JP2001321998A - Slide drive apparatus of press machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely control a position and a speed of a slide free from the influence of external force such as a press load, etc. SOLUTION: A displacement volume of a variable displacement pump/motor with applying a roughly fixed pressure is controlled based on a displacement volume operation signal generated by a displacement volume control circuit 400, a torque operating quantity applied to a screw mechanism of a screw press is controlled. The displacement volume control circuit 400 is newly provided with a press load estimate compensator 420, the displacement volume command (torque command) outputted from a second compensating circuit 410 is raised by the torque command corresponding to a press load. By this method, the state variance in the slide due to the press load is prevented, a high precision for position control and speed control free from the press load is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slide drive device for a press machine, and more particularly to a slide drive device for a press machine that converts the energy of a hydraulic fluid into a rotational drive force and applies the energy to a slide drive mechanism of the press machine. .

[0002]

2. Description of the Related Art As a conventional slide driving device for a press machine of this type, there is one shown in FIG.
-291095).

This slide drive device drives a slide 11 of a screw press 10 as shown in FIG. 10, and comprises a hydraulic pressure generating device 20 for generating a pressure oil having a substantially constant pressure or a pressure with a small pressure fluctuation, and a rotary drive. It comprises a device 30 and a displacement volume control circuit 40. The screw press 10 has a screw mechanism composed of a drive nut 12 and a driven screw 13 as a drive mechanism of the slide 11, and the drive nut 12 drives a variable displacement pump / motor 31 constituting a rotary drive device 30. The rotational driving force is transmitted from the shaft 32 via the reduction gear mechanism 14. Further, the screw press 10 is provided with a slide position detector 15 and a drive shaft angular velocity detector 16.

[0004] The rotary drive device 30 includes a variable displacement pump / motor 31 to which pressure oil from the hydraulic pressure generator 20 is supplied,
Displacement volume changing device 33 and displacement volume detector 34
It is composed of The displacement volume changing device 33 includes:
A hydraulic cylinder 35 for changing the tilting amount of the inclined plate of the variable displacement pump / motor 31, a servo valve 36 for controlling the amount of oil supplied to the hydraulic cylinder 35, and an operational amplifier 37 for outputting a drive signal to the servo valve 36 It is composed of
Further, the hydraulic cylinder 35 is provided with a displacement volume detector 38 that detects the amount of displacement (that is, displacement volume) of the variable displacement pump / motor 302 by detecting the position of the piston rod of the hydraulic cylinder 35. I have.

[0005] The displacement volume control circuit 40 calculates the deviation between the slide position command signal output from the slide position command signal generator 41 indicating the target position of the slide 11 every moment and the slide position signal added from the slide position detector 15. Is determined as a drive shaft angular velocity command signal via the first compensation circuit 42. Subsequently, the deviation between the drive shaft angular velocity command signal and the drive shaft angular velocity signal added from the drive shaft angular velocity detector 16 is determined. Is determined as a displacement volume command signal via the second compensation circuit 43, and is output to the positive input of the operational amplifier 37 constituting the displacement volume changing device 33.

To the negative input of the operational amplifier 37, a displacement signal indicating the current displacement of the variable displacement pump / motor 31 is applied from a displacement detector 38, and the operational amplifier 37 outputs these two input signals. The deviation is calculated, and the deviation signal is amplified and output as a drive signal for the servo valve 36. As a result, the servo valve 36 supplies an oil amount corresponding to the input drive signal to the hydraulic cylinder 35, and the variable displacement pump / motor 3
Servo control is performed so that the displacement volume of 1 becomes the displacement volume indicated by the displacement volume command signal.

Drive shaft 32 of variable displacement pump / motor 31
Is the pressure P of the hydraulic oil supplied from the hydraulic pressure generator 20.
And the displacement volume q of the variable displacement pump / motor 31 (cm
³ / rad). still,
Since the pressure P of the hydraulic oil is substantially constant, the drive torque T applied to the drive shaft 32 is proportional to the displacement q of the variable displacement pump / motor 31.

By controlling the displacement of the variable displacement pump / motor 31 in this manner, the drive shaft 32
Is controlled. The drive torque and rotation of the drive shaft 32 are transmitted to the drive nut 12 of the screw press 10 via the reduction gear mechanism 14,
The slide 11 is moved up and down by rotating the drive nut 12.

[0009]

However, the conventional slide driving device for a press machine has no or negligible delay from the determination of the displaced volume to the generation of torque, so that the response until the generation of the rotational angular velocity is low. Although it is almost a first-order lag system, high controllability can be obtained. However, measures to prevent state fluctuation of the slide when a press load acts on the slide as disturbance of the control system (controlling robustness) have been taken into consideration. However, there is a problem that the positional accuracy is reduced due to the magnitude or fluctuation of the press load.

Further, when an eccentric press load is applied to the slide, there is a problem that the parallelism of the slide cannot be maintained with high accuracy.

A first object of the present invention is to provide a slide driving device for a press machine capable of controlling the position and speed of a slide accurately without being affected by an external force such as a press load.

A second object of the present invention is to apply a slide driving device of a press machine which can maintain the parallelism of a slide with high accuracy even when an eccentric press load is applied to the slide. .

[0013]

In order to achieve the first object, a slide driving device for a press machine according to the first aspect of the present invention has a substantially constant pressure or a small pressure fluctuation regardless of a load fluctuation in the press machine. Hydraulic pressure generating means for generating hydraulic fluid at a pressure, rotary driving means supplied with hydraulic fluid from the hydraulic pressure generating means, and having a variable displacement volume for converting energy of the hydraulic fluid into rotational driving force; and A slide drive mechanism having a screw mechanism having a tip connected to a slide of the machine, and converting the rotational movement of the rotary drive means into linear movement via the screw mechanism to drive the slide; and a slide of the press machine. First detection means for detecting the position of the drive shaft or the angle of the drive shaft in the slide drive mechanism, and displacement capacity for detecting the displacement volume in the rotary drive means Detecting means, displacement control means for controlling the drive torque applied to the slide drive mechanism by controlling the displacement volume in the rotary drive means, wherein the target position of the slide of the press machine or the target angle of the drive shaft. Command means for instructing, and first compensation means for generating a displacement volume command based on a deviation between a target position or target angle commanded by the command means and a slide position or drive shaft angle detected by the first detection means. A displacement volume operation amount is generated based on a deviation between the displacement volume command and the displacement volume detected by the displacement volume detection unit, and the displacement volume operation amount is output to a displacement volume change unit of the rotary drive unit. And an external force corresponding to a press load applied to the rotary drive means during the press operation. A displacement control means comprising a press load estimation compensation means for adding a command corresponding to the external force to the displacement volume command generated by the first compensating means to prevent a state change of the slide due to a press load. , Is provided.

According to a second aspect of the present invention, there is provided a slide driving device for a press machine, comprising: a hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in the press machine; Hydraulic fluid is supplied from the pressure generating means, has a rotary drive means capable of changing the displacement volume for converting the energy of the hydraulic fluid into rotational drive force, and a screw mechanism having a tip connected to the slide of the press machine, A slide drive mechanism for driving the slide by converting the rotational movement of the rotary drive means into a linear movement via the screw mechanism, and a second detection for detecting a slide speed of the press machine or an angular speed of the drive shaft. Means, a displacement volume detecting means for detecting a displacement volume in the rotary drive means, and a displacement volume control in the rotary drive means. Displacement control means for controlling a drive torque applied to a screw mechanism of the slide drive mechanism, command means for commanding a target speed of a slide of the press machine or a target angular velocity of a drive shaft, and a slide commanded by the command means. First compensation means for generating a displacement volume command based on a deviation between a target speed or a drive shaft target angular velocity and a slide speed or a drive shaft angular speed detected by the second detection means; the displacement volume command and the displacement volume A second compensating unit that generates a displacement volume operation amount based on a deviation from the displacement volume detected by the detection unit, and outputs the displacement volume operation amount to the displacement volume changing unit of the rotation driving unit; and Estimating an external force corresponding to a press load applied to the rotary driving means, and issuing a command corresponding to the external force to the first It is characterized by comprising a displacement control means comprising a pressing load estimation compensation means for preventing the state variation of the slide by the press load is added to the volume command displacement produced by the compensation means.

Further, the slide driving device for a press machine according to claim 3 of the present invention is a hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation regardless of a load variation in the press machine; Hydraulic fluid is supplied from the pressure generating means, has a rotary drive means capable of changing the displacement volume for converting the energy of the hydraulic fluid into rotational drive force, and a screw mechanism having a tip connected to the slide of the press machine, A slide drive mechanism for driving the slide by converting the rotary motion of the rotary drive means into a linear motion via the screw mechanism, and detecting a slide position of the press machine or an angle of a drive shaft in the slide drive mechanism. First detecting means, second detecting means for detecting the speed of the slide of the press machine or the angular velocity of the drive shaft, and Displacement control means for controlling a drive torque applied to a screw mechanism of the slide drive mechanism by controlling a displacement capacity of the rotary drive means, the displacement control means comprising: Command means for commanding the target position of the slide or the target angle of the drive shaft; and a first deviation between the target position or target angle commanded by the command means and the slide position or drive shaft angle detected by the first detection means. First compensating means for generating a slide speed command or a drive shaft angular speed command based on the first and second values of the slide speed command or the drive shaft angular speed command and the slide speed or drive shaft angular speed detected by the second detection means. Second compensating means for generating a displacement command based on the deviation of the displacement command and the displacement command A third compensation means for generating a displacement volume operation amount based on a third deviation from the displacement volume detected by the displacement volume detection means, and outputting the displacement volume operation amount to the displacement volume changing means of the rotary drive means. And estimating an external force corresponding to a press load applied to the rotary driving means during a press operation, and adding a command corresponding to the external force to a displacement volume command generated by the second compensating means, and applying the press load to the slide. And a displacement control means comprising a press load estimation compensating means for preventing state fluctuation. That is, according to the first to third aspects of the present invention, a new press load estimation compensating means is provided, and the displacement command (torque command) generated through the compensating means by the torque command corresponding to the press load is increased. This prevents the state of the slide from changing due to the press load, and enables highly accurate position control and speed control that are not affected by the press load.

In order to achieve the second object, a slide driving device for a press machine according to a fourth aspect of the present invention generates a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure fluctuation irrespective of a load fluctuation in the press machine. One or a plurality of hydraulic pressure generating means, and a plurality of rotary driving means to which a hydraulic fluid is supplied from the one or a plurality of hydraulic pressure generating means and which has a variable displacement volume for converting energy of the hydraulic fluid into rotational driving force. And a plurality of screw mechanisms each having a tip connected to one slide of the press machine, and converting each rotational motion of the plurality of rotary driving means into a linear motion via the plurality of screw mechanisms, respectively. A slide drive mechanism for driving a slide, and a displacement volume in each of the plurality of rotary drive means are controlled to add to a plurality of screw mechanisms of the slide drive mechanism. It is characterized with displacement volume control means for controlling the dynamic torque, respectively, further comprising: a.

According to a fifth aspect of the present invention, there is provided a slide driving device for a press machine, wherein the hydraulic pressure generating means generates a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in the press machine. One hydraulic drive means is supplied with hydraulic fluid from the pressure generating means and converts the energy of the hydraulic fluid into a rotational drive force. The rotary drive means has a variable displacement volume and a plurality of slides each having a tip connected to one slide of the press machine. And a power transmitting means for transmitting the rotational driving force of the one rotary driving means to each of the plurality of screw mechanisms, wherein the rotational motion of the rotary driving means is transmitted by the power transmitting means and the plurality of screw mechanisms. A slide drive mechanism for driving the slide by converting it into a linear motion through the device; and a slide drive device by controlling a displacement volume in the rotary drive means. Is characterized by comprising, a volume control unit displacement for controlling a drive torque applied to the.

That is, according to the fourth and fifth aspects of the present invention, one slide is driven by a slide drive mechanism having a plurality of screw mechanisms. Each drive torque applied to the corresponding multiple screw mechanisms is individually controlled, so even if an eccentric press load is applied to the slide, torque control corresponding to the eccentric press load can be performed, and the slide Can be maintained with high accuracy. In the invention according to claim 5, 1
Since the rotational drive force is transmitted from the two rotational drive means to the plurality of screw mechanisms via the power transmission means, even when an eccentric press load is applied to the slide, the rotational drive corresponding to the eccentric press load is applied. The force is transmitted to each screw mechanism, so that the parallelism of the slide can be maintained with high precision.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a slide drive device for a press machine according to the present invention will be described below in detail with reference to the accompanying drawings.

FIG. 1 is a view showing a first embodiment of a slide drive device for a press machine according to the present invention. As shown in the figure, the slide drive device drives the slide 102 of the screw press 100, and mainly includes a hydraulic pressure generation device 200, a rotation drive device 300, and a displacement volume control circuit 400.

First, the screw press 100 to which the present invention is applied will be described.

The screw press 100 has a screw mechanism including a drive nut 104 and a driven screw 106 as a drive mechanism for the slide 102. The drive nut 104 is directly or indirectly rotatably supported by any of the crown 108, the bed 110, and the column 112 which are fastened to each other, and the driven screw 106 having the slide 102 connected to the lower end thereof is driven by the drive nut 104. Is screwed.

The drive gear 104 includes a ring gear 11
4 is provided integrally with the ring gear 114.
The rotational drive force is transmitted to the drive shaft 304 of the variable displacement pump / motor 302 constituting the rotary drive device 300 via the reduction gear mechanism 120. The reduction gear mechanism 120 includes a small gear 122 that rotates integrally with the drive shaft 304, a large gear 124 that meshes with the small gear 122, and a small gear that meshes with the ring gear 114 and rotates integrally with the large gear 124. And a gear 126. Although the speed reduction gear mechanism 120 performs one-step speed reduction, the speed reduction method and the number of speed reduction stages are not limited in the present invention.

Reference numeral 130 denotes an upper mold, 132 denotes a lower mold, 134
Is a die cushion, and 136 is a die cushion cylinder.

Further, the screw press 100 having the above-described structure is used.
, A slide position detector 140 and a drive shaft angular velocity detector 142 are provided. Slide position detector 14
Numeral 0 is a magnescale for detecting the position of the slide 102 by measuring the distance between the slide 102 and the bed 110, and outputs a slide position signal indicating the position of the slide 102 to the displacement control circuit 400. I do. The slide position detector is mounted on the bed 110, the mold, the crown 108, or the column 112.
In addition, various sensors such as an encoder and a potentiometer can be used without being limited to the magnescale.

The drive shaft angular velocity detector 142 detects the angular velocity of the drive shaft 304 of the variable displacement pump / motor 302, and outputs a drive shaft angular velocity signal indicating the angular velocity of the drive shaft 304 to the displacement control circuit 400. The drive shaft angular velocity detector 142 can be constituted by an incremental type or absolute type rotary encoder or a tachogenerator.

Further, the rotary drive device 300 is provided with a displacement volume detector 320. The displacement volume detector 320 detects the amount of displacement (ie, displacement volume) of the variable displacement pump / motor 302 by detecting the position of a piston rod of a hydraulic cylinder 312 described later, and determines the detected displacement volume. The displacement volume signal shown is output to displacement volume control circuit 400.

Next, the hydraulic pressure generator 200 will be described.

The hydraulic pressure generator 200 has a high-pressure side pipe 202 and a low-pressure side pipe 204 connected to a variable displacement pump / motor 302, and a high-pressure side pipe 202.
Includes a fixed displacement hydraulic pump 208 driven by an electric motor 206, a high pressure relief valve 210, a 2-port 2-position electromagnetic switching valve 212, a pilot operation check valve 214, an accumulator 216, and a pressure detector 2
18 is connected to the accumulator 220 and check valves 222 and 224 with springs.
And are connected. Further, the hydraulic pressure generating device 200 has a pressure control device 226 for controlling the 2-port 2-position electromagnetic switching valve 212 and the pilot operation check valve 214.

The pressure oil discharged from the hydraulic pump 208 is
When the high pressure relief valve 210 and the two-port two-position electromagnetic switching valve 212 are closed, the load (variable displacement pump / motor 30
It flows into the high pressure side pipe 202 and the accumulator 216 connected to 2), and raises the high pressure side circuit pressure.

The pressure control device 226 includes the accumulator 2
16 (pressure on the high pressure side) is, for example, 180 (Kg / cm
² ) to 260 (Kg / cm ² ) for controlling the two-port two-position electromagnetic switching valve 212 and the pilot operation check valve 214. The pressure of the accumulator 216 detected by the pressure detector 218 is 260 (Kg / cm ² ). / Cm ² ), the 2-port 2-position electromagnetic switching valve 212 is opened. Thus, the pressure oil from the hydraulic pump 208 is supplied to the oil tank 2 at low pressure.
Returning to 28, the hydraulic pump 208 is operated without load. The pilot operation check valve 214 functions to keep the high-pressure side circuit pressure from dropping during the no-load operation of the hydraulic pump 208. The pilot operation check valve 214 has a pressure of the accumulator 216 of 260 (Kg /
If it exceeds cm ² ), it is opened by the pressure control device 226.

On the other hand, during the no-load operation of the hydraulic pump 208, the circuit pressure on the high pressure side decreases, and the pressure of the accumulator 216 detected by the pressure detector 218 becomes 180.
When the pressure reaches (Kg / cm ² ), the pressure control device 226 closes the 2-port 2-position electromagnetic switching valve 212. Accordingly, the pressure oil from the hydraulic pump 208 flows into the high-pressure side pipe 202 and the accumulator 216 connected to the variable displacement pump / motor 302 via the pilot operation check valve 214, and increases the high-pressure side circuit pressure. .

A high-pressure side pipe 202 between the accumulator 216 and the variable displacement pump / motor 302 has a rotary driving device 300 when the screw press 100 is not used.
A shutoff valve 229 for shutting off the pressure oil supplied to the variable displacement pump / motor 302 is provided. The pressure of the accumulator 220 (the circuit pressure on the low pressure side) connected to the low pressure side pipe 204 is the check valve 22 with a spring.
For example, it is kept at 5 (Kg / cm ² ) by 2,224.

Further, the hydraulic pressure generating device 200 having the above configuration
Although the fixed displacement hydraulic pump 208 is used, the invention is not limited thereto, and a variable displacement pump may be used. In this case, by controlling the tilt amount of the variable displacement pump,
The pressure of the accumulator 220 can be kept substantially constant. Further, by controlling the rotation speed of the fixed displacement pump with an electric motor, the pressure of the accumulator 220 can be kept substantially constant.

Next, the rotary driving device 300 will be described.

The rotary drive device 300 mainly includes a variable displacement pump / motor 302 to which pressure oil is supplied from the hydraulic pressure generator 200 or supplies pressure oil to the hydraulic pressure generator 200, a displacement volume changing device 310, And a displacement volume detector 320. As the variable displacement pump / motor 302, a double-tilt type swash plate type or oblique axis type axial piston pump / motor capable of changing the flow rate (displacement volume) of the pressure oil required per rotation of the drive shaft 304 is applied. In a double tilt type swash plate type or a tilt axis type axial piston pump / motor, when the tilt amount of the swash plate or the tilt axis is changed, the displacement volume changes in the opposite direction. Also, as the variable displacement pump, a variable displacement radial piston pump can be applied.

The displacement volume changing device 310 includes a hydraulic cylinder 312 for changing the amount of tilt of the variable displacement pump / motor 302 and a servo valve 314 for controlling the amount of oil supplied to the hydraulic cylinder 312.

The servo valve 314 is supplied with a displacement volume operation signal from the displacement volume control circuit 400. The servo valve 314 supplies an oil amount corresponding to the input displacement volume operation signal to the hydraulic cylinder 312. The displacement and the displacement of the variable displacement pump / motor 302, that is, the displacement volume, are controlled via the hydraulic cylinder 312.

The drive shaft 304 of the variable displacement pump / motor 302 constituting the rotary drive device 300 has a pressure P of hydraulic oil supplied from the hydraulic pressure generating device 200 and a displacement q ( (cm ³ / rad). Since the pressure P of the hydraulic oil is substantially constant, the drive torque T applied to the drive shaft 304 is proportional to the displacement q of the variable displacement pump / motor 302.

Thus, the variable displacement pump / motor 3
The drive torque and rotation applied to the drive shaft 304 of No. 02 are transmitted to the drive nut 104 of the screw press 100 via the reduction gear mechanism 120 and the ring gear 114, and rotate the drive nut 104. This drive nut 1
By the rotation of 04, the slide 102 moves up and down together with the driven screw 106.

Next, the displacement volume control circuit 400 will be described with reference to FIG.

This displacement volume control circuit 400 corresponds to FIG.
, A slide position command signal generator 402, adders 404, 408, and 412, and a first compensation circuit 406.
, A second compensation circuit 410, and a third compensation circuit 414
And a press load estimator / compensator 420, and the slide position detector 140, the drive shaft angular velocity detector 1
A slide position signal, a drive shaft angular velocity signal, and a displacement volume signal are added from the displacement detector 42 and the displacement detector 320, respectively.

The slide position command signal generator 402 generates a slide position command signal indicating the target position of the slide 102 every moment, and adds this to the positive input of the adder 404. The negative input of the adder 404 includes a slide position detector 1
A slide position signal indicating the current position of the slide 102 is added from 40. An adder 404 calculates a deviation between these two input signals, and outputs the deviation signal to the first compensation circuit 40.
6 is output. The first compensation circuit 406 includes a proportional compensation circuit 406A and an integral compensation circuit 406 as shown in FIG.
B, a switch 406C that is turned ON / OFF according to the slide position, and an adder 406D that adds the output of the proportional compensation circuit 406A and the output of the integration compensation circuit 406B.

As shown in FIG. 2, the deviation signal from the adder 404 is determined as a drive shaft angular velocity command signal via the first compensation circuit 406, and is added to the positive input of the adder 408. A drive shaft angular velocity signal indicating the current angular velocity of the drive shaft 304 is added to the negative input of the adder 408 from the drive shaft angular velocity detector 142, and the adder 408 obtains a deviation between these two input signals. The deviation signal is output to the second compensation circuit 410. This second compensation circuit 410
As shown in FIG. 4, the low-frequency compensation circuit 410A, the high-frequency compensation circuit 410B, and the proportional compensation circuit 410C are configured to be connected in series to improve the responsiveness of the control system.
It acts to reduce the steady-state error and increase the control accuracy. The compensating circuits shown in FIGS. 3 and 4 are merely examples, and the present invention is not limited to this compensating circuit, and various types can be applied.

As shown in FIG. 2, the deviation signal from the adder 408 is determined as a displacement command signal via the second compensating circuit 410, and the press load estimation compensator 420 is applied to the displacement command signal. As a result, a signal indicating an external force corresponding to the press load is added. The details of the press load estimation compensator 420 will be described later.

The displacement volume command signal raised by the press load estimation compensator 420 by the press load is:
It is added to the positive input of adder 412. To the negative input of the adder 412, a displacement signal indicating the current displacement of the variable displacement pump / motor 302 from the displacement detector 320 is added.
Find the deviation of the input signal. The deviation signal from the adder 412 is supplied to the servo valve 3 of the displacement volume changing device 310 through a third compensation circuit 414 as a displacement volume operation signal.
14 (see FIG. 1) to control the displacement of the variable displacement pump / motor 302 via the hydraulic cylinder 312 as described above.

Thus, the variable displacement pump / motor 3
By controlling the displacement volume 02, the drive torque applied to the drive shaft 304 is controlled. And
The drive torque and rotation of the drive shaft 304 are controlled by the reduction gear mechanism 1.
Screw press 1 via the ring gear 114 and the ring gear 114
00 is transmitted to the drive nut 104
, The slide 102 is moved up and down to the instantaneous slide target position commanded by the slide position command signal generator 402.

Next, the press load estimation compensator 420 in the displacement volume control circuit 400 will be described.

First, the press load estimation compensator 420 will be described in principle.

The displacement volume of the variable displacement pump / motor 302 controlled by the displacement volume operation signal output from the displacement volume control circuit 400 means torque under a substantially constant pressure of hydraulic oil. One drive torque corresponding to the speed command amount (the first compensation circuit 404 and the second compensation circuit 410) is determined. In other words, one state (speed) of the drive shaft 304 is determined for the displacement volume operation signal (that is, the torque operation amount). Transmission elements from torque to speed include shaft moment of inertia, viscous resistance, and external force (friction and press load).
The equation of motion can be expressed by the following equation.

[0051]

T = I ・ dv / dt + D ・ v + f (1) where T: torque operation amount I: moment of inertia v: drive shaft angular velocity D: viscous drag coefficient f: external force If it can be ignored, the state is determined only by the influence of inertia and viscosity from the torque. However, if a large external force f such as a press load acts, the state is determined by the influence.

The above equation (1) can be rewritten as the following equation.

[0053]

T−f = I · dv / dt + D · v (2) As shown in the equation (2), the difference between the torque T and the external force f (T−
In f), one state (speed) is determined.

When the equation (2) is Laplace transformed and expressed as a transfer function, the following equation is obtained.

[0055]

(T−f) * ω / (S + ω) * K = v (3) As is clear from equation (3), the speed is uniquely determined by (T-f). Note that in the equation (3), ω / (S +
ω) * K is a delay element determined by inertia and viscosity.

Conversely, v is the inverse characteristic of ω / (S + ω) * K
By multiplying by v (ω / (S + ω) * K), (T−f) is obtained as shown in the following equation.

[0057]

[Mathematical formula-see original document] v · inv (ω / (S + ω) * K) = T−f (4) Therefore, the right side (T−
By subtracting f) (T− (T−f) = f), the external force (= press load) f can be obtained. By adding the command indicating the external force f obtained in this way to the displacement command signal (torque command signal), when a press load is applied, the corresponding torque command is raised, and the slide caused by the press load is increased. 102 can be prevented from changing. This is referred to as press load estimation compensation in the present invention.

Now, as shown in FIG. 2, the press load estimation compensator 420 comprises a fourth compensation circuit 422, a fifth compensation circuit 426, and adders 424 and 428. Detector 142 and displacement detector 32
From 0, a drive shaft angular velocity signal and a displacement volume signal are added.

The fourth compensating circuit 422 corresponds to a differential element, and calculates (T-f) shown on the right side of the equation (4) from the driving shaft angular velocity signal input from the driving shaft angular velocity detector 142.
A signal indicating (T−f) is output to the negative input of the adder 424. The positive input of the adder 424 includes the displacement detector 3
A displacement volume signal indicating the displacement volume (torque manipulated variable T) is added from 20, and the adder 412 calculates the difference between these two input signals (the signal indicating the external force f), and calculates the difference signal as the fifth compensation. Output to the circuit 426.

Since the signal indicating the external force f obtained as described above includes noise due to the inverse characteristic calculation in the fourth compensation circuit 422, the fifth compensation circuit 426 which is a filter element is used. A signal indicating the external force f from which noise has been removed by passing the signal is extracted. The signal indicating the external force f that has passed through the fifth compensation circuit 426 is applied to the adder 428. The other input of the adder 428 includes the second compensating circuit 4 described above.
The displacement command signal has been added from 10 and the adder 410 adds these two input signals.

As a result, a signal indicating an external force corresponding to the press load is added to the displacement command signal output from the adder 410, and when a press load is applied, a torque command corresponding thereto is raised. Thus, it is possible to prevent the state change of the slide 102 due to the press load.

FIG. 5 is a view showing a second embodiment of the slide drive device for a press machine according to the present invention.

The screw press 500 shown in FIG.
A pair of left and right screw mechanisms (a left screw mechanism including a drive nut 104A and a driven screw 106A and a right screw mechanism including a drive nut 104B and a driven screw 106B) are connected to one slide 502.
Here, the lower end of the driven screw 106A is
02 is connected to the slide 502 via a rotation joint 504A that can freely tilt in the left and right direction and a slide mechanism 506A that can move in the left and right direction of the slide 502. Similarly, the lower end of the driven screw 106B is free to tilt in the left and right direction of the slide 502. The slide 502 is connected to the slide 502 via a rotary joint 504B and a slide mechanism 506B that is movable in the left-right direction of the slide 502.

The screw press 500 is provided with a pair of left and right slide position detectors 140A and 140B. The left slide position detector 140A detects the left position of the slide 502, outputs a left slide position signal indicating the left position to the displacement control circuit 550, and the right slide position detector 140B detects the left slide position.
02 is detected, and a right slide position signal indicating the right position is output to the displacement control circuit 550.

On the other hand, screw press 500 having the above configuration
A pair of left and right rotary driving devices 300A and 300B are provided for the pair. The left rotary drive device 300A mainly includes a variable displacement pump / motor 302A, a hydraulic cylinder 312A as a displacement volume changing device, and a servo valve 3A.
14A, a drive shaft angular velocity detector 142A, and a displacement detector 320A. Similarly, the rotary drive device 300B on the right side mainly includes a variable displacement pump / motor 302B and a hydraulic cylinder as a displacement displacement device. 312B, a servo valve 314B, a drive shaft angular velocity detector 142B, and a displacement volume detector 320B.

The pair of left and right rotary drive units 30
The operation of the rotary drive device 3A shown in FIG.
Since it is the same as 00, its detailed description is omitted. Also,
In the embodiment shown in FIG. 5, variable displacement pump / motors 302A and 302B are provided from a single hydraulic pressure generator (not shown).
, A substantially constant pressure oil is supplied to a common pressure oil supply line. However, the substantially constant pressure oil is separately supplied to the variable displacement pumps / motors 302A and 302B from the two hydraulic pressure generators. You may make it supply.

The displacement volume control circuit 550 receives a left slide position signal and a right slide position signal from a pair of left and right slide position detectors 140A and 140B, and receives a left drive shaft signal from a pair of left and right drive shaft angular velocity detectors 142A and 142B. An angular velocity signal and a right drive shaft angular velocity signal are added, and a left displacement signal and a right displacement signal are added from a pair of left and right displacement detectors 320A and 320B, and the displacement control circuit 550 is based on these input signals. To generate a left displacement volume operation signal and a right displacement volume operation signal, respectively.
A and 314B respectively.

This displacement volume control circuit 550 is the same as that shown in FIG.
As shown in the figure, one slide position command signal generator 402
A circuit for generating a left displacement volume operation signal (ie, adders 404A, 408A, 412A, a first compensation circuit 406A, a second compensation circuit 410A, a third compensation circuit 414A, and a press). A circuit including the load estimation compensator 420A) and a circuit for generating the right displacement volume operation signal (ie, the adders 404B, 408B, and 412).
B, the first compensation circuit 406B, and the second compensation circuit 41
0B, a third compensation circuit 414B, and a press load estimation compensator 420B).

A circuit for generating the left displacement volume operation signal and the left displacement volume operation signal respectively includes:
Since it is the same as the circuit shown in FIG. 2, its detailed description is omitted.

According to the slide driving device of the press machine having the above-described structure, each driving torque applied to the pair of left and right screw mechanisms connected to the slide 502 such that one slide target position and the left and right positions of the slide 502 match. Are controlled individually, even when an eccentric press load is applied to the slide 502, torque control corresponding to the eccentric press load can be performed, whereby the parallelism of the slide 502 can be maintained with high accuracy. .

FIGS. 7 and 8 are views showing a third embodiment of the slide drive device for a press machine according to the present invention.
FIG. 7 is a plan view of the slide 602. FIG.

The screw press 600 shown in FIG.
Four slide mechanisms (four drive screws 604 and four driven nuts 60)
6) are connected. Here, the lower end of the driven nut 606 is provided with a spherical joint 608 that can tilt in the front-rear and left-right directions of the slide 602 and a slide mechanism 61 that can move in the front-rear and left-right directions of the slide 602.
0 to the slide 602.

The four drive screws 604 are rotatably supported by the crown 612, respectively, and the four driven nuts 606 are non-rotatably supported by the crown 612 and movably in the vertical direction. The screw press 600 has a slightly complicated structure as shown in FIG. 8 because the rotation support reaction force structure does not mediate sliding.
Since no reaction force (torsion torque) acts on the slide, molding accuracy is improved.

On the other hand, screw press 600 having the above configuration
And four variable drive pumps / motors 614 of each of the four rotary drives are provided with four drive screws 604 via a drive shaft 616 and gears 618 and 620. The rotational driving force is transmitted to each of them.

The four variable displacement pump / motors 614
Are respectively controlled by a displacement control circuit (not shown) having one slide position command signal generator and a circuit for generating four front, rear, left and right displacement operation signals, respectively. Is done. That is, the displacement volume control circuit 550 shown in FIG. 6 shows the case of the left and right two-axis control. However, the displacement volume control circuit for controlling the four rotary driving devices includes the displacement volume control circuit 550 in the front-rear and left-right directions. Is expanded to the four-axis control.

According to the slide drive device of the press machine having the above-described configuration, the four slide mechanisms connected to the slide 602 are added so that the one slide target position and the front, rear, left and right positions of the slide 602 coincide. Since each driving torque is individually controlled, even when a press load eccentric to the slide 602 is applied to the slide 602, torque control corresponding to the eccentric press load can be performed, whereby the parallelism of the slide 602 can be controlled with high precision. Can be maintained.

FIG. 9 is a view showing a fourth embodiment of the slide drive device for a press machine according to the present invention. FIG.
The same reference numerals are given to the same parts as those described above, and the detailed description thereof will be omitted.

In the slide drive device of the press machine according to the fourth embodiment, one rotary drive device (not shown) is provided for the screw press 700, and the variable displacement pump / Drive shaft 7 from motor 702
The rotary drive force is transmitted to a plurality of gears 620 for driving a plurality of screw mechanisms via the gears 704 and the gear 706, respectively. The one rotary drive device is controlled by a displacement volume control circuit having the same configuration as the displacement volume control circuit 400 shown in FIG.

According to the slide driving device for a press machine having the above-described configuration, even when an eccentric press load is applied to the slide 602, a rotational driving force corresponding to the eccentric press load is distributed to each screw mechanism. Thereby, the parallelism of the slide 602 can be maintained with high accuracy.

Although the slide position signal is used as the position signal in this embodiment, a drive shaft angle signal may be used, and the drive shaft angular velocity is used as the speed signal. Slide speed may be used. Further, although control is performed by position feedback with speed minor loop feedback, control may be performed by only position feedback or only speed feedback. Further, in the press machines of the second to fourth embodiments,
The case where the press load estimation compensator is not provided in the displacement control circuit is also included, and even in this case, the parallelism of the slide can be maintained with higher precision than the conventional one in which the slide is driven by one screw mechanism. Further, in this embodiment, the case where oil is used as the working liquid has been described, but the present invention is not limited to this, and water and other liquids may be used.

[0081]

As described above, according to the slide driving apparatus for a press machine according to the present invention, a new press load estimation compensating means is provided, and only a torque command corresponding to the press load is displaced (torque command). As a result, the position control and the speed control can be performed with high accuracy without being affected by the press load or with little influence. Further, since one slide is driven by a slide drive mechanism having a plurality of screw mechanisms, even when an eccentric press load is applied to the slide, the parallelism of the slide can be maintained with high accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of a slide drive device for a press machine according to the present invention.

FIG. 2 is a diagram showing an internal configuration of a displacement volume control circuit shown in FIG. 1;

FIG. 3 is a diagram illustrating an example of a first compensation circuit of the displacement control circuit illustrated in FIG. 2;

FIG. 4 is a diagram showing an example of a second compensation circuit of the displacement control circuit shown in FIG. 2;

FIG. 5 is a diagram showing a second embodiment of the slide drive device for a press machine according to the present invention.

FIG. 6 is a diagram showing an internal configuration of the displacement volume control circuit shown in FIG. 1;

FIG. 7 is a view showing a third embodiment of a slide drive device for a press machine according to the present invention.

FIG. 8 is a plan view of a slide of a slide drive device for a press machine according to a third embodiment of the present invention.

FIG. 9 is a view showing a fourth embodiment of a slide drive device for a press machine according to the present invention.

FIG. 10 is a diagram showing an example of a slide drive device of a conventional press machine.

[Explanation of symbols]

100, 500, 600, 700 ... screw press,
102, 502, 602 ... slide, 104, 104
A, 104B ... drive nut, 106, 106A, 106
B: driven screw, 140, 140A, 140B: slide position detector 142, 142A, 142B: drive shaft angular velocity detector, 200: hydraulic pressure generator, 302, 302
A, 302B, 614, 702: variable displacement pump / motor, 300300A, 300B: rotary drive device, 310
... Displacement volume changing device, 400, 550 displacement volume control circuit, 402 slide position command signal generator, 4
04, 404A, 404B, 408, 408A, 408
B, 412, 412A, 412B, 424, 428... Adders, 406, 406A, 406B.
410, 410A, 410B ... second compensation circuit, 41
4, 414A, 414B ... third compensation circuit, 420, 4
20A, 420B ... Press load estimation compensator, 422 ... Fourth compensation circuit, 426 ... Fifth compensation circuit

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B30B 15/24 B30B 15/24 B F15B 11/02 F15B 11/02 C F term (reference) 3H089 AA02 AA32 BB17 DA02 DA03 DA04 DA08 DA14 FF01 FF02 FF04 GG02 JJ03 4E089 EA01 EB01 EB02 EB03 EB05 EC01 ED06 EE01 EE04 EF03 FA02 FB03 FC03 4E090 AA01 AB01 BA01 BB06 CC04 HA03

Claims (23)

[Claims] 1. A hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in a press machine, a hydraulic fluid being supplied from the hydraulic pressure generating means, and A rotary drive means capable of changing a displacement volume for converting energy into a rotary drive force, and a screw mechanism having a tip connected to a slide of the press machine, and rotating the rotary drive means via the screw mechanism. A slide drive mechanism that converts the slide into linear motion and drives the slide; first detection means for detecting a position of a slide of the press machine or an angle of a drive shaft in the slide drive mechanism; and a displacement volume in the rotary drive means. Displacement detection means for detecting the displacement, and controlling the displacement volume of the rotary drive means to add to the slide drive mechanism. Displacement control means for controlling a drive torque of the press machine, a command means for commanding a target position of a slide or a target angle of a drive shaft of the press machine, a target position or a target angle commanded by the command means, and A first compensating means for generating a displacement volume command based on the deviation from the slide position or the drive shaft angle detected by the detection means, and a deviation between the displacement volume command and the displacement volume detected by the displacement volume detection means. Generate a displacement volume manipulated variable based on
A second compensating means for outputting the displacement volume operation amount to the displacement volume changing means of the rotary drive means, and an external force corresponding to a press load applied to the rotary drive means at the time of press operation, and a command corresponding to the external force. And a press load estimation compensating means for adding a pressure to the displacement command generated by the first compensating means to prevent the state of the slide from fluctuating due to a press load. Slide drive for press machines. 2. A hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in a press machine, a hydraulic fluid being supplied from the hydraulic pressure generating means, A rotary drive means capable of changing a displacement volume for converting energy into a rotary drive force, and a screw mechanism having a tip connected to a slide of the press machine, and rotating the rotary drive means via the screw mechanism. A slide drive mechanism for converting the pressure into a linear motion to drive the slide, a second detection means for detecting a slide speed of the press machine or an angular velocity of the drive shaft, and a displacement for detecting a displacement volume in the rotary drive means. Volume detection means, by controlling the displacement volume in the rotary drive means, the drive torque applied to the screw mechanism of the slide drive mechanism Commanding means for commanding a slide target speed or a drive shaft target angular speed of the press machine; a slide target speed or a drive shaft target angular speed commanded by the command means; First compensating means for generating a displacement volume command based on a deviation from the slide speed or drive shaft angular velocity detected by the detection means, and a displacement between the displacement volume command and the displacement volume detected by the displacement volume detection means. A second compensating means for generating a displacement volume operation amount to output the displacement volume operation amount to a displacement volume changing means of the rotary drive means, and an external force corresponding to a press load applied to the rotary drive means during a press operation. Estimating and adding a command corresponding to the external force to the displacement volume command generated by the first compensating means. Slide drive device for a press machine, characterized in that it and a volume control unit displacement comprising a pressing load estimation compensation means for preventing the state variation of the slide by less load. 3. A hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in a press machine, a hydraulic fluid being supplied from the hydraulic pressure generating means, A rotary drive means capable of changing a displacement volume for converting energy into a rotary drive force, and a screw mechanism having a tip connected to a slide of the press machine, and rotating the rotary drive means via the screw mechanism. A slide drive mechanism that converts the slide into a linear motion and drives the slide; a first detection unit that detects a position of the slide of the press machine or an angle of a drive shaft in the slide drive mechanism; and a speed of the slide of the press machine. Or second detection means for detecting the angular velocity of the drive shaft, and displacement volume detection means for detecting the displacement volume in the rotary drive means, A displacement control means for controlling a drive torque applied to a screw mechanism of the slide drive mechanism by controlling a displacement capacity of the rotary drive means, wherein a target position of a slide of the press machine or a target angle of a drive shaft is commanded. And a slide speed command or a drive shaft angular speed command based on a first deviation between the target position or target angle commanded by the command device and the slide position or drive shaft angle detected by the first detection device. A first compensating means for generating, and a second for generating a displacement volume command based on a second deviation between the slide speed command or the drive shaft angular speed command and the slide speed or drive shaft angular speed detected by the second detecting means. 2 of the displacement volume command and the displacement volume detected by the displacement volume detection device. A third compensating means for generating a displacement volume operation amount based on the deviation of 3, and outputting the displacement volume operation amount to the displacement volume changing means of the rotary drive means, and a press load applied to the rotary drive means at the time of press operation. Press load estimation compensating means for estimating an external force corresponding to the external force and adding a command corresponding to the external force to the displacement volume command generated by the second compensating means to prevent a state change of the slide due to a press load. A slide drive device for a press machine, comprising: a displacement volume control means. 4. One or a plurality of hydraulic pressure generating means for generating a hydraulic fluid having a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in a press machine, and a hydraulic fluid from the one or a plurality of hydraulic pressure generating means. Is supplied,
A plurality of rotation drive means capable of changing a displacement volume for converting energy of the hydraulic fluid into a rotation drive force; and a plurality of screw mechanisms each having a tip connected to one slide of the press machine; A slide drive mechanism that converts each rotational motion of the rotary drive means into a linear motion via the plurality of screw mechanisms to drive the slide, and controls the displacement volume in the plurality of rotary drive means, thereby controlling the slide drive. A slide drive device for a press machine, comprising: displacement control means for controlling drive torques applied to a plurality of screw mechanisms of the mechanism, respectively. 5. A hydraulic pressure generating means for generating a hydraulic fluid at a substantially constant pressure or a pressure with a small pressure variation irrespective of a load variation in a press machine, a hydraulic fluid being supplied from said hydraulic pressure generating means, and One rotary drive unit capable of changing a displacement volume for converting energy into a rotary drive force; a plurality of screw mechanisms each having a tip connected to one slide of the press machine; and a rotary drive of the one rotary drive unit A power transmission means for transmitting a force to each of the plurality of screw mechanisms; and a slide for driving the slide by converting a rotational motion of the rotary drive means into a linear motion through the power transmission means and the plurality of screw mechanisms. A drive mechanism, a displacement volume control means for controlling a drive torque applied to the slide drive mechanism by controlling a displacement volume in the rotary drive means, A slide drive device for a press machine, comprising: 6. A screw mechanism of the slide drive mechanism, comprising: a rotation member that rotates by a rotation driving force from the rotation drive means; a screw member that is screwed with the rotation member; The driven member is supported, and the driven member is non-rotatably supported on one of the slide member and a crown of the press machine. A slide drive device for the press machine according to the above. 7. The slide of the press machine and the tips of a plurality of screw mechanisms of the slide drive mechanism are connected by a rotary joint that can tilt in the left and right direction of the slide. 5. A slide driving device for a press machine. 8. The slide of the press machine and the tips of a plurality of screw mechanisms of the slide drive mechanism are connected via a slide mechanism movable in the left and right direction of the slide. 7. A slide driving device for a press machine. 9. The slide of the press machine and the distal ends of a plurality of screw mechanisms of the slide drive mechanism are connected by a spherical joint that can tilt in the front-rear and left-right directions of the slide. Or the slide drive device of the press machine of 5. 10. The slide of the press machine and the tips of a plurality of screw mechanisms of the slide drive mechanism are connected via a slide mechanism that is movable in the front-rear and left-right directions of the slide. Item 10. A slide drive device for a press machine according to item 9. 11. A plurality of first detecting means for respectively detecting a plurality of slide positions of left and right or front and rear and right and left of a slide of the press machine, or each angle of a drive shaft in the plurality of slide drive mechanisms, and A plurality of displacement volumes detecting means for respectively detecting displacement volumes in the rotary drive means, wherein the displacement volume control means issues a command for commanding one target position of a slide of the press machine or one target angle of a drive shaft of the press machine. Means, and a plurality of displacement commands based on a plurality of deviations between one target position or target angle commanded by the command means and a plurality of slide positions or drive shaft angles detected by the plurality of first detection means. A plurality of first compensating means to be generated, the plurality of displaced volume commands, and detection by the plurality of displaced volume detecting means. A plurality of second compensations for generating a plurality of displacement volume operation amounts based on deviations from the plurality of displacement volumes and outputting the plurality of displacement volume operation amounts to the displacement volume change means of the plurality of rotary driving means. 5. A slide driving device for a press machine according to claim 4, further comprising means. 12. A plurality of second detection means for detecting a plurality of slide speeds at right and left or front and rear and right and left positions of a slide of the press machine or respective angular velocities of drive shafts in the plurality of slide drive mechanisms, respectively. A plurality of displacement volumes detecting means for respectively detecting displacement volumes in the rotary drive means, wherein the displacement volume control means instructs one target speed of a slide of the press machine or one target angular velocity of each drive shaft. And a plurality of displacements based on a plurality of deviations between one slide target speed or drive shaft target angular speed commanded by the command device and a plurality of slide speeds or drive shaft angular speeds detected by the second detection device. A plurality of first compensation means for generating a volume command, the plurality of displacement volume commands and the plurality of displacements A plurality of displacement volume operation amounts are generated based on deviations from the plurality of displacement volumes detected by the product detection unit, and the plurality of displacement volume operation amounts are output to the displacement volume change units of the plurality of rotation driving units, respectively. 5. The slide driving device for a press machine according to claim 4, further comprising a second compensating means. 13. A plurality of first detecting means for detecting a plurality of slide positions of the slide of the press machine in the left-right or front-back and left-right directions, or each angle of a drive shaft in the plurality of slide drive mechanisms. A plurality of second detecting means for respectively detecting a plurality of slide speeds or angular velocities of a plurality of drive shafts at left and right or front and rear and right and left positions; Means for commanding one target position of a slide or one target angle of a drive shaft of the press machine, and one target position or target commanded by the command means. A plurality of first deviations between an angle and a plurality of slide positions or drive shaft angles detected by the plurality of first detection means; A plurality of first compensation means for generating a plurality of slide speed commands or drive shaft angular velocity commands based on the plurality of slide speed commands or drive shaft angular velocity commands and a plurality of slides detected by the plurality of second detection means; A plurality of second compensating means for generating a plurality of displacement volume commands based on a plurality of second deviations from the speed or the drive shaft angular velocity, and the plurality of displacement volume commands are detected by the plurality of displacement volume detection means. A plurality of third displacement volumes that generate a plurality of displacement volume manipulated variables based on a third deviation from the plurality of displacement volumes and output the plurality of displacement volume manipulated variables to the displacement volume change means of the plurality of rotation driving means, respectively. And a compensating means.
Slide drive of press machine. 14. The displacement volume control means estimates an external force corresponding to a press load applied to each of the plurality of rotation driving means during a press operation, and adds a command corresponding to the external force to the plurality of displacement volume commands. And a plurality of press load estimation compensating means for preventing a state change of the slide due to a press load.
A slide drive device for a press machine according to 12 or 13. 15. The press load estimating and compensating means, based on a plurality of slide speeds or angular velocities of a plurality of drive shafts at right and left or front and rear and right and left positions of the slide, operating torque applied to the plurality of rotary driving means and a press operation A plurality of fourth compensating means for calculating a difference between the external force corresponding to the pressing load and a plurality of displacement detecting means corresponding to the difference obtained by the plurality of fourth compensating means and the operating torque. A plurality of first calculation means for obtaining the external force based on the displacement volume, and a plurality of second calculation means for adding a command corresponding to the external force to the plurality of displacement volume commands. The slide driving device for a press machine according to claim 14, wherein 16. The slide driving device for a press machine according to claim 15, further comprising a fifth compensating unit for removing a noise component from the external force obtained by said first calculating unit. 17. A system comprising: first detecting means for detecting a position of a slide of the press machine or an angle of a drive shaft in the slide driving mechanism; and displacing volume detecting means for detecting a displacing volume in the rotary driving means. The displacement volume control means includes: command means for commanding a target position of a slide or a target angle of a drive shaft of the press machine; and a target position or a target angle instructed by the command means and detected by the first detection means. First compensation means for generating a displacement command based on a first deviation from a slide position or a drive shaft angle; and a second deviation between the displacement command and the displacement detected by the displacement detection means. A displacement volume operation amount is generated based on the displacement amount, and the displacement volume operation amount is output to the displacement volume changing unit of the rotation driving unit. That the press machine slide drive apparatus according to claim 5, characterized in that it comprises a second compensating means. 18. The apparatus according to claim 18, further comprising: second detection means for detecting a slide speed of the press machine or an angular velocity of a drive shaft in the slide drive mechanism; and displacement volume detection means for detecting a displacement volume in the rotary drive means. The displacement volume control means comprises: command means for commanding a slide target speed or a drive shaft target angular velocity of the press machine; a slide target speed or a drive shaft target angular velocity commanded by the command means; and the second detection means. First compensating means for generating a displacement volume command based on a first deviation from the slide speed or the drive shaft angular speed detected by
A displacement volume operation amount is generated based on a second deviation between the displacement volume command and the displacement volume detected by the displacement volume detection unit, and the displacement volume operation amount is output to a displacement volume change unit of the rotary drive unit. Second
6. A slide driving device for a press machine according to claim 5, further comprising a compensating means. 19. A first detecting means for detecting a position of a slide of the press machine or an angle of a drive shaft in the slide drive mechanism, and a second detecting means for detecting a speed of the slide or an angular velocity of the drive shaft. A displacement volume detecting means for detecting a displacement volume in the rotary drive means, the displacement volume control means comprising: command means for commanding a target position of a slide of the press machine or a target angle of a drive shaft; First compensating means for generating a slide speed command or a drive shaft angular speed command based on a first deviation between a target position or a target angle commanded by the first means and a slide position or a drive shaft angle detected by the first detecting means. When,
The slide speed command or the drive shaft angular speed command and the second
A second compensation means for generating a displacement volume command based on a second deviation from the slide speed or the drive shaft angular velocity detected by the detection means, and a displacement volume detected by the displacement volume command and the displacement volume detection means. And a third compensating means for generating a displacement volume operation amount based on the third deviation of the above, and outputting the displacement volume operation amount to the displacement volume changing means of the rotary drive means. Slide drive of press machine. 20. The displacement volume control means estimates an external force corresponding to a press load applied to the rotary drive means at the time of pressing operation, and adds a command corresponding to the external force to the displacement volume command to generate the displacement by the press load. 20. The slide driving device for a press machine according to claim 17, further comprising a press load estimation compensating means for preventing a state change of the slide. 21. A press load estimating and compensating means for calculating a difference between an operating torque applied to the rotary driving means and an external force corresponding to a press load at the time of a press operation from the slide speed or the angular velocity of a drive shaft. Compensating means, first calculating means for obtaining the external force based on the difference obtained by the fourth compensating means and the displacement volume detected by the displacement volume detecting means corresponding to the operating torque;
20. The slide drive device for a press machine according to claim 1, further comprising: a second calculating unit that adds a command corresponding to the external force to the displacement volume command. 22. The slide drive device for a press machine according to claim 21, further comprising a fifth compensator for removing a noise component from the external force obtained by said first calculator. 23. The apparatus according to claim 20, wherein the first detecting means for detecting a slide position of the press machine is mounted on any one of a bed, a mold, a crown and a column of the press machine. 1, 3, 11, 13, 17
20. A slide driving device for a press machine according to any one of claims 19 and 19.