CN110280629A - The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive - Google Patents
The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive Download PDFInfo
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- CN110280629A CN110280629A CN201910661102.0A CN201910661102A CN110280629A CN 110280629 A CN110280629 A CN 110280629A CN 201910661102 A CN201910661102 A CN 201910661102A CN 110280629 A CN110280629 A CN 110280629A
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- 238000005452 bending Methods 0.000 title claims abstract description 62
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 25
- 239000002131 composite material Substances 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims description 33
- 238000013519 translation Methods 0.000 claims description 12
- 241000237858 Gastropoda Species 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 13
- 230000005540 biological transmission Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 239000002184 metal Substances 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
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- 230000005484 gravity Effects 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000008450 motivation Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- 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
- B21D37/00—Tools as parts of machines covered by this subclass
-
- 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
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/10—Die sets; Pillar guides
- B21D37/12—Particular guiding equipment, e.g. pliers; Special arrangements for interconnection or cooperation of dies
-
- 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
-
- 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
-
- 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
- B21D5/0209—Tools therefor
- B21D5/0227—Length adjustment of the die
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- Mechanical Engineering (AREA)
- Press Drives And Press Lines (AREA)
Abstract
The invention discloses a kind of mechanical full electric servo numerical control Synchronous Bending machines of multiple degrees of freedom composite drive, including rack, with rack be connected for bending lower die, can along rack move up and down top shoe and with top shoe be connected, cooperation lower die bending upper mold, the first driving mechanism and the second driving mechanism for driving top shoe to realize friction speed and stroke range are connected on the top shoe, wherein the second driving mechanism is symmetrical set.The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive of the present invention is suitble to large-tonnage operating condition, and has the advantages that heavy duty, high-precision, low energy consumption, driving motor power is small, power utilization is high, speed is fast low with manufacturing cost etc..
Description
Technical field
The present invention relates to the mechanical full electric servo numerical controls of Plate Bending Machine more particularly to a kind of multiple degrees of freedom composite drive
Synchronous Bending machine.
Background technique
Numerical control bender is that sheet metal manufacture field is most important, most basic equipment, energy-saving and environmental protection, high speed, it is high-precision,
Digitlization and intelligence are following development trends.The driving method of numerical control bender has hydraulic-driven and mechanical electric servo to drive
Dynamic, at present mainly based on hydraulic driving mode, but mechanical electric servo is following development trend.
The advantages of hydraulic-driven is large-tonnage, it is easy to accomplish the Bending Processing of large format, slab；The shortcomings that hydraulic-driven, has
It is following: 1, noise big, energy consumption is high, hydraulic oil seepage and pollution environment；2, higher cost because hydraulic cylinder, valve group,
The high precision parts higher cost such as hydraulic pump, wherein valve group, the high-end market of hydraulic pump part are almost completely dependent on import,
It is at high cost；3, precision is not high, and there are inborn disadvantage, position poor controllabilities for the control of hydraulic system position precision；4, the service life is low,
Component abrasion, hydraulic circuit pollution are all easy to generate adverse effect to hydraulic system stability；5, sliding block movement impact is big,
It is not gentle；6, it is affected by factors such as the temperature of environment, humidity, dusts；7, motion control is complicated.
Mechanical electric servo can solve the deficiency of above-mentioned hydraulic driving mode, but since there are skills for mechanical electric servo-drive mode
Art bottleneck is usually no more than 50 tons at present only in small tonnage field using more.And the full electricity of the machinery of small tonnage is watched at present
The driving method for taking bending is as depicted in figs. 1 and 2, mostly uses heavily loaded ball-screw driving method greatly, mainly have servo motor a,
The part such as toothed belt transmission b, ball-screw-transmission c, sliding block d, workbench e forms.Wherein servo motor is fixed in rack,
Ball-screw is hinged with rack, and sliding block connect with housing slide and can slide along rack up and down direction, and workbench is fixed on rack
On.Toothed belt transmission is made of three small pulley, synchronous belt, big belt wheel parts, is play a part of to slow down, is driven.Sliding block passes through rolling
Ballscrew transmission is driven, and servo motor drives lead screw to rotate by synchronous belt, drive of the sliding block in ball-screw-transmission pair
Dynamic lower realize moves up and down.Sliding block d moves up and down relative to workbench e, and upper mold f is installed on sliding block, and lower die g is installed on work
Make on platform, the Bending Processing of plate h can be realized.Sliding block is symmetrically driven using two lead screws in left and right, and one side load is big, just
Degree is high, on the other hand when there is parallelism error between upper and lower mould, can rotate backward reality by the motor of left and right two
Existing depth of parallelism fine tuning.
The above-mentioned mechanical digital controlled servo bending-machine driven using ball-screw, advantage simple, machinery driving efficiency for structure
Height, speed is fast, precision is high, effectively overcomes hydraulicdriven problems simultaneously；Disadvantage has the following: 1, it is at high cost,
In high precision, heavily loaded ball-screw relies on substantially import, expensive；2, high to the processing and manufacturing precision of lathe；3, it is suitable only for
Small tonnage bending machine；4, power utilization is low, and required driving motor power is big, at high cost；5, lead screw is easy to wear, damage.
Wherein power utilization, consumed power is determined servo motor by load in actual use, can be incited somebody to action
The power and motor consumed in actual use ratio between attainable maximum power index (or rated power)
As power utilization.Under normal circumstances, during bending machine carries out sheet metal bending, three action phases are successively undergone: 1, fast
Next stage, sliding block are moved downward from top dead-centre, until upper mold touches plate, this stage speed quickly, loads very little；Generally
For speed in the range of 150mm/s~200mm/s, load is exactly the gravity for overcoming sliding block substantially, and sliding block gravity is usually no more than
The 1/50 of bending machine nominal bending power, therefore load very little；The stage is typical high speed, low-load；2, advanced section of work, folding
Bender bending sheets are typical low speed, heavy load stage, and speed is about in 20mm/s or so, the 1/ of about fast lower speed
10；3, the return stage, after the completion of sheet metal bending, sliding block is run up, and is back to top dead-centre, speed and load and fast next stage
It is identical, high speed, low-load.
It can be seen from the above, the operating condition of bending machine is typical speed change, varying load operating condition.Due to the transmission of ball-screw-transmission
Than fixation, maximum speed n is reached in fast next stage servo motormax, but peak torque MmaxReach far away, rule of thumb
Data are typically only the 1/50 of peak torque, load directly can be equal to the output torque of motor, then being equivalent to fast
The power consumed required for next stage motor are as follows:And at advanced section of work, motor reaches
Peak torque M is arrivedmax, but rule of thumb the revolving speed of data motor at this time is only maximum speed nmax1/10, mainly examine
Consider safety factor, the work speed of bending machine is usually lower, power needed for this stage motor:
It is above-mentioned it is found that drive system should meet maximum speed requirement in the fast lower and backhaul stage, and it is advanced in work simultaneously
Section needs to meet the requirement of peak torque；So under the premise of transmission ratio is fixed, peak power: Pmax=nmax× Mmax.Both
Required driving motor power is very big, even if in actual use, motor does not use highest peak power, causes
The power of motor is not applied completely, i.e., power utilization is low.With 35 tons of common currently on the market mechanical electric servo bendings
For machine, speed and return speed is descended to be generally 200mm/s fastly, nominal bending power is 350kN, is while meeting most high speed
The requirement of degree and maximum bending power, it usually needs using 2 7.5kW servo motors, the conventional configuration of existing market, and it is practical
In the course of work, for the power of two servo motor actual consumptions substantially in 1kw~2kW or so, the utilization rate of power is very low.
It would therefore be highly desirable to solve the above problems.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of suitable large-tonnage and have heavy duty, high-precision, low energy consumption,
Driving motor power is small, power utilization is high, the fast advantages such as low with manufacturing cost of speed, while utilizing the non-thread of link mechanism
The mechanical full electric servo numerical control Synchronous Bending of the multiple degrees of freedom composite drive of the latching characteristics of property kinetic characteristic and specific position
Machine.
Technical solution: in order to achieve the above object, the invention discloses a kind of mechanical full electricity of multiple degrees of freedom composite drive
Servo digital control Synchronous Bending machine, including rack, with rack be connected for bending lower die, can along rack move up and down upper cunning
It block and is connected with top shoe, the upper mold of cooperation lower die bending, is hinged with second connecting rod on the top shoe, the second connecting rod
On be connected separately with for drive top shoe realize friction speed and stroke range the first driving mechanism and the second driving machine
Structure, wherein the second driving mechanism is symmetrical set；Wherein first driving mechanism includes the first power in rack
Component, 2 symmetrically arranged first cranks driven by the first Power Component, and connect with the first crank revolute pair the
One connecting rod, and the first connecting rod is hinged by second connecting rod and top shoe；First Power Component output power driving first is bent
Handle rotation drives top shoe to move up and down by first connecting rod and second connecting rod；Second driving mechanism includes being located at rack
On the second Power Component, the second crank for being driven by the second Power Component, and the drawing being connect with the second crank revolute pair
Bar, and pull rod is hinged with second connecting rod；Second Power Component output power drives the rotation of the second crank, passes through pull rod and the
Two connecting rods drive top shoe to move up and down.
Preferably, first Power Component include the first driving motor in the rack, it is defeated with the first driving motor
The first synchronizing shaft that shaft is connected by V belt translation, the synchronization shaft gear for being located at the first synchronizing shaft two axial ends and with it is every
The crank gear that one synchronous shaft gear is meshed, the crank gear and the first crank are coaxially disposed, and the first crank can be driven to turn
It is dynamic.
Furthermore second Power Component includes the second driving motor in the rack and defeated with the second driving motor
The second drive shaft that shaft is connected by V belt translation, second drive shaft and the second crank are coaxially disposed, and can drive the second song
Handle rotation.
Further, the depth of parallelism of upper die and lower die is adjusted in 2 the second driving motor asynchronous operations being symmetrical set
Deviation.
Preferably, the second connecting rod is the link mechanism of adjustable in length, which includes support, is located at support
Worm screw that interior and two axial ends are hinged with support, the worm gear being meshed in support with worm screw and being connected through a screw thread is worn
The upper screw rod and lower screw rod being located on worm gear, and upper and lower screw rod is pierced by support；A shaft end for worm screw is connected with motor, motor
Starting drives Worm Wheel System, so that driving upper screw rod and lower screw rod to move up and down along worm gear realizes that length is adjustable.
Furthermore the upper screw thread matched with upper screw rod and the lower screw thread matched with lower screw rod are equipped in the worm gear, on
The thread pitch of screw thread and lower screw thread differs.
Further, the outer cylinder of the upper screw rod and lower screw rod is set there are two symmetrical plane, in the corresponding of support
Position offers the through-hole for being adapted with upper and lower screw rod and constituting prismatic pair.
Preferably, the length of first crank is greater than the length of the second crank, and the first driving mechanism drives top shoe real
Now the second driving mechanism is in self-locking state when high speed, underloading, inoperative stroke motion；Second driving mechanism drives top shoe
The first driving mechanism is in self-locking device when realizing low speed, heavy duty, work into stroke motion.
Furthermore the length of first crank drives top shoe to realize less than the length of the second crank, the first driving mechanism
The second driving mechanism is in self-locking device when low speed, heavy duty, work are into stroke motion, and the second driving mechanism drives top shoe to realize
At a high speed, the first driving mechanism is in self-locking state when underloading, inoperative stroke motion.
The utility model has the advantages that compared with prior art, the present invention has following remarkable advantage:
(1), the present invention makes full use of the nonlinear motion characteristic of link mechanism and the latching characteristics of specific position, according to number
The actual condition feature for controlling bending machine, using two independent driving mechanisms realize bending machine it is fast under, work is into dynamic with return
Make；Wherein fast lower and backhaul action is realized with quick, low-load, the driving mechanism of big stroke；Using at a slow speed, small stroke, heavy burden
The driving mechanism of load realizes that work into bending, effectively increases performance, reduces cost, realizes high-speed overload, to promotion numerical control bending
Machine develops from traditional hydraulic driving mode to mechanical electric servo-drive mode to be of great significance.
(2), because of the nonlinear motion characteristic of link mechanism, in driving motor uniform rotation, connecting rod in the present invention
Mechanism on it, the speed of lower dead point position it is lower, and middle position speed is higher, movement is gentle, without impact.
(3), in the present invention using quickly big stroke driving mechanism realize it is fast it is lower acted with return, use at a slow speed small stroke and
The driving mechanism for having both bigger reinforcement effect realizes that work precession is made, and two driving mechanisms to intercouple, interoperation can be big
The power utilization that width promotes servo motor overcomes the technical bottleneck in industry to realize heavily loaded large-tonnage bending machine；
(4), smaller drive can be used in power utilization of the present invention because servo motor is substantially improved, the bending machine with tonnage
Dynamic motor is used the parts such as common crank and connecting rod instead, is effectively reduced without expensive heavy duty, high-precision ball-screw
Cost of manufacture, and non-maintaining, high reliablity；
(5), the present invention can respectively drive the first driving mechanism and the second driving mechanism according to different process requirements, and two
Person's interoperation, realizes a variety of cooked modes, and combination is flexible；
(6), second connecting rod of the invention may be configured as the link mechanism of adjustable in length, can when replacing different molds
The spacing for adjusting upper and lower sliding block is realized by adjusting length of connecting rod, adaptation range is big and Adjustment precision is high；
(7), upper die and lower die are adjusted in the second driving motor asynchronous operation being symmetrical set in the present invention using 2
Parallel misalignment, keep sliding block left and right sides not parallel, it can be achieved that the bending with taper；
(8), the first driving mechanism and the second driving mechanism intercouple between the two in the present invention, when the length of the first crank
Degree is greater than the length of the second crank, the second driving mechanism when the first driving mechanism drives top shoe to realize high speed and large stroke movement
It saves in real time servo-actuated and is in self-locking state；First drives when second driving mechanism drives top shoe to realize low speed small stroke motion
Motivation structure saves servo-actuated in real time and is in self-locking device；When length of the length of the first crank less than the second crank, the first driving
The first driving mechanism saves servo-actuated in real time and is in self-locking device when mechanism drives top shoe to realize low speed small stroke motion, the
The second driving mechanism saves servo-actuated in real time and is in self-locking shape when two driving mechanisms drive top shoe to realize high speed and large stroke movement
State.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of bending machine in the prior art；
Fig. 2 is sheet metal bending schematic diagram in the prior art；
Fig. 3 is the principle of the present invention schematic diagram one；
Fig. 4 is the principle of the present invention schematic diagram two；
Fig. 5 is structural schematic diagram one of the invention；
Fig. 6 is structural schematic diagram two of the invention；
Fig. 7 is structural schematic diagram three in the present invention；
Fig. 8 is the structural schematic diagram of link mechanism in the present invention；
Fig. 9 is the connection schematic diagram of worm and gear in link mechanism of the present invention；
Figure 10 is the connection schematic diagram of worm gear, upper screw rod and lower screw rod in link mechanism of the present invention；
Figure 11 is the end view of upper screw rod and lower screw rod in link mechanism of the present invention；
Figure 12 (a)~12 (c) is the movement schematic diagram of fast next stage in the embodiment of the present invention 1；
The movement schematic diagram that Figure 13 (a)~13 (b) is advanced section of work in the embodiment of the present invention 1；
Figure 14 is the nonlinear motion characteristic schematic diagram of link mechanism in the present invention.
Specific embodiment
Technical solution of the present invention is described further with reference to the accompanying drawing.
Embodiment 1
As shown in Figure 3 and Figure 4, a kind of mechanical full electric servo numerical control Synchronous Bending of multiple degrees of freedom composite drive of the present invention
Machine, including rack 1, lower die 2, top shoe 3 and lower die 4.Top shoe 3 can move up and down along rack 1, bilateral symmetry on top shoe 3
It is provided with the guide groove 24 for being oriented to sliding, opposite position can be along guide groove 24 equipped with insertion guide groove 24 in rack 1
The guide pad 25 of lower slider.Upper mold 4 is fixed on top shoe 3, and lower die 2 is fixed in rack 1, upper mold 4 and lower die
2, which cooperate, realizes bending.
As shown in Figure 5 and Figure 6, it is connected on top shoe 3 for driving top shoe to realize friction speed and stroke range
First driving mechanism and the second driving mechanism, the first driving mechanism include the first Power Component, the first crank 5, first connecting rod 6
It is symmetrical set, is driven by same first Power Component, each first crank with 7,2 the first cranks 5 of second connecting rod
Revolute pair is connected with first connecting rod 6 and second connecting rod 7 in turn on 5, and second connecting rod 7 is hinged with top shoe 3.Wherein first
Power Component includes the first driving motor 10 in the rack, is connect by V belt translation with 10 output shaft of the first driving motor
The first synchronizing shaft 11, be located at the first synchronizing shaft two axial ends synchronization shaft gear 12 and with each synchronous shaft gear phase
The crank gear 13 of engagement, the crank gear 13 and the first crank 5 are coaxially disposed, and the first crank 5 can be driven to rotate.Band passes
It is dynamic include the driving wheel being connected with 10 output shaft of the first driving motor, the driven wheel on the first synchronizing shaft 11 and around
It is located at the synchronous belt that transmission is realized on driving wheel and driven wheel.The two axial ends of first synchronizing shaft 11 are hinged with rack, can edge
Axis rotation.The central axis of crank gear 13 is threaded through on the first crank 5, and is hinged with rack.First driving motor 10 opens
It is dynamic, the rotation of the first synchronizing shaft 11 is driven by V belt translation, while the synchronization shaft gear 12 of the left and right sides being driven to rotate, synchronizing shaft
Gear 12 and 13 gear of crank gear engaged transmission, drive the first crank 5 of coaxial arrangement to rotate, pass through first connecting rod 6 and the
Two connecting rods 7 drive top shoe 3 to move up and down along rack.
As shown in figure 5 and figure 7, the second driving mechanism of the invention is symmetrical set, and the second driving mechanism includes second
Power Component, the second crank 8 and pull rod 9, the second crank 8 are driven by the second Power Component, revolute pair connection on the second crank 8
There is pull rod 9, and pull rod 9 is hinged with second connecting rod 7.Wherein the second Power Component includes the second driving electricity in rack
Machine 14 and the second drive shaft 15 being connect with the second driving motor output shaft by V belt translation, second drive shaft 15 and
The coaxial arrangement of two cranks 8, and the second crank 8 can be driven to rotate.V belt translation includes being connected with the second driving motor output shaft
Driving wheel, the driven wheel in the second drive shaft 15 and it is wound around the synchronous belt that transmission is realized on driving wheel and driven wheel.
Second drive shaft 15 is threaded through on the second crank 8, and is hinged with rack.The starting of second driving motor 14, is driven by V belt translation
Dynamic second drive shaft 15 rotation, while the second crank 8 of coaxial arrangement being driven to rotate, it is driven by pull rod 9 and second connecting rod 7
Top shoe 3 moves up and down along rack.It can using 2 the second driving motor asynchronous operations being symmetrical set in the present invention
The parallel misalignment for adjusting upper die and lower die, keeps sliding block left and right sides not parallel, it can be achieved that the bending with taper.
As shown in figure 3, first connecting rod 6 of the invention, second connecting rod 7 and pull rod 9 can be articulated with a bit, or such as Fig. 4 institute
Show, first connecting rod 6 of the invention and second connecting rod 7 are articulated with a bit, and pull rod 9 is articulated with 7 center of second connecting rod, the present invention
It is to obtain different kinematics and mechanical characteristic that first connecting rod 6, second connecting rod 7 and pull rod 9, which are articulated with difference,.
As shown in Fig. 8, Fig. 9 and Figure 10, second connecting rod 7 of the invention is the link mechanism of adjustable in length, the connecting rod knot
Structure includes support 16, worm screw 17, worm gear 18, upper screw rod 19, lower screw rod 20 and motor 21.One shaft end of motor 21 and worm screw 17
It is fixedly connected, for driving worm screw 17 to rotate.Worm screw 17 is located in support 16 and two axial ends are hinged with support 16, worm gear 18
In support 16, it is meshed with worm screw and constitutes Worm Wheel System pair.The upper spiral shell matched with upper screw rod is equipped in worm gear 18
The thread pitch of line and the lower screw thread matched with lower screw rod, upper screw thread and lower screw thread differs.Upper screw rod 19 and lower screw rod 20 are logical
It crosses threaded connection to be threaded through on worm gear 18, and upper and lower screw rod is pierced by support 16, the upper screw rod 19 of stretching and lower screw rod 20 are used
In other hinged components.Motor 21 starts, and drives Worm Wheel System, to drive upper screw rod 19 and lower screw rod 20 along snail
Wheel, which moves up and down, realizes that link mechanism length is adjustable.The screw pitch of upper screw thread is P1, and the screw pitch of lower screw thread is P2, worm gear rotation one
Week, the achievable length adjustment amount Δ=P1-P2 of link mechanism effectively increase the Adjustment precision of connecting rod.As shown in figure 11,
The outer cylinder of upper screw rod 19 and lower screw rod 20 is set there are two symmetrical plane 22, the corresponding position of support offer with
Upper and lower screw rod is adapted the through-hole 23 for constituting prismatic pair, and the face for matching guiding with plane 22 on the through-hole 23 is also plane,
The face matched with flank can be flank, other faces that can have guiding role also can be selected.
The length of the first crank 5 is greater than the length of the second crank 8 in the present invention, and the length of the first crank 5 is the second crank
5~10 times of 8 length.First driving mechanism drives top shoe to realize high speed, underloading, inoperative stroke motion, the second driving
Mechanism drives top shoe to realize low speed, heavy duty, work into stroke motion.The operating condition of bending machine is typical speed change, varying load work
Condition, fast lower and return stage are the motion stage of high speed, the big stroke of low-load, and advanced section of work is low speed, the small stroke of heavy load
Motion stage.Therefore the present invention drives top shoe to realize fast lower and return stage, the second driving machine using the first driving mechanism
Structure drives top shoe to realize advanced section of work.As shown in Figure 12 (a), top shoe 3 is located at top dead-centre, i.e. the first crank 5 and first connects
Bar 6 is conllinear and is overlapped, and the second crank 8 and pull rod 9 are conllinear but be not overlapped.The fast next stage of the invention, such as Figure 12 (b) was shown, the
The starting of one driving motor 10, driving the first synchronizing shaft 11 to rotate its revolving speed by V belt translation is ω 1, while driving the left and right sides
Synchronization shaft gear 12 rotate, synchronous shaft gear 12 and 13 gear of crank gear engaged transmission drive the first of coaxial arrangement bent
Handle 5 rotates, the starting of the second driving motor 14, drives the rotation of the second drive shaft 15 by V belt translation, while driving coaxial arrangement
The rotation of second crank 8, the revolving speeds of two the second cranks 8 are ω 2 and ω 3, and dynamic keeps being total to for the second crank 8 and pull rod 9 in real time
Line but not coincidence status, second connecting rod 7 drives 3 fast downlink of top shoe at this time；Reach the i.e. fast lower rank in position shown in Figure 12 (c)
Section terminates, and the first crank 5 and first connecting rod 6 are conllinear, but the two is not overlapped, and the first driving mechanism is in self-locking position at this time, i.e.,
First driving motor 10 only needs provide the driving torque of very little, or even does not provide driving torque, can bear very big bending
Load.In the entire fast next stage, dynamic keeps conllinear not coincidence status to the second crank 8 in real time with pull rod 9.The present invention because
The length of first crank 5 is greatly, it can be achieved that the fast downlink of fast next stage, the big effect of stroke.The present invention takes full advantage of crank
When being collinearly overlapped in link mechanism, not collinearly being overlapped two positions, mechanism is in self-locking position.As shown in figure 13, in addition, even
The typical nonlinear motion characteristic of linkage, at the beginning and end of fast lower movement, speed is low, impacts small.Such as Figure 13 (a) institute
Show, in entire work into the process, the first crank 5 and first connecting rod 6 need the state that dynamic holding in real time is conllinear but is not overlapped, the
One driving mechanism is in self-locking state, to bear very big bending load；Symmetrically arranged second driving motor 14 in the left and right sides
The rotation of the second crank 8 is driven by V belt translation, drives top shoe 3 to move up and down along rack by pull rod 9 and second connecting rod 7.When
When parallel misalignment occurs in upper and lower mould, the second driving motor 14 of the left and right sides is reversed or equidirectional different rotating speeds are to parallel
Degree is finely adjusted, and the revolving speed of the lower driving motor 14 of the left and right sides is respectively ω 2 and ω 3.As shown in Figure 13 (b), the second driving
Mechanism reaches that the second crank 8 is conllinear with pull rod 9 and coincidence status, when different to bending plate thickness, when bending angle difference, and work
Into terminating also to be not necessarily located in the second crank 8 and pull rod 9 collinearly and coincidence status, it may be alternatively located at other states, bending process is complete
At.Because 8 length of the second crank is smaller, there is biggish reinforcement effect, and speed is slow, meets working condition requirement.
Advanced section of fast next stage and work can be combined in the present invention, realize different cooked modes, not according to operating condition
With different operating modes is taken, achievees the effect that be lightly loaded quick, heavy duty at a slow speed, promote driving motor power utilization.
Quick mode: it is only with the fast next stage, i.e., small due to loading when carrying out light sheet bending, only pass through the first driving
Bending Processing can be completed in mechanism driving top shoe up and down motion, and speed is fast；Simultaneously in the second driving mechanism of the left and right sides
Dynamic keeps conllinear not coincidence status to second crank 8 in real time with pull rod 9；
Heavily loaded mode: advanced section of work after the first fast next stage, i.e., fast lower movement is first carried out, then carry out work precession work, second drives
Motivation structure reaches the second crank 8 and pull rod 9 is conllinear and coincidence status, bending are completed；
Mixed mode: fast next stage and advanced section of work simultaneously operation；
Small opening bending mode: top shoe not exclusively rests on bottom dead centre, only acts slight distance only up, and top shoe exists
Linear motion carries out bending in small stroke range, which is suitable only for small size, simple part carries out bending, high-efficient.
Embodiment 2
The structure of embodiment 2 is identical as the structure of embodiment 1, and difference place is: the length of the first crank 5 is less than the
The length of two cranks 8, the first driving mechanism drive top shoe to realize low speed, heavy duty, work into stroke motion, the second driving mechanism
Top shoe is driven to realize high speed, underloading, inoperative stroke motion.The operating condition of bending machine is typical speed change, varying load operating condition,
Its fast lower and return stage is the motion stage of high speed, the big stroke of low-load, and advanced section of work is low speed, the small stroke of heavy load
Motion stage.Therefore the present invention drives top shoe to realize fast lower and return stage, the first driving mechanism using the second driving mechanism
Top shoe is driven to realize advanced section of work.
Claims (9)
1. a kind of mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive, it is characterised in that: including rack
(1), with rack be connected for bending lower die (2), can along rack move up and down top shoe (3) and with top shoe be connected,
Cooperate the upper mold (4) of lower die bending, is connected separately on the top shoe (3) for driving top shoe to realize friction speed and row
The first driving mechanism and the second driving mechanism of journey range, wherein the second driving mechanism is symmetrical set；First driving
Mechanism includes the first Power Component being located in rack, by 2 symmetrically arranged first cranks of the first Power Component driving
(5), the first connecting rod (6) and with the first crank (5) revolute pair connecting, and the first connecting rod (6) by second connecting rod (7) with
Top shoe (3) is hinged；First Power Component output power drives the first crank (5) rotation, passes through first connecting rod (6) and second
Connecting rod (7) drives top shoe (3) to move up and down；Second driving mechanism include the second Power Component in the rack, by
The second crank (8) of second Power Component driving, and the pull rod (9) being connect with the second crank (8) revolute pair, and pull rod (9)
It is hinged with second connecting rod (7)；Second Power Component output power drives the second crank (8) rotation, passes through pull rod (9) and second
Connecting rod (7) drives top shoe (3) to move up and down.
2. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 1, special
Sign is: first Power Component includes the first driving motor (10) in the rack, defeated with the first driving motor (10)
The first synchronizing shaft (11) that shaft is connected by V belt translation, be located at the synchronization shaft gear (12) of the first synchronizing shaft two axial ends with
And the crank gear (13) being meshed with each synchronous shaft gear, the crank gear (13) and the first crank (5) are coaxially disposed, and
The first crank (5) can be driven to rotate.
3. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 1, special
Sign is: second Power Component includes the second driving motor (14) in rack and exports with the second driving motor
The second drive shaft (15) that axis is connected by V belt translation, second drive shaft (15) and the second crank (8) are coaxially disposed, and can band
Dynamic second crank (8) rotation.
4. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 3, special
Sign is: the parallel misalignment of upper die and lower die is adjusted in 2 the second driving motor (14) asynchronous operations being symmetrical set.
5. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 1, special
Sign is: the second connecting rod (7) is the link mechanism of adjustable in length, which includes support (16), is located at support
Worm screw (17) that interior and two axial ends are hinged with support, the worm gear (18) being meshed in support with worm screw and pass through screw thread
The upper screw rod (19) and lower screw rod (20) being threaded through on worm gear are connected, and upper and lower screw rod is pierced by support；A shaft end for worm screw connects
It is connected to motor (21), motor (21) starting drives Worm Wheel System, to drive upper screw rod (19) and lower screw rod (20) along snail
Wheel, which moves up and down, realizes that length is adjustable.
6. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 5, special
Sign is: the upper screw thread matched with upper screw rod and the lower screw thread matched with lower screw rod, upper spiral shell are equipped in the worm gear (18)
The thread pitch of line and lower screw thread differs.
7. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 5, special
Sign is: the outer cylinder of the upper screw rod (19) and lower screw rod (20) is set there are two symmetrical plane (22), in support
Corresponding position offers the through-hole (23) for being adapted with upper and lower screw rod and constituting prismatic pair.
8. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 1, special
Sign is: the length of first crank (5) is greater than the length of the second crank (8), and the first driving mechanism drives top shoe to realize
At a high speed, the second driving mechanism is in self-locking state when underloading, inoperative stroke motion；Second driving mechanism drives top shoe to realize
The first driving mechanism is in self-locking device when low speed, heavy duty, work are into stroke motion.
9. the mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive according to claim 1, special
Sign is: length of the length of first crank (5) less than the second crank (8), the drive top shoe realization of the first driving mechanism
The second driving mechanism is in self-locking device when low speed, heavy duty, work are into stroke motion, and it is high that the second driving mechanism drives top shoe to realize
The first driving mechanism is in self-locking state when speed, underloading, inoperative stroke motion.
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| CN201910661102.0A CN110280629B (en) | 2019-07-22 | 2019-07-22 | Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine |
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| CN201910661102.0A CN110280629B (en) | 2019-07-22 | 2019-07-22 | Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113877994A (en) * | 2021-09-22 | 2022-01-04 | 深圳市合信自动化技术有限公司 | Fully-electrically-driven bending machine |
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| Publication number | Publication date |
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| CN110280629B (en) | 2024-06-07 |
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