JP2008149336A - Press machine, controller and control method of press machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce motor power under wide operational conditions with an optimal control enabled even when a press operation speed or a press load energy charges. <P>SOLUTION: The press machine comprises an angle detector 25 for detecting the rotation angle of a body of rotation 7, a device for determining a required motor torque dependent on the characteristics of the press machine based on the value of a rotation angle inputted from the angle detector, and a speed regulator for increasing the rotation command speed of a motor 1 over the above fixed command speed for such an rotation angle of the body of rotation that the required motor torque becomes smaller than a predetermined motor torque reference value. The press machine is further provided with a device 27 for correcting the amount of rotation command speed being increased by the speed regulator depending on variation in press operation speed or press load energy. The motor is rotary driven at such a rotation command speed as reflecting both the amount of rotation command speed being increased by the speed regulator and the amount being corrected by the correction device to correct the increased amount so as to reduce maximum power consumption of the motor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a press machine having a mechanism for converting a rotary motion into a reciprocating motion.

The press machine includes a hydraulic press that drives a slide by hydraulic pressure and a mechanical press that drives a slide by a mechanical mechanism.
The mechanical press includes a crank press that rotates a crankshaft by a motor. In the crank press, the slide is moved up and down by the rotation of the crankshaft. Thus, the rotational movement of the crankshaft is converted into the reciprocating movement of the slide.
When the slide is lowered, the workpiece is sandwiched between an upper mold fixed to the lower surface of the slide and a lower mold disposed below the slide, and pressing is performed.

  The mechanical press includes a mechanical press using a flywheel in which rotational energy is stored and a mechanical press using a servo motor that can freely adjust forward rotation, reverse rotation, and speed change without using a flyhole. .

A press machine using a flywheel transmits the rotational driving force of the motor 41 to the flywheel 47 via a pulley 43 and a transmission belt 45, for example, as shown in FIG. The clutch 49 connects the flywheel 47 to the main gear 51 in the ON state, and separates the flywheel 47 from the main gear 51 in the OFF state.
The main gear 51 is fixed to one end of the crankshaft 53, and the crankshaft 53 is rotationally driven together with the main gear 51.
One end of a connecting member 55 is connected to the eccentric part of the crankshaft 53, and a slide 57 is connected to the other end of the connecting member 55. Thereby, the rotational motion of the crankshaft 53 is converted into the reciprocating linear motion of the slide 57, and the slide 57 is moved up and down.

  In this configuration, the rotational energy accumulated in the flywheel 47 is released in the rotation angle region of the crankshaft 53 that presses the workpiece, and is accumulated in the flywheel 47 again in other rotation angle regions.

In the case of a press machine using a flywheel, since the flywheel and the clutch are used, the size of the apparatus increases accordingly.
On the other hand, in the case of a press machine using a servo motor without using a flywheel, there is an advantage that a flywheel and a clutch can be omitted.

  However, in the case of a press machine using a servomotor, rotational energy cannot be stored in the flywheel, so the servomotor and the power supply equipment for driving the motor must have a large capacity.

In consideration of this point, in Patent Document 1 described below, a capacitor for storing electric energy is connected to an AC power supply facility, and the electric energy stored in the capacitor is transferred to a servo motor in a rotation angle region of a crankshaft that presses a workpiece. To supply.
As a result, the AC power supply equipment is miniaturized, and energy required for pressing is ensured.

However, in the case of Patent Document 1, even if the AC power supply equipment can be reduced in size, a large current is supplied to the servomotor in the rotation angle region of the crankshaft that presses the workpiece, so that the drive circuit that directly drives the servomotor Will increase in size accordingly.
On the other hand, in a press machine using a flywheel, it is desired to further reduce the size of the motor and the motor drive circuit.
It is also desired to reduce power consumption in a press machine.

Therefore, the present applicant has already applied for a press machine, a control apparatus and a control method for the press machine that can reduce the motor and the motor drive circuit and reduce the power consumption as Patent Document 2 below.
In this patent document 2, a required motor torque is determined for each rotation angle of a rotating body (crankshaft or the like) according to the characteristics of a press machine, and the required motor torque is smaller than a predetermined motor torque reference value. At the rotation angle of the rotating body, the rotation command speed of the motor is increased from the constant command speed, and at the rotation angle of the rotating body that is larger than the motor torque reference value, the rotation command speed of the motor is decreased from the constant command speed. Yes. Thereby, the maximum motor torque value is effectively reduced. As a result, the motor and the motor drive circuit can be miniaturized and the power consumption can be reduced.
JP 2004-344946 A "Press machine" Japanese Patent Application No. 2006-105575 “Press Machine, Press Machine Control Device and Control Method”

However, in Patent Document 2, the required motor torque described above changes not only due to the rotation angle of the rotating body but also due to fluctuations in the press operation speed or press load energy.
The press operation speed corresponds to the speed at which the slide reciprocates, and can be represented by, for example, the average rotation speed of the motor 41 over the period in which the slide reciprocates for pressing.
The press load energy corresponds to the amount of work performed by the press machine or the energy consumed by the press machine during the period in which the slide makes one reciprocation for pressing, and is determined by, for example, the type of press die and the cushion set pressure. .

  Thus, when the press operation speed or the press load energy varies, it is very laborious to obtain the necessary motor torque in advance for each value of the press operation speed or the press load energy.

  Therefore, an object of the present invention is to improve the invention of Patent Document 2 and to obtain the required motor torque in advance for each value of the press operation speed or the press load energy when the press operation speed or the press load energy fluctuates. In addition, it is possible to perform optimum control even when the press operation speed or the press load energy fluctuates, and to reduce motor power under a wide range of operation conditions.

  In order to achieve the above object, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, converts the rotational motion into a reciprocating motion, and is connected to the converting mechanism to reciprocate. A control device for a press machine, wherein the actual torque of the motor varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, the angle detecting the rotation angle of the rotating body A detecting device; a torque determining device for determining a required motor torque according to the characteristics of the press machine based on a value of a rotation angle input from the angle detecting device; and a motor torque reference value for determining the required motor torque in advance. A speed adjustment device that increases a rotation command speed of the motor to be larger than the constant command speed at a rotation angle of the rotating body that is smaller than the rotation speed. Includes a correction device that corrects the amount by which the rotation command speed is increased according to a change in press operation speed or press load energy, the amount by which the speed adjustment device increases the rotation command speed, and the correction device There is provided a control device for a press machine, wherein the motor is driven to rotate at a rotation command speed reflecting both the amount to be increased and the amount to be corrected so as to reduce the maximum power consumption of the motor. The

In the control device of the press machine, similarly to Patent Document 2, the speed adjusting device sets the rotation command speed of the motor at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value. In addition to this, the correction device corrects the increased amount in accordance with the change in the press operation speed or the press load energy. Further, the motor is operated at a rotation command speed reflecting both the amount by which the speed adjusting device increases the rotation command speed and the amount by which the correction device corrects the increase command so as to reduce the maximum power consumption of the motor. Rotation drive.
Therefore, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy, and the press operation speed or the press load energy is reduced. Even when it fluctuates, optimal control becomes possible, and motor power can be reduced under a wide range of operating conditions.

  In order to achieve the above object, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, converts the rotational movement into a reciprocating movement, and is connected to the conversion mechanism to reciprocate. A control device for a press machine in which the actual torque of the motor varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, and the rotation angle of the rotating body is detected. An angle detection device that determines the required motor torque in accordance with the characteristics of the press machine based on the value of the rotation angle input from the angle detection device, and the required motor torque is determined in advance. A speed adjusting device that reduces a rotation command speed of the motor to be lower than the constant command speed at a rotation angle of the rotating body that is larger than a reference value. A correction device that corrects the amount by which the rotation command speed is decreased in accordance with a change in press operation speed or press load energy, the amount by which the speed adjustment device decreases the rotation command speed, and the correction device. A control device for a press machine, wherein the motor is driven to rotate at a rotation command speed that reflects both the amount for correcting the amount to be reduced and the maximum power consumption of the motor. Provided.

In the control device for the press machine, similarly to Patent Document 2, the speed adjusting device keeps the motor rotation command speed constant at the rotation angle of the rotating body where the required motor torque is larger than a predetermined motor torque reference value. In addition to this, the correction device corrects the amount to be decreased in accordance with a change in the press operation speed or the press load energy. Further, the motor is controlled at a rotation command speed that reflects both the amount by which the speed adjustment device decreases the rotation command speed and the amount by which the correction device corrects the decrease command so as to reduce the maximum power consumption of the motor. Rotation drive.
Therefore, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy, and the press operation speed or the press load energy is reduced. Even when it fluctuates, optimal control becomes possible, and motor power can be reduced under a wide range of operating conditions.

  In order to achieve the above object, according to the present invention, a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, converts the rotational movement into a reciprocating movement, and is connected to the conversion mechanism to reciprocate. A control device for a press machine in which the actual torque of the motor varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, and the rotation angle of the rotating body is detected. An angle detection device that determines the required motor torque in accordance with the characteristics of the press machine based on the value of the rotation angle input from the angle detection device, and the required motor torque is determined in advance. At the rotation angle of the rotating body that is smaller than a reference value, the rotation command speed of the motor is increased from the constant command speed, and the required motor torque is set to a predetermined mode. A speed adjustment device that reduces the rotation command speed of the motor below the constant command speed at a rotation angle of the rotating body that is larger than a torque reference value, and the speed adjustment device increases the rotation command speed. Or a correction device that corrects the amount to be decreased in accordance with a change in press operation speed or press load energy, wherein the speed adjustment device increases or decreases the rotation command speed, and the correction device increases or decreases the rotation command speed. There is provided a control device for a press machine, wherein the motor is driven to rotate at a rotation command speed reflecting both the amount to be corrected and the amount to be corrected so as to reduce the maximum power consumption of the motor. .

In the control device for the press machine, similarly to Patent Document 2, the speed adjusting device keeps the motor rotation command speed constant at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value. At the rotation angle of the rotating body where the required motor torque is greater than the predetermined motor torque reference value, the motor rotation command speed is reduced below the constant command speed. The device corrects this increased or decreased amount in response to variations in press operating speed or press load energy. Further, the rotation command speed reflecting both the amount by which the speed adjustment device increases or decreases the rotation command speed and the amount by which the correction device corrects the increase or decrease by the correction device so as to reduce the maximum power consumption of the motor. Then, the motor is driven to rotate.
Therefore, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy, and the press operation speed or the press load energy is reduced. Even when it fluctuates, optimal control becomes possible, and motor power can be reduced under a wide range of operating conditions.

  According to a preferred embodiment of the present invention, the correction device corrects the amount by which the speed adjustment device increases or decreases the rotation command speed as the press operation speed is lower or as the press load energy is higher. .

  The smaller the press operation speed or the greater the press load energy, the greater the amplitude of the required motor torque with respect to the angle of the rotating body. Therefore, the motor power can be effectively reduced by increasing the amount by which the rotation command speed is increased or decreased as the press operation speed is reduced or as the press load energy is increased.

  According to a preferred embodiment of the present invention, the correction device has an input unit for inputting a value of a press operation speed or a press load energy.

  Thereby, based on the value of the press operation speed or press load energy input from the input unit, the correction device can correct the amount by which the speed adjustment device increases or decreases the rotation command speed.

Preferably, the speed adjustment device increases or decreases the rotation command speed of the motor from the constant command speed by a magnitude obtained by multiplying a difference between the required motor torque and the motor torque reference value by a constant gain. . Thus, since the rotation command speed of the motor is increased or decreased by an amount proportional to the torque fluctuation amount, the rotational energy can be given to the rotating system more efficiently.
Further, the amount by which the speed adjusting device increases the rotation command speed of the motor and the amount by which the rotation command speed of the motor is decreased may have the same time integral value over a predetermined time. As described above, the amount by which the rotation command speed is increased and the amount by which the rotation command speed is decreased are equal to the time integration value over a predetermined time, so that the press operation time over a predetermined time can be obtained when the motor is rotated at a constant command speed. The press operation time over a predetermined time can be combined, and the press production speed does not need to be reduced.

  According to a preferred embodiment of the present invention, the control device further includes a measurement / calculation device for obtaining the press load energy, and the measurement / calculation device has a kinetic energy of a press motion mechanism driven by the motor, The first measurement unit that measures the amount of change in one reciprocation period, the second measurement unit that measures the energy value that the motor gives to the press motion mechanism in the one reciprocation period, and the movement measured by the first measurement unit A calculation unit that calculates the press load energy based on an amount of energy change and the energy value measured by the second measurement unit, and the correction device uses the press load energy, and Correct the amount to increase or decrease the rotation command speed.

  The sum of the amount of change in the kinetic energy of the press movement mechanism during one reciprocating period of the slide (the amount of decrease) and the energy value given to the press movement mechanism by the motor is the press load energy. Therefore, the press load energy can be calculated based on the amount of change in kinetic energy measured by the first measurement unit and the energy value measured by the second measurement unit.

  According to the present invention, a press machine having the above-described control device is provided.

  According to the invention, there is provided a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotational motion into a reciprocating motion, and a slide that is connected to the converting mechanism and reciprocates. A method of controlling a press machine in which the actual motor torque varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, the step of detecting the rotation angle of the rotating body, Based on the value of the rotation angle, determining the required motor torque according to the characteristics of the press machine, and at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value, The step of increasing the rotation command speed from the constant command speed and the amount by which the rotation command speed is increased are compensated according to the change in the press operation speed or the press load energy. And rotating the motor at a rotation command speed reflecting both the amount to increase the rotation command speed and the amount to correct the increase to reduce the maximum power consumption of the motor. There is provided a method for controlling a press machine.

  This control method can also achieve the above-mentioned object, similarly to the control device for the press machine described above.

  In this control method, the necessary motor torque may be determined based on a motor torque fluctuation element due to the reciprocating motion of the slide and a motor torque fluctuation element due to the rotational movement of the rotating body. As a result, it is possible to control the motor rotation speed in consideration of the motor torque variation factor due to the reciprocating motion of the slide and the rotating motion of the rotating body.

  Further, according to the present invention, the apparatus includes a motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotation motion into a reciprocating motion, and a slide that is connected to the conversion mechanism and reciprocates. A control method for a press machine in which the actual torque of the motor varies according to the rotation angle of the rotating body when the motor is rotated at a constant command speed, and from a current supplied to the motor by performing a test operation of the press machine The step of creating a relationship between the required motor torque value corresponding to the characteristics of the press machine and the value of the rotation angle of the crankshaft, the step of detecting the rotation angle of the rotating body, and the detected rotation angle Determining a necessary motor torque corresponding to the value of the rotation angle based on the value and the relationship; and before the required motor torque becomes smaller than a predetermined motor torque reference value. In the rotation angle of the rotating body, a step of increasing the rotation command speed of the motor beyond the constant command speed, and a step of correcting the amount by which the rotation command speed is increased in accordance with a change in press operation speed or press load energy. And rotating the motor at a rotation command speed that reflects both the amount by which the rotation command speed is increased and the amount by which the increase command is corrected so as to reduce the maximum power consumption of the motor. A control method for a press machine is provided.

  This control method can also achieve the above-mentioned object, similarly to the control device for the press machine described above.

  In this control method, the necessary motor torque can be determined simply by applying the detected rotation angle to the relationship obtained by the trial operation. In this case, even if the press operation speed or the press load energy fluctuates, the correction for the fluctuation is performed by the correction device, so that it is not necessary to perform the trial operation again to determine the necessary motor torque. For example, a press machine often operates at a low speed at the start of operation and gradually increases the speed while checking the production quality of the panel. The correction device can cope with fluctuations in the press operation speed while continuing the press operation without performing the test operation.

  According to the present invention described above, when the press operation speed or the press load energy fluctuates, it is possible to save the labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy, and the press operation speed. Alternatively, even when the press load energy fluctuates, optimal control is possible, and motor power can be reduced under a wide range of operating conditions.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

[First Embodiment]
FIG. 1 is a diagram showing a configuration of a press machine 10 according to the present invention. As shown in FIG. 1, the press machine 10 includes a motor 1, a pulley 3 and a transmission belt 5 that are rotated by a rotational driving force of the motor 1, and a driving force of the motor 1 is transmitted via the pulley 3 and the transmission belt 5. A rotating flywheel 6, a crankshaft 7 to which rotational driving force is transmitted from the flywheel 6, and a clutch that connects the flywheel 6 and the crankshaft 7 in the ON state and separates the crankshaft 7 from the flywheel 6 in the OFF state. 9, a slide 11 that moves up and down by rotation of the crankshaft 7, and a connecting member 12 that has one end connected to the eccentric portion of the crankshaft 7 and the other end connected to the slide 11 to raise and lower the slide 11.
An upper die for pressing is fixed to the lower surface of the slide 11, and when the slide 11 is lowered, the workpiece is pressed between the upper die and the lower die provided below the slide 11. .

  The press machine 10 incorporates a control device 15 that controls the rotational speed of the motor 1. The control device 15 includes, for example, a speed command unit 17 that outputs a rotation command speed value (hereinafter referred to as a command speed value) of the motor 1 according to a press condition of a workpiece input from the outside, and a speed command unit 17. And a motor drive unit 21 (for example, a drive circuit) that receives a command speed value from the control unit 19 and supplies a current corresponding to the command speed value to the motor 1. In the example of FIG. 1, the command speed value from the speed command unit 17 is input to the command adjustment unit 19 via the limiter.

First, a case where a constant command speed value is input from the speed command unit 17 to the motor drive unit 21 without passing through the command adjustment unit 19 will be described.
In this case, the motor drive unit 21 supplies current to the motor 1 based on the input command speed value.
Further, the motor drive unit 21 receives a detection value from an angular speed sensor 23 such as a tachometer that detects the rotation speed of the motor 1 and determines whether the detected rotation speed of the motor 1 is a command speed value. If so, the current to the motor 1 is adjusted. Thereby, the detected rotation speed of the motor 1 is controlled to be a constant command speed value.

FIG. 2 is a graph showing the required torque fluctuation of the motor 1 when the press machine 10 is operated with the motor 1 rotated at a constant command speed (ie, constant speed) as described above. In the present specification and claims, the necessary motor torque refers to the torque of the motor 1 determined by the characteristics of the press machine, the workpiece to be pressed, the desired constant rotational speed of the crankshaft 7, and the like.
In FIG. 2A, the horizontal axis represents time, and the vertical axis represents the rotation angle of the crankshaft 7. Since the rotation angle of the crankshaft 7 is displaced from 0 to 360 degrees for each cycle of the press, in FIG. 2A, the same waveform is repeated for each cycle of the press.
In FIG. 2B, the horizontal axis represents time, and the vertical axis represents the commanded speed value output by the speed commanding unit 17. In this case, the command speed value is constant.
FIG. 2C shows the required torque fluctuation of the motor 1 when the press machine 10 is operated while rotating the motor 1 at a constant command speed. As shown in this figure, when the crankshaft 7 is rotated at the constant command speed shown in FIG. 2B by the motor 1, the required torque of the motor 1 is increased according to time by various mechanical elements coupled to the crankshaft 7. Fluctuates. That is, the actual motor torque of the press machine varies according to the rotation angle of the crankshaft 7.

As shown in FIG. 1, the press machine 10 according to the first embodiment further includes an angle sensor 25 such as a rotary encoder that detects a rotation angle of a main gear 29 coupled to one end of the crankshaft 7.
When the motor 1 is rotated at a constant command speed as shown in FIG. 2 (B), the control device 15 makes the required torque of the motor smaller than the motor torque reference value shown in FIG. 2 (C). At the rotation angle, control is performed to increase the rotation command speed of the motor 1 beyond the constant command speed in FIG. Thereby, rotational energy can be efficiently given to the rotating system, so that the maximum motor torque value can be effectively reduced. Therefore, since the maximum motor torque value can be reduced, the electric capacities of the motor 1 and the motor drive unit 21 can be reduced, and the motor 1 and the motor drive unit 21 can be reduced in size. Moreover, since rotational energy can be efficiently given to a rotating system, power consumption can also be reduced.
In the present specification and claims, the motor torque reference value is, for example, an average value over one cycle of the fluctuating required motor torque indicated by a solid line in FIG. 2C or an average value over a predetermined time of the required motor torque. However, the present invention is not limited to this, and is larger than the minimum value of the necessary motor torque indicated by the solid line in FIG. 2C and smaller than the maximum value of the necessary motor torque indicated by the solid line in FIG. It is a constant value.

  Further, the control device 15 sets the rotation command speed of the motor 1 at the constant rotation speed at the crankshaft 7 at which the required motor torque is larger than the motor torque reference value when the motor 1 is rotated at the constant command speed. Decrease from command speed. Thereby, the maximum motor torque value can be further reduced.

  Below, the press machine 10 which performs such control is demonstrated in detail.

  As shown in FIG. 1, the control device 15 of the press machine 10 according to the first embodiment includes a calculation unit 26 that outputs a speed adjustment value of the motor 1 according to an output value from the angle sensor 25, and a calculation unit 26. There is further provided a command adjusting unit 19 that increases or decreases the command speed value input from the speed command unit 17 by the input speed adjustment value. The command adjustment unit 19 outputs the command speed value adjusted in this way to the motor drive unit 21. In the example of FIG. 1, the speed adjustment value from the calculation unit 26 is input to the command adjustment unit 19 via the limiter.

The control device 15 further includes a correction device described later. The correction device includes a correction unit 27a (see FIG. 1) and a correction unit 27b.
In the following, for convenience, the case where the correction device is not used will be described first, and then the case where the correction device is incorporated in the control device 15 will be described.

  The angle sensor 25 detects the rotation angle of the main shaft 29 coupled to the crankshaft 7 to detect the rotation angle of the crankshaft 7 and continuously outputs a detection value.

  The calculation unit 26 functions as a speed adjustment function that calculates a speed adjustment value for increasing or decreasing the rotation command speed of the motor 1 in accordance with the input rotation angle value of the crankshaft 7.

FIG. 3 is a diagram showing the flow from the input to the function to the output.
When the value of the rotation angle is input from the angle sensor 25 to the arithmetic unit 26, that is, the speed adjustment function, first, based on this input, the fluctuation element of the necessary motor torque due to the reciprocating motion of the slide and the rotational motion of the crankshaft. The required motor torque variation factor is calculated by

1. Calculation of the necessary motor torque variation factor due to the reciprocating motion of the slide When the rotation angle value is input for the calculation of the necessary motor torque variation factor due to the reciprocating motion of the slide (indicated by S1 in FIG. 3), Convert to the position of the slide 11.
Based on the information on the slide position, a necessary motor torque fluctuation element due to the reciprocating motion of the slide is calculated.
This torque fluctuation element calculation is performed for each of the following elements (1) to (6).

(1) Slide friction Obtained as the product of the slide friction coefficient and the slide speed. In this case, since the slide speed changes according to the rotation angle of the crankshaft, the frictional force of the slide also changes according to the rotation angle of the crankshaft.
(2) Slide inertia Calculated as the product of slide weight and slide acceleration. In this case, since the acceleration of the slide changes according to the rotation angle of the crankshaft, the inertia of the slide also changes according to the rotation angle of the crankshaft.
(3) Cushion The force that the die cushion acts on the slide is determined from the set cushion force only while the die cushion is operating during pressing. Also in this case, the force that the die cushion acts on the slide changes according to the rotation angle of the crankshaft.
(4) Pressing force The press is modeled as a spring, and the generated pressing force is contracted with the spring constant only while the spring is contracted (that is, only while the upper mold and the lower mold are in contact). Calculated as the product of quantities. Also in this case, the press pressure changes according to the rotation angle of the crankshaft.
(5) Counter balancer In order to balance the weight of the slide 11 and the force acting on the slide 11 from the weight of the machine element connected to the slide 11, the counter balancer that biases the slide 11 upward or downward is a press machine. 10 may be provided.
The counter balancer is constituted by a pneumatic cylinder or the like, and the magnitude of the force that the counter balancer acts on the slide 11 varies depending on the position of the slide 11, that is, the rotation angle of the crankshaft 7.
(6) Other elements In addition to the above, if there are other elements that exert a force on the reciprocating slide 11, this is also considered.

  For the above (1) to (6), each force acting on the slide 11 is obtained in advance as a function of the rotation angle of the crankshaft.

  When the linear forces acting on the slide 11 according to the input rotation angle are obtained for the above (1) to (6), these linear forces are added as shown in FIG. Subsequently, the added linear force is converted into a necessary torque element of the motor. In FIG. 3, the correction gains indicated by the symbols a to f are multiplied by the outputs from (1) to (6). These correction gains are generated by the correction unit 27 b and will be described later.

2. Calculation of Fluctuation Factor of Required Motor Torque Due to Rotational Motion of Crankshaft On the other hand, calculation of a fluctuation factor of required motor torque due to rotary motion of the crankshaft is also performed (indicated by S2 in FIG. 3). In this calculation, a necessary motor torque element generated by converting the rotational motion into the reciprocating motion of the slide is obtained as a function of the rotation angle of the crankshaft. In the case of the present embodiment, a necessary motor torque fluctuation element generated due to the eccentricity of the crankshaft is obtained as a function of the rotation angle of the crankshaft.
This necessary motor torque fluctuation element is also obtained in advance as a function of the rotation angle of the crankshaft, and the value of the necessary motor torque element is calculated according to the rotation angle input by this function.

As described above, when the necessary motor torque element due to the reciprocating motion of the slide 11 and the necessary motor torque variation element due to the rotational motion of the crankshaft are calculated according to the input rotation angle, as shown in FIG. Is added to calculate the required motor torque.
FIG. 4A shows an example of the necessary motor torque. In this figure, the horizontal axis represents the rotation angle of the crankshaft, and the vertical axis represents the torque fluctuation ratio without having a unit.

Subsequently, the difference between the required motor torque that is the sum of the required motor torque element due to the reciprocating motion of the slide 11 and the required motor torque fluctuation element due to the rotational movement of the crankshaft and the motor torque reference value is calculated as a torque fluctuation value. .
FIG. 4B shows the torque fluctuation value thus extracted. In this figure, the horizontal axis represents the rotation angle of the crankshaft, and the vertical axis represents the torque fluctuation ratio without having a unit.

  Preferably, the horizontal axis is such that the value obtained by integrating the required motor torque represented by the function shown in FIG. 4A over the rotation angle of the crankshaft 7 over one cycle (0 to 360 degrees) is zero. The position (that is, the motor torque reference value) is determined as shown in FIG. Therefore, in this case, the position of the horizontal axis is determined so that the average value of the necessary motor torque over one rotation of the crankshaft 7 becomes zero.

  Next, the torque fluctuation value, which is the difference between the necessary motor torque and the motor torque reference value, is multiplied by a constant gain (magnification), and this is output as a speed adjustment value.

  As illustrated in FIG. 3, when the rotation angle of the crankshaft 7 is input to the calculation unit 26 according to the above-described procedure, the speed adjustment value is output from the calculation unit 26.

As described above, in the present invention, the required motor torque corresponding to the characteristics of the press machine 10 is calculated, and the speed adjustment value is calculated according to the required motor torque.
In the present embodiment, when the motor 1 is rotated at the constant command speed, the rotation command speed of the motor 1 is changed to the constant command speed at the rotation angle of the crankshaft 7 where the required motor torque is smaller than the motor torque reference value. The speed adjustment value is calculated so as to increase it.
Further, when the motor 1 is rotated at the constant command speed, the rotation command speed of the motor 1 is decreased from the constant command speed at the rotation angle of the crankshaft 7 where the required motor torque is larger than the motor torque reference value. The speed adjustment value is calculated so that

In the example of FIG. 3, when the rotation angle of the crankshaft 7 is input, the speed adjustment that becomes the magnitude of a value obtained by multiplying the torque fluctuation value at the input rotation angle by a certain gain shown in FIG. The speed adjustment function of the calculation unit 26 is created so that a value is output. It should be noted that when the motor 1 is rotated at the constant command speed, the output value of the speed adjustment function with respect to the rotation angle at which the required motor torque becomes smaller than the motor torque reference value is positive. On the other hand, when the motor 1 is rotated at the constant command speed, the output value of the speed adjustment function with respect to the rotation angle at which the required motor torque becomes larger than the motor torque reference value is negative. Further, by setting the gain to a constant positive value, the required motor torque shown in FIG. 2C or FIG. 4 is smaller or larger than the motor torque reference value, and the speed adjustment function at the rotation angle is increased. The absolute value of the output value increases.
The speed adjustment function described above can be configured by an electronic circuit incorporated in the calculation unit 26, for example.

  When the rotation angle of the crankshaft 7 detected by the angle sensor 25 is input, the calculation unit 26 functioning as a speed adjustment function applies the rotation angle to the speed adjustment function, and a speed adjustment value corresponding to the rotation angle. Is calculated. The speed adjustment value calculated by the calculation unit 26 is output to the command adjustment unit 19.

The command adjusting unit 19 adds the speed adjustment value from the calculation unit 26 to the constant command speed value from the speed command unit 17 and outputs a command speed value that is increased or decreased.
The command speed value is input to the motor drive unit 21, and the motor drive unit 21 adjusts the current supplied to the motor 1 so that the rotation speed of the motor 1 becomes the input command speed value. This adjustment can be performed using the speed sensor 23 as described above.

By the above-described control, the rotation command speed of the motor 1 is increased at the rotation angle of the crankshaft 7 where the required motor torque is smaller than the motor torque reference value in FIG. 2C, and the required motor torque in FIG. When the rotation angle of the crankshaft 7 is larger than the motor torque reference value, the rotation command speed of the motor 1 is decreased.
FIG. 5B shows the change over time of the commanded speed value adjusted in this way. FIG. 5C shows the motor torque fluctuation in this case. The broken line in FIG. 5B indicates the constant command speed value in FIG. 2B for comparison, and the broken line in FIG. 5C indicates the necessary motor in FIG. 2C for comparison. Torque fluctuation is shown. FIG. 5 (A) shows the change over time in the rotation angle of the crankshaft 7 corresponding to FIG. 2 (A).
By adjusting the speed as shown in FIG. 5 (B), rotational energy can be efficiently given to the rotating system, and as shown in FIG. 5 (C), the maximum motor torque value can be reduced, and the motor torque can be reduced. Variations can also be reduced.
Thus, since the maximum motor torque value can be reduced, the electric capacities of the motor and the motor drive unit can be reduced, and the motor and the motor drive unit can be reduced in size.
Moreover, since rotational energy can be efficiently given to a rotating system, power consumption can also be reduced.

  Preferably, the amount by which the rotation command speed of the motor is increased from the fixed command speed and the amount by which the rotation command speed of the motor is decreased from the fixed command speed by the speed adjustment function are the rotation angle of the crankshaft 7. The time integration values over one period (0 to 360 degrees) are equal. Therefore, since the time integration value over one cycle of the rotation angle is equal to the amount to increase the rotation command speed and the amount to decrease, the press operation time over one cycle of the rotation angle is rotated at a constant command speed. It is possible to match the press operation time over one cycle of the rotation angle, and it is not necessary to reduce the press production speed.

  In the first embodiment, a correction device having a correction unit 27 a and a correction unit 27 b is further incorporated in the control device 15. In the following, after describing the correction unit 27a, the correction unit 27b will be described.

The correction unit 27a performs correction to increase the absolute value of the speed adjustment value output from the calculation unit 26 as the press operation speed decreases or the press load energy increases.
As a result, when the press operation speed or the press load energy fluctuates, it is possible to save labor for obtaining the necessary motor torque in advance for each value of the press operation speed or the press load energy, and to reduce the press operation speed or the press load energy. Even when fluctuates, optimal control becomes possible, and motor power can be reduced under a wide range of operating conditions.
In FIG. 1, the correction unit 27a and the control device 15 are separate blocks, but the correction unit 27a and the control device 15 may be integrated into one block.

  The correction unit 27a will be described in detail.

  In the correction unit 27a, correction gains for various values of press operation speed or press load energy are set.

The correction gain is determined with respect to the press operation speed or the press load energy as shown in FIG.
In FIG. 6, the origin corresponds to the value of the press operation speed and the press load energy when the calculation unit 26 is set. That is, in FIG. 6, the press operation speed and the press load energy indicate relative values with respect to the press operation speed and the press load energy when the calculation unit 26 is set.

As shown in FIG. 6, the correction gain is determined so that the value increases when the press operation speed decreases or when the press load energy increases.
As described above, the gain table is set in the correction unit 27a as a function for outputting the correction gain for the two-dimensional variables of the press operation speed and the press load energy.

The speed adjustment value output from the calculation unit 26 based on the rotation angle of the crankshaft 7 is multiplied by the correction gain shown in FIG. The motor torque fluctuation can be kept small, and the power consumption of the motor can be kept low.
In addition, press machines often operate at a low speed at the start of operation, and gradually increase the speed while checking the panel production quality. The power consumption of the press facility can be kept low by the portion 27a.

  The load energy E of the press largely depends on the mold and the cushion set pressure, and basically needs to be set for each mold, but can be determined as follows.

(1) Approximate from the cushion set value When the cushion force F [N] is obtained from the cushion set pressure and the cushion push-in amount is L [m], the work W the press performs on the cushion is
W [J] = F x L
It is obtained by. Assuming that W is approximately equal to the press load energy E, it is treated as an approximate value.
E ≒ W

(2) Measurement by performing one-cycle operation during die try Die trie is a test operation after installing the press machine or after changing the die. By die-trying, the workpiece (panel) and workpiece (die) are mainly put in and trial molding is performed, and the press machine is finely adjusted while the operator determines the moldability. The press load energy can be obtained by performing a one-cycle operation during such a die try. Specifically, during die-try, the kinetic energy of the press movement mechanism driven by the motor 1 changes in the amount that the kinetic energy changes in one reciprocating period of the slide (the amount of decrease), and the motor 1 moves in one reciprocating period of the slide. The sum of energy values given to the press motion mechanism is obtained as press load energy. In the example shown in FIG. 1, the press motion mechanism is the pulley 3, the transmission belt 5, the flywheel 6, the gear, the main gear 29, the crankshaft 7, the connecting member 12, in the order in which the driving force is transmitted from the motor 1. Includes slide 11.

  One example will be specifically described. The press load energy is obtained by measuring the motor rotation speed and the motor torque at the time of die-try before continuous production. Here, the press load energy is obtained by approximating the press motion mechanism as a flywheel.

When the clutch is engaged at the top dead center of the slide, the motor is operated for one cycle, and the motor rotation speed n [rad / s] and the motor torque τ [until the slide reaches the bottom dead center until the next top dead center is reached. Nm] is measured in time series. Assuming that the motor speed immediately after the clutch is connected is n _s , the motor speed immediately before reaching the next top dead center (disengaging the clutch) is n _f , and the inertia of the flywheel 6 in terms of the motor shaft is I, the press load The energy E is obtained by the following [Equation 1].

However, the integral interval [t _s, t _f] is immediately after connecting the clutch, the time just before disconnecting the clutch.
In the above equation, the first term is the difference between the kinetic energy of the flywheel 6 immediately after the start of operation and the kinetic energy of the flywheel 6 immediately after the end of operation, and the second term is the difference between the motor and the flywheel 6 during one cycle. It is the supplied energy. That is, the amount of decrease in kinetic energy at the end of one cycle and the total value of the supplied energy are the press load energy consumed in one cycle.
To exclude the influence of the energy loss during the clutch connection, t _s after the clutch connection, it is necessary to start the measurement after the elapse of about 0.5 second.
In [Equation 1], the inertia I is approximated as the inertia of the flywheel 6. However, the inertia considering the entire press motion mechanism may be used as the inertia I of [Equation 1]. For example, the inertia included in the press movement mechanism in consideration of the pulley 3, the transmission belt 5, the flywheel 6, the gear, the main gear 29, the crankshaft 7, the connecting member 12, and the slide 11 may be used as the inertia I of [Equation 1]. Good.

  The control device 15 includes a measurement calculation device that obtains press load energy by performing one-cycle operation during die try. As shown in FIG. 7, the measurement / calculation device 30 includes a first measurement unit 31 that measures the amount by which the kinetic energy of the press movement mechanism of the press machine 10 changes in one reciprocation period of the slide 11, and in one reciprocation period. The second measuring unit 32 that measures the energy value given to the press movement mechanism by the motor 1, the amount that the kinetic energy changes measured by the first measuring unit 31, and the energy value that is measured by the second measuring unit 32 And a calculation unit 33 for calculating the press load energy.

The first measurement unit 31 includes an angular velocity sensor 23, data latches 31a and 31b, and a calculator 31c. Data latch 31a receives the speed value n _s from the angular velocity sensor 23 is operated to undergo clutch connection command signal outputted from the clutch control unit, and outputs this speed value n _s. In order to obtain stable speed value n _s, a data latch 31a is subjected to a clutch connection command signal may be configured to operate immediately after the engagement of the clutch 9 has been completed. The data latch 31b operates when receiving a clutch disconnection command signal from the clutch control unit (this signal indicates the end of the one reciprocating motion of the slide 11) via the inverter, and the speed value n from the angular velocity sensor 23 is activated. _In response to _f , this speed value n _{f is} output. In order to obtain a stable speed value n _f , the data latch 31 b can receive the speed value n _f from the angular speed sensor 23 immediately before the clutch 9 starts to be disconnected and output this speed value n _f. Thus, the speed value n _f received from the angular velocity sensor 23 and stored immediately before receiving the clutch disengagement command signal may be output. The computing unit 31c receives the speed value n _s and the speed value n _f from the data latches 31a and 31b, squares them, and subtracts n _f ² from n _s ² to obtain the inertia I and 1/2 And the value of the first item of [Equation 1] is output.
The second measuring unit 32 includes a torque detector (not shown) incorporated in the motor driving unit 21, an angular velocity sensor 23, a multiplier 32a, and an integrator 32b. The torque detector measures the torque value τ of the motor 1 and outputs it. The angular velocity sensor 23 measures the velocity value n and outputs it. The multiplier 32a receives the torque value τ from the torque detector and the speed value n from the angular velocity sensor 23, multiplies them, and outputs a value n · τ. The integrator 32b receives the value n · τ from the multiplier 32a, calculates the value of the second item of [Equation 1] based on the input value n · τ, and outputs it.
The calculation unit 33 adds the value input from the calculator 31c and the value input from the integrator 32b, and outputs the value of [Equation 1] as the press load energy value.

Further, as described above, the value of the correction gain by the correction unit 27a is determined by the press speed and the press load energy, which are input values to the correction unit 27a.
The input of the press operation speed and press load energy shown in FIG. 6 to the correction unit 27a may be automatic input or input by an operator.
In the case of automatic input, an average value calculation unit that averages the rotation speed value from the angular velocity sensor 23 or the command adjustment unit 19 over one reciprocation period of the slide and inputs this average value to the correction unit 27a as the press operation speed. May be provided. In this case, an input unit that receives the average value from the average value calculation unit may be provided in the correction unit 27a. The output of the press load energy measuring device described above may be input to the correction unit 27a. In this case, an input unit that receives the press load energy output from the measurement device of FIG. 7 may be provided in the correction unit 27a. In this way, the press operation speed and the press load energy may be automatically input to the correction unit 27a. In addition, you may comprise the input part which receives the press operation speed or press load energy calculated or measured by the other suitable means by another suitable means.
In the case of input by the operator, the press operating speed and press load energy may be input to the correction unit 27a by the operator operating a predetermined operation button. In this case, the operation button constitutes an input unit to the correction unit 27a. However, the operation button is another appropriate one, and an input unit that inputs the press operation speed or the press load energy to the correction unit 27a when operated by the operator. It may be configured.

On the other hand, as indicated by reference signs a to f in FIG. 3, the correction unit 27 b includes a gain multiplication unit that multiplies the linear force value output from “(1) sliding friction” by the correction gain, and “(2) A gain multiplier that multiplies the linear force value output from “sliding inertia” by the correction gain; a gain multiplier that multiplies the linear force value output from “(3) cushion” by the correction gain; (4) A gain multiplier that multiplies the linear force value output from the “press pressurizing” force by the correction gain, and a linear gain value output from “(5) counter balancer” by the correction gain. A gain multiplication unit, and a gain multiplication unit that multiplies the linear force value output from “(6) Other elements” by the correction gain. The correction gains by these gain multipliers can be set independently of each other. The method of setting the correction gain of each gain multiplication unit may be the same as the correction gain of the correction unit 27a. That is, from the values of the press operation speed and the press load energy when the calculation unit 26 is set, the correction of each gain multiplication unit is performed so that the value increases as the press operation energy decreases and the press load energy increases. Determine the gain. Each gain multiplication unit is provided with an input unit for inputting a press operation speed and press load energy. This input unit may have the same configuration as the input unit of the correction unit 27a.
By providing the correction unit 27b, the correction gain can be set for each of the elements (1) to (6) in FIG. 3, so that it is possible to realize a more optimal reduction in power consumption.

[Second Embodiment]
FIG. 8 is a configuration diagram of a press machine 10 ′ according to the second embodiment of the present invention. The press machine 10 ′ of the second embodiment is configured such that the value of the command torque is input from the motor drive unit 21 to the calculation unit 26, and the configuration of the calculation unit 26 is different from that of the first embodiment. The other configuration of the press machine 10 ′ of the second embodiment is the same as that of the first embodiment.

  Similarly to the above, the motor drive unit 21 receives a command speed value directly from the speed command unit 17 or via the command adjustment unit 19 and supplies a current having a value corresponding to the command speed value to the motor 1. At this time, the value of the actual speed of the motor 1 is input from the speed sensor 23 to the motor drive unit 21, and the current value to the motor 1 is set so that the actual speed of the motor 1 becomes the commanded speed value accordingly. Is feedback controlled.

FIG. 9 shows a configuration of the calculation unit 26 according to the second embodiment.
According to the second embodiment, a constant command speed value is input to the motor drive unit 21 from the speed command unit 17 without going through the command adjustment unit 19, and the press machine 10 ′ is tested. In this test run, the workpiece is actually pressed. The test run may be carried out over one cycle or several cycles at the beginning of the press production operation.
At the time of this trial operation, the command torque value is input from the motor drive unit 21 to the calculation unit 26, and the rotation angle of the crankshaft 7 is input from the angle sensor 25.
The command torque value input from the motor drive unit 21 to the calculation unit 26 is a necessary motor torque value corresponding to the current value supplied to the motor 1 by the motor drive unit 21 and is a value proportional to the current value. It may be calculated from the value of the current supplied to the motor 1.
By the trial operation of the press machine 10 ′, the relationship between the rotation angle of the crankshaft 7 and the command torque value is obtained and created as a table. Thereby, the command torque value with respect to each rotation angle of the crankshaft 7 can be obtained by referring to the created table.

The table creation in the case of the operation method in which the press is stopped and stopped at each top dead center will be described.
In this operation method, the operation is repeated from the state in which the slide 11 is stopped at the top dead center until it returns to the top dead center and stops again, and this operation is repeated. In this case, since the clutch 9 is turned on / off for each cycle, the influence of the clutch 9 for each cycle is the same, and the command torque value for each cycle is the same.
Therefore, the relationship between the rotation angle of the crankshaft 7 and the command torque value can be obtained over an arbitrary cycle and can be created as a table, or the data regarding the relationship obtained over several cycles can be obtained for each angle. On average, the data for one cycle may be created as a table.

The table creation in the case of an operation method in which the press is continuously operated without stopping at the top dead center will be described.
In this operation method, after the operation is started, the slide 11 is continuously operated without stopping at the top dead center, and the slide 11 is not stopped at the top dead center every cycle. In this case, since the clutch 9 is not disengaged after the clutch 9 is engaged at the start of operation, the command torque value differs between the first one period and the subsequent period.
Accordingly, data of several cycles (for example, n cycles) until the command torque value is stabilized is obtained by trial operation, and the above table representing the command torque fluctuation over these several cycles is created. The data of each period in this table is applied to the corresponding period in actual operation. And the data of the last period (nth period) of this table are repeatedly applied to the period after the nth period in actual operation.
Alternatively, the press may be trial run until the command torque value is stabilized, and after the command torque value is stabilized, data for one cycle may be obtained to create a table. The data of this table representing the above relationship at the time of stability may be repeatedly applied to each period from the start in actual operation.

As described above, when the table is created by the trial operation of the press machine 10 ′, the table is stored in the calculation unit 26, and the actual operation of the press machine 10 ′ is performed as follows.
During operation, when the rotation angle of the crankshaft 7 is input from the angle sensor 25 to the calculation unit 26, the calculation unit 26 applies the input rotation angle to the table, and the necessary motor corresponding to the input rotation angle. Calculate the torque value.
Subsequently, as in the case of the first embodiment, the calculation unit 26 calculates the difference between the necessary motor torque and the motor torque reference value, and then multiplies the difference by a certain gain and multiplies this difference. Is output as a speed adjustment value. Since the subsequent operation is the same as that of the first embodiment, the description thereof is omitted. In the actual operation of the press machine 10 ′, the command torque value does not have to be input from the motor drive unit 21 to the calculation unit 26.

  In the second embodiment, the required motor torque can be determined simply by applying the detected rotation angle to the table obtained by the trial operation, and the motor rotation command speed is adjusted with a simple configuration and processing. be able to.

  In the case of the second embodiment, even if the press operation speed or the press load energy fluctuates, the correction for the fluctuation is performed by the correction unit 27 described above, so it is necessary to perform a trial run again to determine the necessary motor torque. Disappears. For example, a press machine often operates at a low speed at the start of operation and gradually increases the speed while checking the production quality of the panel. The correction unit 27 can cope with fluctuations in the press operation speed while continuing the press operation without performing the test operation.

[Third Embodiment]
FIG. 10 is a configuration diagram of a press machine 10 ″ according to a third embodiment of the present invention. In the third embodiment, an integrator 34 is used instead of the angle sensor 25 of FIG. 1 described in the first embodiment or the second embodiment. Other configurations are the same as those of the press machine 10 of the first embodiment, and FIG. 10 shows a configuration corresponding to the first embodiment, but in the case of a configuration corresponding to the second embodiment. The command torque is input from the motor drive unit 21 to the calculation unit 26 during the trial operation.

As shown in FIG. 10, the adjusted command speed value from the command adjusting unit 19 is input to the integrator 34, and the integrator 34 integrates the input command speed value with time.
If the command speed value is integrated over time from the start of motor driving, the current rotation angle of the motor 1 can be obtained.

  Thus, the current value of the rotation angle of the motor 1 obtained by the integrator 34 is input to the calculation unit 26. As in the first embodiment, the calculation unit 26 outputs a speed adjustment value based on the rotation angle value input from the integrator 34. Other configurations and operations are the same as those in the first embodiment.

According to the third embodiment, the rotation angle of the motor 1 is obtained by integrating the command speed value with the integrator 34 over time without providing the angle sensor 25 for detecting the rotation angle of the main gear 29 as in the first embodiment. Can be detected.
Therefore, since the angle sensor 25 can be omitted, the configuration is simplified.

[Fourth Embodiment]
In 1st Embodiment or 2nd Embodiment, although the calculating part 26 output the speed adjustment value added to the command speed value from the speed command part 17, in 4th Embodiment, the calculating part 26 is The adjustment gain value (magnification) multiplied by the command speed value from the speed command unit 19 is output.

  The command adjustment unit 19 outputs a command speed value adjusted by multiplying the command speed value input from the speed command unit 17 by the adjustment gain input from the calculation unit 26 via the correction unit 27.

When the adjustment gain calculated by the calculation unit 26 is multiplied by the command speed value from the speed command unit 17, the adjusted command speed is the same as that in the first embodiment or the second embodiment shown in FIG. It can be determined that a value is obtained.
That is, the adjustment gain calculated by the calculation unit 26 changes depending on the value of the rotation angle input to the calculation unit 26, and the value of the necessary motor torque shown in FIG. The larger the motor torque value is, the smaller the value is. The smaller the required motor torque value shown in FIG. 2C at the input rotation angle is, the larger the value is.

[Other Embodiments]
The angle sensor 25 is configured by the angle sensor 25 that detects the rotation speed of the main gear 29 and the integrator 34 that integrates the command speed value input to the motor drive unit 21 over time, but is configured by other appropriate means. You can also For example, the angle detection device may be configured by an angular velocity detection device or a device that detects the position or velocity of the slide 11.

In the calculation unit 26 of the first embodiment or the second embodiment, a portion that calculates the necessary motor torque based on the input rotation angle of the crankshaft 7 constitutes a torque determination device. Further, in the calculation unit 26 and the command adjustment unit 19 of the first embodiment or the second embodiment, the part that calculates the adjusted command speed value based on the calculated required motor torque constitutes the speed adjustment device. .
However, the torque determination device is not limited to the configuration of the above-described embodiment, and may be any device that determines the necessary motor torque according to the characteristics of the press machine based on the input rotation angle value. What is necessary is just to be comprised by appropriate means, such as an electronic circuit, so that it may be implement | achieved.
Further, the speed adjusting device is not limited to the configuration of the above-described embodiment, and at the rotation angle of the rotating body (for example, the crankshaft 7) in which the necessary motor torque is smaller than a predetermined motor torque reference value, Increase the rotation command speed above the constant command speed, or decrease the motor rotation command speed below the constant command speed at the rotation angle of the rotating body where the required motor torque is greater than the predetermined motor torque reference value. It is only necessary to be configured by an appropriate means such as an electronic circuit so as to realize this function.

  In the above embodiment, the correction unit 27a multiplies the output from the calculation unit 26 by the correction gain. However, the correction unit 27a calculates the correction value so that the same effect as the correction unit 27a of the above embodiment can be obtained. It may be changed so as to be added to the output from the unit 26. Similarly, the configuration of the correction unit 27b is changed to add the correction value to the output values from (1) to (6) of FIG. 3 so that the same effect as the correction unit 27b of the above embodiment can be obtained. May be. In addition, you may comprise a correction apparatus by either one of the correction | amendment part 27a and the correction | amendment part 27b.

  In the above description, in order to match the operation time per one cycle of crankshaft rotation, the amount by which the motor rotation command speed is increased from the constant command speed, and the amount by which the motor rotation command speed is decreased from the constant command speed, The time integration values over one period (0 to 360 degrees) of the rotation angle of the crankshaft 7 were made equal. However, the command speed value may be adjusted so that these time integrals over an appropriate predetermined time (for example, 1 minute) are equal depending on various conditions and situations.

  The crankshaft 7 described above is a rotating body, and the crankshaft 7 and the connecting member 12 connected thereto constitute a conversion mechanism that converts the rotational motion of the motor 1 into the reciprocating motion of the slide 11. The conversion mechanism may be configured by a cam that is rotationally driven by 1 or other appropriate member.

  In the above-described embodiment, the press machines 10, 10 ′, 10 ″ using the flywheel have been described. However, the present invention can also be applied to a press machine that is operated by a servo motor without using the flywheel.

  As described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

It is a figure which shows the structure of the press machine by 1st Embodiment of this invention. It is a figure which shows the rotation angle of a crankshaft with respect to time, command speed value, and required motor torque fluctuation | variation at the time of rotating a motor at constant speed. It is a figure which shows the flow of a process of the calculating part by 1st Embodiment of this invention. It is a figure which shows the required motor torque fluctuation | variation over 1 period of crankshaft rotation. It is a figure which shows the rotation speed of a crankshaft, the commanded speed value and torque fluctuation which were adjusted when speed adjustment was carried out. The correction gain for the two variables of the press operation speed and the press load energy is shown. It is a figure which shows the structural example which measures press load energy. It is a figure which shows the structure of the press machine by 2nd Embodiment of this invention. It is a figure which shows the flow of a process of the calculating part by 2nd Embodiment of this invention. It is a figure which shows the structure of the press machine by 3rd Embodiment of this invention. It is a figure which shows the structure of the conventional press machine using a flywheel.

Explanation of symbols

1 Motor 3 Pulley 5 Transmission Belt 6 Flywheel 7 Crankshaft (Eccentric Rotor)
9 Clutch 10, 10 'Press machine 11 Slide
12 connecting member 15 control device 17 speed command unit 19 command adjusting unit
21 motor drive unit 23 angular velocity sensor 25 angle sensor (angle detection device)
26 Calculation unit 27a Correction unit (correction device)
27b Correction unit (correction device)
29 main gear 30 measurement calculation device 31 first measurement unit 31a, 31b data latch 31c calculator 32 second measurement unit 32a multiplier 32b integrator 33 calculation unit 34 integrator (angle detection device)

Claims (8)

A motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotary motion into a reciprocating motion; and a slide that is connected to the conversion mechanism and reciprocates. A control device for a press machine in which the actual motor torque varies according to the rotation angle of the rotating body when rotated at
An angle detection device for detecting a rotation angle of the rotating body;
A torque determination device that determines a required motor torque according to the characteristics of the press machine, based on the value of the rotation angle input from the angle detection device;
A speed adjusting device that increases the rotation command speed of the motor beyond the constant command speed at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value;
And a correction device that corrects the amount by which the speed adjusting device increases the rotation command speed according to a change in press operation speed or press load energy,
The rotation command speed reflecting both the amount by which the speed adjustment device increases the rotation command speed and the amount by which the correction device corrects the increase by the rotation command speed so as to reduce the maximum power consumption of the motor, A control device for a press machine, wherein the motor is driven to rotate. A motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotary motion into a reciprocating motion; and a slide that is connected to the conversion mechanism and reciprocates. A control device for a press machine in which the actual motor torque varies according to the rotation angle of the rotating body when rotated at
An angle detection device for detecting a rotation angle of the rotating body;
A torque determination device that determines a required motor torque according to the characteristics of the press machine, based on the value of the rotation angle input from the angle detection device;
A speed adjusting device that reduces the rotation command speed of the motor below the constant command speed at a rotation angle of the rotating body at which the required motor torque is greater than a predetermined motor torque reference value;
And a correction device that corrects the amount by which the speed adjusting device decreases the rotation command speed according to a change in press operation speed or press load energy,
The rotation command speed in which both the amount by which the speed adjusting device decreases the rotation command speed and the amount by which the correction device corrects the decrease are reflected so as to reduce the maximum power consumption of the motor, A control device for a press machine, wherein the motor is driven to rotate.   The correction device corrects the speed adjustment device to increase the amount by which the rotation command speed is increased or decreased as the press operation speed is smaller or as the press load energy is larger. Or the control apparatus of the press machine of 2.   The control device for a press machine according to any one of claims 1 to 3, wherein the correction device includes an input unit to which a value of a press operation speed or press load energy is input. A measurement / calculation device for obtaining the press load energy;
The measurement calculation device
A first measurement unit that measures an amount by which the kinetic energy of the press movement mechanism driven by the motor changes in one reciprocation period of the slide;
A second measuring unit for measuring an energy value given to the press movement mechanism by the motor in the one reciprocating period;
A calculation unit that calculates the press load energy based on the amount of change in the kinetic energy measured by the first measurement unit and the energy value measured by the second measurement unit;
The control device for a press machine according to any one of claims 1 to 4, wherein the correction device corrects an amount by which the rotation command speed is increased or decreased by using the press load energy.   A press machine having the control device according to claim 1. A motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and that converts the rotational motion into a reciprocating motion; and a slide that is connected to the converting mechanism and reciprocates; A control method of a press machine in which the actual motor torque varies according to the rotation angle of the rotating body when rotated at
Detecting a rotation angle of the rotating body;
Determining a required motor torque according to the characteristics of the press machine based on the detected rotation angle value;
Increasing the rotation command speed of the motor beyond the constant command speed at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value;
Correcting the amount by which the rotation command speed is increased in accordance with a change in press operation speed or press load energy;
Rotationally driving the motor at a rotation command speed that reflects both the amount by which the rotation command speed is increased and the amount by which the increase is corrected so as to reduce the maximum power consumption of the motor; A control method for a press machine, comprising: A motor, a conversion mechanism that has a rotating body that is rotationally driven by the motor, and converts the rotary motion into a reciprocating motion; and a slide that is connected to the conversion mechanism and reciprocates. A control method of a press machine in which the actual motor torque varies according to the rotation angle of the rotating body when rotated at
Creating a relationship between the required motor torque value according to the characteristics of the press machine and the value of the rotation angle of the crankshaft obtained from the current supplied to the motor by performing a trial operation of the press machine;
Detecting a rotation angle of the rotating body;
Determining a required motor torque corresponding to the rotation angle value based on the detected rotation angle value and the relationship;
Increasing the rotation command speed of the motor beyond the constant command speed at the rotation angle of the rotating body where the required motor torque is smaller than a predetermined motor torque reference value;
Correcting the amount by which the rotation command speed is increased in accordance with a change in press operation speed or press load energy;
Rotationally driving the motor at a rotation command speed that reflects both the amount by which the rotation command speed is increased and the amount by which the increase is corrected so as to reduce the maximum power consumption of the motor; A control method for a press machine, comprising:

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