CN110280629B - Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine - Google Patents
Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine Download PDFInfo
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- CN110280629B CN110280629B CN201910661102.0A CN201910661102A CN110280629B CN 110280629 B CN110280629 B CN 110280629B CN 201910661102 A CN201910661102 A CN 201910661102A CN 110280629 B CN110280629 B CN 110280629B
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- 238000005452 bending Methods 0.000 title claims abstract description 64
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 39
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- 230000007246 mechanism Effects 0.000 claims abstract description 75
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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
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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
- B21D37/00—Tools as parts of machines covered by this subclass
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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
- 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
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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
- 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
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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
- 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
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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
- 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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Abstract
The invention discloses a mechanical full-electric servo numerical control synchronous bending machine driven by multiple degrees of freedom in a combined mode, which comprises a frame, a lower die fixedly connected with the frame for bending, an upper sliding block capable of moving up and down along the frame, and an upper die fixedly connected with the upper sliding block and matched with the lower die for bending, wherein a first driving mechanism and a second driving mechanism for driving the upper sliding block to realize different speeds and stroke ranges are connected to the upper sliding block, and the second driving mechanisms are symmetrically arranged left and right. The mechanical all-electric servo numerical control synchronous bending machine driven by the multi-degree-of-freedom compound drive is suitable for large-tonnage working conditions, and has the advantages of heavy load, high precision, low energy consumption, small power of a drive motor, high power utilization rate, high speed, low manufacturing cost and the like.
Description
Technical Field
The invention relates to a plate bending machine, in particular to a mechanical all-electric servo numerical control synchronous bending machine driven by multiple degrees of freedom in a combined mode.
Background
The numerical control bending machine is the most important and basic equipment in the field of sheet metal processing, and is a future development trend in energy conservation, environmental protection, high speed, high precision, digitization and intellectualization. The driving mode of the numerical control bending machine comprises hydraulic driving and mechano-electric servo driving, and the hydraulic driving mode is mainly adopted at present, but the mechano-electric servo is a future development trend.
The hydraulic drive has the advantages of large tonnage and easy realization of bending processing of a large-breadth thick plate; the disadvantages of hydraulic drives are the following: 1. the noise is large, the energy consumption is high, hydraulic oil leaks and pollutes the environment; 2. the cost is high, because the cost of high-precision parts such as a hydraulic cylinder, a valve bank, a hydraulic pump and the like is high, wherein the high-end market of the valve bank and the hydraulic pump part almost completely depends on import, and the cost is high; 3. the accuracy is not high, the position accuracy control of the hydraulic system has the inherent disadvantage, and the position controllability is poor; 4. the service life is low, components are worn, a hydraulic oil way is polluted, and the stability of a hydraulic system is easily influenced; 5. The action impact of the sliding block is large and not gentle; 6. the influence of factors such as the temperature, humidity, dust and the like of the environment is great; 7. the motion control is complex.
The mechanical and electric servo can solve the defects of the hydraulic driving mode, but the mechanical and electric servo driving mode has technical bottlenecks, so that the mechanical and electric servo driving mode is only applied to the small tonnage field at present, and the application of the mechanical and electric servo driving mode is generally not more than 50 tons. The driving mode of the current small tonnage mechanical full electric servo bending is shown in fig. 1 and 2, and mostly adopts a heavy-load ball screw driving mode, and mainly comprises a servo motor a, a synchronous belt transmission b, a ball screw transmission c, a sliding block d, a workbench e and the like. The servo motor is fixed on the frame, the ball screw is hinged with the frame, the sliding block is in sliding connection with the frame and can slide along the up-down direction of the frame, and the workbench is fixed on the frame. The synchronous belt transmission consists of three parts, namely a small belt wheel, a synchronous belt and a large belt wheel, and plays a role in speed reduction and transmission. The sliding block is driven by the ball screw transmission pair, the servo motor drives the screw rod to rotate by the synchronous belt, and the sliding block moves up and down under the driving of the ball screw transmission pair. The sliding block d moves up and down relative to the workbench e, the upper die f is arranged on the sliding block, and the lower die g is arranged on the workbench, so that bending processing of the plate h can be realized. The slider adopts two left and right screw symmetries drive, and on the one hand the load is big, and rigidity is high, and on the other hand when the parallelism error appears between upper and lower mould, can realize the parallelism fine setting through the reverse rotation of two motors about.
The mechanical all-electric servo bending machine driven by the ball screw has the advantages of simple structure, high mechanical transmission efficiency, high speed and high precision, and simultaneously effectively solves a plurality of problems of hydraulic transmission; the disadvantages are the following: 1. the cost is high, the high-precision and heavy-load ball screw is basically dependent on import, and the price is high; 2. the machining and manufacturing precision of the machine tool is high; 3. the bending machine is only suitable for small tonnage bending machines; 4. the power utilization rate is low, the required driving motor power is high, and the cost is high; 5. the lead screw is easy to abrade and damage.
The power utilization rate is determined by the load of the power consumed by the servo motor in the actual use process, and the ratio of the power consumed in the actual use process to the maximum power index (or rated power) which can be achieved by the motor can be used as the power utilization rate. In general, in the bending process of the plate by the bending machine, three action stages are successively performed: 1. the quick-down stage, in which the sliding block moves downwards from the top dead center until the upper die contacts the plate, the speed is very high and the load is very small; the general speed is in the range of 150 mm/s-200 mm/s, the load is basically the gravity of overcoming the sliding block, and the gravity of the sliding block is generally not more than 1/50 of the nominal bending force of the bending machine, so the load is very small; this stage is typically high speed, low load; 2. in the working stage, the bending machine bends the plate, and the plate bending machine is a typical low-speed and heavy-load stage, wherein the speed is about 20mm/s and about 1/10 of the quick-down speed; 3. and in the return stage, after the plate is bent, the sliding block moves upwards and returns to the upper dead point, and the speed and the load of the sliding block are the same as those in the quick-down stage, and the sliding block is high in speed and low in load.
From the above, the bending machine is under typical variable speed and variable load conditions. Because the transmission ratio of the ball screw transmission is fixed, the servo motor reaches the highest rotating speed n max in the quick-down stage, but the peak torque M max is far short, according to the tested data, the peak torque is generally only 1/50 of the peak torque, and the load can be directly equivalent to the output torque of the motor, so that the power required to be consumed by the motor in the quick-down stage is equal to the power required to be consumed by the motor in the quick-down stage: In the working stage, the motor reaches the peak torque M max, but according to the empirical data, the rotating speed of the motor is only 1/10 of the highest rotating speed n max, mainly considering the safety factor, the working speed of the bending machine is usually lower, and the power required by the motor in the stage is as follows:
The above-mentioned driving system is required to meet the highest rotation speed requirement in both the quick-down and return stages, and at the same time, the peak torque requirement in the working stage; then peak power with fixed gear ratio: p max＝nmax× Mmax. The power of the driving motor is very high, and even in the actual use process, the motor does not use the highest peak power, so that the power of the motor is not fully applied, namely the power utilization rate is low. Taking 35 tons of electromechanical servo bending machine common in the market at present as an example, the quick down speed and the return speed of the electromechanical servo bending machine are generally 200mm/s, the nominal bending force is 350kN, 2 7.5kW servo motors are generally needed to meet the requirements of the highest speed and the maximum bending force at the same time, the conventional arrangement of the market is carried out at present, in the actual working process, the actual consumed power of the two servo motors is approximately 1-2 kW, and the power utilization rate is very low.
Therefore, there is a need to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to: the invention aims to provide the multi-degree-of-freedom compound-drive mechanical all-electric servo numerical control synchronous bending machine which is suitable for large tonnage, has the advantages of heavy load, high precision, low energy consumption, small driving motor power, high power utilization rate, high speed, low manufacturing cost and the like, and simultaneously utilizes the nonlinear motion characteristic of a connecting rod mechanism and the self-locking characteristic of a specific position.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a mechanical full-electric servo numerical control synchronous bending machine with multiple degrees of freedom compound drive, which comprises a frame, a lower die fixedly connected with the frame for bending, an upper sliding block capable of moving up and down along the frame, and an upper die fixedly connected with the upper sliding block and bending in cooperation with the lower die, wherein a second connecting rod is hinged on the upper sliding block, and a first driving mechanism and a second driving mechanism for driving the upper sliding block to realize different speeds and stroke ranges are respectively connected on the second connecting rod, wherein the second driving mechanisms are symmetrically arranged left and right; the first driving mechanism comprises a first power assembly positioned on the frame, 2 symmetrically arranged first cranks driven by the first power assembly, and a first connecting rod connected with a first crank revolute pair, wherein the first connecting rod is hinged with the upper sliding block through a second connecting rod; the first power component outputs power to drive the first crank to rotate, and the first connecting rod and the second connecting rod drive the upper sliding block to move up and down; the second driving mechanism comprises a second power assembly positioned on the frame, a second crank driven by the second power assembly, and a pull rod connected with a second crank revolute pair, and the pull rod is hinged with the second connecting rod; the second power component outputs power to drive the second crank to rotate, and the pull rod and the second connecting rod drive the upper sliding block to move up and down.
Preferably, the first power assembly comprises a first driving motor positioned on the frame, a first synchronous shaft connected with an output shaft of the first driving motor through belt transmission, synchronous shaft gears positioned at two shaft ends of the first synchronous shaft respectively, and a crank gear meshed with each synchronous shaft gear, wherein the crank gear is coaxially arranged with the first crank and can drive the first crank to rotate.
And the second power assembly comprises a second driving motor positioned on the frame and a second driving shaft connected with an output shaft of the second driving motor through belt transmission, and the second driving shaft is coaxially arranged with the second crank and can drive the second crank to rotate.
Further, 2 second driving motors which are symmetrically arranged on the left and right can be operated asynchronously to adjust the parallelism deviation of the upper die and the lower die.
Preferably, the second connecting rod is of a connecting rod structure with adjustable length, and the connecting rod structure comprises a support, a worm rod positioned in the support and hinged with the support at two shaft ends, a worm wheel positioned in the support and meshed with the worm rod, and an upper screw rod and a lower screw rod which are arranged on the worm wheel in a penetrating way through threaded connection, wherein the upper screw rod and the lower screw rod penetrate out of the support; one shaft end of the worm is connected with a motor, and the motor is started to drive the worm gear and the worm to drive the upper screw rod and the lower screw rod to move up and down along the worm gear so as to realize the length adjustment.
Moreover, an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel, and the thread pitches of the upper thread and the lower thread are different.
Further, the outer column surfaces of the upper screw rod and the lower screw rod are provided with two mutually symmetrical planes, and through holes matched with the upper screw rod and the lower screw rod to form a moving pair are formed in corresponding positions of the support.
Preferably, the length of the first crank is longer than that of the second crank, and the first driving mechanism drives the upper sliding block to realize the self-locking state of the second driving mechanism when the upper sliding block moves at high speed, light load and non-working stroke; the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, and the first driving mechanism is positioned in the self-locking device.
And the length of the first crank is smaller than that of the second crank, the first driving mechanism drives the upper sliding block to be in a self-locking device when the upper sliding block realizes low-speed, heavy-load and engineering movement, and the second driving mechanism drives the upper sliding block to be in a self-locking state when the upper sliding block realizes high-speed, light-load and non-working movement.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages:
(1) According to the invention, the nonlinear motion characteristic of the connecting rod mechanism and the self-locking characteristic of a specific position are fully utilized, and the quick-down, the working-in and the return-out actions of the bending machine are realized by adopting two independent driving mechanisms according to the actual working condition characteristics of the numerical control bending machine; wherein, a quick-down and return motion is realized by a quick, low-load and large-stroke driving mechanism; the driving mechanism with low speed, small stroke and heavy load is adopted to realize the bending of the working, so that the performance is effectively improved, the cost is reduced, the high speed and heavy load are realized, and the method has important significance for pushing the numerical control bending machine to develop from the traditional hydraulic driving mode to the mechano-electric servo driving mode.
(2) According to the invention, due to the nonlinear motion characteristic of the link mechanism, under the condition that the driving motor rotates at a constant speed, the speed of the link mechanism at the upper dead center position and the lower dead center position is lower, and the speed at the middle position is higher, the action is gentle and no impact exists.
(3) The invention adopts a quick large-stroke driving mechanism to realize quick down and return stroke actions, adopts a driving mechanism with a slow small stroke and a larger boosting effect to realize working action, and two mutually coupled driving mechanisms cooperate to greatly improve the power utilization rate of a servo motor, thereby realizing a heavy-duty large-tonnage bending machine and overcoming the technical bottleneck in the industry;
(4) The invention greatly improves the power utilization rate of the servo motor, the bending machine with the same tonnage can adopt a smaller driving motor, a heavy-load and high-precision ball screw with high price is not needed, and common crank, connecting rod and other parts are used, so that the manufacturing cost is effectively reduced, and the invention has the advantages of no maintenance and high reliability;
(5) According to different process requirements, the first driving mechanism and the second driving mechanism can be driven respectively and act in a matched mode, so that multiple processing modes are realized, and the combination is flexible;
(6) The second connecting rod can be set to be of a connecting rod structure with adjustable length, when different moulds are replaced, the distance between the upper sliding block and the lower sliding block can be adjusted by adjusting the length of the connecting rod, the application range is wide, and the adjustment precision is high;
(7) According to the invention, 2 second driving motors which are symmetrically arranged left and right are utilized to asynchronously operate, so that the parallelism deviation of the upper die and the lower die can be adjusted, the left side and the right side of the lower sliding block are not parallel, and the bending with taper can be realized;
(8) The first driving mechanism and the second driving mechanism are mutually coupled, and when the length of the first crank is longer than that of the second crank, the first driving mechanism drives the upper sliding block to realize high-speed large-stroke movement, the second driving mechanism stores and follows in real time and is in a self-locking state; the second driving mechanism drives the upper sliding block to realize the low-speed small-stroke movement, and the first driving mechanism stores and follows in real time and is positioned in the self-locking device; when the length of the first crank is smaller than that of the second crank, the first driving mechanism keeps the follow-up in real time and is in a self-locking state when the first driving mechanism drives the upper sliding block to realize low-speed small-stroke movement, and the second driving mechanism keeps the follow-up in real time and is in a self-locking state when the second driving mechanism drives the upper sliding block to realize high-speed large-stroke movement.
Drawings
Fig. 1 is a schematic diagram of a bending machine in the prior art;
FIG. 2 is a schematic diagram of a prior art sheet bending;
FIG. 3 is a schematic diagram of the present invention;
FIG. 4 is a schematic diagram of a second embodiment of the present invention;
FIG. 5 is a schematic diagram of a first embodiment of the present invention;
FIG. 6 is a second schematic diagram of the structure of the present invention;
FIG. 7 is a third schematic diagram of the structure of the present invention;
FIG. 8 is a schematic view of a connecting rod structure according to the present invention;
FIG. 9 is a schematic diagram illustrating the connection of worm gears in the link structure of the present invention;
FIG. 10 is a schematic diagram of the connection of the worm gear, upper screw and lower screw in the connecting rod structure of the present invention;
FIG. 11 is a schematic end view of the upper and lower screws in the connecting rod structure of the present invention;
FIGS. 12 (a) -12 (c) are schematic views showing the motion of the quick-down stage in example 1 of the present invention;
FIGS. 13 (a) -13 (b) are schematic views showing the movement of the working stage in example 1 of the present invention;
fig. 14 is a schematic view showing nonlinear motion characteristics of a link mechanism in the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 3 and 4, the mechanical all-electric servo numerical control synchronous bending machine with multiple degrees of freedom compound drive comprises a frame 1, a lower die 2, an upper sliding block 3 and a lower die 4. The upper slide block 3 can move up and down along the frame 1, the upper slide block 3 is symmetrically provided with guide grooves 24 for guiding sliding, and the corresponding position on the frame 1 is provided with guide blocks 25 which are inserted into the guide grooves 24 and can slide up and down along the guide grooves 24. The upper die 4 is fixedly arranged on the upper sliding block 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 are matched with each other to realize bending.
As shown in fig. 5 and 6, the upper slider 3 is connected with a first driving mechanism and a second driving mechanism for driving the upper slider to realize different speeds and travel ranges, the first driving mechanism comprises a first power assembly, a first crank 5, a first connecting rod 6 and a second connecting rod 7, the two first cranks 5 are symmetrically arranged left and right, the two first cranks 5 are driven by the same first power assembly, a revolute pair on each first crank 5 is sequentially connected with the first connecting rod 6 and the second connecting rod 7, and the second connecting rod 7 is hinged with the upper slider 3. The first power assembly comprises a first driving motor 10 positioned on the frame, a first synchronous shaft 11 connected with the output shaft of the first driving motor 10 through belt transmission, synchronous shaft gears 12 respectively positioned at two shaft ends of the first synchronous shaft, and a crank gear 13 meshed with each synchronous shaft gear, wherein the crank gear 13 is coaxially arranged with the first crank 5 and can drive the first crank 5 to rotate. The belt transmission comprises a driving wheel connected with the output shaft of the first driving motor 10, a driven wheel arranged on the first synchronous shaft 11 and a synchronous belt wound on the driving wheel and the driven wheel to realize transmission. The first synchronization shaft 11 is hinged at its two shaft ends to the frame and is rotatable along an axis. The central shaft of the crank gear 13 is arranged on the first crank 5 in a penetrating way and hinged with the frame. The first driving motor 10 is started, drives the first synchronous shaft 11 to rotate through belt transmission, simultaneously drives synchronous shaft gears 12 on the left side and the right side to rotate, drives the first crank 5 coaxially arranged to rotate through gear engagement transmission of the synchronous shaft gears 12 and the crank gears 13, and drives the upper sliding block 3 to move up and down along the rack through the first connecting rod 6 and the second connecting rod 7.
As shown in fig. 5 and 7, the second driving mechanism of the present invention is symmetrically arranged from side to side, the second driving mechanism comprises a second power assembly, a second crank 8 and a pull rod 9, the second crank 8 is driven by the second power assembly, a revolute pair on the second crank 8 is connected with the pull rod 9, and the pull rod 9 is hinged with the second connecting rod 7. The second power assembly comprises a second driving motor 14 positioned on the frame and a second driving shaft 15 connected with an output shaft of the second driving motor through belt transmission, wherein the second driving shaft 15 is coaxially arranged with the second crank 8 and can drive the second crank 8 to rotate. The belt transmission comprises a driving wheel connected with the output shaft of the second driving motor, a driven wheel arranged on the second driving shaft 15 and a synchronous belt wound on the driving wheel and the driven wheel to realize transmission. The second driving shaft 15 is arranged on the second crank 8 in a penetrating way and is hinged with the frame. The second driving motor 14 is started, the second driving shaft 15 is driven to rotate through belt transmission, and simultaneously the second crank 8 which is coaxially arranged is driven to rotate, and the upper sliding block 3 is driven to move up and down along the frame through the pull rod 9 and the second connecting rod 7. According to the invention, 2 second driving motors which are symmetrically arranged left and right can be utilized to asynchronously operate, so that the parallelism deviation of the upper die and the lower die can be adjusted, the left side and the right side of the lower sliding block are not parallel, and the bending with taper can be realized.
The first link 6, the second link 7 and the pull rod 9 of the present invention may be hinged at one point as shown in fig. 3, or the first link 6 and the second link 7 of the present invention may be hinged at one point as shown in fig. 4, the pull rod 9 may be hinged at the middle of the second link 7, and the first link 6, the second link 7 and the pull rod 9 of the present invention may be hinged at different points in order to obtain different kinematic and mechanical characteristics.
As shown in fig. 8, 9 and 10, the second link 7 of the present invention is a length-adjustable link structure including a support 16, a worm screw 17, a worm wheel 18, an upper screw 19, a lower screw 20 and a motor 21. The motor 21 is fixedly connected with one shaft end of the worm 17 and is used for driving the worm 17 to rotate. The worm 17 is positioned in the support 16, the two shaft ends are hinged with the support 16, the worm wheel 18 is positioned in the support 16, and the worm wheel and the worm are meshed to form a worm wheel and worm transmission pair. The worm wheel 18 is internally provided with an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod, and the thread pitches of the upper thread and the lower thread are different. The upper screw rod 19 and the lower screw rod 20 are arranged on the worm wheel 18 in a penetrating way through threaded connection, the upper screw rod and the lower screw rod penetrate out of the supporting seat 16, and the upper screw rod 19 and the lower screw rod 20 which extend out are used for hinging other parts. The motor 21 is started to drive the worm gear and worm to drive the upper screw rod 19 and the lower screw rod 20 to move up and down along the worm gear so as to realize the adjustable length of the connecting rod structure. The pitch of the upper screw thread is P1, the pitch of the lower screw thread is P2, the worm wheel rotates for one circle, and the length adjustment quantity delta=P1-P2 which can be realized by the connecting rod structure effectively improves the adjustment precision of the connecting rod. As shown in fig. 11, the outer cylindrical surfaces of the upper screw rod 19 and the lower screw rod 20 are provided with two mutually symmetrical planes 22, a through hole 23 which is matched with the upper screw rod and the lower screw rod to form a moving pair is arranged at the corresponding position of the support, the surface of the through hole 23 matched with the planes 22 is also a plane, the surface matched with the threaded surface can be a threaded surface, and other surfaces with guiding function can be selected.
In the invention, the length of the first crank 5 is longer than that of the second crank 8, and the length of the first crank 5 is 5-10 times of that of the second crank 8. The first driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement, and the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and working stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the first driving mechanism to drive the upper sliding block to realize the quick-down and return stages, and the second driving mechanism drives the upper sliding block to realize the working stage. As shown in fig. 12 (a), the upper slider 3 is positioned at the top dead center, that is, the first crank 5 and the first link 6 are collinear and overlap, and the second crank 8 and the pull rod 9 are collinear and do not overlap. In the quick-down stage of the invention, as shown in fig. 12 (b), a first driving motor 10 is started, a first synchronous shaft 11 is driven to rotate through belt transmission to rotate at a rotating speed omega 1, meanwhile, synchronous shaft gears 12 on the left side and the right side are driven to rotate, the synchronous shaft gears 12 are in gear engagement transmission with a crank gear 13 to drive a first crank 5 coaxially arranged to rotate, a second driving motor 14 is started, a second driving shaft 15 is driven to rotate through belt transmission, meanwhile, a second crank 8 coaxially arranged to rotate is driven to rotate, the rotating speeds of the two second cranks 8 are omega 2 and omega 3, the collinear but non-coincident state of the second cranks 8 and a pull rod 9 is dynamically kept in real time, and at the moment, a second connecting rod 7 drives an upper sliding block 3 to quickly descend; when the position shown in fig. 12 (c), i.e. the end of the quick-down stage is reached, the first crank 5 and the first connecting rod 6 are collinear, but not coincident, at this time, the first driving mechanism is in the self-locking position, i.e. the first driving motor 10 only needs to provide a small driving torque, even no driving torque, and can bear a large bending load. The second crank 8 and the pull rod 9 are dynamically kept in a collinearly and non-coincident state in real time in the whole quick-down stage. The invention can realize the effect of fast descending and large stroke in the fast descending stage because of the large length of the first crank 5. The invention fully utilizes the fact that when the crank connecting rod mechanism is in two positions of common line coincidence and common line non-coincidence, the mechanism is in a self-locking position. As shown in fig. 13, the link mechanism has typical nonlinear motion characteristics, and has low speed and small impact at the start and end of the quick-down operation. As shown in fig. 13 (a), in the whole working process, the first crank 5 and the first connecting rod 6 need to be dynamically kept in a collinear but non-overlapping state in real time, and the first driving mechanism is in a self-locking state so as to bear a large bending load; the second drive motor 14 symmetrically arranged on the left side and the right side drives the second crank 8 to rotate through belt transmission, and the pull rod 9 and the second connecting rod 7 drive the upper sliding block 3 to move up and down along the frame. When the parallelism deviation occurs in the upper die and the lower die, the second driving motors 14 on the left side and the right side are used for fine adjustment on the parallelism in the opposite directions or different rotation speeds in the same direction, and the rotation speeds of the lower driving motors 14 on the left side and the right side are omega 2 and omega 3 respectively. As shown in fig. 13 (b), the second driving mechanism reaches a state that the second crank 8 and the pull rod 9 are collinear and coincide, and when the thickness of the plate to be bent is different and the bending angle is different, the end of the working is not necessarily positioned in a state that the second crank 8 and the pull rod 9 are collinear and coincide, and the second driving mechanism can also be positioned in other states, so that the bending process is completed. Because the second crank 8 is smaller in length, the second crank has a larger reinforcing effect and is low in speed, and the working condition requirement is met.
According to the invention, the quick-down stage and the working stage can be combined to realize different processing modes, and different working modes are adopted according to different working conditions, so that the effects of quick light load and slow heavy load are achieved, and the power utilization rate of the driving motor is improved.
Fast mode: the bending processing can be completed only by adopting a quick-down stage, namely, when the thin plate is bent, the load is small, and the upper sliding block is driven to move up and down only by the first driving mechanism, so that the bending processing is quick; meanwhile, a second crank 8 and a pull rod 9 in a second driving mechanism at the left side and the right side are dynamically kept in a collinear and non-coincident state in real time;
heavy load mode: the quick-down stage and the later working stage are performed, namely quick-down action is performed firstly, then working and advancing action is performed, the second driving mechanism achieves the state that the second crank 8 and the pull rod 9 are collinear and coincide, and bending is completed;
hybrid mode: the quick-down stage and the working stage act simultaneously;
small opening bending mode: the upper sliding block does not completely stay at the bottom dead center, only moves upwards for a small distance, and bends in a small stroke range by linear motion, and the mode is only suitable for bending small-size and simple parts and is high in efficiency.
Example 2
The structure of example 2 is the same as that of example 1, except that: the length of the first crank 5 is smaller than that of the second crank 8, the first driving mechanism drives the upper sliding block to realize low-speed, heavy-load and working stroke movement, and the second driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement. The working condition of the bending machine is a typical variable speed and load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the second driving mechanism to drive the upper sliding block to realize the quick-down and return stages, and the first driving mechanism drives the upper sliding block to realize the working stage.
Claims (6)
1. A mechanical all-electric servo numerical control synchronous bending machine driven by multiple degrees of freedom in a compound mode is characterized in that: the bending machine comprises a frame (1), a lower die (2) fixedly connected with the frame and used for bending, an upper sliding block (3) capable of moving up and down along the frame, and an upper die (4) fixedly connected with the upper sliding block and matched with the lower die for bending, wherein the upper sliding block (3) is respectively connected with a first driving mechanism and a second driving mechanism which are used for driving the upper sliding block to realize different speeds and stroke ranges, and the second driving mechanisms are arranged in bilateral symmetry; the first driving mechanism comprises a first power assembly positioned on the frame, 2 symmetrically arranged first cranks (5) driven by the first power assembly, and a first connecting rod (6) connected with a revolute pair of the first cranks (5), and the first connecting rod (6) is hinged with the upper sliding block (3) through a second connecting rod (7); the first power component outputs power to drive the first crank (5) to rotate, and the upper sliding block (3) is driven to move up and down through the first connecting rod (6) and the second connecting rod (7); the second driving mechanism comprises a second power assembly positioned on the frame, a second crank (8) driven by the second power assembly, and a pull rod (9) connected with a revolute pair of the second crank (8), and the pull rod (9) is hinged with the second connecting rod (7); the second power component outputs power to drive the second crank (8) to rotate, and the upper sliding block (3) is driven to move up and down through the pull rod (9) and the second connecting rod (7); the first connecting rod (6) and the second connecting rod (7) are hinged at one point, the pull rod (9) is hinged at the middle part of the second connecting rod (7), the second connecting rod (7) is of a connecting rod structure with adjustable length, the connecting rod structure comprises a support (16), a worm (17) which is positioned in the support and is hinged with the support at two shaft ends, a worm wheel (18) which is positioned in the support and is meshed with the worm, and an upper screw (19) and a lower screw (20) which are arranged on the worm wheel in a penetrating way through threaded connection, and the upper screw and the lower screw penetrate out of the support; one shaft end of the worm is connected with a motor (21), and the motor (21) is started to drive the worm gear and the worm to drive an upper screw (19) and a lower screw (20) to move up and down along the worm gear so as to realize adjustable length; the length of the first crank (5) is longer than that of the second crank (8), and the first driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement, and the second driving mechanism is in a self-locking state; the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, and the first driving mechanism is in a self-locking state; or the length of the first crank (5) is smaller than that of the second crank (8), the first driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, the second driving mechanism is in a self-locking state, and the second driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working movement, and the first driving mechanism is in a self-locking state; the first crank (5) and the first connecting rod (6) are collinear, and when the two are not coincident, the first driving mechanism is in a self-locking position, and the second crank (8) and the pull rod (9) are collinear, and when the two are not coincident, the second driving mechanism is in a self-locking position.
2. The multiple degree of freedom compound driven mechanical all-electric servo numerical control synchronous bending machine according to claim 1, wherein the machine is characterized in that: the first power assembly comprises a first driving motor (10) arranged on the frame, a first synchronous shaft (11) connected with an output shaft of the first driving motor (10) through belt transmission, synchronous shaft gears (12) respectively arranged at two shaft ends of the first synchronous shaft, and a crank gear (13) meshed with each synchronous shaft gear, wherein the crank gear (13) is coaxially arranged with the first crank (5) and can drive the first crank (5) to rotate.
3. The multiple degree of freedom compound driven mechanical all-electric servo numerical control synchronous bending machine according to claim 1, wherein the machine is characterized in that: the second power assembly comprises a second driving motor (14) positioned on the frame and a second driving shaft (15) connected with an output shaft of the second driving motor through belt transmission, wherein the second driving shaft (15) and the second crank (8) are coaxially arranged and can drive the second crank (8) to rotate.
4. The multiple degree of freedom compound driven mechanical all-electric servo numerical control synchronous bending machine according to claim 3, wherein: the parallelism deviation of the upper die and the lower die can be adjusted by asynchronously running 2 second driving motors (14) which are symmetrically arranged left and right.
5. The multiple degree of freedom compound driven mechanical all-electric servo numerical control synchronous bending machine according to claim 1, wherein the machine is characterized in that: an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel (18), and the thread pitches of the upper thread and the lower thread are different.
6. The multiple degree of freedom compound driven mechanical all-electric servo numerical control synchronous bending machine according to claim 1, wherein the machine is characterized in that: the outer column surfaces of the upper screw rod (19) and the lower screw rod (20) are respectively provided with two mutually symmetrical planes (22), and through holes (23) which are matched with the upper screw rod and the lower screw rod to form a moving pair are formed in corresponding positions of the support.
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