JP2004090031A - Driving device for working device, and working device utilizing the driving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To suppress the vibration generated when a working unit is vertically driven to be small in a driving device to perform a required working by vertically driving the working unit with a linear actuator as a drive source and a working device utilizing the driving device. <P>SOLUTION: Two linear actuators (linear motors) with moving units 2 moved straight with respect to a fixed part 1 are longitudinally provided and unitized in the vertical direction, and the force including the gravity force and the acceleration force in the perpendicular direction of one moving unit 2 communicating with the working unit 4 is canceled by the force including the gravity force and the acceleration force in the perpendicular direction of the other moving unit 2 by controlling the movement of the other moving unit 2 opposite in the vertical direction with respect to one moving unit 2 communicating with the working unit 4. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a driving device for a processing device and a processing device using the driving device.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a driving device for a processing device, there are various devices such as an air cylinder, a servomotor, a linear motor, and a cam.
For example, an air cylinder is suitable for constant-speed processing (for example, cutting, drilling, rolling, and the like), and is advantageous in cost.
Further, the servomotor can be controlled at the lower limit, and can perform high-load processing (cutting, drilling, rolling, etc.). And although the linear motor has a weak processing force, it is most suitable for high-speed processing, the inner surface and cut surface of the drilled hole are beautiful, and the adjustment of the lower limit and the adjustment of the processing speed can be performed with high accuracy.
Further, the cam drive is suitable for repetitive motion at high speed and constant speed, and is lower in cost than the case of using a servo motor as a drive source, but is advantageous in cost. And so on.
By the way, for the purpose of high-speed machining, a linear motor (hereinafter referred to as a linear actuator) is optimal.
[0003]
However, particularly at the processing position (lower limit position), the actuator vibrates due to an impact similarly to other driving devices, and the rise to a predetermined ascending speed is delayed due to a prolonged decay time.
Therefore, it is still a problem to reduce the vibration at the machining position, shorten the vibration decay time, improve the productivity, and make the machined surfaces such as drilled holes and cut surfaces more beautiful. The current situation is left behind.
[0004]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional circumstances, and has as its object to provide a driving device for performing required processing by moving a processing portion up and down by using a linear actuator (linear motor) as a driving source, and processing using the driving device. It is an object of the present invention to reduce the vibration generated when the processing section is driven up and down.
[0005]
[Means for Solving the Problems]
The technical means taken to solve the above object is that two linear actuators, in which the movable part moves linearly with respect to the fixed part, are vertically installed in two units and are connected to the processing part. The movement of the other movable part is controlled in the up and down direction with respect to the movable part of the other movable part, and the force including the gravitational force and the vertical acceleration of one movable part connected to the processing part is applied to the other movable part. A driving device for a processing apparatus, wherein the driving force is offset by a force including a vertical acceleration and a gravitational force (claim 1).
The linear actuator is a linear motor (including a voice coil motor).
[0006]
According to the means, one of the movable units connected to the processing unit controls the input to the fixed unit immediately before the ascending limit position to reciprocate up and down and immediately before the ascending limit position, and decelerates to the ascending and descending limits. Immediately after reaching, the movable part is accelerated to a predetermined speed.
The reaction force generated by the force including the gravity of the movable portion and the acceleration in the vertical direction at the time of deceleration and acceleration gives a shock to not only the movable portion but also the entire unit including the fixed portion and vibrates. However, since the other movable part moves with deceleration and acceleration in the opposite direction to the moving direction of the movable part, it has the same magnitude as the reaction force generated by one movable part connected to the processing part. The other movable portion generates a reaction force in the opposite direction, and the reaction force generated by the other movable portion cancels the reaction force generated from the one movable portion, and the reaction force of the one movable portion that is communicated with the processing portion. Vibration generated by vertical reciprocation can be prevented.
In particular, if the reaction force reaching the ascending limit and descending limit from the deceleration area is not offset, the vibration will attenuate over a predetermined time after vibrating greatly at the ascending limit or descending limit during machining, and The processing accuracy and sharpness of the processing tool provided in the hologram.
As described above, the gravitational force of one movable part, the reaction force generated by the force including the acceleration in the vertical direction is offset by the reaction force generated by the reverse movement of the other movable part. It is possible to sharpen the stop of the movable part that communicates with the processing part at the descent limit, reduce the deceleration area, and accelerate the acceleration timing to a predetermined speed.
[0007]
A processing apparatus provided with the driving device and having a punch, a cutting blade, or a roll as a processing tool in the processing section is also effective.
[0008]
Next, an embodiment of the present invention will be described.
FIGS. 1 to 5 show a first embodiment of a punching device having the driving device of the present embodiment, FIG. 6 shows a second embodiment of the same, and FIGS. The outline of several examples of other examples of the linear actuator (linear motor) which is the main configuration of the device is shown.
A first embodiment will be described.
[0009]
As shown in FIGS. 1 and 2, the driving device A is unitized by vertically arranging two linear motors M in which a movable portion 2 moves linearly with respect to a fixed portion 1 in a vertical direction.
In the linear motor M used in this embodiment, a movable element 12 composed of a field magnet yoke in which permanent magnets having different polarities are alternately arranged side by side is opposed to the permanent magnet via a magnetic gap. This is a configuration that is movable with respect to the fixed unit 1 including the armature having the coil group.
The armature is configured to form a magnetic pole for movement in a vertical direction, which is a moving direction, when a three-phase AC voltage is applied, for example.
Note that the field magnet yoke side may be a fixed part and the armature side may be a mover.
[0010]
The drive device A vertically extends a plurality of the fixed portions 1 in parallel with each other over upper and lower plate portions 13 and 13 of a casing 3 having a frame shape in a front view with front and rear portions opened. The upper and lower movers 12, 12 are inserted through the upper and lower movable members 12, 12 so as to be able to be guided vertically, and are moved by guide rails GL provided on the left and right side plates 23, 23 of the casing 3. Each is guided in the vertical direction.
[0011]
The lower mover 12, which is one of the movers, forms the movable portion 2 by connecting the processing portion 4 via a connection arm 22 penetrating the lower plate portion 13 of the casing 3, and forms the movable portion 2. The upper movable element 12, which is a child, constitutes the movable section 2 by attaching a balancer 5 that balances the mass with the processing section 4 via a connecting arm 22 that penetrates the upper plate section 13 of the casing 3.
The balancer 5 may be replaceable in accordance with the mass of the processing section 4.
[0012]
The processing unit 4 includes a mounting plate 14 at the tip of a lower connecting arm 22 and a processing die 24 detachably attached to the mounting plate 14. The processing die 24 is a punch as a processing tool. P is supported.
[0013]
The driving device A controls the movement of the other movable part 2 in the reverse direction with respect to the one movable part 2 connected to the processing part 4 at the time of driving, and the one movable part connected to the processing part 4 2 is controlled so as to cancel out the force including the gravity and the vertical acceleration of the other movable unit 2 with the force including the gravity and the vertical acceleration of the other movable part 2.
Therefore, for example, in the case of three-phase alternating current, the windings to the armatures of the two fixed portions 1 are the same, and the connection of the other armature is replaced. Two phases are exchanged out of three phases of a winding.
[0014]
The upper and lower movable elements 12 are each suspended by a tension spring 6 whose one end is supported by the frame-shaped casing 3 so as not to drop onto the lower plate portion 13 of the casing 3 when not driven.
As shown in FIG. 3, the drive unit A installs the unit itself on the machine body B, and mounts the processing die 24 on the stripper plate 8 disposed above the fixed die 7 having the die 17. The punch P is arranged on the stripper plate 8 in a state where the punch P is made to correspond to the punch insertion hole 18 and is used as a punching device.
[0015]
FIG. 4 is a block diagram of the control system. The controller C outputs a pulse (forward rotation pulse or reverse rotation pulse) to each driver circuit D, and amplifies the pulse in the driver circuit D according to the pulse train. A drive current having a frequency in accordance with the current is applied to each armature to move each of the movable units 2 and 2 in the opposite direction. Is confirmed, a pulse (reverse rotation pulse or normal rotation pulse) is output to the driver circuit D again, and each movable portion 2, 2 is controlled to move in the opposite direction.
[0016]
In contrast to matching the speed between the one movable part 2 and the other movable part 2, for example, the one controlled horizontally, the gravity of the movable part becomes the resistance of acceleration. The conditions are different between when the number 2 and 2 rise and when the number decreases. It is necessary to control based on that.
In FIG. 5, g is the gravity, the mass m1 of the other movable portion 2B, and the mass m2 of the one movable portion 2A.
The force F1 required when the movable part 2B having the mass m1 moves upward is represented by an acceleration a1 at that time.
F1 = m1 (a1 + g) ... (1)
It becomes. This affects the unit as a reaction force. Therefore, in order to cancel the reaction force, one movable portion 2A having a mass m2 that cancels the force F1 is required. And if the force is F2, F1 = F2 ...
Holds. Where F2 is
F2 = m2 (a2-g) ... (3)
M1 (a1 + g) = m2 (a2-g) under the condition of equation (2).
It becomes.
Assuming that m1 = m2 = m, the acceleration a2 of the movable portion 2A obtained by deforming equation (4) is
a2 = a1 + 2g ... 5
It becomes.
The force F1 required when the movable part 2B having the mass m1 moves downward is represented by an acceleration a1 at that time.
F1 = m1 (a1-g) ... (6)
To cancel the reaction force, one movable portion 2A having a mass m2 that cancels the force F1 is required. If the force is F2, F2 = m2 (a2 + g) ... 7
Similarly, m1 (a1-g) = m2 (a2 + g) under the condition of the above equation (2) ... (8)
It becomes.
Then, assuming that m1 = m2 = m, the acceleration a2 of the movable portion 2A obtained by deforming Expression (8) is
a2 = a1-2g ... [9]
It becomes.
Therefore, when a1 is set, the vibration of the unit can be canceled by controlling the acceleration a2 when the movable portion 2A moves up and down so as to satisfy the expressions (5) and (9).
The above formula assumes that the balancer 5 and the processing unit 4 have the same mass. Since the tension of the tension spring 6 is not large, it is ignored in the above formula.
[0017]
Based on the predetermined formulas (5) and (9), the force including the gravitational force and the vertical acceleration of one movable portion 2 communicated to the processing portion 4 and the gravitational force and the vertical acceleration of the other movable portion 2 are calculated. Each movable part is controlled in the opposite direction so as to cancel out with the included force.
[0018]
In detail, when the driving device A is operated, each of the movable parts 2 and 2 reaches a deceleration area through an acceleration area in which acceleration is performed in a reverse direction (forward direction) and a constant speed area, and is communicated with one of the movable parts 2. A predetermined hole is punched in the workpiece W by the punch P of the processing part 4. Then, after the vibration at the lower limit of one of the movable parts 2 is attenuated and the linear scale (positioning sensor) 9 stably detects the target lower limit position, the movable parts 2 and 2 are moved in the opposite directions ( Acceleration in the backward direction). After passing through the acceleration region, the constant speed region, and the deceleration region, the vibration at the ascending limit of one of the movable portions 2 is attenuated, and the linear scale (positioning sensor) 9 waits until the target upper limit position is stably detected. The movable parts 2 and 2 are reversed again in the reverse direction (forward direction).
By repeating this, the punching operation is continued.
[0019]
FIG. 6 shows an embodiment in which a known punching unit having a U-shape viewed from the front and having a central space portion as a work loading space is used as a driving source of a single-action punch in a known punching unit. .
Reference numeral A denotes the driving device, which is mounted on the upper half of the punching unit U so as to be slidable rearward.
In this drive device A, an intermediate plate portion 33 is provided at the center of a casing 3 opened forward and on both left and right sides, and a plurality of fixed members are fixed over the upper and lower plate portions 13 of the casing 3 as in the above-described embodiment. The parts 1 are vertically extended in parallel with each other, and two movable parts 2 and 2 are vertically arranged on the fixed part 1 so as to be able to be guided, and a rod 32 is vertically suspended from the movable part 2 below, and The punch support p1 is provided so as to be able to be disengaged.
In this embodiment, similarly to the above-described embodiment, each of the movers 12 and 12 is mounted on a lower plate portion of the casing 3 when not driven by a tension spring (not shown) whose one end is supported by the casing 3. It is suspended so that it does not fall. Reference numeral GL is a guide rail. Since the punch support p1 is extremely lightweight, the punch support p1 is not provided with a balancer.
[0020]
7 to 10 each show another example of a linear motor which is a main component of the driving device. Reference numeral 2 denotes a movable portion (in the drawing, it is surrounded by a thick line and is distinguished from a fixed portion). The fixed portion and GL are guide rails of the movable portion 2.
[0021]
In the above-described embodiment, the punching machine is described. However, the present invention includes a cutting device, a pressing machine (rolling), a driving device of another processing device, and a processing device using the driving device. is there.
Although not an embodiment of the present invention, the upper and lower movable elements are controlled in the same direction in a state where the lower movable element and the upper movable element are in contact with each other to double the processing force. Even so, it is optional.
[0022]
【The invention's effect】
As described above, according to the present invention, two linear actuators in which the movable portion moves linearly with respect to the fixed portion are vertically arranged in two units to form a unit, and one movable portion connected to the processing portion is connected to the other. The movement of the movable part is controlled in the reverse direction in the vertical direction, and the force including the gravitational force and the vertical acceleration of one movable part connected to the processing part is changed to the gravitational force and the vertical acceleration of the other movable part. Therefore, the vibration generated by the vertical reciprocation of one of the movable parts connected to the processing part can be suppressed, and the processing accuracy and sharpness can be improved.
In addition, the movable parts at the ascending and descending ends are sharply stopped, the deceleration area is reduced, and the acceleration timing up to the specified speed is accelerated, so the followability is excellent at high speed machining, and the productivity is greatly improved. can do.
[Brief description of the drawings]
FIG. 1 is a front view of a driving device according to an embodiment.
FIG. 2 is a sectional view taken along line (2)-(2) of FIG.
FIG. 3 is a front view of a processing device (punching device) using the driving device, which is partially cut away.
FIG. 4 is a block diagram showing a relationship between a control unit (controller), a driver circuit, and a linear motor.
FIG. 5 is an explanatory diagram illustrating a relationship among mass, gravity, and acceleration of a movable unit.
FIG. 6 is a front view of another embodiment of a processing device (punching device) using a driving device, which is partially cut away.
FIG. 7 is a vertical cross-sectional view of another example of the linear actuator (linear motor).
FIG. 8 is a longitudinal sectional plan view of another example.
FIG. 9 is a vertical cross-sectional view of another example.
FIG. 10 is a vertical sectional plan view of another example.
[Explanation of symbols]
M: linear actuator (linear motor) 1: fixed part 2: movable part 4: processing part A: driving device P: processing tool (punch)

Claims (3)

A linear actuator in which the movable part moves linearly with respect to the fixed part is vertically arranged in two units to form a unit. Control in the opposite direction to cancel the force including the gravitational force and vertical acceleration of one movable portion connected to the processing portion with the force including the gravitational force and vertical acceleration of the other movable portion. A driving device for a processing device, characterized by the following. The drive device for a processing apparatus according to claim 1, wherein the linear actuator is a linear motor. 3. A processing apparatus comprising the drive device according to claim 1 or 2, wherein the processing section has a punch, a cutting blade, or a roll as a processing tool.

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