WO2016121215A1

WO2016121215A1 - Press device, control device for press device, and control method for press device

Info

Publication number: WO2016121215A1
Application number: PCT/JP2015/083477
Authority: WO
Inventors: 幸浩山田
Original assignee: コマツ産機株式会社
Priority date: 2015-01-26
Filing date: 2015-11-27
Publication date: 2016-08-04
Also published as: JP2016137497A; JP6605808B2

Abstract

A press device (1) for press processing of a workpiece (W) using an upper die (8a) and a lower die (8b) is provided with a slide (3), a bolster (5), a servo motor (21), and a motor instruction unit (66). The upper die (8a) is attached to the slide (3). The lower die (8b) is mounted on the bolster (5). The servo motor (21) operates the slide (3) back-and-forth in the vertical direction. The motor instruction unit (66) controls the servo motor (21) so as to change the speed of the slide (3) if the upper die (8a) is detected to be in the proximity of the workpiece (W) by a proximity sensor (100) for detecting the proximity of the upper die (8a) to the workpiece (W) mounted on the lower die (4b).

Description

Press device, control device for press device, and control method for press device

The present invention particularly relates to a press apparatus using a servo motor, a control apparatus for the press apparatus, and a control method for the press apparatus.

In recent years, a press device using a servo motor has been used as a mechanical press device. In mechanical presses prior to servo press, the speed of moving the slide in the vertical direction could not be changed freely. For example, in order to improve the processing quality during pressing, the moving speed of the slide in the area where the workpiece is pressurized Control that slows down was not possible. Therefore, if it is going to improve processing quality, it is necessary to slow down the moving speed of a slide over the whole stroke, and production efficiency will worsen.

On the other hand, in a press apparatus using a servo motor, it is possible to set a plurality of motion patterns for controlling the movement of a slide (see, for example, Patent Document 1).
For example, by setting a slide motion pattern that decelerates only the area where the workpiece is pressurized, the slide speed in the press working area can be reduced.

JP 2011-136368 A

However, the conventional press apparatus has the following problems.
When setting a desired motion using the press apparatus of patent document 1, since it is necessary to actually test-work using a workpiece | work, the workpiece | work was wasted. Moreover, when actually performing the press work, a coil feeder or the like is prepared, and it is necessary to adjust the height between the press device and the coil feeder, which is very troublesome. Furthermore, when a desired motion cannot be obtained by a single press, it is necessary to perform a trial press process a plurality of times, so that the number of workpieces to be used increases and the cost increases.
An object of the present invention is to provide a press device, a control method for the press device, and a control device for the press device that can reduce the cost and can easily set the slide operation in consideration of the problems of the conventional press device. It is.

(Means for solving the problem)
A press device according to a first invention is a press device that presses a workpiece using an upper die and a lower die, and includes a slide, a bolster, a servo motor, and a control unit. The upper mold is attached to the slide. The lower die is placed on the bolster. The servo motor reciprocates the slide in the vertical direction. When the detection unit that detects the approach of the upper mold to the workpiece placed on the lower mold detects the approach of the upper mold to the workpiece, the control unit controls the servo motor to change the slide speed. Control.

With such a configuration, the operator can move the slide downward at a slow speed with a pulse handle or the like without placing the work on the lower mold, and the upper mold is placed on the work in consideration of the thickness of the work. The position of the detection unit can be adjusted while visually confirming the approaching position.
Thereby, the use of the workpiece | work used at the time of adjustment can be reduced, and the operation | movement of a slide can be set so that the speed of a slide may be changed in an appropriate position.

In addition, with the work placed on the lower mold, the detection unit may be adjusted by moving the slide downward at a slow speed. Even in this case, the adjustment is performed before pressing. It is possible to reduce the use of workpieces used in the process.
Furthermore, as described above, the position of the detector can be adjusted accurately while visually checking before pressing, so even if the pressing process is performed on a trial basis, the number of times can be reduced compared to the conventional method, reducing costs. it can.

Here, the approach of the upper mold to the work means a position a predetermined distance before the position where the upper mold contacts the work. The predetermined distance is a distance that can be changed to a speed suitable for the press. That is, when changing the speed slowly when pressing, it is the distance that can be decelerated to the desired slow speed before contacting the work, and when changing the speed faster, until the contact with the work It is a distance that can be accelerated to a desired high speed.

A press apparatus according to a second invention is the press apparatus according to the first invention, wherein a post-detection speed setting for setting the speed after change when the approach of the upper die to the workpiece is detected by the detection unit The unit is further provided.
Thereby, since the operator can set the speed after the upper die approaches the workpiece to a desired speed, the speed at the time of press working can be set appropriately.

A press device according to a third invention is the press device according to the second invention, wherein the detecting unit is in a state where the upper die is positioned in the vicinity of the workpiece after the upper die approaches the workpiece. To detect. The post-detection speed setting unit sets a speed while the detection unit detects that the upper die is positioned in the vicinity of the workpiece.
As a result, not only the upper die moves downward and approaches the workpiece until it reaches the bottom dead center, but also the upper die rises from the bottom dead center to move away from the workpiece and away from the vicinity of the workpiece. You can also change the speed between. For this reason, it is possible to suppress the workpiece from jumping up.

A press device according to a fourth invention is the press device according to the third invention, wherein the detection unit detects that the upper die is positioned in the vicinity of the workpiece and the speed of the slide Is further provided with an operation setting unit for setting. The control unit moves the slide downward at the speed set by the operation setting unit until the approach of the upper die to the workpiece is detected during the downward movement of the slide in press working. When the approach of the mold to the workpiece is detected, the slide speed is changed to the speed set by the post-detection speed setting unit and moved downward. The control unit moves the slide upward at the speed set by the post-detection speed setting unit until the upper mold is separated from the vicinity of the workpiece when the slide moves upward. When the separation from the vicinity of the workpiece is detected, the slide speed is set to the speed set by the operation setting unit and moved upward.
Thereby, the operator can freely set the speed when the slide moves up and down, the speed when the slide moves up, and the speed when the slide moves down.

A press device according to a fifth aspect of the present invention is the press device according to the first aspect of the present invention, further comprising a selection unit. The selection unit sets whether or not to perform control to change the slide speed when the detection unit detects the approach of the upper mold to the workpiece.
Thereby, it is possible to set whether or not to change the speed after detecting the approach of the slide to the upper mold by the detection unit. In other words, the worker can switch the speed change between valid and invalid. Also, depending on the type of workpiece, the operator can perform the press work without changing the speed by disabling it.

A press device according to a sixth aspect of the present invention is the press device according to the first aspect of the present invention, further comprising an operation completion detection unit that detects completion of the reciprocating motion of the slide. When the detection unit does not detect the approach of the upper die to the workpiece during the reciprocating movement of the slide, it is determined that the detection unit is not operating normally.
As a result, it is understood that the detection unit has not detected during the reciprocating motion of the slide, so that it can be determined that an abnormality has occurred in the detection unit.

A press device according to a seventh aspect of the present invention is the press device according to the first aspect of the present invention, wherein the detection unit has a proximity sensor. The proximity sensor is attached to the upper mold or the lower mold.
Thereby, the approach of the upper die to the workpiece can be detected.

A press device according to an eighth aspect of the present invention is the press device according to the first aspect of the present invention, wherein the detection unit is configured to capture an image of the upper portion of the work placed on the lower mold, and the captured image. And an image processing unit that detects the approach of the upper mold to the workpiece by processing.
Thereby, the approach to the workpiece | work to an upper metal mold | die can be detected.
In addition, since the image pickup unit of the eighth invention can detect that the upper die has approached the workpiece by image processing even if the die changes, it is not necessary to attach it to each die as compared with the proximity switch. Thus, it is more preferable because only one image pickup unit is provided in the press device.

According to a ninth aspect of the present invention, there is provided a control device for a pressing device, wherein a workpiece mounted on a lower die attached on a bolster is moved in a vertical direction by a servo motor on a workpiece to which the upper die is attached. A control device for a press machine that performs press working, and includes a control unit. When the approach of the upper mold attached to the slide to the workpiece is detected by the detector, the control unit performs control to change the slide speed.
Thereby, the use of the workpiece can be suppressed, and the slide operation can be set so as to change the slide speed at an appropriate position.

In a press control method according to a tenth aspect of the present invention, a workpiece mounted on a lower die attached on a bolster is pressed by moving a slide to which the upper die is attached in a vertical direction by a servo motor. A control method for a press apparatus, comprising a detection step and a change step. In the detection step, the approach of the upper mold attached to the slide to the workpiece is detected. In the changing step, when the approach of the upper mold to the workpiece is detected, the speed of the slide is changed.
Thereby, the use of the workpiece can be suppressed, and the slide operation can be set so as to change the slide speed at an appropriate position.

(The invention's effect)
ADVANTAGE OF THE INVENTION According to this invention, the press apparatus which can suppress the cost and can set operation | movement of a slide easily, the control method of a press apparatus, and the control apparatus of a press apparatus can be provided.

The figure which shows the external appearance of the press apparatus of embodiment concerning this invention. The sectional side view which shows the internal structure of the press apparatus shown in FIG. The fragmentary sectional view in front view which shows the internal structure of the press apparatus shown in FIG. The figure which shows typically the structure of the press apparatus shown in FIG. The figure which shows the structure of the control apparatus of the press apparatus shown in FIG. The figure which shows an example of the screen which performs the motion setting of the press apparatus shown in FIG. (A), (b) The figure for demonstrating the position adjustment of the proximity sensor of the press apparatus shown in FIG. The flowchart which shows the control action of the press apparatus shown in FIG. (A)-(f) The schematic diagram for demonstrating operation | movement of the press apparatus shown in FIG. The figure which shows the relationship between the position of the slide, sensor input, and servomotor speed in operation | movement of the press apparatus of FIG. The schematic diagram which shows the press apparatus of the modification of embodiment concerning this invention. The figure which shows the structure of the control apparatus of the press apparatus shown in FIG. (A), (b) The figure which shows the screen image | photographed with the camera of the press apparatus shown in FIG.

The press apparatus of the present invention will be described below with reference to the drawings.
<1. Configuration>
(1-1. Appearance structure of press machine)
FIG. 1 is a schematic diagram showing an overall outline of a press apparatus 1 according to an embodiment of the present invention.
The press device 1 according to the present embodiment is a servo press device using a servo motor.

As shown in FIG. 1, a slide 3 is supported at a substantially center of a main body frame 2 of the press apparatus 1 so as to be movable up and down. An upper mold 8 a (see FIG. 3 described later) is attached to the lower surface 3 a of the slide 3.
A bolster 5 is provided below the slide 3 and is fixed on the bed 4. A lower mold 8b (see FIG. 3 described later) is attached to the upper surface 5a of the bolster 5.
A control device 6 is provided on the side of the side frame 11. The control device 6 is provided with a control panel 61 and the like for an operator to set operation and the like.

(1-2. Internal configuration of press machine)
FIG. 2A is a diagram illustrating an internal configuration of the press apparatus 1. As shown in the figure, the press apparatus 1 is provided with a servo motor 21. Further, the connecting rod 9, the main shaft 10, the main gear 15, and the power transmission shaft 16 are mainly provided as a configuration for moving the slide 3 in the vertical direction by the power of the servo motor 21.

The connecting rod 9 has a connecting rod body 80 and a screw shaft 70 for adjusting the die height. A spherical body 71 is provided at the lower end of the screw shaft 70 and is rotatably inserted into a spherical hole 3 s provided in the upper part of the slide 3. Thus, the spherical joint is constituted by the spherical hole 3s and the spherical body portion 71. An upper portion of the screw shaft 70 is exposed from the slide 3 upward, and a screw portion 72 is formed on the upper portion of the screw shaft 70. The screw portion 72 is screwed into the female screw portion 81 of the connecting rod main body 80. Thus, the connecting rod 9 is configured to be extendable and contractible by the screw shaft 70 and the connecting rod body 80.

The main shaft 10 is provided on the upper part of the connecting rod 9. The upper portion of the connecting rod 9 is rotatably connected to a crank-shaped eccentric portion 10 a provided on the main shaft 10. The main shaft 10 is disposed along the front-rear direction. The main shaft 10 is supported by three bearing

portions

12, 13, and 14 arranged in the front-rear direction between a pair of left and right plate-like side frames 11 constituting the main body frame 2. The eccentric portion 10 a is provided between the bearing portion 12 and the bearing portion 13.

The main gear 15 is attached between the bearing portion 13 and the bearing portion 14 of the main shaft 10.
The power transmission shaft 16 is provided below the main gear 15. The power transmission shaft 16 is disposed along the front-rear direction, and is rotatably supported by bearing

portions

17 and 18 provided at two positions in the front-rear direction. A gear 161 is provided between the bearing portion 17 and the bearing portion 18 of the power transmission shaft 16, and the gear 161 meshes with the main gear 15. A pulley 19 is provided at the rear end of the power transmission shaft 16.

The servo motor 21 is supported between the side frames 11 by brackets 22. The output shaft 21a of the servo motor 21 is disposed along the front-rear direction. A belt 24 is wound between a pulley 23 and a pulley 19 provided on the output shaft 21a. The rotation of the servo motor 21 is transmitted to the main gear 15 by the belt 24.
Further, the press device 1 is provided with a position detector 26 for detecting the vertical position of the slide 3. The position detector 26 has a rod 27 and a position sensor 28. The rod 27 is provided on the back side of the slide 3. The rod 27 is attached to a pair of brackets 25 protruding rearward from two locations on the slide 3. The rod 27 is provided with a scale for detecting the vertical position of the slide 3. The rod 27 is fitted into the position sensor 28 so as to be movable in the vertical direction.

The position sensor 28 is fixed to an auxiliary frame 29 provided on one of the pair of side frames 11. The auxiliary frame 29 has a vertically long shape and is arranged along the vertical direction. The lower part of the auxiliary frame 29 is fixed to the side frame 11 with bolts 31, and the upper part is supported on the side frame 11 with bolts 32 so as to be movable up and down. Here, since the bolt 32 is fitted in a long hole formed in the auxiliary frame 29, the upper part of the auxiliary frame 29 is movable in the vertical direction. This is to prevent the auxiliary frame 29 from being affected by the temperature and humidity of the side frame 11.

Further, as shown in FIG. 2B, the press device 1 is provided with a slide position adjusting mechanism 33 for adjusting the slide position and the die height of the slide 3. The slide position adjustment mechanism 33 is a mechanism that adjusts the slide position and die height of the slide 3. As shown in FIG. 2B, the slide position adjusting mechanism 33 includes a worm wheel 34, a worm gear 35, an input gear 36, and an induction motor 38 (see FIG. 2A). The worm wheel 34 is attached to the outer periphery of the sphere 71 of the screw shaft 70 via a pin 73. An input gear 36 is provided at the end of the worm gear 35 meshing with the worm wheel 34, and the input gear 36 and the output gear 37 of the induction motor 38 shown in FIG. 2A are meshed. As the induction motor 38 rotates, the output gear 37 and the worm gear 35 rotate, and the worm wheel 34 is driven to adjust the position of the slide 3.

(1-3. Proximity sensor)
Next, the proximity sensor 100 (an example of a detection part) attached to the press apparatus 1 of this Embodiment is demonstrated. The proximity sensor 100 detects that the upper mold 8a has approached the workpiece W, and control is performed so that the speed of the slide 3 is changed by this detection.

Fig.3 (a) is a figure which shows typically the press apparatus 1 of this Embodiment. FIG. 3B is a schematic view showing a side surface of the upper mold 8a.
FIG. 3A shows an outline of the configuration of FIG. 2. The power of the servo motor 21 is transmitted to the main gear 15 by the belt 24, and the rotation of the main gear 15 is converted into the vertical operation by the connecting rod 9. 1 shows a configuration in which the slide 3 is moved up and down. Although not described in FIG. 2, the main gear 15 is provided with a rotation encoder 110 for detecting the rotation angle of the main gear 15.

Further, as shown in the drawing, an upper mold 8 a is attached to the lower surface 3 a of the slide 3, and a lower mold 8 b is attached to the upper surface 5 a of the bolster 5. And the proximity sensor 100 (an example of a detection part) is provided in the upper metal mold | die 8a. The lower mold 8b is provided with a detection object 101 that is detected by the proximity sensor 100. Although the detected object 101 depends on the type of the proximity sensor 100, for example, a metal piece may be used.

The proximity sensor 100 detects that the upper mold 8a has approached the workpiece W.
The proximity sensor 100 is attached to the upper mold 8a via a bracket 102. The detected object 101 is directly attached to the lower mold 8b. In the present embodiment, the bracket 102 is fixed so as to be movable with respect to the upper mold 8a so as to be adjusted in the vertical direction. For example, as shown in FIG. 3A, as the bracket 102, a substantially Z-shaped member obtained by bending an elongated plate-like member twice into an L-shape can be used. As shown in FIG. 3B, a long hole 102a is formed in the bracket 102 in the vertical direction, and the bracket 102 is configured to be fixed to the upper mold 8a by tightening with a bolt 104. Then, by loosening the bolt 104, the bracket 102 is moved in the vertical direction (see the arrow in FIG. 3B), and the position of the proximity sensor 100 can be adjusted. Further, the detection object 101 may also be attached to the lower mold 8b via a bracket or the like.

The positions of the proximity sensor 100 and the detected body 101 are such that the proximity sensor 100 detects the detected body 101 when the upper mold 8a approaches the workpiece W placed on the lower mold 8b. It has been adjusted. Further, the upper and lower sides of the detected object 101 are always detected so that the proximity sensor 100 can detect the detected object 101 from when the upper mold 8a approaches the workpiece W until the upper mold 8a reaches the bottom dead center. The length is set in the direction.

The proximity sensor 100 is attached to each mold 8 when there are a plurality of molds 8 (upper mold 8a and lower mold 8b).
Here, the proximity sensor 100 is set to detect when the upper mold 8a reaches a position that is a distance d above the position of the workpiece W. As will be described in detail later, the distance d can be set to a distance at which the lowering speed of the upper mold 8a can be changed to a desired speed from when it is detected by the proximity sensor 100 until it comes into contact with the workpiece W.

(1-4. Configuration of control device)
FIG. 4 is a block diagram illustrating a configuration of the control device 6 of the press device 1 according to the present embodiment.
Further, the control device 6 includes a control panel 61, a sensor input unit 64, an encoder input unit 65, a motor instruction unit 66, an operation setting unit 67, a post-sensor input operation speed setting unit 68, a storage unit 69, and a valid unit. -It has the invalid setting part 90.

The control panel 61 has a display monitor 62 and an input unit 63. Various data for setting a slide motion such as a moving speed of the slide 3 is input to the input unit 63. The display monitor 62 displays the input data input by the input unit 63, the setting data registered after the setting is completed, and the like. As the display monitor 62, for example, when a touch panel or the like is used, the display monitor 62 is also used as the input unit 63.

The sensor input unit 64 receives a detection signal from the proximity sensor 100. When the proximity sensor 100 detects the detected object 101 by the slide 3 being lowered, the signal is transmitted to the sensor input unit 64.
The encoder input unit 65 receives angle data detected by the rotary encoder 110.

The operation setting unit 67 sets a slide operation (also referred to as a slide motion) input to the control panel 61. The post-sensor input operation speed setting unit 68 sets the operation speed after detection by the proximity sensor 100 input to the control panel 61 is performed.
The storage unit 69 stores the slide operation set by the operation setting unit 67 and the post-sensor input operation speed setting unit 68.

The motor instruction unit 66 issues a command via the servo amplifier 211 so as to change the operation of the servo motor 21 based on the slide operation stored in the storage unit 69 by the input from the proximity sensor 100 and the rotary encoder 110. Send.
The valid / invalid setting unit 90 sets whether the operation set by the post-sensor input operation speed setting unit 68 is enabled or disabled after detection input by the proximity sensor 100.

(1-5. Operation setting)
FIG. 5 is a diagram illustrating an example of a screen for performing operation setting. As shown in the figure, the display monitor 62 displays an operation setting screen D1, a valid / invalid selection screen D2, and an operation setting screen D3 after sensor input. In addition, this display may be displayed separately and may be displayed on the same screen. The operation setting screen D1, the valid / invalid selection screen D2, and the post-sensor input operation setting screen D3 are provided for each type of mold 8. In FIG. 5, two types of molds 8 (1) and 8 (2) are displayed.

In the operation setting screen D1, the target angle in the rotary encoder 110 and the speed (%) until the target angle is reached are input. Here, in the operation setting screen D1 of the mold 8 (1), No. 1, since the target angle is input as 180 ° and the speed 100%, the slide 3 is set to descend from the top dead center to the bottom dead center at a speed of 100%. 100% speed is a preset speed. No. 2, since the target angle is input as 360 ° and the speed is 100%, the slide 3 is set to rise from the bottom dead center to the top dead center at a speed of 100%. Here, based on the input data, the operation setting unit 67 sets the operation of the slide 3, and the setting is stored in the storage unit 69.

The valid / invalid selection screen D2 is a screen for selecting whether to enable or disable the setting on the post-sensor input operation setting screen D3. By the input to the valid / invalid selection screen D2, the valid / invalid setting unit 90 described above sets whether the operation after sensor input is valid or invalid.
The post-sensor input operation setting screen D3 is a screen for setting a speed to be changed after the proximity sensor 100 detects the detected object 101. In D3, “momentary” is described as the type, and this indicates that the changed speed is maintained while the proximity sensor 100 detects the detected object 101. Also, 50% is input as the speed override. That is, while the proximity sensor 100 is detecting the detected object 101, the speed of the slide 3 is set to be changed from 100% to 50%. Based on the data input on the post-sensor input operation setting screen D3, the operation setting unit 67 sets the operation of the slide 3, and the setting is stored in the storage unit 69.
In the mold 8 (2), the speed override is set to 40%, which is different from the mold 8 (1), but may be the same value.

<2. Operation>
(2-1. Proximity sensor setting operation)
Next, position adjustment of the proximity sensor 100 will be described. 6A and 6B are diagrams for explaining the adjustment of the proximity sensor 100. FIG.

As shown in FIG. 6A, the upper mold 8 a and the lower mold 8 b are attached to the press device 1. Then, the power source of the press device 1 is turned on, and the operator moves the slide 3 downward at a slow speed with a pulse handle or the like. In FIGS. 6A and 6B, since the workpiece W is not placed, it is indicated by a two-dot chain line as a virtual line.
Then, the position of the proximity sensor 100 is adjusted such that the proximity sensor 100 detects the detected object 101 at a position where the upper mold 8a approaches the workpiece W placed on the lower mold 8b. Specifically, as shown in FIG. 6 (b), assuming that the workpiece W is placed, the proximity sensor 100 is detected above the upper surface of the lower mold 8b by the thickness + distance d of the workpiece W. Adjustment is made to detect the body 101. The distance d is determined in advance as the distance at which the speed of the upper mold 8a is changed to the desired speed when contacting the workpiece W from the speed before the change, the speed after the change, the time constant at the time of the speed change, and the like. It can be calculated. This distance d need not be exact, may be set to a sufficient distance to finish changing to a desired speed, or may be set from an empirical rule.

The position of the proximity sensor 100 is adjusted by moving the position of the bracket 102 described above with respect to the upper mold 8a.
In this way, the position of the proximity sensor 100 is adjusted, and it can be detected that the upper mold 8a approaches the workpiece W.
6A and 6B, the position of the proximity sensor 100 is adjusted without placing the workpiece W. However, the workpiece W may be placed.

(2-2. Pressing operation)
Next, a control method of the press device 1 according to the present embodiment will be described with reference to FIGS.
FIG. 7 is a flowchart showing a control method of the press apparatus 1 of the present embodiment. FIG. 8A to FIG. 8F are diagrams for explaining the operation during press working. FIG. 9 is a diagram showing the relationship between the position of the slide 3, the sensor input, and the servo motor speed. In the following operation, the operation of the slide 3 is performed based on the operation setting input in the mold 8 (1) shown in FIG.

As shown in FIG. 8A, when the workpiece W is placed on the lower mold 8b and the press operation is started, the control device 6 monitors whether detection by the proximity sensor 100 is performed. (Step S10).
The slide 3 descends at a speed of 100% in accordance with the input on the operation setting screen D1 of FIG.

As shown in FIG. 8 (b), when the slide 3 is lowered, the proximity sensor 100 approaches the detected object 101 and is turned on (see FIG. 8), and the approach of the upper mold 8a to the workpiece W is detected. (Step S11). Here, the approach of the upper mold 8a to the workpiece W is detected at a position above the workpiece W by a distance d.
When there is a detection input from the proximity sensor 100, an override value is calculated (step S12). Specifically, in accordance with the input to the sensor input unit 64, the motor instruction unit 66 reads the set value of the post-sensor input operation (see the post-sensor input operation setting screen D3 in FIG. 5) stored in the storage unit 69. Here, the speed override is set to 50%, and the speed to be changed is calculated from this value. In this case, since it is a half of the speed before the change, the speed to be changed can be calculated by multiplying the current speed by a half.

Subsequently, the motor instruction unit 66 sends an override command to the servo amplifier 211, changes the speed of the servo motor 21, and sets the slide 3 to 50% (see step S13, point P1 in FIG. 9).
Subsequently, the slide 3 is lowered, and the upper mold 8a contacts the workpiece W as shown in FIG. 8C, but is detected at a position a predetermined distance d before contacting the workpiece W. Therefore, the deceleration is completed from 100% speed to 50% speed before contact, and the slow touch of the upper mold 8a to the workpiece W can be realized.

Then, as shown in FIG. 8D, the slide 3 descends to the bottom dead center and is maintained for a predetermined time (see period T in FIG. 9).
Next, as shown in FIG. 8 (e), when the slide 3 rises from the bottom dead center and the upper mold 8 a is separated from the work W and separated from the upper surface of the work W by a distance d, the proximity sensor 100 is moved. The detected object 101 is not detected. In addition, since the proximity sensor 100 continues to detect the detected object 101 from the state shown in FIG. 8B to the state shown in FIG. 8E, the speed of the slide 3 is 50%. It is kept.

When the proximity sensor 100 no longer detects the detected object 101, the proximity sensor 100 is turned off, and a signal to that effect is input to the sensor input unit 64 (step S14). Here, even when the upper mold 8a is separated from the workpiece W, the speed is set to be slow, which is effective in preventing misfeed due to the workpiece W jumping up.
When the signal is input to the sensor input unit 64, the motor instruction unit 66 cancels the command input on the post-sensor input operation setting screen D3 (step S15). After the release, based on the command (No2: target angle 360 ° speed 100%) input on the operation setting screen D1, the slide 3 is moved up by changing the slide 3 to rise faster (FIG. 8 (f ), See point P2 in FIG.

Note that when invalid is selected on the valid / invalid selection screen D2, even if there is an input from the proximity sensor 100, the speed is not changed (speed override), so the input is made on the operation setting screen D1. The slide 3 moves up and down in accordance with the performed operation. That is, the slide 3 descends at a speed of 100% from the top dead center to the bottom dead center, and rises at a speed of 100% from the bottom dead center to the top dead center. The moving state of the slide at this time is shown by a dotted line in FIG.

As described above, by reducing the speed at which the workpiece W is pressed, the machining quality of the workpiece is improved, and a decrease in production efficiency can be suppressed by not reducing the speed outside the region to be machined.
Further, since the position of the proximity sensor 100 can be adjusted without placing the workpiece W, the use of the workpiece W at the time of adjustment can be reduced. Note that the position of the proximity sensor 100 may be adjusted by placing the workpiece W, and even in that case, it is not necessary to perform trial hitting, and therefore wasteful consumption of the workpiece W can be prevented.

Note that the acceleration / deceleration time constant when the speed of the slide 3 changes is stored in advance in the storage unit 69 of the control device 6 as a parameter table. This time constant is set so as not to place a burden on the apparatus due to insufficient capacity or vibration due to sudden deceleration.
In addition, even if the valid / invalid selection screen D2 described with reference to FIG. 5 is selected, there is no input from the proximity sensor 100 even if the rotary encoder 110 detects from 0 ° to 360 °. The control device 6 can determine that the proximity sensor 100 is not operating normally. This is because one rotation of the slide is detected when the rotary encoder 110 detects from 0 ° to 360 °, and if there is no input from the proximity sensor 100 during that time, a failure of the proximity sensor 100 can be assumed. is there.

<3. Features>
(3-1)
The press device 1 according to the first embodiment is a press device 1 that presses a work W using an upper die 8a and a lower die 8b, and includes a slide 3, a bolster 5, a servo motor 21, and a motor. An instruction unit 66 (an example of a control unit). The upper mold 8a is attached to the slide 3. The lower die 8b is placed on the bolster 5. The servo motor 21 reciprocates the slide 3 in the vertical direction. The motor instruction unit 66 detects the approach of the upper mold 8a to the workpiece W by a proximity sensor 100 (an example of a detection unit) that detects the approach of the upper mold 8a to the workpiece W placed on the lower mold 4b. Then, the servo motor 21 is controlled so as to change the speed of the slide 3.

Thus, the proximity sensor 100 detects the approach of the upper mold 8a to the workpiece W placed on the lower mold 8b. For this reason, even if the operator does not press the workpiece W in the test, the operator moves the slide 3 downward at a slow speed and visually confirms the position where the upper mold 8a approaches the workpiece W, and approaches at the position. The position of the proximity sensor 100 can be set so that detection by the sensor 100 is performed.

Thereby, use of the workpiece | work W can be reduced and operation | movement of the slide 3 can be set so that the speed of the slide 3 may be changed in an appropriate position.
Here, in the above embodiment, the proximity sensor 100 is installed so that it is detected at a position a predetermined distance before the upper mold 8a contacts the workpiece W. The predetermined distance is, for example, the above-described embodiment. In the form, it is the distance that can be reduced from 100% speed to 50% speed. Thereby, the slow touch to the workpiece | work W of the upper metal mold | die 8a is realizable.

In general, a press device using a servo motor reads a motion programmed in advance in a control device and performs a motion according to the created motion. Therefore, it is difficult to continue operation by switching to a different program after execution of the program has started.
However, by utilizing a speed override mechanism (means for changing the speed by applying a speed override to the execution program) provided for control from a host device such as a synchronous control device in the press line, the proximity sensor 100 Based on this detection, it is possible to change the motion suddenly by accepting a speed change request during driving.

(3-2)
Moreover, the press apparatus 1 of the said embodiment is the operation speed after sensor input which sets the speed after a change when the proximity sensor 100 (an example of a detection part) detects the approach to the workpiece | work W of the upper metal mold | die 8a. A setting unit 68 (an example of a post-detection speed setting unit) is further provided.
Thereby, since the operator can set the speed after the upper die 8a approaches the workpiece W to a desired speed, the speed at the time of press working can be set appropriately.

(3-3)
Moreover, in the press apparatus 1 of the said embodiment, the proximity sensor 100 also detects that the upper metal mold | die 8a is located in the vicinity of the workpiece | work W after the upper metal mold | die 8a approaches the workpiece | work W. FIG. The post-sensor input operation speed setting unit 68 sets the speed while the proximity sensor 100 detects that the upper mold 8a is positioned in the vicinity of the workpiece W.
As a result, not only the upper die 8a moves downward and approaches the workpiece W until it reaches the bottom dead center, but the upper die 8a rises from the bottom dead center and moves away from the workpiece W. You can also change the speed until you leave. For this reason, it is possible to suppress the workpieces from jumping up, and to reduce misfeeds.

(3-4)
Moreover, in the press apparatus 1 of the said embodiment, the operation | movement setting part which sets the speed of the slide 3 while it is not detected by the proximity sensor 100 that the upper metal mold | die 8a is located in the vicinity of the workpiece | work W. 67 is further provided. The motor instruction unit 66 (an example of a control unit) is set by the operation setting unit 67 until the approach of the upper mold 8a to the workpiece W is detected when the slide 3 moves downward in the press working. When the slide 3 is moved downward at a speed, and the approach of the upper die 8a to the workpiece W is detected, the speed of the slide 3 is changed to the speed set by the operation speed setting unit 68 after sensor input and is moved downward. Moving. The motor instruction unit 66 moves at the speed set by the post-sensor input operation speed setting unit 68 until the separation of the upper mold 8a from the vicinity of the workpiece W is detected when the slide 3 moves upward. When the separation of the upper die 8a from the vicinity of the workpiece W is detected, the speed of the slide 3 is set to the speed set by the operation setting unit 67 and moved upward.
Thus, the operator can freely set the speed at which the slide 3 descends, the speed at which it rises, and the speed at which it is processed.

(3-5)
Moreover, the press apparatus 1 of the said embodiment is further provided with the valid / invalid setting part 90 (an example of a selection part). The valid / invalid setting unit 90 sets whether or not to perform control to change the speed of the slide 3 when the proximity sensor 100 detects the approach of the upper mold 8a to the workpiece W.
Thereby, it is possible to set whether or not to change the speed after the proximity sensor 100 detects the approach of the slide 3 to the upper mold 8a. In other words, the worker can switch the speed change between valid and invalid. Further, depending on the type of the workpiece W or the like, the operator can perform press working without changing the speed.

(3-6)
The press device 1 of the above embodiment further includes a rotary encoder 110 (an example of an operation completion detection unit) that detects completion of the reciprocating motion of the slide 3. When the proximity sensor 100 does not detect the approach of the upper mold 8a to the workpiece W during the reciprocating motion of the slide 3, it is assumed that the proximity sensor 100 is not operating normally.
As a result, it can be seen that the proximity sensor 100 has not detected during the reciprocating motion of the slide, so that it can be determined that an abnormality has occurred in the proximity sensor 100.

(3-7)
Further, the control device 6 of the press device 1 according to the above-described embodiment is configured such that the servo motor 21 moves the slide 3 on which the upper die 8 a is attached to the workpiece W placed on the lower die 8 b attached on the bolster 5. Is a control device for a press device that is operated in the up-down direction to perform press working, and includes a motor instruction unit 66 (an example of a control unit). The motor instruction unit 66 detects the approach of the upper mold 8a to the workpiece W by a proximity sensor 100 (an example of a detection unit) that detects the approach of the upper mold 8a attached to the slide 3 to the workpiece W. Then, control for changing the speed of the slide 3 is performed.
Thereby, use of the workpiece | work W in adjustment can be reduced and the operation | movement of the slide 3 can be set so that the speed of the slide 3 may be changed in an appropriate position.

(3-8)
In the control method of the press apparatus of the above embodiment, the slide 3 on which the upper die 8 a is attached is moved up and down by the servo motor 21 with respect to the workpiece W placed on the lower die 8 b attached on the bolster 5. This is a method for controlling a pressing apparatus that performs press working by moving in a direction, and includes step S12 (an example of a detection process) and step S14 (an example of a change process). In step S12, the approach of the upper mold 8a attached to the slide 3 to the workpiece W is detected. In step S14, when the approach of the upper mold 8a to the workpiece W is detected, the speed of the slide 3 is changed.
Thereby, use of the workpiece | work W in adjustment can be reduced and the operation | movement of a slide can be set so that the speed of a slide may be changed in an appropriate position.

<Other embodiments>
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the summary of invention.

(A)
In the above embodiment, while the proximity sensor 100 is detecting the detected object 101, that is, while the upper mold 8a is processing the workpiece W, the speed is set to be slow. It is not a thing. For example, the speed may be set to increase while the proximity sensor 100 detects the detection target 101. Further, for example, the speed may be changed only when the slide 3 is lowered, or conversely, the speed may be changed only when the slide 3 is raised.

(B)
In the above embodiment, the detection object 101 is provided in the lower mold 8b. However, when the proximity sensor 100 detects metal, the detection object 101 is not provided and the lower mold 8b itself is detected. Also good.
(C)
Moreover, in the said embodiment, although the proximity sensor 100 was used as an example of the detection part which detects the approach to the workpiece | work W of the upper metal mold | die 4a, it is not restricted to this, Even if it is a photo sensor etc. Good. Furthermore, a camera (an example of an imaging unit) may be provided.

FIG. 10 is a diagram schematically showing a press apparatus 1 ′ provided with a camera 200. The camera 200 is provided on the side frame 11 or the bolster 5 of the press device 1 and is not provided on the mold 8. The camera 200 images the upper vicinity of the lower mold 8b. FIG. 11 is a block diagram showing the configuration of the control device 6 ′ of the press device 1 ′. The press apparatus 1 ′ shown in FIG. 11 includes a camera 200, an image processing unit 201 that performs image processing of the camera 200, and a detection result input unit 202 that inputs a result of the image processing.

FIGS. 12A and 12B are diagrams showing a screen 220 captured by the camera 200. FIG. As shown in FIG. 12A, a line S located near the upper part of the workpiece W is set on the screen 220. Then, the image processing unit 201 detects the edge of the lower end 8ae of the upper mold 8a from the image captured by the camera 200. As shown in FIG. 12B, when the lower end 8ae approaching from above overlaps the line S, the image processing unit 201 determines that the upper mold 8a has approached the workpiece W and inputs it to the detection result input unit 202. The first detection result is transmitted. Further, when the lower end 8ae of the upper mold 8a approaches the line S from below and overlaps the line S, the image processing unit 201 determines that the upper mold 8a is separated from the vicinity of the workpiece W, and 2 The detection result is transmitted to the detection result input unit 202. Control similar to that in the above embodiment can be realized by overriding and slowing down the speed between the first detection result and the second detection result.

The press device, the control method for the press device, and the control device for the press device according to the present invention have the effect of reducing the cost and easily setting the slide operation, and are useful, for example, in the field of sheet metal processing.

DESCRIPTION OF SYMBOLS 1 Press apparatus 1 'Press apparatus 2 Main body frame 3 Slide 3a Lower surface 3s Spherical hole 4 Bed 4a Upper mold 4b Lower mold 5 Bolster 5a Upper surface 6 Control apparatus 8 Mold 8a Upper mold 8ae Lower end 8b Lower mold 9 Connecting rod 10 Main shaft 10a Extrusion section 11 Side frame 12 Bearing section 13 Bearing section 14 Bearing section 15 Main gear 16 Power transmission shaft 17 Bearing section 18 Bearing section 19 Pulley 21 Servo motor 21a Output shaft 22 Bracket 23 Pulley 24 Belt 25 Bracket 26 Position detector 27 Rod 28 Position sensor 29 Auxiliary frame 31 Bolt 32 Bolt 33 Slide position adjusting mechanism 34 Worm wheel 35 Worm gear 36 Input gear 37 Output gear 38 Induction motor 6 DESCRIPTION OF SYMBOLS 1 Control panel 62 Display monitor 63 Input part 64 Sensor input part 65 Encoder input part 66 Motor instruction | indication part (an example of a control part)
67 Operation setting part 68 Operation speed setting part after sensor input (an example of speed setting part after detection)
69 Storage part 70 Screw shaft 71 Sphere part 72 Screw part 73 Pin 80 Connecting rod body 81 Female thread part 90 Valid / invalid setting part (an example of a selection part)
100 Proximity sensor (example of detector)
101 Object 102 Bracket 102a Slot 104 Bolt 110 Rotation Encoder (Example of Operation Completion Detection Unit)
161 Gear 200 Camera (an example of an imaging unit)
201 Image processing unit 202 Detection result input unit 211 Servo amplifier 220 Screen D1 Operation setting screen D2 Valid / invalid selection screen D3 Operation setting screen after sensor input W Work d Distance

Claims

A pressing device that presses a workpiece using an upper die and a lower die,
A slide to which the upper mold is attached;
A bolster on which the lower mold is placed;
A servo motor for reciprocating the slide in the vertical direction;
When the approach of the upper mold to the workpiece is detected by a detection unit that detects the approach of the upper mold to the workpiece placed on the lower mold, the slide speed is changed so as to change the speed. A control unit for controlling the servo motor;
A press device.
The press device according to claim 1, further comprising a post-detection speed setting unit that sets a speed after change when the approach of the upper die to the workpiece is detected by the detection unit.
The detection unit also detects that the upper die is positioned in the vicinity of the workpiece after the upper die approaches the workpiece.
The post-detection speed setting unit sets a speed while the detection unit detects that the upper mold is positioned in the vicinity of the workpiece.
The press apparatus according to claim 2.
An operation setting unit that sets a speed of the slide while the detection unit is not detecting that the upper mold is positioned in the vicinity of the workpiece;
The controller is
During the downward movement of the slide in press working, the slide is moved downward at the speed set by the operation setting unit until the approach of the upper die to the workpiece is detected, When the approach of the mold to the work is detected, the speed of the slide is changed to the speed set by the post-detection speed setting unit and moved downward,
During the upward movement of the slide, the slide is moved upward at a speed set by the post-detection speed setting unit until the separation of the upper die from the vicinity of the workpiece is detected, and the upper mold is moved upward. When the separation of the mold from the vicinity of the workpiece is detected, the slide is moved upward with the speed set by the operation setting unit.
The press apparatus according to claim 3.
When the detection unit detects an approach of the upper mold to the workpiece, the detection unit further includes a selection unit that sets whether to perform control to change the speed of the slide.
The press apparatus according to claim 1.
An operation completion detection unit for detecting completion of the reciprocation of the slide;
The detection unit is determined not to operate normally when it does not detect the approach of the upper mold to the workpiece during the reciprocating motion of the slide.
The press apparatus according to claim 1.
The detection unit has a proximity sensor,
The proximity sensor is attached to the upper mold or the lower mold,
The press apparatus according to claim 1.
The detector is
An imaging unit for imaging an upper vicinity of the workpiece placed on the lower mold;
An image processing unit that detects an approach of the upper mold to the workpiece by processing a captured image;
The press apparatus according to claim 1.
A control device for a press device that presses the workpiece by moving a slide to which the upper die is attached in a vertical direction by a servo motor with respect to the workpiece placed on the lower die attached on the bolster,
Control for changing the speed of the slide when the approach of the upper die to the workpiece is detected by the detection unit that detects the approach of the upper die attached to the slide to the workpiece. Part,
The control apparatus of the press apparatus provided with.
A control method of a press apparatus that presses the workpiece by moving a slide to which the upper die is attached in a vertical direction by a servo motor with respect to the workpiece placed on the lower die attached on the bolster,
A detection step of detecting the approach of the upper mold attached to the slide to the workpiece;
When the approach of the upper mold to the workpiece is detected, a changing step for changing the speed of the slide;
A press control method comprising: