JP2583299B2 - Press-fitting device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a press-fitting and caulking device, and more particularly to a press-fitting and crimping device which positions and holds a processing member and a holding member for holding a workpiece at a processing position. And an improvement in a press-fitting and caulking device that performs processing on a workpiece by relatively approaching to each other.

Conventional technology In order to press-fit or caulk a workpiece,
(A) a holding member for holding a workpiece, (b) a processing head driven to approach and separate from the holding member by a driving cylinder, and (c) X perpendicular to the approach and separation direction. A pair of servomotors for relatively moving the processing head and the holding member in the axial direction and the Y-axis direction, and moving the processing head and the holding member to a predetermined processing position relatively; While the servomotor is feedback-controlled so as to be positioned and held at the processing position, while the processing head and the holding member are positioned and held at the processing position, the processing head and the holding member are relatively moved by the drive cylinder. 2. Description of the Related Art There is known a press-in caulking device configured to perform processing on the workpiece by closely approaching the workpiece.

However, in such a conventional press-fitting and caulking device, feedback control of a servomotor when moving a processing head and a holding member to a processing position and positioning and holding of the processing head and the holding member are performed. In such a case, the feedback control of the servomotor is performed based on the same control formula, so that the positioning holding force is larger or smaller than necessary and is not always satisfactory. That is, if the positioning and holding force is too large, for example, when the rigidity of the workpiece is high, the size and the mounting position with respect to the holding member are slightly displaced, and a problem such as galling occurs. The misalignment is likely to occur.

On the other hand, it is conceivable to set the control formula so as to obtain a desired positioning and holding force, but in that case, the moving speed when moving the processing head and the holding member to the processing position is restricted, It is too fast or too slow, which is not desirable. In particular, when a plurality of types of processing are performed by one press-fitting / crimping device, if desired positioning and holding forces are different from each other, it is inevitable that problems such as galling and displacement occur as described above.

The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain an appropriate positioning and holding force according to the processing conditions without limiting the moving speed of the processing head and the holding member. It is to make.

Means for Solving the Problems In order to achieve the above object, the servomotor may be feedback-controlled by using different control formulas at the time of movement and at the time of positioning and holding. A holding member, (b) a processing head, and (c) a pair of servomotors. The processing head and the holding member are relatively moved to a predetermined processing position and positioned and held at the processing position. While the servomotor is feedback-controlled so that the processing head and the holding member are positioned and held at the processing position, the processing head and the holding member are relatively approached by the drive cylinder, and In a press-fitting and crimping apparatus for processing a workpiece, the server is used to position and hold the processing head and a holding member at the processing position. A positioning control method for feedback control of the motor and a movement control method for feedback control of the servomotor for moving the processing head and the holding member to the processing position are separately determined. It is characterized by having feedback control means for performing feedback control based on the equation.

The above positioning control formula and movement control formula may be completely different from each other, but may be calculation formulas having only different coefficients. Further, when a plurality of types of machining are performed by one machine, it is desirable that the positioning control formulas are respectively determined according to the machining conditions. In this case, only the coefficients of the control formulas are determined according to the machining conditions. It can be replaced.

Function and Effect of the Invention In such a press-fitting and caulking device, when the processing head and the holding member are relatively moved to the processing position,
While the servomotor is feedback-controlled based on the movement control formula, the servomotor is feedback-controlled based on the positioning control formula when positioning and holding the processing head and the holding member at the processing position. A desired positioning and holding force can be obtained according to processing conditions such as rigidity and dimensional accuracy of the workpiece without restriction on a moving speed or the like, and press-fitting and swaging can be performed smoothly. It is also possible to shorten the cycle time by increasing the moving speed of the processing head and the holding member to the processing position, the relative approach speed of the processing head and the holding member, and the like.

On the other hand, when the above-described positioning control formulas are respectively determined according to the processing conditions, an optimum positioning and holding force is always obtained even when a plurality of types of processing with different processing conditions are performed by one machine. In particular, if a control formula having only a different coefficient is used, only the coefficient needs to be replaced, so that a program or the like for performing feedback control is simplified,
The feedback control means can be simply configured. This is the same when the movement control formula and the positioning control formula differ only in their coefficients.

Embodiment Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a perspective view of a press-fitting and caulking device according to one embodiment of the present invention, and a Y-axis moving base 12 is movably disposed on a substantially horizontal base 10 via a pair of guide rails 14. Have been. The Y-axis moving table 12 serves as a holding member. A workpiece 16 as a workpiece is placed at a predetermined mounting position, and the Y-axis motor 18 drives the screw shaft 20 to rotate in both forward and reverse directions. As a result, it is reciprocated in a substantially horizontal Y-axis direction via a ball nut (not shown) while being guided by the guide rails 14. AC for Y-axis motor 18
A servomotor is used, and the Y-axis position Y of the Y-axis moving base 12 is detected by a Y-axis encoder 22 provided at the rear of the Y-axis motor 18.

On the base 10, a portal frame 24 is erected substantially vertically, and an X-axis movable platform 28 is movably disposed on a side surface of the upper frame via a pair of guide rails 26. . The X-axis slide 28 is driven by an X-axis motor 30
32 is rotationally driven in both the forward and reverse directions via a timing belt or the like (not shown), and is guided by the guide rail 26 in a substantially horizontal and X-axis direction perpendicular to the Y-axis direction via a ball nut (not shown). Reciprocated. X
An AC servomotor is used as the shaft motor 30,
The X-axis direction position X of the X-axis moving base 28 is detected by an X-axis encoder 34 provided at the rear of the X-axis motor 30.

The X-axis moving table 28 is provided with a Z-axis moving table 38 movably via a pair of guide rails 36,
A cylinder 40 with a brake is fixedly provided at the upper end.
When the screw shaft 44 is driven to rotate in both the forward and reverse directions by the Z-axis motor 42, the Z-axis moving table 38 is guided by the guide rail 36 via a ball nut while being moved in the X-axis direction and the Y-axis direction. It can be reciprocated in the perpendicular Z-axis direction, in other words, in the vertical direction. An AC servomotor is used as the Z-axis motor 42, and the Z-axis direction position Z of the Z-axis moving base 38 is detected by a Z-axis encoder 46 provided at the rear of the Z-axis motor 42. The brake-equipped cylinder 40 is fixed downward, and includes a rod (not shown) that can project and retract downward and a brake device 48 that prevents the rod from projecting and retracting.

A drive cylinder 50 is fixed to the Z-axis moving table 38 upward along the Z-axis direction, and its output rod is connected to the rod of the cylinder 40 with brake, while the lower end of the cylinder body is , A processing head 52 is fixed downward. As a result, when the brake device 48 is actuated, the rod of the cylinder 40 with brake is fixed, and the operation of the Z-axis motor 42 is stopped, that is, when the driving power is not supplied, the output rod of the driving cylinder 50 projects and retracts. When driven, the drive cylinder 50 and the processing head 52 are lowered and raised together with the Z-axis moving table 38, and are moved toward and away from the Y-axis moving table 12. At this time, since the screw shaft 44 screwed to the Z-axis moving table 38 via the ball nut is rotated according to its moving stroke, a change in the Z-axis direction position Z of the Z-axis moving table 38, in other words, Then, the movement stroke of the processing head 52 by the drive cylinder 50 is detected by the Z-axis encoder 46.

The processing head 52 is used for press-fitting or crimping the work 16 set on the Y-axis moving table 12 by being lowered by the drive cylinder 50. Can be In addition, a processing head is provided at an intermediate portion of the
A tool changing device 54 for replacing 52 is provided.

The X-axis motor 30 and the Y-axis motor 18 move the processing head 52 and the Y-axis moving table 12 in the moving direction of the processing head 52 by the drive cylinder 50, that is, in the X-axis direction and the Y-axis direction perpendicular to the Z-axis direction. Corresponds to a pair of servomotors for relatively moving the servomotors. Note that the X-axis direction and the Y-axis direction do not necessarily have to be at right angles, but may be at right angles to the Z-axis direction.

On the other hand, such a press-fitting device is provided with a control device 56 shown in FIG. This controller 56 is a CP
It is composed of a microcomputer having U, RAM, and ROM, and performs signal processing according to a program pre-stored in ROM while using the temporary storage function of RAM. RAM is a processing data memory 5 that stores processing data
8 and operation program memory 60 for storing operation programs
The processing data and the operation program are input by key input or teaching using the teaching box 62. The ROM stores a series of processing logics for operating the press-fitting device in accordance with the processing data and the operation program, for example, FIGS.
A program memory in which processing logic for operating according to the flowchart shown in FIG. 8 is stored in advance.
It has 64. Instead of using the teaching box 62, it is also possible to use a paper tape, a magnetic tape or the like to input the processing data and the operation program.

The processing data includes: a lowering stroke, a lowering speed, a pressure, and determination data for determining whether or not the processing is performed, when the processing head 52 is lowered by the drive cylinder 50 to perform press-fitting, caulking, or the like on the work 16. And the coefficient Kf. In this embodiment, several types of machining data are provided for data No.1, data No.2,.・
・ It is stored as The lowering stroke, lowering speed, and pressure of the processing head 52 determine the projecting stroke, hydraulic pressure, and flow rate of the output rod of the drive cylinder 50. The determination data includes a plurality of data including the lowering end when the processing head 52 is lowered. Is to specify an appropriate pressure range at the determination position.

Further, the coefficient Kf is used when performing feedback control of the X-axis motor 30 and the Y-axis motor 18 in order to position and hold the Y-axis moving table 12 and the processing head 52 at the processing position in the XY axis direction during processing. The coefficient of the control formula determines the positioning holding force. This is based on the processing conditions such as the height and rigidity of the work 16, the dimensional accuracy, and the mounting accuracy with respect to the Y-axis moving base 12, and is determined so that there is no problem such as galling during press-fitting or swaging. Can be For example, when the rigidity of the work 16 is high and it is difficult to deform, the coefficient Kf is set so that the positioning and holding force is reduced so that the processing head 52 can be displaced to some extent along the work 16, and the rigidity of the work 16 is When the height is low or the height is high and the work 16 is easily deformed, the work 16 is deformed along the processing head 52, and the coefficient Kf is set so that the positioning holding force is relatively large.

On the other hand, the operation program defines a series of operations of the X-axis motor 30, the Y-axis motor 18, the Z-axis motor 42, the drive cylinder 50, and the like for each type of the work 16, and includes an operation instruction and a data identification instruction. And a plurality of types are stored according to the type of the work 16. The operation command relates to the operation of the X-axis motor 30, the Y-axis motor 18, and the Z-axis motor 42, and includes a target position such as a processing position where the processing head 52 is located directly above the work 16 and a predetermined original position. It determines the position. The data specifying command specifies one of a plurality of types of processing data stored in the processing data memory 58, and is determined for each processing position.

FIG. 3 shows an example of the above operation program.
"MOV" in 004,008,009,012 corresponds to the operation command,
“FIT” in steps 005, 006, 010, 011 corresponds to a data specifying instruction. Steps 005 and 010 relate to the time when the machining head 52 is lowered. Of the plurality of types of machining data stored in the machining data memory 58, data No.
1, while instructing to perform machining using the machining data of data No. 18, steps 006 and 011 are instructions to raise the machining head 52 to the position before machining, and are automatically performed in pairs with the above steps 005 and 010. Is set. Steps 005, 006, 010 and 011 mean that machining is performed twice, and steps 002, 004, 008 and 00
9 means that they are moved to the processing position in two steps.

Fig. 3 shows the operation program as a teaching box.
The operation program is input by the teaching box 62 for each step. Further, in this example, the processing is performed twice on one work 16. However, depending on the type of the work 16, the processing is set to be performed only once or three or more times. In FIG. 3, "SPD" is an instruction relating to speed, "EXA" is an instruction relating to timing for executing the next step, "OUT" is an instruction relating to signal output, and "EN" is an instruction relating to signal output.
"D" means the end of a series of operations.

Returning to FIG. 2, the control device 56 as described above is provided with the X-axis direction position X, the Y-axis direction position Y, and the Z-axis direction from the X-axis encoder 34, the Y-axis encoder 22, and the Z-axis encoder 46, respectively. A position signal SX, SY, SZ representing the position Z is supplied, and a pressure signal SL is supplied from the load sensor 66. The load sensor 66 is interposed, for example, between the cylinder body of the drive cylinder 50 and the processing head 52, and detects the pressure of the processing head 52 on the work 16, and the pressure signal SL indicates the pressure. . In addition, a start signal SS is supplied from a start switch 68 that is turned ON by an operator through a PC (programmable controller) 70,
An identification signal SK indicating the type of the work 16 is also supplied from the identification device 72 via the PC 70. The identification device 72 is for identifying the type of the supplied work 16 and is constituted by, for example, a reading device for reading a symbol attached to a pallet. The identification signal may be input after identifying the 16 types.

On the other hand, a motor driving device that supplies driving power to the X-axis motor 30, the Y-axis motor 18, and the Z-axis motor 42 from the control device 56
Motor drive signals DX, DY, and DZ are output to 74, 76, and 78, respectively, and the operations of the motors 30, 18, and 42 are controlled. Further, a brake driving device 8 for driving the brake device 48 is provided.
0, a cylinder driving device 82 for driving the driving cylinder 50 includes a brake driving signal DB and a cylinder driving signal DC, respectively.
Is output, and the operations of the brake device 48 and the drive cylinder 50 are controlled. The brake driving device 80 is configured to include a switching valve that supplies and shuts off hydraulic oil to and from the brake device 48, and switches the brake device 48 between an operating state and a non-operating state. Further, the cylinder driving device 82
A switching valve for supplying and shutting off hydraulic oil to the drive cylinder 50, a pressure regulating valve for controlling the hydraulic pressure and flow rate of the hydraulic oil,
It is configured to include a flow control valve and the like, so that the output rod of the drive cylinder 50 can be projected and retracted, and the projection speed and pressure can be adjusted. The control device 56 further outputs a display signal DA indicating whether or not press-fitting, caulking, or the like has been successfully performed.
Supplied to 84.

Next, the operation of the press-fitting device configured as described above will be described with reference to the flowchart of FIG.

First, in step S1, it is determined whether the start switch 68 has been turned ON and the start signal SS has been supplied, and the work 16 is set on the Y-axis movable base 12, and the start switch 68
Is turned on, step S2 is executed next. In step S2, the identification signal SK is read, and the operation program for the type of workpiece represented by the identification signal SK is
In S3, it is read from the operation program memory 60.
Then, in step S4, the read operation program is executed.

FIG. 5 is an example of a flowchart executed in accordance with the above operation program. First, in step P1, the processing head 52 and the Y-axis moving table 12 are moved to a processing position where the work 16 is positioned directly below the processing head 52. Are relatively moved. This is executed by the operation command of the operation program, that is, “MOV”. The X-axis motor 30, the Y-axis motor 18, and the Z-axis motor 42 are operated, and the X-axis motor 30 and the Y-axis motor 18 are operated. About the sixth
Feedback control is performed according to the flowchart of FIG.
Feedback control of the Z-axis motor 42 is performed according to the flowchart of FIG.

That is, for the X-axis motor 30 and the Y-axis motor 18, first, in step F1, the position signals SX and SY are read, and in step F2, the position signals SX, S
The position X in the X-axis direction and the position Y in the Y-axis direction represented by Y, and the target positions X ₀ and Y ₀ specified by the operation command of the operation program, specifically, X _{0 in} the case of step 004 in FIG. = 200, Y ₀
= 150, the position deviations ΔX, ΔY are calculated according to the following equations (1) and (2).

ΔX = X ₀ −X (1) ΔY = Y ₀ −Y (2) Then, in step F3, it is determined whether or not this is a processing step of press-fitting or swaging the work 16 by, for example, the operation program. Is determined at the time of execution of “FIT”. If it is at the time of execution of “FIT”, Kf is set as the coefficient K in step F5, but since it is based on “MOV”, step F4 Is executed and the coefficient K
Ks is set. This coefficient Ks is a coefficient of a control formula for performing feedback control of the motors 30 and 18 when the processing head 52 and the Y-axis moving table 12 are relatively moved to the target position. It is set larger than the coefficient Kf for positioning and holding. The coefficient Ks may be set when the feedback control program is input to the program memory 64, but in the present embodiment, the coefficient Ks is set later by the teaching box 62.

Subsequently, step F6 is executed, and the position deviations ΔX, ΔY
The motor drive signals DX and DY are calculated according to the following equations (3) and (4) based on the coefficient Ks and the coefficient Ks. Expressions (3) and (4) are control expressions in the case of performing feedback control by proportional operation, but control expressions that take into account differential operation and integration operation can also be used. The drive signals DX, DY obtained in this way are output to the motor drive devices 74, 76 in the next step F7, and the drive signals DX, DY
Drive power such as motor current is controlled according to DY.

DX = Ks · ΔX (3) DY = Ks · ΔY (4) By repeating the above steps F1 to F7 repeatedly, the processing head 52 and the Y-axis movable base 12 are moved to the XY direction.
The X-axis motor 30 and the Y-axis motor 18 are respectively feedback-controlled so that the X-axis motor 30 and the Y-axis motor 18 move quickly and with high precision to the processing position in the axial direction.

On the other hand, as is apparent from the flowchart of FIG.
30, the coefficient K is a fixed value in advance compared to the case of the Y-axis motor 18.
The only difference is that it is set to Ks, and the others are exactly the same. Therefore, the Z-axis motor 42
The feedback control is performed in exactly the same way as the X-axis motor 30 and the Y-axis motor 18 so that the X-axis motor 30 and the Y-axis motor 18 can be quickly and accurately moved to the processing position in the axial direction.

Note that the above description is for the case of immediately moving from the original position to the processing position. However, when moving to the processing position in two steps as shown in the operation program of FIG. Thus, the above-described feedback control is repeated twice.

Returning to FIG. 5, processing head 52 and Y
When the axis moving base 12 is moved to the predetermined processing position in the XYZ axis directions, step P2 is executed next. In this step P2, the brake drive signal DB is output and the switching valve of the brake drive device 80 is switched, so that the hydraulic fluid is supplied to the brake device 48 and the brake device 48 is brought into an operative state. Axial movement is prevented. In this state, Step P3 is executed, and the machining head 52 is
Is lowered to perform work such as press-fitting and caulking work on the work 16, and the X-axis motor 30 and the Y-axis motor 18
As a result, the processing head 52 and the Y-axis moving table 12 are positioned and held at the processing positions in the XY axis directions.

Regarding the drive cylinder 50, the data specifying command of the operation program, that is, the processing data of the data No. designated in `` FIT '' is read from the processing data memory 58, and is operated according to the conditions set in the processing data. Then, the control is performed according to the flowchart of FIG. In the flowchart of FIG. 8, step R1 is set in the processing data by outputting the cylinder drive signal DC and driving the switching valve, the pressure regulating valve, the flow control valve, and the like of the cylinder driving device 82, respectively. The drive cylinder 50 is moved so that the processing head 52 can be lowered by pressure and speed.
Output rod is protruded. At this time, the Z-axis motor
42 is inactive and no drive power is supplied.

In step R2, the position signal SZ representing the Z-axis direction position Z and the pressure signal SL representing the pressure of the processing head 52 on the work 16 are read, and in step R3, based on the determination data set in the processing data. The quality of the processing is determined. This pass / fail determination is performed at a plurality of determination positions including the descending end of the processing head 52 in which the pressure range is determined as the determination data, and the pressure represented by the read pressure signal SL at each determination position is set. It is determined by whether or not it is within the range,
If it is within the range, the display signal DA is output and the pass / fail judgment lamp 84 is turned on. Whether or not the processing head 52 has been lowered to the determination position is detected based on the position signal SZ.

In step R4, it is determined whether or not the processing head 52 has been lowered by the downward stroke set in the processing data based on the Z-axis direction position Z indicated by the position signal SZ, and the downward stroke is still reached. If not, steps R1 to R4 are repeatedly executed. When the descending stroke of the machining head 52 reaches the descending stroke set in the machining data, machining such as press-fitting and swaging is completed,
Subsequently, step R5 is executed to switch the switching valve and the like of the cylinder driving device 82, and the output rod of the driving cylinder 50 is retracted, whereby the processing head 52 is raised to the processing position in the Z-axis direction.

On the other hand, during this processing, the processing head 52 and the Y-axis
X is positioned and held at the processing position in the X-Y axis direction.
The axis motor 30 and the Y-axis motor 18 are feedback-controlled in accordance with the flowchart of FIG. 6 in the same manner as in step P1. However, in this case, since the operation program “FIT” is being executed, the determination in step F3 is YES, and as shown in the following equations (5) and (6), the coefficient K is added to the machining data. The drive signals DX and DY are calculated by a control equation using the set coefficient Kf. As a result, the processing head 52 and the Y-axis moving table 12 are positioned and held by an appropriate positioning and holding force according to the processing conditions, and the above-described processing such as press-fitting and swaging is performed smoothly.

DX = Kf · ΔX (5) DY = Kf · ΔY (6) In the series of signal processing logics by the control device 56, the part that executes the flowchart shown in FIG. Equations (3) and (4) are movement control equations, and the above equations (5) and (6)
The expression is a positioning control expression.

Returning to FIG. 5 again, when processing such as press-fitting, caulking, etc. is completed, subsequently, step P4 is executed, a brake drive signal DB is output, and the switching valve of the brake drive device 80 is switched, whereby the brake is switched. The device 48 is deactivated. This allows the Z-axis moving table 38 to be freely moved by the Z-axis motor 42. Thereafter, when another machining position is set, the machining heads 52 and Y are moved by the motors 30, 18, and 42. The shaft moving table 12 is moved to the processing position, and after the processing such as press-fitting and swaging is performed in the same manner as described above, Step P5 is executed. Also,
If the processing position is one, step P5 is immediately executed, and the processing head 52 and the Y-axis moving base 12 are driven by the motors 30, 18,
And returned to the original position by 42.

Also in step P5, the X-axis motor 30 and the Y-axis motor 18 are feedback-controlled according to the flowchart of FIG. 6, and the Z-axis motor 42 is feedback-controlled according to the flowchart of FIG. However, in this case, it is not at the time of executing “FIT” of the operation program,
The determination in step F3 in FIG. 6 is NO, and the drive signals DX and DY are calculated according to the movement control equations (3) and (4).

Thus, in the press-fitting device of the present embodiment,
The coefficient Kf of the control formula for feedback controlling the X-axis motor 30 and the Y-axis motor 18 when positioning and holding the processing head 52 and the Y-axis moving table 12 at the processing position depends on the processing conditions such as the ease of deformation of the work 16. Accordingly, the coefficient is set to a value different from the coefficient Ks for moving the processing head 52 and the Y-axis moving table 12 to the processing position and the original position. A force can be obtained, and press-fitting and swaging can be performed smoothly.

Further, since the moving speed at the time of moving the processing head 52 and the Y-axis moving table 12 is not restricted, the moving speed can be increased, while the press-fitting and swaging are performed smoothly, so that the processing by the drive cylinder 50 is performed. The lowering speed of the head 52 can be increased, and the cycle time can be shortened.

Further, in the present embodiment, only the coefficient K of the control formula of the feedback control is different, and the same program is used at the time of movement and at the time of positioning and holding as shown in FIG. This is advantageous in that a program for performing feedback control can be easily configured.

Further, according to the press-fitting device of the present embodiment, press-fitting, crimping, and the like can be performed under a plurality of types of conditions according to a plurality of types of processing data stored in the processing data memory 58. In addition to the coefficients Kf determined according to each processing condition,
Since the feedback control is performed using the coefficient Kf, an appropriate positioning holding force is always obtained even when the processing conditions are different, and a plurality of types of press-fitting and swaging with different processing conditions are smoothly performed. It is.

As mentioned above, although one Example of this invention was described in detail based on drawing, this invention can be implemented in another aspect.

For example, in the above embodiment, the processing head 52 is moved in the Z-axis direction by the Z-axis motor 42, but such a Z-axis motor 42 is not always necessary.

In the above embodiment, the processing head 52 is moved in the X-axis direction, and the Y-axis moving table 12 as a holding member is moved in the Y-axis direction. One of them may be moved in the X-axis direction and the Y-axis direction, and the other may be fixedly arranged in the XY axis direction.

In the above embodiment, the processing head 52 is moved toward and away from the Y-axis moving table 12 as a holding member by the drive cylinder 50.
52 may be approached or separated.

In the above embodiment, the processing head 52 and the Y-axis moving table are used.
Only the coefficient K of the control formula of the feedback control is changed between the movement of 12 and the positioning and holding, but the control formula itself may be different, or the feedback control may be performed according to different programs. Is also possible. For example, at the time of movement, a control formula including a plurality of arithmetic formulas for determining a speed deviation, an acceleration deviation, and the like and performing feedback control by setting a target speed, a target acceleration, and the like may be used.

In the above-described embodiment, machining data is set in advance according to machining conditions, and machining such as press-fitting and caulking is performed by the machining head 52 according to the machining data. However, a drive cylinder that drives the machining head 52 The 50 control methods can be changed as appropriate.

In the above embodiment, the motor is controlled by the common control device 56.
Although the 18, 30, and 42 and the drive cylinder 50 are operated, the control for the motors 18, 30, and 42 and the control for the drive cylinder 50 may be performed using separate control devices. .

In the press-fitting and crimping apparatus of the embodiment, a plurality of types of processing data and operation programs are stored in a processing data memory 58 and an operation program memory 60, respectively, and processing is performed on a plurality of types of workpieces 16 under a plurality of types of processing conditions. Although the present invention can be performed, the present invention can be similarly applied to a press-fitting and crimping apparatus which always performs processing under the same processing conditions according to a predetermined operation program.

Although not specifically exemplified, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of the drawings]

FIG. 1 is a perspective view of a press-fitting device according to an embodiment of the present invention. FIG. 2 is a block diagram of a control system provided in the press-fitting device of FIG. FIG. 3 is a diagram showing an example of an operation program stored in the operation program memory of FIG. FIG. 4 is a flowchart for explaining the operation of the press-fitting device of FIG. FIG. 5 shows the fourth
6 is a flowchart illustrating an example of step S4 in the figure. FIG. 6 is a flowchart for performing feedback control of the X-axis motor and the Y-axis motor in steps P1, P3, and P5 in FIG. FIG. 7 is a flowchart for performing feedback control of the Z-axis motor in steps P1 and P5 in FIG. FIG. 8 is a flow chart when processing is performed by driving the processing head in step P3 of FIG. 12: Y-axis moving base (holding member) 16: Workpiece (workpiece) 18: Y-axis motor (servo motor) 30: X-axis motor (servo motor) 50: Drive cylinder, 52: Processing head 56: Control device Step F1-F7: Feedback control means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Eizo Nishikawa 6th Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd. (72) Inventor Jun Hayashi 6th Toyota Town, Toyota City, Aichi Prefecture, Kyoho Manufacturing Co., Ltd. 72) Inventor Masayoshi Amano 6 Toyota Town, Toyota City, Aichi Prefecture Kyoho Seisakusho Co., Ltd. (56) References JP-A-1-115529 (JP, A) JP-A-63-306842 (JP, A) JP Sho 63-306841 (JP, A)

Claims (2)

(57) [Claims] 1. A holding member for holding a workpiece, a processing head driven by a driving cylinder to approach / separate from the holding member, an X-axis direction and a Y-axis perpendicular to the approach / separation direction. A pair of servomotors for relatively moving the processing head and the holding member in the axial direction, and moving the processing head and the holding member relatively to a predetermined processing position and positioning and holding the processing head and the holding member at the processing position; While the feedback control of the servo motor as described above,
In a press-fitting and crimping apparatus for performing processing on the workpiece by relatively bringing the processing head and the holding member closer to each other by the drive cylinder while the processing head and the holding member are positioned and held at the processing position, A positioning control method for performing feedback control of the servomotor for positioning and holding the processing head and the holding member at the processing position, and feedback control of the servomotor for moving the processing head and the holding member to the processing position. A press-fitting device, wherein a movement control formula at the time of control is determined separately, and a feedback control means for performing feedback control based on each control formula is provided. 2. The positioning control formula and the movement control formula are different only in coefficients, and the coefficients of the positioning control formula are determined in accordance with processing conditions.
Press-fitting device as described in (1).