JP6959903B2 - Command generator - Google Patents

Description

The present invention relates to a command generator, and more particularly to a command generator that generates a die cushion force command for controlling the die cushion force of the die cushion device or a slide speed command for controlling the slide speed of a press machine.

In the process of forming a material (die cushioning force action) by a press machine, a servo die cushioning device that can change (transformable) the die cushioning force applied to the material continuously or intermittently for each die cushion stroke is common. It is becoming (Patent Document 1).

In the die cushion control device described in Patent Document 1, the setting relationship between the die cushion stroke and the die cushion force of the die cushion device can be input, and the set work amount is calculated from the input setting relationship, and the calculated set work amount is calculated. , The range in which the die cushion force and die cushion stroke satisfy the constraint conditions of the press machine by determining whether or not the constraint conditions such as the amount of work required for pressing the material stored in advance are satisfied and displaying the determination result. It can be set freely within.

Further, a servo press that can change the speed (slide speed) of a press slide for each slide position (for example, between two slide positions) is becoming popular (Patent Document 2).

Effective use of this shifting function can improve moldability, downgrade materials, and improve yield without reducing productivity (without reducing the average number of slide strokes). There are many advantages.

The setup adjustment device of the servo press described in Patent Document 2 uses a manual pulser that generates a pulse output signal proportional to the amount of rotation manually rotated by the user, and uses a manual pulser to generate a pulse output signal from the manual pulser. The slide is driven based on this (the crank shaft angle is moved by the amount of increase / decrease in the crank shaft angle command proportional to the pulse output signal). The manual pulsar described in Patent Document 2 is considered to be a form of a speed change function of the slide speed because the rotation speed of the crank shaft is generated in proportion to the rotation speed of the manual pulsar.

On the other hand, there have been proposed operating devices that assist human operation by adjusting the operation of a human-operated operator with an actuator, such as a power steering device for automobiles and a device that assists in transporting heavy objects (a device that assists human operation). Patent Document 3).

Further, the operating device described in Patent Document 3 has good operability by applying an appropriate reaction force (response, etc.) from the operator to the person when the person applies the operating force to the operator. In particular, the smaller the operating force on the operator, the larger the proportional coefficient used when calculating the resistance force is set by multiplying the speed of the operator.

JP-A-2015-66597 Japanese Unexamined Patent Publication No. 11-47995 Japanese Unexamined Patent Publication No. 2006-218573

Like the die cushion control device described in Patent Document 1, if the (transformation) function of the die cushion device is used effectively, the material can be downgraded and the yield can be improved. many. However, the transformer setting method for each die cushion stroke is troublesome, it is difficult to secure the die cushion force setting adjustment time in the molding try, and the transformer pattern is limited to step-like, lamp-like, or a mixture thereof, which is ideal. The fact is that it is not often used because it is difficult to make a simple transformer pattern, and it is "very wasteful".

Further, although it is possible to set the slide speed of the press machine by using the manual pulsar described in Patent Document 2, the speed setting for each slide position is troublesome or difficult to understand, and is rough. In most cases, a shift motion (for example, decelerating to a constant speed from just before the slide position where drawing is started to near bottom dead center) is used, which is "very wasteful". The servo press setup sizing device described in Patent Document 2 is applied only to the very low speed region of the slide, and is used not as a molding application but as a setup operation application (sub-application) at the time of mold attachment / detachment. Is to be done.

Further, the operating device described in Patent Document 3 applies an appropriate reaction force to the operator of the power steering device and the device that assists the transporting work of heavy objects, and generates a die cushion force command and a slide speed command. It's not something to do.

The present invention has been made in view of such circumstances, and a command capable of easily generating a die cushion force command or a slide speed command at least during the press forming period according to a human sense of force (proportional to). It is an object of the present invention to provide a generator.

The present invention according to one aspect for achieving the above object is a die cushion device that controls a die cushion force applied to a cushion pad based on a die cushion force command, or a die cushion device that controls a slide speed based on a slide speed command. A command generator that is attached to the press machine and generates the die cushion force command or the slide speed command, and is operated by the operator during at least one press forming period of one cycle of trial operation before the production operation by the press machine. An operator that moves within a predetermined movable range according to an operating force applied by the operator, an operating force detector that detects an operating force applied by the operator to the operator, and a slide that detects the position of the slide. The die cushion force command or the slide speed command corresponding to the operating force signal based on the position detector and the operating force signal indicating the operating force detected by the operating force detector with the operation of the operator. And a storage device that stores the die cushion force command or the slide speed command calculated by the command calculator in association with the slide position detected by the slide position detector during the trial operation. Outputs the die cushion force command or the slide speed command calculated by the command calculator during the trial operation, and outputs the die cushion force command or the slide speed command stored in the storage during the production operation. It is provided with a switching output unit for switching.

According to one aspect of the present invention, the operator applies an operating force to the operator during at least the press molding period of one cycle of trial operation. The operator moves within a predetermined movable range according to the operating force applied by the operator, and the operator applies an operating force corresponding to the die cushion force command or the slide speed command to be generated to the operator. When an operating force is applied to the operator, a die cushioning force command or slide speed command is calculated based on the operating force signal indicating the operating force, and the calculated die cushioning force command or slide speed command is associated with the slide position. Is stored in the storage device. During the trial operation, a die cushion force command or a slide speed command calculated at any time is generated by the operating force on the operator, and when the success of the press molding is confirmed by the trial operation, the operation is switched to the production operation. During production operation, a successful press molding can be reproduced by generating a die cushion force command or a slide speed command stored in the storage device.

By generating a die cushion force command or a slide speed command proportional to the human force sense in this way, if the operator is skilled, the die cushion force setting or the slide speed setting can be effectively set for a short time according to the skill level. It becomes possible to perform the die cushioning force control function or the servo press function without regret. Then, the drawnability is improved, the material is downgraded, and the material yield is improved, the utility (name recognition) of the servo die cushion device and the servo press is increased, and sales are promoted.

In the command generator according to another aspect of the present invention, the operator is preferably a pedal or handle operated by an operator.

In the command generator according to still another aspect of the present invention, the operating force detector includes a position sensor or an angle sensor that detects the position or rotation angle of the operator in proportion to the operating force applied to the operator. It is preferable to have an operating force calculator that calculates an operating force from the detection output of the position sensor or the angle sensor. The force applied to the pedal or handle by the operator with his or her foot or hand can be detected by a position sensor or an angle sensor that detects a position or rotation angle proportional to the force.

In the command generator according to still another aspect of the present invention, the operating force detector is preferably a force sensor that directly detects the operating force applied to the operator. The force that the operator applies to the pedal or steering wheel with his or her foot or hand can be detected via a force sensor that detects pressure or strain.

In the command generator according to still another aspect of the present invention, the command generator includes a first setter for setting the minimum limit set value and the maximum limit set value of the die cushion force command, respectively, and the command calculator is operated by the operator. The minimum limit setting value is assigned to the operating force signal when it is located at one end of the movable range, and the maximum limit is assigned to the operating force signal when the operator is located at the other end of the movable range. It is preferable to assign a set value and calculate the die cushioning force command that changes within the range of the minimum limit set value and the maximum limit set value based on the operating force signal.

According to still another aspect of the present invention, it is possible to generate a die cushioning force command that changes within a range of the minimum limit set value and the maximum limit set value depending on the operating force applied to the operator.

The command generator according to still another aspect of the present invention includes a first setter that sets the minimum limit set value, the center set value, and the maximum limit set value of the die cushioning force command, respectively, and the operator is said to have the same. When the operator is not operated, it moves to the neutral position, moves from the neutral position to one end of the movable range according to the operating force in the first direction, and is moved by the operating force in the second direction opposite to the first direction. Moving from the neutral position to the other end of the movable range, the command calculator assigns the minimum limit set value to the operating force signal when the operator is located at one end of the movable range. The center setting value is assigned to the operating force signal when the operator is located at the neutral position of the movable range, and the operating force signal is assigned to the operating force signal when the operator is located at the other end of the movable range. It is preferable to assign the maximum limit set value and calculate the die cushioning force command that changes within the range of the minimum limit set value and the maximum limit set value based on the operating force signal.

According to still another aspect of the present invention, a die that changes within the range of the minimum limit value and the center set value and within the range of the center set value and the maximum limit set value depending on the operating force applied to the operator and the operation direction. A cushioning force command can be generated.

In the command generator according to still another aspect of the present invention, when the slide reaches the die cushion start position, the command calculator outputs a die cushion force command corresponding to the operation force signal to maintain the die cushion force. When the time is set, after the die cushion force holding time elapses after the slide reaches the bottom dead point, if the die cushion force holding time is not set, the slide dies down. It is preferable to set the die cushioning force command to zero after reaching the point. This is because the die cushion force command is output during the press molding period.

In the command generator according to still another aspect of the present invention, the die cushion start position and the slide position for setting the slide position for changing the die cushion force within the range between the die cushion start position and the bottom dead point of the slide. The setting device, the die cushion force setting device that sets the die cushion force at the plurality of slide positions set by the slide position setting device, and the constant or linear change as the action form of the die cushion force between the plurality of slide positions. A second setting device including an action mode setting device for setting, a storage device for storing each setting value set by the second setting device, each setting value stored in the storage device, and the slide position detection. A die cushion force standard commander that outputs a die cushion force command based on the slide position detected by the device, and a die cushion force command output from the die cushion force standard command device or a die cushion stored in the storage device. It is preferable that the switching output unit includes a die cushion force command selection unit for selecting a force command, and the switching output unit outputs a die cushion force command selected by the die cushion force command selection unit during the production operation.

The die cushion force standard commander can output a standard die cushion force command based on each set value set in advance by the second setter and the slide position detected by the slide position detector. During production operation, the standard die cushion force command from the die cushion force standard commander is output by selection in the die cushion force command selection unit, or the die cushion force command proportional to the force sense stored in the storage device is output. can do.

In the command generator according to still another aspect of the present invention, the storage device further stores the die cushioning force command stored in the storage device by inputting a storage instruction, and the storage device uses the command calculator. It is preferable to store the calculated die cushioning force command, or to read and store the die cushioning force command stored in the storage device. In this case, the storage device functions as a storage device for temporarily storing the die cushion force command, and the storage device functions as a storage device for permanently storing the die cushion force command.

The command generator according to still another aspect of the present invention includes a standard converter that converts the die cushioning force command stored in the storage device into each set value set by the second setter. It is preferable that the storage device further stores each set value converted by the standard converter. As a result, it is possible to acquire each set value for generating a standard die cushion force command and store it in the storage device without using the second setting device. In the storage device, it is preferable to store each set value in association with the mold in which the die cushion force command is used.

The command generator according to still another aspect of the present invention includes a third setter for setting the minimum limit set value and the maximum limit set value of the slide speed command, and the command calculator is based on the operating force signal. It is preferable to calculate the slide speed command that changes within the range of the minimum limit set value and the maximum limit set value.

According to still another aspect of the present invention, a slide speed command that changes within a range of the minimum limit set value and the maximum limit set value can be generated by the operating force applied to the operator.

The command generator according to still another aspect of the present invention includes a fourth setter that sets an effective range within one cycle of the slide on which the slide speed command calculated by the command calculator effectively acts. The command calculator assigns zero acceleration to the operating force signal when the operator is located at one end of the movable range, and the operating force signal when the operator is located at the other end of the movable range. When the slide is in the effective range, the slide speed command that changes within the range between the minimum limit set value and the maximum limit set value is calculated based on the operating force signal. Is preferable.

The acceleration of the slide is assigned according to the operating force on the operator, and zero acceleration is assigned to the operating force (operating force signal) when the operator is located at one end of the movable range, and the operation is performed. The maximum acceleration is assigned to the operating force when the child is located at the other end of the movable range. Then, the slide speed command can be generated by integrating the acceleration corresponding to the operating force on the operator. The slide speed command is limited to the range between the set minimum limit set value and the maximum limit set value.

The command generator according to still another aspect of the present invention includes a fourth setter that sets an effective range within one cycle of the slide on which the slide speed command calculated by the command calculator effectively acts. The operator moves to a neutral position when the operator is not operated, moves from the neutral position to one end of the movable range in response to an operating force in the first direction, and a second in a direction opposite to the first direction. The operating force in the direction moves from the neutral position to the other end of the movable range, and the operating force detector is positive or negative with the operating force in the first direction and the operating force in the second direction applied to the operator. Detects different operating force signals, the command calculator assigns a maximum positive or negative acceleration to the operating force signal when the operator is located at one end of the movable range, and the operator assigns the maximum acceleration to the operating force signal. Zero acceleration is assigned to the operating force signal when it is located in the neutral position of the movable range, and the maximum negative or positive acceleration with respect to the operating force signal when the operator is located at the other end of the movable range. Is assigned, and when the slide is in the effective range, it is preferable to calculate the slide speed command that changes within the range between the minimum limit set value and the maximum limit set value based on the operating force signal.

According to still another aspect of the present invention, an operating force signal corresponding to a positive acceleration or a negative acceleration is obtained according to the operating direction of the operator, and a minimum limit set value is obtained depending on the operating force applied to the operator and the operating direction. It is possible to generate a slide speed command that increases or decreases within the range of the maximum limit set value.

According to the present invention, it is possible to generate a die cushioning force command or a slide speed command at least during the press forming period according to the operating force applied to the operator by the operator, and it is easy according to the human force (proportional) feeling. Can generate a die cushion force command or a slide speed command.

FIG. 1 is a conceptual diagram showing a first embodiment of a command generator according to the present invention. FIG. 2 is a diagram showing a first embodiment of the pedal-type force sensation imparting means. FIG. 3 is a graph showing the relationship between the pedal depression amount of the pedal-type force sense applying means and the operating force, and the relationship between the operating force and the die cushioning force / force sense command. FIG. 4 is a system configuration diagram showing an embodiment of a press system including a command generator according to the present invention. FIG. 5 is a block diagram showing an embodiment of the die cushion force control device. FIG. 6 is a graph showing a die cushion force command, a die cushion force, a slide position, and a die cushion position. FIG. 7 is a graph showing an example of die cushioning action corresponding to the setting of [Table 1]. FIG. 8 is a graph showing an example of die cushioning action corresponding to the setting of [Table 2]. FIG. 9 is a graph showing an example of die cushioning action corresponding to the setting of [Table 3]. FIG. 10 is a diagram showing a die cushion force standard command that is converted based on the die cushion force command (die cushion force / force sense command) shown in FIG. 6 and output from the die cushion force standard commander 266. FIG. 11 is a diagram showing a second embodiment of the pedal-type force sensation imparting means. FIG. 12 is a diagram showing a first embodiment of the handle-type force sensation imparting means. FIG. 13 is a diagram showing a second embodiment of the handle-type force sensation imparting means. FIG. 14 is a conceptual diagram showing a second embodiment of the command generator according to the present invention. FIG. 15 is a block diagram showing an embodiment of the slide speed control device.

Hereinafter, preferred embodiments of the command generator according to the present invention will be described in detail with reference to the accompanying drawings.

[First Embodiment]
FIG. 1 is a conceptual diagram showing a first embodiment of a command generator according to the present invention.

The command generator of the first embodiment is attached to the die cushion force controller 280 that controls the die cushion force applied to the cushion pad based on the die cushion force command, and the die cushion force command is given to the die cushion force controller 280. Occurs.

This command generating device includes a force sensation applying means (pedal type force sensation applying means 250-1), and generates a die cushion force command proportional to the force (operating force) for the operator to step on the pedal.

The operator adjusts the pedaling force while visually checking the molding (die cushioning force action) process in the trial operation performed before the production operation. Here, when the pedal 250A is located at one end of a predetermined movable range (angle θ) as shown in FIG. 2 (in this example, when the depression amount is the minimum), the minimum limit set value is used as the die cushion force command. When Fmin is assigned and the pedal is located at the other end (when the amount of depression is maximum), it is preferable to assign the maximum limit setting value Fmax.

When the operating force (Fmanual) applied to the pedal 250A is detected, the die cushion force commander 260, which functions as a command calculator, issues a die cushioning force command (die cushioning force / force sense command) proportional to the operating force Fmanual. , The minimum limit set value Fmin and the maximum limit set value Fmax are automatically calculated at any time and output to the die cushion force controller 280.

The die cushion force controller 280 generates a servomotor torque command for driving the servomotor of the diecushion device 200 (servo diecushion device) based on the diecushion force / force sense command, and causes the diecushion device 200 to generate a servomotor torque command. Output.

The die cushion device 200 presses and holds the peripheral edge of the material (blank) 103 formed by the upper die 120 and the lower die 122 of the press machine between the upper die 120 and the blank holder (wrinkle pressing plate) 202. The blank holder 202 is held by the cushion pad 210 via a plurality of cushion pins.

Then, the die cushioning force / force sense command when the molding try is successful and a good product is obtained is stored in memory, and when the production operation is performed thereafter, the memory-retained die cushioning force / force sense is retained. Directives can be used.

<Pedal type force sense imparting means (pedal type 1)>
FIG. 2 is a diagram showing a first embodiment of the pedal-type force sensation imparting means.

In FIG. 2, the pedal-type force sense applying means 250-1 that functions as an operator is provided so that the pedal 250A can move (rotate) within a certain movable range (angle θ) with respect to the pedestal 250B. A coil spring 250C is arranged between the 250A and the pedestal 250B. An encoder 252 that functions as an angle sensor is mounted on the rotation axis of the pedal 250A, and the encoder 252 outputs a rotation angle signal corresponding to the depression amount of the pedal 250A (the angle of the pedal 250A) to the operating force detector 254.

When the operator steps on the pedal 250A with his or her toes, the coil spring 250C is compressed according to the amount of depression of the pedal 250A, an operating force acts in proportion to the amount of compression of the coil spring 250C, and the encoder 252 responds to the amount of depression. Outputs an increasing rotation angle signal.

The operating force detector 254 has an encoder 252 and an operating force calculator that calculates (detects) the operating force from an angle based on the rotation angle signal of the encoder 252, and dies the operating force signal indicating the calculated operating force. Output to the cushion force commander 260.

The maximum limit set value Fmax and the minimum limit set value Fmin of the die cushion force set by using the die cushion operation panel 256 functioning as the first setter are added to the die cushion force commander 260, and the die is added. The cushion force commander 260 has a constant "play amount" (operating force corresponding to the angle Δθ) from the maximum value and the minimum value of the operating force based on the operating force signal, the maximum limit set value Fmax and the minimum limit set value Fmin. The die cushion force / force sense command is calculated for the operating force so that the maximum limit set value Fmax and the minimum limit set value Fmin correspond to the values that are decreased or increased.

FIG. 3 is a graph showing the relationship between the pedal depression amount of the pedal-type force sense applying means and the operating force, and the relationship between the operating force and the die cushioning force / force sense command.

As shown in FIG. 3, the operating force on the pedal is proportional to the amount of pedal depression. The die cushion force commander 260 assigns the maximum limit set value Fmax to the value obtained by subtracting the "play amount" from the maximum value of the operating force, and for the value obtained by increasing the "play amount" to the minimum value of the operating force. The minimum limit set value Fmin is assigned, and the operation force is operated for the operation force between the value obtained by increasing the "play amount" to the minimum value of the operation force and the value obtained by subtracting the "play amount" from the maximum value of the operation force. The die cushion force / force sense command that changes from the minimum limit set value Fmin to the maximum limit set value Fmax in proportion to the force is calculated.

In this example, as shown in FIG. 2, “play amount” indicated by Δθ is provided at one end and the other end of the movable range of the pedal 250A, and the “play amount” is increased or decreased with respect to the position of the pedal 250A. The minimum limit set value Fmin and the maximum limit set value Fmax are assigned, but the present invention is not limited to this, and the "play amount" does not have to be provided. Even when "play amount" is provided at one end and the other end of the movable range of the pedal 250A (operator), the concept of one end and the other end of the movable range of the operator is included in the present invention. Further, instead of the encoder 252, a position sensor that detects the position of the operator (pedal) may be used.

[Press system]
FIG. 4 is a system configuration diagram showing an embodiment of a press system including a command generator according to the present invention.

The press system shown in FIG. 4 supports a press machine (servo press) 100 that transmits a driving force from a servomotor 340 to a slide 110 via a power transmission mechanism such as a crank mechanism, and a cushion pad 210, and the cushion pad 210. It is a servo press system including a die cushion device 200 for generating a die cushion force and a die cushion device 200.

<Press machine>
The press machine 100 shown in FIG. 4 has a frame composed of a bed 102, a column 104, and a crown 106, and the slide 110 is movably guided in the vertical direction by a guide portion 108 provided on the column 104, and is guided by a mechanical drive portion. Driven.

The mechanical drive unit includes a crank shaft 112, a conrod that connects the crank shaft 112 and the slide 110, a servomotor 340 that functions as a crank shaft drive unit, and a speed reducer 101.

A rotational driving force is transmitted from the servomotor 340 to the crank shaft 112 via a speed reducer 101, and the rotational motion of the crank shaft 112 is converted into a linear motion by a conrod and transmitted to the slide 110, and the slide 110 is moved in the vertical direction. Drive to.

Further, the crank shaft 112 is provided with a crank shaft encoder 116. The crank shaft encoder signal output from the crank shaft encoder 116 is converted into a crank shaft angular signal and a crank shaft angular velocity signal by a signal converter (not shown). Further, a slide position detector 114 for detecting the position (slide position) of the slide 110 is provided on the bed 102 side of the press machine 100.

The crank shaft angle signal and the crank shaft angular velocity signal can be converted into a slide position signal and a slide speed signal by a signal converter. The crank shaft angle signal and the crank shaft angle speed signal are used by the crank shaft angle commander 360 and the crank shaft angle controller 380, and the slide position signal and the slide speed signal are the die cushion force commander 260 and the die cushion force controller 280. It is used by, but the details will be described later.

The upper mold 120 is mounted on the slide 110, and the lower mold 122 is mounted on the bed 102 (on the bolster).

There is a blank holder 202 between the upper mold 120 and the lower mold 122, the lower side is supported by the cushion pad 210 via a plurality of cushion pins 204, and the material is set (contacted) on the upper side.

The press machine 100 is a servo press capable of shifting the speed (slide speed) of the slide 110 for each slide position, and the crank shaft angle commander 360 functioning as a command generator for generating a slide speed command is one of the presses. In the cycle, the crank shaft angle command that changes from moment to moment is output to the crank shaft angle controller 380. It is also possible to output a crank shaft angle command for stopping the slide 110 at the bottom dead center for a certain period of time.

The crank shaft angle controller 380 generates a servomotor torque command for controlling the crank shaft angle based on the crank shaft angle command, the crank shaft angle signal, and the crank shaft angular velocity signal input from the crank shaft angle commander 360. , Servo motor torque command is output to the servo motor 340 via the servo amplifier 382.

In this way, the servomotor 340 is controlled, the rotational driving force of the servomotor 340 is transmitted to the slide 110 via the power transmission mechanism, and the slide speed is generated. The details of the slide speed control will be described later.

<Die cushion device>
The die cushion device 200 is mainly composed of a hydraulic cylinder 220 that supports the cushion pad 210, a hydraulic motor 230, a servomotor 240, a die cushion force commander 260, a die cushion force controller 280, and the like.

The cushion pad 210 is supported by the hydraulic cylinder 220, and a die cushion position detector 222 for detecting the position of the cushion pad 210 (die cushion position) is installed on the cushion pad 210 (or a portion interlocking with the hydraulic cylinder / piston). Has been done.

A die cushion pressure detector 232 for detecting the pressure in the lower chamber 220a is connected to the pipe 224 connected to the pressure chamber (hereinafter referred to as "lower chamber") 220a on the cushion pressure generating side of the hydraulic cylinder 220, and the die cushion pressure detector 232 is connected to the pipe 224. One discharge port of the hydraulic motor 230 is connected. A tank 226 is connected to the other discharge port of the hydraulic motor 230.

The drive shaft of the servomotor 240 is connected to the rotation shaft of the hydraulic motor 230 directly or via a speed reducer, and the servomotor 240 has a servomotor angular speed detector 228 for detecting the rotation angular speed of the servomotor 240. It is provided.

Since the die cushioning force can be expressed by the product of the pressure of the lower chamber 220a of the hydraulic cylinder 220 and the cylinder area, controlling the die cushioning force means controlling the pressure of the lower chamber 220a of the hydraulic cylinder 220. do.

In the press forming process, the force transmitted from the slide 110 to the hydraulic cylinder 220 via the cushion pad 210 compresses the lower chamber 220a of the hydraulic cylinder 220 and generates a die cushion pressure. At the same time, the rotary shaft torque is generated in the hydraulic motor 230 by the die cushion pressure. When the rotary shaft torque resists the drive torque of the servo motor 240, the die cushion pressure is suppressed by driving the servo motor 240. NS. After all, the die cushioning force (pressure) is controlled according to the driving torque of the servomotor 240.

The die cushion force controller 280 generates a servomotor torque command based on the diecushion force command applied from the die cushion force commander 260, and outputs the servomotor torque command to the servomotor 240 via the servo amplifier 282. do. The details of the die cushion force control will be described later.

Although not shown, the "press safety one-stroke operation" function and the "continuous production operation" function can be selected on the press operation panel, and when the press machine 100 and the die cushion device 200 are trial-operated, the "press safety" function can be selected. "One-stroke operation" is selected. Further, on the press operation panel, the number of slide strokes of the press can be set. The number of slide strokes is not specified, but in the trial operation of this example, the drawing molding process is visually observed within a range that does not adversely affect molding due to the molding speed being too slow and the frictional force increasing. It is preferable to set a small value that is easy to use.

In the die cushion operation panel 256 (FIG. 2), the maximum limit set value Fmax and the minimum limit set value Fmin of the die cushion force are set as described above. The maximum limit setting value Fmax is set to a value at which drawing wrinkles do not occur at the start of draw forming, and the minimum limit setting value Fmin is set to a value that basically does not cause drawing wrinkles according to the outer diameter of the blank shrunk at the end of drawing forming. Is preferable. In addition, the die cushion force holding time at the bottom dead center, and the knockout when the cushion pad 210 returns to the die cushion start position (rises) while knocking out the product after molding (after the press passes the bottom dead center and starts rising). It is possible to set the speed, and if necessary, the upward acceleration setting and the downward acceleration setting of the cushion pad for intensifying or relaxing the die cushioning force action at the start of the die cushioning force action.

Further, on the die cushion operation panel 256, it is possible to select "die cushion interlocking operation" linked to "press safety one stroke operation" and set the die cushion stroke, and as a method of generating die cushion force, " It functions as a die cushion force command selection unit that selects "standard" or "force sense".

<Operation and action>
After setting, the operator uses the press top dead center movement function to move the slide 110 to top dead center. Subsequently, the blank holder 202 (interlocked with the cushion pad 210) is moved to the die cushion start position by using the die cushion independent elevating function.

Next, on the blank holder 202, a circular material 103 in which the drawing lubricant is evenly applied to both sides is set. Next, the "press safety one-stroke operation" function is selected by the press operation panel, the "die cushion interlocking operation" function is selected by the die cushion operation panel, and the interlocking preparation button is pressed. Then, the slide 110 is at the top dead point, the cushion pad 210 is at the die cushion start position, and the crank is based on the position control stop state (crank axis angle command equal to 0 degrees and die cushion position command equal to the die cushion start position). Enter the shaft angle and die cushion position control state).

In "press safety one-stroke operation", the slide 110 operates from the top dead center to the vicinity of the bottom dead center by pressing (when pressing and holding) the two-handed push button 251 (FIG. 1) with both hands. After that, even if the two-handed push button 251 is released from both hands, it controls one-stroke operation that returns to top dead center via bottom dead center, and is often used for molding trials (trial operation).

Next, in the molding try by the press machine, the operator depresses the pedal 250A to the depressing limit (full throttle). By doing so, after the die cushioning force action start time point (molding start time point), the set maximum limit set value Fmax of the die cushioning force acts. However, at this point (no die cushioning force), it is not yet functionally involved.

Next, while looking at the material 103 on the blank holder 202, the two-handed push button 251 is pressed with both hands. The slide 110 gently descends according to a relatively slow number of slide strokes, and when the die cushion start position is reached, the die cushion device 200 controls the die cushion position by the action of a die cushion control device (not shown). To die cushion force control. At this time, the operation force signal corresponding to the maximum operation force is output to the die cushion force commander 260 via the pedal 250A and the operation force detector 254 that have been depressed to the depression limit (full eye) in advance by one foot of the user. Will be done.

<Die cushion force control device>
FIG. 5 is a block diagram showing an embodiment of the die cushion force control device.

The die cushion force control device shown in FIG. 5 includes a pedal-type force sense applying means 250-1 (FIG. 2) including an operation force detector 254, a die cushion force commander 260, a storage device 270, a standard converter 272, and a die cushion. It is composed of a force controller 280 and a die cushion device 200 (servo amplifier, servo motor).

The die cushion force commander 260 shown in FIG. 5 includes a die cushion force / force sense command calculator 262 that mainly functions as a command calculator, a die cushion force / force sense command temporary storage device 264, and a die cushion force standard commander. It is composed of 266, a switch 267 that functions as a switching output unit, and a die cushion force command adjuster 268.

The die-cushion force / force sense command calculator 262 calculates the die-cushion force command when the press machine is trial-operated, and the operator (pedal 250A) during at least the press molding period of one cycle of the trial operation. The die cushion force command (die cushion force / force sense command) is calculated based on the operating force.

As described with reference to FIGS. 2 and 3, in the die cushion force / force sense command calculator 262, an operating force signal proportional to the operating force of the pedal 250A is applied from the operating force detector 254, and the die cushion operation is performed. The maximum limit set value Fmax and the minimum limit set value Fmin of the die cushion force set by the panel 256 are added, and the maximum limit set value Fmax and the minimum limit are added based on the operation force signal input from the operation force detector 254. The die cushion force / force sense command is calculated for the operating force so that the set value Fmin responds.

The die cushion force / force sense command calculated by the die cushion force / force sense command calculator 262 is output to the die cushion force command adjuster 268 via the switch 267, and at the same time, the die cushion force / force sense command is temporarily generated. It is output to the storage device 264.

FIG. 6 is a graph showing a die cushion force command, a die cushion force, a slide position, and a die cushion position.

As described above, the operator first depresses the pedal 250A to the depressing limit, and then applies the operating force signal corresponding to the maximum operating force from the operating force detector 254 to the die cushion force / force sense command calculator 262.

Therefore, at the time point a in FIG. 6 when the slide position reaches the die cushion start position, the die cushion force / force sense command calculator 262 has a die cushion force / force sense command corresponding to the maximum limit set value Fmax of the die cushion force. Is output to the die cushion force command adjuster 268 via the switch 267, and at the same time, is output to the die cushion force / force sense command temporary storage device 264.

The die cushion force command adjuster 268 outputs a die cushion force command to the die cushion force controller 280 in response to the fact that the position of the slide 110 reaches the die cushion start position.

The die cushion force controller 280 is a die cushion force command input from the die cushion force commander 260 (inside the die cushion force command regulator 268), a die cushion force signal input from the die cushion device 200, and a servomotor angular velocity detector. Servo motor torque command for driving the servo motor 240 (FIG. 4) of the die cushion device 200 based on the servo motor angular velocity signal input from 228, the slide position signal input from the press machine 100, the slide velocity signal, and the like. Is generated and output to the die cushion device 200. As a result, the die cushioning force applied to the cushion pad 210 via the hydraulic cylinder 220 is controlled, and the die cushioning force corresponding to the maximum limit set value Fmax acts at the initial stage of molding.

The die cushion force can be calculated from the pressure in the lower chamber 220 a of the hydraulic cylinder 220 detected by the die cushion pressure detector 232 and the area of the hydraulic cylinder 220.

The die cushion force controller 280 controls the torque of the servomotor 240 based on the die cushion force command and the die cushion force signal so as to obtain the die cushion force corresponding to the die cushion force command. The servomotor angular velocity signal input from the servomotor angular velocity detector 228 is used as an angular velocity feedback signal for ensuring the dynamic stability of the die cushioning force.

Next, when the slide 110 further descends and reaches the time point b in FIG. 6, the operator starts to loosen the degree of depression of the pedal 250A while visually checking it, and then the slide lowering stroke amount is reached from that time point b. The stepping amount enters the "play" region where the operating force is near the minimum value when the time point c at the end of drawing molding in FIG. 6 is reached by continuously loosening in proportion. Due to this action, during this period (b to c in FIG. 6), the die cushioning force is proportional to the continuously reduced operating force, from the die cushioning force corresponding to the maximum limit set value Fmax to the minimum limit set value Fmin. The die cushioning force is continuously reduced. By doing so, the die cushioning force acting on the wrinkle-suppressing portion of the material 103 that has been narrowed down and the area has been reduced can be small, and cracks can be generated from the thinned portion (along the die R and punch R) of the product during molding. It is possible to prevent troubles that occur.

Further, the die cushioning force corresponding to the minimum limit set value Fmin acts on the die cushioning force until the slide 110 is further lowered to just before the bottom dead center (point d in FIG. 6).

Next, while the slide 110 reaches the time point e in FIG. 6, which is the bottom dead center, from the time point d in FIG. 6, the operator suddenly increases the degree of depression of the pedal 250A while visually checking it.

The amount of depression enters the "play" area near the maximum operating force in a short time after the start of depression. Due to this action, during this period (time point d to time point e in FIG. 6), the die cushioning force is proportional to the rapidly increasing operating force, from the die cushioning force equivalent to the minimum limit set value Fmin to the maximum limit set value Fmax. The die cushioning power of is increased at once. By this action, the area is reduced by narrowing down, the action of causing wrinkles in the wrinkle-suppressing portion of the material 103 that has begun to be work-hardened is suppressed, and the product shape is stabilized.

At the bottom dead center (time point e to time point f in FIG. 6), the slide 110 is stopped by the set value of the die cushion force holding time, and the die cushion force corresponding to the maximum limit set value Fmax continuously acts. By doing so, the product shape is further stabilized. (Retention time is not always necessary.)
After the die cushion force holding time elapses (at the press bottom dead center if the holding time is not set), the die cushion force command is reduced to 0 by the action of the die cushion force command regulator 268. Along with this action, the die cushion force is reduced to 0, and the die cushion device 200 changes from die cushion force control to die cushion position control in the process of reducing the die cushion force to 0 by the action of a die cushion control device (not shown). Change to. After that, the slide 110 starts to rise toward the top dead center. The cushion pad 210 is then raised to a sufficient height (the cushion pad 210 does not indirectly interfere with the slide 110 via the cushion pin 204, the blank holder 202, the product, and the upper die 120). After stopping near the press bottom dead point (following the position command near the press bottom dead point), a knockout position command based on the knockout speed set value (time integration of the knockout speed) and a servomotor angular velocity signal, which are not shown, are shown. , Starts ascending based on the press slide position signal.

Then, the slide 110 rises to the top dead center and the cushion pad 210 rises (returns) to the die cushion start position, and the one-cycle action ends.

The user determines whether or not the product molded by the molding try is a non-defective product, and if a good product is obtained, the molding try is successful.

<Applied action 1>
The die cushion force / force command output from the die cushion force / force command calculator 262 during the trial operation is stored in the die cushion force / force command temporary storage device 264 (as a set) in association with the slide position. It can be used after the next cycle.

As a specific operation, the die cushion force generation method is switched from "force sense" to "force sense memory" by the die cushion operation panel, and the settings of the other press machine 100 and the die cushion device 200 are the same as described above. For example, the same molding (in the form of die cushioning force action) as described above can be performed. In this case, the switch 267 is switched so as to output the die cushion force / force sense command output from the die cushion force / force sense command temporary storage device 264 to the die cushion force command adjuster 268.

When switched to "force memory", the die cushion force / force command temporary storage device 264 responds to the press / slide position from the time the slide 110 reaches the die cushion start position to the bottom dead point. The die cushion force / force sense command is read out at any time, and the read die cushion force / force sense command is output to the die cushion force command adjuster 268 via the switch 267.

Actions other than whether the die cushion force / force sense command is generated from the force sense imparting means via the die cushion force / force sense command calculator 262 or from the die cushion force / force sense command temporary storage device 264. Is the same, so the detailed explanation below is omitted.

By switching the die cushion force generation method to "force memory", for example, if the successful molding as described above is reproduced and repeated molding is performed under the same conditions, whether or not the same good product can be repeatedly obtained. It can be used to confirm the presence / absence of reproducibility.

Further, for example, in order to mass-produce products (shift from trial operation to continuous production operation), it is possible to study to further improve productivity. Therefore, the number of slide strokes of the press machine is changed to a large value within a range that does not adversely affect molding. The die cushion force generation method is the same as above, "force sense memory", the settings of the other press machine and the die cushion device are the same as above, and the molding in the same die cushion force action form as described above is the number of slide strokes of the press machine. You can try (trial experiment) to see if it can be done stably even if you increase the size.

Die cushion force / force sense command Even if the slide speed during molding changes due to the change in the number of slide strokes of the press machine, the die cushion force / force sense command stored in the temporary storage device 264 corresponds to the slide position. Is output at any time, so the relationship between slide position and die cushioning force is maintained.

<Applied action 2>
Die cushion force / force sense command The die cushion force / force sense command stored in the temporary storage device 264 in association with the press / slide position (as a set) is associated with the mold by inputting the storage instruction on the die cushion operation panel. Can be stored in the storage device 270. As a result, when the die cushion force generation method is "force memory", the die cushion force / force sense command is issued from the storage device 270 when required (produced using a mold). It can be read and used by the command temporary storage device 264.

Next, the current die cushion force command generator of the die cushion device will be described.

The existing (standard) die cushion force setting method uses a die cushion operation panel 256, which functions as a second setting device consisting of a slide position setting device, a die cushion force setting device, and an action mode setting device, and a setting screen (not shown). However, it is a method of setting various setting values.

The slide position setter sets the die cushion start position and the slide position (variable position) that changes the die cushion force within the range between the die cushion start position and the bottom dead point, and the die cushion force setter sets the slide. The die cushion force at a plurality of slide positions (die cushion start position, variable force position) set by the position setter is set, and the action form setting device is constant as the action form of the die cushion force between the plurality of slide positions. Or it is a setting device that sets a linear change.

[Table 1] shows an example of a setting screen of the setting device when setting a constant die cushioning force.

[Table 1] shows a setting example in which the die cushion 1 force on the setting is applied constantly from the die cushion start position on the setting to start the action to the bottom dead center in the press / slide stroke. ..

As shown in [Table 1], each set value of "die cushion start position", "die cushion 1 force", and "constant" as the die cushion force action form is set by the second setting device.

FIG. 7 is a graph showing an example of die cushioning action corresponding to the setting of [Table 1].

As shown in FIG. 7, the die cushion force corresponding to a constant die cushion force command (“die cushion 1 force”) from the time when the press slide reaches (descends) the die cushion start position to the bottom dead center. At the bottom dead center, the press slide stops for the set die cushion force holding time (not shown), and during that time (until the holding time elapses), it becomes "die cushion 1 force". The corresponding die cushioning force is continuously acting.

After the holding time elapses, the die cushion force decreases, the slide rises, and the die cushion (cushion pad) rises to the die cushion start position according to the set rise (knockout) speed (not shown). Prepare for the next cycle.

The "die cushion 1 force" is set based on a set value that is large enough not to cause squeezing wrinkles in the product and small enough not to break the material in order to properly draw and mold the material to commercialize the product.

The die cushioning force holding time at the bottom dead center is an auxiliary action for further stabilizing the shape of the product, and is possible only when the press machine is a variable speed servo type. The retention time works consistently in this example, but is not always necessary. The die cushion (cushion pad) raising action is a product knockout action that lifts the product from the lower mold in order to carry it out, and the die cushion is in the die cushion start position (initial position) in preparation for the next cycle of molding. ) Is responsible for the action of returning to. Since these effects of holding time and increasing effects are not the gist of the present invention, they are omitted in the following description of applied functions.

Using a servo die cushioning device to apply a given constant die cushioning force is a basic function of the servo die cushioning device, and for many users, many moldings (per multiple molds). It is often used in.

[Table 2] shows the first example of the setting screen of the setting device when the die cushion force is set for each press / slide position.

As shown in [Table 2], as the press / slide position setting, in addition to the die cushion start position, there are five inotropic positions 1 to inotropic as the press / slide position (inotropic position) for changing the die cushion force. The set value of position 5 is set.

In addition, six "die cushion 1 force" to "die cushion 6 force" set values are set for each die cushion start position and inotropic position 1 to inotropic position 5, and all "die cushion force action forms" are set. "Constant" is set.

The setting of the first example shown in [Table 2] passes through the set inotropic positions 1 to 5 from the set die cushion start position to the bottom dead center where the die cushion force is started to act in the press slide stroke. Each time, as a die cushion force command in the setting, it is set to act while gradually changing from a constant "die cushion 1 force" to "die cushion 6 force".

FIG. 8 is a graph showing an example of die cushioning action corresponding to the setting of [Table 2].

As shown in FIG. 8, from the time when the press slide reaches (descends) the die cushion start position to the bottom dead center, every time the set inotropic positions 1 to 5 are passed, the set die cushion is set. The force command changes stepwise from a constant 1 force to a constant 2 force, and similarly from 2 force to 3 force, 3 force to 4 force, 4 force to 5 force, and 5 force to 6 force. Changes to.

[Table 3] shows a second example of the setting screen of the setting device when the die cushion force is set for each press / slide position.

The second example of the setting screen shown in [Table 3] is different from the first example of the setting screen shown in [Table 2] in the die cushioning force action form, and the die cushioning force at the die cushion start position. The mode of action is "constant", but from the five inotropic positions 1 to 5, the die cushion force action mode is set to "change".

Here, "change" means to linearly change the die cushion force command from each inotropic position to the next inotropic position. The "change" in the case of the inotropic position 5 continuously (linearly) changes the die cushion force command from the inotropic position 5 to the bottom dead center.

FIG. 9 is a graph showing an example of die cushioning action corresponding to the setting of [Table 3].

As shown in FIG. 9, from the time when the press slide reaches (descends) the die cushion start position to the bottom dead center, every time the set inotropic positions 1 to 5 are passed, the set die cushion is set. The force command continuously changes from a constant 1 force to 2 forces, and similarly from 2 forces to 3 forces, 3 forces to 4 forces, 4 forces to 5 forces, and 5 forces to 6 forces. do.

Each set value set in the above standard die cushion force setting method can be stored in the storage device 270 (FIG. 5) in association with the mold to be used.

The die cushion force control device shown in FIG. 5 is based on each set value when "standard" is selected as the die cushion force generation method and each set value of the desired die cushion force setting is selected from the storage device 270. A standard die cushion force command (hereinafter referred to as "die cushion force standard command") can be generated to control the die cushion force.

That is, each set value stored in the storage device 270 is read out by the die cushion force standard commander 266. A slide position signal indicating the slide position is added to the die cushion force standard commander 266, and the die cushion force standard commander 266 is shown in FIGS. 7 to 9 and the like based on each set value and the slide position. The die cushion force standard command of the transformation pattern is output to the die cushion force command regulator 268 via the switch 267.

Since the die cushion force control by the die cushion force standard command is the same as the die cushion force control by the die cushion force / force sense command described above, the following detailed explanation is omitted.

As shown in FIGS. 8 and 9, if a standard die cushion force setting method is used, the die cushion force can be applied while changing the die cushion force stepwise or continuously for each die cushion stroke. Is.

However, it is difficult for the user to intuitively understand the setting of the variable value for each variable position as shown in [Table 2] and [Table 3], the setting is abstract and troublesome, and most of them. Conventionally, the user has used an empty (normal) pressure type die cushion device, and applies a constant die cushion force as shown in FIG. 7, which can eliminate the (natural) pressure increase at the end of the stroke, which is a problem thereof. A servo die cushion device that changes the die cushion force for each press / slide position during one molding process, as shown in FIGS. 8 and 9, because the application of the servo die cushion device is satisfied. It is rarely used.

<Applied action 3>
When the die cushion force / force sense command is stored in the storage device 270 when the die cushion force generation method is "force sense memory", the standard converter 272 (Fig. 5) is used to make the die cushion force / force sense. The command can be converted into each set value corresponding to the die cushion force standard command when the die cushion force generation method is "standard".

That is, the standard converter 272 inputs the die cushion force / force sense command for each slide position stored in the storage device 270, and the die cushion force / force sense command for each slide position is shown in [Table 3]. Die cushion start position and inotropic position 1 to inotropic position 5, die cushion force set value for each slide position (die cushion 1 force to die cushion 6 force), and each set value indicating the die cushion force action form. Convert.

Each set value converted by the standard converter 272 is stored in the storage device 270 as "standard (storage No. X)".

After that, when the die cushion force generation method is set to "standard" and the die cushion force command is set to "storage No. X", each set value of the storage device 270 to "storage No. X" is the die cushion force standard command device. Read in 266.

A slide position signal indicating the slide position is added to the die cushion force standard commander 266, and the die cushion force standard commander 266 gives a die cushion force command (die cushion force) based on each set value and the slide position. The standard command) can be output to the die cushion force command regulator 268 via the switch 267.

FIG. 10 is a diagram showing a die cushion force standard command that is converted based on the die cushion force command (die cushion force / force sense command) shown in FIG. 6 and output from the die cushion force standard commander 266.

The die cushion force standard command output from the die cushion force standard commander 266 in this way is a die cushion with a transformation pattern that approximates the die cushion force command (die cushion force / force sense command) shown in FIG. It is output as a force command.

According to Applied Action 3, the die cushion force / force sense command can be expressed by a combination of less inotropic position and die cushion force command when the die cushion force generation method is "standard", and it is manually operated. It can be changed by operation to further improve moldability, or it can be copied and used as the standard command for die cushioning force when other molds are used. By doing so, the effective die cushion inotropic pattern obtained by using the "force sense" die cushion force generation method can be generalized and easily applied to molding using a plurality of other molds.

<Pedal type force sense imparting means (pedal type 2)>
FIG. 11 is a diagram showing a second embodiment of the pedal-type force sensation imparting means.

The pedal-type force sensation applying means 250-2 shown in FIG. 11 is a load cell 253 that functions as a force sensation sensor instead of the encoder 252 and the operating force detector 254 of the pedal-type force sensation applying means 250-1 shown in FIG. The difference is that it has a distortion amplifier 255 and an operating force detector 257.

The load cell 253 is arranged between the pedestal 250B of the pedal 250A and the coil spring 250C. When the operator steps on the pedal 250A with his / her foot, the coil spring 250C is compressed according to the amount of depression of the pedal 250A, and an operating force acts on the load cell 253 in proportion to the amount of compression of the coil spring 250C.

The load cell 253 is configured by attaching a strain gauge to a structural member that deforms due to an applied force (operating force), and a voltage corresponding to the resistance value (resistance change) of the strain gauge that deforms together with the structural member due to the operating force. Output a signal. The weak voltage output from the load cell 253 is amplified by the distortion amplifier 255 and applied to the operating force detector 257. As the load cell 253, a distortion amplifier built-in type may be used. In that case, the distortion amplifier 255 is unnecessary. The former is more advantageous as a countermeasure against noise mixed in the operating force.

The operating force detector 257 calculates (detects) an operating force signal corresponding to the operating force on the pedal 250A from the output voltage of the distortion amplifier 255, and outputs an operating force signal indicating the calculated operating force to the die cushion force commander 260. Output.

The force sensation applying means (pedal type 2) shown in FIG. 11 provides an operating force to the force sensation applying means (pedal type 1) shown in FIG. 2 by the amount that the force applied by the human toes can be directly detected. It can be detected with good sensitivity.

<Handle type force sense imparting means (handle type 1)>
FIG. 12 is a diagram showing a first embodiment of the handle-type force sensation imparting means.

In FIG. 12, in the handle-type force sense applying means 350-1 that functions as an operator, the handle (lever) 354 is rotatably attached to the pedestal (box) 352, and the handle 354 is attached to the handle 354 from the left and right of the pedestal 352. Two coil springs 356 and 358 are connected. An encoder 359 is attached to the rotation shaft of the handle 354, and the encoder 359 outputs a rotation angle signal corresponding to the push amount or pull amount (angle of the handle 354) of the handle 354 to the operating force detector 254 (FIG. 2). do.

When the operator pushes and pulls the handle 354 by hand, the two coil springs 356 and 358 expand and contract according to the amount of push or pull of the handle 354, and the operating force is proportional to the amount of expansion and contraction of the coil springs 356 and 358. At the same time, the rotation angle signal output from the encoder 359 increases or decreases.

The operating force detector 254 (FIG. 2) calculates (detects) the operating force (proportional to it) from the input rotation angle signal, and outputs the operating force signal indicating the calculated operating force to the die cushion force commander 260. ..

In the pedal-type force sensation applying means 250-1 and 250-2 shown in FIGS. 2 and 11, the pedal 250A is stepped on or off with the tip of the foot, how strong it is stepped on, and the stepping force in one direction. The handle-type force sense applying means 350-1 shown in FIG. 12 has a characteristic that the handle can be detected, and the strength of the handle-type force sense applying means 350-1 is whether the handle 354 is pushed by hand, nothing is done, or pulled. It is advantageous in that it has a characteristic that the pushing / pulling strength in two directions of the first direction and the second direction opposite to the first direction can be detected. ..

Due to this feature, in the die cushion operation panel that functions as the first setting device, the maximum die cushion force is relative to the operating force (maximum operating force in each of the first direction and the second direction) at both ends of the handle 354. The limit set value Fmax and the minimum limit set value Fmin can be given, and the center set value Fc can be given to the unoperated position (neutral position) of the handle 354 that is not pushed / pulled.

The operator sets the center set value Fc to the maximum limit for suppressing the draw wrinkles generated on the flange of the material at the initial stage of drawing molding, and the minimum limit setting value Fmin to suppress the drawing wrinkles occurring on the flange during drawing molding to the final stage. The set value Fmax can be applied to stabilize the product shape at the end of drawing molding, and the force sense can be used more widely and effectively to generate a die cushioning force. However, at this time, since one hand is occupied by the handle-type force sense applying means 350-1, the two-handed push button 251 cannot be operated during the molding process. Therefore, it cannot be applied during safe one-step operation, and can be applied to one-stroke operation or the like in which the press machine only needs to be operated at the start of operation.

<Handle type force sense imparting means (handle type 2)>
FIG. 13 is a diagram showing a second embodiment of the handle-type force sensation imparting means.

In FIG. 13, in the handle-type force sense applying means 350-2 that functions as an operator, a thin plate (leaf spring) handle (lever) 355 is fixed to the pedestal 352 and is close to the pedestals 352 on both sides of the handle 355. A total of four strain gauges 357, two each, are attached to the portion (where the largest bending strain acts on the handle 355 when the handle 355 is pushed and pulled) in the longitudinal direction of the handle 355.

The thin plate handle 355 has a plate thickness such that when the operator pushes and pulls the handle 355, the handle 355 bends and deforms within the elastic range with respect to the pedestal 352. As shown in FIG. 13, four strain gauges 357 are connected to the distortion amplifier 351 by being connected in a Hoyston bridge circuit shape. The thin plate is bent and deformed according to the pushing amount or pulling amount of the handle, and the bending distortion generated in proportion to the bending deformation is output to the operating force detector 353 as the output voltage of the distortion amplifier 351.

The operation force detector 353 calculates (detects) an operation force signal corresponding to the push / pull operation force of the handle 355 from the output voltage of the distortion amplifier 351 and outputs an operation force signal indicating the calculated operation force as a die cushion force command. Output to the device 260.

The handle-type force sensation applying means (handle type 2) shown in FIG. 13 can directly detect the force applied by the operator to the handle-type force sensation applying means (handle type 1) shown in FIG. The operating force can be detected with high sensitivity.

[Second Embodiment]
FIG. 14 is a conceptual diagram showing a second embodiment of the command generator according to the present invention.

The command generator of the second embodiment is a slide speed command generator that generates a slide speed command for controlling the speed of the slide 110. In FIG. 14, the same reference numerals are given to the parts common to the command generator of the first embodiment shown in FIG. 1, and detailed description thereof will be omitted.

The command generator shown in FIG. 14 includes a force sense applying means (pedal type force sense applying means 250-1 shown in FIG. 2), and automatically issues a slide acceleration command proportional to the force (operating force) for the operator to step on the pedal at any time. A slide speed command is output, which is generated and the slide speed command is integrated at any time.

At the setting stage before the press operation, the operator operates the press operation panel that functions as the third setting device, sets the slide shift mode to "force sense" (as opposed to "standard"), and sets the slide speed to "". Set the maximum limit setting value Vmax and the minimum limit setting value Vmin, and operate the press operation panel that functions as the 4th setting device, and the slide speed command by "force sense" becomes effective. Set the command effective range. Except for the effective range of the force sense command during one press cycle, for example, slide speed control based on the slide speed command in the “standard” slide shift mode is performed.

The maximum slide speed limit setting value Vmax is a value that can be drawn normally without causing oil film breakage in the material, or if the die cushion device is a servo drive type, it is a limit value allowed by the die cushion device. There is. The minimum limit setting value Vmin of the slide speed is a value that can suppress the vibration generated when the upper mold and the blank holder indirectly collide with each other at the start of molding, or when the die cushion device is a servo drive type. After the collision, within the response time when the predetermined die cushioning force acts, the value may be a value that can prevent the action of the molding progressing in a state where the wrinkle suppressing force (= die cushioning force) is insufficient.

The force sense command effective range is preferably set slightly above the slide position where drawing molding is started so that the slide speed is surely reduced to the minimum limit set value Vmin.

In addition, the number of slide strokes is set to the maximum value in terms of capacity with the intention of ensuring productivity as much as possible (preferably). The oiled material 103 is set on the mold-blank holder, the cushion pad 210 is adjusted so that a predetermined die cushioning force acts, and the cushion pad 210 is set at a predetermined die cushion start position.

Then, the operator puts (one) foot on the pedal of the pedal-type force sense applying means 250-1 that outputs a slide acceleration command, and steps on or does not step on a minute amount of play (by doing so, the press operation is started. Later, when the slide 110 reaches the "force sense command effective range", it decelerates to the minimum limit set value Vmin, but if the pedal is depressed, the speed can be increased according to the pressing force), and a safety stroke. Using the driving function, while staring at the material 103 on the mold-blank holder 202, drive the slide 110 from top dead center to the top dead center by operating the two-handed pushbuttons 251 through bottom dead center. ..

The slide 110 descends and starts deceleration (automatically by the action of the crank shaft angle standard commander described later) before reaching the force sense command effective range, and is the minimum when the force sense command effective range is reached. Decelerate to a speed corresponding to the limit set value Vmin. At this point, in the crank shaft angle commander 360, the role of commanding the crank shaft angle command shifts from the crank shaft angle standard commander described later to the crank shaft angle force sense / command calculator.

The operator gradually depresses the pedal while observing how the slide 110 is further lowered and the molding progresses. As long as there is no problem with molding, step on the pedal earlier and more strongly to emphasize productivity, and increase the slide speed to the value equivalent to the maximum limit setting value Fmax of the slide speed as soon as possible after the start of molding. To.

The crank shaft angle commander 360 converts the slide speed command in the force sense command effective range into a crank shaft angular velocity command, and further outputs the crank shaft angular velocity command to the crank shaft angle controller 380 as a time-integrated crank shaft angle command.

As described in FIG. 4, the crank shaft angle controller 380 includes a crank shaft angle command input from the crank shaft angle commander 360, a crank shaft angle signal converted from a crank shaft encoder signal from the crank shaft encoder 116, and a crank shaft. A servomotor torque command for controlling the crank shaft angle is generated based on the angular speed signal, and the servomotor torque command is output to the servomotor 340 via the servo amplifier 382.

In this way, the servomotor 340 is controlled, the rotational driving force of the servomotor 340 is transmitted to the slide 110 via the power transmission mechanism, and the slide speed is generated.

[Slide speed control device]
FIG. 15 is a block diagram showing an embodiment of the slide speed control device.

The slide speed control device shown in FIG. 15 includes a pedal-type force sense applying means 250-1 including an operating force detector 254, a crank shaft angle commander 360, a storage device 370, a standard converter 372, a crank shaft angle controller 380, and a crank shaft angle controller 380. It is composed of a press machine 100 (servo amplifier, servo motor).

The crank shaft angle commander 360 shown in FIG. 15 includes a crank shaft angle / force sense command calculator 362 that mainly functions as a command calculator, a crank shaft angle / force sense command temporary storage device 364, and a crank shaft angle standard commander. It is composed of 366, a changer 367 that functions as a switching output unit, and a crank shaft angle command adjuster 368.

The crank shaft angle / force sense command calculator 362 calculates the crank shaft angle command every moment corresponding to the slide speed when the press machine is operated on a trial basis, and is used as an operator (pedal type force sense applying means). Based on the applied operating force, the crank shaft angle command (crank shaft angle / force sense command) is calculated during at least the press forming period of one cycle of the trial operation.

In the crank shaft angle / force sense command calculator 362, the maximum limit set value Vmax and the minimum limit set value Vmin of the slide speed command are set by a press operation panel (not shown), and the operation force detector 254 operates the pedal 250A. An operating force signal (slide speed command) proportional to the force is applied.

In the crank shaft angle / force sense command calculator 362, the operation force signal input from the pedal type force sense applying means 250-1 (operation force detector 254) was amplified by the amplifier 362A (converted to a slide acceleration command). ) After that, it is time-integrated by the integrator 362B and added to the adder 362C as an increase / decrease command of the slide speed command.

The minimum limit setting value Vmin of the slide speed command is added to the other inputs of the adder 362C, and the adder 362C adds the increase / decrease command of the slide speed command to the minimum limit setting value Vmin of the slide speed command. Then, the addition result is output to the slide speed command limiter 362D as a slide speed command.

The slide speed command limiter 362D limits the slide speed command to be input within the range of the minimum limit setting value Vmin and the maximum limit setting value Vmax, thereby limiting the minimum limit setting value Vmin and the maximum limit setting value Vmax. The slide speed command that changes within the range of is output to the speed command converter 362E.

A crank shaft angle command (crank shaft angle / force sense command) output from the crank shaft angle / force sense command calculator 362 is added to the other inputs of the speed command converter 362E, and the speed command converter 362E Converts the slide speed command into a crank shaft angular velocity command based on the current crank shaft angle command.

The crank shaft angular velocity command converted by the speed command converter 362E is time-integrated by the integrator 362F and added to the adder 362G as a crank shaft angle increase / decrease command.

_{A crank shaft angle command succession value θ 0r} held in the storage device 362H is added to the other inputs of the adder 362G, and the adder 362G has a crank shaft angle with respect to the crank shaft angle command succession value θ _0r . The increase / decrease command is added, and the addition result is output as a crank shaft angle command (crank shaft angle / force sense command).

As described with reference to FIG. 14, when the slide shift mode is set to "force sense" with respect to "standard", the slide 110 first has a "standard" crank shaft angle command (crank shaft angle standard command). The crank shaft angle starts decelerating by the action of the standard command before reaching the effective range of the force sense command, and when it reaches the effective range of the force sense command, it decelerates to the speed corresponding to the minimum limit set value Vmin. do.

Then, when the effective range of the force sense command is reached, the role of commanding the crank shaft angle command shifts from the crank shaft angle standard commander 366 to the crank shaft angle / force sense command calculator 362. That is, when the changer 367 reaches the effective range of the force sense command, the crank shaft angle standard command output from the crank shaft angle standard commander 366 is used as the crank shaft angle command to be output to the crank shaft angle command adjuster 368. Switches to the crank shaft angle / force sense command output from the crank shaft angle / force sense command calculator 362.

Further, the switch 362I is turned off when the force sense command effective range is reached, and the crank shaft angle standard command output from the crank shaft angle standard commander 366 is set as the crank shaft angle command succession value θ _0r and the storage device 362H. Is held in. This crank shaft angle command succession value θ _0r is the succession of the crank shaft angle command when the role of commanding the crank shaft angle command shifts from the crank shaft angle standard commander 366 to the crank shaft angle / force sense command calculator 362. It becomes a value.

The operator does not step on the pedal-type force sense applying means 250-1 until the slide 110 reaches the "force sense command effective range", so that the slide speed increase / decrease command output to the adder 362C is set to zero. , The slide speed command of the minimum limit set value Vmin is applied to the speed command converter 362E from the slide speed command limiter 362D.

Then, the slide speed command of the minimum limit set value Vmin is converted into a crank shaft angular velocity command by the speed command converter 362E, time-integrated by the integrator 362F, and used as a crank shaft angle increase / decrease command as a succession value of the crank shaft angle command. It is added to a certain crank shaft angle command succession value θ _0r. The added crank shaft angle command changes from the crank shaft angle command succession value θ _0r, and is output as a crank shaft angle command that maintains the minimum limit set value Vmin. Therefore, as shown in FIG. 14, the slide 110 descends from the force sense command effective range at a constant slide speed corresponding to the minimum limit set value Vmin.

Then, the slide 110 reaches the die cushion force action start position (die cushion start position) in a state of being decelerated to a constant slide speed corresponding to the minimum limit set value Vmin, and molding is started. By doing so, the vibration generated when the upper mold 120 and the blank holder 202 (supported by the cushion pad 210 via the material 103 via the cushion pin 204) collide with each other at the start of molding can be suppressed. When the cushion pad 210 is a servo-driven type, it prevents the action of progressing molding in a state where the wrinkle suppressing force (= die cushioning force) is insufficient within the response time when a predetermined die cushioning force acts after the collision. To do.

The operator depresses the pedal of the pedal-type force sense applying means 250-1 while visually observing how the slide 110 is further lowered and the molding progresses.

A slide acceleration command corresponding to the amount of depression (operating force) output from the pedal-type force sense applying means 250-1 is output to the crank shaft angle / force sense command calculator 362, and the crank shaft angle / force sense command calculator 362. Within, a slide acceleration command proportional to the operating force is calculated as described above. Here, when the pedal 250A is located at one end of the movable range (when the pedal 250A is not stepped on), zero acceleration is assigned to the operating force signal, and when the pedal 250A is located at the other end of the movable range (the pedal 250A). The maximum acceleration can be assigned to the operating force signal (when the amount of depression is maximum).

Then, the slide speed increase / decrease command obtained by time-integrating the slide acceleration command proportional to the operating force is added to the minimum limit setting value Vmin of the slide speed command, and further, the maximum limit setting value Vmax of the slide speed command is added in the slide speed command limiter 362D. And the minimum limit set value Vmin, the slide speed command is generated. The slide speed command is converted (calculated) from the current crank shaft angle command to the crank shaft angular velocity command, and the crank shaft angle increase / decrease command obtained by time-integrating the crank shaft angular velocity command and the crank shaft angle command succession value θ _0r are added. A crank shaft angle command (crank shaft angle / force sense command) is generated.

When the slide shift mode is set to "force sense" by the press operation panel, the crank shaft angle command adjuster 368 reaches the crank shaft angle when the crank shaft angle (slide position) reaches the force sense command effective range. The crank shaft angle command output to the controller 380 is replaced with the crank shaft angle standard command from the crank shaft angle standard commander 366, and the crank shaft angle / force sense calculated by the crank shaft angle / force sense command calculator 362. Switch to command.

The crank shaft angle controller 380 is based on the crank shaft angle command input from the crank shaft angle commander 360, the crank shaft angle signal input from the press machine 100, the crank shaft angle speed signal, and the servomotor angle speed signal. Generates a servomotor torque command for driving the servomotor 340 (FIG. 4) of the above and outputs it to the press machine 100. As a result, the crank shaft angle of the crank shaft 112 of the press machine 100 is controlled to follow the crank shaft angle command, and as a result, the slide speed of the slide 110 is controlled.

When the slide shift mode is set to "force sense", the slide speed corresponds to the operating force of stepping on the pedal of the pedal-type force sense applying means 250-1 by the operator at least in the press molding period after the force sense command effective range. Is accelerated.

Then, the slide 110 reaches the bottom dead center, and the molding is completed. The slide 110 then rises (involved in the action of the crank shaft angle standard commander 366) and returns to top dead center.

By doing so, the operator only needs to make relatively rough settings such as setting the force sense command effective range, the maximum limit setting value Vmax of the slide speed, and the minimum limit setting value Vmin, and the formability and productivity can be achieved. It is possible to make slide shift settings that are rich in productivity.

In addition, the crank shaft angle / force sense command output from the crank shaft angle / force sense command calculator 362 during trial operation is set with the crank shaft angle command by the crank shaft angle standard commander used outside the force sense command effective range. It can be temporarily stored in the crank shaft angle / force sense command temporary storage device 364 or permanently stored in the storage device 370, and can be used in the next cycle or later.

As a result, the shift motion driven in the slide shift mode "force sense" can be reproduced, and the shift motion of the successful cycle can be used for production (continuous production operation).

In addition, the crank shaft angle / force sense command stored in the storage device 370 (set with the crank shaft angle command by the crank shaft angle standard commander used outside the effective range of the force sense command) is standard with the standard converter 372. Can be converted (merged) to the crank shaft angle-angular velocity command value of. The standard crank shaft angle-angular velocity command value converted to the standard crank shaft angle-angular velocity command value by the standard converter 372 can be stored in the storage device 370.

The standard crank shaft angle-angular velocity command value stored in the storage device 370 is read out by the crank shaft angle standard command device 366. A crank shaft angle signal indicating the crank shaft angle is added to the crank shaft angle standard commander 366, and the crank shaft angle standard commander 366 is based on the crank shaft angle and the standard crank shaft angle-angle speed command value. The crank shaft angle command (crank shaft angle standard command) is calculated at any time, and the crank shaft angle standard command is output to the crank shaft angle command regulator 368 via the switch 367.

This makes it possible to reproduce a shift motion equivalent to the crank shaft angle / force sense command in the slide shift mode "standard", and it can be copied and diverted for molding other similar molds. Easy to deploy.

The command generator shown in FIG. 14 uses the pedal-type force sense applying means 250-1 (FIG. 2) as the force sense applying means, but the pedal type force sense applying means 250-2 shown in FIG. 11 is shown in FIG. 12 and the handle-type force sensation imparting means 350-1, 350-2 and the like shown in FIG. 13 may be used.

Further, when the handle-type force sense applying means 350-1 and 350-2 shown in FIGS. 12 and 13 are used, the first direction (pushing direction) applied to the handle (operator) by the operating force detector 353. The operating force signals of which the positive and negative are different between the operating force of the above and the operating force of the second direction (pulling direction) in the direction opposite to the first direction are detected. In response to this operating force signal, zero acceleration is assigned to the operating force signal at the unoperated position (neutral position) where the handle (operator) is not pushed or pulled, and the operation when the handle is pushed to one end of the movable range. Assign a positive (or negative) maximum acceleration to the operating force signal corresponding to the force, and negative (or positive) to the operating force signal corresponding to the operating force when the handle is pulled to the other end of the movable range. Maximum acceleration can be assigned.

As a result, when the slide is within the effective range of the force sense command, a slide speed command that changes (increases or decreases) within the range between the minimum limit set value and the maximum limit set value of the slide speed is generated based on the positive and negative operating force signals. Can be made to.

[others]
The die cushion device of the present embodiment generates a die cushion force on the cushion pad by a hydraulic cylinder drive system using a hydraulic motor axially connected to the servomotor, but the die cushion device is not limited to this, and the hydraulic cylinder by the hydraulic servo valve is not limited to this. Any known drive system such as a drive system, an air cylinder drive system, or a screw / nut drive system using a servomotor can be applied, and any die cushion device can be used as long as the die cushion force can be controlled at any time.

Further, the press machine of the present embodiment is a crank press that uses a crank mechanism such as a crank shaft as a power transmission mechanism from a servomotor to a slide, but the press machine is not limited to this and is a link mechanism as a power transmission mechanism. , Screw mechanism, link press using hydraulic (hydraulic) cylinder, screw press, hydraulic (hydraulic) press, etc. In short, any press machine capable of controlling slide motion may be used.

Since the press machine of this embodiment is a crank press, the slide speed is controlled by outputting the crank shaft angle command corresponding to the target value of the slide position at any time, but the slide position command is output at any time to reduce the slide speed. You may control it. For example, in the case of a press machine that does not have a crank shaft as a power transmission mechanism, a slide position command is output at any time to control the slide speed.

Further, the crank shaft angle command or slide position command output at any time is calculated based on the slide speed command, and is included in the "slide speed command" in the present invention, and is also included in the "slide speed command" by a crank shaft encoder or the like. A detector that detects the crank shaft angle is also included in the "slide position detector" in the present invention.

Further, the die cushion force / force sense command temporary storage device 264 and the storage device 270 may be separate storage devices as in this example, or may be physically the same storage device. Similarly, the crank shaft angle / force sense command temporary storage device 364 and the storage device 370 may be separate storage devices or physically the same storage device.

Furthermore, it goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

100 Press Machine 101 Reducer 102 Bed 103 Material 104 Column 106 Crown 108 Guide 110 Slide 112 Crank Axis 114 Slide Position Detector 116 Crank Axis Encoder 120 Upper 122 Lower 200 Die Cushion Device 202 Blank Holder 204 Cushion Pin 210 Cushion Pad 220 Hydraulic Cylinder 222 Die Cushion Position Detector 224 Piping 226 Tank 228 Servo Motor Angle Speed Detector 230 Hydraulic Motor 232 Die Cushion Pressure Detector 240 Servo Motor 250-1, 250-2 Pedal Type Force Sensing Means 250A Pedal 250B Pedestal 250C Coil Spring 251 Double-handed push button 252 Encoder 253 Load cell 254 Operation force detector 255 Distortion amplifier 256 Die cushion operation panel 257 Operation force detector 260 Die cushion force commander 262 Die cushion force / force sense command calculator 264 Die cushion force / force sense Command temporary storage 266 Die cushion force standard commander 267 Switcher 268 Die cushion force command adjuster 270 Storage device 272 Standard converter 280 Die cushion force controller 282 Servo amplifier 340 Servo motor 350-1, 350-2 Handle type force Sense giving means 351 Distortion amplifier 352 Pedestal 353 Operating force detector 354, 355 Handle 356 Coil spring 357 Strain gauge 358 Coil spring 359 Encoder 360 Crank shaft angle commander 362 Crank shaft angle / force sense command calculator 362A Amplifier 362B Integrator 362C Adder 362D Slide Speed Command Limiter 362E Speed Command Converter 362F Integrator 362G Adder 362H Memory 362I Switch 364 Crank Axis Angle / Force Sense Command Temporary Storage 366 Crank Axis Angle Standard Commander 367 Switch 368 Crank Axis Angle Command Regulator 370 Storage 372 Standard converter 380 Crank shaft angle controller 382 Servo amplifier

Claims (12)

It is attached to a die cushion device that controls the die cushion force applied to the cushion pad based on the die cushion force command, or a press machine that controls the slide speed of the slide based on the slide speed command, and is attached to the die cushion force command or the slide speed. A command generator that generates commands
An operator that is operated by an operator during at least one press forming period of a trial operation before a production operation by a press machine and moves within a predetermined movable range according to an operating force applied by the operator.
An operating force detector that detects the operating force applied to the operator by the operator, and
A slide position detector that detects the position of the slide, and
A command calculation for calculating the die cushion force command or the slide speed command corresponding to the operation force signal based on the operation force signal indicating the operation force detected by the operation force detector with the operation of the operator. With a vessel
A storage device that stores the die cushion force command or the slide speed command calculated by the command calculator in association with the slide position detected by the slide position detector during the trial operation.
The die cushion force command or the slide speed command calculated by the command calculator is output during the trial operation, and the die cushion force command or the slide speed command stored in the storage device is output during the production operation. Switching output section and
A first setting device for setting the minimum limit setting value and the maximum limit setting value of the die cushion force command is provided.
The command calculator assigns the minimum limit set value to the operating force signal when the operator is located at one end of the movable range, and when the operator is located at the other end of the movable range. wherein allocating the maximum limit set value to the operating force signal, we calculate the die cushion force command varying in the range of the maximum limit set value and the minimum limit set value based on the operating force signal, Directive generator. It is attached to a die cushion device that controls the die cushion force applied to the cushion pad based on the die cushion force command, or a press machine that controls the slide speed of the slide based on the slide speed command, and is attached to the die cushion force command or the slide speed. A command generator that generates commands
An operator that is operated by an operator during at least one press forming period of a trial operation before a production operation by a press machine and moves within a predetermined movable range according to an operating force applied by the operator.
An operating force detector that detects the operating force applied to the operator by the operator, and
A slide position detector that detects the position of the slide, and
A command calculation for calculating the die cushion force command or the slide speed command corresponding to the operation force signal based on the operation force signal indicating the operation force detected by the operation force detector with the operation of the operator. With a vessel
A storage device that stores the die cushion force command or the slide speed command calculated by the command calculator in association with the slide position detected by the slide position detector during the trial operation.
The die cushion force command or the slide speed command calculated by the command calculator is output during the trial operation, and the die cushion force command or the slide speed command stored in the storage device is output during the production operation. Switching output section and
A first setting device for setting the minimum limit setting value, the center setting value, and the maximum limit setting value of the die cushion force command is provided.
The operator moves to a neutral position when the operator is not operated, moves from the neutral position to one end of the movable range in response to an operating force in the first direction, and moves in a direction opposite to the first direction. It moves from the neutral position to the other end of the movable range by the operating force in two directions.
The command calculator assigns the minimum limit set value to the operating force signal when the operator is located at one end of the movable range, and when the operator is located at a neutral position in the movable range. The center set value is assigned to the operating force signal, the maximum limit setting value is assigned to the operating force signal when the operator is located at the other end of the movable range, and the operating force signal is used as the basis. wherein calculate the die cushion force command varying in the range of the maximum limit set value and the minimum limit set value each, Directive generator. When the slide reaches the die cushion start position, the command calculator outputs a die cushion force command corresponding to the operating force signal, and when the die cushion force holding time is set, the slide is lowered. If the die cushion force holding time is not set after the die cushion force holding time elapses after reaching the dead point, the die cushion force command is set to zero after the slide reaches the bottom dead point. The command generator according to claim 1 or 2. It is attached to a die cushion device that controls the die cushion force applied to the cushion pad based on the die cushion force command, or a press machine that controls the slide speed of the slide based on the slide speed command, and is attached to the die cushion force command or the slide speed. A command generator that generates commands
An operator that is operated by an operator during at least one press forming period of a trial operation before a production operation by a press machine and moves within a predetermined movable range according to an operating force applied by the operator.
An operating force detector that detects the operating force applied to the operator by the operator,
A slide position detector that detects the position of the slide, and
A command calculation for calculating the die cushion force command or the slide speed command corresponding to the operation force signal based on the operation force signal indicating the operation force detected by the operation force detector with the operation of the operator. With a vessel
A storage device that stores the die cushion force command or the slide speed command calculated by the command calculator in association with the slide position detected by the slide position detector during the trial operation.
The die cushion force command or the slide speed command calculated by the command calculator is output during the trial operation, and the die cushion force command or the slide speed command stored in the storage device is output during the production operation. Switching output section and
A slide position setting device for setting a die cushion start position and a slide position for changing the die cushion force within a range of the die cushion start position and the bottom dead point of the slide, and a plurality of slide position setting devices set by the slide position setting device. A second setting device including a die cushion force setting device for setting the die cushion force at the slide position of the above and an action form setting device for setting a constant or linear change as the action form of the die cushion force between the plurality of slide positions. When,
A vault that stores each set value set by the second setter, and
A die cushion force standard commander that outputs a die cushion force command based on each set value stored in the storage device and a slide position detected by the slide position detector, and a die cushion force standard commander.
A die cushion force command selection unit for selecting a die cushion force command output from the die cushion force standard command device or a die cushion force command stored in the storage device is provided.
The switching output section, said you output dies cushion force command selected by the die cushion force command selector during production operation, Directive generator. The storage device further stores the die cushion force command stored in the storage device by inputting a storage instruction.
The command generator according to claim 4 , wherein the storage device stores the die cushion force command calculated by the command calculator, or reads and stores the die cushion force command stored in the storage device. A standard converter for converting the die cushioning force command stored in the storage device into each set value set by the second setter is provided.
The command generator according to claim 4 or 5 , wherein the storage device further stores each set value converted by the standard converter. It is attached to a die cushion device that controls the die cushion force applied to the cushion pad based on the die cushion force command, or a press machine that controls the slide speed of the slide based on the slide speed command, and is attached to the die cushion force command or the slide speed. A command generator that generates commands
An operator that is operated by an operator during at least one press forming period of a trial operation before a production operation by a press machine and moves within a predetermined movable range according to an operating force applied by the operator.
An operating force detector that detects the operating force applied to the operator by the operator,
A slide position detector that detects the position of the slide, and
A command calculation for calculating the die cushion force command or the slide speed command corresponding to the operation force signal based on the operation force signal indicating the operation force detected by the operation force detector with the operation of the operator. With a vessel
A storage device that stores the die cushion force command or the slide speed command calculated by the command calculator in association with the slide position detected by the slide position detector during the trial operation.
The die cushion force command or the slide speed command calculated by the command calculator is output during the trial operation, and the die cushion force command or the slide speed command stored in the storage device is output during the production operation. Switching output section and
A third setting device for setting the minimum limit setting value and the maximum limit setting value of the slide speed command is provided.
The instruction computing unit, it calculates the slide velocity command vary in the range between the minimum limit set value and the maximum limit set value based on the operating force signal, Directive generator. A fourth setter for setting an effective range within one cycle of the slide on which the slide speed command calculated by the command calculator effectively acts is provided.
The command calculator assigns zero acceleration to the operating force signal when the operator is located at one end of the movable range, and the operating force when the operator is located at the other end of the movable range. The maximum acceleration is assigned to the signal, and when the slide is in the effective range, the slide speed command that changes within the range between the minimum limit set value and the maximum limit set value is calculated based on the operating force signal. The command generator according to claim 7. A fourth setter for setting an effective range within one cycle of the slide on which the slide speed command calculated by the command calculator effectively acts is provided.
The operator moves to a neutral position when the operator is not operated, moves from the neutral position to one end of the movable range in response to an operating force in the first direction, and moves in a direction opposite to the first direction. It moves from the neutral position to the other end of the movable range by the operating force in two directions.
The operating force detector detects an operating force signal whose positive and negative are different between the operating force in the first direction and the operating force in the second direction applied to the operator.
The command calculator assigns a maximum positive or negative acceleration to the operating force signal when the operator is located at one end of the movable range, and the operator is located at a neutral position in the movable range. Zero acceleration is assigned to the operating force signal of the above, a maximum negative or positive acceleration is assigned to the operating force signal when the operator is located at the other end of the movable range, and the slide is the effective range. The command generator according to claim 7 , wherein the slide speed command that changes within the range of the minimum limit set value and the maximum limit set value is calculated based on the operating force signal. The command generator according to any one of claims 1 to 9 , wherein the operator is a pedal or a handle operated by an operator. The operating force detector calculates the operating force from the position sensor or angle sensor that detects the position or rotation angle of the operator in proportion to the operating force applied to the operator, and the detection output of the position sensor or the angle sensor. The command generator according to any one of claims 1 to 10, further comprising an operating force calculator. The command generator according to any one of claims 1 to 10, wherein the operating force detector is a force sensor that directly detects an operating force applied to the operator.

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