CN107138578B - A kind of servounit fine blanking press main drive gear and motion planning method - Google Patents
A kind of servounit fine blanking press main drive gear and motion planning method Download PDFInfo
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- CN107138578B CN107138578B CN201710480578.5A CN201710480578A CN107138578B CN 107138578 B CN107138578 B CN 107138578B CN 201710480578 A CN201710480578 A CN 201710480578A CN 107138578 B CN107138578 B CN 107138578B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
- B30B1/10—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism
- B30B1/14—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism operated by cams, eccentrics, or cranks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/26—Programme control arrangements
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Abstract
The present invention proposes a kind of servounit fine blanking press main drive gear and motion planning method, including the first crank, first connecting rod, second connecting rod, second crank, third connecting rod, sliding block and rack, one end of first crank is hinged with rack, one end of the other end and first connecting rod is hinged, the one end of the other end of first connecting rod with second connecting rod and third connecting rod is hinged, the other end of second connecting rod and one end of the second crank are hinged, the other end of second crank is hinged with rack, the other end of third connecting rod is hinged with sliding block, sliding block is along guide rail vertical sliding, first servo motor drives the first crank to rotate around hinge joint, second servo motor drives the second crank to rotate around hinge joint.The present invention meet high speed fine process slider stroke, the multiple requesting of the speed in nominal stroke and nominal pressure under the premise of, improve the working efficiency of fine blanking press.
Description
Technical field
The invention belongs to the technical field of mechanical engineering technology more particularly to a kind of servounit fine blanking press main transmissions
Mechanism and motion planning method.
Background technique
Since fine blanking part has dimensional tolerance small, form accuracy is high, and punching face is bright and clean, surfacing, verticality and mutually
The advantages that transsexual good.Market constantly increases fine blanking part demand, and there is an urgent need to a kind of efficient, high-precision fines to set by people
It is standby to carry out mass production fine blanking part.Traditional single servo input drives slider-crank mechanism or elbow-bar mechanism to meet
Slider stroke requirement, throw of crankshaft is not less than certain lower limit value, and excessive throw of crankshaft limits the gain of mechanism.Meeting
When certain slider stroke, it is also necessary to which motor exports biggish torque；And there is conventional electricity in the operating mechanism of Mixed design driving
Machine movement it is uncontrollable and the problem of influence slide block movement characteristic.
Summary of the invention
The purpose of the present invention is to provide a kind of servounit fine blanking press main drive gear and motion planning method, with
Under the premise of the multiple requesting for meeting high speed fine process slider stroke, the speed in nominal stroke and nominal pressure, fine is improved
The working efficiency of press machine.
The technical proposal adopted by the invention to solve the above technical problems is that: a kind of servounit fine blanking press main transmission
Mechanism, including the first crank, first connecting rod, second connecting rod, the second crank, third connecting rod, sliding block and rack, which is characterized in that
One end of first crank is hinged with rack, and one end of the other end and first connecting rod is hinged, the other end of first connecting rod
One end with second connecting rod and third connecting rod is hinged, and the other end of second connecting rod and one end of the second crank are hinged, the
The other end of two cranks is hinged with rack, and the other end and the sliding block of third connecting rod are hinged, and sliding block is along guide rail vertical sliding, and
One servo motor drives the first crank to rotate around hinge joint, and the second servo motor drives the second crank to rotate around hinge joint；First
The horizontal distance of the hinge joint of the other end and rack of one end of crank and the hinge joint of rack and the second crank is second connecting rod
And the difference of the length of the second crank, vertical distance be the sum of first connecting rod and the length of the first crank, one end of the first crank and
The hinge joint of the hinge joint of rack and the other end of third connecting rod and sliding block is located along the same line.
According to the above scheme, length of the length of first crank less than the second crank.
A kind of motion planning method of servounit fine blanking press main drive gear, which is characterized in that including walking as follows
It is rapid:
A two servo motor key signal phase angles) are determined, according to the technical process of servounit fine blanking press, in a work
Make in the period, sliding block is divided into three control stages, including quickly reached by operation starting point punching starting point the quick-make stage,
Reach being punched the stage at a slow speed, quickly reaching operation starting point by punching terminating point for punching terminating point at a slow speed by punching starting point
The quick return stage determines the operation of the operation starting point, punching starting point, punching terminating point and corresponding two servo motors of sliding block
Start-up phase parallactic angle, punching start-up phase parallactic angle, punching termination phase angle；
B) two servo motor flexibility deceleration planning, the acceleration and acceleration of starting and final position are zero, from adding
Acceleration constructed fuction J (t):
Wherein, X is coefficient, and T is an acceleration and deceleration period, T0For acceleration and deceleration initial time,
It can derive that acceleration function is A (t) according to J (t) are as follows:Wherein, C1
For constant coefficient, velocity function V (t) can be derived according to A (t) are as follows:
Wherein, C2For constant coefficient, displacement function S (t) can be derived according to V (t) are as follows:
If v0For the fast initial velocity that adds deduct, v1For the speed after the speed that adds deduct, C3For constant coefficient, according to boundary condition,
Work as t=T0When, A (0)=0, V (0)=v0, S (0)=s0, work as t=T0When+T, A (T0+ T)=0, V (T0+ T)=v1-v0, therefore
It solves:
If the peak acceleration of servo motor is Amax, then A (t)≤Amax, that is,
For the locomitivity for giving full play to system, shorten and accelerate the period, improves production efficiency, take equal sign, then have:
Therefore, the acceleration J (t) of accelerator can be solved, acceleration A (t), speed V (t), displacement function S (t) are such as
Shown in lower:
C) two servo motor motion planning,
Close stage: first servo motor is in operation start-up phase parallactic angle with angular speed w11It travels at the uniform speed to close to punching starting
W is decelerated to behind phase angle12, reach punching start-up phase parallactic angle；Second servo motor is in operation start-up phase parallactic angle with angular speed w21It is even
Speed operation decelerates to 0 to after punching start-up phase parallactic angle, reaches punching start-up phase parallactic angle；
The at the uniform velocity time of close stage first servo motor is t11, deceleration time t12；Second servo motor at the uniform velocity when
Between be t21, deceleration time t22；According to above-mentioned servo motor acceleration and deceleration method, two servo motors three key signal phase angles, with
And motor characteristic can determine that
Wherein, a1maxFor the peak acceleration of first servo motor, a2maxFor the peak acceleration of the second servo motor, α is
The punching start-phase of first servo motor and the angle of termination phase,
Therefore the closing time t of first servo motor1Are as follows:
The closing time t of second servo motor2Are as follows:
If the maximum (top) speed of first servo motor is w1max, the maximum (top) speed of the second servo motor is w2max, according to generally watching
The motor characteristic and mathematical relationship of clothes, work as w11And w21When taking the maximum (top) speed of two servo motors respectively, when respective close stage
Between reach minimum value, it may be assumed that
Two servo motors are equal i.e. in the time of close stage: t1=t2；In order to shorten idle running time and two to the maximum extent
The time that servo motor can meet movement needs then close stage simultaneously may be determined as follows:
w12It can be according to punching speed v, the punching start-up phase parallactic angle of first servo motor and punching termination phase angle, mechanism spy
Property determination it is as follows: as α >=0.5 π:
As 0 < α 0.5 π of <:
Wherein r be above-mentioned first crank length, L be the sum of first connecting rod and second connecting rod,
The w11According to the operation start-up phase parallactic angle of first servo motor and punching start-up phase parallactic angle, the close stage time,
w12, first servo motor motor characteristic determination it is as follows:
The punching stage: first servo motor is in punching start-up phase parallactic angle with angular speed w12It travels at the uniform speed to punching termination phase
Angle；
It is 0 that second servo motor, which keeps speed,
It is punched time t3According to the punching start-up phase parallactic angle of first servo motor and punching termination phase angle, w12It determines such as
Under:
w21According to the operation start-up phase parallactic angle of the second servo motor and punching start-up phase parallactic angle, close stage time, second
The determination of servo motor motor characteristic is as follows:
The backhaul stage: the motion profile and the motion profile in quick-make stage in two servo motor quick return stages are distinguished
Operation start-phase about two servo motors is symmetrical, and first servo motor is at punching termination phase angle by angular speed w12It accelerates to
Angular speed w11Afterwards with angular speed w11Travel at the uniform speed to operation start-up phase parallactic angle, the second servo motor punching termination phase angle by
Angular speed 0 accelerates to angular speed w21Afterwards with angular speed w21It travels at the uniform speed to operation start-up phase parallactic angle,
The at the uniform velocity time of backhaul stage first servo motor is t11, acceleration time t12；Second servo motor at the uniform velocity when
Between be t21, acceleration time t22,
According to above scheme, Motion trajectory w of the first servo motor within a duty cycle1(t) are as follows:
According to above scheme, Motion trajectory w of second servo motor within a duty cycle2(t) are as follows:
According to the above scheme, the step A) in include following content: choose the highest point that can reach of sliding block as punching
Terminating point, the first crank, first connecting rod, third connecting rod are conllinear at this time, the second crank and second connecting rod anti-communism line, to can determine
The punching termination phase angle of sliding block two servo motors when being punched terminating point, after the punching terminating point for determining sliding block, sliding block is rushed
It cuts out starting point to be determined by punching plate thickness, i.e., punching plate thickness is equal to sliding block punching starting point at a distance from punching terminating point, is punched
Cheng Zhong, the second servo motor are in punching termination phase angle always, that is, determine the punching start-up phase parallactic angle etc. of the second servo motor
In punching termination phase angle, that is, it can determine the start-up phase parallactic angle of first servo motor, if first servo motor, the second servo motor
It is equal with the corner in backhaul stage being closed, determine the operation start-phase of first servo motor and the angle of punching start-phase
For π -0.5 α, the operation start-phase of the second servo motor and the angle of punching start-phase are π.
The beneficial effects of the present invention are: the present invention provides a kind of servounit fine blanking press main drive gear and movement rule
The method of drawing, the driving input of two servo motors synthesize the output campaign of sliding block by a two degrees of freedom seven-bar mechanism, and to two
Servo motor is punched the stage in the quick-make stage, at a slow speed, the quick return stage carries out motion planning, to realize satisfaction high speed
During fine under the premise of slider stroke, the speed in nominal stroke and nominal pressure multiple requesting, the work of fine machine is improved
Efficiency.
Detailed description of the invention
Fig. 1 is the schematic diagram of the fine blanking press main drive gear of one embodiment of the invention.
Fig. 2 is slide block movement process schematic of the invention.
Fig. 3 is the schematic diagram at 1 key signal phase angle of servo motor of the invention.
Fig. 4 is the schematic diagram at 2 key signal phase angle of servo motor of the invention.
Fig. 5 is the schematic diagram of the motor corner of motor acceleration and deceleration method of the invention.
Fig. 6 is the schematic diagram of the motor speed of motor acceleration and deceleration method of the invention.
Fig. 7 is the schematic diagram of the motor acceleration of motor acceleration and deceleration method of the invention.
Fig. 8 is the schematic diagram of the motor acceleration of motor acceleration and deceleration method of the invention.
Fig. 9 is that two servo motor motion planning schematic diagram of 8mm plate thickness is punched in example of the invention.
Wherein: 1. first cranks, 2. first connecting rods, 3. second connecting rods, 4. second cranks, 5. third connecting rods, 6. sliding blocks, 7.
Rack, 8. guide rails.
Specific embodiment
For a better understanding of the invention, the invention will be further described with reference to the accompanying drawings and examples.
A kind of servounit fine blanking press main drive gear, specific design is as shown in Figure 1, include the first crank 1, first
Connecting rod 2, second connecting rod 3, the second crank 4, third connecting rod 5, sliding block 6 and rack 7, one end of the first crank are mutually cut with scissors with rack
It connects, one end of the other end and first connecting rod is hinged, the one end of the other end of first connecting rod with second connecting rod and third connecting rod
It being hinged, the other end of second connecting rod and one end of the second crank are hinged, and the other end and the rack of the second crank are hinged, the
The other end of three-link is hinged with sliding block, and sliding block drives the first crank around hinged along 8 vertical sliding of guide rail, first servo motor
Point rotation, the second servo motor drive the second crank to rotate around hinge joint.According to the requirement of fine blanking technology process, slider stroke speed
The variation of degree meets quick-make, is punched at a slow speed, the requirement of quick return.In quick-make and quick return stage, sliding block
Stroke is larger, and the power for needing system to provide is smaller.It is being punched the stage at a slow speed, the stroke of sliding block is smaller, the power for needing system to provide
It is larger.Therefore two servo motor coordinated controls, two cranks are chosen, and are again connected two cranks and sliding block by three connecting rods
Together.
Calculated in order to facilitate design, be easily found the highest point of sliding block, the hinge joint of one end of the first crank and rack with
The horizontal distance of the hinge joint of the other end and rack of second crank is the difference of the length of second connecting rod and the second crank, vertically away from
From for the sum of first connecting rod and the length of the first crank, one end of the first crank and the hinge joint of rack and third connecting rod it is another
It holds and is located along the same line with the hinge joint of sliding block.In this way, second is bent when the first crank, first connecting rod and third connecting rod are conllinear
When handle and second connecting rod anti-communism line, sliding block is at the highest notch position.Wherein the distance between hinge joint is mainly according to assembly needs
It is designed determination.First crank, the second crank are connect with two servo motors respectively, are made rotating motion.In the punching stage, master
The rotation of the first crank is driven to provide slider stroke and blanking pressure by first servo motor, therefore the length of the first crank can root
It is determined according to maximum punching board thickness design；Mainly there is the second servo motor that the rotation of the second crank is driven to provide in closure and backhaul stage
Slider stroke and power, therefore the length of the second crank is determined according to assembly space and the design of required idle running stroke.Mechanical fine machine
Using this Dual-Servo Motor driving method, the length of the first crank less than the second crank length, the length of the first crank compared with
Small, to reduce the torque that the servo motor of the first crank of driving is subject to, the length of the second crank is larger, sets slider stroke satisfaction
Meter requires.
It after determining main drive gear, need to be required according to fine blanking technology, plan the movement of two servo motors to meet high speed
The multiple requesting of fine process slider stroke, the speed in nominal stroke and nominal pressure, to be turned round in servo motor maximum output
Under the premise of square, the working efficiency of fine blanking press is improved.Therefore a kind of above-mentioned servounit fine blanking press is also provided herein
Motion planning method, steps are as follows:
1) two servo motor key signal phase angles are determined；
According to the technical process of servounit fine machine, within a duty cycle, sliding block is generally divided into three control ranks
Section, as shown in Fig. 2, sliding block is quickly reached the quick-make stage of punching starting point by operation starting point；Sliding block is by punching starting point
The punching stage at a slow speed of punching terminating point is reached at a slow speed；Sliding block is quickly reached the quick return of operation starting point by punching terminating point
Stage.Therefore the operation of the operation starting point, punching starting point, punching terminating point and corresponding two servo motors of sliding block need to be first determined
Start-up phase parallactic angle, punching start-up phase parallactic angle, punching termination phase angle.
In order to guarantee that system has higher top dead-centre precision and prevents overshoot protection mold, choose what sliding block can reach
Highest point is as punching terminating point, and the first crank, first connecting rod, third connecting rod are conllinear at this time, and the second crank and second connecting rod are anti-
Collinearly, to can determine the punching termination phase angle of sliding block two servo motors when being punched terminating point.
After the punching terminating point for determining sliding block, the punching starting point of sliding block is determined by punching plate thickness, i.e. punching plate thickness is equal to
Sliding block is punched starting point at a distance from punching terminating point.By force analysis it is found that the second servo motor is in punching termination phase
When angle, biggish torque will not be born because sliding block is by blanking pressure, therefore in blanking process, allow the second servo motor always
In punching termination phase angle, that is, determine that the punching start-up phase parallactic angle of the second servo motor is equal to punching termination phase angle.It determines
It can determine the start-up phase of first servo motor after the punching starting point of sliding block and the punching start-up phase parallactic angle of the second servo motor
Parallactic angle, if α is the punching start-phase of first servo motor and the angle of termination phase.
For the ease of servo motor motion planning, while sliding block being made to possess biggish stroke, and enabled a system to more stable
It efficiently runs, setting first servo motor, the second servo motor are equal in the corner of closure and backhaul stage.That is the first servo
Angle and backhaul stage of the operation start-phase to punching start-phase of motor and the second servo motor in the quick-make stage
Punching termination phase to operation start-phase angle distinguish it is equal, it is thus determined that the operation start-phase of first servo motor
Angle with punching start-phase is π -0.5 α, and the operation start-phase and the angle of punching start-phase of the second servo motor are
π.The key signal phase angle of first servo motor is as shown in figure 3, the key signal phase angle of the second servo motor is as shown in Figure 4.
2) two servo motor flexibility acceleration and deceleration method；
The technical process of above-mentioned servounit fine machine includes quick-make, at a slow speed three punching, quick return work ranks
Section, therefore motor need to carry out violent acceleration and deceleration variation, a kind of motor flexible acceleration and deceleration method is it is characterized by: speed becomes
Change steadily, acceleration change is continuous, and the acceleration and acceleration of starting and final position are zero.
From acceleration constructed fuction J (t):
Wherein, X is coefficient, and T is an acceleration and deceleration period, T0For acceleration and deceleration initial time.According to the acceleration of construction
Function can derive that acceleration function is A (t) are as follows:
Wherein, C1For constant coefficient, velocity function V (t) can be derived according to acceleration function are as follows:
Wherein C2For constant coefficient, displacement function S (t) can be derived according to velocity function are as follows:
If v0For acceleration and deceleration initial velocity, v1For the speed after acceleration and deceleration, C3T is worked as according to boundary condition for constant coefficient
=T0When, A (0)=0, V (0)=v0, S (0)=s0, work as t=T0When+T, A (T0+ T)=0, V (T0+ T)=v1-v0, therefore solve:
If the peak acceleration of servo motor is Amax, then A (t)≤Amax, i.e.,
For the locomitivity for giving full play to system, shorten and accelerate the period, improve production efficiency, can use equal sign, then have:
Therefore, the acceleration J (t) of accelerator can be solved, acceleration A (t), speed V (t), displacement function S (t) are such as
Shown in lower:
With motor by w in an acceleration cycle T0Accelerate to w1And by w1Deceleration w0For arriving: motor corner and time
Relationship as shown in figure 5, showing that the angle that motor is turned over when acceleration is with deceleration is as.The pass of motor angular velocity and time
System is as shown in fig. 6, motor speed is by w when accelerating0W is increased at S type curve1, motor speed is by w when deceleration1At reversed S shape
It is reduced to w0.Motor acceleration and the relationship of time are as shown in fig. 7, the acceleration of motor first increases to maximum by 0 when accelerating
It is reduced to 0 after value, the acceleration of motor increases to 0 after being first reduced to minimum value by 0 when deceleration.The acceleration of motor and time
Relationship as shown in figure 8, motor acceleration is first increased to after maximum value by 0 and is reduced to minimum value and increases to 0 again, electricity when deceleration
Machine acceleration is first reduced to by 0 to be increased to maximum value after minimum value and is reduced to 0 again.
3) two servo motor motion planning method；
Close stage: first servo motor is in operation start-up phase parallactic angle with angular speed w11It travels at the uniform speed to close to punching starting
W is decelerated to behind phase angle12, reach punching start-up phase parallactic angle；Second servo motor is in operation start-up phase parallactic angle with angular speed w21It is even
Speed operation decelerates to 0 to after punching start-up phase parallactic angle, reaches punching start-up phase parallactic angle.
The at the uniform velocity time of close stage first servo motor is t11, deceleration time t12；Second servo motor at the uniform velocity when
Between be t21, deceleration time t22；According to above-mentioned motor acceleration and deceleration method, two servo motors three key signal phase angles and
Motor characteristic can determine that
Wherein, a1maxFor the peak acceleration of first servo motor, a2maxFor the peak acceleration of the second servo motor, α is
The punching start-phase of first servo motor and the angle of termination phase.
Therefore the closing time t of first servo motor1Are as follows:
The closing time t of second servo motor2Are as follows:
If the maximum (top) speed of first servo motor is w1max, the maximum (top) speed of the second servo motor is w2max, according to generally watching
The motor characteristic and mathematical relationship of clothes, work as w11And w21When taking the maximum (top) speed of two servo motors respectively, when respective close stage
Between reach minimum value, it may be assumed that
Two servo motor is equal i.e. in the time of close stage: t1=t2；In order to shorten the idle running time to the maximum extent
And two servo motor can meet time of movement needs then close stage simultaneously and may be determined as follows:
w12It can be according to punching speed v, the punching start-up phase parallactic angle of first servo motor and punching termination phase angle, mechanism spy
Property determination it is as follows: as α >=0.5 π:
As 0 < α 0.5 π of <:
Wherein r is the length of above-mentioned first crank, and L is the sum of first connecting rod and second connecting rod length；
w11According to the operation start-up phase parallactic angle of first servo motor and punching start-up phase parallactic angle, close stage time, w12、
The determination of first servo motor motor characteristic is as follows:
The punching stage: first servo motor is in punching start-up phase parallactic angle with angular speed w12It travels at the uniform speed to punching termination phase
Angle；It is 0 that second servo motor, which keeps speed,；
It is punched time t3According to the punching start-up phase parallactic angle of first servo motor and punching termination phase angle, w12It determines such as
Under:
w21According to the operation start-up phase parallactic angle of the second servo motor and punching start-up phase parallactic angle, close stage time, second
The determination of servo motor characteristic is as follows:
The backhaul stage: the motion profile and the motion profile in quick-make stage in two servo motor quick return stages are distinguished
Operation start-phase about two servo motors is symmetrical.First servo motor is at punching termination phase angle by angular speed w12It accelerates to
Angular speed w11Afterwards with angular speed w11Travel at the uniform speed to operation start-up phase parallactic angle, the second servo motor punching termination phase angle by
Angular speed 0 accelerates to angular speed w21Afterwards with angular speed w21It travels at the uniform speed to operation start-up phase parallactic angle；
The at the uniform velocity time of backhaul stage first servo motor is t1, acceleration time t2；The at the uniform velocity time of second servo motor
For t3；
Motion trajectory w of the first servo motor within a duty cycle1(t) are as follows:
According to above scheme, Motion trajectory w of second servo motor within a duty cycle2(t) are as follows:
As shown in figure 9, being 8mm with maximum punching plate thickness, the key technical index that slider stroke is 67mm designs servo
Tool fine blanking press main drive gear, and the peak acceleration for choosing first servo motor the first crank of driving on this basis is
(500π/3)rad/s2, maximum speed is (20 π/3) rad/s；The peak acceleration of second servo motor is (1000 π/3)
rad/s2, maximum speed is 10 π rad/s to be punched plate thickness as 8mm, and specific example of the punching speed less than 50mm/s is to two servos
The movement of motor is planned:
(1) design of servounit fine blanking press main drive gear；
It is according to the length that the design method of high-speed servo machinery fine blanking press main drive gear designs the first crank
5mm, the length of first connecting rod are 360mm, and the length of second connecting rod is 360mm, and the length of the second crank is 73mm, third connecting rod
Length be 360mm；
(2) motion planning of high-speed servo machinery fine blanking press；
1) two servo motor key signal phase angles are determined
According to the movement for method the design first servo motor and the second servo motor for determining servo motor key signal phase angle
Start-up phase parallactic angle, is punched termination phase angle at punching start-up phase parallactic angle, wherein the punching start-phase and termination of first servo motor
The angle α of phase is 2.2115rad, and the operation start-phase and the angle of punching start-phase of first servo motor are
2.0358rad；
2) two servo motor Motion trajectory
Close stage: first servo motor is in operation start-up phase parallactic angle with angular speed w11It travels at the uniform speed to close to punching starting
W is decelerated to behind phase angle12, reach punching start-up phase parallactic angle；Second servo motor is in operation start-up phase parallactic angle with angular speed w21It is even
Speed operation decelerates to 0 to after punching start-up phase parallactic angle, reaches punching start-up phase parallactic angle；
The at the uniform velocity time of close stage first servo motor is t11, deceleration time t12；Second servo motor at the uniform velocity when
Between be t21, deceleration time t22；
w11、w12、t11、t12、w21、t21、t22It can be as follows according to the determination of the motion planning method of fine machine:
t1=t2=0.13s
w21=w2max=10 π rad/s.
Claims (4)
1. a kind of servounit fine blanking press main drive gear, including the first crank, first connecting rod, second connecting rod, the second song
Handle, third connecting rod, sliding block and rack, which is characterized in that one end of first crank is hinged with rack, the other end and first
One end of connecting rod is hinged, and the one end of the other end of first connecting rod with second connecting rod and third connecting rod is hinged, second connecting rod
One end of the other end and the second crank be hinged, the other end and the rack of the second crank are hinged, the other end of third connecting rod
It is hinged with sliding block, sliding block drives the first crank to rotate around hinge joint along guide rail vertical sliding, first servo motor, the second servo
The second crank of motor driven is rotated around hinge joint；The other end of one end of first crank and the hinge joint of rack and the second crank with
The horizontal distance of the hinge joint of rack is the difference of the length of second connecting rod and the second crank, and vertical distance is first connecting rod and first
The hinged point of the other end and sliding block of the sum of length of crank, one end of the first crank and the hinge joint of rack and third connecting rod
In on same straight line.
2. a kind of servounit fine blanking press main drive gear according to the claims 1, which is characterized in that described
Length of the length of first crank less than the second crank.
3. a kind of motion planning method of servounit fine blanking press main drive gear as claimed in claim 2 is used, it is special
Sign is, includes the following steps:
A two servo motor key signal phase angles) are determined, according to the technical process of servounit fine blanking press, in a work week
In phase, sliding block is divided into three control stages, including quickly reaching the quick-make stage of punching starting point by operation starting point, by rushing
It cuts out starting point and reaches being punched the stage at a slow speed, quickly reaching the quick of operation starting point by punching terminating point for punching terminating point at a slow speed
The backhaul stage determines the operation starting of the operation starting point, punching starting point, punching terminating point and corresponding two servo motors of sliding block
Phase angle, punching start-up phase parallactic angle, punching termination phase angle；
B) two servo motor flexibility deceleration planning, the acceleration and acceleration of starting and final position are zero, from acceleration
It spends constructed fuction J (t):
Wherein, X is coefficient, and T is an acceleration and deceleration period, T0For acceleration and deceleration initial time,
It can derive that acceleration function is A (t) according to J (t) are as follows:Wherein, C1It is normal
Number system number can derive velocity function V (t) according to A (t) are as follows:
Wherein, C2For constant coefficient, displacement function S (t) can be derived according to V (t) are as follows:
If v0For the fast initial velocity that adds deduct, v1For the speed after the speed that adds deduct, C3T is worked as according to boundary condition for constant coefficient
=T0When, A (0)=0, V (0)=v0, S (0)=s0, work as t=T0When+T, A (T0+ T)=0, V (T0+ T)=v1, therefore solve:
If the peak acceleration of servo motor is Amax, then A (t)≤Amax, that is,
For the locomitivity for giving full play to system, shorten and accelerate the period, improves production efficiency, take equal sign, then have:
Therefore, the acceleration J (t) of accelerator, acceleration A (t), the following institute of speed V (t), displacement function S (t) can be solved
Show:
C) two servo motor motion planning,
Close stage: first servo motor is in operation start-up phase parallactic angle with angular speed w11It travels at the uniform speed to close to punching start-phase
W is decelerated to behind angle12, reach punching start-up phase parallactic angle；Second servo motor is in operation start-up phase parallactic angle with angular speed w21At the uniform velocity transport
Row decelerates to 0 to after punching start-up phase parallactic angle, reaches punching start-up phase parallactic angle；
The at the uniform velocity time of close stage first servo motor is t11, deceleration time t12；The at the uniform velocity time of second servo motor is
t21, deceleration time t22；According to above-mentioned servo motor acceleration and deceleration method, three key signal phase angles, Yi Ji electricity of two servo motors
Machine characteristic can determine that
Wherein, a1maxFor the peak acceleration of first servo motor, a2maxFor the peak acceleration of the second servo motor, α first
The punching start-phase of servo motor and the angle of termination phase,
Therefore the closing time t of first servo motor1Are as follows:
The closing time t of second servo motor2Are as follows:
If the maximum (top) speed of first servo motor is w1max, the maximum (top) speed of the second servo motor is w2max, according to general servo
Motor characteristic and mathematical relationship, work as w11And w21When taking the maximum (top) speed of two servo motors respectively, the respective close stage time reaches
To minimum value, it may be assumed that
Two servo motors are equal i.e. in the time of close stage: t1=t2；In order to shorten idle running time and two servos to the maximum extent
The time that motor can meet movement needs then close stage simultaneously may be determined as follows:
w12Can be according to punching speed v, the punching start-up phase parallactic angle and punching termination phase angle, mechanism characteristics of first servo motor are true
It is fixed as follows: as α >=0.5 π:
As 0 < α 0.5 π of <:
Wherein r be above-mentioned first crank length, L be the sum of first connecting rod and second connecting rod,
The w11According to the operation start-up phase parallactic angle of first servo motor and punching start-up phase parallactic angle, close stage time, w12,
The determination of one servo motor motor characteristic is as follows:
The punching stage: first servo motor is in punching start-up phase parallactic angle with angular speed w12It travels at the uniform speed to punching termination phase angle；
It is 0 that second servo motor, which keeps speed,
It is punched time t3According to the punching start-up phase parallactic angle of first servo motor and punching termination phase angle, w12Determination is as follows:
w21According to the operation start-up phase parallactic angle of the second servo motor and punching start-up phase parallactic angle, close stage time, the second servo
The determination of motor characteristic is as follows:
The backhaul stage: the motion profile in two servo motor quick return stages and the motion profile in quick-make stage respectively about
The operation start-phase of two servo motors is symmetrical, and first servo motor is at punching termination phase angle by angular speed w12Accelerate to angle speed
Spend w11Afterwards with angular speed w11It travels at the uniform speed to operation start-up phase parallactic angle, the second servo motor is at punching termination phase angle by angle speed
Degree 0 accelerates to angular speed w21Afterwards with angular speed w21It travels at the uniform speed to operation start-up phase parallactic angle,
The at the uniform velocity time of backhaul stage first servo motor is t11, acceleration time t12；The at the uniform velocity time of second servo motor is
t21, acceleration time t22,
According to above scheme, Motion trajectory w of the first servo motor within a duty cycle1(t) are as follows:
According to above scheme, Motion trajectory w of second servo motor within a duty cycle2(t) are as follows:
4. a kind of motion planning method of servounit fine blanking press main drive gear according to the claims 3,
It is characterized in that, the step A) in include following content: choose the highest point that can reach of sliding block as punching terminating point, this
When the first crank, first connecting rod, third connecting rod it is conllinear, the second crank and second connecting rod anti-communism line, to can determine that sliding block is rushing
The punching termination phase angle of two servo motors when cutting out terminating point, after the punching terminating point for determining sliding block, the punching starting point of sliding block
It being determined by punching plate thickness, i.e., punching plate thickness is equal to sliding block punching starting point at a distance from punching terminating point, in blanking process, second
Servo motor is in punching termination phase angle always, that is, determines that the punching start-up phase parallactic angle of the second servo motor is equal to punching and terminates
Phase angle can determine the start-up phase parallactic angle of first servo motor, if first servo motor, the second servo motor are being closed and are returning
The corner in journey stage is equal, and the angle of the operation start-phase and punching start-phase that determine first servo motor is π -0.5 α,
The operation start-phase of second servo motor and the angle of punching start-phase are π.
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| CN110280634A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | Crank screw rod composite drive machine for press-bending metal sheet with multiple-working mode |
| CN110280629B (en) * | 2019-07-22 | 2024-06-07 | 南京邮电大学 | Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine |
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| CN1546311A (en) * | 2003-12-10 | 2004-11-17 | 杜如虚 | Mechanical controlled pressing machine with two degrees of freedom |
| CN102126300A (en) * | 2010-12-08 | 2011-07-20 | 山东科技大学 | Two-degree-of-freedom combination drive mechanical servo press |
| CN102173075A (en) * | 2010-12-14 | 2011-09-07 | 山东科技大学 | Mechanical servo press |
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| JP3704600B2 (en) * | 1999-02-10 | 2005-10-12 | 株式会社エイチアンドエフ | Driving device for notching press |
| US20050145117A1 (en) * | 2003-09-03 | 2005-07-07 | Ruxu Du | Mechanical press with controllable mechanism |
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| CN1546311A (en) * | 2003-12-10 | 2004-11-17 | 杜如虚 | Mechanical controlled pressing machine with two degrees of freedom |
| CN102126300A (en) * | 2010-12-08 | 2011-07-20 | 山东科技大学 | Two-degree-of-freedom combination drive mechanical servo press |
| CN102173075A (en) * | 2010-12-14 | 2011-09-07 | 山东科技大学 | Mechanical servo press |
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