JPS6076243A - Automatic operating device for air stamp hammer - Google Patents

Abstract

PURPOSE:To realize easily automatic operation by recording the operator's exemplary operation and performing automatically the operation in accordance with the reproduced data for operation thereafter. CONSTITUTION:A data processing circuit C is changed over by a switch 36 to a recording mode when the operator operates a mechanism for operating a control valve by treading a pedal. The data for operation detected by a sensor 34 is inputted to a servocontrol amplifier 43 and is at the same time recorded into a memory 37. The data for correcting operation detected by a sensor 35 is recorded in a memory 38. The circuit C is changed over to a data reproducing mode then the data for operation is reproduced from the memory 37 and is inputted to the amplifier 43 in the case of automatic operation. Then a servocontrol valve 42 is actuated and a piston 41 is moved forward while the extent of said movement is compared with the extent of the forward movement of a lower rod 27 inputted from a sensor 44. The valve 42 is reset in succession to said movement and a piston 41 is moved forward, by which the operation is accomplished in exactly the same way as the operation is accomplished manually.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is used in the field of forging metal materials. That is, the present invention relates to an air stamp hammer used in the forging process, and is concerned with a device for realizing automatic operation of the air stamp hammer.The air stamp hammer differs from a simple drop hammer in that it uses compressed air pressure to further accelerate the descent of the ram due to its own weight. It is configured so that the forging ability can be improved. That is, this air stamp hammer is equipped with a ram lifting air cylinder at the top of the head that operates both in the direction of lowering and in the direction of raising the ram, and the compressed air to be supplied to this cylinder is used for lowering the ram. A control valve for selectively switching the operating direction for upward movement is attached to the cylinder.

Therefore, in such an air stamp hammer, the impact force exerted by the ram on the workpiece material is determined by the weight and stroke of the ram, and the downward compressed air pressure applied to this ram. By adjusting the amount of descending compressed air supplied to the ascending and descending air cylinder, it is possible to adjust the strength of the impact force.

Conventionally, therefore, the strength of the impact force is adjusted using a control valve operating mechanism provided for operating the valve body of the control valve.

In other words, as is well known, this control valve operating mechanism operates on a pedal that is manually depressed, a rocking cam that is raised in response to depression of the pedal, and that swings in accordance with the raising and lowering movement of the ram. It consists of a rond, an arm, and links that interconnect the three parts including the valve body of the control valve.First, when the control valve is operated by depressing the pedal, the ram is moved against the air cylinder for raising and lowering the ram. compressed air is supplied in the direction of lowering the ram, and then by the operation of the control valve by the rocking cam that follows the lowering of the ram, compressed air is supplied to the air cylinder in the direction of raising the ram, Furthermore, the control valve is operated by swinging the cam in the opposite direction following the rise of the ram, thereby completely stopping the supply of compressed air to the air cylinder.

Therefore, according to such a control valve operation mechanism, by increasing or decreasing the amount of operation of the control valve by increasing or decreasing the amount of depression of the pedal when the ram starts lowering, the ram lowering air cylinder can be adjusted to the ram lowering air cylinder. The amount of compressed air supplied can be artificially controlled, which allows the striking force of the ram to be adjusted to be strong or weak.

However, the adjustment of the amount of pedal travel described above depends on the intuition of the worker based on his experience.

In addition, each air stamp hammer has its own peculiarities, and the amount of play between each component of the control valve operating mechanism differs slightly, so the amount of pedal travel to be lowered may vary slightly. It is difficult to decide whether to add or subtract because it differs slightly from one hammer to another. Therefore, such controlled pedal operation requires a fairly high level of skill.

On the other hand, for machine tools used in machining fields other than forging, automation of operation using numerical control and other methods has become commonplace, resulting in a shortage of skilled workers and further increasing production costs. In response to the current situation where there is a strong demand for reductions, great results have been achieved.

However, with air stamp hammers, the operation of the hammer often relies on experience and intuition as described above, so automation is not easy.

Generally speaking, in order to realize automation of driving operations, the motive force necessary for driving must be stably provided.

However, although the pressure of the compressed air supplied to the air cylinder for raising and lowering the ram as the driving force for the air stamp hammer is supposed to be constant at all times, in reality it tends to fluctuate, and the pressure varies between the lowering of the ram one time and the next time. It is not uncommon for the ram to be lowered by a difference, and when two or more air stamp hammers share the same compressed air source, the compressed air consumption of one is equal to the compressed air supplied to the other. This tends to cause the pressure to drop, even if only temporarily.

Such unexpected fluctuations in compressed air pressure affect the strength of impact force and cause a reduction in processing accuracy.

For this reason, in the past, workers dealt with fluctuations in compressed air pressure by adjusting the amount by which they depressed the pedal to minimize the effect of the fluctuations on the impact force of the ram. However, this also requires a high degree of skill. Therefore, from this point of view as well, it is not easy to automate the operation of the hammer.

Therefore, under these circumstances, the technical problem of the present invention is how to automate the operation of the air stamp hammer, which requires a high level of skill as described above, including adjusting the strength of the striking force. It is in the point of. Another object of the present invention is how to automatically correct the influence of the above-mentioned fluctuations in compressed air pressure on the striking force in such automation.

Therefore, the technical means of the present invention taken to solve these technical problems are as follows.

First, this technical means targets the aforementioned control valve operation mechanism installed in the current air stamp hammer 4, and automates the normal operation of the mechanism instead of manual operation by adjusting the amount of pedal descent. and a correction control section that automates correction operations corresponding to fluctuations in compressed air pressure for the mechanism instead of manual operations by adjusting the amount of pedal travel.

The operation of the control valve operating mechanism by each of these control units is as follows:
The driving operations shall be modeled after those of a skilled worker. Therefore, the operation control section may be configured to simply imitate the above-described model operation and reproduce it faithfully.

However, since the correction control unit cannot predict when the compressed air pressure will fluctuate and the amount of the fluctuation when operating the above model,
It is not possible to create a configuration that can imitate this model operation and perform the required correction operation. For this reason, regarding the correction control unit, we focused on the fact that fluctuations in compressed air pressure affect the vertical speed of the ram, which changes the rocking speed of the rocking cam in the control valve operating mechanism, and we focused on the fact that fluctuations in compressed air pressure affect the vertical speed of the ram, thereby changing the rocking speed of the rocking cam in the control valve operating mechanism. Only when the dynamic speed differs from that during operation based on the model operation described above, a correction operation corresponding to the degree of the difference can be applied to the control valve operating mechanism in conjunction with the operation by the operation control section. It is necessary to do so.

Based on this consideration, the above-mentioned driving control unit generates driving operation data that detects and records the quantitative and temporal components of the pedal lowering motion when a skilled worker operates the model so as to be reproducible at any time. It consists of a recording/reproducing system, and a hydraulic drive system for operating the control valve operating mechanism, which applies an operating operation equivalent to pressing down a pedal to the control valve operating mechanism based on the data reproduced from the system. The servo cylinder is arranged closer to the pedal than the rocking cam of the control valve operating mechanism. In this case, it is better to operate the pedal, which was conventionally mechanically connected to the control valve operating mechanism, through the hydraulic drive system for operation, to prevent human intervention using this pedal. There is no possibility of an error occurring between the initial driving operation and the subsequent automatic driving operation based on the data recorded at this time.

In addition, the above-mentioned correction control unit is used for correction operation that detects and records the quantitative and temporal components of the swinging of the swinging cam that follows the lifting and lowering of the ram when a skilled worker operates the model so that they can be reproduced only during automatic operation. Controls the correction operations necessary to eliminate this difference only when the data recording/playback system and similar data newly detected each time the ram is raised or lowered differ from the data reproduced from the recording/playback system. It consists of a hydraulic drive system for correction operation that is applied to the valve operating mechanism, and the servo cylinder of the drive system is arranged closer to the control valve than the rocking cam of the control valve operating mechanism.

Note that each data for driving operation and correction operation detected during the above-described model operation is recorded in a memory through a data processing circuit, and is reproduced from the memory. In this case, whether to prepare a dedicated memory for each data or to share one memory for both data may be determined depending on the processing ability of the data processing circuit and the storage capacity of the memory.

On the other hand, it is possible to select whether or not to record each of the above-mentioned data detected during the above-mentioned human operation operation in the memory, and to automatically control the operation operation of the control valve operating mechanism based on each recorded data. It is assumed that the selection of whether or not to perform the process is also processed through the data processing circuit described above. For this reason, the data processing circuit is provided with switches for data recording commands and automatic driving commands. However, the switch for data recording command may be a manual type, but
Since workers' hands are often occupied when handling workpiece materials, it is preferable that the automatic operation command switch be a foot switch. Therefore, when this foot switch is employed, the pedal described above is dedicated to manual driving operations, and the foot pedal of the foot switch is dedicated to automatic driving operations.

The operation of the technical means configured as described above is as follows. First, when the pedal of the control valve operating mechanism, that is, the pedal dedicated to the above-mentioned artificial driving operation, is depressed,
As in the past, this mechanism is operated by the amount of depression of this pedal and the amount of rocking of the rocking cam that follows the movement of the ram, and the accompanying operation of the control valve controls the air cylinder for raising and lowering the ram. , the ram will be lowered and then raised. Therefore, in this case, it is natural to adjust the strength of the ram's striking force to the required strength, and to reduce the influence of excess or deficiency of compressed air pressure on the striking force. It must be done artificially by

Therefore, if the data processing circuit is switched to data recording mode during such manual driving operations, the respective quantitative and temporal components detected from the pedal depression and the rocking cam swinging can be used for automatic driving. The data for driving operations and correction operations necessary for the processing are recorded in the memory via the processing circuit.

After that, the data processing circuit is switched to the data reproduction mode by depressing the foot pedal of the foot switch, which is dedicated to automatic driving operation, for example. Note that the lowering of the pedal at this time is merely to obtain a switching operation for starting automatic operation, so there is no need to adjust the pedal pressure.

When a command to start automatic operation is input in this way, the operation data in the memory is regenerated and given to the operation control hydraulic drive system of the operation control unit. The control valve is actuated by applying the same operation to the control valve operating mechanism as when the pedal is lowered artificially, and the ram begins to lower.

At this time, the correction operation data in the memory is also simultaneously reproduced and applied to the correction operation hydraulic drive system of the correction control section. This reproduced correction operation data is compared with similar data newly detected this time, and only when there is a difference between the two, that is, the current swing of the swing cam is different from the previous artificial driving operation. , only when there is a time delay due to fluctuations in compressed air pressure, the above-mentioned hydraulic drive system for correction operation is operated, and the amount of operation of the control valve is increased or decreased in the direction of compensating for the delay or suppressing the advance. In order to achieve this, the necessary correction operation is applied to the control valve operating mechanism.

Therefore, if the previous artificial driving operation was an exemplary model operation by a skilled worker, and the data for driving operation and correction operation detected at this time was recorded in memory, then the above It is possible to automatically and repeatedly perform the same driving operations as when operating the model.
The influence of fluctuations in compressed air pressure on the striking force of the ram can also be avoided through automatic correction operations.

Next, specific embodiments of the present invention described above will be described with reference to the drawings.

First, the illustrated air stamp hammer has a structure in which a pair of left and right frames 2.degree. 2 are erected on an anvil 1 serving as a base, and a cylinder block 3 is supported at the upper ends of the frames. This cylinder block 3 has
A vertical ram elevating air cylinder 4 is provided, and a rod 6 integrated with a piston 5 of this cylinder passes through the lower part of the cylinder and is suspended between the frames 2, 2.
The ram 7 is integrally suspended at the lower end. This Ram 7 is
The rams are movable up and down along ram guides 8°8 provided on the inner surfaces of both frames, and on the lower surface of the ram and the upper surface of the saw block 9 on the anvil, there is a set of upper forging dies 10a.
and the lower mold 10b are respectively attached and retouched. On the other hand, the operating direction switching control valve 11 attached to the ram elevating air cylinder 4 is provided in the cylinder block 3 adjacent to the cylinder.1. Vertical valve housing 12 and valve body 13
and a valve stem 14. This valve housing 12 has an air supply port 12a connected to a compressed air source such as a compressed air reservoir through an air supply path 5, and an exhaust port 12b opened to the atmosphere through an exhaust path 16. , has a rising port 12c that communicates with the lower end of the ram elevating air cylinder 4 via the ascending air passage 17, and a descending port 12d that communicates with the upper end of the cylinder via the descending air passage 18, Further, the valve body 12 has a hollow drum shape, and when it is in the neutral position shown in FIG.
Connect ports 12c, 12b, and 12d, respectively, and when raised, connect ports 12a, 12d, and 1.
2b and 12c are communicated with each other.

The control valve operating mechanism 19 that is installed in such an air stamp hammer and is the object of the present invention has a basic structure that is not much different from known ones, and has a pedal 20 that can be depressed by the foot and a control valve operating mechanism 19 that is the object of the present invention. Rocking cam 21 that follows and swings
and a rocker arm 23 pivotally supported on the front surface of one frame 2 by a support shaft 22 in the middle. The above-mentioned rocking cam 21 is pivoted to one end of the rocker arm 23 by a pin 24 at the upper end, and hangs down so as to be in sliding contact with the side inclined surface 25 of the ram 7. A protruding cam arm 26 is integrally provided. Further, the pedal 2o and the other end of the long car arm 23 are connected via a lower rod 27 that is lowered depending on how much the former pedal is pressed, and the tip of the cam arm 26 and the upper end of the valve shaft 14 are
The upper rod 28 is connected to the cylinder block 3 via an intermediary link 30 which is pivotally supported by a pin 29.

The configuration of the control valve operating mechanism 19 of this embodiment can be roughly divided into an operation control unit consisting of a data recording/reproducing system A+ for driving operations and a hydraulic drive system A2, and a data recording/reproducing system Bl for correction operations and a hydraulic drive system. It consists of a correction control section consisting of a drive system B2, and a data processing circuit C such as a microprocessor that is shared by both of these control sections. Further, in this embodiment, the pedal 2o is dedicated to manual driving operations, and a pedal 32 dedicated to automatic driving operations is separately prepared. Furthermore, in this embodiment, the above-described hydraulic drive system A2 for operation is also used to convert the depression amount of the manual operation pedal 20 into hydraulic pressure and transmit it to the control valve operation mechanism 19. 20, together with the automatic operation pedal 32, it is pivoted on a support shaft 33 so that it can be depressed independently from the lower rod 27;
The lower end of the lower rod 27 is supported by a fixed fulcrum 31.

The driving operation data recording/reproducing system Al described above includes a driving operation sensor 34 installed opposite to the human operation pedal 20.
is provided, and the quantitative and temporal components of the depressing motion of the pedal are detected as driving operation data. Further, the correction operation data recording/reproducing system B1 is equipped with a correction operation sensor 35 installed opposite the rocking cam 21, which detects the quantitative and temporal components of the oscillation of the cam as correction operation data. It is designed to let you do so. Individual data detected from each of these sensors 34 and 35 is transmitted to each hydraulic drive system A for driving operation and correction operation.
2. 1.B2 only when the data processing circuit C is switched to the data recording mode by manual operation of the data recording command switch 36. At the same time, the data is also recorded in memories 37 and 38 prepared for each sensor via the circuit.

In this case, the above-mentioned data processing circuit C is equipped with an automatic operation start switch 39 installed opposite to the automatic operation pedal 32 so as to constitute a foot switch. Only when the data is switched to A2 . It is designed to be input to B2.

On the other hand, the driving operation hydraulic drive system A2 includes the lower rod 2.
A double-acting hydraulic servo cylinder 40 interposed in the middle of 7.
, a servo valve 42 and a servo amplifier 43 that control the direction and amount of movement of the cylinder, and limited to this system, an auxiliary sensor 44 that sequentially detects the amount of movement of the lower rod 27 controls the hydraulic pressure of the cylinder. It is provided opposite to the servo cylinder 40 at a location above it. However, when the servo valve 42 is at rest, the piston 41 of the hydraulic servo cylinder 40 is at a zero stroke position, and when the valve is in operation, it moves downward to extend the length from the rocker arm 23 of the lower rod 27 to the fixed fulcrum 31. It is designed to substantially shorten the time period. Furthermore, when any driving operation data detected by the sensor 34 or reproduced from the memory 37 is input, the servo amplifier 43 operates the servo valve 42 in response to the data detected by the sensor 44 or reproduced from the memory 37. The piston 41 of the hydraulic servo cylinder 40 is moved forward until the operating amount of the lower rod 27, which is also input to the amplifier, matches the quantitative component of the above data. Therefore, the forward movement amount and forward movement speed of the piston 41 are determined by the quantitative and temporal components of the driving operation data input to the servo amplifier 43.

On the other hand, the correction operation hydraulic drive system B2 includes a double-acting hydraulic servo cylinder 45 interposed in the middle of the upper iron 28, a servo valve 47 that controls the direction and amount of operation of the cylinder, and a servo amplifier. It consists of 48. However, when the servo valve 47 is at rest, the piston 46 of the hydraulic servo cylinder 45 is locked at the 1/2 stroke position, and when the valve is operated, it moves downward or back upward depending on the direction of operation. the intermediate link 30 from the rocker arm 23 of the upper rond 28.
The length is substantially shortened or extended. Further, the servo amplifier 48 is connected to the memory 3.
When the correction operation data reproduced from 8 and the correction operation data newly detected from the sensor 35 are input together, and the quantitative components that change according to the temporal components of both data are different. In response to the difference, the piston 46 of the hydraulic servo cylinder 45 is moved in the direction of matching the quantitative components of both data, that is, when the quantitative component of the latter data is excessive compared to the former data. The servo valve 47 is operated in order to move the pump and, conversely, to move back when there is a shortage. Therefore, the direction and amount of movement of the piston 46 are determined by the excess or deficiency of the quantitative component corresponding to the temporal component between the above two data.

Note that each of the above-mentioned hydraulic drive systems A2. The hydraulic servo cylinders 40.45 of B2 are connected to a suitable hydraulic power source 49 via respective servo valves 42.47.

In the embodiment configured as described above, data necessary for automatic operation of the air stamp hammer is first collected prior to automatic operation of the air stamp hammer. This data collection is performed as follows, using as a model the artificial operation of the control valve operating mechanism 19 by a skilled worker.

It is now assumed that the valve body 13 of the control valve 11 is in the neutral position as shown in the figure, and the ram 7 is kept stationary in the raised position. In this state, when the worker depresses the manual operation pedal 20, the quantitative and temporal components of the depressing action are detected by the sensor 34 as driving operation data. This data is input to the servo amplifier 43 to operate the servo valve 42, which applies hydraulic pressure in the forward direction to the hydraulic servo cylinder 40, causing the piston 41 to move downward. The amount of forward movement of the piston 41 is the same as that of the lower rod 27.
is sequentially detected by the sensor 44 via the servo amplifier 43.
The piston is compared with the quantitative component of the driving operation data, and the piston continues to move forward until the two match. Therefore, this piston 41 moves forward by a stroke corresponding to the quantitative component of the driving operation data at a speed corresponding to the temporal component,
This reduces the substantial length of the lower rod 27, producing the same effect as if the rond had been pulled down. For this reason, the rocker arm 23 is rotated clockwise in the drawing while being pulled by its lower rod 27, and the entire rocking cam 21 is raised by the pin 24, and the cam arm 23 integrated with the cam is rotated clockwise in the drawing.
Push up the upper rond 28 with the tip of 6. Therefore, the valve shaft 14 of the control valve 11 is pulled up via the intermediary link 30, and the valve body 13 is raised to open the valves 2a, 12d, and 12b.

12a are communicated with each other. Then, the compressed air that had been sent below the piston 5 of the ram lifting air cylinder 4 flows from the air passage 17 to the port 12 of the control valve 11.
c and 12b, and is discharged into the atmosphere through the exhaust passage 16, so the ram 7, which had been kept in the raised position by the air pressure, begins to descend under its own weight.

However, at this time, the compressed air supplied from the compressed air source is transferred from the air supply path 15 to the port of the control valve 11 (12a, 1).
2d, and then through the ventilation path 18, and is sent above the piston 5 of the air cylinder 4, so that the ram 7, which has begun to descend, is further accelerated by the air pressure and rapidly descends. Therefore, if a workpiece material (not shown) is placed on the lower forging die 10b before the ram 7 descends, the material is struck by the upper forging die 10a on the ram side.
Die forging will be performed using both of these dies.

However, the impact force exerted on the workpiece material by the descending ram 7 as described above can be adjusted to be strong or weak by increasing or decreasing the supply amount of compressed air pressure applied downward to the ram 7 via the control valve 11, and The amount is determined by the amount of valve body 13 in the control valve.
It can be controlled by how far the port 12d is opened based on the amount of upward movement of the port 12d. Further, the impact force is influenced by fluctuations in the compressed air pressure supplied from the compressed air pressure source to the control valve 11, but this influence can also be avoided by changing the opening degree of the boat 12d described above. The amount of upward movement of the valve body 13 is determined by the amount of depression of the pedal 20 described above, and therefore the amount of forward movement of the piston 41 of the hydraulic servo cylinder 40, which corresponds to the quantitative component of the driving operation data detected by the sensor 34. Ru. Therefore, in this case, both the strength adjustment of the impact force and the correction for fluctuations in compressed air pressure are realized by changing the degree of depression of the pedal 2o.

On the other hand, the valve body 13 of the control valve 11, which has been raised once as described above, is affected by the release of the pedal 20 just before the ram 7 hits the workpiece material and the swinging cam 21 that follows the descent of the ram 7. It is lowered by rocking. First, pedal 20
When the pedal is released, this is detected by the sensor 34, and the servo valve 42 is returned to its original position via the servo amplifier 43, thereby applying hydraulic pressure to the hydraulic servo cylinder 4° in the backward movement direction. Therefore, the piston 41 of this cylinder recovers the shortened substantial length of the lower rod 27, that is, moves back in the direction of pushing up the rod, and moves the rocker arm 27 upward.
3 in the counterclockwise direction in the drawing, and the swing cam 21 is lowered via the pin 24. In addition, when the ram 7 descends as described above, the rocking cam 21 is kept in sliding contact with the side inclined surface 25 of the ram by the weight of the valve body 13 transmitted through the intermediate link 30 and the upper iron 28. As a result, it swings clockwise about the pin 24 as a fulcrum. However, such lowering and swinging of the rocking cam 21 causes the upper iron 28 to be lowered via the cam arm 26 to more than the previously pushed up amount, and the valve body 13 of the control valve 11 is pushed down via the intermediary link 30 and the valve shaft 14. , in order to further descend beyond the initial neutral position, ports 12a and 12c and ports 12b and 12a are now brought into communication, respectively. Then, the compressed air that had been sent above the piston 5 of the ram elevating air cylinder 4 is released from the air passage 18.
, 12b, and is emitted into the atmosphere through the exhaust path 16.
At the same time, compressed air supplied from the compressed air source is sent from the air supply path 15 through the boats 12a and 12c to the ventilation path 17 and below the piston 5, so that the ram 7
Immediately after striking the workpiece material, it begins to rise due to the latter air pressure. When the ram 7 begins to rise in this manner, the swinging cam 21 slidingly in contact with the side inclined surface 25 swings counterclockwise around the pin 24, and the cam arm 26 pushes up the upper rond 28. By the time the ram 7 returns to its original raised position, the valve body 13 of the control valve 11 is also raised back to its original neutral position and all ports 12a to 12d are closed, so that the pedal 20 is depressed again. Unless lowered, its ram 7 remains stationary in the raised position.

Note that the quantitative and temporal components of the rocking of the rocking cam 21 as described above are used as correction operation data.
! 1-35 and is input to the servo amplifier 48, but sometimes this data is not reproduced from the memory 38, so the servo valve 47 does not operate, and therefore the piston 46 of the hydraulic servo cylinder 45 is locked. The upper rod 28 is kept in a closed state and has no effect on the upper rod 28.

By the way, when the control valve operating mechanism 19 is manually operated by depressing the pedal 20 as described above, if the data processing circuit C is switched to the data recording mode with the switch 36, the control valve operation mechanism 19 is automatically operated by depressing the pedal 20. The driving operation data detected by the sensor 34 is input to the servo amplifier 43 and is also recorded in the memory 37 via the circuit. Therefore, the above-mentioned impact force adjustment and the degree to which the pedal 20 is depressed in response to fluctuations in compressed air pressure are also included in the driving operation data and recorded in the memory 37.

Further, when the control valve operating mechanism 19 is operated in this way,
Correction operation data detected by the sensor 35 from the rocking motion of the rocking cam 21 following the rise and fall of the ram 7 is recorded in the memory 38 via the data processing circuit C. However, this recorded correction operation data is based on the compressed air pressure during the current operation.

After each data necessary for automatic driving is collected in this way, automatic driving is realized as follows.

First, while the ram 7 is at rest in the raised position, a workpiece of the same type as before (not shown) is placed onto the lower forging die 10b.
, and then depress the automatic operation pedal 32.

Note that since the pedal is lowered at this time only to obtain a switching action for the automatic operation start switch 39, there is no need to adjust the degree of pedal depression.

When the data processing circuit C is switched to the data reproduction mode by such a switching operation, the driving operation data is reproduced from the memory 37 and inputted to the servo amplifier 43. Then, this servo amplifier 43 first operates the servo valve 42.
The lower rod 2 operates and also receives input from the sensor 44.
7, the piston 41 of the hydraulic servo cylinder 40 is moved forward by a stroke corresponding to the quantitative component of the above-mentioned reproduction data at a speed corresponding to the temporal component, and the lower rod is After the substantial length of the lower rod 27 is shortened, the servo valve 42 is then returned to its original position, and the piston 41 is moved back to restore the shortened substantial length of the lower rod 27. Therefore, the operation of the control valve operating mechanism 19 at this time is automatically performed in exactly the same manner as the previous operation, which was performed manually by pressing the pedal 20.

Further, when the data processing circuit C is switched to the data reproduction mode as described above, the correction operation data is simultaneously reproduced from the memory 38 and inputted to the servo amplifier 48. Furthermore, correction operation data newly detected by the sensor 35 is also sequentially input into the servo amplifier 48 in accordance with the swinging of the swinging cam 21 during the current automatic driving operation.

However, this newly detected data for correction operation is the same as the regenerated correction operation data, unless the compressed air pressure supplied to the control valve 11 during the current automatic operation is the same as the compressed air pressure during the previous data collection operation. The data differs from the original data.

That is, the rocking speed of the rocking cam 21 when the ram 7 is lowered is determined by the lowering speed of the ram and the compressed air pressure mentioned above, when other conditions are the same; the higher the air pressure is, the faster the rocking cam 21 is, and the lower the air pressure is, the slower the rocking cam 21 is. . The swinging speed of the swinging cam 21 is grasped as a quantitative component corresponding to the temporal component of the correction operation data detected by the sensor 35, and when the swinging speed is fast, this quantitative component is large; When it is slow, it becomes small.

Therefore, the servo amplifier 48 compares the reproduced correction operation data and the newly detected correction operation data, and only when there is a difference in the quantitative components corresponding to the temporal components of the two, The servo valve 47 is operated in a direction to eliminate the difference. When the quantitative component of the newly detected correction operation data is excessive compared to the reproduced correction operation data, the test valve 47 controls the piston 46 of the hydraulic servo cylinder 45 to compensate for this excess amount. By moving forward by a corresponding amount and shortening the substantial length of the upper rod 28, the amount of upward movement of the valve body 13 of the control valve 11 is reduced, and when the quantitative component is insufficient, the piston 46 is moved. By moving back by an amount corresponding to this shortfall and extending the substantial length of the upper rod 28, the amount of upward movement of the valve body 13 is increased. Then, the opening degree of the port 12d of the control valve 11 by the valve body 13 is changed by the above-mentioned increase/decrease in the amount of upward movement of the valve body, and the air cylinder 4 is opened via the ventilation path 18.
Since the amount of compressed air supplied above the piston 5 is controlled, the descending speed of the ram 7 is slow when the compressed air pressure is fluctuating toward a high level, and slow when the compressed air pressure is fluctuating toward a low side. Therefore, the correction operation for the control valve operation mechanism 19 according to the fluctuation of the compressed air pressure at this time is performed completely automatically instead of the previous artificial depression of the pedal 20. become.

Note that the driving operation data and correction operation data recorded in the memories 37 and 38 in this embodiment can be reproduced any number of times without being erased by the - times of reproduction, so the control valve operation based on each of these data can be performed. Automatic operation of the mechanism 19 can also be realized repeatedly by simply depressing the automatic operation pedal 32. Furthermore, even when the above data are recorded in the memory 37 and 38, the manual operation pedal 20
It is possible to press down on the control valve operating mechanism 19, and when this is done, an artificial operation of the control valve operating mechanism 19 can be realized without being based on the recorded data and without affecting the data. . However, if the data processing circuit C is switched to the data recording mode using the data recording command switch 36 when the manual operation pedal 20 is depressed, the newly detected driving operation data associated with the manual driving operation can be saved. Existing data recorded in the memories 37 and 38 can be updated with the correction operation data and the correction operation data.

As is clear from the above description, the present invention first allows a skilled worker to manually operate the control valve operating mechanism of the air stamp hammer using an exemplary model operation, and then uses the manual operation pedal. The driving operation data and correction operation data required for automatic driving are detected and recorded from the depressing motion of the ram and the rocking cam that follows the raising and lowering of the ram. In addition to automatically operating the control valve operating mechanism in the same manner as when operating the model, the system also automatically performs correction operations in response to fluctuations in compressed air pressure based on the reproduced correction operation data. Therefore, according to the present invention, automatic operation of the air stamp hammer can be easily realized except for the time of initial data collection, and even an inexperienced worker can easily operate the air stamp hammer by a skilled worker. It is possible to perform exactly the same forging work as in the above, and it is also possible to automatically process the detection and recording of each data necessary for automatic operation, including data update, so that the corresponding forging process prior to automatic operation can be automatically processed. The input work of each data can be simplified.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway front view of an air stamp hammer embodying the present invention, and FIG. 2 is a partially cutaway enlarged view together with a system diagram showing an overview of the embodiment. 4.-ram lifting cylinder, 7.-ram, 11-.control valve for switching direction of operation, 13-valve body, 14-valve shaft, 19-.
- Control valve operating mechanism, 20- Pedal for human operation, 21- Rocking cam, 22- Support shaft, 23- Rocker arm, 25
・- Ram side inclined surface, 26-・Cam arm, 27・
- lower rod, 28 - upper rod, 30 - intermediary link, 31 - fixed fulcrum, 32 - automatic operation pedal, 33 -
- Pedal support shaft, 34-sensor for driving operation, 35-sensor for correction operation, 36-switch for data recording command, 37.
38.-Memory, 39-Automatic operation start switch, 40
-・-Hydraulic servo cylinder for driving operation, 42・-Servo valve for driving operation, 43-・Servo amplifier for driving operation, 44
- Auxiliary sensor, 45 - Hydraulic servo cylinder for correction operation,
47-servo valve for correction operation, 48-servo amplifier for correction operation, 49-.-hydraulic source, AI-.-data recording and reproducing system for operation operation, A2-hydraulic drive system for operation operation, B1-data for correction operation Recording/playback system, B2-hydraulic drive system for correction operation, C-data processing circuit Patent applicant: Noboru Tani, agent of Otani Machinery Co., Ltd.

Claims (1)

[Claims] (1) A control valve for switching the operating direction is attached to the air cylinder for raising and lowering the ram at the top of the head, and this control valve includes a pedal for human operation, a rocker arm pivoted in the middle, and one end of the arm. a rocking cam that is pivotally supported by the ram and is suspended in a position to slide into sliding contact with the side 1ψ slope of the ram; a lower rond that is connected to the other end of the rocker arm so as to transmit the downward movement of the pedal to the other end of the rocker arm; In an air stamp hammer equipped with a control valve operating mechanism consisting of an upper rond in which the tip of the cam arm at the upper end of the swinging cam is connected to the valve body of the control valve, the control valve operating mechanism is connected to a pedal and a lower rond. An operation control unit consisting of a data recording/reproducing system for driving operation and a hydraulic drive system for driving operation, and a correction system consisting of a data recording/reproducing system for correction operation and a hydraulic drive system for correction operation related to the rocking cam and upper rond of the same mechanism. The pedal is composed of a control section and a data processing circuit shared by both control sections, and the pedal is independently pivoted from a lower rond, with the lower end of the rond pivoted to a fixed fulcrum, and the pedal is The operation data recording and reproducing system includes a driving operation sensor that detects the quantitative and temporal components of the depressing motion as driving operation data in opposition to the pair of pedals that are artificially depressed. The data recording and reproducing system is equipped with a correction operation sensor that faces the rocking cam that swings as the ram moves up and down and detects the quantitative and temporal components of the swing as correction operation data. Each sensor is provided with a memory for recording and reproducing detected data for driving operation and correction operation via the data processing circuit described above, and the hydraulic drive system for driving operation is connected to the lower rond as described above. a hydraulic servo cylinder that forms a part of the rond and moves forward in a direction to substantially shorten the length of the rond and back in a direction to restore it;
A servo valve that controls the direction and amount of movement of this cylinder, and a servo amplifier that operates the servo valve in response to either operation data detected by the operation sensor or reproduced from memory. It consists of
The hydraulic drive system for correction operation includes a hydraulic servo cylinder that forms part of the upper iron and moves forward in a direction to substantially shorten the length of the upper iron or backward in a direction to extend it; Only when the correction operation data newly detected from the correction operation sensor mentioned above differs from the servo valve that controls the movement direction and movement amount and the correction operation data reproduced from the memory, this difference is detected. a servo amplifier that operates the latter servo valve in a direction to eliminate the problem, and the data processing circuit further includes means for switching the circuit to a data recording mode and a means for switching the circuit to a data reproduction mode. An automatic operation device for air stamp hammers featuring: