JP3368149B2 - Flying press control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying press for width reduction in a rolling line, in which the main crank mechanism reciprocating in the material width direction and the swinging crank mechanism reciprocating in the material conveying direction are synchronized. The present invention relates to a control device to perform.

[0002]

2. Description of the Related Art FIG. 5 is a structural view showing a conventional flying press device (Japanese Patent Application Laid-Open Nos. 2-52104 and 2-5).
2106). In the figure, slides 33 for holding a width reduction press die 32 are arranged on both sides of the width of a material (slab) 31 conveyed in the direction a, and the slides 33 on both sides are provided with pins 36 on the main crank arm. One end of 35 is pivotally attached. The other end of the main crank arm 35 is pivotally attached to a crank pin 34 driven by a main motor 50, and the main motor 50 rotates the crank pin 34 to rotate the main crank arm 35 and the slide 33 ( The die 32 is reciprocated in the width direction of the material 31 via the main crank mechanism).

On the other hand, the slide 33 is mounted on a feed guide 37 which can reciprocate in the longitudinal direction of the material 31 so as to be slidable in the width direction of the material 31. Then, the other end of the swinging crank arm 39, one end of which is pivotally attached to the crank pin 38, is pivotally attached to one end of a link 41 which swings around a fulcrum 40 in the central portion, and the other end of this link 41 is fed to Guides 37 and arms 42, respectively
Connect using. The crank pin 38 is rotationally driven by a swing motor 60, and the rotary motion of the crank pin 38 causes the feed guide 37 to move the material 31 through a swing crank mechanism including a swing crank arm 39, a link 41 and an arm 42. A flying press is configured so that it can be reciprocally driven in the longitudinal direction.

Next, the operation for the synchronous control of the flying press device will be described. In the flying press device, it is necessary to control the main crank mechanism and the swing crank mechanism synchronously before the width reduction pressing. Here, as shown in FIG. 4, after the start of the synchronous control, the main crank and the swing crank are controlled to be in the synchronous position at point A in the second cycle. The main crank mechanism is given a constant angular velocity N (rpm) by the rotation of the main motor 50. After the synchronization is completed, the swing crank mechanism is also provided with a constant angular velocity N (rpm) by the rotation of the swing motor 60. In the conventional synchronous control of this type, the start timing of the swing crank mechanism is calculated before the start of the synchronous control so that the main crank mechanism and the swing crank mechanism have the same crank position at the synchronization completion point, and the swing motor The speed control of 60 was performed.

[0005]

The conventional synchronous position control of the flying press is performed as described above. The start timing of the swing crank before the synchronous control is calculated, and after the synchronous control is started, the open loop speed is calculated. Since it is controlled, if there is a load change due to disturbance of the main engine motor after the start of synchronous control, the angular velocity of the main crank will fluctuate, and as a result, the main crank and swinging crank will be out of synchronization and the width reduction Problems sometimes occurred in the press.

The present invention has been made to solve the above-mentioned problems, and dynamically calculates the target position of the swing crank mechanism and the target arrival time of the main crank mechanism, and the swing crank mechanism is constantly operated. An object of the present invention is to provide a synchronous position control device for a flying press capable of position correction.

[0007]

According to the invention of claim 1,
When the die is moved back and forth in the material width direction by the rank mechanism,
In both cases, the swinging crank mechanism moves the die in the material conveying direction.
Flying press that moves back and presses while feeding material
The current position of the main crank mechanism
From the arrival time from the
The detection circuit that detects the current target position of the
The target position of the dynamic crank mechanism and the actual swing crank mechanism
Equipped with a correction circuit that outputs the deviation from the position, the synchronous control
The correction circuit is used from the start to the target synchronous position.
Correcting the position of the swing crank mechanism based on the output deviation
It is characterized by doing.

The invention of claim 2 is the same as the invention of claim 1.
Te, and the position of the position and Yuradoku rank mechanism of the main crank mechanism
Equipped with a compensation circuit that outputs the deviation of the
After the target synchronization with the dynamic crank mechanism is completed, the compensation circuit
Corrects and controls the position of the swing crank mechanism based on the output deviation.
It is characterized by

The invention of claim 3 is the same as the invention of claim 2.
The target synchronization between the main crank mechanism and the swing crank mechanism.
After that, the rocking crank
The feature is that the mechanism is driven at a constant speed.

The invention of claim 4 is from claim 1 to claim 3.
In the invention of the above, insensitivity with conversion gain on the output side of the correction circuit
Characterized by the installation of a belt.

The invention of claim 5 is claim 2 or claim 3.
In the invention, the insensitivity with conversion gain
Characterized by the installation of a belt.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. Embodiment 1 of the present invention will be described below with reference to the drawings.
FIG. 1 is a structural view of a flying press according to the present invention, in which 1 is a material (slab) conveyed in the direction a in the drawing, and 2 is a metal for pressing the material 1 from both sides in a width reduction. The dies 3 are main motors for reciprocating the die 2 in the width direction of the material 1, and their speeds are controlled.
Reference numeral 4 is a speed reducer of the main engine motor 3, and 5 is a main crank mechanism for converting the rotational motion of the main motor 3 into a reciprocating motion in the slab width direction. The main crank mechanism 5 is composed of, for example, a crank arm 5a and a crank shaft 5b.

Reference numeral 6 denotes an oscillating device motor for reciprocating the material (slab) 1 in the conveying direction, and its speed is controlled as described below. Reference numeral 7 is a speed reducer of the rocking device motor 6, and 8 is a rocking crank mechanism for converting the rotational motion of the rocking device motor 6 into a reciprocating motion in the material conveying direction. The oscillating crank mechanism 8, for example clan
It is composed of a crank arm 8a and a crank shaft 8b.

Further, the main crank mechanism 5 and the swing crank mechanism 8 are provided with position detectors 9 and 10 for detecting respective rotational positions.

FIG. 2 is a control block diagram of the flying press of the present invention, in which 11 is the main crankshaft 5b.
This is a swing crank target position detection circuit for detecting the current position of the swing crank shaft 8b by performing back calculation from the arrival time from the current position to the target synchronous position, and its detailed operation will be described below. Reference numeral 12 is a swing crank position correction circuit that outputs a deviation Δθ between the target position detected by the swing crank target position detection circuit 11 and the actual position detected by the swing crank position detector 10. In this embodiment,
By dynamically controlling the output deviation Δθ, the swing crank mechanism 8 is made to follow the main crank mechanism 5, and as a result, the crank positions are matched at the synchronization points shown in the timing chart of FIG.

Next, the operation of the first embodiment will be described. The main motor 3 is connected to the main crankshaft 5b via the speed reducer 4.
Is driven to rotate, and the press die 2 is reciprocated in the material width direction via the main crank arm 5a. On the other hand, the oscillating device motor 6 rotationally drives the oscillating crank shaft 8b via the speed reducer 7, and reciprocates the press die 2 in the material conveying direction via the oscillating crank arm 8a. Then, by synchronizing the reciprocating motion of the main crank mechanism 5 in the material width direction with the reciprocating motion of the swinging crank mechanism 8 in the material conveying direction, it is possible to perform pressing by the mold 2 while feeding the material 1. Achieve flying press action.

Next, the synchronization control will be described. Here, as shown in FIG. 4, after the synchronous control is started, the main crankshaft 5b and the swing crankshaft 8b are set at point A in the second cycle.
Are controlled so that they are in the synchronous position. The main crankshaft 5b is rotated at a constant angular velocity N by the rotation of the main motor 3 via the speed reducer 4.
(Rpm) is given. On the other hand, the swing crankshaft 8b
Is started to be rotationally driven at a constant angular acceleration by the oscillating device motor 6 after the synchronization control is started, and a constant angular velocity N (rpm) is given after the target synchronization completion point is reached.

After the start of the synchronous control, the swinging crankshaft 8b
Until the point reaches the synchronization point, the swing crank target position detection circuit 11 obtains the current target position P of the swing crank device by the following formula.

That is, first, the arrival time t (sec) from the current position of the main crank to the target synchronous position is calculated by the following equation (1).

[0020]

[Equation 1]

In the formula (1), the position of the main crankshaft and the angular velocity of the main crankshaft are detected by the main crank position detector 9.

The current swing crank target position P is calculated by the equation (2) by back-calculating with the time t.

[0023]

[Equation 2]

In the equation (2), A is a target synchronous position between the main crankshaft and the swing crankshaft (for example, A = 31).
5 °; see FIG. 4), B is the angular velocity of the rocking crankshaft after the synchronization point (for example, B = 50 cycles / sec), and α is the angular acceleration (deg / degree) of the rocking crankshaft after the start.
s ² ).

As described above, the correction circuit 12 corrects the deviation Δθ between the target position P obtained by the swing crank target position detection circuit 11 and the actual swing crank position detected by the swing crank position detector 10. And is fed back to the oscillating device motor 6 as speed correction during the timing C shown in FIG. 3 (until the completion of the synchronous control).

As described above, according to the first embodiment, the swing crank target position detection circuit 11 causes the swing crank shaft 8 to move.
The current position of b is detected, and the deviation from the actual position of the swing crank shaft 8b detected by the swing crank position detector 10 is calculated and added to the speed correction of the swing device motor 6. Therefore, it is possible to prevent the synchronization deviation between the start of the synchronization control of the main crank mechanism 5 and the swing crank mechanism 8 until the target synchronization position is reached, and it is possible to provide a highly reliable flying press device.

Embodiment 2. In the first embodiment, a case has been described where the speed corrected by the correction circuit 12 in synchronization control starting stage of the main crank mechanism 5 and the oscillating crank mechanism 8, the eyes in the second embodiment
The purpose is to prevent synchronization deviation after reaching the target synchronization position (after completion of target synchronization) .

In the control block diagram of FIG. 2, 13 is the main crankshaft 5 detected by the main crank position detector 9.
This is a compensation circuit that compares the position of b with the position of the oscillating crankshaft 8b detected by the oscillating crank position detector 10 and outputs the deviation Δθ1 between them.

Deviation Δ found by the compensation circuit 13
The target of θ1 is the main crankshaft 5b and the swing crankshaft 8b.
At the timing D of FIG. 3, which is rotating at a constant angular velocity (N rpm) after the completion of synchronization , the rocking device motor 6
It is fed back to the speed correction of.

As described above, according to the second embodiment, after the target synchronization between the main crank mechanism 5 and the swing crank mechanism 8 is completed , the speed of the swing device motor 6 is corrected by the compensation circuit 13. Since this is done, it is possible to minimize the deviation between the main crank mechanism 5 and the swing crank mechanism 8 after the completion of target synchronization , and it is possible to provide a highly reliable flying press device.

Embodiment 3. Completed target synchronization of main crank mechanism 5 and swing crank mechanism 8.
After that , during the pressing period of the material (slab) 1 by the mold 2, when the load of the main crank mechanism 5 is large,
Since the fluctuation of the angular velocity of the main crankshaft 5b becomes large, if the deviation is fed back to the swing crank mechanism 8,
On the contrary, there is a risk of causing interference between the main crank mechanism 5 and the swing crank mechanism 8. The third embodiment aims to drive the swing crank mechanism 8 at a constant speed during the pressing period.

In FIG. 2, reference numeral 14 is a rocking device motor 6
Is a constant speed control circuit that outputs a constant speed (for example, N rpm).

The constant speed N output from the constant speed control circuit 14 is the main crankshaft 5b and the swing crankshaft 8b.
After the completion of the synchronization, the output is output to the rocking device motor 6 at the timing P (pressing period) in FIG. 3 during the pressing period.

As described above, according to the third embodiment, the constant speed control circuit 14 outputs a constant angular velocity to the oscillating device motor 6 during the pressing period in which the main crank mechanism 5 varies greatly. Therefore, the interference between the main crank mechanism 5 and the swing crank mechanism 8 can be prevented, and a flying press device having more stable synchronous control can be provided.

Fourth Embodiment In the fourth embodiment, as shown in FIG.
Swing crank position correction circuit 12 and swing device motor 6
A dead band with conversion gain 15 is provided between the two, and a dead band with conversion gain 16 is provided between the compensation circuit 13 and the oscillating device motor 6 according to the second embodiment.

According to this embodiment, the dead zone 15 with conversion gain is provided between the swing crank position correction circuit 12 and the swing device motor 6, and the compensation circuit 13 and the swing device motor 6 are provided.
By providing the dead zone 16 with the conversion gain between the two, it is possible to ignore a minute disturbance and to stabilize the control system.

[0037]

According to the first aspect of the invention, the current target position of the swing crank mechanism is detected by analogy with the arrival time from the current position of the main crank mechanism to the target synchronous position. Since the deviation between the target position of the rocking crank mechanism and the actual position of the rocking crank mechanism is output and the position of the rocking crank mechanism is corrected and controlled based on this deviation, the synchronous control of the main crank mechanism and the rocking crank mechanism is performed. Same goal from start
It is possible to prevent the synchronization deviation before the completion of the period and to provide a highly reliable flying press device.

According to the second aspect of the invention, a compensation circuit for outputting the deviation between the position of the main crank mechanism and the position of the swing crank mechanism is provided, and the position of the swing crank mechanism is corrected and controlled based on this output deviation. Since this is done, it is possible to minimize the deviation between the main crank mechanism and the swing crank mechanism after the completion of the target synchronization .

According to the third aspect of the invention, after the target synchronization of the main crank mechanism and the swing crank mechanism is completed , the swing crank mechanism is driven at a constant speed during the pressing of the material by the die. It is possible to prevent the main crank mechanism and the swing crank mechanism from interfering with each other due to a press load, and to provide a flying press device having a more stable operation.

According to the invention of claim 4 or claim 5, since a dead zone with a conversion gain is provided on the output side of the swing crank position correction circuit or the output side of the compensation circuit, negligible disturbance should be ignored. Therefore, the control system can be further stabilized.

[Brief description of drawings]

FIG. 1 is a structural diagram showing a flying press device according to the present invention.

FIG. 2 shows a control block diagram of the flying press device of the present invention.

FIG. 3 shows a control timing chart of the flying press device of the present invention.

FIG. 4 shows a timing diagram showing synchronous control of a flying press machine.

FIG. 5 is a structural diagram showing a conventional flying press device.

[Explanation of symbols]

1 material, 2 mold, 3 main motor, 4 reducer, 5
Main crank mechanism, 6 oscillating motor, 7 reducer,
8 rocking crank mechanism, 9, 10 position detector, 11
Swing crank target position detection circuit, 12 Swing crank position correction circuit, 13 Swing crank position compensation circuit, 14
Constant speed control circuit, 15, 16 Dead band with conversion gain.

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B21B 15/00 B21B 1/00-11/00 B30B 1/00-7/04 B30B 15/00-15 / 28 B21J 1/00-13/14

Claims (5)

(57) [Claims] 1. A controller for a flying press that presses while feeding a material by reciprocating the die in the material width direction by a main crank mechanism and reciprocating the die in a material conveying direction by an oscillating crank mechanism. , A detection circuit that detects the current target position of the swing crank mechanism by analogy with the arrival time from the current position of the main crank mechanism to the target synchronous position, and the target position of this swing crank mechanism and the actual swing crank mechanism. Equipped with a correction circuit that outputs the deviation from the position of
Until it reaches the limit, fluctuations are made based on the output deviation from the correction circuit.
A flying press control device which corrects and controls the position of a dynamic crank mechanism . 2. The position of the main crank mechanism and the rocking mechanism
Equipped with a compensation circuit that outputs the deviation from the position of the rank mechanism,
The eyes of the main crank mechanism and the swing crank mechanism.
After completion of standard synchronization, based on the output deviation from the compensation circuit
It is characterized in that the position of the swing crank mechanism is corrected and controlled.
The control device for the flying press according to claim 1. 3. The main crank mechanism and the swing crank
After completion of the target synchronization with the mechanism, press the material with the mold
During the period, the swing crank mechanism is driven at a constant speed.
The flying press according to claim 2, wherein
Control device. 4. The output side of the correction circuit is provided with a conversion gain.
A sensitive zone is provided to claim 1 to claim 3.
The control device for the flying press according to any one of 1. 5. A converter gain-equipped filter is provided on the output side of the compensation circuit.
3. A sensitive zone is provided, and the sensitive zone is provided.
The control device for the flying press described in 1.