WO2019058654A1

WO2019058654A1 - Press system

Info

Publication number: WO2019058654A1
Application number: PCT/JP2018/022064
Authority: WO
Inventors: 桜井　均; 広陽山崎; 篤夫桶谷; 俊宏南
Original assignee: コマツ産機株式会社
Priority date: 2017-09-22
Filing date: 2018-06-08
Publication date: 2019-03-28
Also published as: JP2019055426A; US20200171561A1; JP7080612B2; CN110520227A; CN110520227B; DE112018001445T5

Abstract

A press system which can improve production speed is provided. A control unit drives a slide up and down on the basis of a prescribed press motion. The position of the slide to which a workpiece can be conveyed without interfering with an upper die is the feedable height (P1, P5). The standby height (P0, P6) is above the feedable height and is the highest position of press motion. While the slide moves between the feedable height (P5) and the standby height (P6), the control unit also conveys the workpiece.

Description

Press system

The present invention relates to a press system.

For example, Japanese Patent Application Laid-Open No. 2013-184222 (Patent Document 1) discloses a method of setting rotational motion when a crankshaft is rotated by a servomotor in a conventional press.

JP, 2013-184222, A

In the conventional servo press, the operation of the slide operated by the pendulum motion and the operation of the feeder are alternately performed. On the other hand, servo press is required to further improve production speed.

An object of the present invention is to provide a press system capable of improving the production speed.

In the case of a conventional servo press, in the case of pendulum motion, a measure is taken to improve the production speed by setting the lower limit of the transportable position without causing the workpiece to interfere with the mold as the slide stop position and minimizing the slide movement distance. It was being done. The inventors of the present invention have been able to realize the improvement of the production speed by moving the slide stop position upward to extend the slide movement distance in advancing the study for further improving the production speed of the servo press. The present invention was configured as follows.

That is, a press system according to the present invention includes a press unit, a transport unit, and a control unit. The press unit has an electric motor, an eccentric mechanism, a slide, and a bolster. The eccentric mechanism converts rotational movement by the electric motor into movement in the vertical direction. The slide is mountable to the upper mold and is driven to move up and down through an eccentric mechanism. The lower mold can be attached to the bolster. The press unit press-works the work by the elevation operation of the slide relative to the bolster. The transport unit transports the work. The control unit controls the press unit and the transport unit. The control unit raises and lowers the slide based on a predetermined press motion. The slide position at which the workpiece can be transported without interfering with the upper mold is a transportable height, which is higher than the transportable height, and the highest position of the press motion is a standby height. The control unit also transports the workpiece while the slide is moving between the feedable height and the standby height.

According to the press system of the present invention, the production speed can be improved.

It is a figure explaining composition of a press system based on an embodiment. It is a perspective view of a press device based on an embodiment. It is a sectional side view which shows the principal part of a press apparatus. It is the top view of a partial cross section which shows another principal part of a press apparatus. It is a figure explaining an outline of a drive system of a press system based on an embodiment. It is a functional block diagram of CPU based on an embodiment. It is a schematic diagram which shows arrangement | positioning of a metal mold | die and a workpiece | work when a slide is in a feedable height. It is a schematic diagram which shows arrangement | positioning of a metal mold | die and a workpiece | work when a slide is in a touch position. It is a schematic diagram which shows arrangement | positioning of a metal mold | die and a workpiece | work when a slide is in a process end position. It is a 1st figure explaining the rotation angle of the main shaft corresponding to each position of a slide position parameter. It is a 2nd figure explaining the rotation angle of the main shaft corresponding to each position of a slide position parameter. It is a flow figure explaining motion generation of a press system based on an embodiment. It is a figure which shows the press motion and feeder motion which were produced | generated by the press system based on embodiment. It is a figure which shows the setting method of a monitoring position.

The present embodiment will be described in detail with reference to the drawings. In the drawings, the same or corresponding portions are denoted by the same reference characters, and the description thereof will not be repeated.

In this example, the press apparatus will be described by taking a progressive-type press apparatus as an example.
<Overall configuration>
FIG. 1 is a diagram for explaining the configuration of a press system based on the embodiment. As shown in FIG. 1, the press system includes an uncoiler 100, a leveler feeder (conveyor unit) 200, a press device (press unit) 10, and a conveyor 120.

A coil material (band plate) is wound around the uncoiler 100. In the present embodiment, the case of pressing a coil material as a work (material) will be described. The coil material unwound from the uncoiler 100 is conveyed to the press device 10 through the leveler feeder 200.

The leveler feeder 200 adjusts the position of the feeding height of the coil material to be transported from the uncoiler 100 to the pressing device 10, and also applies the coil material to the pressing device 10 according to the set operating condition (feeder motion) in the transport direction. Transport

The press device 10 press-processes the coil material conveyed from the leveler feeder 200.

The conveyer 120 conveys the work formed by press processing in the press device 10. For example, the transfer conveyor 120 can also transfer the formed work to the next pressing device.

The parts of the press system are synchronized, and a series of operations are sequentially and continuously performed. The coil material is conveyed from the uncoiler 100 to the press device 10 via the leveler feeder 200. Then, the work pressed and processed by the press device 10 is transported by the transport conveyor 120. The above series of processing is repeated.

In addition, the structure of the said press system is an example, and in particular it is not restricted to the said structure.

The leveler feeder 200 operates in accordance with an instruction from the press device 10. In this regard, a control unit that controls the leveler feeder 200 is provided in the press device 10.

In the present embodiment, a control unit for controlling the leveler feeder 200 will be described in the press 10. However, the present invention is not limited to this. For example, a controller for controlling the press 10 is provided on the leveler feeder 200. It may be done. The control unit that controls the press device 10 and the leveler feeder 200 may be disposed at a position different from the press device 10 and the leveler feeder 200, and the press device 10 and the leveler feeder 200 may be configured to be remotely operated. In the embodiment, a case where one control unit controls both the leveler feeder 200 and the press device 10 will be described.

<Press device>
FIG. 2 is a perspective view of the press device 10 based on the embodiment.

As shown in FIG. 2, as an example, a progressive press without a plunger is shown.

The press device 10 includes a body frame 2, a slide 20, a bed 4, a bolster 5, a control panel 6, and a control unit 40.

A slide 20 is vertically movably supported at a substantially central portion of the main body frame 2 of the press device 10. Below the slide 20, a bolster 5 mounted on a bed 4 is arranged. A control unit 40 is provided on the side of the main body frame 2. A control panel 6 connected to the control unit 40 is provided in front of the control unit 40 on the side of the main body frame 2.

On the lower surface of the slide 20, an upper mold of the mold for processing a work is detachably mounted. The lower mold of the molds for processing the work is detachably mounted on the upper surface of the bolster 5. A predetermined work corresponding to these molds is positioned on the lower mold, the upper mold is lowered together with the slide 20, and the work is sandwiched and pressed between the upper mold and the lower mold.

In addition, a remote controller (remote control unit) 70 which can be remotely controlled from the outside provided to be communicable with the main body of the press device 10 is provided. The operator (driver) can perform various setting operations by operating the remote control 70. The remote control 70 communicates with the control unit 40, and can operate the press device 10 in accordance with an instruction from the remote control 70.

In this example, in the remote controller 70, there is shown a case where an upper button 72 and a lower button 74 capable of moving the slide 20 up and down, and a determination button 76 are provided.

The control panel 6 is used to input various data necessary to control the press device 10, and switches and numeric keys for inputting data, a setting screen, and a display for displaying data output from the press device 10. Have a bowl.

As a display, a programmable display in which a transparent touch switch panel is mounted on the front of a graphic display such as a liquid crystal display or a plasma display is adopted.

The control panel 6 may be provided with a data input device from an external storage medium such as an IC (Integrated Circuit) card storing data set in advance, or a communication device for transmitting and receiving data via a wireless or communication line. Good.

In the present embodiment, a configuration in which both the control panel 6 and the remote control 70 are provided for the press device 10 will be described, but the configuration of the press device 10 is an example and is not limited to the configuration. For example, only one of the control panel 6 and the remote control 70 may be provided for the press device 10.

FIG. 3 is a side sectional view showing the main part of the pressing device 10. As shown in FIG. As shown in FIG. 3, the press device 10 is a servo press.

The press device 10 includes a servomotor 121, a spherical hole 33A, a screw shaft 37, a spherical portion 37A, a screw portion 37B, and a connecting rod main body 38. Further, the press device 10 transmits the female screw portion 38A, the connecting rod 39, the main shaft 110, the eccentric portion 110A, the side frame 111, the bearings 112 to 114, the main gear 115, the power transmission shaft 116, A gear 116 A,

bearings

117 and 118, and a pulley 119 are provided.

In the press device 10, the slide 20 is driven by the servomotor 121. The servomotor 121 is an example of an electric motor. The spherical portion 37A provided at the lower end of the screw shaft 37 for die height adjustment is rotatably inserted into the spherical hole 33A formed in the upper portion of the slide 20 in a state in which the spherical portion 37A is prevented from coming off. A spherical joint is constituted by the spherical hole 33A and the spherical portion 37A. The screw portion 37B of the screw shaft 37 is exposed upward from the slide 20 and is screwed with the female screw portion 38A of the connecting rod main body 38 provided above the screw shaft 37. The screw shaft 37 and the connecting rod body 38 constitute an expandable connecting rod 39.

The die height refers to the distance from the lower surface of the slide 20 to the upper surface of the bolster 5 when the slide 20 is disposed at the bottom dead center.

An upper portion of the connecting rod 39 is rotatably connected to a crank-shaped eccentric portion 110A provided on the main shaft 110. The main shaft 110 is supported by three bearing

portions

112, 113 and 114 at the front and rear, between the pair of left and right thick plate-like side frames 111 that constitute the main body frame 2. A main gear 115 is attached to the rear side of the main shaft 110.

The main gear 115 meshes with the transmission gear 116A of the power transmission shaft 116 provided below the main gear 115. The power transmission shaft 116 is supported by two front and

rear bearing portions

117 and 118 between the side frames 111. The driven pulley 119 is attached to the rear end of the power transmission shaft 116. The pulley 119 is driven by a servomotor 121 disposed below it.

The press device 10 includes a bracket 122, an output shaft 121A, a pulley 123, a belt 124, a bracket 125, a position detector 126, a rod 127, a position sensor 128, an auxiliary frame 129, and bolts 131 and 132. And further.

The servomotor 121 is supported between the side frames 111 via a substantially L-shaped bracket 122. The output shaft 121A of the servomotor 121 protrudes along the back and forth direction of the press device 10, and power is obtained by the belt 124 wound around the drive side pulley 123 and the driven side pulley 119 provided on the output shaft 121A. It is transmitted.

In addition, on the back side of the slide 20, a pair of brackets 125 projecting backward from two upper and lower positions toward the side frame 111 are attached. Between the upper and lower brackets 125, a rod 127 constituting a position detector 126 such as a linear scale is attached. The rod 127 is provided with a scale for detecting the vertical position of the slide 20, and is fitted in the position sensor 128, which similarly constitutes the position detector 126, so as to be movable up and down. The position sensor 128 is fixed to an auxiliary frame 129 provided on one side frame 111.

The auxiliary frame 129 is vertically formed in the vertical direction, the lower part is attached to the side frame 111 by the bolt 131, and the upper part is slidable in the vertical direction by the bolt 132 inserted in the long hole in the vertical direction. It is supported. As described above, the auxiliary frame 129 is fixed to the side frame 111 only at one of the upper and lower sides (in the present embodiment, the lower side), and the other side is supported so as to be movable up and down. Not to be affected by Thus, the position sensor 128 can accurately detect the slide position and the die height position without being affected by such expansion and contraction of the side frame 111.

On the other hand, the slide position of the slide 20 and the die height are adjusted by the slide position adjustment mechanism 133 (FIG. 4) provided in the slide 20. FIG. 4 is a plan view of a partial cross section showing another essential part of the pressing device 10. As shown in FIG.

As shown in FIG. 4, the slide position adjusting mechanism 133 is provided at the worm wheel 134 attached to the outer periphery of the spherical portion 37A via a pin 37C, the worm gear 135 meshing with the worm wheel 134, and the end of the worm gear 135. It comprises an attached input gear 136 and an induction motor 138 having an output gear 137 (FIG. 3) meshing with the input gear 136. The induction motor 138 has a flat shape with a short axial length, and is configured to be compact. It is possible to rotate the screw shaft 37 via the worm wheel 134 by the rotational movement of the induction motor 138. Thus, the screwing length between the screw portion 37B of the screw shaft 37 and the female screw portion 38A of the connecting rod main body 38 is changed, and the slide position of the slide 20 and the die height are adjusted.

<Configuration of Drive System of Press System>
FIG. 5 is a view for explaining an outline of a drive system of a press system based on the embodiment.

As shown in FIG. 5, the leveler feeder 200 includes a conveyance roller 63, a servomotor 62, an encoder 64, a feed completion detection unit 68, and a servo amplifier 60.

The press device 10 includes a control unit 40, a servo amplifier 66, a servomotor 121, an encoder 65, a main gear 115, a main shaft 110, an eccentric portion 110A, a slide 20, and an upper mold 22A. The mold 22 B and the bolster 5 are included.

The control unit 40 includes a central processing unit (CPU) 42, a memory 44, a communication circuit 46, and an input unit 48.

The communication circuit 46 is provided to be able to communicate with the remote control 70.
The CPU 42 outputs a target value to the servo amplifier 60. The servo amplifier 60 instructs the servomotor 62 on the basis of the target value. The conveyance roller 63 executes the conveyance operation of the work W in accordance with the drive of the servomotor 62. The feed completion detection unit 68 determines whether the transport operation of the workpiece W is completed, and when it is detected that the transport operation is completed and the workpiece W is stopped, the detection result is used as a transport completion signal. It outputs to CPU42.

The encoder 64 outputs a feedback signal to the servo amplifier 60 in accordance with the number of rotations of the servomotor 62 in accordance with the speed instruction.

The servo amplifier 60 adjusts the number of rotations of the servomotor 62 to a value according to the target value by controlling the power supply to the servomotor 62 based on the feedback signal from the encoder 64.

The CPU 42 controls the transport speed in the transport operation of the workpiece W by the processing.
Similarly, the CPU 42 outputs a target value to the servo amplifier 66. The servo amplifier 66 instructs the servomotor 121 on the basis of the target value. The main gear 115 drives the main shaft 110 in accordance with the drive of the servomotor 121. According to the drive of the main shaft 110, the eccentric part 110A rotates. The eccentric part 110A is connected to the slide 20, and the slide 20 on which the upper mold 22A is mounted is moved up and down according to the rotational movement of the eccentric part 110A. The eccentric part 110A constitutes an eccentric mechanism that converts the rotational movement of the servomotor 121 into the movement of the slide 20 in the elevating direction. The workpiece 20 transported between the upper mold 22A and the lower mold 22B by the slide 20 being driven to move up and down according to the set operating condition (press motion) in the moving direction, and the slide 20 being lowered to the bottom dead center position. Pressing is performed on W.

The upper mold 22A is a movable mold that is mounted on the slide 20 and that reciprocates in the vertical direction integrally with the slide 20 as the slide 20 moves up and down. The lower mold 22B is a fixed mold mounted on the bolster 5 and mounted and fixed on the bolster 5. The work W is sandwiched between the upper mold 22A and the lower mold 22B by the elevating operation of the slide 20 with respect to the bolster 5, and the work W is pressed.

The encoder 65 outputs a feedback signal to the servo amplifier 66 according to the number of rotations of the servomotor 121 in accordance with the speed instruction.

The servo amplifier 66 adjusts the number of rotations of the servomotor 121 to a value according to the target value by controlling the power supply to the servomotor 121 based on the feedback signal from the encoder 65.

The CPU 42 controls the speed of the elevating operation of the slide 20 by the processing.
Based on the control data stored in the memory 44, the CPU 42 based on the embodiment executes processing in which the transport operation by the leveler feeder 200 (also referred to simply as a feeder) and the elevating operation of the slide 20 of the press device 10 are synchronized.

Specifically, the memory 44 stores control data in which the elevation operation of the slide 20 and the conveyance operation of the work by the leveler feeder 200 are associated with each other.

The input unit 48 receives input of various parameters. In the present example, the input unit 48 receives input of parameters via the control panel 6 or the remote control 70. The operator inputs various parameters by operating the switches of the control panel 6 and the ten keys or the buttons of the remote control 70. The control panel 6 and the remote control 70 constitute an operation unit of the embodiment.

The parameters received by the input unit 48 include slide position parameters relating to the position of the slide 20 in the lifting and lowering direction with respect to the bolster 5. The parameters received by the input unit 48 include transport parameters related to the operation of the leveler feeder 200.

<Motion generation>
Next, a method of generating motion based on the embodiment will be described.

FIG. 6 is a functional block diagram of the CPU 42 based on the embodiment.
As shown in FIG. 6, the CPU 42 includes a touch velocity generation unit 51, a press motion generation unit 53, a feeder motion generation unit 55, a motion synthesis unit 56, and an execution unit 58.

Each of the functional block diagrams is realized in cooperation with each unit (such as the communication circuit 46) by the CPU 42 executing a predetermined application program stored in the memory 44.

The touch speed generation unit 51 determines the speed (touch speed) of the slide 20 when the slide 20 descends and the upper mold 22A contacts the work W based on the material and thickness of the work W input to the input unit 48. Set).

The press motion generation unit 53 automatically generates a press motion based on the slide position parameter input to the input unit 48. The slide position parameters include the feedable height, the touch position, and the processing end position.

The feeder motion generation unit 55 automatically generates a feeder motion based on the transport parameter input to the input unit 48. The transport parameters include the feed length.

The motion synthesizing unit 56 automatically generates a synthesized motion by automatically synthesizing the press motion generated by the press motion generating unit 53 and the feeder motion generated by the feeder motion generating unit 55.

The feedable height indicates the lower limit of the position of the slide 20 where the upper mold 22A does not interfere with the workpiece W being transported. FIG. 7 is a schematic view showing the arrangement of the mold and the work W when the slide 20 is at the feedable height. If the slide 20 is separated from the bolster 5 more than the feedable height, the workpiece W can be transported without interfering with the upper mold 22A.

The touch position indicates the position of the slide 20 when the upper mold 22A contacts the workpiece W. FIG. 8 is a schematic view showing the arrangement of the mold and the work W when the slide 20 is in the touch position. When the slide 20 lowered toward the bolster 5 reaches the touch position, the upper mold 22A contacts the workpiece W placed on the lower mold 22B.

The processing end position indicates the position of the slide 20 when the pressing of the work W is completed. FIG. 9 is a schematic view showing the arrangement of the mold and the work W when the slide 20 is at the processing end position. When the slide 20 that descends toward the bolster 5 reaches the processing end position, pressing of the workpiece W is completed.

The feed length indicates the length by which the leveler feeder 200 transports the workpiece W after the end of the pressing of the workpiece W in the transport direction of the workpiece W and before the start of the next pressing. The transport speed of the workpiece W transported by the leveler feeder 200 is referred to as a feed speed. The feed rate is stored in the memory 44. Alternatively, the feed rate may be included in the transport parameters input to the input unit 48.

When the press motion generation unit 53 generates the press motion, an operation mode for maximizing the production amount per unit time is set. In addition, a production speed (unit: SPM (Shot per minute)) is set.

The operation modes include rotational motion, reverse motion, and pendulum motion.

The rotational motion is an operation mode in which the slide 20 is driven for one cycle by rotating the eccentric part 110A (FIG. 3) in one direction.

The reverse motion is a downward stroke and a rise between two rotation angles corresponding to the predetermined lower limit position and the upper limit position set between the rotation angles of the eccentric portion 110A corresponding to the top dead center and the bottom dead center of the slide 20, respectively. It is an operation mode in which reverse drive is performed in the stroke.

The pendulum motion takes two upper limit positions as two upper limit positions with two rotation angles separated by a predetermined angle in the forward rotation direction and the reverse rotation direction from the lower dead rotation angle of the eccentric portion 110A corresponding to the lower dead center of the slide 20. In this operation mode, the slide 20 is driven to reciprocate across the bottom dead center by rotationally driving in one direction from the upper limit position to the other upper limit position after passing through the bottom dead rotation angle.

The execution unit 58 controls the transport operation of the leveler feeder 200 and the press processing of the press device 10 based on the combined motion generated by the motion combining unit 56. Specifically, the execution unit 58 outputs target values for driving the

servomotors

62 and 121 to the

servo amplifiers

60 and 66 based on the combined motion, and synchronizes the press motion and the feeder motion. Run.

FIG. 10 is a first diagram for explaining the rotation angle of the main shaft 110 corresponding to each position of the slide position parameter. In FIG. 10, the top dead center TDC, bottom dead center BDC, standby height P0, monitoring position Pa, feedable height P1, touch position P2, processing end position P3, jump prevention height P4, slide 20 for slide 20 The rotation angle of the main shaft 110 corresponding to the height P5 and the standby height P6 is shown. FIG. 10 shows each position of the slide position parameter when the main shaft 110 rotates in the clockwise direction in the drawing.

The slide 20 sets the pendulum motion in the operation mode, which is reciprocally driven across the bottom dead center BDC with the standby height P0 and the standby height P6 as upper limit positions. The slide 20 starts to descend from the standby height P0, passes the monitoring position Pa, the feedable height P1, the touch position P2 and the processing end position P3 in order, reaches the bottom dead center BDC, and rises from the bottom dead center BDC. And jumps to the standby height P6 by passing sequentially through the jumping prevention height P4 and the feedable height P5. Since the waiting heights P0 and P6 are lower than the top dead center TDC, the slide 20 does not pass through the top dead center TDC.

As shown in FIG. 10, the waiting height P0 is higher than the feedable height P1. The waiting height P6 is at a position higher than the feedable height P5. The standby heights P0 and P6 are the highest position of the press motion. The monitoring position Pa is set at a position higher than the feedable height P1 in the elevating direction of the slide 20 and lower than the standby height P0.

The processing end position P3 is set as a position above the bottom dead center BDC. The descending slide 20 passes the processing end position P3 before reaching the bottom dead center BDC.

The jumping prevention height P4 is set as a position above the bottom dead center BDC. After passing the bottom dead center BDC, the slide 20 starts rising and passes the anti-jump height P4. Jump prevention from the processing end position P3 so that the workpiece W can be prevented from fluttering between the upper mold 22A and the lower mold 22B when the upper mold 22A is lifted after the pressing of the work W is completed The speed of the slide 20 while moving to the height P4 is set to a low speed.

A different position may be set for the jumping prevention height P4 depending on the material of the workpiece W, the plate thickness, and the conditions of the processing method. The set anti-jump height P4 is stored in the memory 44 (FIG. 5). When changing the material, thickness, or processing method of the workpiece W to be pressed, if the jump prevention height P4 corresponding to the workpiece W is not stored in the memory 44, the processing is started several times before starting processing. By the trial, the jumping prevention height P4 is set.

FIG. 11 is a second diagram for explaining the rotation angle of the main shaft 110 corresponding to each position of the slide position parameter. 11, the top dead center TDC, bottom dead center BDC of the slide 20, standby height P0, monitoring position Pa, feedable height P1, touch position P2, processing end position P3, jumping prevention as in FIG. The rotation angle of the main shaft 110 corresponding to the height P4, the feedable height P5, and the waiting height P6 is shown. FIG. 11 shows the positions of the slide position parameters when the main shaft 110 rotates in the counterclockwise direction in the drawing.

The standby height P0 shown in FIG. 11 is the same position as the standby height P6 which is the stop position of the slide 20 shown in FIG. The monitoring position Pa shown in FIGS. 10 and 11, the feedable height P 1, the touch position P 2, the processing end position P 3, the jump prevention height P 4 and the feedable height P 5 are the top dead center TDC and the lower in FIGS. The straight line passing through the dead point BDC is set as a line of symmetry. The waiting height P6 shown in FIG. 11 is the same position as the waiting height P0 which is the movement start position of the slide 20 shown in FIG. The slide 20 starts to descend from the standby height P0, passes the monitoring position Pa, the feedable height P1, the touch position P2 and the processing end position P3 in order, reaches the bottom dead center BDC, and rises from the bottom dead center BDC. And jumps to the standby height P6 by passing sequentially through the jumping prevention height P4 and the feedable height P5.

FIG. 12 is a flow diagram for describing motion generation of the press system based on the embodiment.

As shown in FIG. 12, first, in step S1, various parameters are input to the input unit. Specifically, the operator inputs each parameter necessary for motion generation by operating the control panel 6 or the remote control 70 (FIG. 2).

Next, in step S2, the touch speed is set. Specifically, the touch speed generation unit 51 is a touch speed table for each material of the work W stored in the memory 44 (FIG. 5) of the control unit 40 based on the material and thickness of the input work W. Refer to to set the touch speed.

Next, in step S3, a feeder motion is generated. Specifically, the feeder motion generation unit 55 generates a feeder motion based on the input feed length and feed rate.

FIG. 13 is a diagram showing press motions and feeder motions generated by the press system according to the embodiment. The horizontal axis of the graph in FIG. 13A indicates time, and the vertical axis indicates the angular velocity ω of the main shaft 110 based on rotational drive by the servomotor 121. The angular velocity ωmax represents a value set as the maximum value of the angular velocity of the main shaft 110. The angular velocity ω1 indicates the angular velocity of the main shaft 110 corresponding to the touch velocity set in step S2. By rotating the main shaft 110 at the angular velocity ω1, the processing speed of the slide 20 is set to the touch speed. In FIG. 13A, the standby height P0, the monitoring position Pa, the feedable height P1, the touch position P2, the processing end position P3, the jump prevention height P4, the feedable height P5, and the standby height P6 It is plotted. The horizontal axis of the graph in FIG. 13B indicates time, and the vertical axis indicates the transport speed v of the work W.

As shown in FIG. 13B, acceleration is performed with a predetermined acceleration until the set feed speed is reached from the state where the work W is stopped (conveying speed v = 0). After reaching the feed speed, the workpiece at the set feed speed up to a position where it can be decelerated to the feed speed v = 0 at the time when the work W is transported by the transport length set by decelerating at a predetermined acceleration. The transport of W continues. The predetermined value of the acceleration when the transport speed increases or decreases is stored in the memory 44.

The workpiece W is decelerated from the set feed speed by a predetermined acceleration, and when the workpiece W is transported by the set transport length, the transport speed v becomes 0, and the transport of the workpiece W is completed. As described above, the feeder motion is generated.

Referring back to FIG. 12, in step S4, press motion is generated. Specifically, the press motion generation unit 53 performs the press based on the input feedable height (P1), the touch position (P2) and the processing end position (P3), and the touch speed set in step S2. Generate motion.

As shown in FIG. 13A, the waiting height P0 is the position at which the slide 20 is at rest, so the angular velocity ω of the main shaft 110 at the waiting height P0 is zero. The waiting height P0 is set as a position that can be accelerated to the maximum angular velocity ωmax at a rotation angle corresponding to the feedable height P1 by accelerating with a predetermined acceleration.

The slide 20 starts to descend from the standby height P0 toward the bottom dead center BDC, and accelerates at a predetermined acceleration until the main shaft 110 reaches the maximum angular velocity ωmax. The main shaft 110 reaches the maximum angular velocity ωmax when the slide 20 passes the feedable height P1. The slide 20 passes the feedable height P1 at the maximum speed. The main shaft 110 completes acceleration before the slide 20 passes the feedable height P1 when the slide 20 descends.

After reaching the maximum angular velocity ωmax, the rotation of the main shaft 110 at the maximum angular velocity ωmax continues to a position where it can be decelerated to the touch velocity ω1 at a rotation angle corresponding to the touch position P2 by decelerating with a predetermined acceleration. The maximum angular velocity ωmax of the main shaft 110 and predetermined values of acceleration when decelerating are stored in the memory 44.

The main shaft 110 decelerates from the maximum angular velocity ωmax and rotates at the angular velocity ω1 when the slide 20 reaches the touch position P2. Thereafter, the main shaft 110 rotates at the same angular velocity ω1 until the slide 20 reaches the processing end position P3. Thereby, the slide 20 is lowered at the touch speed from the touch position P2 to the processing end position P3.

When the slide 20 reaches the processing end position P3, the main shaft 110 (and the slide 20) starts to accelerate. While the slide 20 is moving between the processing end position P3 and the jump prevention height P4, the slide 20 moves at a speed slightly higher than the touch speed to prevent the work W from fluttering, and the main shaft 110 Rotates at a speed slightly larger than the angular velocity ω1.

When the slide 20 reaches the jumping prevention height P4, the main shaft 110 re-accelerates at a predetermined acceleration until reaching the maximum angular velocity ωmax. After reaching the maximum velocity ωmax, the rotation of the main shaft 110 at the maximum angular velocity ωmax continues until the slide 20 reaches the feedable height P5. The slide 20 passes the feedable height P5 at the maximum speed.

When the slide 20 passes the feedable height P5, the main shaft 110 decelerates at a predetermined acceleration from the maximum angular velocity ωmax. The main shaft 110 starts decelerating after passing through the feedable height P5 when the slide 20 ascends. The main shaft 110 stops its rotation when the slide 20 reaches the standby height P6. The slide 20 stops at the standby height P6. The standby height P6 is set as a position to be decelerated to zero angular velocity by decelerating from the rotation angle corresponding to the feedable height P5 at a predetermined acceleration. As described above, press motion is generated.

Next, in step S5, a synthetic motion is generated. Specifically, the motion synthesis unit 56 synthesizes the feeder motion generated in step S3 and the press motion generated in step S4 to generate a synthesized motion.

As shown in FIG. 13, after the slide 20 passes the feedable height P5 at the highest speed, the transport of the workpiece W is started. When the slide 20 passes the feedable height P5, the transport speed v of the workpiece W is 0. At the time of starting conveyance of the work W, the slide 20 is moved from the feedable height P5 to the waiting height P6. While the slide 20 is transported between the feedable height P5 and the waiting height P6, the workpiece W is also transported. During deceleration of the slide 20, transport of the work W by the leveler feeder 200 is started.

The slide 20 stopped at the standby height P6 starts to descend after a predetermined time. The main shaft 110, which has stopped rotating when the slide 20 reaches the standby height P6, starts rotating in the reverse direction after a predetermined time.

The time elapsed from the start of conveyance of the workpiece W to the completion of the feeding when the workpiece W is normally conveyed by a feeding length at a predetermined acceleration and a set feeding speed is referred to as a feeder movement time. The main shaft 110 starts rotating so that the slide 20 reaches the monitoring position Pa after the press waiting time (margin) ts elapses from the time when the feeder movement time has elapsed. The leveler feeder 200 is stopped while the slide 20 is accelerating. The work W has been completely fed before the press waiting time (margin) ts before the slide 20 which descends from the waiting height P0 reaches the monitoring position Pa which is a position higher than the feedable height P1. When the slide 20 reaches the feedable height P1, the workpiece W has been fed.

In this manner, a combined motion that does not cause interference between the transport operation of the workpiece W and the elevating operation of the upper mold 22A is generated.

The setting method of the monitoring position Pa will be described. FIG. 14 is a diagram showing a method of setting the monitoring position Pa. The horizontal axes of the graphs of FIGS. 14 (A) and 14 (B) indicate time. The vertical axis of the graph in FIG. 14A indicates the position P of the slide 20. The vertical axis of the graph in FIG. 14B indicates the angular velocity ω of the main shaft 110 based on the rotational drive by the servomotor 121.

The solid line in FIG. 14 (A) shows the position of the slide 20 when it descends while accelerating with a predetermined acceleration until time Ta, and the forced stop of the slide 20 is started at time Ta; The solid line indicates the angular velocity of the main shaft 110 when it is rotated while accelerating at a predetermined angular acceleration until time Ta, and the forced stop of the rotation of the main shaft 110 is started at time Ta. The broken line in FIG. 14A indicates the position of the slide 20 after time Ta when the slide 20 is lowered in the normal operation, and the broken line in FIG. 14B indicates the main shaft 110 in the normal operation. Indicates the angular velocity of the main shaft 110 after time Ta.

As described above, the standby height P0 is the position at which the slide 20 is at rest, so the angular velocity ω of the main shaft 110 at the standby height P0 is zero. The main shaft 110 accelerates with a predetermined acceleration so as to reach the maximum angular velocity ω when the slide 20 passes the feedable height P1. At time Ta, as shown in FIG. 14A, the slide 20 reaches the monitoring position Pa.

At time Ta when the slide 20 descends from the standby height P0 and reaches the monitoring position Pa, the control unit 40 determines whether or not the completion of the feed of the work W is detected. That is, at time Ta after a predetermined time after the slide 20 starts to descend from the standby height P0, the control unit 40 completes the conveyance of the work W from the feed completion detection unit 68 (FIG. 5). It is determined whether or not the input of the feed completion signal indicating.

When the feed completion of the work W is not detected at time Ta, the control unit 40 forcibly stops the slide 20. As shown in FIG. 14 (B), the main shaft 110 decelerates at a predetermined acceleration after time Ta. At time Tb, the main shaft 110 stops its rotation, the angular velocity ω shown in FIG. 14B becomes zero, and the slide 20 stops. The stop position Pb at which the slide 20 stops is a position higher than the feedable height P1 as shown in FIG. 14 (A).

As described above, when the slide 20 which has started to descend from the standby height P0 and reached the monitoring position Pa does not detect the completion of the feed of the workpiece W, the slide 20 starts decelerating at the monitoring position Pa and the feedable height P1 The monitoring position Pa is set so as to be able to stop at a higher stop position Pb.

Referring back to FIG. 12, in step S6, the workpiece W is processed in accordance with the generated combined motion. The execution unit 58 executes the pressing of the workpiece W based on the generated combined motion.

Next, in step S7, it is determined whether the result at the time of processing of the workpiece W based on the combined motion generated in step S5 is appropriate. For example, the torque required for the rotation of the main shaft 110 is calculated from the current value of the servomotor 121, and when the torque exceeds the allowable value, it is determined that the result at the time of processing is unsuitable. For example, the vibration generated at the time of processing is measured, and when the vibration exceeds the allowable value, it is determined that the result at the time of processing is unsuitable. Tolerance values such as torque or vibration are stored in the memory 44.

If it is determined that the result at the time of processing is not appropriate (NO in step S7), then in step S8, the combined motion is corrected. For example, a correction is performed to reduce the speed other than the speed during press processing (that is, the touch speed of the slide 20 (angular velocity ω1 of the main shaft 110)).

After correcting the combined motion, the process returns to step S6, and the workpiece W is processed in accordance with the corrected combined motion. Subsequently, in step S7, it is determined whether or not the result at the time of processing the workpiece W based on the corrected combined motion is appropriate.

If it is determined that the result at the time of processing is appropriate (YES in step S7), the process proceeds to step S9, and the combined motion is stored in the memory 44.

Next, in step S10, the result is output. The values input as the slide position parameter and the transport parameter, and the values set and calculated according to the automatic generation of motion are displayed on the display unit of the control panel 6. The operator can easily grasp the operating condition of the press system by looking at the corresponding screen of the display.

Then, the process ends (end).
<Operation and effect>
Next, the operation and effect of the present embodiment will be described.

According to the press system based on the embodiment, as shown in FIGS. 10 and 11, the standby height P0 higher than the feedable height P1 is set, and the standby higher than the feedable height P5 The height P6 is set. As shown in FIG. 13, the work W is started to be transported while the slide 20 is moving between the feedable height P5 and the waiting height P6, and the slide 20 can be fed with the waiting height P0 and the feeding possible height The transfer is completed while moving between P1. The transport of the work W and the movement of the slide 20 overlap in time.

When the slide 20 is stopped at the feedable heights P1 and P5, the speed of the slide 20 needs to be zero at the feedable heights P1 and P5. The point at which the slide 20 is to be stopped is not the feedable heights P1 and P5 but the standby heights P0 and P6 which are higher than the feedable heights P1 and P5, and the point at which the feedable heights P1 and P5 are passed The slide 20 is moving at a speed greater than zero. As a result, the time for the slide 20 to descend from the feedable height P1 and the time for the slide 20 to rise and reach the feedable height P5 can be shortened. More specifically, the time for the slide 20 to move from the feedable height P1 to the feedable height P5 via the bottom dead center BDC can be shortened.

Before the slide 20 passes the feedable height P1 and after the slide 20 passes the feedable height P5, the workpiece W can be transported without interference with the mold. Since the time for the slide 20 to move from the bottom dead center BDC to the feedable height P5 is shortened, it is possible to accelerate the timing to start the transfer of the work W. By shortening the time required for one cycle of press working, the production speed of the press system can be improved.

Further, as shown in FIG. 13, the main shaft 110 decelerates from the maximum angular velocity ωmax to zero before the slide 20 passes the feedable height P5 and reaches the standby height P6. Therefore, the servomotor 121 also decelerates between the time when the slide 20 passes the feedable height P5 and the time the standby height P6 is reached. During deceleration of the servomotor 121, conveyance of the work W by the leveler feeder 200 is started.

In this way, the transfer time of the work W and the moving time of the slide 20 can be reliably overlapped. From the viewpoint of shortening the moving distance of the slide 20, it is desirable to set the standby height P6 at a position closer to the feedable height P5, and the servomotor 121 has already been decelerated at the start of conveyance of the workpiece W. This makes it possible to easily stop the slide 20 at the standby height P6 closer to the feedable height P5.

Further, as shown in FIG. 13, the main shaft 110 starts to decelerate after the slide 20 has passed the feedable height P5. Therefore, when the slide 20 ascends, deceleration of the servomotor 121 is started after the slide 20 has passed the feedable height P5. At the time of passing the feedable height P5, the servomotor 121 is not decelerating. The slide 20 passes the feedable height P5 at the highest speed. In this way, the time for moving the slide 20 from the sendable height P1 to the sendable height P5 via the bottom dead center BDC can be reliably shortened.

Further, as shown in FIG. 13, the main shaft 110 accelerates from zero angular velocity to the maximum angular velocity ωmax while the slide 20 starts moving from the standby height P0 until it reaches the feedable height P1. ing. Accordingly, the servomotor 121 also accelerates during the movement from the standby height P0 of the slide 20 to the feedable height P1. During acceleration of the servomotor 121, conveyance of the work W by the leveler feeder 200 is completed.

In this way, the transfer time of the work W and the moving time of the slide 20 can be reliably overlapped. From the viewpoint of shortening the moving distance of the slide 20, it is desirable to set the waiting height P0 at a position closer to the feedable height P1, and at the completion of the workpiece W feeding, the servomotor 121 is accelerating and less than the maximum speed. By setting to move at the speed, it is possible to easily lower the slide 20 from the standby height P0 closer to the feedable height P1.

Further, as shown in FIG. 13, the main shaft 110 completes the acceleration before the slide 20 passes the feedable height P1. Therefore, when the slide 20 is lowered, the acceleration of the servomotor 121 is completed before the slide 20 passes the feedable height P1. At the time of passing the feedable height P1, the servomotor 121 has reached the maximum speed. The slide 20 passes the feedable height P1 at the maximum speed. In this way, the time for moving the slide 20 from the sendable height P1 to the sendable height P5 via the bottom dead center BDC can be reliably shortened.

Further, as shown in FIG. 14, when the completion of the feed of the workpiece W is not detected when the slide 20 moving down from the standby height P0 reaches the monitoring position Pa, the stop position Pb higher than the feedable height P1. The standby height P0 and the monitoring position Pa are set so that the slide 20 can be stopped at Thereby, even when abnormality in conveyance of the workpiece | work W generate | occur | produces, interference with the workpiece | work W and a metal mold | die can be avoided reliably.

In the above description, the example in which the operation mode of the slide 20 is pendulum motion has been described. The idea of the embodiment described above is not limited to the case where the operation mode is pendulum motion, and the slide 20 may be bolstered by alternately rotating the servomotor 121 forward and reverse each time the work W is pressed. The present invention is applicable when moving up and down. For example, even when the operation mode is reverse motion, it is possible to apply the idea of the above-described embodiment.

The pressing device is not limited to the configuration described in the embodiment, and for example, the plunger and the plunger holder may be interposed between the connecting rod and the slide. The eccentric mechanism may be a crankshaft structure or a drum structure.

It should be understood that the embodiments disclosed herein are illustrative and non-restrictive in every respect. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all modifications within the scope and meaning equivalent to the scope of claims.

Reference Signs List 2 body frame, 4 bed, 5 bolster, 6 control panel, 10 pressing device, 20 slide, 22A upper mold, 22B lower mold, 37 screw shaft, 38 connecting rod main body, 39 connecting rod, 40 control unit, 42 CPU, 44 Memory, 46 communication circuit, 48 input unit, 51 touch speed generation unit, 53 press motion generation unit, 55 feeder motion generation unit, 56 motion synthesis unit, 58 execution unit, 60, 66 servo amplifier, 61 display, 62, 121 Servo motor, 63 transport rollers, 64, 65 encoders, 68 feed completion detection units, 70 remote controls, 72, 74 buttons, 76 decision buttons, 100 uncoilers, 110 main shafts, 110 A eccentric parts, 115 main gears, 200 Bellah feeder.

Claims

Electric motor, Eccentric mechanism for converting rotational movement by the electric motor to movement in the vertical direction, Slide capable of mounting the upper mold, movable up and down through the eccentric mechanism, Bolster capable of mounting the lower mold A press unit for pressing a work by raising and lowering movement of the slide relative to the bolster;
A transport unit for transporting the work;
And a control unit that controls the press unit and the transport unit.
The control unit raises and lowers the slide based on a predetermined press motion,
The position of the slide capable of transporting the work without interference with the upper mold is a height that can be fed, is higher than the height that can be fed, and the highest position of the press motion is a standby height.
The control system is also performing conveyance of the work while the slide is moving between the feedable height and the standby height.
The press system according to claim 1, wherein the control unit starts conveyance of the work by the conveyance unit during deceleration of the electric motor.
2. The press system according to claim 1, wherein the control unit starts conveyance of the workpiece by the conveyance unit while the slide is moving between the feedable height and the standby height.
The press system according to claim 2 or 3, wherein the controller starts deceleration of the electric motor after passing through the feedable height when the slide ascends.
The press system according to claim 1, wherein the control unit completes conveyance of the work by the conveyance unit during acceleration of the electric motor.
2. The press system according to claim 1, wherein the control unit completes the conveyance of the work by the conveyance unit while the slide is moving between the standby height and the feedable height.
The press system according to claim 5 or 6, wherein the control unit completes the acceleration of the electric motor before passing the feedable height when the slide is lowered.
The transfer unit has a feed completion detection unit that detects that the transfer of the work is completed.
The control unit sets a monitoring position at a position higher than the feedable height and lower than the standby height in the elevating direction of the slide.
The control unit can stop the slide at a position higher than the feedable height when the conveyance completion of the work is not detected when the slide lowered from the standby height reaches the monitoring position. The press system according to any one of claims 5 to 7, wherein the standby height and the monitoring position are set.
2. The press system according to claim 1, wherein the control unit alternately rotates the electric motor forward and reverse each time pressing is performed.
The press system according to any one of claims 1 to 9, wherein the electric motor is a servomotor.