 corresponds to the sequential adjustment processing step 82.
- FIG. 13 end step 83
- it is bent to 90 degrees excluding the influence of the springback.
- a workpiece 21 having a U-shaped cross-sectional shape is obtained.
- FIG. 14 is a flowchart showing an example of this sequential bending process flow.
- the workpiece 21 is loaded onto the mold 24 in the workpiece loading step 77.
- the workpiece carrying-in process 77 may be performed manually or using a robot.
- the sequential machining program data 40 is read into the sequential machining sequence control unit 35 from the sequential machining control device memory unit 37 in a sequential machining program data calling step 78. Thereafter, in accordance with the sequential machining program data 40, the sequential machining sequence control unit 35 issues commands to the servo press 1, the mold actuator 17 and the measuring device 16 to advance the sequential machining.
- the moving die 65 is moved in accordance with the order described in the sequential machining program data 40, and the motion 34 is repeated while changing the pseudo bottom dead center 33 of the motion data 15. Details of the sequential processing step 79 will be described later with reference to FIG.
- the measuring instrument 16 performs measurement a plurality of times while moving the movable die 65 in accordance with the sequential machining program data 40. In this way, measurement results 27 at a plurality of locations measured by the measuring instrument 16 are obtained. Details of the measurement step 80 will be described later with reference to FIG.
- an adjustment machining amount calculation step 81 an adjustment machining amount is obtained based on the measurement results 27 at a plurality of locations.
- the adjustment processing amount is usually obtained as the pseudo bottom dead center 33.
- the pseudo bottom dead center 33 can have a plurality of values depending on the machining location. Details of the adjustment processing amount calculation step 81 will be described later with reference to FIG.
- the sequential adjustment processing step 82 the movable die 65 is moved, and the motion 34 is repeated while changing the pseudo bottom dead center 33 of the motion data 15. Details of the sequential adjustment processing step 82 will be described later with reference to FIG.
- FIG. 15 is a flowchart illustrating an example of a processing flow of the sequential processing sequence control unit 35.
- the sequential machining sequence control unit 35 performs processing according to the sequential machining program data 40.
- the sequential machining program data 40 is read in the sequential machining program data calling step 78.
- K row reading process 85 K rows are read.
- the process proceeds to the mold actuator drive command transmission step 87, and the mold actuator drive command section 38 is reached.
- a mold actuator drive command 61 is issued to the mold actuator 17 of the mold 24, whereby the movable mold 65 is moved by the movable movement amount 75 of the distance described in the machining program data 40 sequentially.
- the process proceeds to the motion activation determination step 88.
- the sequential processing sequence control unit 35 performs press control through the motion data calculation unit 36 and the motion data change unit 31 in the motion data change command transmission step 89.
- the pseudo bottom dead center 33 of the motion data 15 in the device memory unit 30 is changed.
- the sequential processing sequence control unit 35 commands the motion control unit 29 to start the motion 34 through the drive command transmission unit 25 and the drive command reception unit 51.
- the motion activation determination process 88 may be shifted to the motion activation instruction transmission process 90 without going through the motion data change instruction transmission process 89.
- step 88 If the content of the K line is different in the motion activation determination step 88 (88-else), the process proceeds to the measurement activation determination step 92. If the content of the K line is measurement activation (92-then), a measurement command is transmitted. In step 93, the measurement command 43 is issued to the measuring instrument 16 through the measurement command unit 39, the measurement result 27 is received through the measurement result receiving unit 26, and is stored in the sequential machining control device memory unit 37.
- the process proceeds to the calculation activation determination step 94.
- the calculation start determination step 94 when the content of the K row is calculation start (94-then), the measurement result 27 and the motion data change condition 45 are sequentially received from the sequential processing control device memory unit 37 in the adjustment processing amount calculation step 81. And the pseudo bottom dead center 33 is calculated according to the motion data changing condition 45.
- K K + 1 substitution process 95 Substitute K + 1.
- a sequential machining end determination step 96 it is determined whether all the processes written in the sequential machining program data 40 have been completed. If not (96-No), the process returns to the K row reading step 85. When the process is completed (96-Yes), the process ends in the sequential processing end process 97.
- the sequential processing sequence control unit 35 can perform processing according to the sequential processing program data 40.
- the calculation of the pseudo bottom dead center 33 described above may use an equation reflecting the physical phenomenon of metal elasto-plastic deformation.
- the method of calculating the pseudo bottom dead center 33 as a linear combination of the measurement results 27 is simple and practical in terms of identifying the coefficient of the regression equation.
- the term of the average value that can be indicated by the linear combination of the measurement result 27 is the first term on the right side of Equation 1 because it is easy to create the motion data change condition 45 if the average value that is frequently used is a variable. .
- Equation 1 y i on the left side is the pseudo bottom dead center 33 at the location i.
- the first term on the right side is a function of the average value of a number of measurement points.
- x j is the measurement result 27 at the position j.
- a ij is a coefficient representing the contribution to y i (pseudo bottom dead center 33).
- the second term on the right side adds the effects of all measurement points.
- b i is a constant of zero intercept at the enclosing position i.
- the measurement result 27 affects the calculation result of y i (pseudo bottom dead center 33) at each machining position through the average value.
- the difference in y i depending on the machining position depends only on the constant b i .
- the way of deformation differs between the central portion that undergoes plane strain deformation and the end portion that undergoes plane stress deformation.
- warp A phenomenon that is determined by the nominal shape and material of the part, such as warpage, is shown in Equation 2.
- Equation 1 can be transformed into Equation 3.
- the hybrid material is a high-tensile steel plate in which the machining position is smaller than i and the normal steel plate is in a range larger than i
- the workpiece high-tensile steel plate portion is changed by changing a ij as shown in Equation 4.
- the pseudo bottom dead center 33 can be calculated with the average of the 70 measurement results 27 and the average of the measurement results 27 of the workpiece normal steel plate portion 69.
- FIG. 16 is a diagram showing an example of the sequential machining program creation screen.
- the sequential machining program creation screen of the sequential machining program creation unit 57 includes a sequential machining program table 98, a numeric keypad 99, an enter key 100, a delete key 101, a save key 102, a cursor key 103, and an alphabet key 104. Is done.
- the ordinal number is displayed in the first column of the sequential machining program table 98.
- the type of operation processed by the sequential processing sequence control unit 35 is input.
- IT means sequential processing
- MES means measurement
- CAL means calculation
- MOD means adjustment processing.
- the contents may be deleted with the delete key 101 and input again.
- the pseudo bottom dead center is in the third column of the sequential machining program table 98, the X first (the first position in the X direction) is in the fourth column, the X last (the last position in the X direction) is in the fifth column, In the sixth column, X pitch (movement pitch in the X direction) is input.
- the first to third lines are sequential machining. This corresponds to the sequential processing step 79 in FIG.
- the fourth line (MES) of the sequential machining program table 98 corresponds to the measurement process 80 in FIG.
- the fifth line (CAL) of the sequential machining program table 98 corresponds to the adjustment machining amount calculation step 81 in FIG.
- the sixth line (MOD) of the sequential machining program table 98 corresponds to the sequential adjustment machining step 82 in FIG.
- FIG. 17 is a diagram showing an example of the adjustment processing amount calculation formula creation screen.
- the adjustment processing amount calculation formula creation screen includes a numeric keypad 99, an enter key 100, a delete key 101, a save key 102, a cursor key 103, an alphabet key 104, a calculation key 105, and an average value input condition input unit 106. And a matrix coefficient input unit 107 and a coefficient input unit 108.
- the average value input condition input unit 106, the matrix coefficient input unit 107, and the coefficient input unit 108 are input using the numeric keypad 99, the enter key 100, the delete key 101, the save key 102, and the cursor key 103.
- FIG. 18 is a flowchart showing details of the sequential processing step 79.
- sequential machining is started in a sequential machining process start step 109.
- the initial X in the case where the moving direction of the pseudo bottom dead center 33 and the movable die 65 is the X direction. Read position, X final position and X pitch.
- the moving type Xm moving step 113 the moving type 65 is moved to Xm by the X coordinate.
- the slide height pseudo bottom dead center lowering step 114 the workpiece 21 is machined by lowering the slide to the pseudo bottom dead center 33 read in the sequential machining program data n-row reading step 111.
- the slide raising step 115 the slide is raised.
- FIG. 19 is a flowchart showing details of the measuring step 80.
- the measurement process is started.
- the sequential machining program data n-row reading step 111 the X initial position, the X final position, and the X pitch described in the sequential machining program data 40 are read.
- the movement type Xq movement step 123 the movement type 65 is moved to Xq by the X coordinate.
- the measuring step 124 the workpiece 21 is measured.
- the measurement result is recorded in the sequential processing control device memory unit 37 in the measurement result recording step 125. Since there are a plurality of measurement points, an array M (q) is provided in the sequential processing control device memory unit 37 and recorded in this array M (q).
- the measurement step is ended in the measurement step end step 127.
- FIG. 20 is a flowchart showing details of the adjustment processing amount calculation step 81.
- the motion data change condition reading step 129 the motion data change condition 45 is read from the sequential processing control device memory unit 37.
- the measurement result reading step 131 the measurement result is read from the array M (q) in the sequential processing control device memory unit 37.
- the pseudo bottom dead center output step 136 the pseudo bottom dead center is output to the array N (r) of the sequential processing control device memory unit 37.
- the adjustment processing amount calculation step ends in the adjustment processing amount calculation step end step 139.
- FIG. 21 is a flowchart showing details of the sequential adjustment processing step 82.
- the sequential adjustment machining is started.
- the sequential adjustment machining data reading step 141 the X initial position, the X end position, and the X pitch of the adjustment machining are read from the sequential machining program data 40 stored in the sequential machining control device memory unit 37.
- the moving type Xt moving step 143 the moving type 65 is moved to Xt by the X coordinate.
- the pseudo bottom dead center reading step 144 the pseudo bottom dead center Nt is read from the sequential processing control device memory unit 37.
- the slide 5 is lowered to the pseudo bottom dead center Nt, and the workpiece 21 is adjusted.
- the slide raising step 146 the slide is raised.
- the sequential adjustment processing ends in the sequential adjustment processing step end step 148.
- the sequential processing control device memory unit 37 that stores the sequential processing program data 40 and the motion data change condition 45 as the control device 12 including the press control device 13 and the sequential processing control device 14.
- the configuration including the drive command transmission unit 25, the measurement command unit 39, the measurement result reception unit 26, the mold actuator drive command unit 38, the motion data change unit 31, and the like A plurality of times of driving the servo press 1, driving of the measuring instrument 16 and driving of the mold actuator 17 are performed on one workpiece 21, and driving of the measuring instrument 16 is performed a plurality of times on one workpiece 21.
- the motion data 15 is changed according to the motion data change condition 45 based on the plurality of measurement results 27 received by the It can be.
- the motion data change condition 45 can describe the pseudo bottom dead center 33 in the motion data 15 as a linear combination of a plurality of measurement results 27.
- the measurement data 27 stored in the sequential processing control device memory unit 37 is used in the motion data 15 using the measurement result 27 received by the measurement result reception unit 26.
- the pseudo bottom dead center 33 can be calculated.
- the workpiece 21 is a hybrid steel plate or a differential thickness steel plate, it can be processed under optimum processing conditions for each part. As a result, the accuracy and quality of the molded product can be improved.
- the servo press control device of the present invention is particularly applied to a servo press control device that performs sequential processing by controlling a servo press that processes a workpiece according to motion data, and a servo press system having this control device. It is valid.
- servo amplifier 29 ... Motion control unit, 30 ... press control device memory unit, 31 ... motion data changing unit, 32 ... motion pattern, 33 ... pseudo bottom dead center, 34 ... motion, 35 ... sequential machining system Sequence control unit, 36 ... motion data calculation unit, 37 ... sequential machining control device memory unit, 38 ... mold actuator drive command unit, 39 ... measurement command unit, 40 ... sequential machining program data, 41 ... drive command, 42 ... drive Command, 43 ... measurement command, 44 ... calculation time, 45 ... motion data change condition, 46 ... motion data creation unit, 48 ... motion data input unit, 49 ... servo speed command, 50 ... speed command, 51 ... drive command receiving unit 52 ... Motion data change command, 53 ...
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Abstract
A servo press control device, which is intended for workpieces having regions with different materials or sheet thicknesses such as hybrid steel sheets and steel sheets with different thicknesses, and which enables machining to be carried out on each region under ideal machining conditions, is provided. This servo press control device has a sequential machining control device memory unit (37) for storing sequential machining program data (40) and motion data modification conditions (45), a drive command transmitting unit, a measurement command unit (39), a measurement results receiving unit (26), a mold actuator drive command unit (38), and a motion data modification unit (31). A servo press, measuring instrument and mold actuator are driven multiple times with respect to a single workpiece in accordance with the sequential machining program data (40), and motion data is modified on the basis of the basis of a plurality of measurement results received as a result of driving the measuring instrument multiple times with respect to the single workpiece, in accordance with the motion data modification conditions (45).
Description
本発明は、電動サーボプレスを制御してスライド位置制御を行う電動サーボプレスの制御装置に関し、特に、被加工材を加工するサーボプレスをモーションデータに従い制御して逐次加工を行うサーボプレスの制御装置、およびこの制御装置を有するサーボプレスシステムに適用して有効な技術に関する。
The present invention relates to a control device for an electric servo press that controls a slide position by controlling an electric servo press, and in particular, a control device for a servo press that performs sequential processing by controlling a servo press that processes a workpiece according to motion data. And a technology effective when applied to a servo press system having this control device.
金属の成型加工に用いるプレスのうち、モーターの回転運動をクランク機構・リンク機構・ボールネジ機構・台形ネジ機構などの回転直動動力変換機構を用いて直線運動に変換して、スライドを上下することで金型を動かし、被加工材を加工する装置を機械プレスと呼ぶ。従来の機械プレスは、モーターの動力をフライホイールに蓄えて、加工時にクラッチをつないで、そのエネルギーを回転直動動力変換機構を介してスライドに伝えて動かすことにより加工を行ってきた。近年になり普及が進んでいるサーボプレスは、大きなトルクのサーボモーターの動力をフライホイールとクラッチを介さずに直接回転直動動力変換機構につなげる構造となっている。そのため、従来は困難であった低速運転や途中での速度変更、途中での一時停止逆回転などの複雑な動きができることが特徴である。
Of the presses used for metal forming processing, the motor's rotational motion is converted to linear motion using a linear motion power conversion mechanism such as a crank mechanism, link mechanism, ball screw mechanism, trapezoidal screw mechanism, etc., and the slide is moved up and down. The machine that moves the mold and processes the workpiece is called a mechanical press. Conventional mechanical presses have been processed by storing the power of a motor in a flywheel, connecting a clutch during processing, and transferring the energy to a slide through a rotary linear power conversion mechanism. Servo presses that have become popular in recent years have a structure in which the power of a servo motor with a large torque is directly connected to a rotary / linear motion power conversion mechanism without using a flywheel and a clutch. Therefore, it is characterized by being able to perform complicated movements such as low speed operation, speed change in the middle, and temporary stop reverse rotation in the middle, which were difficult in the past.
そのため、サーボプレス用の制御装置には、モーションデータと呼ばれる横軸に時間軸を縦軸にスライド高さを記述したデータを設定したものを加工条件として用い、スライドに様々な動きをさせる機能が搭載されている。例えば、特許文献1には、縦軸をスライド高さ、横軸を時間とした成形パターン(モーションパターン)を、2ポジションから8ポジションの7成形パターン及び9ポジション以上のために設けた予備の成形パターンと合わせて8成形パターンより選択した後、各ポジションの時間とスライド高さを入力することによりモーションデータを設定するサーボプレスの成形パターン選択装置が示されている。
Therefore, the control device for servo press has a function to make the slide perform various movements by using as the processing conditions what is set the data with the time axis on the horizontal axis and the slide height on the vertical axis called motion data. It is installed. For example, Patent Document 1 discloses a preliminary molding in which a molding pattern (motion pattern) in which the vertical axis is the slide height and the horizontal axis is the time is provided for the 7 molding patterns from 2 positions to 8 positions and 9 positions or more. A servo press forming pattern selecting apparatus is shown in which motion data is set by inputting the time and slide height of each position after selecting from eight forming patterns together with the pattern.
また、特許文献2には、「回転」パターンと「反転」パターンと「往復」パターンと「反転往復」パターンのうち、少なくとも2つ以上のパターンを予め有し、実加工時にはそれらのいずれか一つに選択的に切替え、選択された制御パターンに基づきサーボモーターを制御し、スライドの位置及び速度を制御する制御装置が示されている。
Further, Patent Document 2 has at least two patterns among a “rotation” pattern, a “reversal” pattern, a “reciprocation” pattern, and a “reversal reciprocation” pattern in advance, and any one of them is used during actual machining. There is shown a control device that selectively switches to one, controls a servo motor based on a selected control pattern, and controls the position and speed of a slide.
また、特許文献3には、サーボプレスにより煩雑化した加工条件の設定を容易化するように、既存のモーションデータをベースにして、それに変更を加えて新たなモーションデータを作成できるサーボプレス及び制御装置のデータ入力手段が示されている。
Further, Patent Document 3 discloses a servo press and control that can create new motion data based on existing motion data, in order to facilitate the setting of machining conditions complicated by the servo press. The data input means of the device is shown.
また、特許文献4では、任意の位置でモーターを反転できることを用いて、ボールネジ機構を用いたサーボプレスを対象として、画像処理により製品の加工深さを測定し、所定の深さになるとモーターを反転して引き上げるサーボプレスの下死点探査装置が示されている。
Further, in Patent Document 4, using the fact that the motor can be reversed at an arbitrary position, the processing depth of the product is measured by image processing for a servo press using a ball screw mechanism, and the motor is turned on when a predetermined depth is reached. A bottom dead center search device for a servo press that is reversed and pulled up is shown.
前述したようなサーボプレスは、途中で逆回転する機能を用いることで擬似的に下死点を変えることが可能である。そのため、一つの被加工材に対して擬似下死点を変えながらスライドを複数回上下動することにより加工する逐次加工を行うことも可能である。この逐次加工を用いた加工技術として、例えば、特許文献5、特許文献6に記載されるものがある。
The servo press as described above can change the bottom dead center in a pseudo manner by using a reverse rotation function. Therefore, it is also possible to perform sequential processing for processing a single workpiece by moving the slide up and down a plurality of times while changing the pseudo bottom dead center. As processing techniques using this sequential processing, for example, there are those described in Patent Document 5 and Patent Document 6.
例えば、特許文献5には、スピンドルに取り付けた逐次成形加工工具を連続的に被加工材に接触させ、被加工材を保持したテーブルを移動することにより加工する加工方法が記載されている。さらに、熱風を噴射する歪取り工具により加工歪を除去する方法も記載されている。
For example, Patent Document 5 describes a processing method in which a sequential forming processing tool attached to a spindle is continuously brought into contact with a workpiece, and the table is held by moving a table holding the workpiece. Furthermore, a method of removing machining strain by a strain relief tool that jets hot air is also described.
また、特許文献6には、金属義歯床を逐次加工で成形するスピンドルに取り付けた逐次成形部を連続的に被加工材に接触させ、被加工材を保持したテーブルを移動することにより加工する加工方法が記載されている。この加工方法は、人の口内形状を測定し、それに基づいて工具経路パスを発生することと、金属義歯床で求められる略垂直に立ち上がる面を形成するために、逐次成形部を斜めに保持することにより、垂直面の加工を可能とするものである。
Further, Patent Document 6 discloses a process in which a sequential forming portion attached to a spindle for forming a metal denture base by sequential processing is brought into contact with the workpiece and the table is held by moving the table holding the workpiece. A method is described. This processing method measures the shape of a person's mouth and generates a tool path path based on the measured shape, and in order to form a surface that rises substantially vertically as required in a metal denture base, sequentially holds the forming part diagonally. Thus, the vertical surface can be processed.
ところで、前述した特許文献1~6を含む従来の技術に関して、本発明者が検討した結果、以下のようなことが明らかとなった。
By the way, as a result of examination by the inventor regarding the conventional techniques including the above-described Patent Documents 1 to 6, the following has been clarified.
例えば、特許文献1~3に示されるように、従来のサーボプレスでは、予め定められたモーションデータに基づきスライドが動作するようにできている。しかし、実際のプレス加工においては、板厚や材質の違いにより最適な加工条件は異なり、ロット毎、理想的には被加工材ごとに加工条件を変更することが望ましい。
For example, as shown in Patent Documents 1 to 3, in the conventional servo press, the slide is operated based on predetermined motion data. However, in the actual press working, the optimum working conditions differ depending on the plate thickness and material, and it is desirable to change the working conditions for each lot, ideally for each workpiece.
また、特許文献4に示された方法は、ボールネジ機構を用いたサーボプレスのコイニング加工に限り、被加工材ごとの加工深さの変更を可能にしたものである。この方法は、予め定められた僅かな深さ、例えば1マイクロメートルずつ加工する毎に加工深さを測定し、予め定められた深さに到達した後、ラムを上昇させることにより加工を終了する方法である。この加工方法では、測定後にさらなる加工をすることを想定しておらず、例えば曲げ加工のスプリングバック量を測定して、このスプリングバック量を見込んで加工するようなフィードバック制御を用いた加工方法には対応できない。そのため、サーボプレスのハードウエアの高い機能を利用し、より高精度な制御を行う制御装置が求められていた。
In addition, the method disclosed in Patent Document 4 enables the change of the processing depth for each workpiece only in the coining processing of a servo press using a ball screw mechanism. In this method, the machining depth is measured every time a predetermined slight depth, for example, 1 micrometer is machined, and after reaching the predetermined depth, machining is terminated by raising the ram. Is the method. In this processing method, it is not assumed that further processing is performed after the measurement, for example, a processing method using feedback control that measures the spring back amount of bending processing and performs processing in anticipation of this spring back amount. Can not respond. For this reason, there has been a demand for a control device that uses the high-performance functions of the servo press and performs higher-precision control.
また、特許文献5,6に見られる逐次加工法は、従来、専用装置を用いて行われてきた。これらは専用のハードウエアを開発するために、コストもかかり技術的にも難しい。
In addition, the sequential processing methods found in Patent Documents 5 and 6 have been conventionally performed using a dedicated device. These are costly and technically difficult to develop dedicated hardware.
また近年は、製品の軽量化のために、差厚鋼板あるいはテーラードブランクと呼ばれる異なる板厚の材料を接合した素材を、プレス加工に適用する事例も増えている。あるいは通常の鋼板と高張力鋼板を接合したハイブリッド鋼板をプレス加工に適用する事例も増えている。これらの材料を構造部品に適用することで、強度を満たしたまま軽量化や低価格化を実現できる。また、これらは強度を担う構造部材であることが多く、一般的に板厚が厚く加工に要するプレス能力も大きい。
In recent years, in order to reduce the weight of products, there are an increasing number of cases where a material obtained by joining materials of different thicknesses called differential thickness steel plates or tailored blanks is applied to pressing. Or the example which applies the hybrid steel plate which joined the normal steel plate and the high-tensile steel plate to press work is increasing. By applying these materials to structural parts, weight reduction and price reduction can be realized while maintaining strength. Further, these are often structural members that bear strength, and generally have a large plate thickness and a large pressing ability required for processing.
このような差厚鋼板やハイブリッド鋼板の曲げ加工を行った場合には、一つの材料でありながらスプリングバック量が部位により異なる。このような場合には、同一材料の中でも異なる加工条件で加工することが望ましい。そのため、総型加工よりも、部分金型で部位毎に加工条件を変えながら複数回の逐次加工で加工するのが望ましい。さらに、高精度に加工するには、スプリングバック量を測定して、箇所ごとの材質を同定して調整加工を行うことが望ましい。
When such a differential thickness steel plate or hybrid steel plate is bent, the amount of springback varies depending on the part even though it is a single material. In such a case, it is desirable that the same material is processed under different processing conditions. For this reason, it is desirable to perform the processing by a plurality of sequential processes while changing the processing conditions for each part in the partial mold rather than the total mold processing. Furthermore, in order to process with high accuracy, it is desirable to measure the springback amount, identify the material for each location, and perform adjustment processing.
しかし、特許文献5,6に見られる逐次加工法は、専用の加工機を用いたものであるが、高精度な加工を行うための適応制御等は行っていない。そのため、差厚鋼板やハイブリッド鋼板を対象として適応制御の機能を持ったサーボプレスの逐次加工用の制御装置が求められていた。
However, the sequential processing methods found in Patent Documents 5 and 6 use a dedicated processing machine, but do not perform adaptive control or the like for performing high-precision processing. Therefore, there has been a demand for a control device for sequential processing of a servo press having an adaptive control function for differential thickness steel plates and hybrid steel plates.
そこで、本発明の代表的な目的は、ハイブリッド鋼板や差厚鋼板などのように材質や板厚が異なる部位を持つ被加工材を対象にして、部位ごとに最適な加工条件で加工することを可能とするサーボプレスの制御装置を提供することにある。
Therefore, a typical object of the present invention is to process a material having a part with a different material or thickness, such as a hybrid steel plate or a differential thickness steel plate, under the optimum processing conditions for each part. An object of the present invention is to provide a control device for a servo press that enables this.
本発明の前記ならびにその他の目的と新規な特徴は、本明細書の記述および添付図面から明らかになるであろう。
The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.
本願において開示される発明のうち、代表的なものの概要を簡単に説明すれば、次のとおりである。
Of the inventions disclosed in this application, the outline of typical ones will be briefly described as follows.
すなわち、代表的なサーボプレスの制御装置は、逐次加工のための逐次加工プログラムデータとモーションデータを変更するためのモーションデータ変更条件とを保存するメモリ部と、サーボプレスを駆動するための駆動指令を発信する駆動指令発信部と、計測器を駆動するための計測指令を発信する計測指令部と、計測器からの計測結果を受信する計測結果受信部と、金型アクチュエーターを駆動するための駆動指令を発信する金型アクチュエーター駆動司令部と、計測結果受信部で受信した計測結果をもとにメモリ部に保存したモーションデータ変更条件に従いモーションデータを変更するモーションデータ変更部とを有する。この構成において、駆動指令発信部と計測指令部と金型アクチュエーター駆動司令部は、メモリ部に保存した逐次加工プログラムデータに従い、一つの被加工材に対して複数回のサーボプレスの駆動と計測器の駆動と金型アクチュエーターの駆動とを行い、そして、モーションデータ変更部は、一つの被加工材に対する複数回の計測器の駆動により計測結果受信部で受信した複数の計測結果をもとに、メモリ部に保存したモーションデータ変更条件に従い、モーションデータを変更することを特徴とする。
That is, a typical servo press control device includes a memory unit that stores sequential machining program data for sequential machining and a motion data change condition for changing motion data, and a drive command for driving the servo press. A drive command transmitter for transmitting a measurement, a measurement command unit for transmitting a measurement command for driving a measuring instrument, a measurement result receiving unit for receiving a measurement result from the measuring instrument, and a drive for driving a mold actuator It has a mold actuator drive command unit that transmits a command, and a motion data change unit that changes the motion data according to the motion data change condition stored in the memory unit based on the measurement result received by the measurement result receiving unit. In this configuration, the drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive and measure the servo press multiple times for one workpiece in accordance with the sequential machining program data stored in the memory unit. And the mold actuator drive, and the motion data changing unit is based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring instrument a plurality of times for one workpiece, The motion data is changed in accordance with the motion data change condition stored in the memory unit.
さらに、モーションデータ変更条件は、モーションデータ内の擬似下死点を複数の計測結果の線形結合として記述していることを特徴とする。
Furthermore, the motion data change condition is characterized in that the pseudo bottom dead center in the motion data is described as a linear combination of a plurality of measurement results.
さらに、メモリ部に保存したモーションデータ変更条件を元に、計測結果受信部で受信した計測結果を用いて、モーションデータ内の擬似下死点を算出するモーションデータ算出部と、メモリ部に保存した逐次加工プログラムデータに従い、モーションデータ算出部と駆動指令発信部と計測指令部と計測結果受信部と金型アクチュエーター駆動司令部に指令を発信する逐次加工シークエンス制御部とを有することを特徴とする。
Furthermore, based on the motion data change condition saved in the memory part, using the measurement result received by the measurement result receiving part, the motion data calculation part for calculating the pseudo bottom dead center in the motion data, and the memory part saved According to the sequential machining program data, it has a motion data calculation unit, a drive command transmission unit, a measurement command unit, a measurement result reception unit, and a sequential machining sequence control unit that transmits a command to the mold actuator drive command unit.
また、前述したサーボプレスの制御装置と、この制御装置により制御されるサーボプレスとを有するサーボプレスシステムにも適用することを特徴とする。
Further, the present invention is also characterized by being applied to a servo press system having the aforementioned servo press control device and a servo press controlled by this control device.
本願において開示される発明のうち、代表的なものによって得られる効果を簡単に説明すれば以下のとおりである。
Among the inventions disclosed in the present application, effects obtained by typical ones will be briefly described as follows.
すなわち、代表的な効果は、ハイブリッド鋼板や差厚鋼板などのように材質や板厚が異なる部位を持つ被加工材を対象にして、部位ごとに最適な加工条件で加工することができる。この結果、成形品の精度と品質を向上させることが可能となる。
That is, a typical effect is that a workpiece having a portion having a different material or thickness, such as a hybrid steel plate or a differential thickness steel plate, can be processed under optimum processing conditions for each portion. As a result, the accuracy and quality of the molded product can be improved.
以下の実施の形態においては、便宜上その必要があるときは、複数の実施の形態またはセクションに分割して説明するが、特に明示した場合を除き、それらは互いに無関係なものではなく、一方は他方の一部または全部の変形例、詳細、補足説明等の関係にある。また、以下の実施の形態において、要素の数等(個数、数値、量、範囲等を含む)に言及する場合、特に明示した場合および原理的に明らかに特定の数に限定される場合等を除き、その特定の数に限定されるものではなく、特定の数以上でも以下でも良い。
In the following embodiments, when it is necessary for the sake of convenience, the description will be divided into a plurality of embodiments or sections. However, unless otherwise specified, they are not irrelevant and one is the other. There are some or all of the modifications, details, supplementary explanations, and the like. Further, in the following embodiments, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), especially when clearly indicated and when clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.
さらに、以下の実施の形態において、その構成要素(要素ステップ等も含む)は、特に明示した場合および原理的に明らかに必須であると考えられる場合等を除き、必ずしも必須のものではないことは言うまでもない。同様に、以下の実施の形態において、構成要素等の形状、位置関係等に言及するときは、特に明示した場合および原理的に明らかにそうでないと考えられる場合等を除き、実質的にその形状等に近似または類似するもの等を含むものとする。このことは、上記数値および範囲についても同様である。
Further, in the following embodiments, the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say. Similarly, in the following embodiments, when referring to the shapes, positional relationships, etc. of the components, etc., the shapes are substantially the same unless otherwise specified, or otherwise apparent in principle. And the like are included. The same applies to the above numerical values and ranges.
以下、本発明の実施の形態を図面に基づいて詳細に説明する。なお、実施の形態を説明するための全図において、同一の部材には原則として同一の符号を付し、その繰り返しの説明は省略する。
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted.
[実施の形態の概要]
本発明の実施の形態のサーボプレスの制御装置(一例として、()内に対応する構成要素の符号を付記)は、逐次加工のための逐次加工プログラムデータ(40)とモーションデータを変更するためのモーションデータ変更条件(45)とを保存するメモリ部(37)と、サーボプレスを駆動するための駆動指令を発信する駆動指令発信部(25)と、計測器を駆動するための計測指令を発信する計測指令部(39)と、計測器からの計測結果を受信する計測結果受信部(26)と、金型アクチュエーターを駆動するための駆動指令を発信する金型アクチュエーター駆動司令部(38)と、計測結果受信部で受信した計測結果をもとにメモリ部に保存したモーションデータ変更条件に従いモーションデータを変更するモーションデータ変更部(31)とを有する。この構成において、駆動指令発信部と計測指令部と金型アクチュエーター駆動司令部は、メモリ部に保存した逐次加工プログラムデータに従い、一つの被加工材に対して複数回のサーボプレスの駆動と計測器の駆動と金型アクチュエーターの駆動とを行い、そして、モーションデータ変更部は、一つの被加工材に対する複数回の計測器の駆動により計測結果受信部で受信した複数の計測結果をもとに、メモリ部に保存したモーションデータ変更条件に従い、モーションデータを変更することを特徴とする。 [Outline of the embodiment]
The servo press control device according to the embodiment of the present invention (for example, the reference numerals of the corresponding components in () are added) is for changing the sequential machining program data (40) and motion data for sequential machining. A memory unit (37) for storing the motion data change condition (45), a drive command transmission unit (25) for transmitting a drive command for driving the servo press, and a measurement command for driving the measuring instrument. A measurement command section (39) for transmitting, a measurement result receiving section (26) for receiving measurement results from the measuring instrument, and a mold actuator drive command section (38) for transmitting a drive command for driving the mold actuator And a motion data changing unit that changes the motion data according to the motion data changing conditions stored in the memory unit based on the measurement results received by the measurement result receiving unit 31) and a. In this configuration, the drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive and measure the servo press multiple times for one workpiece in accordance with the sequential machining program data stored in the memory unit. And the mold actuator drive, and the motion data changing unit is based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring instrument a plurality of times for one workpiece, The motion data is changed in accordance with the motion data change condition stored in the memory unit.
本発明の実施の形態のサーボプレスの制御装置(一例として、()内に対応する構成要素の符号を付記)は、逐次加工のための逐次加工プログラムデータ(40)とモーションデータを変更するためのモーションデータ変更条件(45)とを保存するメモリ部(37)と、サーボプレスを駆動するための駆動指令を発信する駆動指令発信部(25)と、計測器を駆動するための計測指令を発信する計測指令部(39)と、計測器からの計測結果を受信する計測結果受信部(26)と、金型アクチュエーターを駆動するための駆動指令を発信する金型アクチュエーター駆動司令部(38)と、計測結果受信部で受信した計測結果をもとにメモリ部に保存したモーションデータ変更条件に従いモーションデータを変更するモーションデータ変更部(31)とを有する。この構成において、駆動指令発信部と計測指令部と金型アクチュエーター駆動司令部は、メモリ部に保存した逐次加工プログラムデータに従い、一つの被加工材に対して複数回のサーボプレスの駆動と計測器の駆動と金型アクチュエーターの駆動とを行い、そして、モーションデータ変更部は、一つの被加工材に対する複数回の計測器の駆動により計測結果受信部で受信した複数の計測結果をもとに、メモリ部に保存したモーションデータ変更条件に従い、モーションデータを変更することを特徴とする。 [Outline of the embodiment]
The servo press control device according to the embodiment of the present invention (for example, the reference numerals of the corresponding components in () are added) is for changing the sequential machining program data (40) and motion data for sequential machining. A memory unit (37) for storing the motion data change condition (45), a drive command transmission unit (25) for transmitting a drive command for driving the servo press, and a measurement command for driving the measuring instrument. A measurement command section (39) for transmitting, a measurement result receiving section (26) for receiving measurement results from the measuring instrument, and a mold actuator drive command section (38) for transmitting a drive command for driving the mold actuator And a motion data changing unit that changes the motion data according to the motion data changing conditions stored in the memory unit based on the measurement results received by the measurement result receiving unit 31) and a. In this configuration, the drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive and measure the servo press multiple times for one workpiece in accordance with the sequential machining program data stored in the memory unit. And the mold actuator drive, and the motion data changing unit is based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring instrument a plurality of times for one workpiece, The motion data is changed in accordance with the motion data change condition stored in the memory unit.
さらに、モーションデータ変更条件は、モーションデータ内の擬似下死点(33)を複数の計測結果の線形結合として記述していることを特徴とする。
Furthermore, the motion data changing condition is characterized in that the pseudo bottom dead center (33) in the motion data is described as a linear combination of a plurality of measurement results.
さらに、メモリ部に保存したモーションデータ変更条件を元に、計測結果受信部で受信した計測結果を用いて、モーションデータ内の擬似下死点を算出するモーションデータ算出部(36)と、メモリ部に保存した逐次加工プログラムデータに従い、モーションデータ算出部と駆動指令発信部と計測指令部と計測結果受信部と金型アクチュエーター駆動司令部に指令を発信する逐次加工シークエンス制御部(35)とを有することを特徴とする。
Furthermore, based on the motion data change condition stored in the memory unit, using the measurement result received by the measurement result receiving unit, a motion data calculation unit (36) that calculates a pseudo bottom dead center in the motion data, and a memory unit A sequential processing sequence control unit (35) for transmitting a command to a motion data calculation unit, a drive command transmission unit, a measurement command unit, a measurement result reception unit, and a mold actuator drive command unit It is characterized by that.
また、前述したサーボプレスの制御装置と、この制御装置により制御されるサーボプレスとを有するサーボプレスシステムにも適用することを特徴とする。
Further, the present invention is also characterized by being applied to a servo press system having the aforementioned servo press control device and a servo press controlled by this control device.
以上説明した本発明の実施の形態の概要に基づいた実施の形態を、以下において具体的に説明する。
Embodiments based on the outline of the embodiments of the present invention described above will be specifically described below.
[実施の形態]
本発明の一実施の形態を、図1~図21を用いて説明する。本実施の形態においては、被加工材として、通常の鋼板と高張力鋼板を接合したハイブリッド鋼板を例に説明するが、異なる板厚の材料を接合した差厚鋼板にも適用可能であり、特に材質や板厚が異なる部位を持つ被加工材を対象にして、部位ごとに最適な加工条件で加工することを可能とするものである。 [Embodiment]
An embodiment of the present invention will be described with reference to FIGS. In the present embodiment, as a workpiece, a hybrid steel plate in which a normal steel plate and a high-tensile steel plate are joined will be described as an example, but the present invention is also applicable to a differential thickness steel plate in which materials of different plate thicknesses are joined. This makes it possible to perform processing under optimum processing conditions for each part for a workpiece having parts with different materials and plate thicknesses.
本発明の一実施の形態を、図1~図21を用いて説明する。本実施の形態においては、被加工材として、通常の鋼板と高張力鋼板を接合したハイブリッド鋼板を例に説明するが、異なる板厚の材料を接合した差厚鋼板にも適用可能であり、特に材質や板厚が異なる部位を持つ被加工材を対象にして、部位ごとに最適な加工条件で加工することを可能とするものである。 [Embodiment]
An embodiment of the present invention will be described with reference to FIGS. In the present embodiment, as a workpiece, a hybrid steel plate in which a normal steel plate and a high-tensile steel plate are joined will be described as an example, but the present invention is also applicable to a differential thickness steel plate in which materials of different plate thicknesses are joined. This makes it possible to perform processing under optimum processing conditions for each part for a workpiece having parts with different materials and plate thicknesses.
<サーボプレスおよびその制御装置の概要>
まず、図1を参照して、本実施の形態におけるサーボプレスおよびその制御装置の概要を説明する。図1は、このサーボプレスおよびその制御装置の構成の一例を示す図である。図1では、サーボプレスの説明を行いやすいように、フレーム2の左面を削除して示している。 <Outline of servo press and its control device>
First, an overview of a servo press and its control device in the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of the servo press and its control device. In FIG. 1, the left side of theframe 2 is deleted and shown for easy explanation of the servo press.
まず、図1を参照して、本実施の形態におけるサーボプレスおよびその制御装置の概要を説明する。図1は、このサーボプレスおよびその制御装置の構成の一例を示す図である。図1では、サーボプレスの説明を行いやすいように、フレーム2の左面を削除して示している。 <Outline of servo press and its control device>
First, an overview of a servo press and its control device in the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of the configuration of the servo press and its control device. In FIG. 1, the left side of the
本実施の形態のサーボプレス1において、このサーボプレス1の本体の前面下部にはベッド3が設けられており、このベッド3の上面にボルスター4が取り付けられている。また、ボルスター4に対向する位置にスライド5がフレーム2に上下動自在に取り付けられている。また、フレーム2に固定されたサーボモーター6には、小プーリ7とベルト8と大プーリ9より構成される減速機構10が接合されている。
In the servo press 1 of the present embodiment, a bed 3 is provided on the lower front surface of the main body of the servo press 1, and a bolster 4 is attached to the upper surface of the bed 3. A slide 5 is attached to the frame 2 at a position facing the bolster 4 so as to be movable up and down. The servo motor 6 fixed to the frame 2 is joined with a speed reduction mechanism 10 including a small pulley 7, a belt 8, and a large pulley 9.
減速機構10の大プーリ9は回転直動動力変換機構11に接合されており、この回転直動動力変換機構11はスライド5に接合されている。図1では、サーボモーター6の動力は小プーリ7とベルト8と大プーリ9を介して減速されて回転直動動力変換機構11を駆動する。ベルト8にはタイミングベルト等を用いる。また、減速機構10は複数のギヤより構成されても良い。
The large pulley 9 of the speed reduction mechanism 10 is joined to the rotary / linear motion power conversion mechanism 11, and this rotational / linear motion power conversion mechanism 11 is joined to the slide 5. In FIG. 1, the power of the servo motor 6 is decelerated through the small pulley 7, the belt 8, and the large pulley 9 to drive the rotation / linear motion power conversion mechanism 11. A timing belt or the like is used as the belt 8. Further, the speed reduction mechanism 10 may be composed of a plurality of gears.
回転直動動力変換機構11は、サーボモーター6の回転動力を直動動力に変換し、スライド5を上下方向に駆動する。図1には、回転直動動力変換機構11として、フレーム2に回転自在に取り付けられたクランク軸18とコネクティングロッド19より構成されるクランク機構20を示しているが、これに限るものではない。この他に、ナックル機構やリンク機構やボールネジ機構を用いた回転直動動力変換機構11でも本発明は適用可能である。
Rotational linear motion power conversion mechanism 11 converts the rotational power of servo motor 6 into linear motion power and drives slide 5 in the vertical direction. Although FIG. 1 shows a crank mechanism 20 composed of a crankshaft 18 and a connecting rod 19 that are rotatably attached to the frame 2 as the rotational linear motion power conversion mechanism 11, the present invention is not limited to this. In addition to this, the present invention can also be applied to the rotational linear motion power conversion mechanism 11 using a knuckle mechanism, a link mechanism, or a ball screw mechanism.
制御装置12は、プレス制御装置13と逐次加工制御装置14よりなる。プレス制御装置13は、設定されたモーションデータ15に従いスライド5を動かす機能を持つ。逐次加工制御装置14は、サーボプレス1や計測器16や金型アクチュエーター17の動きを統合的に制御する。プレス制御装置13と逐次加工制御装置14は、同一のハードウエアやソフトウエアとして構成されても良いし、別々のハードウエアやソフトウエアとして構成されても良い。
The control device 12 includes a press control device 13 and a sequential processing control device 14. The press control device 13 has a function of moving the slide 5 in accordance with the set motion data 15. The sequential processing control device 14 controls the movement of the servo press 1, the measuring instrument 16, and the mold actuator 17 in an integrated manner. The press control device 13 and the sequential processing control device 14 may be configured as the same hardware or software, or may be configured as separate hardware or software.
被加工材21は、ボルスター4上に取り付けられた下型22と、スライド5に取り付けられた上型23を用いて加工する。上型23と下型22を合わせて金型24と称する。金型24内には、計測器16が取り付けられている。計測器16は、板厚や変形抵抗などの被加工材ごとにばらつく因子を測定することを目的としており、接触式や光学式やレーザー式や静電容量式や渦電流式などの変位センサや、カメラと演算装置よりなる画像処理式センサや、あるいは圧力センサやロードセルなどの荷重センサなどである。これらの計測器16は、逐次加工制御装置14内の計測指令部39や計測結果受信部26と電気的に接続されている。計測器16より出力された電圧・電流・抵抗値などのアナログ信号や、デジタル信号などの計測結果27は、逐次加工制御装置14内の計測結果受信部26にて受信する。
The workpiece 21 is processed using a lower die 22 attached on the bolster 4 and an upper die 23 attached to the slide 5. The upper mold 23 and the lower mold 22 are collectively referred to as a mold 24. A measuring instrument 16 is attached in the mold 24. The measuring instrument 16 is intended to measure factors such as plate thickness and deformation resistance that vary from workpiece to workpiece, such as displacement sensors such as contact type, optical type, laser type, electrostatic capacity type and eddy current type. An image processing type sensor composed of a camera and an arithmetic unit, or a load sensor such as a pressure sensor or a load cell. These measuring instruments 16 are electrically connected to the measurement command unit 39 and the measurement result receiving unit 26 in the sequential machining control device 14. The measurement results 27 such as analog signals such as voltage, current, and resistance values output from the measuring device 16 and digital signals are received by the measurement result receiving unit 26 in the sequential processing control device 14.
プレス制御装置13は、サーボプレス1の制御を行う。プレス制御装置13のベースとなる構造は、サーボアンプ28とモーション制御部29とプレス制御装置メモリ部30とモーションデータ変更部31よりなる。プレス制御装置メモリ部30には、スライド5の動作を規定するモーションデータ15と、モーションパターン32(図2に図示)が保存されている。モーションパターン32とはモーションデータ15の雛型となるデータで、クランクモーション、変速モーション、パルスモーション、反転モーションなどがある。このうち、反転モーションは、機械的な下死点を通過することなく一度下降したスライド5を上昇させることが可能なので、擬似下死点33を作成することが可能である。
The press control device 13 controls the servo press 1. The base structure of the press control device 13 includes a servo amplifier 28, a motion control unit 29, a press control device memory unit 30, and a motion data change unit 31. The press control device memory unit 30 stores motion data 15 that defines the operation of the slide 5 and a motion pattern 32 (shown in FIG. 2). The motion pattern 32 is data serving as a template for the motion data 15 and includes a crank motion, a shift motion, a pulse motion, a reverse motion, and the like. Among these, the reverse motion can raise the slide 5 once lowered without passing through the mechanical bottom dead center, so that the pseudo bottom dead center 33 can be created.
モーションデータ15とは、縦軸にスライド5の高さあるいはクランク軸の回転角度を、横軸に時間を記したサーボプレス1の加工条件である。以下、一つのモーションデータ15が完結するまでのスライド5の動きをモーション34と呼ぶ。
Motion data 15 is the processing conditions of the servo press 1 with the vertical axis indicating the height of the slide 5 or the rotation angle of the crankshaft and the horizontal axis indicating time. Hereinafter, the movement of the slide 5 until one motion data 15 is completed is referred to as a motion 34.
また、サーボプレス1を用いた逐次加工では、モーションデータ15を何度も呼び出しモーション34を実行する。この逐次加工全体を統率するのが逐次加工制御装置14である。逐次加工制御装置14を構成する主な構成要素は、逐次加工シークエンス制御部35とモーションデータ算出部36と逐次加工制御装置メモリ部37と金型アクチュエーター駆動司令部38と計測指令部39と計測結果受信部26とからなる。
Also, in the sequential machining using the servo press 1, the motion data 15 is called many times and the motion 34 is executed. The sequential processing control device 14 controls the entire sequential processing. The main components constituting the sequential machining control device 14 are a sequential machining sequence control unit 35, a motion data calculation unit 36, a sequential machining control device memory unit 37, a mold actuator drive command unit 38, a measurement command unit 39, and a measurement result. The receiving unit 26 is included.
逐次加工シークエンス制御部35は、逐次加工制御装置メモリ部37に保存された逐次加工プログラムデータ40を呼び出す。呼び出された逐次加工プログラムデータ40に記述された順番に従い、プレス制御装置13のモーション制御部29にモーションデータ15を呼び出し、サーボプレス1に駆動指令41を発する。また、逐次加工プログラムデータ40に従い、計測指令部39を通じて金型24に取り付けられた計測器16に計測指令43を出し、金型アクチュエーター駆動司令部38を通じて金型アクチュエーター17に駆動指令42を出す。
The sequential machining sequence control unit 35 calls the sequential machining program data 40 stored in the sequential machining control device memory unit 37. In accordance with the order described in the called sequential machining program data 40, the motion data 15 is called to the motion control unit 29 of the press control device 13, and a drive command 41 is issued to the servo press 1. Further, according to the sequential machining program data 40, a measurement command 43 is issued to the measuring instrument 16 attached to the mold 24 through the measurement command unit 39, and a drive command 42 is issued to the mold actuator 17 through the mold actuator drive command unit 38.
また、計測結果受信部26で受けた計測結果はモーションデータ算出部36に送られる。モーションデータ算出部36は、逐次加工プログラムデータ40に書かれた算出時刻44や、逐次加工制御装置メモリ部37に保存されたモーションデータ変更条件45に従い、擬似下死点33を算出する。擬似下死点33の算出には、計測結果受信部26で受けた計測結果27を用いる。そして、モーションデータ15を変更する。
Also, the measurement result received by the measurement result receiving unit 26 is sent to the motion data calculating unit 36. The motion data calculation unit 36 calculates the pseudo bottom dead center 33 according to the calculation time 44 written in the sequential machining program data 40 and the motion data change condition 45 stored in the sequential machining control device memory unit 37. For the calculation of the pseudo bottom dead center 33, the measurement result 27 received by the measurement result receiving unit 26 is used. Then, the motion data 15 is changed.
擬似下死点33とは、サーボモーター6の逆回転によりクランク等の回転直動動力変換機構11の機構的に決まる下死点よりも高い位置でスライド5を止めて反転することにより、擬似的に上昇した下死点である。
The pseudo bottom dead center 33 is a pseudo bottom dead center 33 by stopping and reversing the slide 5 at a position higher than the bottom dead center determined mechanically of the rotary linear motion power conversion mechanism 11 such as a crank by reverse rotation of the servo motor 6. It is the bottom dead center that rose to.
以上のような構成からなる、サーボプレス1と、このサーボプレス1を制御する制御装置であるプレス制御装置13および逐次加工制御装置14を含む全体を、本実施の形態ではサーボプレスシステムと呼ぶ。
The entire configuration including the servo press 1, the press control device 13 that is a control device for controlling the servo press 1, and the sequential processing control device 14 having the above-described configuration is referred to as a servo press system in the present embodiment.
<プレス制御装置の詳細>
次に、図2を参照して、前述したプレス制御装置13を詳細に説明する。図2は、このプレス制御装置13の構成の一例を示す図である。 <Details of press control device>
Next, thepress control device 13 described above will be described in detail with reference to FIG. FIG. 2 is a diagram illustrating an example of the configuration of the press control device 13.
次に、図2を参照して、前述したプレス制御装置13を詳細に説明する。図2は、このプレス制御装置13の構成の一例を示す図である。 <Details of press control device>
Next, the
プレス制御装置13のベースとなる構造は、モーションデータ15を作成するモーションデータ作成部46と、モーションデータ15をプレス制御装置メモリ部30に入力するモーションデータ入力部48と、プレス制御装置メモリ部30よりモーションデータ15を読み出し、サーボアンプ28にサーボ速度指令49を発信するモーション制御部29より構成される。このプレス制御装置13には、サーボアンプ28、モーションデータ変更部31、駆動指令受信部51、プレス計測データ出力部53なども含まれる。
The base structure of the press control device 13 includes a motion data creation unit 46 that creates the motion data 15, a motion data input unit 48 that inputs the motion data 15 to the press control device memory unit 30, and a press control device memory unit 30. The motion control unit 29 reads out the motion data 15 and transmits a servo speed command 49 to the servo amplifier 28. The press control device 13 includes a servo amplifier 28, a motion data changing unit 31, a drive command receiving unit 51, a press measurement data output unit 53, and the like.
モーション制御部29は、サーボアンプ28に電気的に接続されており、サーボアンプ28はサーボプレス1のサーボモーター6に電気的に接続されている。モーション制御部29は、モーションデータ15の記述に従いスライド5を駆動するように、サーボアンプ28に対して速度指令50あるいはトルク指令を発する。サーボアンプ28はモーション制御部29の指令に従い、スライド5が駆動するようにサーボモーター6に流れる電流を調整することでサーボモーター6を制御する。
The motion control unit 29 is electrically connected to the servo amplifier 28, and the servo amplifier 28 is electrically connected to the servo motor 6 of the servo press 1. The motion control unit 29 issues a speed command 50 or a torque command to the servo amplifier 28 so as to drive the slide 5 in accordance with the description of the motion data 15. The servo amplifier 28 controls the servo motor 6 by adjusting the current flowing through the servo motor 6 so that the slide 5 is driven in accordance with a command from the motion control unit 29.
プレス制御装置13には、逐次加工制御装置14より駆動指令41を受けてモーション制御部29に引き渡す駆動指令受信部51がある。またモーションデータ変更部31は、逐次加工制御装置14からモーションデータ変更指令52を受け、プレス制御装置メモリ部30にあるモーションデータ15を変更する。
The press control device 13 includes a drive command receiving unit 51 that receives the drive command 41 from the sequential processing control device 14 and delivers it to the motion control unit 29. The motion data changing unit 31 receives the motion data change command 52 from the sequential processing control device 14 and changes the motion data 15 in the press control device memory unit 30.
また、プレス計測データ出力部53は、トルク計測器54が測定したサーボモーター6のトルクや、フレーム2に取り付けられたフレーム反力検出器55が測定した加工反力などを逐次加工制御装置14に出力する。
Further, the press measurement data output unit 53 sends the torque of the servo motor 6 measured by the torque measuring instrument 54 and the machining reaction force measured by the frame reaction force detector 55 attached to the frame 2 to the sequential machining control device 14. Output.
<逐次加工制御装置の詳細>
次に、図3を参照して、前述した逐次加工制御装置14を詳細に説明する。図3は、この逐次加工制御装置14の構成の一例を示す図である。 <Details of sequential processing control device>
Next, the sequentialprocessing control device 14 described above will be described in detail with reference to FIG. FIG. 3 is a diagram illustrating an example of the configuration of the sequential machining control device 14.
次に、図3を参照して、前述した逐次加工制御装置14を詳細に説明する。図3は、この逐次加工制御装置14の構成の一例を示す図である。 <Details of sequential processing control device>
Next, the sequential
逐次加工制御装置14は、逐次加工制御装置メモリ部37、逐次加工シークエンス制御部35、駆動指令発信部25、計測指令部39、金型アクチュエーター駆動司令部38、モーションデータ算出部36、計測結果受信部26などを含んで構成される。
The sequential machining control device 14 includes a sequential machining control device memory unit 37, a sequential machining sequence control unit 35, a drive command transmission unit 25, a measurement command unit 39, a mold actuator drive command unit 38, a motion data calculation unit 36, and a measurement result reception. The unit 26 and the like are included.
逐次加工制御装置メモリ部37には、逐次加工プログラムデータ40とモーションデータ変更条件45が保存されている。逐次加工プログラムデータ40は、逐次加工プログラム作成部57で作成し、逐次加工プログラム入力部58より逐次加工制御装置メモリ部37に保存する。モーションデータ変更条件45は、モーションデータ変更条件作成部59で作成され、モーションデータ変更条件入力部60を用いて逐次加工制御装置メモリ部37に保存される。
The sequential machining control device memory unit 37 stores sequential machining program data 40 and motion data changing conditions 45. The sequential machining program data 40 is created by the sequential machining program creation unit 57 and stored in the sequential machining control device memory unit 37 by the sequential machining program input unit 58. The motion data change condition 45 is created by the motion data change condition creation unit 59 and is stored in the sequential processing control device memory unit 37 using the motion data change condition input unit 60.
逐次加工シークエンス制御部35は、逐次加工制御装置メモリ部37より逐次加工プログラムデータ40を読み出して実行する。逐次加工プログラムデータ40には、複数回のモーション34の実行、計測指令43の実行、金型アクチュエーター駆動指令61の実行、モーションデータ算出指令62の実行が時系列に記述されている。
The sequential machining sequence control unit 35 reads the sequential machining program data 40 from the sequential machining control device memory unit 37 and executes it. In the sequential machining program data 40, execution of a plurality of motions 34, execution of a measurement command 43, execution of a mold actuator drive command 61, and execution of a motion data calculation command 62 are described in time series.
駆動指令発信部25は、逐次加工シークエンス制御部35より指令を受け、サーボプレス1に駆動指令を発する。計測指令部39は、逐次加工シークエンス制御部35より指令を受け、計測器16に駆動指令を発する。金型アクチュエーター駆動司令部38は、逐次加工シークエンス制御部35より指令を受け、金型アクチュエーター17を駆動する。
The drive command transmission unit 25 receives a command from the sequential processing sequence control unit 35 and issues a drive command to the servo press 1. The measurement command unit 39 receives a command from the sequential processing sequence control unit 35 and issues a drive command to the measuring device 16. The mold actuator drive command unit 38 receives a command from the sequential processing sequence control unit 35 and drives the mold actuator 17.
モーションデータ算出部36は、逐次加工シークエンス制御部35より指令を受け、逐次加工制御装置メモリ部37より読み出したモーションデータ変更条件45に従い、モーションデータ15の擬似下死点33を算出する。
The motion data calculation unit 36 receives a command from the sequential processing sequence control unit 35 and calculates a pseudo bottom dead center 33 of the motion data 15 according to the motion data change condition 45 read from the sequential processing control device memory unit 37.
前述した図2に示したプレス制御装置13を構成するモーション制御部29やモーションデータ変更部31と、図3に示した逐次加工制御装置14を構成する逐次加工シークエンス制御部35やモーションデータ算出部36は、マイクロコンピューターなどの半導体素子による中央演算回路より構成される。
The above-described motion control unit 29 and motion data changing unit 31 constituting the press control device 13 shown in FIG. 2, and the sequential machining sequence control unit 35 and motion data calculating unit constituting the sequential machining control device 14 shown in FIG. 36 is constituted by a central processing circuit made of a semiconductor element such as a microcomputer.
モーションデータ算出部36は、四則演算や累乗関数、三角関数、指数関数、対数関数、あるいは区分多項式等などの算術式を演算する機能を持つ。また、モーションデータ算出部36は、ハードウエアとして逐次加工シークエンス制御部35と同一の中央演算回路内に構成されて、ソフトウエアの機能として別に動作するものでも良く、別々の中央演算回路により構成されても良い。
The motion data calculation unit 36 has a function of calculating arithmetic expressions such as four arithmetic operations, power functions, trigonometric functions, exponential functions, logarithmic functions, or piecewise polynomials. Further, the motion data calculation unit 36 may be configured as hardware in the same central processing circuit as the sequential processing sequence control unit 35 and may operate separately as a software function, and is configured by separate central processing circuits. May be.
プレス制御装置メモリ部30と逐次加工制御装置メモリ部37は、読み書き可能なメモリ(例えば、半導体RAM、フラッシュメモリー、MRAM、ハードディスクドライブ、フロッピー(登録商標)ディスク)を用いる。
The press control device memory unit 30 and the sequential processing control device memory unit 37 use readable / writable memories (for example, semiconductor RAM, flash memory, MRAM, hard disk drive, floppy (registered trademark) disk).
<逐次曲げ金型>
次に、図4を参照して、前述したサーボプレスシステムを逐次曲げ加工方法に適用した場合の逐次曲げ金型について説明する。図4は、この逐次曲げ金型の構成の一例を示す図である。この逐次曲げ金型は、前述したサーボプレス1に含まれる、下型22と上型23などから構成される金型24の部分であり、ここでは、金属薄板を逐次加工でコの字に曲げる加工に用いる金型の一例を示す。適宜、図4の右下に示したX方向、Y方向、Z方向の座標系を用いて説明する。 <Sequential bending mold>
Next, a sequential bending die when the servo press system described above is applied to a sequential bending method will be described with reference to FIG. FIG. 4 is a diagram showing an example of the configuration of this sequential bending mold. This sequential bending mold is a portion of amold 24 including a lower mold 22 and an upper mold 23 included in the servo press 1 described above, and here, a thin metal plate is bent into a U-shape by sequential processing. An example of the metal mold | die used for a process is shown. The description will be given using the coordinate system in the X, Y, and Z directions shown in the lower right of FIG.
次に、図4を参照して、前述したサーボプレスシステムを逐次曲げ加工方法に適用した場合の逐次曲げ金型について説明する。図4は、この逐次曲げ金型の構成の一例を示す図である。この逐次曲げ金型は、前述したサーボプレス1に含まれる、下型22と上型23などから構成される金型24の部分であり、ここでは、金属薄板を逐次加工でコの字に曲げる加工に用いる金型の一例を示す。適宜、図4の右下に示したX方向、Y方向、Z方向の座標系を用いて説明する。 <Sequential bending mold>
Next, a sequential bending die when the servo press system described above is applied to a sequential bending method will be described with reference to FIG. FIG. 4 is a diagram showing an example of the configuration of this sequential bending mold. This sequential bending mold is a portion of a
下ダイセットプレート64は、サーボプレス1(図1に図示)のボルスター4(図1に図示)に固定されている。下ダイセットプレート64には移動型65が搭載されており、移動型65は下ダイセットプレート64に固定された移動型ガイド66によりY方向とZ方向の変位は固定されており、X方向には移動自在である。
The lower die set plate 64 is fixed to the bolster 4 (shown in FIG. 1) of the servo press 1 (shown in FIG. 1). A movable die 65 is mounted on the lower die set plate 64, and the displacement of the movable die 65 in the Y direction and the Z direction is fixed by a movable guide 66 fixed to the lower die set plate 64. Is mobile.
下ダイセットプレート64にはアクチュエーター据付板67が接合されており、その上に金型アクチュエーター17が固定されている。金型アクチュエーター17は、モーターを内蔵しており、台形ネジ68を介して移動型65をX方向に移動させることが可能である。移動型65には電磁石が内蔵されており、被加工材21を電磁力で吸引して固定することができる。金型アクチュエーター17は、エアーシリンダーや油圧シリンダーあるいは油圧サーボシリンダーでも良い。被加工材21は、通常の鋼板と高張力鋼板をレーザー溶接等で接合したハイブリッド鋼板である。図4で点線より手前が被加工材普通鋼板部69で点線より向こうが被加工材高張力鋼板部70である。
An actuator mounting plate 67 is joined to the lower die set plate 64, and the mold actuator 17 is fixed thereon. The mold actuator 17 has a built-in motor and can move the movable die 65 in the X direction via a trapezoidal screw 68. An electromagnet is built in the movable die 65, and the workpiece 21 can be attracted and fixed by electromagnetic force. The mold actuator 17 may be an air cylinder, a hydraulic cylinder, or a hydraulic servo cylinder. The workpiece 21 is a hybrid steel plate in which a normal steel plate and a high-tensile steel plate are joined by laser welding or the like. In FIG. 4, the workpiece normal steel plate portion 69 is before the dotted line, and the workpiece high-tensile steel plate portion 70 is beyond the dotted line.
上ダイセットプレート71は、サーボプレス1(図1に図示)のスライド5(図1に図示)に固定され、Z方向に上下動する。また、上ダイセットプレート71にはダイガイド72が固定されており、ダイガイド72にはダイ73が取り付けられている。ダイ73は、ダイガイド72によりZ方向、X方向への移動は固定され、Y方向には図示する位置より内側には移動自在な構造となっている。
The upper die set plate 71 is fixed to the slide 5 (shown in FIG. 1) of the servo press 1 (shown in FIG. 1) and moves up and down in the Z direction. A die guide 72 is fixed to the upper die set plate 71, and a die 73 is attached to the die guide 72. The die 73 has a structure in which movement in the Z direction and the X direction is fixed by the die guide 72 and is movable inward in the Y direction from the position shown in the figure.
下ダイセットプレート64には、左右(Y方向)にカム74が取り付けられている。カム74の内側には計測器16が取り付けられ、板厚や変形抵抗などの被加工材ごとにばらつく因子が測定される。スライド5が下降して、上ダイセットプレート71のダイガイド72に取り付けられたダイ73が、下ダイセットプレート64に取り付けられたカム74と接触すると、ダイ73がY方向に内側に移動する。被加工材21のX方向の幅L1はダイ73のX方向の幅L2よりも長い。本加工方法では、一回加工する度の移動型移動量75をL2程度の長さL3とする。スライド5を上下させ、被加工材21を加工することを繰り返す毎に金型アクチュエーター17に指令を送り、移動型65を移動させて逐次加工を行う。送り長さL3については、L2と同等か短いことが望ましい。
The lower die set plate 64 has cams 74 attached to the left and right (Y direction). A measuring instrument 16 is attached to the inside of the cam 74, and factors such as plate thickness and deformation resistance that vary for each workpiece are measured. When the slide 5 descends and the die 73 attached to the die guide 72 of the upper die set plate 71 comes into contact with the cam 74 attached to the lower die set plate 64, the die 73 moves inward in the Y direction. A width L1 of the workpiece 21 in the X direction is longer than a width L2 of the die 73 in the X direction. In the present processing method, the movable movement amount 75 for each processing is set to a length L3 of about L2. Each time the slide 5 is moved up and down and the workpiece 21 is repeatedly processed, a command is sent to the mold actuator 17 and the movable die 65 is moved to perform sequential processing. The feed length L3 is preferably equal to or shorter than L2.
<逐次曲げ加工方法>
次に、図5~図13を参照して、前述した逐次曲げ金型を用いた逐次曲げ加工方法について説明する。図5~図10は逐次加工工程の各段階の一例を示す図であり、また、図11は計測工程、図12は調整加工工程、図13は終了工程の一例を示す図である。 <Sequential bending method>
Next, a sequential bending method using the above-described sequential bending mold will be described with reference to FIGS. 5 to 10 are diagrams showing an example of each stage of the sequential machining process, FIG. 11 is a diagram showing a measurement process, FIG. 12 is an adjustment machining process, and FIG. 13 is a diagram showing an example of an end process.
次に、図5~図13を参照して、前述した逐次曲げ金型を用いた逐次曲げ加工方法について説明する。図5~図10は逐次加工工程の各段階の一例を示す図であり、また、図11は計測工程、図12は調整加工工程、図13は終了工程の一例を示す図である。 <Sequential bending method>
Next, a sequential bending method using the above-described sequential bending mold will be described with reference to FIGS. 5 to 10 are diagrams showing an example of each stage of the sequential machining process, FIG. 11 is a diagram showing a measurement process, FIG. 12 is an adjustment machining process, and FIG. 13 is a diagram showing an example of an end process.
図5(逐次曲げ加工・加工深さ1送り1)は、スライド5に固定された上ダイセットプレート71を加工深さZ1まで下げて、被加工材21のX方向の端の部分(最も手前の部分)を加工した図である。この後、スライド5に固定された上ダイセットプレート71は上昇して、その間に移動型65を送り長さL3だけX方向(手前方向)に移動する。続いて、スライド5に固定された上ダイセットプレート71を加工深さZ1まで下げて、被加工材21を図6(逐次曲げ加工・加工深さ1送り2)に示すように再度加工する。
In FIG. 5 (sequential bending process / process depth 1 feed 1), the upper die set plate 71 fixed to the slide 5 is lowered to the process depth Z1, and the end portion in the X direction of the workpiece 21 (frontmost) It is the figure which processed the part. Thereafter, the upper die set plate 71 fixed to the slide 5 is raised, and during that time, the movable die 65 is moved in the X direction (frontward direction) by the feed length L3. Subsequently, the upper die set plate 71 fixed to the slide 5 is lowered to the processing depth Z1, and the workpiece 21 is processed again as shown in FIG. 6 (sequential bending processing / processing depth 1 feed 2).
これを繰り返して、図7(逐次曲げ加工・加工深さ1送り3)に示すように被加工材21のX方向の材料端(最も奥の部分)まで加工する。このように逐次加工することにより、板厚が厚く大きな被加工材21も小さい能力のプレスで加工することが可能となる。この加工方法で一度にコの字に加工しないのは、被加工材21の面内の歪みが塑性域まで生じると最後にその形状を修正することが難しくなるからである。
This is repeated until the material end (the innermost part) in the X direction of the workpiece 21 is processed as shown in FIG. 7 (sequential bending processing / processing depth 1 feed 3). By sequentially processing in this way, it is possible to process a large workpiece 21 with a small capacity press. The reason why the processing method does not process the U-shape at a time is that when the in-plane distortion of the workpiece 21 occurs up to the plastic region, it is difficult to finally correct the shape.
金型の移動方向は逆でもかまわないが、その場合に加工時に生じるX方向の反力が圧縮方向に働くため、台形ネジ68の座屈を考慮した金型構造とする必要がある。
The movement direction of the mold may be reversed, but in this case, the reaction force in the X direction that occurs during processing acts in the compression direction, so it is necessary to have a mold structure that takes into account the buckling of the trapezoidal screw 68.
この後、一旦、金型を図5で示した位置まで戻し、今度は加工深さをZ2(Z2はZ1より低い)に変更して、再度、図8(逐次曲げ加工・加工深さ2)に示すように、同様の加工を行う。加工深さを変更しながら何度か加工を繰り返すと、図9(逐次曲げ加工・加工深さ3)に示すようにコの字に近い形状に加工することが可能である。この場合に、被加工材21の被加工材普通鋼板部69と被加工材高張力鋼板部70は降伏応力が異なるため、図10(逐次曲げ加工・終了)に示すようにスプリングバック量が異なる。
Thereafter, the mold is once returned to the position shown in FIG. 5, and the machining depth is changed to Z2 (Z2 is lower than Z1), and then again shown in FIG. 8 (sequential bending and machining depth 2). As shown in FIG. If the processing is repeated several times while changing the processing depth, it is possible to process the shape close to a U-shape as shown in FIG. 9 (sequential bending processing / processing depth 3). In this case, since the yield stress differs between the workpiece normal steel plate portion 69 and the workpiece high-tensile steel plate portion 70 of the workpiece 21, the amount of spring back is different as shown in FIG. 10 (sequential bending / end). .
そのため、図10に強調して描くように、被加工材普通鋼板部69と被加工材高張力鋼板部70で曲げ角度が異なる。このように、一つの材料での曲げ角度の均一さを通り精度と一般に呼んでいる。
Therefore, the bending angle is different between the workpiece normal steel plate portion 69 and the workpiece high-tensile steel plate portion 70, as highlighted in FIG. In this way, the uniformity of the bending angle with one material is generally called accuracy.
通り精度を向上するには、最後の加工ではスプリングバック量に対応して加工箇所ごとに加工条件を変えることが望ましい。そのため、ここで図14にて後述する計測工程80を設ける。計測工程80では、移動型65をX方向に移動させながら計測器16を用いて複数回、被加工材21の形状を測定する。
In order to improve accuracy, it is desirable to change the machining conditions for each machining location in the last machining according to the amount of springback. Therefore, a measurement step 80 described later with reference to FIG. 14 is provided here. In the measuring step 80, the shape of the workpiece 21 is measured a plurality of times using the measuring instrument 16 while moving the movable die 65 in the X direction.
そして、測定結果を用いて、図14にて後述する逐次調整加工工程82を行う。逐次調整加工工程82の加工量については、計測工程80での計測結果27を用いて、図14にて後述する調整加工量算出工程81で算出する。
Then, using the measurement result, a sequential adjustment processing step 82 described later in FIG. 14 is performed. The processing amount in the sequential adjustment processing step 82 is calculated in the adjustment processing amount calculation step 81 described later with reference to FIG. 14 using the measurement result 27 in the measurement step 80.
このときの金型および被加工材21の断面を示したのが図11~図13である。図11は計測工程80に相当し、図12は逐次調整加工工程82に相当し、その結果として、図13(終了工程83)に示すようにスプリングバックの影響を排除した90度に曲げられたコの字の断面形状の被加工材21が得られる。
11 to 13 show the cross section of the mold and workpiece 21 at this time. FIG. 11 corresponds to the measurement step 80, and FIG. 12 corresponds to the sequential adjustment processing step 82. As a result, as shown in FIG. 13 (end step 83), it is bent to 90 degrees excluding the influence of the springback. A workpiece 21 having a U-shaped cross-sectional shape is obtained.
<逐次曲げ加工フロー>
次に、図14を参照して、前述した逐次曲げ加工方法における逐次曲げ加工フローについて説明する。図14は、この逐次曲げ加工フローの一例を示すフローチャートである。 <Sequential bending process flow>
Next, a sequential bending process flow in the above-described sequential bending process will be described with reference to FIG. FIG. 14 is a flowchart showing an example of this sequential bending process flow.
次に、図14を参照して、前述した逐次曲げ加工方法における逐次曲げ加工フローについて説明する。図14は、この逐次曲げ加工フローの一例を示すフローチャートである。 <Sequential bending process flow>
Next, a sequential bending process flow in the above-described sequential bending process will be described with reference to FIG. FIG. 14 is a flowchart showing an example of this sequential bending process flow.
まず、被加工材搬入工程77で、被加工材21を金型24上に搬入する。この被加工材搬入工程77は、人手を使っても、ロボット等を用いても良い。
First, the workpiece 21 is loaded onto the mold 24 in the workpiece loading step 77. The workpiece carrying-in process 77 may be performed manually or using a robot.
続いて、逐次加工プログラムデータ呼び出し工程78で、逐次加工制御装置メモリ部37より逐次加工プログラムデータ40を逐次加工シークエンス制御部35に読み込む。その後、逐次加工プログラムデータ40に従い、逐次加工シークエンス制御部35は、サーボプレス1や金型アクチュエーター17や計測器16に指令を発して逐次加工を進める。
Subsequently, the sequential machining program data 40 is read into the sequential machining sequence control unit 35 from the sequential machining control device memory unit 37 in a sequential machining program data calling step 78. Thereafter, in accordance with the sequential machining program data 40, the sequential machining sequence control unit 35 issues commands to the servo press 1, the mold actuator 17 and the measuring device 16 to advance the sequential machining.
続いて、逐次加工工程79では、逐次加工プログラムデータ40に記述された順番に従い、移動型65を移動し、モーションデータ15の擬似下死点33を変更しながらモーション34を繰り返す。この逐次加工工程79の詳細は、図18にて後述する。
Subsequently, in the sequential machining step 79, the moving die 65 is moved in accordance with the order described in the sequential machining program data 40, and the motion 34 is repeated while changing the pseudo bottom dead center 33 of the motion data 15. Details of the sequential processing step 79 will be described later with reference to FIG.
続いて、計測工程80では、逐次加工プログラムデータ40に従い、移動型65を移動しつつ、複数回、計測器16で測定する。このようにして、計測器16で測定した複数個所の計測結果27が得られる。この計測工程80の詳細は、図19にて後述する。
Subsequently, in the measuring step 80, the measuring instrument 16 performs measurement a plurality of times while moving the movable die 65 in accordance with the sequential machining program data 40. In this way, measurement results 27 at a plurality of locations measured by the measuring instrument 16 are obtained. Details of the measurement step 80 will be described later with reference to FIG.
続いて、調整加工量算出工程81で、複数個所の計測結果27をもとに調整加工量を求める。サーボプレス1であれば、通常、調整加工量は擬似下死点33として求まる。擬似下死点33は、加工箇所によって複数の値を持たすことができる。この調整加工量算出工程81の詳細は、図20にて後述する。
Subsequently, in an adjustment machining amount calculation step 81, an adjustment machining amount is obtained based on the measurement results 27 at a plurality of locations. In the case of the servo press 1, the adjustment processing amount is usually obtained as the pseudo bottom dead center 33. The pseudo bottom dead center 33 can have a plurality of values depending on the machining location. Details of the adjustment processing amount calculation step 81 will be described later with reference to FIG.
続いて、逐次調整加工工程82で、移動型65を移動し、モーションデータ15の擬似下死点33を変更しながらモーション34を繰り返す。この逐次調整加工工程82の詳細は、図21にて後述する。
Subsequently, in the sequential adjustment processing step 82, the movable die 65 is moved, and the motion 34 is repeated while changing the pseudo bottom dead center 33 of the motion data 15. Details of the sequential adjustment processing step 82 will be described later with reference to FIG.
そして、終了工程83で、逐次加工を終了する。
Then, in the end step 83, the sequential processing is ended.
<逐次加工シークエンス>
続いて、図15を用いて、前述した逐次加工シークエンス制御部35の処理について説明する。図15は、この逐次加工シークエンス制御部35の処理フローの一例を示すフローチャートである。逐次加工シークエンス制御部35は、逐次加工プログラムデータ40に従い処理を行う。 <Sequential processing sequence>
Next, the process of the sequential processingsequence control unit 35 described above will be described with reference to FIG. FIG. 15 is a flowchart illustrating an example of a processing flow of the sequential processing sequence control unit 35. The sequential machining sequence control unit 35 performs processing according to the sequential machining program data 40.
続いて、図15を用いて、前述した逐次加工シークエンス制御部35の処理について説明する。図15は、この逐次加工シークエンス制御部35の処理フローの一例を示すフローチャートである。逐次加工シークエンス制御部35は、逐次加工プログラムデータ40に従い処理を行う。 <Sequential processing sequence>
Next, the process of the sequential processing
まず、逐次加工プログラムデータ呼び出し工程78で、逐次加工プログラムデータ40を読み込む。K=1入力工程84で、行番号を示す変数Kに1を代入する。K行読み込み工程85で、K行を読み込む。
First, the sequential machining program data 40 is read in the sequential machining program data calling step 78. In the K = 1 input step 84, 1 is substituted into the variable K indicating the row number. In a K row reading process 85, K rows are read.
金型アクチュエーター起動判定工程86で、K行に金型駆動することが記述されている場合(86-then)には、金型アクチュエーター駆動指令発信工程87に遷移し、金型アクチュエーター駆動司令部38を通して金型24の金型アクチュエーター17に金型アクチュエーター駆動指令61を発し、これにより逐次加工プログラムデータ40に記述された距離の移動型移動量75だけ移動型65を移動する。
If it is described in the mold actuator activation determination step 86 that the mold is driven in the K row (86-then), the process proceeds to the mold actuator drive command transmission step 87, and the mold actuator drive command section 38 is reached. Through this, a mold actuator drive command 61 is issued to the mold actuator 17 of the mold 24, whereby the movable mold 65 is moved by the movable movement amount 75 of the distance described in the machining program data 40 sequentially.
もし、K行の内容が異なる場合(86-else)には、モーション起動判定工程88に進む。K行の内容がモーション起動である場合(88-then)には、逐次加工シークエンス制御部35は、モーションデータ変更指令発信工程89で、モーションデータ算出部36とモーションデータ変更部31を通して、プレス制御装置メモリ部30にあるモーションデータ15の擬似下死点33を変更する。
If the contents of the K line are different (86-else), the process proceeds to the motion activation determination step 88. When the content of the K line is motion activation (88-then), the sequential processing sequence control unit 35 performs press control through the motion data calculation unit 36 and the motion data change unit 31 in the motion data change command transmission step 89. The pseudo bottom dead center 33 of the motion data 15 in the device memory unit 30 is changed.
続いて、モーション起動指令発信工程90で、逐次加工シークエンス制御部35は駆動指令発信部25と駆動指令受信部51を通してモーション制御部29にモーション34の開始を指令する。なお、擬似下死点33が同じモーション34の場合には、モーションデータ変更指令発信工程89を経由せずに、モーション起動判定工程88からモーション起動指令発信工程90に遷移しても良い。
Subsequently, in the motion start command transmission step 90, the sequential processing sequence control unit 35 commands the motion control unit 29 to start the motion 34 through the drive command transmission unit 25 and the drive command reception unit 51. When the pseudo bottom dead center 33 is the same motion 34, the motion activation determination process 88 may be shifted to the motion activation instruction transmission process 90 without going through the motion data change instruction transmission process 89.
モーション起動判定工程88で、K行の内容が異なる場合(88-else)には、計測起動判定工程92に遷移し、K行の内容が計測起動であれば(92-then)、計測指令発信工程93で、計測指令部39を通して計測器16に計測指令43を発し、計測結果受信部26を通して計測結果27を受信し、逐次加工制御装置メモリ部37に保存する。
If the content of the K line is different in the motion activation determination step 88 (88-else), the process proceeds to the measurement activation determination step 92. If the content of the K line is measurement activation (92-then), a measurement command is transmitted. In step 93, the measurement command 43 is issued to the measuring instrument 16 through the measurement command unit 39, the measurement result 27 is received through the measurement result receiving unit 26, and is stored in the sequential machining control device memory unit 37.
計測起動判定工程92で、K行の内容が異なる場合(92-else)には、算出起動判定工程94に進む。算出起動判定工程94で、K行の内容が算出起動である場合(94-then)には、調整加工量算出工程81で、逐次加工制御装置メモリ部37より計測結果27とモーションデータ変更条件45を読み出し、モーションデータ変更条件45に従い、擬似下死点33を算出する。
In the measurement activation determination step 92, if the contents of the K line are different (92-else), the process proceeds to the calculation activation determination step 94. In the calculation start determination step 94, when the content of the K row is calculation start (94-then), the measurement result 27 and the motion data change condition 45 are sequentially received from the sequential processing control device memory unit 37 in the adjustment processing amount calculation step 81. And the pseudo bottom dead center 33 is calculated according to the motion data changing condition 45.
以上の金型アクチュエーター起動判定工程86やモーション起動判定工程88や計測起動判定工程92や算出起動判定工程94に始まる一連の処理が終了すると(94-else)、K=K+1代入工程95で、KにK+1を代入する。そして、逐次加工終了判定工程96で、逐次加工プログラムデータ40に書かれた全ての処理が終了したか判定する。していない場合(96-No)には、K行読み込み工程85に戻る。終了した場合(96-Yes)には、逐次加工終了工程97で終了する。
When the series of processes starting from the above-described mold actuator activation determination process 86, motion activation determination process 88, measurement activation determination process 92, and calculation activation determination process 94 is completed (94-else), K = K + 1 substitution process 95 Substitute K + 1. In a sequential machining end determination step 96, it is determined whether all the processes written in the sequential machining program data 40 have been completed. If not (96-No), the process returns to the K row reading step 85. When the process is completed (96-Yes), the process ends in the sequential processing end process 97.
以上のように、逐次加工シークエンス制御部35は、逐次加工プログラムデータ40に従って処理を行うことができる。
As described above, the sequential processing sequence control unit 35 can perform processing according to the sequential processing program data 40.
前述した擬似下死点33の算出は、金属の弾塑性変形の物理現象を反映した式を用いても良い。一方、実際の加工精度の問題にはさまざまな要因が入るため、実際のデータを元に回帰的に算出式を求めることも有効である。その場合には、式1に示すように、計測結果27の線形結合として擬似下死点33を算出する方法が回帰式の係数を同定する上でも簡便で実用上優れている。計測結果27の線形結合で示せる平均値の項を式1の右辺第1項としているのは、利用頻度の高い平均値を変数とすると、モーションデータ変更条件45を作成するのが容易だからである。
The calculation of the pseudo bottom dead center 33 described above may use an equation reflecting the physical phenomenon of metal elasto-plastic deformation. On the other hand, since there are various factors in the problem of actual machining accuracy, it is also effective to obtain a calculation formula recursively based on actual data. In that case, as shown in Equation 1, the method of calculating the pseudo bottom dead center 33 as a linear combination of the measurement results 27 is simple and practical in terms of identifying the coefficient of the regression equation. The term of the average value that can be indicated by the linear combination of the measurement result 27 is the first term on the right side of Equation 1 because it is easy to create the motion data change condition 45 if the average value that is frequently used is a variable. .
式1において、左辺のyiが場所iの擬似下死点33である。右辺の第1項は多数の測定点の平均値の関数である。右辺の第2項でxjは位置jにおける計測結果27である。aijはyi(擬似下死点33)への寄与を表す係数である。この右辺の第2項で、測定点全ての影響を足す。biは囲う位置iにおける0切片の定数である。
In Equation 1, y i on the left side is the pseudo bottom dead center 33 at the location i. The first term on the right side is a function of the average value of a number of measurement points. In the second term on the right side, x j is the measurement result 27 at the position j. a ij is a coefficient representing the contribution to y i (pseudo bottom dead center 33). The second term on the right side adds the effects of all measurement points. b i is a constant of zero intercept at the enclosing position i.
式1のように、モーションデータ変更条件45の擬似下死点33を表現すると、プレス加工の多くの場合において適切な擬似下死点33を算出することができる。例えば、式2は式1でaij=0とした場合の算出式である。式2で計測結果27は平均値を通して各加工位置のyi(擬似下死点33)の算出結果に影響する。加工位置によるyiの違いは定数biのみに依存する。曲げ加工では、被加工材21の長手方向の材質のばらつきは無くても、平面歪変形をする中央部と平面応力変形をする端部では変形の仕方が異なる。その結果、鞍反りと呼ばれる端部で反るような形状が発生する場合がある。鞍反りのように、部品のノミナルな形状と材質で決まる現象では式2に示す。
When the pseudo bottom dead center 33 of the motion data changing condition 45 is expressed as in Expression 1, an appropriate pseudo bottom dead center 33 can be calculated in many cases of press working. For example, Formula 2 is a calculation formula when Formula 1 is set to a ij = 0. In Equation 2, the measurement result 27 affects the calculation result of y i (pseudo bottom dead center 33) at each machining position through the average value. The difference in y i depending on the machining position depends only on the constant b i . In bending, even if there is no variation in the material of the workpiece 21 in the longitudinal direction, the way of deformation differs between the central portion that undergoes plane strain deformation and the end portion that undergoes plane stress deformation. As a result, a shape that warps at an end portion called warp may occur. A phenomenon that is determined by the nominal shape and material of the part, such as warpage, is shown in Equation 2.
さらに、式1は式3の形に変形できる。式1のiとjが異なる場合にaij=0として、かつ全てのaij=aとし、全てのbi=bとした式である。被加工材21の長手方向のばらつきが多い場合に有効で、擬似下死点33の算出において該当加工箇所と同一の箇所の計測結果27のみを用いて算出する。
Furthermore, Equation 1 can be transformed into Equation 3. When i and j in Formula 1 are different, a ij = 0, all a ij = a, and all b i = b. This is effective when there are many variations in the longitudinal direction of the workpiece 21, and the pseudo bottom dead center 33 is calculated using only the measurement result 27 at the same location as the corresponding machining location.
また、ハイブリッド材料で、加工位置がiより小さい範囲が高張力鋼板で、iより大きい範囲が普通鋼板の場合には式4に示すように、aijを変えることにより被加工材高張力鋼板部70の計測結果27の平均と被加工材普通鋼板部69の計測結果27の平均を持って擬似下死点33を計算することができる。
Further, when the hybrid material is a high-tensile steel plate in which the machining position is smaller than i and the normal steel plate is in a range larger than i, the workpiece high-tensile steel plate portion is changed by changing a ij as shown in Equation 4. The pseudo bottom dead center 33 can be calculated with the average of the 70 measurement results 27 and the average of the measurement results 27 of the workpiece normal steel plate portion 69.
逐次加工による加工方法としては、計測工程80と逐次調整加工工程82を交互に繰り返すことも可能であるが、本発明者らの研究では、逐次加工工程79が終了し、最終形状に近い状態で一度被加工材21全体を計測工程80で計測し、調整加工量算出工程81で全加工箇所の擬似下死点33を算出してから逐次調整加工する方が良い精度が得られている。金属の塑性加工においては、連結した加工部位どうしが相互に作用するため、部分的に逐次調整加工工程82を行ったあとの計測結果27が、逐次調整加工工程82と異なるためである。そのため、切削加工のように除去箇所ごとに計測して仕上げ加工の条件を変えるよりも、逐次調整加工工程82を行う前に被加工材21全体を計測する方が良い。
As a processing method by sequential processing, it is possible to alternately repeat the measurement step 80 and the sequential adjustment processing step 82. However, in the present inventors' research, the sequential processing step 79 is completed, and the state is close to the final shape. Once the entire workpiece 21 is measured in the measuring step 80, and the pseudo bottom dead center 33 is calculated for all the machining locations in the adjustment machining amount calculation step 81, it is possible to obtain a better accuracy. This is because, in the metal plastic working, the connected machining parts interact with each other, and therefore the measurement result 27 after partially performing the sequential adjustment processing step 82 is different from the sequential adjustment processing step 82. Therefore, it is better to measure the entire workpiece 21 before performing the sequential adjustment process step 82, rather than measuring for each removal location and changing the finishing process conditions as in the case of cutting.
<逐次加工プログラム作成画面>
続いて、図16を用いて、前述した逐次加工プログラム作成部57の逐次加工プログラム作成画面について説明する。図16は、この逐次加工プログラム作成画面の一例を示す図である。 <Sequential machining program creation screen>
Next, the sequential machining program creation screen of the sequential machiningprogram creation unit 57 described above will be described with reference to FIG. FIG. 16 is a diagram showing an example of the sequential machining program creation screen.
続いて、図16を用いて、前述した逐次加工プログラム作成部57の逐次加工プログラム作成画面について説明する。図16は、この逐次加工プログラム作成画面の一例を示す図である。 <Sequential machining program creation screen>
Next, the sequential machining program creation screen of the sequential machining
逐次加工プログラム作成部57の逐次加工プログラム作成画面は、逐次加工プログラム表98と、テンキー99と、エンターキー100と、削除キー101と、保存キー102と、カーソルキー103と、アルファベットキー104より構成される。
The sequential machining program creation screen of the sequential machining program creation unit 57 includes a sequential machining program table 98, a numeric keypad 99, an enter key 100, a delete key 101, a save key 102, a cursor key 103, and an alphabet key 104. Is done.
逐次加工プログラム表98の1列目は、序数が表示される。2列目には、逐次加工シークエンス制御部35が処理する動作の種類を入力する。ここで、ITは逐次加工の意味、MESは測定の意味、CALは算出の意味、MODは調整加工の意味である。入力はアルファベットキー104により上記記号を入力し、エンターキー100で確定する。内容を変更する場合には、削除キー101で削除して再度入力すれば良い。
The ordinal number is displayed in the first column of the sequential machining program table 98. In the second column, the type of operation processed by the sequential processing sequence control unit 35 is input. Here, IT means sequential processing, MES means measurement, CAL means calculation, and MOD means adjustment processing. Input the above-mentioned symbol by the alphabet key 104 and confirm with the enter key 100. In order to change the contents, the contents may be deleted with the delete key 101 and input again.
さらに、逐次加工プログラム表98の3列目には擬似下死点、4列目にはX最初(X方向の最初の位置)、5列目にはX最後(X方向の最後の位置)、6列目にはXピッチ(X方向の移動ピッチ)をそれぞれ入力する。
Further, the pseudo bottom dead center is in the third column of the sequential machining program table 98, the X first (the first position in the X direction) is in the fourth column, the X last (the last position in the X direction) is in the fifth column, In the sixth column, X pitch (movement pitch in the X direction) is input.
この逐次加工プログラム表98では、1行目から3行目までが逐次加工である。図14の逐次加工工程79に相当する。1行ごとの意味は、例えば最初の1行目は、X最初の値=0mmを出発点としてX最後=500mmまで移動型65を50mmピッチで移動しながら、擬似下死点10mmのモーションを行うということである。
In the sequential machining program table 98, the first to third lines are sequential machining. This corresponds to the sequential processing step 79 in FIG. The meaning of each row is, for example, in the first first row, the motion of the pseudo bottom dead center 10 mm is performed while moving the movable die 65 at a pitch of 50 mm from the X first value = 0 mm to the X end = 500 mm. That's what it means.
2行目の意味は、1行目の逐次加工が終了したのち、X最初=0mmまで移動型65を戻して、擬似下死点8mmで同様の加工を行うという意味である。3行目の意味は、2行目の逐次加工が終了したのち、X最初=0mmまで移動型65を戻して、擬似下死点5mmで同様の加工を行うという意味である。
The meaning of the second line means that after the sequential machining of the first line is completed, the movable die 65 is returned to X first = 0 mm, and the same machining is performed at a pseudo bottom dead center of 8 mm. The meaning of the third line means that after the sequential processing of the second line is completed, the movable die 65 is returned to X first = 0 mm, and the same processing is performed at a pseudo bottom dead center of 5 mm.
逐次加工プログラム表98の4行目(MES)は、計測工程の条件である図14の計測工程80に相当する。この4行目の意味は、X最初=0mmからX最後500mmまで50mmピッチで移動型65を移動しながら測定を行うという意味である。
The fourth line (MES) of the sequential machining program table 98 corresponds to the measurement process 80 in FIG. The meaning of the fourth line means that measurement is performed while moving the movable die 65 at a pitch of 50 mm from X first = 0 mm to X last 500 mm.
逐次加工プログラム表98の5行目(CAL)は、図14の調整加工量算出工程81に相当する。
The fifth line (CAL) of the sequential machining program table 98 corresponds to the adjustment machining amount calculation step 81 in FIG.
逐次加工プログラム表98の6行目(MOD)は、図14の逐次調整加工工程82に相当する。この6行目の意味は、X最初=0mmからX最後=500mmまで50mmピッチで逐次調整加工を行うことである。このとき、擬似下死点は調整加工量算出工程81で算出するので値を入れない。
The sixth line (MOD) of the sequential machining program table 98 corresponds to the sequential adjustment machining step 82 in FIG. The meaning of the sixth line is to sequentially perform adjustment processing at a pitch of 50 mm from X first = 0 mm to X last = 500 mm. At this time, since the pseudo bottom dead center is calculated in the adjustment machining amount calculation step 81, no value is entered.
<調整加工量算出式作成画面>
続いて、図17を用いて、前述したモーションデータ変更条件作成部59の調整加工量算出式作成画面について説明する。図17は、この調整加工量算出式作成画面の一例を示す図である。 <Adjustment machining amount calculation formula creation screen>
Next, the adjustment processing amount calculation formula creation screen of the motion data changecondition creation unit 59 described above will be described with reference to FIG. FIG. 17 is a diagram showing an example of the adjustment processing amount calculation formula creation screen.
続いて、図17を用いて、前述したモーションデータ変更条件作成部59の調整加工量算出式作成画面について説明する。図17は、この調整加工量算出式作成画面の一例を示す図である。 <Adjustment machining amount calculation formula creation screen>
Next, the adjustment processing amount calculation formula creation screen of the motion data change
モーションデータ変更条件作成部59の調整加工量算出式作成画面で、前述した式1の調整加工量算出式の係数を入力する。調整加工量算出式作成画面は、テンキー99と、エンターキー100と、削除キー101と、保存キー102と、カーソルキー103と、アルファベットキー104と、演算キー105と、平均値入力条件入力部106と、行列係数入力部107と、係数入力部108より構成される。
In the adjustment processing amount calculation formula creation screen of the motion data change condition creation unit 59, the coefficient of the adjustment processing amount calculation formula of Formula 1 described above is input. The adjustment processing amount calculation formula creation screen includes a numeric keypad 99, an enter key 100, a delete key 101, a save key 102, a cursor key 103, an alphabet key 104, a calculation key 105, and an average value input condition input unit 106. And a matrix coefficient input unit 107 and a coefficient input unit 108.
平均値入力条件入力部106と行列係数入力部107と係数入力部108には、テンキー99とエンターキー100と削除キー101と保存キー102とカーソルキー103を用いて入力する。
The average value input condition input unit 106, the matrix coefficient input unit 107, and the coefficient input unit 108 are input using the numeric keypad 99, the enter key 100, the delete key 101, the save key 102, and the cursor key 103.
このような入力画面を備えることで、複数の計測結果27の線形結合として擬似下死点33を算出することが容易になる。
By providing such an input screen, it becomes easy to calculate the pseudo bottom dead center 33 as a linear combination of a plurality of measurement results 27.
<逐次加工工程>
続いて、図18を用いて、図14の逐次加工工程79の詳細について説明する。図18は、この逐次加工工程79の詳細を示すフローチャートである。 <Sequential machining process>
Next, details of thesequential processing step 79 in FIG. 14 will be described with reference to FIG. FIG. 18 is a flowchart showing details of the sequential processing step 79.
続いて、図18を用いて、図14の逐次加工工程79の詳細について説明する。図18は、この逐次加工工程79の詳細を示すフローチャートである。 <Sequential machining process>
Next, details of the
まず、逐次加工工程開始工程109で、逐次加工を開始する。n=1代入工程110で、変数nに1を代入する。逐次加工プログラムデータn行読み込み工程111で、逐次加工制御装置メモリ部37に保存された逐次加工プログラムデータ40より、擬似下死点33と移動型65の移動方向をX方向とした場合のX初期位置とX最終位置とXピッチを読み込む。
First, sequential machining is started in a sequential machining process start step 109. In the n = 1 substitution step 110, 1 is substituted into the variable n. From the sequential machining program data 40 stored in the sequential machining controller memory unit 37 in the sequential machining program data n-row reading step 111, the initial X in the case where the moving direction of the pseudo bottom dead center 33 and the movable die 65 is the X direction. Read position, X final position and X pitch.
続いて、m=1代入工程112で、変数mに1を代入する。移動型Xm移動工程113で、移動型65をX座標でXmに移動する。スライド高さ擬似下死点下降工程114で、逐次加工プログラムデータn行読み込み工程111で読み込んだ擬似下死点33までスライドを下げて被加工材21を加工する。続いて、スライド上昇工程115で、スライドを上昇させる。続いて、X終端判定工程116で、移動型65が加工終端位置まで到達しているか判定する。到達していない場合(116-No)には、m=m+1代入工程117で、変数mにm+1を代入し、移動型Xm移動工程113に戻る。
Subsequently, in the m = 1 substitution step 112, 1 is substituted into the variable m. In the moving type Xm moving step 113, the moving type 65 is moved to Xm by the X coordinate. In the slide height pseudo bottom dead center lowering step 114, the workpiece 21 is machined by lowering the slide to the pseudo bottom dead center 33 read in the sequential machining program data n-row reading step 111. Subsequently, in the slide raising step 115, the slide is raised. Subsequently, in the X end determination step 116, it is determined whether the movable die 65 has reached the machining end position. If not reached (116-No), m = m + 1 substitution step 117 assigns m + 1 to the variable m and returns to the mobile Xm movement step 113.
X終端判定工程116で、移動型65が加工終端位置まで到達している場合(116-Yes)には、続いて、逐次加工終了判定工程118で、逐次加工プログラムデータ40に記述された逐次加工が全て終了しているか判定する。終了していない場合(118-No)には、n=n+1代入工程119で、変数nにn+1を代入する。そして、逐次加工プログラムデータn行読み込み工程111で次の行のデータを読み込む。そして、読み込んだデータに従い一連の逐次加工を実行する。
If the movable die 65 has reached the machining end position in the X end determination step 116 (116-Yes), the sequential machining described in the sequential machining program data 40 is subsequently performed in the sequential machining end determination step 118. It is determined whether or not all are finished. If not completed (118-No), n + 1 is substituted into the variable n in the n = n + 1 substitution step 119. Then, in the sequential machining program data n-row reading step 111, the next row of data is read. Then, a series of sequential processing is executed according to the read data.
逐次加工終了判定工程118で、逐次加工プログラムデータ40に記述された逐次加工が全て終了していれば(118-Yes)、逐次加工工程終了工程120で逐次加工を終了する。
If the sequential machining described in the sequential machining program data 40 has all been completed in the sequential machining end determination step 118 (118-Yes), the sequential machining is terminated in the sequential machining step end step 120.
<計測工程>
続いて、図19を用いて、図14の計測工程80の詳細について説明する。図19は、この計測工程80の詳細を示すフローチャートである。 <Measurement process>
Next, details of themeasurement process 80 in FIG. 14 will be described with reference to FIG. FIG. 19 is a flowchart showing details of the measuring step 80.
続いて、図19を用いて、図14の計測工程80の詳細について説明する。図19は、この計測工程80の詳細を示すフローチャートである。 <Measurement process>
Next, details of the
まず、計測工程開始工程121で、計測工程を開始する。逐次加工プログラムデータn行読み込み工程111で、逐次加工プログラムデータ40に記述された、X初期位置、X最終位置、Xピッチを読み込む。q=1代入工程122で、変数qに1を代入する。続いて、移動型Xq移動工程123で、移動型65をX座標でXqに移動する。測定工程124で、被加工材21を測定する。測定結果は、測定結果記録工程125で、逐次加工制御装置メモリ部37に記録する。測定箇所は複数点あるので、逐次加工制御装置メモリ部37に配列M(q)を設けて、この配列M(q)に記録する。続いて、X終端判定工程116で、移動型65の位置がX最終位置に到達しているか判断する。到達していなければ(116-No)、q=q+1代入工程126で、変数qにq+1を代入し、移動型Xq移動工程123に戻る。
First, in the measurement process start process 121, the measurement process is started. In the sequential machining program data n-row reading step 111, the X initial position, the X final position, and the X pitch described in the sequential machining program data 40 are read. In the q = 1 substitution step 122, 1 is substituted into the variable q. Subsequently, in the movement type Xq movement step 123, the movement type 65 is moved to Xq by the X coordinate. In the measuring step 124, the workpiece 21 is measured. The measurement result is recorded in the sequential processing control device memory unit 37 in the measurement result recording step 125. Since there are a plurality of measurement points, an array M (q) is provided in the sequential processing control device memory unit 37 and recorded in this array M (q). Subsequently, in the X end determination step 116, it is determined whether the position of the movable die 65 has reached the X final position. If not reached (116-No), q + 1 is substituted into the variable q in the q = q + 1 substitution step 126, and the process returns to the mobile Xq movement step 123.
X終端判定工程116で、移動型65の位置がX最終位置に到達している場合(116-Yes)には、計測工程終了工程127で計測工程を終了する。
In the X end determination step 116, when the position of the movable die 65 has reached the X final position (116-Yes), the measurement step is ended in the measurement step end step 127.
<調整加工量算出工程>
続いて、図20を用いて、図14の調整加工量算出工程81の詳細について説明する。図20は、この調整加工量算出工程81の詳細を示すフローチャートである。 <Adjustment processing amount calculation process>
Next, details of the adjustment processingamount calculation step 81 in FIG. 14 will be described with reference to FIG. FIG. 20 is a flowchart showing details of the adjustment processing amount calculation step 81.
続いて、図20を用いて、図14の調整加工量算出工程81の詳細について説明する。図20は、この調整加工量算出工程81の詳細を示すフローチャートである。 <Adjustment processing amount calculation process>
Next, details of the adjustment processing
まず、調整加工量算出工程開始工程128で、調整加工量の算出を開始する。モーションデータ変更条件読み込み工程129で、逐次加工制御装置メモリ部37よりモーションデータ変更条件45を読み込む。s=1代入工程130で、変数sに1を代入する。計測結果読み出し工程131で、逐次加工制御装置メモリ部37の配列M(q)より計測結果を読み出す。s終端判定工程132で、変数sが終端であるかを判定する。終端ではない場合(132-No)には、s=s+1代入工程133で、変数sにs+1を代入して、計測結果読み出し工程131に戻る。s終端判定工程132で、変数sが終端である場合(132-Yes)には、擬似下死点算出工程134で、複数の計測点の計測結果とモーションデータ変更条件45を用いて、擬似下死点を算出する。
First, in the adjustment machining amount calculation process start step 128, calculation of the adjustment machining amount is started. In the motion data change condition reading step 129, the motion data change condition 45 is read from the sequential processing control device memory unit 37. In s = 1 substitution step 130, 1 is substituted into the variable s. In the measurement result reading step 131, the measurement result is read from the array M (q) in the sequential processing control device memory unit 37. In the s end determination step 132, it is determined whether or not the variable s is the end. If it is not the end (132-No), s + 1 is substituted into the variable s in the s = s + 1 substitution step 133, and the process returns to the measurement result reading step 131. If the variable s is the end in the s end determination step 132 (132-Yes), the pseudo bottom dead center calculation step 134 uses the measurement results of the plurality of measurement points and the motion data change condition 45 to calculate Calculate the dead center.
続いて、r=1代入工程135で、変数rに1を代入する。擬似下死点出力工程136で、逐次加工制御装置メモリ部37の配列N(r)に擬似下死点を出力する。r終端判定工程137で、変数rが終端に到達しているか判定する。到達していない場合(137-No)には、r=r+1代入工程138で、変数rにr+1を代入して、擬似下死点出力工程136に戻る。
Subsequently, 1 is substituted into the variable r in the r = 1 substitution step 135. In the pseudo bottom dead center output step 136, the pseudo bottom dead center is output to the array N (r) of the sequential processing control device memory unit 37. In the r end determination step 137, it is determined whether the variable r has reached the end. If not reached (137-No), r = r + 1 substitution step 138 assigns r + 1 to the variable r and returns to the pseudo bottom dead center output step 136.
r終端判定工程137で、変数rが終端に到達している場合(137-Yes)には、調整加工量算出工程終了工程139で調整加工量算出工程を終了する。
In the r end determination step 137, if the variable r has reached the end (137-Yes), the adjustment processing amount calculation step ends in the adjustment processing amount calculation step end step 139.
<逐次調整加工工程>
続いて、図21を用いて、図14の逐次調整加工工程82の詳細について説明する。図21は、この逐次調整加工工程82の詳細を示すフローチャートである。 <Sequential adjustment process>
Next, details of the sequentialadjustment processing step 82 of FIG. 14 will be described with reference to FIG. FIG. 21 is a flowchart showing details of the sequential adjustment processing step 82.
続いて、図21を用いて、図14の逐次調整加工工程82の詳細について説明する。図21は、この逐次調整加工工程82の詳細を示すフローチャートである。 <Sequential adjustment process>
Next, details of the sequential
まず、逐次調整加工工程開始工程140で、逐次調整加工を開始する。逐次調整加工データ読み込み工程141で、逐次加工制御装置メモリ部37に保存された逐次加工プログラムデータ40より、調整加工のX初期位置、X終端位置、Xピッチを読み込む。t=1代入工程142で、変数tに1を代入する。移動型Xt移動工程143で、移動型65をX座標でXtに移動する。
First, in the sequential adjustment machining process start step 140, the sequential adjustment machining is started. In the sequential adjustment machining data reading step 141, the X initial position, the X end position, and the X pitch of the adjustment machining are read from the sequential machining program data 40 stored in the sequential machining control device memory unit 37. In the t = 1 substitution step 142, 1 is substituted into the variable t. In the moving type Xt moving step 143, the moving type 65 is moved to Xt by the X coordinate.
続いて、擬似下死点読み込み工程144で、逐次加工制御装置メモリ部37より擬似下死点Ntを読み込む。続いて、調整加工工程145で、擬似下死点Ntまでスライド5を下降させて、被加工材21を調整加工する。スライド上昇工程146で、スライドを上昇させる。
Subsequently, in the pseudo bottom dead center reading step 144, the pseudo bottom dead center Nt is read from the sequential processing control device memory unit 37. Subsequently, in the adjusting process 145, the slide 5 is lowered to the pseudo bottom dead center Nt, and the workpiece 21 is adjusted. In the slide raising step 146, the slide is raised.
続いて、X終端判定工程116で、移動型65のX座標が終端位置まで到達しているかを判定する。到達していない場合(116-No)には、t=t+1代入工程147で、変数tにt+1を代入する。そして、移動型Xt移動工程143に戻り、フローチャートに従い一連の動作を行う。
Subsequently, in the X end determination step 116, it is determined whether the X coordinate of the movable die 65 has reached the end position. If not reached (116-No), in the t = t + 1 substitution step 147, t + 1 is substituted into the variable t. Then, the process returns to the mobile Xt moving process 143, and a series of operations are performed according to the flowchart.
X終端判定工程116で、移動型65のX座標が終端位置まで到達している場合(116-Yes)には、逐次調整加工工程終了工程148で逐次調整加工を終了する。
In the X end determination step 116, when the X coordinate of the movable die 65 has reached the end position (116-Yes), the sequential adjustment processing ends in the sequential adjustment processing step end step 148.
<実施の形態の変形例>
前記実施の形態においては、被加工材21として、被加工材普通鋼板部69と被加工材高張力鋼板部70を接合したハイブリッド鋼板を例に説明したが、異なる板厚の材料を接合した差厚鋼板などにも適用可能である。 <Modification of Embodiment>
In the said embodiment, although the hybrid steel plate which joined the workpiece normalsteel plate part 69 and the workpiece high-tensile steel plate part 70 was demonstrated to the workpiece 21 as an example, the difference which joined the material of different board thickness It can also be applied to thick steel plates.
前記実施の形態においては、被加工材21として、被加工材普通鋼板部69と被加工材高張力鋼板部70を接合したハイブリッド鋼板を例に説明したが、異なる板厚の材料を接合した差厚鋼板などにも適用可能である。 <Modification of Embodiment>
In the said embodiment, although the hybrid steel plate which joined the workpiece normal
<実施の形態の効果>
以上説明した本実施の形態によれば、プレス制御装置13と逐次加工制御装置14よりなる制御装置12として、逐次加工プログラムデータ40とモーションデータ変更条件45とを保存する逐次加工制御装置メモリ部37と、駆動指令発信部25と、計測指令部39と、計測結果受信部26と、金型アクチュエーター駆動司令部38と、モーションデータ変更部31などを有する構成において、逐次加工プログラムデータ40に従い、一つの被加工材21に対して複数回のサーボプレス1の駆動と計測器16の駆動と金型アクチュエーター17の駆動とを行い、そして、一つの被加工材21に対する複数回の計測器16の駆動により受信した複数の計測結果27をもとに、モーションデータ変更条件45に従い、モーションデータ15を変更することができる。 <Effect of Embodiment>
According to the present embodiment described above, the sequential processing controldevice memory unit 37 that stores the sequential processing program data 40 and the motion data change condition 45 as the control device 12 including the press control device 13 and the sequential processing control device 14. In the configuration including the drive command transmission unit 25, the measurement command unit 39, the measurement result reception unit 26, the mold actuator drive command unit 38, the motion data change unit 31, and the like, A plurality of times of driving the servo press 1, driving of the measuring instrument 16 and driving of the mold actuator 17 are performed on one workpiece 21, and driving of the measuring instrument 16 is performed a plurality of times on one workpiece 21. The motion data 15 is changed according to the motion data change condition 45 based on the plurality of measurement results 27 received by the It can be.
以上説明した本実施の形態によれば、プレス制御装置13と逐次加工制御装置14よりなる制御装置12として、逐次加工プログラムデータ40とモーションデータ変更条件45とを保存する逐次加工制御装置メモリ部37と、駆動指令発信部25と、計測指令部39と、計測結果受信部26と、金型アクチュエーター駆動司令部38と、モーションデータ変更部31などを有する構成において、逐次加工プログラムデータ40に従い、一つの被加工材21に対して複数回のサーボプレス1の駆動と計測器16の駆動と金型アクチュエーター17の駆動とを行い、そして、一つの被加工材21に対する複数回の計測器16の駆動により受信した複数の計測結果27をもとに、モーションデータ変更条件45に従い、モーションデータ15を変更することができる。 <Effect of Embodiment>
According to the present embodiment described above, the sequential processing control
さらに、モーションデータ変更条件45は、モーションデータ15内の擬似下死点33を複数の計測結果27の線形結合として記述することができる。
Furthermore, the motion data change condition 45 can describe the pseudo bottom dead center 33 in the motion data 15 as a linear combination of a plurality of measurement results 27.
さらに、モーションデータ算出部36を有することで、逐次加工制御装置メモリ部37に保存したモーションデータ変更条件45を元に、計測結果受信部26で受信した計測結果27を用いて、モーションデータ15内の擬似下死点33を算出することができる。
Furthermore, by having the motion data calculation unit 36, the measurement data 27 stored in the sequential processing control device memory unit 37 is used in the motion data 15 using the measurement result 27 received by the measurement result reception unit 26. The pseudo bottom dead center 33 can be calculated.
以上により、被加工材21がハイブリッド鋼板や差厚鋼板であっても、部位ごとに最適な加工条件で加工することができる。この結果、成形品の精度と品質を向上させることが可能となる。
As described above, even if the workpiece 21 is a hybrid steel plate or a differential thickness steel plate, it can be processed under optimum processing conditions for each part. As a result, the accuracy and quality of the molded product can be improved.
以上、本発明者によってなされた発明を実施の形態に基づき具体的に説明したが、本発明は前記実施の形態に限定されるものではなく、その要旨を逸脱しない範囲で種々変更可能であることはいうまでもない。
As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say.
本発明のサーボプレスの制御装置は、特に、被加工材を加工するサーボプレスをモーションデータに従い制御して逐次加工を行うサーボプレスの制御装置、およびこの制御装置を有するサーボプレスシステムに適用して有効である。
The servo press control device of the present invention is particularly applied to a servo press control device that performs sequential processing by controlling a servo press that processes a workpiece according to motion data, and a servo press system having this control device. It is valid.
1…サーボプレス、2…フレーム、3…ベッド、4…ボルスター、5…スライド、6…サーボモーター、7…小プーリ、8…ベルト、9…大プーリ、10…減速機構、11…回転直動動力変換機構、12…制御装置、13…プレス制御装置、14…逐次加工制御装置、15…モーションデータ、16…計測器、17…金型アクチュエーター、18…クランク軸、19…コネクティングロッド、20…クランク機構、21…被加工材、22…下型、23…上型、24…金型、25…駆動指令発信部、26…計測結果受信部、27…計測結果、28…サーボアンプ、29…モーション制御部、30…プレス制御装置メモリ部、31…モーションデータ変更部、32…モーションパターン、33…擬似下死点、34…モーション、35…逐次加工シークエンス制御部、36…モーションデータ算出部、37…逐次加工制御装置メモリ部、38…金型アクチュエーター駆動司令部、39…計測指令部、40…逐次加工プログラムデータ、41…駆動指令、42…駆動指令、43…計測指令、44…算出時刻、45…モーションデータ変更条件、46…モーションデータ作成部、48…モーションデータ入力部、49…サーボ速度指令、50…速度指令、51…駆動指令受信部、52…モーションデータ変更指令、53…プレス計測データ出力部、54…トルク計測器、55…フレーム反力検出器、57…逐次加工プログラム作成部、58…逐次加工プログラム入力部、59…モーションデータ変更条件作成部、60…モーションデータ変更条件入力部、61…金型アクチュエーター駆動指令、62…モーションデータ算出指令、
64…下ダイセットプレート、65…移動型、66…移動型ガイド、67…アクチュエーター据付板、68…台形ネジ、69…被加工材普通鋼板部、70…被加工材高張力鋼板部、71…上ダイセットプレート、72…ダイガイド、73…ダイ、74…カム、75…移動型移動量、
77…被加工材搬入工程、78…逐次加工プログラムデータ呼び出し工程、79…逐次加工工程、80…計測工程、81…調整加工量算出工程、82…逐次調整加工工程、83…終了工程、
84…K=1入力工程、85…K行読み込み工程、86…金型アクチュエーター起動判定工程、87…金型アクチュエーター駆動指令発信工程、88…モーション起動判定工程、89…モーションデータ変更指令発信工程、90…モーション起動指令発信工程、92…計測起動判定工程、93…計測指令発信工程、94…算出起動判定工程、95…K=K+1代入工程、96…逐次加工終了判定工程、97…逐次加工終了工程、
98…逐次加工プログラム表、99…テンキー、100…エンターキー、101…削除キー、102…保存キー、103…カーソルキー、104…アルファベットキー、105…演算キー、106…平均値入力条件入力部、107…行列係数入力部、108…係数入力部、
109…逐次加工工程開始工程、110…n=1代入工程、111…逐次加工プログラムn行読み込み工程、112…m=1代入工程、113…移動型Xm移動工程、114…スライド高さ擬似下死点下降工程、115…スライド上昇工程、116…X終端判定工程、117…m=m+1代入工程、118…逐次加工終了判定工程、119…n=n+1代入工程、120…逐次加工工程終了工程、
121…計測工程開始工程、122…q=1代入工程、123…移動型Xq移動工程、124…測定工程、125…測定結果記録工程、126…q=q+1代入工程、127…計測工程終了工程、
128…調整加工量算出工程開始工程、129…モーションデータ変更条件読み込み工程、130…s=1代入工程、131…計測結果読み出し工程、132…s終端判定工程、133…s=s+1代入工程、134…擬似下死点算出工程、135…r=1代入工程、136…擬似下死点出力工程、137…r終端判定工程、138…r=r+1代入工程、139…調整加工量算出工程終了工程、
140…逐次調整加工開始工程、141…逐次調整加工データ読み込み工程、142…t=1代入工程、143…移動型Xt移動工程、144…擬似下死点読み込み工程、145…調整加工工程、146…スライド上昇工程、147…t=t+1代入工程、148…逐次調整加工終了工程。
DESCRIPTION OFSYMBOLS 1 ... Servo press, 2 ... Frame, 3 ... Bed, 4 ... Bolster, 5 ... Slide, 6 ... Servo motor, 7 ... Small pulley, 8 ... Belt, 9 ... Large pulley, 10 ... Deceleration mechanism, 11 ... Direct rotation Power conversion mechanism, 12 ... control device, 13 ... press control device, 14 ... sequential processing control device, 15 ... motion data, 16 ... measuring instrument, 17 ... mold actuator, 18 ... crankshaft, 19 ... connecting rod, 20 ... Crank mechanism, 21 ... work material, 22 ... lower die, 23 ... upper die, 24 ... die, 25 ... drive command transmitter, 26 ... measurement result receiver, 27 ... measurement result, 28 ... servo amplifier, 29 ... Motion control unit, 30 ... press control device memory unit, 31 ... motion data changing unit, 32 ... motion pattern, 33 ... pseudo bottom dead center, 34 ... motion, 35 ... sequential machining system Sequence control unit, 36 ... motion data calculation unit, 37 ... sequential machining control device memory unit, 38 ... mold actuator drive command unit, 39 ... measurement command unit, 40 ... sequential machining program data, 41 ... drive command, 42 ... drive Command, 43 ... measurement command, 44 ... calculation time, 45 ... motion data change condition, 46 ... motion data creation unit, 48 ... motion data input unit, 49 ... servo speed command, 50 ... speed command, 51 ... drive command receiving unit 52 ... Motion data change command, 53 ... Press measurement data output unit, 54 ... Torque measuring device, 55 ... Frame reaction force detector, 57 ... Sequential machining program creation unit, 58 ... Sequential machining program input unit, 59 ... Motion data Change condition creation unit, 60 ... Motion data change condition input unit, 61 ... Mold actuator drive command 62 ... motion data calculation instruction,
64 ... Lower die set plate, 65 ... Moving type, 66 ... Moving type guide, 67 ... Actuator mounting plate, 68 ... Trapezoid screw, 69 ... Normal steel plate part to be processed, 70 ... High tensile steel plate part to be processed, 71 ... Upper die set plate, 72 ... Die guide, 73 ... Die, 74 ... Cam, 75 ... Moveable movement amount,
77 ... Work material loading step, 78 ... Sequential machining program data calling step, 79 ... Sequential machining step, 80 ... Measurement step, 81 ... Adjustment machining amount calculation step, 82 ... Sequential adjustment machining step, 83 ... End step,
84 ... K = 1 input step, 85 ... K row reading step, 86 ... mold actuator start determination step, 87 ... mold actuator drive command transmission step, 88 ... motion start determination step, 89 ... motion data change command transmission step, 90 ... Motion start command transmission step, 92 ... Measurement start determination step, 93 ... Measurement command transmission step, 94 ... Calculation start determination step, 95 ... K = K + 1 substitution step, 96 ... Sequential processing end determination step, 97 ... Sequential processing end Process,
98 ... Sequential machining program table, 99 ... Numeric keypad, 100 ... Enter key, 101 ... Delete key, 102 ... Save key, 103 ... Cursor key, 104 ... Alphabet key, 105 ... Calculation key, 106 ... Average value input condition input section, 107 ... matrix coefficient input unit, 108 ... coefficient input unit,
109 ... Sequential machining process start process, 110 ... n = 1 substitution process, 111 ... Sequential machining program n-row reading process, 112 ... m = 1 substitution process, 113 ... Moveable Xm movement process, 114 ... Slide height simulated bottom dead Point descending step, 115 ... slide raising step, 116 ... X end determination step, 117 ... m = m + 1 substitution step, 118 ... sequential machining end judgment step, 119 ... n = n + 1 substitution step, 120 ... sequential machining step termination step,
121 ... Measurement process start process, 122 ... q = 1 substitution process, 123 ... Moving Xq movement process, 124 ... Measurement process, 125 ... Measurement result recording process, 126 ... q = q + 1 substitution process, 127 ... Measurement process end process,
128 ... Adjustment processing amount calculation process start process, 129 ... Motion data change condition reading process, 130 ... s = 1 substitution process, 131 ... Measurement result reading process, 132 ... s end determination process, 133 ... s = s + 1 substitution process, 134 ... Pseudo bottom dead center calculation step, 135 ... r = 1 substitution step, 136 ... pseudo bottom dead center output step, 137 ... r end determination step, 138 ... r = r + 1 substitution step, 139 ... adjustment machining amount calculation step end step,
140 ... Sequential adjustment machining start process, 141 ... Sequential adjustment machining data reading process, 142 ... t = 1 substitution process, 143 ... Mobile Xt movement process, 144 ... Pseudo bottom dead center reading process, 145 ... Adjustment machining process, 146 ... Slide raising process, 147... T = t + 1 substitution process, 148.
64…下ダイセットプレート、65…移動型、66…移動型ガイド、67…アクチュエーター据付板、68…台形ネジ、69…被加工材普通鋼板部、70…被加工材高張力鋼板部、71…上ダイセットプレート、72…ダイガイド、73…ダイ、74…カム、75…移動型移動量、
77…被加工材搬入工程、78…逐次加工プログラムデータ呼び出し工程、79…逐次加工工程、80…計測工程、81…調整加工量算出工程、82…逐次調整加工工程、83…終了工程、
84…K=1入力工程、85…K行読み込み工程、86…金型アクチュエーター起動判定工程、87…金型アクチュエーター駆動指令発信工程、88…モーション起動判定工程、89…モーションデータ変更指令発信工程、90…モーション起動指令発信工程、92…計測起動判定工程、93…計測指令発信工程、94…算出起動判定工程、95…K=K+1代入工程、96…逐次加工終了判定工程、97…逐次加工終了工程、
98…逐次加工プログラム表、99…テンキー、100…エンターキー、101…削除キー、102…保存キー、103…カーソルキー、104…アルファベットキー、105…演算キー、106…平均値入力条件入力部、107…行列係数入力部、108…係数入力部、
109…逐次加工工程開始工程、110…n=1代入工程、111…逐次加工プログラムn行読み込み工程、112…m=1代入工程、113…移動型Xm移動工程、114…スライド高さ擬似下死点下降工程、115…スライド上昇工程、116…X終端判定工程、117…m=m+1代入工程、118…逐次加工終了判定工程、119…n=n+1代入工程、120…逐次加工工程終了工程、
121…計測工程開始工程、122…q=1代入工程、123…移動型Xq移動工程、124…測定工程、125…測定結果記録工程、126…q=q+1代入工程、127…計測工程終了工程、
128…調整加工量算出工程開始工程、129…モーションデータ変更条件読み込み工程、130…s=1代入工程、131…計測結果読み出し工程、132…s終端判定工程、133…s=s+1代入工程、134…擬似下死点算出工程、135…r=1代入工程、136…擬似下死点出力工程、137…r終端判定工程、138…r=r+1代入工程、139…調整加工量算出工程終了工程、
140…逐次調整加工開始工程、141…逐次調整加工データ読み込み工程、142…t=1代入工程、143…移動型Xt移動工程、144…擬似下死点読み込み工程、145…調整加工工程、146…スライド上昇工程、147…t=t+1代入工程、148…逐次調整加工終了工程。
DESCRIPTION OF
64 ... Lower die set plate, 65 ... Moving type, 66 ... Moving type guide, 67 ... Actuator mounting plate, 68 ... Trapezoid screw, 69 ... Normal steel plate part to be processed, 70 ... High tensile steel plate part to be processed, 71 ... Upper die set plate, 72 ... Die guide, 73 ... Die, 74 ... Cam, 75 ... Moveable movement amount,
77 ... Work material loading step, 78 ... Sequential machining program data calling step, 79 ... Sequential machining step, 80 ... Measurement step, 81 ... Adjustment machining amount calculation step, 82 ... Sequential adjustment machining step, 83 ... End step,
84 ... K = 1 input step, 85 ... K row reading step, 86 ... mold actuator start determination step, 87 ... mold actuator drive command transmission step, 88 ... motion start determination step, 89 ... motion data change command transmission step, 90 ... Motion start command transmission step, 92 ... Measurement start determination step, 93 ... Measurement command transmission step, 94 ... Calculation start determination step, 95 ... K = K + 1 substitution step, 96 ... Sequential processing end determination step, 97 ... Sequential processing end Process,
98 ... Sequential machining program table, 99 ... Numeric keypad, 100 ... Enter key, 101 ... Delete key, 102 ... Save key, 103 ... Cursor key, 104 ... Alphabet key, 105 ... Calculation key, 106 ... Average value input condition input section, 107 ... matrix coefficient input unit, 108 ... coefficient input unit,
109 ... Sequential machining process start process, 110 ... n = 1 substitution process, 111 ... Sequential machining program n-row reading process, 112 ... m = 1 substitution process, 113 ... Moveable Xm movement process, 114 ... Slide height simulated bottom dead Point descending step, 115 ... slide raising step, 116 ... X end determination step, 117 ... m = m + 1 substitution step, 118 ... sequential machining end judgment step, 119 ... n = n + 1 substitution step, 120 ... sequential machining step termination step,
121 ... Measurement process start process, 122 ... q = 1 substitution process, 123 ... Moving Xq movement process, 124 ... Measurement process, 125 ... Measurement result recording process, 126 ... q = q + 1 substitution process, 127 ... Measurement process end process,
128 ... Adjustment processing amount calculation process start process, 129 ... Motion data change condition reading process, 130 ... s = 1 substitution process, 131 ... Measurement result reading process, 132 ... s end determination process, 133 ... s = s + 1 substitution process, 134 ... Pseudo bottom dead center calculation step, 135 ... r = 1 substitution step, 136 ... pseudo bottom dead center output step, 137 ... r end determination step, 138 ... r = r + 1 substitution step, 139 ... adjustment machining amount calculation step end step,
140 ... Sequential adjustment machining start process, 141 ... Sequential adjustment machining data reading process, 142 ... t = 1 substitution process, 143 ... Mobile Xt movement process, 144 ... Pseudo bottom dead center reading process, 145 ... Adjustment machining process, 146 ... Slide raising process, 147... T = t + 1 substitution process, 148.
Claims (7)
- 金型アクチュエーターを有する金型を用いて被加工材を加工するサーボプレスを、前記被加工材の加工動作を定めるモーションデータに従い制御して逐次加工を行うサーボプレスの制御装置であって、
前記金型には、前記被加工材の加工状態を計測する計測器が取り付けられ、
前記逐次加工のための逐次加工プログラムデータと前記モーションデータを変更するためのモーションデータ変更条件とを保存するメモリ部と、
前記サーボプレスを駆動するための駆動指令を発信する駆動指令発信部と、
前記計測器を駆動するための計測指令を発信する計測指令部と、
前記計測器からの計測結果を受信する計測結果受信部と、
前記金型アクチュエーターを駆動するための駆動指令を発信する金型アクチュエーター駆動司令部と、
前記計測結果受信部で受信した計測結果をもとに前記メモリ部に保存した前記モーションデータ変更条件に従い前記モーションデータを変更するモーションデータ変更部とを有し、
前記駆動指令発信部と前記計測指令部と前記金型アクチュエーター駆動司令部は、前記メモリ部に保存した前記逐次加工プログラムデータに従い、一つの被加工材に対して複数回の前記サーボプレスの駆動と前記計測器の駆動と前記金型アクチュエーターの駆動とを行い、
前記モーションデータ変更部は、前記一つの被加工材に対する複数回の前記計測器の駆動により前記計測結果受信部で受信した複数の計測結果をもとに、前記メモリ部に保存した前記モーションデータ変更条件に従い、前記モーションデータを変更することを特徴とするサーボプレスの制御装置。 Servo press for processing a workpiece using a mold having a mold actuator, a servo press control device that performs sequential processing by controlling according to motion data that determines the processing operation of the workpiece,
A measuring instrument for measuring the processing state of the workpiece is attached to the mold,
A memory unit for storing sequential machining program data for the sequential machining and motion data change conditions for changing the motion data;
A drive command transmitter for transmitting a drive command for driving the servo press;
A measurement command unit for transmitting a measurement command for driving the measuring instrument;
A measurement result receiving unit for receiving a measurement result from the measuring instrument;
A mold actuator drive command unit for transmitting a drive command for driving the mold actuator;
A motion data changing unit that changes the motion data according to the motion data changing condition stored in the memory unit based on the measurement result received by the measurement result receiving unit;
The drive command transmission unit, the measurement command unit, and the mold actuator drive command unit are configured to drive the servo press a plurality of times for one workpiece in accordance with the sequential machining program data stored in the memory unit. Drive the measuring instrument and the mold actuator,
The motion data changing unit is configured to change the motion data stored in the memory unit based on a plurality of measurement results received by the measurement result receiving unit by driving the measuring device a plurality of times for the one workpiece. A control apparatus for a servo press, wherein the motion data is changed according to a condition. - 請求項1記載のサーボプレスの制御装置において、さらに、
前記モーションデータ変更条件は、前記モーションデータ内の擬似下死点を前記複数の計測結果の線形結合として記述していることを特徴とするサーボプレスの制御装置。 The control device for a servo press according to claim 1, further comprising:
The control apparatus for a servo press, wherein the motion data changing condition describes a pseudo bottom dead center in the motion data as a linear combination of the plurality of measurement results. - 請求項1記載のサーボプレスの制御装置において、さらに、
前記メモリ部に保存した前記モーションデータ変更条件を元に、前記計測結果受信部で受信した計測結果を用いて、前記モーションデータ内の擬似下死点を算出するモーションデータ算出部と、
前記メモリ部に保存した前記逐次加工プログラムデータに従い、前記モーションデータ算出部と前記駆動指令発信部と前記計測指令部と前記計測結果受信部と前記金型アクチュエーター駆動司令部に指令を発信する逐次加工シークエンス制御部とを有することを特徴とするサーボプレスの制御装置。 The control device for a servo press according to claim 1, further comprising:
Based on the motion data change condition stored in the memory unit, using a measurement result received by the measurement result receiving unit, a motion data calculation unit that calculates a pseudo bottom dead center in the motion data;
In accordance with the sequential machining program data stored in the memory unit, sequential machining for transmitting commands to the motion data calculation unit, the drive command transmission unit, the measurement command unit, the measurement result reception unit, and the mold actuator drive command unit A servo press control device comprising: a sequence control unit. - 請求項1記載のサーボプレスの制御装置において、さらに、
前記サーボプレスは、
前記サーボプレスの本体の前面下部に取り付けられたベッドと、
前記ベッドの上面に取り付けられたボルスターと、
前記ボルスターに対向する位置に取り付けられたスライドと、
前記スライドが上下動自在に取り付けられたフレームと、
前記フレームに取り付けられたサーボモーターと、
前記サーボモーターに接合された減速機構と、
前記減速機構に接合され、かつ前記スライドに接合された回転直動動力変換機構とを有することを特徴とするサーボプレスの制御装置。 The control device for a servo press according to claim 1, further comprising:
The servo press is
A bed attached to the lower front of the servo press body;
A bolster attached to the upper surface of the bed;
A slide attached to a position facing the bolster;
A frame on which the slide is vertically movable;
A servo motor attached to the frame;
A speed reduction mechanism joined to the servo motor;
A servo press control device comprising: a rotary linear power conversion mechanism joined to the speed reduction mechanism and joined to the slide. - 請求項1記載のサーボプレスの制御装置において、さらに、
前記被加工材は、材質が異なる部位を持つハイブリッド鋼板、または、板厚が異なる部位を持つ差厚鋼板であることを特徴とするサーボプレスの制御装置。 The control device for a servo press according to claim 1, further comprising:
The servo press control device according to claim 1, wherein the workpiece is a hybrid steel plate having a part having a different material or a differential steel plate having a part having a different thickness. - 請求項1記載のサーボプレスの制御装置において、さらに、
前記一つの被加工材に対する複数回の前記計測器の駆動による前記複数の計測結果は、前記一つの被加工材の逐次加工が終了した後の最終形状に近い状態で計測した全加工箇所の計測結果であり、
前記モーションデータ変更条件は、前記全加工箇所の計測結果から算出した全加工箇所の擬似下死点を記述しているモーションデータ変更条件であり、
前記モーションデータ変更部は、前記一つの被加工材の逐次加工が終了した後の最終形状に近い状態で計測した全加工箇所の計測結果をもとに、前記全加工箇所の擬似下死点を記述している前記モーションデータ変更条件に従い、前記モーションデータを変更するものであり、
前記一つの被加工材は、前記モーションデータ変更部で変更した後のモーションデータに従い調整加工が行われることで最終形状となるものであることを特徴とするサーボプレスの制御装置。 The control device for a servo press according to claim 1, further comprising:
The plurality of measurement results obtained by driving the measuring device a plurality of times for the one workpiece are measured for all machining points measured in a state close to the final shape after the sequential machining of the one workpiece is completed. Is the result
The motion data change condition is a motion data change condition describing a pseudo bottom dead center of all machining points calculated from the measurement results of all machining points,
The motion data changing unit is configured to calculate a pseudo bottom dead center of the entire machining location based on a measurement result of all machining locations measured in a state close to a final shape after the sequential machining of the one workpiece is completed. The motion data is changed according to the motion data change condition described,
The servo press control device according to claim 1, wherein the one workpiece is subjected to adjustment processing in accordance with the motion data after being changed by the motion data changing unit, and has a final shape. - 請求項1記載のサーボプレスの制御装置と、前記制御装置により制御されるサーボプレスとを有することを特徴とするサーボプレスシステム。
A servo press system comprising the servo press control device according to claim 1 and a servo press controlled by the control device.
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KR101477908B1 (en) * | 2013-05-30 | 2014-12-30 | 쌍용자동차 주식회사 | Design method for machining hole relief of PAD |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10180470A (en) * | 1996-12-19 | 1998-07-07 | Nissan Motor Co Ltd | Differential thickness tailored blank forming method, and differential thickness tailored blank |
JP2011136368A (en) * | 2009-12-04 | 2011-07-14 | Hitachi Ltd | Device and method for controlling servo press, and servo press with the controlling device |
-
2011
- 2011-07-27 JP JP2011163817A patent/JP2013027881A/en not_active Withdrawn
-
2012
- 2012-05-28 WO PCT/JP2012/063581 patent/WO2013015005A1/en active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10180470A (en) * | 1996-12-19 | 1998-07-07 | Nissan Motor Co Ltd | Differential thickness tailored blank forming method, and differential thickness tailored blank |
JP2011136368A (en) * | 2009-12-04 | 2011-07-14 | Hitachi Ltd | Device and method for controlling servo press, and servo press with the controlling device |
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