JP2004001016A - Press machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a press machine which can offer maximum productivity, securing low speed operation of the sliding speed within a working area. <P>SOLUTION: An information specification means for working area, a motion pattern creation means for working, a 1st memory, a motion pattern creation means for non-working, a 2nd memory, an all area motion creation means, and an all area operation control means are provided, and according to all the area slide motions combining the motion pattern for working which were created based on the specified information for working area and the motion pattern for non working shown below, press operation is possible. In the motion pattern for non working, the acceleration in acceleration area is the allowable maximum acceleration, and the deceleration in slowdown area is automatically created as the allowable maximum deceleration while sliding speed in stationary area is made into the allowable maximum speed referencing mechanical restriction conditions and the motor characteristic. <P>COPYRIGHT: (C)2004,JPO

Description

が成立する。この（数１）を利用すれば、スライド位置ｈを算出することができる。逆算してクランク角度θを算出することもできる。
【００６７】
さらに、加工領域用情報指定手段は、図５（または、図６）の場合と同様に、図７に示すプログラム方式で入力指定可能に形成してもよい。因みに、図７中の「Ａｒｅａ２０−０」は加工領域がスライド高さ２０〜０ｍｍで、「Ａｒｅａ２０−５，Ｆ＝２」は加工領域１（スライド高さ２０〜５ｍｍ）のスライド速度が２ｍｍ／ｓｅｃで、「Ａｒｅａ５−０，Ｆ＝１」は加工領域２（スライド高さ５〜０ｍｍ）のスライド速度が１ｍｍ／ｓｅｃであり、「Ｄｗｅｌｌ１」は停止である、ことを指す。
【００６８】
次に、非加工用モーションパターン作成手段は、機械的制約条件およびモータ特性を参照（利用）して、定速域でのスライド速度が許容最大速度に選択されるとともに加速域での加速度（角加速度）が許容最大加速度（許容最大角加速度）にかつ減速域での減速度（角減速度）が許容最大減速度（許容最大角減速度）に選択された非加工領域内での非加工用モーションパターンを作成する手段で、非加工用モーションパターン作成制御プログラムを格納させたＲＯＭ８２とＣＰＵ８１とワークメモリ（ＲＡＭ８３）とから成る。
【００６９】
機械的制約条件とは、機械的剛性，振動・騒音発生防止等々の観点から制約されたスライド１７の許容最大速度や許容最大加速度（許容最大減速度…マイナスの許容最大加速度）を意味し、モータ特性とは許容最大回転速度（例えば、６．２８ｒａｄ／ｓ…６０ｓｐｍ相当）を意味する。
【００７０】
これら機械的制約条件等は、システムパラメータとして図８に示すようにメモリ［ＦｅＲＡＭ８３Ｍ（または、ＲＯＭ８２等）］に予め設定（指定）記憶されている。なお、システムパラメータも選択入力，指定入力してその値を変更可能に形成されている。例えば、金型交換や付帯設備の増減等の機械的負荷変化にも対応し易い。
【００７１】
図８に示す設定された機械的制約条件でもあるシステムパラメータとしては、非加工用モーションパターンを自動作成するために利用する非加工領域（加工領域外）内［および加工領域内］のスライド１７の許容最大速度［６０ｓｐｍ（１分間のスライドストローク数ｓｐｍ…クランク軸１２の回転数］および許容最大角加速度［１４６．５ｒａｄ／ｓｅｃ^２（許容最大加速度１４ｓｐｍ／１０ｍｓｅｃ）］と、スライド高さｈとクランク角度θとの間の換算に利用するクランク偏心量（８０ｍｍ），コンロッド長さ（１６０ｍｍ）等と、プレスをサイクル停止する場合の停止位置である設定点（上死点側設定位置…クランク角度が０度）と、である。
【００７２】
なお、スライドの許容最大速度（６０ｓｐｍ）および許容最大加速度［許容最大減速度（マイナスの許容最大加速度）…許容最大角加速度１４６．５ｒａｄ／ｓｅｃ^２］は、この実施の形態では、加工領域用情報指定手段（８４，８５，８１，８２）を用いて指定記憶されている加工領域用情報（６０ｓｐｍ，１４６．５ｒａｄ／ｓｅｃ^２）と兼用可能に形成してある。
【００７３】
非加工用モーションパターン作成手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、この実施の形態では、図４に示す後側非加工領域（１８０度〜０度）および前側非加工領域（０度〜１６０度）についてそれぞれに予め設定された最大加速度（許容最大角加速度１４６．５ｒａｄ／ｓｅｃ^２），スライド最大速度（許容最大速度６０ｓｐｍ）および最大減速度（許容最大角加速度…−１４６．５ｒａｄ／ｓｅｃ^２）に従う後側非加工用モーションパターンおよび前側非加工用モーションパターンを自動作成可能に形成されている。
【００７４】
具体的には、図４を参照して、プレスの起動、つまり前側非加工領域は設定点（上死点…クランク角度０度）から始まる。上死点から指定角加速度α（１４６．５ｒａｄ／ｓｅｃ^２）で加速して許容最大速度６０ｓｐｍ（角速度ωで６．２８ｒａｄ／ｓｅｃ）に達するまでの加速域に要する時間ｔは、ω＝αｔの関係式から４２．８７ｍｓｅｃである［図４の（１）］。
【００７５】
６０ｓｐｍになった時のクランク角度θは、７．７２度である［図４の（２）］。θ＝ω_０ｔ±１／２（αｔ^２）に、ω_０（初速角速度）＝０，α＝１４６．５ｒａｄ／ｓｅｃ^２，ｔ＝４２．８７ｍｓｅｃを代入して演算される。
【００７６】
減速域に要する時間、つまり６０ｓｐｍからマイナスの指定角加速度α（１４６．５ｒａｄ／ｓｅｃ^２）で３０ｓｐｍ（角速度ωで３．１４ｒａｄ／ｓｅｃ）まで減速するので、３０ｓｐｍ（３．１４ｒａｄ／ｓｅｃ）分だけ減速するために必要とする時間ｔは、ω＝αｔの関係式から２１．４３ｍｓｅｃである［図４の（３）］。
【００７７】
また、この減速域内で進むクランク角度θは、θ＝ω_０ｔ±１／２（αｔ^２）において、ω_０（初速角速度）＝６．２８ｒａｄ／ｓｅｃ，α＝１４６．５ｒａｄ／ｓｅｃ^２，ｔ＝２１．４３ｍｓｅｃであるから、５．７８度（０．１００９ｒａｄ）である［図４の（４）］。
【００７８】
かくして、加工領域の開始角度１６０度から５．７８度を差引いた角度が１５４．２２度である［図４の（５）］から、定速域（６０ｓｐｍ…６．２８ｒａｄ／ｓｅｃ）はクランク角度で７．７２度〜１５４．２２度となり、進む角度は１４６．５度である。したがって、所要時間は４０６．９４ｍｓｅｃ［＝（１４６．５度／３６０度）×２π÷６．２８ｒａｄ／ｓｅｃ］である［図４の（６）］。
【００７９】
なお、前側非加工領域が狭くかつ許容加速度や許容最大速度が大きい場合には、許容最大速度（６０ｓｐｍ）に達しないで加速域から減速域に移ることもあるが、非加工用モーションパターン作成手段（８１，８２，８３）はこの場合にもそのような非加工用モーションパターンを作成することができる。後側非加工領域についても同様である。
【００８０】
ここに、加工領域に関しては、加工用モーションパターン作成手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）が働き、第１定速域の３０ｓｐｍと第２定速域の１０ｓｐｍと許容最大角加（減）速度αである１４６．５ｒａｄ／ｓｅｃ^２）とが指定されているが、この第１定速域（３０ｓｐｍ）と第２定速域（１０ｓｐｍ）との間の減速域（マイナスの指定角加速度α＝１４６．５ｒａｄ／ｓｅｃ^２）の所要時間ｔ，進行角度θ，第１定速域の所要時間ｔおよび第２定速域の所要時間ｔは、この段階で演算される。
【００８１】
すなわち、その減速分（２０ｓｐｍ…２．０９３ｒａｄ／ｓｅｃ）だけ減速するために必要な時間ｔは、１４．２９ｍｓｅｃ（＝２．０９３÷１４６．５）である［図４の（７）］。この減速域で進行する角度θは、θ＝ω_０ｔ±１／２（αｔ^２）で、ω_０＝３．１４ｒａｄ／ｓｅｃ（３０ｓｐｍ），ｔ＝１４．２９ｍｓｅｃ，α＝１４６．５ｒａｄ／ｓｅｃ^２であるから、１．７１度（０．０２９９ｒａｄ）となる［図４の（８）］。
【００８２】
したがって、第１定速域（３０ｓｐｍ）の開始角度θが１６０度で終了角度θが１６８．２９度（＝１７０−１．７１）である［図４の（９）］から、図４の（６）の場合と同様な演算式により、第１定速域の時間は４６．０６ｍｓｅｃである［図４の（１０）］。同様にして、第２定速域（１０ｓｐｍ）の開始角度θが１７０度で終了角度θが１８０度であるから、第２定速域の時間は１６６．６１ｍｓｅｃである［図４の（１１）］。
【００８３】
後側非加工領域（１８０度〜０度）に関しては、加工領域の１０ｓｐｍ（角速度ωで１．０４７ｒａｄ／ｓｅｃ）から指定角加速度α（１４６．５ｒａｄ／ｓｅｃ^２）で許容最大速度６０ｓｐｍ（角速度ωで６．２８ｒａｄ／ｓｅｃ）まで加速する。この加速域に要する時間ｔは、ω＝αｔの関係式から３５．７２ｍｓｅｃである［図４の（１２）］。
【００８４】
この加速域で進むクランク角度θは、７．５０度である。θ＝ω_０ｔ±１／２（αｔ^２）に、ω_０（初速角速度）＝１．０４７ｒａｄ／ｓｅｃ（１０ｓｐｍ），α＝１４６．５ｒａｄ／ｓｅｃ^２，ｔ＝３５．７２ｍｓｅｃを代入して演算される［図４の（１３）］。
【００８５】
引き続く、６０ｓｐｍから０ｓｐｍまでの減速域は、前側非加工領域（０度〜１６０度）の加速域の逆であるから、この減速域に要する時間ｔは４２．８６ｍｓｅｃで、進行角度θは７．７２度である［図４の（１），（２）と同じ］。したがって、定速域（６０ｓｐｍ）の区間（１８７．５０度〜３５２．２８度）の所要時間ｔは、４５７．７２ｍｓｅｃである［図４の（１４）］。
【００８６】
非加工用モーションパターン記憶制御手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、このように自動作成された非加工用モーションパターンを第２メモリ（８３Ｍ）に記憶する。なお、作成された加工用モーションパターンは、第１メモリ（８３Ｍ）に記憶されている。
【００８７】
全域モーション作成手段は、第１メモリ（８３Ｍ）に記憶された加工用モーションパターンと第２メモリ（８３Ｍ）に記憶された非加工用モーションパターンとを組合せて全域モーションを作成する手段で、全域モーション作成を格納させたＲＯＭ８２とＣＰＵ８１とワークメモリ（ＲＡＭ８３）とから形成されている。
【００８８】
この実施の形態では、第１メモリおよび第２メモリを同一のメモリ８３Ｍとしかつクランク角度θを横軸とした図４の一連内容（作成された全域モーション）を記憶するものと形成してある。全域運転制御手段による制御便宜のためである。
【００８９】
この全域運転制御手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、第１＆第２メモリ（８３Ｍ）に記憶された全域スライドモーション（図４を参照）に従いスライドを昇降動作させてプレス運転する。
【００９０】
１サイククル時間算出手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、加工用モーションパターンおよび非加工用モーションパターンに係る情報を利用して１サイクル時間を算出する。
【００９１】
すなわち、１サイクル（スライドの１行程）時間は、クランク軸１２の１回転（０〜３６０度）に要する時間ｔで、図４に示す各所要時間の合計として求められ、この場合は１２３４．４９ｍｓｅｃ（＝４２．８７＋４０６．９４＋２１．４３＋４６．０６＋１４．２９＋１６６．６１＋３５．７２＋４５７．７２＋４２．８６）である。こらは、ＲＡＭ８３に記憶されかつ表示部８５に表示出力されるから、作業者は生産性等を容易に知ることが出来る。
【００９２】
また、ストローク数算出手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、加工用モーションパターンおよび非加工用モーションパターンに係る情報を利用してスロトーク数を算出する。この場合は、４８．６ｓｐｍ（＝６０ｓｅｃ÷１．２３４４９ｓｅｃ）である。このストローク数もＲＡＭ８３に記憶されかつ表示部８５に表示出力される。
【００９３】
かかる実施の形態では、作業者等はプレス運転に先立ち、加工領域用情報指定手段（８４，８５，８１，８２）を用いて加工領域用情報の一部［加工領域（クランク角度で１６０度と１７０度と１８０度）と第１定速域（１６０度〜１７０度）としてのスライド速度（３０ｓｐｍ）および第２定速域（１７０度と１８０度）のスライド速度（１０ｓｐｍ）］を入力指定する。図５に示す表示部８５の画面８６Ｇ１を参照して行う。
【００９４】
なお、加工領域用情報である他の許容最大角加速度（１４６．５ｒａｄ／ｓｅｃ^２）は機械的に制約される固定値的性質なので、都度に作業者等に指定させるのではなく、図８に示すように加工領域用情報指定手段（８４，８５，８１，８２）を用いて予め指定されかつメモリ（８３Ｍ）に記憶させてある。都度にその値を読み出すことで指定することができる。作業者に加工領域用情報の全項目を指定させるのではないから、取扱が容易になる。
【００９５】
すると、加工用モーションパターン作成手段（８１，８２，８３）が、指定された加工領域用情報を利用してスライドの加工領域（１６０度〜１８０度）内での加工用モーションパターン（第１定速域，第２定速域を含む低速化パターン）を作成する。この作成されるパターン中で、指定されたスライド速度（３０ｓｐｍ）およびスライド速度（１０ｓｐｍ）や許容最大角加速度（１４６．５ｒａｄ／ｓｅｃ^２）を利用した減速域が必要であること，この減速域の位置（クランク角度範囲…１６８．２９度〜１７０度）および所要時間（１４．２９ｍｓｅｃ）の決定が、自動的に成される。作成された加工用モーションパターンは、第１メモリ（８３Ｍ）に記憶される。
【００９６】
引続き、非加工用モーションパターン作成手段（８１，８２，８３）が、機械的制約条件（図８に示すシステムパラメータ…許容最大速度が６０ｓｐｍ、許容最大角加速度が１４６．５ｒａｄ／ｓｅｃ^２）およびモータ特性（最大回転速度が６０ｓｐｍ相当）を参照して、定速域でのスライド速度が許容最大速度（６０ｓｐｍ）に選択されるとともに加速域での加速度が許容最大角加速度（１４６．５ｒａｄ／ｓｅｃ^２）にかつ減速域での減速度が許容最大角減速度（マイナスの１４６．５ｒａｄ／ｓｅｃ^２）に選択された非加工領域内での非加工用モーションパターンを自動作成する。非加工用モーションパターンは、図４で右側の後側非加工用モーションパターンおよび左側の前側非加工用モーションパターンの２つからなる。そして、第２メモリ（８３Ｍ）に記憶される。
【００９７】
全域モーション作成手段（ＣＰＵ８１，ＲＯＭ８２，ＲＡＭ８３）は、第１メモリ（８３Ｍ）に記憶された加工用モーションパターンと第２メモリ（８３Ｍ）に記憶された非加工用モーションパターンとを組合せた全域［例えば、クランク角度１回転…クランク角度で０度〜（１６０度〜１８０度）〜３６０（０）度］についての全域モーションを作成する。
【００９８】
その後に、プレス運転指令が発せられると、全域運転制御手段（８１，８２，８３）が作成された全域モーションでプレス運転する。すなわち、図４に示す全域モーションに従う位置パルス（ＰＴｓ）を位置パルスの払出し方式のモーション指令部（８０）から図２，図３に示す位置速度制御部６０に所定のタイミング（例えば、２ｍｓｅｃ）で出力される。なお、加（減）速域でのパルス払出し態様は、例えば総数ＮＮＮＮＮを１６回に分け、漸次増加（減少）となる。したがって、金型と材料との接触時における衝撃の緩和および低騒音化を達成できる。
【００９９】
位置速度制御部６０およびモータ駆動制御部７０が働き、モータ３０は各相モータ駆動電流Ｉｕ，Ｉｖ，Ｉｗにより正（例えば、左回り）回転加速される。スライド１７は図１に示すクランク軸１２およびコンロッド１６を介して、図４に示す前側非加工領域では指定加速度（許容最大加速度…許容最大角加速度）で加速される。クランク角度が７．７２度になると６０ｓｐｍ（許容最大速度）の定速運転となる。そして、１５４．２２度になると、加工領域のために指定減速度（許容最大減速度…許容最大角減速度）で減速される。つまり、前側非加工領域（０度〜１６０度）を最短時間［４７１．２４ｍｓｅｃ（＝４２．８７＋４０６．９４＋２１．４３）］でショックレスで円滑に通過することができる。
【０１００】
なお、図４で右側の後側非加工領域（１８０度〜０度）も最短時間［５３６．３ｍｓｅｃ（＝３５．７２＋４５７．７２＋４２．８６）］で通過させることができる。しかも、ショックレスで円滑にスライド下降させられる。
【０１０１】
加工領域に入ると、第１定速域が３０ｓｐｍで運転されるから金型と材料との過激な衝突が回避されかつ安定した加工（例えば、絞り）が行われる。第１定速域の終了位置（クランク角度が１６８．２９度）からは最終仕上げ行程である第２定速域に備え減速運転される。この場合も、指定減速度（許容最大減速度）で減速される。１４．２９ｍｓｅｃ経過後に第２定速域（１０ｓｐｍ）に入り最終仕上げ（絞り）が成される。この加工領域は、２２６．９６ｍｓｅｃ（＝４６．０６＋１４．２９＋１６６．６１）である。
【０１０２】
後側非加工領域（１８０度〜０度）も最短時間（５３６．３ｍｓｅｃ）で通過されるので、設定位置（０度）から前側非加工領域，加工領域，後側非加工領域を経て再び設定位置（０度）に戻る１サイクル時間は１．２３４５ｓｅｃである。つまり、１０ｓｐｍの仕上げ加工を可能としながら、全体的には従来メカプレスを４８．６ｓｐｍで運転した場合と同様な生産性を担保できると理解される。
【０１０３】
しかして、この実施の形態によれば、加工領域での低速化運転を保障できるので高品質プレス製品を高能率でかつ騒音を抑え生産でき、非加工領域（１８０度〜０度〜１６０度）を最短時間［１．００７５６ｓｅｃ（＝４７１．２６＋５３６．３）］で通過（スライド移行）させることができるから常に最大的な生産性を担保することができる。
【０１０４】
また、加工領域（１６０度〜１８０度）のスライド速度を低速（３０ｓｐｍ，１０ｓｐｍ）にしても１サイクル中に他の領域（非加工領域）までその影響により低速化されてしまうことがないので、効率的な生産ができる。
【０１０５】
また、許容最大加速度等は予め指定（記憶）させておき、作業者等は位置情報入力手段（８４，８５，８１，８２）と速度入力手段（８４，８５，８１，８２）とを用いて加工領域用情報の一部（加工領域を指定するための位置情報と指定された加工領域を通過する際の少なくとも１つの速度情報）とを入力するだけで、非加工用モーションパターン作成手段（８１，８２，８３）によって指定加工領域の終了位置（１８０度）から上死点側設定位置（０度）までの後側非加工領域および上死点側設定位置（０度）から指定加工領域の開始位置（１６０度）までの前側非加工領域について最大加速度，最大スライド速度および最大減速度に従う後側非加工用モーションパターンおよび前側非加工用モーションパターンを作成することができるから、全域スライドモーションを正確かつ迅速に作成できるとともに加工用モーションパターンの選択自由度が一段と広い。
【０１０６】
また、作業者等は加工（例えば、塑性成形）に関係するスライド１７の動き（クランク角度等の位置情報とスライド速度）だけを留意すればよく、１サイクルの時間やストローク数を手動で算出しなくてもよいから、プレス運転毎の指定が簡単で作業ミスを未然防止できる。
【０１０７】
さらに、加工用モーションパターンが指定・作成されかつ非加工用モーションパターンが自動作成されると、それらに係る情報を利用して１サイクル時間（１．２３４９ｓｅｃ）およびスロトーク数（４８．６ｓｐｍ）が算出されるから、作業者等は算出結果を見れば現在のプレス運転速度等を正確かつ容易に知ることができる。
【０１０８】
【発明の効果】
請求項１の発明によれば、加工領域内でのスライドモーションが指定された加工領域用情報を利用して作成された加工用モーションパターンに従いかつ非加工領域内でのスライドモーションが非加工領域を最短時間で通過できるように自動作成された非加工用モーションパターンに従ってプレス運転可能に形成されたプレス機械であるから、加工領域内でのスライド速度の低速化運転を保障でき、非加工領域内を最短時間で通過できるので最大的な生産性を担保することができる。
【０１０９】
また、請求項２の発明によれば、加工領域用情報指定手段と加工用モーションパターン作成手段と第１メモリと非加工用モーションパターン作成手段と第２メモリと全域モーション作成手段と全域運転制御手段とを設け、指定加工領域用情報に基づき作成された加工用モーションパターンと、機械的制約条件およびモータ特性を参照（利用）し定速域でのスライド速度が許容最大速度とされるとともに加速域が許容最大加速度でかつ減速域が許容最大減速度として自動作成された非加工用モーションパターンとを組合せた全域スライドモーションに従ってプレス運転可能に形成されたプレス機械であるから、加工領域での低速化運転を保障できるので高品質プレス製品を高能率で生産でき、非加工領域を最短時間で通過（スライド移行）させることができるから常に最大的な生産性を担保することができる。
【０１１０】
また、請求項３の発明によれば、加工領域用情報指定手段が位置情報入力手段と速度入力手段とを含み形成され、非加工用モーションパターン作成手段が後側非加工領域および前側非加工領域について予め設定された最大加速度，最大速度および最大減速度に従う後側非加工用モーションパターンおよび前側非加工用モーションパターンを自動作成可能に形成されているので、請求項２の発明の場合と同様な効果を奏することができることに加え、さらに作業者等が加工領域用情報の一部だけを指定するだけで全域スライドモーションを正確かつ迅速に作成できるとともに加工用モーションパターンの選択自由度が一段と広い。
【０１１１】
さらに、請求項４の発明によれば、加工用モーションパターンおよび非加工用モーションパターンに係る情報を利用して１サイクル時間および／またはスロトーク数を算出可能に形成されているので、請求項１から請求項３まで各発明の場合と同様な効果を奏することができることに加え、さらに作業者等は算出結果を見れば現在のプレス運転速度等を正確かつ容易に知ることができる。つまり、プレスを実際運転することなく１サイクル時間やストローク数を手計算することなく知ることができ、さらに指定ストローク数でライン全体の動作が可能かどうか、最大ストローク数は幾つまで上げられるかを推定可能になる。
【図面の簡単な説明】
【図１】本発明の実施の形態を説明するためのプレス機械の概略正面図である。
【図２】同じく、プレス運転駆動制御部等を説明するためのブロック図である。
【図３】同じく、位置速度制御部およびモータ駆動部を説明するための図である。
【図４】同じく、全域モーションを説明するための図である。
【図５】同じく、加工領域用情報の指定態様例（１）を説明するための図である。
【図６】同じく、加工領域用情報の指定態様例（２）を説明するための図である。
【図７】同じく、加工領域用情報の指定態様例（３）を説明するための図である。
【図８】同じく、システムパラメータを説明するためのブロック図である。
【図９】同じく、クランク軸の回転角度θとスライド位置（高さｈ）を説明するための図である。
【符号の説明】
１０　プレス機械
１１　クランク機構
１２　クランク軸
１６　コンロッド
１７　スライド
３０　ＡＣサーボモータ（モータ）
６０　位置速度制御部
７０　モータ駆動部
８０　パソコン（プレス運転駆動制御部、モーション指令部）
８１　ＣＰＵ［加工領域用情報指定手段（位置情報入力手段，速度入力手段）、加工用モーションパターン作成手段，非加工用モーションパターン作成手段，全域モーション作成手段，全域運転制御手段］
８２　ＲＯＭ［加工領域用情報指定手段（位置情報入力手段，速度入力手段）、加工用モーションパターン作成手段，非加工用モーションパターン作成手段，全域モーション作成手段，全域運転制御手段］
８３　ＲＡＭ［加工用モーションパターン作成手段，非加工用モーションパターン作成手段，全域モーション作成手段，全域運転制御手段］
８３Ｍ　メモリ（第１メモリ、第２メモリ）
８４　操作部［加工領域用情報指定手段（位置情報入力手段，速度入力手段）］
８５　表示部［加工領域用情報指定手段（位置情報入力手段，速度入力手段）］
８５Ｇ１〜８５Ｇ４　画面[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a press machine that performs press working while raising and lowering a slide by rotation of a crankshaft.
[0002]
[Background technology]
A press machine (a so-called mechanical press) that includes a flywheel, a clutch and a brake, and drives (intermittently or continuously) a crank mechanism (crankshaft) as a drive mechanism to move up and down (operate) a slide (die). It is used not only for specific processing with a specific mold but also for general use within a widely available range, but the motion pattern of the slide is constant.
[0003]
Therefore, for example, when a material crack occurs because the slide speed (down speed) during processing (drawing) is too fast, reduce the drawing rate in one stroke (cycle) to increase the number of strokes, or increase the stroke speed which is also the press operation speed. Decrease or reduce the number (spm). Generally, in order to prevent an increase in initial cost due to an increase in the number of dies, processing is often performed with a reduced number of strokes.
[0004]
From the viewpoint of improving the workability by lowering the slide speed when the mold comes into contact with the material and increasing the dwell time at the bottom dead center, link motion (slide motion depending on the link mechanism) Etc. are adopted. Link motion is also effective for reducing noise and vibration. However, once the press structure (link mechanism) is determined, it is not always possible to select an arbitrary link motion suitable for each of the processing mode, the processing target, and the like and perform the processing operation (slide up and down). . In addition, there is a difference in performance (for example, a different torque diagram), and the adaptability is narrow.
[0005]
Therefore, the present applicant proposes a so-called servo motor drive type press machine that rotates the crankshaft with a motor while utilizing the advantages of the crank mechanism (large load value generation, simple structure, robustness, low cost, etc.) (for example, And Japanese Patent Application No. 2001-388835). According to this press machine, since various motion patterns can be selectively switched and used, the adaptability to the press working mode can be expanded, and the flywheel, the clutch / brake device can be eliminated as compared with the mechanical press described above. Because it is possible, it is also advantageous in terms of equipment economy and reduction in size and weight. The problem of shortened life due to frequent operation of the clutch / brake device does not occur. Needless to say, the slide speed in the machining area can be reduced, or the dwell time can be extended.
[0006]
[Problems to be solved by the invention]
By the way, even in the press machine of the servo motor drive system, in practical use, productivity may be reduced as in the case of a mechanical press (even when a link mechanism is incorporated).
[0007]
That is, in the case of the mechanical press, the slide speed cannot be finely controlled for each area within one cycle due to the presence of the flywheel, and as a result, the slide speed in the entire cycle decreases. That is, although the processing area to be reduced in speed is about 10% in one cycle, the remaining 90% is similarly reduced in speed, so that the productivity is significantly reduced.
[0008]
Regarding this point, even in the case of the press machine of the servo motor drive system, if the slide speed in the processing area is kept low, the slide speed (up speed) after passing through the bottom dead center remains low. Again, there is a risk that productivity will decrease. However, technically, if attention is paid to the advantage that an arbitrary slide speed can be selected, the press operation is performed by setting the slide speed after passing the bottom dead center (after the end of the processing area) higher than the speed in the processing area. I should be able to do it.
[0009]
However, in reality, compliance with the reduced slide motion (position-speed) in the set machining area is regarded as the first definition, and then in other areas (non-machining areas) other than the machining area. It is difficult to determine how to determine a specific value of the slide speed, the timing of setting the value (e.g., crank angle), and how to set the speed switching timing during sliding up and down. Leaving all of the discrimination and the concrete work after the discrimination to the worker not only places a great burden on the worker's mental and physical burden, but also results in significant waste of time due to difficulty in handling. It is pointed out that improving productivity is impossible.
[0010]
An object of the present invention is to provide a press machine capable of securing a maximum productivity while ensuring a low-speed operation of a slide speed in a processing area.
[0011]
[Means for Solving the Problems]
The invention according to claim 1 is a press machine that performs press working while raising and lowering a slide by rotation of a crankshaft, wherein the crankshaft is rotatable by rotation control of a motor directly or indirectly connected thereto via a gear. Then, using the designated processing area information, a processing motion pattern in the processing area of the slide can be created, and the non-processing motion pattern in the non-processing area can pass through the non-processing area in the shortest time. As described above, the slide motion in the machining area is formed according to the created motion pattern, and the slide motion in the non-machining area is formed according to the automatically created non-machining motion pattern. Have been.
[0012]
In the press machine according to the first aspect of the present invention, processing area information (processing area (position) information (for example, 160 to 180 degrees in crank angle) specified by an operator or the like) and a slide speed in the first constant speed area (For example, 30 spm) and the slide speed (for example, 10 spm) in the second constant speed range and the allowable maximum acceleration (for example, 146.5 rad / sec in angular acceleration) ² )], A processing motion pattern (a low-speed pattern including the first constant speed region and the second constant speed region) in the processing region of the slide is created.
[0013]
In the created pattern, the presence or absence of the reduced (accelerated) speed region, the position of the reduced (accelerated) speed region (crank angle range), and the required time are automatically determined by, for example, a table reference method or an arithmetic method. Is done. The maximum allowable acceleration (146.5 rad / sec in angular acceleration) ² ) Etc. are unique values mechanically constrained. Therefore, instead of having the operator specify each time, a value specified in advance is stored in the memory, and the value is read out each time, thereby making the operation It is preferable to form it so as to be specified as a value.
[0014]
When the processing motion pattern in the processing area is created, the non-processing motion pattern (for example, 180 degrees) that can pass through the non-processing area (the area outside the processing area) in the shortest time (for example, 1 sec) 0 to 160 degrees) is automatically created. In this case, the slide speed and the acceleration / deceleration speed are the maximum allowable values.
[0015]
Thus, since the slide motion in the processing area is performed according to the specified and created processing motion pattern and the slide motion in the non-processing area is performed according to the automatically generated non-processing motion pattern, the press operation is performed within the processing area. Operation such as low sliding speed can be guaranteed, and the vehicle can pass through the non-machining area in the shortest time, so that the maximum production efficiency, that is, the productivity can be secured.
[0016]
According to a second aspect of the present invention, in a press machine for performing press working while raising and lowering a slide by rotation of a crankshaft, the crankshaft can be rotated by rotation control of a motor directly or indirectly connected thereto via a gear. Processing area information specifying means for specifying processing area information, and processing motion pattern generation within the slide processing area using the specified processing area information. Means, a first memory for storing a created motion pattern for machining, a sliding speed in a constant speed range is selected as an allowable maximum speed with reference to mechanical constraints and motor characteristics, and an acceleration in an acceleration range. Creates a non-machining motion pattern in the non-machining area where the maximum allowable acceleration and the deceleration in the deceleration range are set to the maximum allowable deceleration. Non-machining motion pattern creating means, a second memory for storing the created non-machining motion pattern, a machining motion pattern stored in the first memory, and a non-machining motion pattern stored in the second memory. And an entire-area motion creating means for creating an entire-area motion by combining the above, and a whole-area operation control means for performing a press operation with the created entire-area motion.
[0017]
In the press machine according to the second aspect of the present invention, prior to the press operation, the worker or the like uses the processing area information designating means to execute the processing area information [processing area (position) information (for example, a crank angle of 160 degrees or more). 180 degrees), a slide speed in the first constant speed range (for example, 30 spm), a slide speed in the second constant speed range (for example, 10 spm), and an allowable maximum acceleration (decrement) speed [for example, 146 in angular acceleration (decrement) speed. .5 rad / sec ² ]] Is specified.
[0018]
Note that the allowable maximum angular acceleration (decrease) speed (146.5 rad / sec) ² ), Etc., may be formed so as not to be designated each time by an operator or the like, but to be designated as a value for the operation by reading a value designated in advance and stored in a memory.
[0019]
Then, the processing motion pattern creating means uses the specified processing area information to process the processing motion pattern in the slide processing area (lower speed pattern including the first constant speed area and the second constant speed area). Create In the created pattern, the specified slide speed (30 spm), the slide speed (10 spm), and the allowable maximum acceleration (deceleration) speed [for example, 146.5 rad / sec at the angular acceleration (deceleration) speed] ² ], The presence or absence of the reduced (accelerated) speed range, the position of the reduced (accelerated) speed range (crank angle range), and the required time are automatically determined by, for example, a table reference method or an arithmetic method. The created motion pattern for processing is stored in the first memory.
[0020]
Subsequently, the non-machining motion pattern creating unit checks the mechanical constraints (for example, when the allowable maximum angular acceleration is 146.5 rad / sec). ² And the allowable maximum slide speed is equivalent to 60 spm. ) And motor characteristics (for example, the maximum rotation speed is equivalent to 60 spm), the slide speed in the constant speed region is selected as the allowable maximum speed (60 spm), and the acceleration in the acceleration region is set to the allowable maximum acceleration (angular acceleration). At 146.5 rad / sec ² ) And the deceleration in the deceleration range is the maximum allowable deceleration (minus 146.5 rad / sec). ² A motion pattern for non-machining in the non-machining region selected in () is created. Then, it is stored in the second memory.
[0021]
The whole area motion creating means is an entire area combining the processing motion pattern stored in the first memory and the non-processing motion pattern stored in the second memory [for example, one rotation of the crank angle... 160-180 degrees) -360 (0) degrees]. Thereafter, when a press operation command is issued, the entire area operation control means performs the press operation with the created entire area motion.
[0022]
Therefore, a low-speed operation in the processing area can be guaranteed, so that a high-quality press product can be produced with high efficiency, and the non-processing area (180 ° to 0 ° to 160 °) can be passed in a shortest time (for example, 1 second) (slide transition). ), It is always possible to ensure maximum productivity.
[0023]
Further, the invention according to claim 3 is characterized in that the processing area information designating means inputs position information for designating the processing area and at least when the processing area information designating means passes through the processing area designated by the input position information. And speed input means for inputting one piece of speed information, wherein the non-working motion pattern creating means is set in advance for a rear non-working area from an end position of the designated working area to a top dead center side set position. Preset maximum acceleration, maximum speed, and maximum deceleration for the rear non-machining motion pattern according to the maximum acceleration, maximum speed, and maximum deceleration, and the front non-machining region from the top dead center side set position to the start position of the specified machining region The front non-machining motion pattern according to the speed is formed so that it can be created.
[0024]
In the press machine according to the third aspect of the present invention, the allowable maximum deceleration and the like are specified (stored) in advance, and an operator or the like uses the position information input means and the speed input means to input the processing area information. It suffices to input only part of the position information for designating the machining area and at least one piece of speed information when passing through the designated machining area.
[0025]
The non-machining motion pattern creating means is designated from the rear non-machining region from the end position (180 degrees) of the designated machining region to the top dead center side set position (0 degrees) and the top dead center side set position (0 degrees). For the front non-machining area up to the start position (160 degrees) of the processing area, the rear non-machining motion pattern and the front non-machining motion pattern according to the preset maximum acceleration, maximum speed and maximum deceleration are automatically set. create.
[0026]
That is, only by the operator or the like specifying only a part of the processing area information (position information and slide speed suitable for the operation concerned), the entire area slide motion can be created accurately and quickly, and the selection of the processing motion pattern is free. The degree is much wider.
[0027]
Further, the invention according to claim 4 is formed so that one cycle time and / or the number of slots can be calculated using information on the processing motion pattern and the non-processing motion pattern.
[0028]
In the press machine according to the fourth aspect of the present invention, when a processing motion pattern is designated and created and a non-processing motion pattern is automatically created, one cycle time (for example, 1. 2 sec) and / or the number of slots (for example, 50 spm). The calculation result is output (for example, display output) as necessary. Therefore, an operator or the like can accurately and easily know the current press operation speed and the like by looking at the calculation result.
[0029]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0030]
As shown in FIGS. 1 to 3, the press machine 10 is configured to be rotatable by rotation control of a motor 30 connected to the crankshaft 12, and includes a processing area information designating means (84, 85, 81, 82). Processing motion pattern creating means (81, 82, 83), first memory (83M), non-processing motion pattern creating means (81, 82, 83), second memory (83M), and whole area motion creating means (81, 82M). 82, 83) and whole-area operation control means (81, 82, 83), and refer to the machining motion pattern created based on the designated machining area information, the mechanical constraint conditions and the motor characteristics to obtain a constant speed. The non-machining mode automatically sets the slide speed in the acceleration range as the maximum allowable speed, the acceleration in the acceleration range as the maximum allowable acceleration, and the deceleration in the deceleration range as the maximum allowable deceleration. Is pressed operable formed according entire slide motion of a combination of a Deployment pattern.
[0031]
In other words, it is possible to create a processing motion pattern in the processing area of the slide using the specified processing area information, and pass the non-processing motion pattern in the non-processing area through the non-processing area in the shortest time. The slide motion in the machining area is formed according to the created motion pattern and the slide motion in the non-machining area is formed according to the automatically created non-motion motion pattern. ing.
[0032]
In FIG. 1, the drive mechanism of the press machine 10 is constituted by a crank mechanism 11 including a crank shaft 12 and the like. The rotation of the crankshaft 12 is controlled by the rotation of a motor [AC (alternating current) servomotor] 30 rotatably supported by bearings and indirectly connected via gears (30G, 13). The allowable maximum rotation speed of the motor 30 is set to be equal to 60 spm.
[0033]
The motor 30 may be formed of a DC (direct current) servo motor, a reluctance motor having neither a permanent magnet nor a brush. Further, the crankshaft 12 and the motor 30 may be directly connected without using a gear (reduction gear).
[0034]
The slide 17 is vertically slidably mounted on a frame body (not shown), and is driven up and down via a connecting rod 16 by rotational driving of the crankshaft 12. The mold (not shown) includes an upper mold on the slide 17 side and a lower mold on the bolster (not shown).
[0035]
Now, in FIGS. 1 to 3, each phase current signal Ui, Vi, Wi corresponding to the motor drive current Iu, Iv, Iw of each phase of the AC servomotor (30) is detected by the current detection unit 73 in FIG. Is done. An encoder 35 is connected to the motor 30.
[0036]
The encoder 35 has a large number of optical slits and optical detectors in principle, and outputs the rotation angle θ of the motor 30. In this embodiment, the rotation angle θ (pulse signal) is slid. It includes a signal converter (not shown) for converting the signal into 17 vertical positions PT (pulse signals) and outputting the converted signals.
[0037]
The reduction ratio (for example, 1/5) of the speed reducer (30G, 13) is considered in relation to the rotation angle (crank angle) θ of the crankshaft 12.
[0038]
In FIG. 2, the press drive control system includes a press drive control unit (80), a position / speed control unit 60, and a motor drive control unit 70. Note that the press operation drive control unit may be formed from devices (logic circuits and the like) other than the computer 80.
[0039]
That is, the computer 80 forming the press operation drive control unit includes a CPU 81, a ROM 82, a RAM 83, a FeRAM (ferroelectric memory) 83M, an operation unit (PNL) 84, a display unit (IND) 85, and an interface (I / F) 86.・ Includes 87 and 88 and controls the drive and monitoring of the entire press machine. Note that the operation panel 84 and the display unit 85 may be constructed as a liquid crystal display system with a touch switch.
[0040]
The interface (I / F) 86 is connected to the position / speed control unit 60 and the motor drive unit 70, and the interface (I / F) 87 is connected to the encoder 35. Further, the material transporting apparatus (including the material transporting motors 101X, 101Y, 101Z) 100 is connected via an interface (I / F) 88 so as to be able to be driven and controlled.
[0041]
In the following, various types of fixed information, control programs, calculation (calculation) expressions, and the like will be described as being fixedly stored in the ROM 82 or the FeRAM 83M. However, these are stored in a hard disk device (HDD) or the like. It may be formed so that it is kept.
[0042]
The press operation drive control unit (80) in FIG. 2 includes the motion command unit shown in FIG. 3 and the like, and is configured to output a slide position signal (selected motion command signal) PTs from the motion command unit to the position / speed control unit 60. Have been.
[0043]
As shown in FIG. 3, the position / speed control unit 60 includes a position comparator 61, a position control unit 62, a speed comparator 63, and a speed control unit 64, and issues a torque (current) command to the motor drive unit 70, that is, the current control unit 71. The signal Si is formed so as to be output. The speed detector 36 is included in the position / speed controller 60 for convenience in illustration.
[0044]
First, the position comparator 61 compares the slide position signal (target value signal) PTs based on the motion pattern from the motion command unit (80) with the actual slide position signal FPT (feedback signal) detected by the encoder 35. Then, a position deviation signal △ PT is generated and output.
[0045]
The position control unit 62 accumulates the input position deviation signal ΔPT, multiplies it by a position loop gain, and generates and outputs a speed signal Sp. The speed comparator 63 compares the speed signal Sp with a speed signal (speed feedback signal) FS from the speed detector 36 to generate and output a speed deviation signal △ S. The speed controller 64 generates a torque (current) command signal Si by multiplying the input speed deviation signal △ S by a speed loop gain, and outputs the generated torque (current) command signal Si to the current controller 71.
[0046]
The motor drive unit 70 includes a current control unit 71 and a PWM control unit (driver unit) 72.
[0047]
The current control unit 71 includes a current control unit (for example, 71U, 71V, 71W) for each phase (U, V, W). For example, the U-phase current control unit (71U) generates a U-phase target current signal (for example, Usi) by multiplying the torque (current) command signal Si by the U-phase signal Up, and continues to generate the U-phase target current signal (Usi). ) Is compared with the actual U-phase current signal Ui to generate and output a current deviation signal (U-phase current deviation signal) Siu. The other V and W phase current controllers (71V and 71W) also generate and output V and W phase current deviation signals Siv and Siw.
[0048]
The phase signals Up, Vp, and Wp input to the current control unit 71 define a pattern for flowing the motor drive current of each phase, and are generated by the phase signal generation unit 40. Reference numeral 73 denotes a motor phase current detection unit which detects each phase current (value) signal Ui, Vi, Wi and feeds it back to the current control unit 71.
[0049]
The PWM control unit (driver unit) 72 includes a circuit (not shown) for performing pulse width modulation, an isolation circuit (for example, 72A) not shown, and a driver (for example, 72B). That is, the three-phase driving voltages Spwmu, Spwmv, and Spwmw are generated by performing PWM modulation on the current deviation signals Siu, Siv, and Siw of each phase output from the current control unit 71.
[0050]
The pulse width (Wp) of the three-phase drive voltage Spwm is determined by the time width (Wp) of the firing signal (+ U firing signal or -U firing signal). In the case of a high load (for example, Siu has a large current), Long, short for low loads.
[0051]
The driver (72B) includes an inverter circuit (not shown) including a pair of transistors and diodes for each phase, and a signal (for example, + U, -U) obtained by PWM-modulating the current deviation signals Siu, Siv, Siw. (ON / OFF) control is performed to output three-phase drive voltages Spwmu, Spwmv, Spwmw. As a result, motor drive currents Iu, Iv, Iw flow through the motor 30.
[0052]
The processing area information designating means (84, 85, 81, 82) is means for designating processing area information. In this embodiment, all (or a part) of the processing area information is designated. And a ROM 82 storing a control program for storing the input and designated processing area information in the memory (83M) and displaying the information on the display unit 85 (screen 85G). And the CPU 81 that executes this program, and can perform input designation while checking the contents displayed on the screen (85G1 to 85G4 in FIG. 8).
[0053]
The processing area information includes processing area (position) information (for example, 160 to 180 degrees in crank angle), a first constant speed range slide speed (for example, 30 spm), and a second constant speed range slide speed. (For example, 10 spm) and an allowable maximum acceleration (deceleration) speed [(for example, an angular acceleration (deceleration) speed of 146.5 rad / sec. ² ].
[0054]
However, the allowable maximum angular acceleration (146.5 rad / sec) ² ) Is a fixed value property that is mechanically restricted, so that a value input and specified in advance is stored in the memory (83M) and the value is read out each time, instead of having the operator specify the value each time. It is preferable to form it so that it can be specified as a value during the press operation.
[0055]
In other words, the processing area information specifying means does not allow the operator to specify all the items that define the processing motion pattern, but the slide speed or the product in the first constant speed range when the mold contacts the work (material). It is preferable to construct such that only the minimum items such as the slide speed in the second constant speed range at the time of processing (for example, deep drawing) that greatly affects accuracy need to be designated and input. This can greatly contribute to further simplification of handling and greatly expanded usability.
[0056]
Thus, in this embodiment, the processing area information designating means (84, 85, 81, 82) is replaced by the position information input means (84, 85, 81, 82) and the speed input means (84, 85, 81, 82). ), And a part of the processing area information (processing area... Crank angle or slide position) is input and designated using the position information input means (84, 85, 81, 82), and the speed input means (84 , 85, 81, 82) at least one (two in this embodiment) slide speed (30 spm, 10 spm) when passing through the processing area (160 to 180 degrees)] is designated and input. It is formed so that it can be done.
[0057]
In addition, the processing area information designating means [including the position information inputting means and the speed inputting means. ] May be formed from an integral touch switch liquid crystal display or the like.
[0058]
Specifically, as shown in FIG. 5, a processing area (a start angle of 160 degrees and an end angle of 180 degrees) is designated and input while viewing the screen 85G1 using the position information input means (84, 85, 81, 82). You. In this case, the processing area is designated and input in the processing area 1 (160 to 170 degrees) and the processing area 2 (170 to 180 degrees) (see FIG. 4). When the processing area is designated by the slide height h, the range is 20 to 5 mm (processing area 1) and 5 to 0 mm (processing area 2) in [].
[0059]
Like the position information input means, the speed input means (84, 85, 81, 82) includes an operation unit 84 for designating and inputting the slide speed in the processing area as the number of strokes spm (or angular speed rad / sec). , A ROM 82 storing a control program for storing the designated and input spm (or rad / sec) in a memory (83M) and displaying it on a display unit 85 (screen 85G), and a CPU 81 for executing the program. Can be input while confirming the contents on the display of the screen 85G1.
[0060]
In this case, the slide speed of the processing region 1 (160 to 170 degrees) is set to 30 spm, and the slide speed of the processing region 2 (170 to 180 degrees) is set to 10 spm. The result (each value) of the input designation is stored in the first memory (83M).
[0061]
The maximum allowable angular acceleration is 146.5 rad / sec. ² [Allowable maximum acceleration / deceleration speed of 14 spm / 10 msec] is designated and input in advance by a key operation of the operation unit 84 forming the processing area information designating unit, and is stored in the first memory (83M). In this embodiment, it is designated and stored in advance as a system parameter (also a mechanical constraint) described later in detail (FIG. 8). Note that the allowable maximum acceleration (deceleration) speed and the like may be formed so as to be stored and designated as a fixed value in another memory (for example, the ROM 82).
[0062]
The processing motion pattern creating means outputs the specified processing area information (30 spm, 10 spm, 146.5 rad / sec). ² ) Is used to create a processing motion pattern (a low-speed pattern including a first constant speed range and a second constant speed range) in a slide processing area, and a processing motion pattern generation control program is stored. ROM 82, CPU 81 and work memory (RAM 83).
[0063]
In the created motion pattern for machining, the slide speed (30 spm) and the slide speed (10 spm) specified by input and the allowable maximum angular acceleration (146.5 rad / sec) previously specified and stored are specified. ² ), The presence or absence of the reduced (accelerated) speed range, the position of the reduced (accelerated) speed range (crank angle range), and the required time are automatically determined. These points will be described later in the detailed operation description of the non-processing motion pattern creating means.
[0064]
The processing motion pattern storage control means (CPU 81, ROM 82, RAM 83) stores the processing motion pattern created in this manner in the first memory (83M).
[0065]
FIG. 6 shows a case where the machining area is designated and input by the slide height h (mm) instead of the crank angle θ and the slide speed is designated and input by mm / sec. Each value of FIG. 6 is equivalent (equivalent) to the case of FIG. However, in FIG. 6, the machining area 3 (slide height 0 to 0 mm... Crank angle 180 to 180 degrees) and the crank stop time (1 sec) in the machining area 3 are also designated and input and displayed together. is there. This dwell time also constitutes a part of the processing motion pattern.
[0066]
As shown in FIG. 9, the relationship between the crank angle θ and the slide position (height h) is as follows: the eccentricity (crank radius) of the crankshaft 12 is L1, the length of the connecting rod 16 is L2, The angle (crank angle) between the axis Z and the eccentric amount L1 is θ, the angle α between the axis Z and the connecting rod 16 (in the length L2 direction), and the distance (height) of the slide 17 from the axis is h. Then
(Equation 1)

Holds. Using this (Equation 1), the slide position h can be calculated. It is also possible to calculate the crank angle θ by performing back calculation.
[0067]
Further, similarly to the case of FIG. 5 (or FIG. 6), the processing area information designating means may be formed so as to be capable of input designation by the program method shown in FIG. Incidentally, “Area20-0” in FIG. 7 indicates that the processing area has a slide height of 20 to 0 mm, and “Area20-5, F = 2” indicates that the slide speed of the processing area 1 (slide height 20 to 5 mm) is 2 mm /. In “sec”, “Area5-0, F = 1” indicates that the slide speed of the processing area 2 (slide height 5 to 0 mm) is 1 mm / sec, and “Dwell1” is stopped.
[0068]
Next, the non-machining motion pattern creating means refers to (uses) the mechanical constraints and the motor characteristics, selects the slide speed in the constant speed range to the maximum allowable speed, and sets the acceleration (angle) in the acceleration range. Acceleration) is the maximum allowable acceleration (maximum allowable angular acceleration) and the deceleration in the deceleration range (angle deceleration) is the maximum allowable deceleration (maximum allowable angular deceleration). A means for creating a motion pattern, comprising a ROM 82 storing a non-processing motion pattern creation control program, a CPU 81, and a work memory (RAM 83).
[0069]
The mechanical constraint condition means a maximum allowable speed and a maximum allowable acceleration of the slide 17 (a maximum allowable deceleration minus a maximum allowable negative acceleration) which are restricted from the viewpoints of mechanical rigidity, prevention of generation of vibration and noise, and the like. The characteristic means an allowable maximum rotation speed (e.g., 6.28 rad / s ... equivalent to 60 spm).
[0070]
These mechanical constraints and the like are previously set (specified) and stored as system parameters in a memory [FeRAM83M (or ROM 82 or the like)] as shown in FIG. It should be noted that the system parameters are also formed so that their values can be changed by selecting and inputting. For example, it is easy to cope with a mechanical load change such as a mold change or an increase or decrease of ancillary equipment.
[0071]
The system parameters that are also the set mechanical constraints shown in FIG. 8 include the slide 17 in the non-machining area (outside the machining area) [and in the machining area] used for automatically creating the non-machining motion pattern. Maximum allowable speed [60 spm (number of slide strokes per minute spm: number of rotations of crankshaft 12)] Maximum allowable angular acceleration [146.5 rad / sec] ² (Allowable maximum acceleration 14 spm / 10 msec)], the amount of crank eccentricity (80 mm) used for conversion between the slide height h and the crank angle θ, the length of the connecting rod (160 mm), and the like. A set point (top dead center side set position: crank angle is 0 degree) which is a stop position.
[0072]
The allowable maximum speed of the slide (60 spm) and the allowable maximum acceleration [the allowable maximum deceleration (minus allowable maximum acceleration) ... the allowable maximum angular acceleration 146.5 rad / sec. ² In this embodiment, the processing area information (60 spm, 146.5 rad / sec) designated and stored using the processing area information designating means (84, 85, 81, 82). ² ).
[0073]
In this embodiment, the non-machining motion pattern creating means (CPU 81, ROM 82, RAM 83) includes a rear non-machining area (180 degrees to 0 degrees) and a front non-machining area (0 degrees to 160 degrees) shown in FIG. The maximum acceleration (allowable maximum angular acceleration 146.5 rad / sec) preset for each ² ), Maximum slide speed (maximum allowable speed 60 spm) and maximum deceleration (maximum allowable angular acceleration ...- 146.5 rad / sec) ² ) Is formed so that a rear non-machining motion pattern and a front non-machining motion pattern can be automatically created.
[0074]
Specifically, referring to FIG. 4, the start of the press, that is, the front non-machining area starts from a set point (top dead center: crank angle 0 degree). Specified angular acceleration α from top dead center (146.5 rad / sec) ² ) Is 42.87 msec from the relational expression of ω = αt until the acceleration reaches the maximum allowable speed of 60 spm (6.28 rad / sec in angular velocity ω) [FIG. 4 (1)]. ].
[0075]
The crank angle θ at 60 spm is 7.72 degrees [(2) in FIG. 4]. θ = ω ₀ t ± 1/2 (αt ² ), Ω ₀ (Initial velocity angular velocity) = 0, α = 146.5 rad / sec ² , T = 42.87 msec.
[0076]
From the time required for the deceleration range, that is, 60 spm to the specified negative angular acceleration α (146.5 rad / sec) ² ), The speed is reduced to 30 spm (3.14 rad / sec in angular velocity ω). Therefore, the time t required to decelerate by 30 spm (3.14 rad / sec) is 21.43 msec from the relational expression of ω = αt. [(3) in FIG. 4].
[0077]
Further, the crank angle θ that advances within this deceleration range is θ = ω ₀ t ± 1/2 (αt ² ), Ω ₀ (Initial velocity angular velocity) = 6.28 rad / sec, α = 146.5 rad / sec ² , T = 21.43 msec, which is 5.78 degrees (0.1009 rad) [(4) in FIG. 4].
[0078]
Thus, the angle obtained by subtracting 5.78 degrees from the starting angle 160 degrees of the machining area is 154.22 degrees [(5) in FIG. 4], and the constant speed range (60 spm... 6.28 rad / sec) is the crank angle. Is 7.72 degrees to 154.22 degrees, and the advance angle is 146.5 degrees. Therefore, the required time is 406.94 msec [= (146.5 degrees / 360 degrees) × 2π ÷ 6.28 rad / sec] ((6) in FIG. 4).
[0079]
In the case where the front non-machining area is narrow and the allowable acceleration or the maximum allowable speed is large, the vehicle may shift from the acceleration area to the deceleration area without reaching the maximum allowable speed (60 spm). (81, 82, 83) can create such a non-machining motion pattern also in this case. The same applies to the rear non-machining area.
[0080]
Here, with regard to the machining area, the machining motion pattern creating means (CPU 81, ROM 82, RAM 83) operates, and the maximum constant acceleration / deceleration α is 30 spm in the first constant speed area and 10 spm in the second constant speed area. There is 146.5 rad / sec ² ) Is specified, but a deceleration range (negative specified angular acceleration α = 146.5 rad / sec) between the first constant speed range (30 spm) and the second constant speed range (10 spm). ² ), The traveling angle θ, the required time t in the first constant speed range, and the required time t in the second constant speed range are calculated at this stage.
[0081]
That is, the time t required to decelerate by the deceleration (20 spm... 2.093 rad / sec) is 14.29 msec (= 2.093 ÷ 146.5) [(7) in FIG. 4]. The angle θ traveling in this deceleration range is θ = ω ₀ t ± 1/2 (αt ² ), Ω ₀ = 3.14 rad / sec (30 spm), t = 14.29 msec, α = 146.5 rad / sec ² Therefore, the angle becomes 1.71 degrees (0.0299 rad) [(8) in FIG. 4].
[0082]
Accordingly, from the start angle θ of the first constant speed range (30 spm) is 160 degrees and the end angle θ is 168.29 degrees (= 170-1.71) [(9) in FIG. By the same arithmetic expression as in the case of 6), the time in the first constant speed range is 46.06 msec [(10) in FIG. 4]. Similarly, since the start angle θ of the second constant speed region (10 spm) is 170 degrees and the end angle θ is 180 degrees, the time of the second constant speed region is 166.61 msec [(11) in FIG. ].
[0083]
Regarding the rear non-machining area (180 degrees to 0 degrees), the designated angular acceleration α (146.5 rad / sec) from 10 spm (1.047 rad / sec in angular velocity ω) of the machining area. ² ) To accelerate to an allowable maximum speed of 60 spm (6.28 rad / sec in angular velocity ω). The time t required for this acceleration region is 35.72 msec from the relational expression of ω = αt [(12) in FIG. 4].
[0084]
The crank angle θ traveling in this acceleration region is 7.50 degrees. θ = ω ₀ t ± 1/2 (αt ² ), Ω ₀ (Initial velocity angular velocity) = 1.047 rad / sec (10 spm), α = 146.5 rad / sec ² , T = 35.72 msec. [(13) in FIG. 4].
[0085]
The subsequent deceleration range from 60 spm to 0 spm is the reverse of the acceleration range of the front non-machining region (0 to 160 degrees). Therefore, the time t required for this deceleration range is 42.86 msec and the traveling angle θ is 7. 72 degrees [same as (1) and (2) in FIG. 4]. Therefore, the required time t in the section (187.50 degrees to 352.28 degrees) in the constant speed range (60 spm) is 457.72 msec [(14) in FIG. 4].
[0086]
The non-processing motion pattern storage control means (CPU 81, ROM 82, RAM 83) stores the non-processing motion pattern automatically created in the second memory (83M). The created processing motion pattern is stored in the first memory (83M).
[0087]
The whole area motion creating means is a means for creating the whole area motion by combining the processing motion pattern stored in the first memory (83M) and the non-processing motion pattern stored in the second memory (83M). It is formed from a ROM 82 storing the creation, a CPU 81, and a work memory (RAM 83).
[0088]
In this embodiment, the first memory and the second memory are the same memory 83M, and are configured to store the series of contents (created whole motion) of FIG. 4 with the crank angle θ as the horizontal axis. This is for convenience of control by the whole-area operation control means.
[0089]
The whole area operation control means (CPU 81, ROM 82, RAM 83) performs a press operation by moving the slide up and down in accordance with the entire area slide motion (see FIG. 4) stored in the first and second memories (83M).
[0090]
One cycle time calculation means (CPU 81, ROM 82, RAM 83) calculates one cycle time using information on the processing motion pattern and the non-processing motion pattern.
[0091]
That is, one cycle (one stroke of the slide) is a time t required for one rotation (0 to 360 degrees) of the crankshaft 12, and is obtained as a sum of the respective required times shown in FIG. 4, in this case, 1234.49 msec. (= 42.87 + 406.94 + 21.43 + 46.06 + 14.29 + 166.61 + 35.72 + 457.72 + 42.86). These are stored in the RAM 83 and displayed on the display unit 85, so that the operator can easily know the productivity and the like.
[0092]
Further, the stroke number calculating means (CPU 81, ROM 82, RAM 83) calculates the number of slots using the information on the processing motion pattern and the non-processing motion pattern. In this case, it is 48.6 spm (= 60 sec ÷ 1.23449 sec). This stroke number is also stored in the RAM 83 and displayed on the display unit 85.
[0093]
In such an embodiment, prior to the press operation, the worker or the like uses the processing area information designating means (84, 85, 81, 82) to set a part of the processing area information [processing area (160 degrees crank angle). 170 ° and 180 °), the slide speed (30 spm) as the first constant speed range (160 ° to 170 °), and the slide speed (10 spm) in the second constant speed range (170 ° and 180 °)]. . This is performed with reference to the screen 86G1 of the display unit 85 shown in FIG.
[0094]
Note that another allowable maximum angular acceleration (146.5 rad / sec), which is information for the processing area, is used. ² ) Is a fixed-value property that is mechanically restricted. Therefore, instead of having the operator or the like specify each time, the processing area information specifying means (84, 85, 81, 82) is used as shown in FIG. It is specified in advance and stored in the memory (83M). It can be specified by reading the value each time. Since the operator is not required to specify all items of the processing area information, the handling becomes easy.
[0095]
Then, the processing motion pattern creating means (81, 82, 83) uses the designated processing area information to process the processing motion pattern (first constant) in the slide processing area (160 to 180 degrees). Speed range including the speed range and the second constant speed range). In the created pattern, the specified slide speed (30 spm), slide speed (10 spm) and allowable maximum angular acceleration (146.5 rad / sec) ² ), The position of the deceleration range (crank angle range: 168.29 to 170 degrees) and the required time (14.29 msec) are automatically determined. The created motion pattern for processing is stored in the first memory (83M).
[0096]
Subsequently, the motion pattern creating means for non-machining (81, 82, 83) sets the mechanical constraints (system parameters shown in FIG. 8: allowable maximum speed: 60 spm, allowable maximum angular acceleration: 146.5 rad / sec). ² ) And the motor characteristics (the maximum rotation speed is equivalent to 60 spm), the slide speed in the constant speed region is selected as the allowable maximum speed (60 spm), and the acceleration in the acceleration region is set to the allowable maximum angular acceleration (146.5 rad). / Sec ² ) And the deceleration in the deceleration range is the allowable maximum angular deceleration (negative 146.5 rad / sec) ² The motion pattern for non-machining in the non-machining area selected in () is automatically created. The non-machining motion pattern is composed of two of a right rear non-machining motion pattern and a left front non-machining motion pattern in FIG. Then, it is stored in the second memory (83M).
[0097]
The whole area motion creating means (CPU 81, ROM 82, RAM 83) is a whole area combining the processing motion pattern stored in the first memory (83M) and the non-processing motion pattern stored in the second memory (83M) [for example, One rotation of the crank angle... 0 °-(160 ° -180 °) -360 (0) ° in the crank angle] is generated.
[0098]
Thereafter, when a press operation command is issued, the entire area operation control means (81, 82, 83) performs the press operation with the created entire area motion. That is, a position pulse (PTs) according to the entire area motion shown in FIG. 4 is sent from the motion command unit (80) of the position pulse payout system to the position / speed control unit 60 shown in FIGS. 2 and 3 at a predetermined timing (for example, 2 msec). Is output. In addition, the pulse delivery mode in the acceleration (deceleration) range is, for example, the total number NNNNNN is divided into 16 times, and gradually increases (decreases). Therefore, it is possible to achieve a reduction in impact and a reduction in noise at the time of contact between the mold and the material.
[0099]
The position / speed control unit 60 and the motor drive control unit 70 operate, and the motor 30 is accelerated to rotate positively (for example, counterclockwise) by the motor drive currents Iu, Iv, Iw of each phase. The slide 17 is accelerated through the crankshaft 12 and the connecting rod 16 shown in FIG. 1 at a designated acceleration (allowable maximum acceleration... Allowable maximum angular acceleration) in the front non-machining region shown in FIG. When the crank angle reaches 7.72 degrees, a constant speed operation of 60 spm (allowable maximum speed) is performed. When it reaches 154.22 degrees, the speed is reduced at the designated deceleration (allowable maximum deceleration... Allowable maximum angle deceleration) for the machining area. That is, it is possible to smoothly pass through the front non-machining region (0 to 160 degrees) in a shortest time [471.24 msec (= 42.87 + 406.94 + 21.43)] without shock.
[0100]
In addition, the rear non-machining area (180 degrees to 0 degrees) on the right side in FIG. 4 can be passed in the shortest time [536.3 msec (= 35.72 + 457.72 + 42.86)]. Moreover, it can be smoothly slid down without shock.
[0101]
Once in the machining area, the first constant speed area is operated at 30 spm, so that a sharp collision between the mold and the material is avoided and stable machining (for example, drawing) is performed. From the end position of the first constant speed range (the crank angle is 168.29 degrees), the deceleration operation is performed in preparation for the second constant speed range which is the final finishing stroke. Also in this case, the vehicle is decelerated at the designated deceleration (maximum allowable deceleration). After a lapse of 14.29 msec, the vehicle enters the second constant speed region (10 spm), and final finishing (drawing) is performed. This processing area is 226.96 msec (= 46.06 + 14.29 + 166.61).
[0102]
Since the rear non-machining area (180 ° to 0 °) is also passed in the shortest time (536.3 msec), it is set again from the set position (0 °) through the front non-machining area, the machining area, and the rear non-machining area. One cycle time to return to the position (0 degrees) is 1.2345 sec. In other words, it is understood that the same productivity as when the conventional mechanical press is operated at 48.6 spm can be secured as a whole while enabling the finishing processing at 10 spm.
[0103]
According to this embodiment, a low-speed operation in the processing area can be ensured, so that a high-quality press product can be produced with high efficiency and low noise, and the non-processing area (180 degrees to 0 degrees to 160 degrees) can be produced. Can be passed (transferred to the slide) in the shortest time [1.00756 sec (= 471.26 + 536.3)], so that the maximum productivity can always be ensured.
[0104]
Further, even if the slide speed of the processing area (160 to 180 degrees) is set to a low speed (30 spm, 10 spm), the speed is not reduced to another area (non-processing area) due to the influence in one cycle. Efficient production is possible.
[0105]
The allowable maximum acceleration and the like are designated (stored) in advance, and the worker or the like uses the position information input means (84, 85, 81, 82) and the speed input means (84, 85, 81, 82). By simply inputting a part of the processing area information (position information for specifying the processing area and at least one piece of speed information when passing through the specified processing area), the non-processing motion pattern creating means (81) , 82, 83), the rear non-working area from the end position (180 degrees) of the designated machining area to the top dead center side set position (0 degrees) and the designated machining area from the top dead center side set position (0 degrees). For the front non-machining area up to the start position (160 degrees), a rear non-machining motion pattern and a front non-machining motion pattern according to the maximum acceleration, the maximum sliding speed, and the maximum deceleration can be created. Al, is more wide freedom of selection of the working motion pattern with the entire slide motion can be created accurately and quickly.
[0106]
In addition, the worker only needs to pay attention to the movement of the slide 17 (position information such as crank angle and the slide speed) related to processing (for example, plastic forming), and manually calculates the time of one cycle and the number of strokes. Since there is no need to do so, designation for each press operation is easy, and work errors can be prevented.
[0107]
Further, when a processing motion pattern is designated and created and a non-processing motion pattern is automatically created, one cycle time (1.2349 sec) and the number of slots (48.6 spm) are calculated by using the information related to the motion pattern. Therefore, the operator or the like can accurately and easily know the current press operation speed and the like by looking at the calculation result.
[0108]
【The invention's effect】
According to the first aspect of the present invention, the slide motion in the machining area follows the machining motion pattern created using the designated machining area information, and the slide motion in the non-machining area corresponds to the non-machining area. Since the press machine is formed so that it can be pressed according to the non-machining motion pattern automatically created so that it can pass in the shortest time, it is possible to guarantee the operation of reducing the slide speed in the machining area, and Since it can pass in the shortest time, maximum productivity can be secured.
[0109]
According to the second aspect of the present invention, the processing area information designating means, the processing motion pattern creating means, the first memory, the non-processing motion pattern creating means, the second memory, the whole area motion creating means, and the whole area operation control means are provided. With reference to (using) the machining motion pattern created based on the information for the designated machining area and the mechanical constraints and motor characteristics, the slide speed in the constant speed range is set to the maximum allowable speed and the acceleration range is set. Is the maximum allowable acceleration and the deceleration range is the maximum allowable deceleration.It is a press machine that can be operated in accordance with the entire range of slide motion combined with the non-machining motion pattern that is automatically created. Operation can be guaranteed, so high-quality stamped products can be produced with high efficiency and the non-processed area can be passed (sliding) in the shortest time. It is possible to always ensure the maximum specific productivity because it is possible.
[0110]
According to the invention of claim 3, the processing area information designating means is formed including the position information input means and the speed input means, and the non-processing motion pattern creating means is formed in the rear non-processing area and the front non-processing area. Since the rear non-machining motion pattern and the front non-machining motion pattern according to the preset maximum acceleration, maximum speed and maximum deceleration can be automatically created, the same as in the second aspect of the present invention. In addition to the effect, the entire area slide motion can be created accurately and quickly only by the operator or the like specifying only a part of the processing area information, and the degree of freedom in selecting the processing motion pattern is further increased.
[0111]
Furthermore, according to the invention of claim 4, since one cycle time and / or the number of slots can be calculated using the information on the processing motion pattern and the non-processing motion pattern, it is possible to calculate from one aspect. In addition to achieving the same effects as in each of the inventions up to the third aspect, the worker can accurately and easily know the current press operation speed and the like by looking at the calculation results. In other words, one cycle time and the number of strokes can be known without manually calculating the press without actually operating the press. In addition, whether the entire line can be operated with the specified number of strokes and the maximum number of strokes can be increased. It can be estimated.
[Brief description of the drawings]
FIG. 1 is a schematic front view of a press machine for describing an embodiment of the present invention.
FIG. 2 is a block diagram for explaining a press operation drive control unit and the like.
FIG. 3 is a diagram for explaining a position / speed control unit and a motor drive unit.
FIG. 4 is also a diagram for explaining an entire area motion.
FIG. 5 is a view for explaining an example (1) of designating the processing area information;
FIG. 6 is a diagram for explaining an example (2) of designating the processing area information;
FIG. 7 is a diagram for explaining an example (3) of designating the processing area information;
FIG. 8 is a block diagram for explaining system parameters.
FIG. 9 is a view for explaining a rotation angle θ of the crankshaft and a slide position (height h).
[Explanation of symbols]
10 Press machine
11 Crank mechanism
12 crankshaft
16 Connecting rod
17 slides
30 AC servo motor (motor)
60 Position / speed controller
70 Motor drive unit
80 PC (press operation drive control unit, motion command unit)
81 CPU [processing area information designating means (position information input means, speed input means), processing motion pattern creating means, non-processing motion pattern creating means, whole area motion creating means, whole area operation control means]
82 ROM [processing area information designating means (position information input means, speed input means), machining motion pattern creating means, non-machining motion pattern creating means, whole area motion creating means, whole area operation control means]
83 RAM [processing motion pattern creation means, non-processing motion pattern creation means, whole area motion creation means, whole area operation control means]
83M memory (first memory, second memory)
84 Operation section [processing area information designating means (position information input means, speed input means)]
85 display section [processing area information designation means (position information input means, speed input means)]
85G1-85G4 screen

Claims (4)

In a press machine that presses while moving the slide up and down by the rotation of the crankshaft,
The crankshaft is configured to be rotatable by rotation control of a motor directly or indirectly connected thereto via a gear,
Using the specified processing area information, a processing motion pattern in the processing area of the slide can be created and a non-processing motion pattern in the non-processing area can pass through the non-processing area in the shortest time. It is formed so that it can be created automatically,
A press machine wherein a slide motion in a machining area is formed according to a machining motion pattern created and a slide motion in a non-machining area is formed to be press-operable according to a non-machining motion pattern automatically created. In a press machine that presses while moving the slide up and down by the rotation of the crankshaft,
The crankshaft is configured to be rotatable by rotation control of a motor directly or indirectly connected thereto via a gear,
Processing area information specifying means for specifying processing area information; processing motion pattern generating means for generating a processing motion pattern in the processing area of the slide using the specified processing area information; A first memory for storing the processed processing motion pattern, a slide speed in a constant speed range is selected as an allowable maximum speed with reference to mechanical constraints and motor characteristics, and an acceleration in an acceleration region is set to an allowable maximum acceleration. Non-machining motion pattern creation means for creating a non-machining motion pattern in the non-machining area where the deceleration in the deceleration area is set to the maximum allowable deceleration, and stores the created non-machining motion pattern A second memory, a processing motion pattern stored in the first memory, and a non-processing motion pattern stored in the second memory. And whole motion creating means for creating a whole motion in combination, and a whole operation control means for press operation in the entire motion created provided, the press machine. Position information input means for inputting position information for specifying the processing area by the processing area information specifying means, and speed input for inputting at least one speed information when passing through the processing area specified by the input position information Means are formed and
The non-machining motion pattern creation means according to the rear non-machining motion according to the preset maximum acceleration, maximum speed, and maximum deceleration for the rear non-machining region from the end position of the designated machining region to the top dead center side set position. A front non-machining motion pattern according to a preset maximum acceleration, maximum speed, and maximum deceleration is formed for the front non-machining region from the pattern and the top dead center side setting position to the start position of the designated machining region. The press machine according to claim 2. 4. The method according to claim 1, wherein one cycle time and / or the number of slots are calculated using information on the processing motion pattern and the non-processing motion pattern. 5. Press machine.

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