WO2008053678A1 - Servomotor-driven tandem press line - Google Patents

Servomotor-driven tandem press line Download PDF

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Publication number
WO2008053678A1
WO2008053678A1 PCT/JP2007/069835 JP2007069835W WO2008053678A1 WO 2008053678 A1 WO2008053678 A1 WO 2008053678A1 JP 2007069835 W JP2007069835 W JP 2007069835W WO 2008053678 A1 WO2008053678 A1 WO 2008053678A1
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WO
WIPO (PCT)
Prior art keywords
press
servo motor
link
drive
speed
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Application number
PCT/JP2007/069835
Other languages
French (fr)
Japanese (ja)
Inventor
Yuji Utsumi
Shusaku Yamasaki
Original Assignee
Ihi Corporation
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Publication date
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Publication of WO2008053678A1 publication Critical patent/WO2008053678A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
    • B30B1/26—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks
    • B30B1/268—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks using a toggle connection between driveshaft and press ram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
    • B30B1/26—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks
    • B30B1/266—Drive systems for the cam, eccentric or crank axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/14—Control arrangements for mechanically-driven presses
    • B30B15/146—Control arrangements for mechanically-driven presses for synchronising a line of presses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
    • B30B15/14—Control arrangements for mechanically-driven presses
    • B30B15/148—Electrical control arrangements

Definitions

  • the present invention relates to a tandem press line that includes a plurality of pressing devices, and sequentially conveys and presses a workpiece.
  • a tandem press line force that consists of multiple mechanical presses and that sequentially presses workpieces (workpieces) by means of a conveyor such as a loader / unloader or industrial robot.
  • the conventional tandem press line has a problem that the start / stop accuracy is low because the mechanical press constituting the tandem press line is operated by on / off control of the clutch and brake.
  • Patent Documents 1 to 3 have already been proposed as tandem press lines composed of a plurality of press devices.
  • Patent Document 4 is disclosed as a link press related to the present invention.
  • Patent Document 1 discloses a press line that is composed of several mechanical presses and a servo-controlled conveyance device, and that performs line operation by electrically controlling the phase difference between intermittently operated presses.
  • the control method of Patent Document 1 is intended to prevent the load fluctuation generated in one press machine from affecting other press machines as a disturbance when operating multiple press machines synchronously with a phase difference.
  • the process performed for each of the press machines includes the step of detecting the actual speed information of the motor and the drive shaft.
  • the step performed by the press machine in which the phase difference is set includes a step of phase shifting the reference rotational position information by the phase difference, and the phase shift is performed in the comparison step. The rotational position information is compared with the actual rotational position information.
  • Patent Document 2 discloses a press line that is composed of several mechanical presses and a servo-controlled transport device, and that performs line operation by electrically controlling the phase difference between continuously operated presses.
  • the rotation speed of the main motor of the second press is controlled so that the angle difference between the press angle of the first press and the press angle of the second press is constant.
  • the phase difference between the first press slide operation and the second press slide operation is changed by changing the rotation speed of the main motor of the second press by an amount corresponding to the angle difference. Is kept constant.
  • Patent Document 3 discloses a press line in which the top is a mechanical press and the rest is an eccentric drive servo press.
  • the device of Patent Document 3 is intended to generate a sufficient press load not only when the slide is positioned at the bottom dead center but also in all areas of the required press stroke.
  • the machine is provided with a plurality of eccentric mechanisms arranged in parallel so as to cut off the mechanical connection between each other and moving the slide up and down, and a plurality of servo motors individually driving each eccentric mechanism.
  • Each eccentric mechanism includes a large gear fixed to the main shaft, a small gear fixed to the rotation shaft of the corresponding servo motor, and a detector that detects the rotation angle and / or speed of each servo motor. And control means for controlling the corresponding servo motor based on the detection signal of each detector.
  • the servo motor-driven link press of Patent Document 4 is capable of processing with a high press load and improving processing cycle time even with a relatively small output motor, and has excellent controllability.
  • a link mechanism 51 that converts rotational motion into linear motion, and the linear motion that is lifted for press working.
  • a drive transmission system 54 that transmits drive from the servo motor 53 to the crankshaft 52 of the link mechanism 51.
  • the drive transmission system 54 is configured to move the ram 56 up and down by controlling the rotation of the servo motor 53. It is assumed that the drive can be transmitted in a controllable manner.
  • servo motor control means 57 for controlling the servo motor 53 so as to stop the ram 56 at an arbitrary position within the range of the up and down stroke is provided.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2001-300793, “Synchronous Drive Control Method of Press Machine and Press Machine Used In It”
  • Patent Document 2 Japanese Patent Application Laid-Open No. 2005-52855, “Continuous Operation Control Device for Machine Driven Tandem Press Line”
  • Patent Document 3 Japanese Patent Laid-Open No. 2005-271070, “Press Machine and Press Line”
  • Patent Document 4 Japanese Patent Laid-Open No. 2003-320489, “Servo Motor Driven Link Press” [0010] Press disclosed in Patent Document 1
  • the line speed cannot be improved because the press speed cannot be increased while the molding speed is kept low.
  • the press line disclosed in Patent Document 3 is an excen-driven servo press and is not practical for drawing.
  • the reason for this is that, firstly, the pressurization capacity in the drawing area (about 300 mm above the bottom dead center) is lower than in the vicinity of the bottom dead center, and secondly, it causes molding defects where the slide speed is high in the drawing area. It is in.
  • the servo motor capacity is greatly increased to increase the pressurization capacity, and throttling is performed by rapid acceleration / deceleration.
  • the molding speed must be suppressed. It is uneconomical to use a large-capacity motor and to have a structure that can withstand rapid acceleration and deceleration.
  • the present invention has been devised to solve the above problems. That is, the object of the present invention is to press the single press while maintaining a low molding speed near the bottom dead center while the slide speed is sufficiently slow in the drawing area where the pressurizing capacity in the drawing area near the bottom dead center is high. The speed can be increased, thereby shortening the press tact time and speeding up the press line, further reducing the motor load, reducing the overall motor capacity, and leveling the power consumption of the entire line. Another object of the present invention is to provide a servo motor driven tandem press line that can keep the power receiving capacity of the entire line small.
  • a plurality of servo motor-driven mechanical presses arranged to sequentially press the workpiece
  • a servo motor driven tandem press line comprising: a plurality of conveying devices that sequentially carry in and / or unload workpieces to the mechanical press; and an integrated control device that controls the mechanical press and the conveying device in an integrated manner.
  • the link press is a four-bar link press including two sets of four-bar link drive mechanisms that operate in synchronization with each other.
  • the four-bar link drive mechanism comprises an eccentric disk, a swing plate, a restriction link, and a drive link.
  • the eccentric disk is a circular disk that is orthogonal to the output shaft of the servo motor drive device and eccentric with respect to the output shaft.
  • the oscillating plate has a circular hole that fits on the outer periphery of the eccentric disc, and oscillates in the vertical plane while sliding between them.
  • the restriction link is rotatably attached at one end to the swing plate and the other end to the fixed part of the press so as to restrict the swing of the swing plate.
  • the drive link is rotatably attached at one end to a position away from the restricting link attachment position of the swing plate and at the other end to the upper end of the plunger that moves up and down.
  • the servo motor drive device is controlled by the integrated control device
  • a mechanical press other than the link press includes an eccentric drive mechanism or a crank drive mechanism.
  • the integrated control device performs overall control for shifting the descending timings of a plurality of mechanical presses.
  • the plurality of transport devices are servo-type transport devices.
  • the said integrated control apparatus performs the time difference control between presses.
  • this link press increases the pressurization capacity in the draw forming area near the bottom dead center, allows the slide speed to be sufficiently slow in the draw forming area, and keeps the press speed in the vicinity of the bottom dead center low.
  • the single speed can be increased.
  • the press is provided with a simple and inexpensive ecsen drive mechanism or crank drive mechanism.
  • This press is suitable for stamping and edge cutting without the need for pressurizing capacity and low forming speed, and is inexpensive and economical due to its simple mechanism.
  • the link drive mechanism is used in the case of drawing processing that requires a pressurizing capacity and a low forming speed, and it is required in the case of punching and edge cutting that do not require a pressurizing capacity and a low forming speed.
  • An economical press line can be realized by using the SenDrive mechanism!
  • the press tact time can be shortened without changing the molding speed, and the press line can be speeded up.
  • the peak power consumption of the servo press (during molding: the latter half of the slide descent process) is shifted, and the entire line is The ability to level out the power consumption and reduce the power receiving capacity of the entire line.
  • the entire tandem press line becomes a full servo line that can be servo-controlled, so interference control is further prevented by synchronously controlling each machine press and transfer device.
  • the margin can be reduced and the speed can be further increased.
  • the integrated control device Since the servo press can obtain the planned speed even during the forming process, the integrated control device performs the time difference control between the presses, thereby realizing the operation with no error as planned. Therefore, there is no need for margins for error correction on the transport device side, and the line speed can be increased.
  • FIG. 1 is a schematic diagram of a servo motor driven link press disclosed in Patent Document 4.
  • FIG. 2 is an overall configuration diagram of a servo motor driven tandem press line according to the present invention.
  • FIG. 3 is a partial configuration diagram of the link press in FIG.
  • FIG. 4A is an operation explanatory diagram of the link press of FIG. 3, and shows the first half of the slide lowering process.
  • FIG. 4B is an operation explanatory diagram of the link press of FIG. 3, and shows the latter half of the slide lowering process.
  • FIG. 4C is an operation explanatory diagram of the link press of FIG. 3 and shows immediately after passing through the bottom dead center.
  • FIG. 5A is an explanatory diagram of the characteristics of a link press.
  • FIG. 5B is an explanatory diagram of the characteristics of the link press, showing the relationship between the distance from the bottom dead center, the descending speed, and the ascending speed.
  • FIG. 5C is an explanatory diagram of link press characteristics, showing the relationship between the distance from the bottom dead center and the rolling force.
  • FIG. 2 is an overall configuration diagram of the servo motor driven tandem press line of the present invention.
  • the servo motor driven tandem press line 10 of the present invention includes a plurality of servo motor driven mechanical presses 12, a plurality of conveying devices 14, and an integrated control device 16.
  • the servo motor-driven mechanical press 12 includes four mechanical presses 12A, 12B, 12C, and 12D.
  • the plurality of servo motor driven mechanical presses 12 (12A, 12B, 12C, 12D) are arranged so as to sequentially press a workpiece (a workpiece, for example, a thin plate such as a door panel). This arrangement is preferably arranged in series in the horizontal direction.
  • At least one of the plurality of servo motor-driven mechanical presses 12 is a link press for drawing.
  • the link press is not limited to the most upstream position, and may be at other positions. Also, the number is not limited to one and may be two or more.
  • the link press (in this example, the mechanical press 12A) is preferably a four-bar link press having two sets of four-bar link drive mechanisms that operate in synchronization with each other.
  • the mechanical presses 12B, 12C, 12D other than the link press are provided with an excen- sive drive mechanism. That is, the mechanical presses 12B, 12C, and 12D other than the link press have a servo motor as a power source, a main gear that drives the eccentric drive mechanism, and a servo motor. And a power transmission mechanism for connecting the motor and the main gear with an appropriate reduction ratio.
  • the present invention is not limited to this configuration, and a crank drive mechanism, a toggle drive mechanism, or a knuckle drive mechanism may be used instead of the eccentric drive mechanism.
  • the transport device 14 has a function of sequentially loading and / or unloading workpieces to and from each mechanical press 12.
  • the transport device 14 also has five transport devices 14A, 14B, 14C, 14D, and 14E.
  • the most upstream conveying device 14A carries the work into the machine press 12A at the most upstream position
  • the most downstream conveying device 14E carries out the work from the machine press 12D at the most downstream position.
  • the other intermediate transfer devices 14B, 14C, and 14D are configured to unload the work from the upstream machine press and load the work to the downstream machine press.
  • An idle station is set up between two adjacent mechanical presses, and two transfer devices are installed before and after that.
  • the transfer device 14 is a servo-type transfer device that is driven by servo control and specializes in transfer between presses. It can transfer between processes without an idle station and follows the press. It is a high-speed transfer device that can operate.
  • the present invention is not limited to this.
  • a servo loader / unloader a servo shuttle conveyor, or an industrial robot can be used.
  • the integrated control device 16 is, for example, a control computer and has a function of controlling the mechanical press 12 and the transport device 14 in an integrated manner.
  • the integrated control device 16 performs overall control for shifting the lowering timing (slide) in the plurality of mechanical presses 12 and time difference control between the presses.
  • FIG. 3 is a partial configuration diagram of the link press in FIG.
  • the link press in this example, the mechanical press 12A
  • the link press is a four-bar link press provided with two sets of four-bar link drive mechanisms 20 that operate in synchronization with each other.
  • the four-bar link drive mechanism 20 includes an eccentric disc 22, a swing plate 24, a restriction link 26, and a drive link 28.
  • the two sets of 4-bar link drive mechanism 20 are configured symmetrically to each other.
  • the eccentric disk 22 is a circular disk whose outer periphery is fixed to an output shaft 32 of a servo motor driving device 30 to be described later, and the center of the eccentric disk 22 and the center of the output shaft 32 are set to a constant eccentric amount.
  • the oscillating plate 24 has a circular hole that fits on the outer periphery of the eccentric disc 22, and oscillates in the vertical plane without sliding between them.
  • the restricting link 26 is rotatably attached at one end to the swing plate 24 and the other end to a fixed portion of the press (for example, the press main body frame 6) to restrict swing of the swing plate 24. Yes.
  • the drive link 28 is rotatably attached at one end to a position away from the attachment position of the restriction link 26 of the swing plate 24 and to the upper end of the plunger 4 whose other end moves up and down.
  • the lower end of the plunger 4 is fixed to a slide 2 that moves up and down.
  • Reference numeral 8 denotes a plunger guide.
  • the link press (four-bar link press) includes two sets of servo motor driving devices 30 that operate in synchronization with each other.
  • Each servo motor driving device 30 includes an output shaft 32, a main gear 34 that rotates concentrically therewith, a small gear driving gear 36 that meshes with the main gear 34, and a servo that rotationally drives the driving gear 36. It consists of a motor 38.
  • a plurality of (for example, two) drive gears 36 mesh with each main gear 34 and are driven by different servo motors 38 respectively.
  • This configuration reduces the required capacity (output) of the servo motor, increases the availability of the servo motor, and reduces the cost with a force S.
  • the two main gears 34 mesh with each other, and can transmit power to each other and rotate in opposite directions in synchronization with each other. With this configuration, even if the output of any of the plurality of servo motors 38 is insufficient, the power S can be transmitted to each other to ensure stable operation.
  • FIG. 4A to 4C are operation explanatory diagrams of the link press of FIG. 4A shows the first half of the slide lowering process, FIG. 4B shows the latter half, and FIG. 4C shows the state immediately after passing through the bottom dead center.
  • the two output shafts 32 of the two sets of servo motor drive devices 30 are rotationally driven in opposite directions in synchronization with each other.
  • the two sets of the four-bar link drive mechanism 20 operate in synchronization with each other and symmetrically, and the drive link 28 holds the slide 2 horizontally via the plunger 4. While moving up and down.
  • FIG. 5A to FIG. 5C are characteristic explanatory diagrams of the link press.
  • Fig. 5A shows the relationship between the rotation angle of the main gear 34 and the vertical stroke
  • Fig. 5B shows the relationship between the distance from the bottom dead center and the descending and rising speeds
  • Fig. 5C shows the distance from the bottom dead center and the reduction. It is a relationship diagram with force.
  • the solid line indicates the link drive and the broken line indicates the crank drive.
  • the link press in this example, the mechanical press 12A stops at a position where it does not interfere with the conveying device 14 (generally top dead center)!
  • the transfer device 14 When the transfer device 14 reaches a certain position (planned in advance as a position that does not interfere even if the press is started) after the work (material to be processed) is loaded, the press is started by controlling the servo motor. At this time, the rotational speed of the main gear 34 is accelerated to a value higher than that of the conventional mechanical press.
  • the transport device 14 When the transport device 14 is of a type that does not have an idle station between presses (example in Fig. 2), it passes through the reference position of the adjacent press so that the material transported from one press is transported to the next process without stagnation. Control to keep the time difference (for example, the difference in time when the slide passes the reference position) constant (time difference control between presses) should be performed! /.
  • the reference position is, for example, bottom dead center, and a plurality of reference positions may be provided in one cycle.
  • At least one of the plurality of servo motor driven mechanical presses 12 is a link press (for example, a four-bar link press).
  • a link press for example, a four-bar link press.
  • High pressurization capacity can be exhibited in the entire drawing area and the forming speed can be suppressed. Therefore, this link press increases the pressurization capacity in the drawing area near the bottom dead center, allows the slide speed to be sufficiently slow in the drawing area, and keeps the forming speed near the bottom dead center low. The single speed can be increased.
  • the mechanical press 12 other than the link press includes an eccentric drive mechanism or a crank drive mechanism, so that the link drive mechanism is used for drawing, and the eccentric drive mechanism is used for punching and edge cutting.
  • the servo motor load is reduced compared to the prior art, and the motor capacity can be reduced.
  • the operations of all the mechanical presses can be controlled with high accuracy, thereby reducing the time for preventing the interference of the transfer device.
  • the space margin can be reduced and the press line can be speeded up.
  • the press tact time can be shortened without changing the molding speed, and the press line can be speeded up.
  • the peak power consumption of the servo press (during molding: the latter half of the slide descent process) is shifted to The ability to level out the power consumption and reduce the power receiving capacity of the entire line.
  • the entire tandem press line becomes a full servo line that can be servo-controlled.
  • the margin can be reduced and the speed can be further increased.
  • the speed as planned can be obtained even during the forming process, so that no error occurs in the phase difference. Therefore, no margin for error correction is required on the transport device side, and the line speed can be increased.
  • two presses from the upstream side are four-bar link presses
  • the third and subsequent presses are equipped with an excen drive mechanism, and the press capacity per press is suppressed by dividing the drawing into two processes. That's the power S.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Control Of Presses (AREA)

Abstract

A servomotor-driven tandem press line having servomotor-driven mechanical presses (12) arranged so as to sequentially press workpieces, conveyance devices (14) for sequentially loading the workpieces into and/or unloading the workpieces from the mechanical presses, and an integrated control device (16) for integrally controlling the mechanical presses and the conveyance device. At least one of the mechanical presses is a link press for drawing. The link press is preferably a four-joint link press having synchronously operating two sets of four-joint link drive mechanisms.

Description

明 細 書  Specification
サーボモータ駆動式タンデムプレスライン 発明の背景  Servo motor driven tandem press line Background of the Invention
[0001] 発明の技術分野 [0001] Technical Field of the Invention
本発明は、複数のプレス装置からなり、ワークを順次搬送してプレス加工するタンデ ムプレスラインに関する。  The present invention relates to a tandem press line that includes a plurality of pressing devices, and sequentially conveys and presses a workpiece.
[0002] 関連技術の説明  [0002] Explanation of related technology
複数の機械プレスからなり、ワーク（被加工材）をローダ'アンローダ、産業用ロボット などの搬送装置で順次搬送してプレス加工するタンデムプレスライン力 従来から知 られている。  A tandem press line force that consists of multiple mechanical presses and that sequentially presses workpieces (workpieces) by means of a conveyor such as a loader / unloader or industrial robot.
[0003] しかし、力、かる従来のタンデムプレスラインは、これを構成する機械プレスがクラッチ 及びブレーキのオンオフ制御により運転されるため、起動/停止精度が低い問題点 があった。  [0003] However, the conventional tandem press line has a problem that the start / stop accuracy is low because the mechanical press constituting the tandem press line is operated by on / off control of the clutch and brake.
そのため機械プレスを用いた従来のタンデムプレスラインでは、搬送装置とプレス 装置との同調制御が困難であり、かつ成形速度を低く抑えたままプレス速度を高める ことができないため、プレスラインの生産速度（ライン速度）が遅い問題点があった。  For this reason, in conventional tandem press lines that use mechanical presses, it is difficult to perform synchronous control between the transfer device and the press device, and the press speed cannot be increased while the forming speed is kept low. There was a problem that the line speed was slow.
[0004] これらの問題点を解決するために、複数のプレス装置からなるタンデムプレスライン として、特許文献 1〜3が既に提案されている。 In order to solve these problems, Patent Documents 1 to 3 have already been proposed as tandem press lines composed of a plurality of press devices.
また、本発明と関連するリンクプレスとして特許文献 4が開示されている。  Further, Patent Document 4 is disclosed as a link press related to the present invention.
[0005] 特許文献 1は、機械プレス数台とサーボ制御された搬送装置からなり、断続運転す るプレス間の位相差を電気的に制御してライン運転を行うプレスラインを開示してい すなわち、特許文献 1の制御方法は、複数台のプレス機を位相差をもって同期運 転するに際して、ある一台のプレス機に生じた負荷変動を、他のプレス機に外乱とし て影響させないことを目的として、プレス機の少なくとも 1台に対して基準回転位置情 報に対する位相差を設定することにおいて、プレス機の各々について実施されるェ 程は、モータの実速度情報を検出する工程と、駆動軸の実回転位置情報を検出する 工程と、駆動軸の実回転位置情報と前記基準回転位置情報とを比較する工程と、そ の比較結果に基づいて、基準速度情報を各々の前記プレス機固有の基準速度情報 に補正する工程と、前記固有の基準速度情報と前記実速度情報とに基づいて、前記 モータを駆動制御する工程と、を有し、前記位相差が設定されたプレス機にて実施さ れる工程は、前記位相差だけ前記基準回転位置情報を位相シフトする工程を有し、 前記比較工程では位相シフトされた基準回転位置情報と前記実回転位置情報と比 較するものである。 [0005] Patent Document 1 discloses a press line that is composed of several mechanical presses and a servo-controlled conveyance device, and that performs line operation by electrically controlling the phase difference between intermittently operated presses. The control method of Patent Document 1 is intended to prevent the load fluctuation generated in one press machine from affecting other press machines as a disturbance when operating multiple press machines synchronously with a phase difference. In setting the phase difference with respect to the reference rotational position information for at least one of the press machines, the process performed for each of the press machines includes the step of detecting the actual speed information of the motor and the drive shaft. A step of detecting actual rotational position information, a step of comparing the actual rotational position information of the drive shaft with the reference rotational position information, and Correcting the reference speed information to reference speed information unique to each of the presses based on the comparison result of the above, and controlling the drive of the motor based on the unique reference speed information and the actual speed information And the step performed by the press machine in which the phase difference is set includes a step of phase shifting the reference rotational position information by the phase difference, and the phase shift is performed in the comparison step. The rotational position information is compared with the actual rotational position information.
[0006] 特許文献 2は、機械プレス数台とサーボ制御された搬送装置からなり、連続運転す るプレス間の位相差を電気的に制御してライン運転を行うプレスラインを開示してい すなわち、特許文献 2の制御装置では、第 1プレスのプレス角度と、第 2プレスのプ レス角度の角度差が一定になるように、第 2プレスのメインモータの回転速度が制御 される。角度差が変化した場合は、第 2プレスのメインモータの回転速度を角度差に 応じた分だけ変化させることで、第 1プレスのスライドの動作と、第 2プレスのスライドの 動作との位相差は一定に保たれる。  [0006] Patent Document 2 discloses a press line that is composed of several mechanical presses and a servo-controlled transport device, and that performs line operation by electrically controlling the phase difference between continuously operated presses. In the control device of Patent Document 2, the rotation speed of the main motor of the second press is controlled so that the angle difference between the press angle of the first press and the press angle of the second press is constant. When the angle difference changes, the phase difference between the first press slide operation and the second press slide operation is changed by changing the rotation speed of the main motor of the second press by an amount corresponding to the angle difference. Is kept constant.
[0007] 特許文献 3は、先頭が機械プレス、残りがェキセン駆動サーボプレスからなるプレス ラインを開示している。  [0007] Patent Document 3 discloses a press line in which the top is a mechanical press and the rest is an eccentric drive servo press.
すなわち、特許文献 3の装置は、スライドが下死点に位置させられるときだけでなく 、必要なプレスストロークの全ての領域にお!/、て充分なプレス荷重を発生させることを 目的とし、プレス機械が、相互の機械的連結を遮断するように並列状に配置されかつ スライドを昇降させる複数のェキセン機構と、各ェキセン機構を個別に駆動する複数 のサーボモータとを備えたものである。各ェキセン機構は、主軸に固定された大歯車 と、これに嚙み合わされかつ対応するサーボモータの回転軸に固定された小歯車と 、各サーボモータの回転角度および/または速度を検出する検出器と、各検出器の 検出信号に基づ!/、て、対応するサーボモータを制御する制御手段とを備えて!/、る。  In other words, the device of Patent Document 3 is intended to generate a sufficient press load not only when the slide is positioned at the bottom dead center but also in all areas of the required press stroke. The machine is provided with a plurality of eccentric mechanisms arranged in parallel so as to cut off the mechanical connection between each other and moving the slide up and down, and a plurality of servo motors individually driving each eccentric mechanism. Each eccentric mechanism includes a large gear fixed to the main shaft, a small gear fixed to the rotation shaft of the corresponding servo motor, and a detector that detects the rotation angle and / or speed of each servo motor. And control means for controlling the corresponding servo motor based on the detection signal of each detector.
[0008] 特許文献 4のサーボモータ駆動式リンクプレスは、比較的小出力のモータを用いて も、高いプレス荷重による加工、および加工のサイクルタイムの向上が可能で、かつ 制御性にも優れ、また、多種の加工ができることを目的とし、図 1に示すように、回転 動作を直線動作に変換するリンク機構 51と、その直線動作でプレス加工のために昇 降するラム 56とを備え、サーボモータ 53からリンク機構 51のクランク軸 52に駆動を伝 達する駆動伝達系 54を設け、この駆動伝達系 54は、サーボモータ 53の回転制御に よりラム 56の昇降動作を制御可能に駆動伝達可能なものとする。またラム 56を、昇降 ストローク範囲内において任意の位置で停止するようにサーボモータ 53を制御する サーボモータ制御手段 57を設けるものである。 [0008] The servo motor-driven link press of Patent Document 4 is capable of processing with a high press load and improving processing cycle time even with a relatively small output motor, and has excellent controllability. In addition, for the purpose of enabling various types of machining, as shown in Fig. 1, a link mechanism 51 that converts rotational motion into linear motion, and the linear motion that is lifted for press working. And a drive transmission system 54 that transmits drive from the servo motor 53 to the crankshaft 52 of the link mechanism 51. The drive transmission system 54 is configured to move the ram 56 up and down by controlling the rotation of the servo motor 53. It is assumed that the drive can be transmitted in a controllable manner. In addition, servo motor control means 57 for controlling the servo motor 53 so as to stop the ram 56 at an arbitrary position within the range of the up and down stroke is provided.
[0009] 特許文献 1：特開 2001— 300793号公報、「プレス機の同期駆動制御方法及びそれ に用いるプレス機」 Patent Document 1: Japanese Patent Application Laid-Open No. 2001-300793, “Synchronous Drive Control Method of Press Machine and Press Machine Used In It”
特許文献 2 :特開 2005— 52855号公報、「機械駆動式タンデムプレスラインの連続 運転制御装置」  Patent Document 2: Japanese Patent Application Laid-Open No. 2005-52855, “Continuous Operation Control Device for Machine Driven Tandem Press Line”
特許文献 3 :特開 2005— 271070号公報、「プレス機械およびプレスライン」 特許文献 4 :特開 2003— 320489号公報、「サーボモータ駆動式リンクプレス」 [0010] 特許文献 1に開示されたプレスラインでは、断続運転のため、クラッチ 'ブレーキの 接続/切り離しの際に制御できない滑りが発生する。このため、位相差制御の高精 度化に限界がある。また、成形時のフライホイール減速による位相差値変動が避けら れず、制御のために余分なエネルギーを必要とする。また、成形速度を低く抑えたま まプレス単独速度を上げることができないため、ライン速度を向上できない。さらに、 位相差の変動によるプレスと搬送装置の干渉を防止するために時間や空間マージン に余裕を持たせる必要があり、ライン速度を向上できない。  Patent Document 3: Japanese Patent Laid-Open No. 2005-271070, “Press Machine and Press Line” Patent Document 4: Japanese Patent Laid-Open No. 2003-320489, “Servo Motor Driven Link Press” [0010] Press disclosed in Patent Document 1 In the line, slippage that cannot be controlled when the clutch / brake is connected / disconnected occurs due to intermittent operation. For this reason, there is a limit to the accuracy of phase difference control. In addition, phase difference fluctuations due to flywheel deceleration during molding are inevitable, and extra energy is required for control. In addition, the line speed cannot be improved because the press speed cannot be increased while the molding speed is kept low. Furthermore, in order to prevent interference between the press and the conveying device due to fluctuations in the phase difference, it is necessary to provide time and space margins, and the line speed cannot be improved.
[0011] 特許文献 2に開示されたプレスラインでは、連続運転しながら搬送を行うため、スラ イドストロークを大きくせねばならず、設備コストが高くなる。また、成形時のフライホイ ール減速による位相差値変動が避けられず、制御のために余分なエネルギーを必 要とする。また、成形速度を低く抑えたままプレス単独速度を上げることができないた め、ライン速度を向上できない。  [0011] In the press line disclosed in Patent Document 2, since the conveyance is performed while continuously operating, the slide stroke must be increased, and the equipment cost is increased. In addition, fluctuations in phase difference due to flywheel deceleration during molding are unavoidable, and extra energy is required for control. In addition, the line speed cannot be improved because the press speed cannot be increased while the molding speed is kept low.
[0012] 特許文献 3に開示されたプレスラインでは、ェキセン駆動のサーボプレスであるた め、絞り成形には実用的でない。この理由は、第 1に下死点近傍に比べて絞り成形 領域（下死点上 300mm程度）の加圧能力が低いこと、第 2に絞り成形領域でスライド 速度が速ぐ成形不良を引き起こすことにある。この問題点を解決するには、サーボ モータ容量を大幅に増やして加圧能力を引き上げ、かつ急激な加速減速によって絞 り成形速度を抑制せねばならない。大容量のモータを採用し、急激な加減速に耐え るような構造を採用する必要があり、不経済である。 [0012] The press line disclosed in Patent Document 3 is an excen-driven servo press and is not practical for drawing. The reason for this is that, firstly, the pressurization capacity in the drawing area (about 300 mm above the bottom dead center) is lower than in the vicinity of the bottom dead center, and secondly, it causes molding defects where the slide speed is high in the drawing area. It is in. In order to solve this problem, the servo motor capacity is greatly increased to increase the pressurization capacity, and throttling is performed by rapid acceleration / deceleration. The molding speed must be suppressed. It is uneconomical to use a large-capacity motor and to have a structure that can withstand rapid acceleration and deceleration.
[0013] 上述したように、機械プレスを用いた従来のタンデムプレスラインでは、絞り成形ェ 程を含む場合、上述した種々の問題点を解決できなかった。 [0013] As described above, the conventional tandem press line using a mechanical press cannot solve the above-described various problems when it includes a drawing process.
発明の要約  Summary of invention
[0014] 本発明は力、かる問題点を解決するために創案されたものである。すなわち、本発明 の目的は、下死点近傍の絞り成形領域の加圧能力が高ぐ絞り成形領域でスライド 速度が十分に遅ぐかつ下死点近傍での成形速度を低く抑えたままプレス単独速度 を高めることができ、これによりプレスタクトタイムを短縮してプレスラインを高速化でき 、さらにモータ負荷を軽減し、全体のモータ容量を削減することができ、さらにライン 全体の電力消費を平準化し、ライン全体の受電容量を小さく抑えることができるサー ボモータ駆動式タンデムプレスラインを提供することにある。  [0014] The present invention has been devised to solve the above problems. That is, the object of the present invention is to press the single press while maintaining a low molding speed near the bottom dead center while the slide speed is sufficiently slow in the drawing area where the pressurizing capacity in the drawing area near the bottom dead center is high. The speed can be increased, thereby shortening the press tact time and speeding up the press line, further reducing the motor load, reducing the overall motor capacity, and leveling the power consumption of the entire line. Another object of the present invention is to provide a servo motor driven tandem press line that can keep the power receiving capacity of the entire line small.
[0015] 本発明によれば、ワークを順次プレス加工するように配置された複数のサーボモー タ駆動式機械プレスと、  [0015] According to the present invention, a plurality of servo motor-driven mechanical presses arranged to sequentially press the workpiece,
該機械プレスにワークを順次搬入及び/又は搬出する複数の搬送装置と、 前記機械プレス及び搬送装置を統合的に制御する統合制御装置とを備え、 とを特徴とするサーボモータ駆動式タンデムプレスラインが提供される。  A servo motor driven tandem press line comprising: a plurality of conveying devices that sequentially carry in and / or unload workpieces to the mechanical press; and an integrated control device that controls the mechanical press and the conveying device in an integrated manner. Is provided.
[0016] 本発明の好ましい実施形態によれば、前記リンクプレスは、互いに同期して作動す る 2組の 4節リンクドライブ機構を備えた 4節リンクプレスである。 According to a preferred embodiment of the present invention, the link press is a four-bar link press including two sets of four-bar link drive mechanisms that operate in synchronization with each other.
[0017] 前記 4節リンクドライブ機構は、偏心円板、揺動板、規制リンク、及び駆動リンクから なり、 [0017] The four-bar link drive mechanism comprises an eccentric disk, a swing plate, a restriction link, and a drive link.
偏心円板は、サーボモータ駆動装置の出力軸に直交しかつ該出力軸に対し偏心 した円形円板であり、  The eccentric disk is a circular disk that is orthogonal to the output shaft of the servo motor drive device and eccentric with respect to the output shaft.
揺動板は、偏心円板の外周に嵌合する円形孔を有し、その間で摺動しながら鉛直 面内で揺動するようになっており、  The oscillating plate has a circular hole that fits on the outer periphery of the eccentric disc, and oscillates in the vertical plane while sliding between them.
規制リンクは、一端が揺動板に他端がプレスの固定部分にそれぞれ回転可能に取 り付けられ、揺動板の揺動を規制するようになっており、 駆動リンクは、一端が揺動板の規制リンク取付位置から離れた位置に、他端が上下 動するプランジャの上端にそれぞれ回転可能に取り付けられている。 The restriction link is rotatably attached at one end to the swing plate and the other end to the fixed part of the press so as to restrict the swing of the swing plate. The drive link is rotatably attached at one end to a position away from the restricting link attachment position of the swing plate and at the other end to the upper end of the plunger that moves up and down.
[0018] 前記統合制御装置によりサーボモータ駆動装置を制御し、 [0018] The servo motor drive device is controlled by the integrated control device,
(A)ワークの搬入前にサーボモータ駆動装置の出力軸を、リンクプレスが搬送装置と 干渉しなレ、位置に停止、又は干渉しな!/、範囲内で運転させ、  (A) Before loading the workpiece, operate the output shaft of the servo motor drive device within the range where the link press does not interfere with the transfer device, stops at the position, or does not interfere! /
(B)ワークが搬入され搬送装置が一定の位置に達した時に、サーボモータ駆動装置 を制御してプレスを起動し、メインギヤの回転速度を所定の高速まで加速し、 (B) When the work is loaded and the transfer device reaches a certain position, the servo motor drive device is controlled to activate the press, and the main gear rotation speed is accelerated to a predetermined high speed.
(C)スライドが絞り成形領域に近づいた時に、サーボ制御によってメインギヤを減速 し、スライド速度を成形に適した値まで下げ、 (C) When the slide approaches the draw forming area, the main gear is decelerated by servo control, and the slide speed is lowered to a value suitable for molding.
(D)スライドが下死点を通過して成形が完了した後、メインギヤを加速し、スライドを 高速で上昇させる、ことが好ましい。  (D) It is preferable to accelerate the main gear and raise the slide at a high speed after the slide passes through the bottom dead center and the molding is completed.
[0019] 前記リンクプレス以外の機械プレスは、ェキセンドライブ機構又はクランクドライブ機 構を備える。  [0019] A mechanical press other than the link press includes an eccentric drive mechanism or a crank drive mechanism.
[0020] また前記統合制御装置は、複数の機械プレスにおける下降タイミングをずらす全体 制御を行う。  [0020] Further, the integrated control device performs overall control for shifting the descending timings of a plurality of mechanical presses.
[0021] また前記複数の搬送装置は、サーボ式搬送装置である。  [0021] The plurality of transport devices are servo-type transport devices.
また前記統合制御装置は、プレス間時間差制御を行う、ことが好ましい。  Moreover, it is preferable that the said integrated control apparatus performs the time difference control between presses.
[0022] 上記本発明の構成によれば、複数のサーボモータ駆動式機械プレスのうち少なくと り成形領域全体で高い加圧能力を発揮し、かつ成形速度を抑制できる。従って、この リンクプレスにより、下死点近傍の絞り成形領域の加圧能力を高め、絞り成形領域で スライド速度が十分に遅くでき、かつ下死点近傍での成形速度を低く抑えたままプレ ス単独速度を高めることができる。 [0022] According to the configuration of the present invention described above, a high pressing ability can be exhibited in the entire molding region among a plurality of servo motor driven mechanical presses, and the molding speed can be suppressed. Therefore, this link press increases the pressurization capacity in the draw forming area near the bottom dead center, allows the slide speed to be sufficiently slow in the draw forming area, and keeps the press speed in the vicinity of the bottom dead center low. The single speed can be increased.
[0023] また、絞り加工を行わな!/、プレスは、シンプルで安価なェキセンドライブ機構又はク ランクドライブ機構を備える。このプレスは、加圧能力や低い成形速度を必要としない 打抜き、縁切り加工に適しており、機構がシンプルなため安価で経済的である。 このように、加圧能力や低い成形速度が必要な絞り加工の場合にはリンクドライブ 機構、加圧能力や低い成形速度を必要としない打抜き、縁切り加工の場合にはェキ センドライブ機構を使!/、分けることで、経済的なプレスラインを実現することができる。 [0023] Further, no drawing is performed! /, And the press is provided with a simple and inexpensive ecsen drive mechanism or crank drive mechanism. This press is suitable for stamping and edge cutting without the need for pressurizing capacity and low forming speed, and is inexpensive and economical due to its simple mechanism. In this way, the link drive mechanism is used in the case of drawing processing that requires a pressurizing capacity and a low forming speed, and it is required in the case of punching and edge cutting that do not require a pressurizing capacity and a low forming speed. An economical press line can be realized by using the SenDrive mechanism!
[0024] また、複数の機械プレスがすべてサーボモータ駆動式であるので、すべての機械 プレスの作動を高精度に制御でき、これにより、搬送装置の干渉防止のための時間 や空間マージンを小さくでき、プレスラインを高速化できる。 [0024] Further, since all the mechanical presses are all driven by a servo motor, the operations of all the mechanical presses can be controlled with high accuracy, thereby reducing the time and space margin for preventing the interference of the transfer device. The press line can be speeded up.
さらに、サーボモータの速度制御によって、成形速度を変更することなくプレスタクト タイムを短縮することができ、プレスラインを高速化できる。  Furthermore, by controlling the speed of the servo motor, the press tact time can be shortened without changing the molding speed, and the press line can be speeded up.
[0025] また、統合制御装置により、複数の機械プレスにおける下降タイミングをずらす全体 制御を行うことにより、サーボプレスの電力消費のピーク（成形時:スライド下降工程の 後半)をずらして、ライン全体の電力消費を平準化し、ライン全体の受電容量を小さく 才卬えること力 Sできる。 [0025] In addition, by performing overall control that shifts the descent timing of a plurality of mechanical presses with the integrated control device, the peak power consumption of the servo press (during molding: the latter half of the slide descent process) is shifted, and the entire line is The ability to level out the power consumption and reduce the power receiving capacity of the entire line.
[0026] また、複数の搬送装置をサーボ式搬送装置とすることにより、タンデムプレスライン 全体がサーボ制御できるフルサーボ化ラインとなるので、各機械プレスと搬送装置を 同調制御することによって、さらに干渉防止マージンを小さくすることができ、一層の 高速化ができる。  [0026] In addition, by using a servo-type transfer device as a plurality of transfer devices, the entire tandem press line becomes a full servo line that can be servo-controlled, so interference control is further prevented by synchronously controlling each machine press and transfer device. The margin can be reduced and the speed can be further increased.
[0027] サーボプレスは成形加工中も計画通りの速度が得られるため、統合制御装置によ つてプレス間時間差制御を行うことにより、計画通りの誤差のない動作が実現できる。 従って搬送装置側に誤差補正のためのマージンが不要となり、ラインを高速化できる 図面の簡単な説明  [0027] Since the servo press can obtain the planned speed even during the forming process, the integrated control device performs the time difference control between the presses, thereby realizing the operation with no error as planned. Therefore, there is no need for margins for error correction on the transport device side, and the line speed can be increased.
[0028] [図 1]は、特許文献 4のサーボモータ駆動式リンクプレスの模式図である。 FIG. 1 is a schematic diagram of a servo motor driven link press disclosed in Patent Document 4.
[図 2]は、本発明のサーボモータ駆動式タンデムプレスラインの全体構成図である。  FIG. 2 is an overall configuration diagram of a servo motor driven tandem press line according to the present invention.
[図 3]は、図 2におけるリンクプレスの部分構成図である。  FIG. 3 is a partial configuration diagram of the link press in FIG.
[図 4A]は、図 3のリンクプレスの作動説明図であり、スライド下降工程の前半を示して いる。  [FIG. 4A] is an operation explanatory diagram of the link press of FIG. 3, and shows the first half of the slide lowering process.
[図 4B]は、図 3のリンクプレスの作動説明図であり、スライド下降工程の後半を示して いる。  [FIG. 4B] is an operation explanatory diagram of the link press of FIG. 3, and shows the latter half of the slide lowering process.
[図 4C]は、図 3のリンクプレスの作動説明図であり、下死点通過直後を示している。  [FIG. 4C] is an operation explanatory diagram of the link press of FIG. 3 and shows immediately after passing through the bottom dead center.
[図 5A]は、リンクプレスの特性説明図であり、メインギヤの回転角度と上下動のスト口 ークとの関係図である。 [Fig. 5A] is an explanatory diagram of the characteristics of a link press. FIG.
[図 5B]は、リンクプレスの特性説明図であり、下死点からの距離と下降速度及び上昇 速度との関係図である。  [FIG. 5B] is an explanatory diagram of the characteristics of the link press, showing the relationship between the distance from the bottom dead center, the descending speed, and the ascending speed.
[図 5C]は、リンクプレスの特性説明図であり、下死点からの距離と圧下力との関係図 である。  [Fig. 5C] is an explanatory diagram of link press characteristics, showing the relationship between the distance from the bottom dead center and the rolling force.
好ましい実施例の説明  DESCRIPTION OF PREFERRED EMBODIMENTS
[0029] 以下、本発明の好ましい実施例を図面を参照して説明する。なお、各図において 共通する部分には同一の符号を付し、重複した説明を省略する。 [0029] Hereinafter, preferred embodiments 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 duplicate description is abbreviate | omitted.
[0030] 図 2は、本発明のサーボモータ駆動式タンデムプレスラインの全体構成図である。こ の図に示すように、本発明のサーボモータ駆動式タンデムプレスライン 10は、複数の サーボモータ駆動式機械プレス 12、複数の搬送装置 14、及び統合制御装置 16を 備える。 FIG. 2 is an overall configuration diagram of the servo motor driven tandem press line of the present invention. As shown in this figure, the servo motor driven tandem press line 10 of the present invention includes a plurality of servo motor driven mechanical presses 12, a plurality of conveying devices 14, and an integrated control device 16.
[0031] サーボモータ駆動式機械プレス 12は、この例では、 4台の機械プレス 12A, 12B, 12C, 12Dからなる。複数のサーボモータ駆動式機械プレス 12 (12A, 12B, 12C, 12D)は、ワーク (被加工材、例えばドアパネル等の薄板）を順次プレス加工するよう に配置されている。この配置は、水平方向に直列に配置するのが好ましい。  In this example, the servo motor-driven mechanical press 12 includes four mechanical presses 12A, 12B, 12C, and 12D. The plurality of servo motor driven mechanical presses 12 (12A, 12B, 12C, 12D) are arranged so as to sequentially press a workpiece (a workpiece, for example, a thin plate such as a door panel). This arrangement is preferably arranged in series in the horizontal direction.
[0032] 本発明において、複数のサーボモータ駆動式機械プレス 12のうち少なくとも 1台（こ の例では最上流に位置する機械プレス 12A)は、絞り加工を行うためのリンクプレス である。  [0032] In the present invention, at least one of the plurality of servo motor-driven mechanical presses 12 (in this example, the mechanical press 12A located at the uppermost stream) is a link press for drawing.
なお、リンクプレスは、最上流位置に限定されず、その他の位置でもよい。また、 1 台に限定されず 2台以上でもよい。  The link press is not limited to the most upstream position, and may be at other positions. Also, the number is not limited to one and may be two or more.
[0033] また、リンクプレス（この例では機械プレス 12A)は、互いに同期して作動する 2組の 4節リンクドライブ機構を備えた 4節リンクプレスであるのが好ましい。 [0033] The link press (in this example, the mechanical press 12A) is preferably a four-bar link press having two sets of four-bar link drive mechanisms that operate in synchronization with each other.
なお、本発明はこれに限定されず、 4節リンクドライブ機構の代わりに、 6節、 8節な ど、絞りに適した他のリンクドライブを用いてもょレ、。  However, the present invention is not limited to this, and other link drives such as sections 6 and 8 may be used instead of the 4-section link drive mechanism.
[0034] また、図 2においてリンクプレス以外の機械プレス 12B, 12C, 12Dは、ェキセンドラ イブ機構を備える。すなわち、リンクプレス以外の機械プレス 12B, 12C, 12Dは、動 力源であるサーボモータと、ェキセンドライブ機構を駆動するメインギヤと、サーボモ ータとメインギヤを適正な減速比で連結する動力伝達機構を備える。 In FIG. 2, the mechanical presses 12B, 12C, 12D other than the link press are provided with an excen- sive drive mechanism. That is, the mechanical presses 12B, 12C, and 12D other than the link press have a servo motor as a power source, a main gear that drives the eccentric drive mechanism, and a servo motor. And a power transmission mechanism for connecting the motor and the main gear with an appropriate reduction ratio.
なお、本発明はこの構成に限定されず、ェキセンドライブ機構の代わりに、クランク ドライブ機構、トグルドライブ機構、またはナックルドライブ機構を用いてもよい。  The present invention is not limited to this configuration, and a crank drive mechanism, a toggle drive mechanism, or a knuckle drive mechanism may be used instead of the eccentric drive mechanism.
[0035] 搬送装置 14は、各機械プレス 12にワークを順次搬入及び/又は搬出する機能を 有する。搬送装置 14は、この例では、 5台の搬送装置 14A, 14B, 14C, 14D, 14E 力もなる。最上流の搬送装置 14Aは、最上流位置の機械プレス 12Aにワークを搬入 し、最下流の搬送装置 14Eは、最下流位置の機械プレス 12Dからワークを搬出する 。その他の中間の搬送装置 14B, 14C, 14Dは、上流側の機械プレスからワークを 搬出し、下流側の機械プレスにワークを搬入するようになっている。  [0035] The transport device 14 has a function of sequentially loading and / or unloading workpieces to and from each mechanical press 12. In this example, the transport device 14 also has five transport devices 14A, 14B, 14C, 14D, and 14E. The most upstream conveying device 14A carries the work into the machine press 12A at the most upstream position, and the most downstream conveying device 14E carries out the work from the machine press 12D at the most downstream position. The other intermediate transfer devices 14B, 14C, and 14D are configured to unload the work from the upstream machine press and load the work to the downstream machine press.
なお、隣接する 2台の機械プレスの間に、アイドルステーションを設け、その前後に 2台の搬送装置を備えてもょレ、。  An idle station is set up between two adjacent mechanical presses, and two transfer devices are installed before and after that.
[0036] 搬送装置 14は、この例ではサーボ式搬送装置であり、サーボ制御により駆動され プレス間搬送に特化した装置で、アイドルステーションなしに工程間搬送が可能であ り、プレスへの追従動作が可能な高速搬送装置である。  [0036] In this example, the transfer device 14 is a servo-type transfer device that is driven by servo control and specializes in transfer between presses. It can transfer between processes without an idle station and follows the press. It is a high-speed transfer device that can operate.
なお、本発明はこれに限定されず、例えば、サーボ式ローダ'アンローダ、サーボ式 シャトルコンベア、或いは産業用ロボットを用いることができる。  The present invention is not limited to this. For example, a servo loader / unloader, a servo shuttle conveyor, or an industrial robot can be used.
[0037] 統合制御装置 16は、例えば制御用コンピュータであり、機械プレス 12及び搬送装 置 14を統合的に制御する機能を有する。統合制御装置 16は、複数の機械プレス 12 における (スライドの)下降タイミングをずらす全体制御とプレス間時間差制御を行うよ うになつている。  The integrated control device 16 is, for example, a control computer and has a function of controlling the mechanical press 12 and the transport device 14 in an integrated manner. The integrated control device 16 performs overall control for shifting the lowering timing (slide) in the plurality of mechanical presses 12 and time difference control between the presses.
[0038] 図 3は、図 2におけるリンクプレスの部分構成図である。この図において、リンクプレ ス（この例では機械プレス 12A)は、互いに同期して作動する 2組の 4節リンクドライブ 機構 20を備えた 4節リンクプレスである。  FIG. 3 is a partial configuration diagram of the link press in FIG. In this figure, the link press (in this example, the mechanical press 12A) is a four-bar link press provided with two sets of four-bar link drive mechanisms 20 that operate in synchronization with each other.
4節リンクドライブ機構 20は、偏心円板 22、揺動板 24、規制リンク 26、及び駆動リ ンク 28からなる。 2組の 4節リンクドライブ機構 20は、互いに左右対称に構成されてい  The four-bar link drive mechanism 20 includes an eccentric disc 22, a swing plate 24, a restriction link 26, and a drive link 28. The two sets of 4-bar link drive mechanism 20 are configured symmetrically to each other.
[0039] 偏心円板 22は、後述するサーボモータ駆動装置 30の出力軸 32に固定された外周 が円形の円板であり、その中心と出力軸 32の中心とは一定の偏心量に設定されてい る。揺動板 24は、偏心円板 22の外周に嵌合する円形孔を有し、その間で摺動しな 力 ¾鉛直面内で揺動するようになっている。規制リンク 26は、一端が揺動板 24に他 端がプレスの固定部分（例えばプレスの本体フレーム 6)にそれぞれ回転可能に取り 付けられ、揺動板 24の揺動を規制するようになっている。駆動リンク 28は、一端が揺 動板 24の規制リンク 26の取付位置から離れた位置に、他端が上下動するプランジャ 4の上端にそれぞれ回転可能に取り付けられている。またプランジャ 4の下端は、上 下動するスライド 2に固定されている。なお 8は、プランジャガイドである。 [0039] The eccentric disk 22 is a circular disk whose outer periphery is fixed to an output shaft 32 of a servo motor driving device 30 to be described later, and the center of the eccentric disk 22 and the center of the output shaft 32 are set to a constant eccentric amount. Have The The oscillating plate 24 has a circular hole that fits on the outer periphery of the eccentric disc 22, and oscillates in the vertical plane without sliding between them. The restricting link 26 is rotatably attached at one end to the swing plate 24 and the other end to a fixed portion of the press (for example, the press main body frame 6) to restrict swing of the swing plate 24. Yes. The drive link 28 is rotatably attached at one end to a position away from the attachment position of the restriction link 26 of the swing plate 24 and to the upper end of the plunger 4 whose other end moves up and down. The lower end of the plunger 4 is fixed to a slide 2 that moves up and down. Reference numeral 8 denotes a plunger guide.
[0040] また、このリンクプレス（4節リンクプレス）は、互いに同期して作動する 2組のサーボ モータ駆動装置 30を備える。  [0040] The link press (four-bar link press) includes two sets of servo motor driving devices 30 that operate in synchronization with each other.
各サーボモータ駆動装置 30は、出力軸 32と、これと同心に回転する大歯車のメイ ンギヤ 34と、メインギヤ 34と歯合する小歯車の駆動ギヤ 36と、駆動ギヤ 36を回転駆 動するサーボモータ 38とからなる。  Each servo motor driving device 30 includes an output shaft 32, a main gear 34 that rotates concentrically therewith, a small gear driving gear 36 that meshes with the main gear 34, and a servo that rotationally drives the driving gear 36. It consists of a motor 38.
[0041] この例において、各メインギヤ 34には複数 (例えば 2つ）の駆動ギヤ 36が歯合し、 それぞれ別のサーボモータ 38で駆動するようになっている。この構成により、サーボ モータの必要容量（出力）を低減して、サーボモータの入手性を高め、コストを低減す ること力 Sでさる。  In this example, a plurality of (for example, two) drive gears 36 mesh with each main gear 34 and are driven by different servo motors 38 respectively. This configuration reduces the required capacity (output) of the servo motor, increases the availability of the servo motor, and reduces the cost with a force S.
また、 2つのメインギヤ 34が互いに歯合し、相互に動力を伝達できるとともに、互い に同期して反対方向に回転するようになっている。この構成により、複数のサーボモ ータ 38のいずれかの出力が不足しても、相互に動力を伝達して安定した作動を確保 すること力 Sでさる。  Further, the two main gears 34 mesh with each other, and can transmit power to each other and rotate in opposite directions in synchronization with each other. With this configuration, even if the output of any of the plurality of servo motors 38 is insufficient, the power S can be transmitted to each other to ensure stable operation.
[0042] 図 4A〜図 4Cは、図 3のリンクプレスの作動説明図である。図 4Aはスライド下降ェ 程の前半、図 4Bはその後半、図 4Cは下死点通過直後を示している。  4A to 4C are operation explanatory diagrams of the link press of FIG. 4A shows the first half of the slide lowering process, FIG. 4B shows the latter half, and FIG. 4C shows the state immediately after passing through the bottom dead center.
[0043] 図 4A〜図 4Cにおいて、 2組のサーボモータ駆動装置 30の 2つの出力軸 32は、互 いに同期して反対方向に回転駆動する。また、この 2つの出力軸 32の回転により、 2 組の 4節リンクドライブ機構 20は、互いに同期して左右対称に作動し、駆動リンク 28 により、プランジャ 4を介して、スライド 2を水平に保持しながら上下動させる。  In FIG. 4A to FIG. 4C, the two output shafts 32 of the two sets of servo motor drive devices 30 are rotationally driven in opposite directions in synchronization with each other. In addition, by the rotation of the two output shafts 32, the two sets of the four-bar link drive mechanism 20 operate in synchronization with each other and symmetrically, and the drive link 28 holds the slide 2 horizontally via the plunger 4. While moving up and down.
従って、この構成により、スライド 2を水平に保持しながら上下動させ、スライド 2の下 面に固定された上金型（図示せず）を上下動させて、図示しない下金型との間でヮー クをプレスカロェすること力 Sできる。 Therefore, with this configuration, the slide 2 is moved up and down while being held horizontally, and the upper mold (not shown) fixed to the lower surface of the slide 2 is moved up and down to move between the lower mold (not shown).ヮ ー You can press S.
[0044] 図 5A〜図 5Cは、リンクプレスの特性説明図である。図 5Aはメインギヤ 34の回転角 度と上下動のストロークとの関係図、図 5Bは下死点からの距離と下降速度及び上昇 速度との関係図、図 5Cは下死点からの距離と圧下力との関係図である。また、各図 において、実線はリンクドライブ、破線はクランクドライブの場合を示している。 FIG. 5A to FIG. 5C are characteristic explanatory diagrams of the link press. Fig. 5A shows the relationship between the rotation angle of the main gear 34 and the vertical stroke, Fig. 5B shows the relationship between the distance from the bottom dead center and the descending and rising speeds, and Fig. 5C shows the distance from the bottom dead center and the reduction. It is a relationship diagram with force. In each figure, the solid line indicates the link drive and the broken line indicates the crank drive.
図 5Aから、同一の絞り深さに対して、リンクドライブの作業域は、クランクドライブの 作業域よりも広レ、ことがわかる。  From Fig. 5A, it can be seen that the working area of the link drive is wider than the working area of the crank drive for the same throttling depth.
また、図 5Bから、リンクドライブの作業域における下降速度は、クランクドライブよりも 遅ぐかつほぼ一定であることがわ力、る。  Also, from Fig. 5B, it can be seen that the descent speed in the work area of the link drive is slower than the crank drive and almost constant.
さらに、図 5Cから、リンクドライブの作業域における圧下力は、クランクドライブよりも 大きぐかつほぼ一定であることがわ力、る。  Furthermore, it can be seen from FIG. 5C that the reduction force in the work area of the link drive is larger and almost constant than the crank drive.
[0045] 次に、上述したサーボモータ駆動式タンデムプレスラインの運転中の作動動作を説 明する。 [0045] Next, the operation operation during the operation of the above-described servo motor driven tandem press line will be described.
(1)最初、リンクプレス（この例では機械プレス 12A)は搬送装置 14と干渉しない位置 (一般には上死点）で停止して!/、る。  (1) First, the link press (in this example, the mechanical press 12A) stops at a position where it does not interfere with the conveying device 14 (generally top dead center)!
ワーク (被加ェ材料）の搬入後、搬送装置 14が一定の位置 (プレス起動しても干渉 しない位置として、予め計画される）に達すると、サーボモータの制御によりプレスが 起動する。このとき、メインギヤ 34の回転数を従来の機械プレス以上の値まで加速す  When the transfer device 14 reaches a certain position (planned in advance as a position that does not interfere even if the press is started) after the work (material to be processed) is loaded, the press is started by controlling the servo motor. At this time, the rotational speed of the main gear 34 is accelerated to a value higher than that of the conventional mechanical press.
(2)スライド 2が絞り成形領域に近づくと、サーボ制御によってメインギヤ 34を減速し、 スライド速度を成形に適した値まで下げる。下死点を通過して成形が完了すると、再 びメインギヤ 34を加速し、スライド 2をすばやく上昇させる。 (2) When Slide 2 approaches the draw forming area, the main gear 34 is decelerated by servo control and the slide speed is lowered to a value suitable for forming. When the molding is completed after passing through the bottom dead center, the main gear 34 is accelerated again and the slide 2 is quickly raised.
スライド 2が、予め計画した位置まで上昇すると、搬送装置 14に起動指令が送られ 、製品の搬出と材料の搬入が行われる。搬送装置の作動中、スライド 2は上死点近傍 で停止している。なお、低速で作動しても差し支えない。搬出された材料は、次工程 のプレスに送られる。  When the slide 2 rises to a pre-planned position, an activation command is sent to the transfer device 14 to carry out the product and carry in the material. While the transport device is operating, slide 2 is stopped near top dead center. It does not matter if it operates at low speed. The unloaded material is sent to the next press.
以上のように、成形領域とそれ以外でメインギヤ 34の回転数（回転速度）を変化さ せることで、成形速度を抑制したままラインタクトタイムを短縮することができる。 [0046] 搬送装置 14がプレス間にアイドルステーションを持たないタイプ（図 2の例）の場合 、あるプレスから搬出された材料が停滞なく次工程に搬出されるよう、隣り合うプレス の基準位置通過の時間差 (例えば、スライドが基準位置を通過する時点の差)を一定 に保つ制御（プレス間時間差制御）を行うのがよ!/、。 As described above, by changing the number of rotations (rotational speed) of the main gear 34 in the molding region and other areas, the line tact time can be shortened while the molding speed is suppressed. [0046] When the transport device 14 is of a type that does not have an idle station between presses (example in Fig. 2), it passes through the reference position of the adjacent press so that the material transported from one press is transported to the next process without stagnation. Control to keep the time difference (for example, the difference in time when the slide passes the reference position) constant (time difference control between presses) should be performed! /.
基準位置は例えば下死点などであり、 1サイクル中に複数の基準位置を設けても良 い。  The reference position is, for example, bottom dead center, and a plurality of reference positions may be provided in one cycle.
この場合、成形加工中も計画通りの速度が得られるため、位相差に誤差が発生し ない。従って搬送装置側に誤差補正のためのマージンが不要となり、ライン速度を高 め、ラインを高速化できる。  In this case, no error occurs in the phase difference because the planned speed can be obtained during molding. This eliminates the need for margins for error correction on the conveyor side, increasing the line speed and speeding up the line.
[0047] なお位相差を一定に保つ制御はフライホイールのある従来の機械プレスでも可能 だ力 本発明の場合、フライホイールがないためイナ一シャが小さぐ格段に高精度' 高速応答が得られる。  [0047] Control that keeps the phase difference constant is possible even with a conventional mechanical press with a flywheel. In the case of the present invention, since there is no flywheel, the inertia is small and a highly accurate and high-speed response is obtained. .
またフライホイールのある従来の機械プレスは、エネルギーをフライホイールから取 り出すため、成形時にスローダウンが発生し位相差を変動させる力 S、サーボプレスで はモータから直接エネルギーを発生するのでスローダウンがない。  Also, conventional mechanical presses with flywheels take out energy from the flywheels, so a slowdown occurs during molding and the phase difference fluctuates. S, servo presses generate energy directly from the motor, so slow down There is no.
[0048] 上述したように、本発明の構成によれば、複数のサーボモータ駆動式機械プレス 1 2のうち少なくとも 1台力 リンクプレス（例えば 4節リンクプレス）であるので、このリンク プレスにより、絞り成形領域全体で高い加圧能力を発揮し、かつ成形速度を抑制で きる。従って、このリンクプレスにより、下死点近傍の絞り成形領域の加圧能力を高め 、絞り成形領域でスライド速度が十分に遅くでき、かつ下死点近傍での成形速度を低 く抑えたままプレス単独速度を高めることができる。  [0048] As described above, according to the configuration of the present invention, at least one of the plurality of servo motor driven mechanical presses 12 is a link press (for example, a four-bar link press). High pressurization capacity can be exhibited in the entire drawing area and the forming speed can be suppressed. Therefore, this link press increases the pressurization capacity in the drawing area near the bottom dead center, allows the slide speed to be sufficiently slow in the drawing area, and keeps the forming speed near the bottom dead center low. The single speed can be increased.
[0049] また、前記リンクプレス以外の機械プレス 12は、ェキセンドライブ機構又はクランクド ライブ機構を備えることにより、絞り加工にリンクドライブ機構、打抜き、縁切り加工に ェキセンドライブ機構を使!/、分けることで、サーボモータの速度制御を最小限に抑え て最適なスライドモーションを得ることができる。この結果、従来技術に比べサーボモ ータ負荷が軽減され、モータ容量を削減することができる。  [0049] In addition, the mechanical press 12 other than the link press includes an eccentric drive mechanism or a crank drive mechanism, so that the link drive mechanism is used for drawing, and the eccentric drive mechanism is used for punching and edge cutting. This makes it possible to obtain the optimal slide motion while minimizing the speed control of the servo motor. As a result, the servo motor load is reduced compared to the prior art, and the motor capacity can be reduced.
[0050] また、複数の機械プレスがすべてサーボモータ駆動式であるので、すべての機械 プレスの作動を高精度に制御でき、これにより、搬送装置の干渉防止のための時間 や空間マージンを小さくでき、プレスラインを高速化できる。 [0050] Further, since the plurality of mechanical presses are all driven by a servo motor, the operations of all the mechanical presses can be controlled with high accuracy, thereby reducing the time for preventing the interference of the transfer device. The space margin can be reduced and the press line can be speeded up.
さらに、サーボモータの速度制御によって、成形速度を変更することなくプレスタクト タイムを短縮することができ、プレスラインを高速化できる。  Furthermore, by controlling the speed of the servo motor, the press tact time can be shortened without changing the molding speed, and the press line can be speeded up.
[0051] また、統合制御装置により、複数の機械プレスにおける下降タイミングをずらす全体 制御を行うことにより、サーボプレスの電力消費のピーク（成形時:スライド下降工程の 後半)をずらして、ライン全体の電力消費を平準化し、ライン全体の受電容量を小さく 才卬えること力 Sできる。 [0051] In addition, by performing overall control that shifts the descent timing of multiple mechanical presses with the integrated control device, the peak power consumption of the servo press (during molding: the latter half of the slide descent process) is shifted to The ability to level out the power consumption and reduce the power receiving capacity of the entire line.
[0052] また、複数の搬送装置をサーボ式搬送装置とすることにより、タンデムプレスライン 全体がサーボ制御できるフルサーボ化ラインとなるので、各機械プレスと搬送装置を 同調制御することによって、さらに干渉防止マージンを小さくすることができ、一層の 高速化ができる。  [0052] In addition, by using a servo-type transfer device as a plurality of transfer devices, the entire tandem press line becomes a full servo line that can be servo-controlled. The margin can be reduced and the speed can be further increased.
[0053] 統合制御装置により、プレス間時間差制御を行うことにより、成形加工中も計画通り の速度が得られるため、位相差に誤差が発生しない。従って搬送装置側に誤差補正 のためのマージンが不要となり、ラインを高速化できる。  [0053] By performing the time difference control between the presses by the integrated control device, the speed as planned can be obtained even during the forming process, so that no error occurs in the phase difference. Therefore, no margin for error correction is required on the transport device side, and the line speed can be increased.
[0054] なお、本発明は上述した実施形態に限定されず、本発明の要旨を逸脱しない範囲 で種々変更できることは勿論である。 [0054] It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.
例えば、上流側から 2台のプレスを 4節リンクプレス、 3台目以降をェキセンドライブ 機構を備えるプレスとし、絞りを 2工程に分けることで、プレス 1台当りの加圧能力を抑 制すること力 Sでさる。  For example, two presses from the upstream side are four-bar link presses, the third and subsequent presses are equipped with an excen drive mechanism, and the press capacity per press is suppressed by dividing the drawing into two processes. That's the power S.

Claims

請求の範囲 The scope of the claims
[1] ワークを順次プレス加工するように配置された複数のサーボモータ駆動式機械プレ スと、  [1] A plurality of servo motor driven mechanical presses arranged to press the workpiece sequentially,
該機械プレスにワークを順次搬入及び/又は搬出する複数の搬送装置と、 前記機械プレス及び搬送装置を統合的に制御する統合制御装置とを備え、 とを特徴とするサーボモータ駆動式タンデムプレスライン。  A servo motor driven tandem press line comprising: a plurality of conveying devices that sequentially carry in and / or unload workpieces to the mechanical press; and an integrated control device that controls the mechanical press and the conveying device in an integrated manner. .
[2] 前記リンクプレスは、互いに同期して作動する 2組の 4節リンクドライブ機構を備えた  [2] The link press has two sets of four-bar link drive mechanisms that operate in synchronization with each other.
4節リンクプレスである、ことを特徴とする請求項 1に記載のサーボモータ駆動式タン デムプレスライン。  2. The servo motor driven tandem press line according to claim 1, wherein the servo motor driven tandem press line is a four-bar link press.
[3] 前記 4節リンクドライブ機構は、偏心円板、揺動板、規制リンク、及び駆動リンクから なり、  [3] The four-bar link drive mechanism comprises an eccentric disc, a swing plate, a regulating link, and a drive link.
偏心円板は、サーボモータ駆動装置の出力軸に直交しかつ該出力軸に対し偏心 した円形円板であり、  The eccentric disk is a circular disk that is orthogonal to the output shaft of the servo motor drive device and eccentric with respect to the output shaft.
揺動板は、偏心円板の外周に嵌合する円形孔を有し、その間で摺動しながら鉛直 面内で揺動するようになっており、  The oscillating plate has a circular hole that fits on the outer periphery of the eccentric disc, and oscillates in the vertical plane while sliding between them.
規制リンクは、一端が揺動板に他端がプレスの固定部分にそれぞれ回転可能に取 り付けられ、揺動板の揺動を規制するようになっており、  The restriction link is rotatably attached at one end to the swing plate and the other end to the fixed part of the press so as to restrict the swing of the swing plate.
駆動リンクは、一端が揺動板の規制リンク取付位置から離れた位置に、他端が上下 動するプランジャの上端にそれぞれ回転可能に取り付けられている、ことを特徴とす る請求項 2に記載のサーボモータ駆動式タンデムプレスライン。  The drive link is rotatably attached to a top end of a plunger, one end of which is distant from the restricting link attachment position of the swing plate and the other end of the drive link. Servo motor driven tandem press line.
[4] 前記統合制御装置によりサーボモータ駆動装置を制御し、 [4] The servo motor drive device is controlled by the integrated control device,
(A)ワークの搬入前にサーボモータ駆動装置の出力軸を、リンクプレスが搬送装置と 干渉しなレ、位置に停止、又は干渉しな!/、範囲内で運転させ、  (A) Before loading the workpiece, operate the output shaft of the servo motor drive device within the range where the link press does not interfere with the transfer device, stops at the position, or does not interfere! /
(B)ワークが搬入され搬送装置が一定の位置に達した時に、サーボモータ駆動装置 を制御してプレスを起動し、メインギヤの回転速度を所定の高速まで加速し、  (B) When the work is loaded and the transfer device reaches a certain position, the servo motor drive device is controlled to activate the press, and the main gear rotation speed is accelerated to a predetermined high speed.
(C)スライドが絞り成形領域に近づいた時に、サーボ制御によってメインギヤを減速 し、スライド速度を成形に適した値まで下げ、 (D)スライドが下死点を通過して成形が完了した後、メインギヤを加速し、スライドを 高速で上昇させる、ことを特徴とする請求項 3に記載のサーボモータ駆動式タンデム プレスライン。 (C) When the slide approaches the draw forming area, the main gear is decelerated by servo control, and the slide speed is lowered to a value suitable for molding. 4. The servomotor-driven tandem press line according to claim 3, wherein (D) the slide passes through the bottom dead center and the molding is completed, and then the main gear is accelerated to raise the slide at a high speed.
[5] 前記リンクプレス以外の機械プレスは、ェキセンドライブ機構又はクランクドライブ機 構を備える、ことを特徴とする請求項 1に記載のサーボモータ駆動式タンデムプレス ライン。  5. The servo motor driven tandem press line according to claim 1, wherein the mechanical press other than the link press includes an eccentric drive mechanism or a crank drive mechanism.
[6] 前記統合制御装置は、複数の機械プレスにおける下降タイミングをずらす全体制 御を行う、ことを特徴とする請求項 1に記載のサーボモータ駆動式タンデムプレスライ ン。  6. The servo motor-driven tandem press line according to claim 1, wherein the integrated control device performs overall control that shifts the descent timing of a plurality of mechanical presses.
[7] 前記複数の搬送装置は、サーボ式搬送装置である、ことを特徴とする請求項 1に記 載のサーボモータ駆動式タンデムプレスライン。  7. The servo motor driven tandem press line according to claim 1, wherein the plurality of transport devices are servo transport devices.
[8] 前記統合制御装置は、プレス間時間差制御を行う、ことを特徴とする請求項 6又は8. The integrated control device according to claim 6, wherein the time difference control between presses is performed.
7に記載のサーボモータ駆動式タンデムプレスライン。 Servo motor drive tandem press line as described in 7.
PCT/JP2007/069835 2006-10-30 2007-10-11 Servomotor-driven tandem press line WO2008053678A1 (en)

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JP2014523345A (en) * 2011-06-14 2014-09-11 エム．アイ．シー． インドウストリエス， インコーポレイテッド System and method for manufacturing a panel from a plate using adaptive control
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