CN101073924A - Transmission system of servo-driven double-angle lever mechanical press of switch magnetic reluctant motor - Google Patents

Abstract

The invention is concerned with the driving system that the switched reluctance motor servos the driving double toggle links mechanical press, it is: the switched reluctance motor is speed-down by the first-level strap in order to send the power to the synchronizer gear structure, the synchronizer gear structure drives the slipper to move by the same-axle concretion crank toggle mechanism, maintains the flywheel with the proper moment of inertia. The invention is with the low speed features during the punching moment and the high speed features during the return and feeding moment, which can achieve the flexibility control of the slider movement, simplify the structure of the pressing machine, and reduce the cost.

Description

The transmission system of switched reluctance motor servo-drive duplex bar punching machine

Technical field

The invention belongs to former and make the field, relate to the servo control technique of switched reluctance motor, particularly the transmission system of switched reluctance motor servo-drive duplex bar punching machine.

Background technology

Metal sheet forming equipment is widely used in the production of big template shell part in automobile, Aero-Space, electronics, communication and the household appliance technical field.Particularly along with the Hyundai Motor industrial production towards production scaleization, vehicle personalization, vehicle diminish relatively in batches, vehicle changes fast, multi-vehicle-type conllinear production, body outer skin maximizes incorporate development, the development of incompatibility situation of the rigidity production line of traditional processing single variety; Because too high, the poor product quality of drawing velocity, and it is adjustable to satisfy the work flexibility during traditional punching machine sheet-metal press working.Drawing tradition punching machine to high-strength steel sheet can't satisfy its job requirement especially, presses for the exploitation of numerical control a new generation punching machine.In view of the develop rapidly of Theory of Automatic Control, computer technology, electronic technology, information technology, motor technology and fluid drive technology and the successful Application in mechanized equipment thereof, promoted the continuous release of the universal rapidly and corresponding new product of sheet material forming equipment numerical controlization, having high flexibility and high efficiency automation pressing equipment, is the main trend of world's stamping technology and Equipment Development.

Present universal machine forcing press extensively adopts is to type of belt drive crank connecting rod sliding block mechanism in the heart.The general Open Bank Machinery Press that homemade J23-80 type nominal pressure is 800kN is calculated, the speed of slide block in workpiece plastic deformation stage (common α=20 °～60 °) scope often surpasses the maximal rate that the workpiece plastic deformation is allowed, when the plate drawing work of following material, the maximum reasonable speed V that is allowed is respectively: mild steel 0.4m/s, stainless steel 0.19m/s, fine aluminium 0.8m/s, duralumin 0.2m/s, zinc 0.76m/s.And very responsive to strain rate during the titanium alloy plastic deformation, strain rate is less than 1s during as the TA15 high temperature deformation ^-1, strain rate should be at 0.001s when Ti60 isothermal deformation temperature was 960 ℃ ^-1Within.And the maximum ram speed of universal machine forcing press can reach 0.5～1.5m/s at present.Therefore usually can't satisfy the requirement of plastic working to speed, cause in industrial reality, often having to adopt slide block at the lower special pressure machine of workpiece deformation stage speed, for example two moving drawing presses or cold extrusion press even hydraulic press, and these special equipment complex structures, cost height, debugging mould complexity, energy consumption is big during use.Ram speed when forging towards workpiece owing to punching machine in addition is too high, certainly will cause and drive patrix at slide block and move downward that to rigidly connect when touching impact power big with counterdie, thereby make complete machine be inspired bigger impact shock and construct noise, also greatly reduce the life-span of mould simultaneously.

U.S. E.W.Bliss company development " Powerbar Press " punching machine adopts eccentric stiffener, and the complete machine total height can reach tens meters, and is very huge, is fit to the usefulness of large-tonnage forging towards technology.But difficulty is bigger when adopting this frame mode that present existing machinery forcing press is transformed, because of existing workalike forcing press adopts eccentric stiffener seldom, adopt when the large-tonnage punching machine was transformed during therefore this mechanism only was fit to, and the equipment lateral dimension is very big.

Forge the strategically important place and ask though also have mechanisms such as gear connecting rod type, elliptic gear formula and double crank type can satisfy certain low speed in addition, because inertia force greatly can't balance or can't be promoted the use of on a large scale in industrial reality because of complex structure.

Since punching machine by the mould of installing it on finish often in large batch of industrialization forge and dash production, so the ram travel frequency n is often as the main technical parameters of punching machine, this ram travel frequency n difference of the punching machine of common different tonnage specifications.But the n value per minute of the universal machine forcing press that uses in industrial reality is often up to tens, dozens or even hundreds of inferior, and high speed machine forcing press n value reaches as high as 4000 times/minute.Therefore rely on many increase one-levels or what gear reduction transmission progression or employing to exchange the variable ratio frequency changer asynchronous motor simply and reduce crank angular velocity, realize the reduction (promptly each angle place speed 0 °～360 ° scopes in all whole descends) of slide block in work deformation stage speed, will inevitably reduce the ram travel number of times like this, production efficiency is reduced, simultaneously also can reduce flywheel speed significantly, provide the effect of instantaneous high deformation energy (owing to 80% of the workpiece plastic deformation merit of punching machine in the workpiece plastic history all is to rely on the variation of flywheel energy to provide) thereby weaken flywheel, make punching machine can't bring into play nominal pressure, can cause too greatly burning out or vexed car accident taking place because of flywheel speed reduces when serious at workpiece deformation stage motor.In addition, cost is higher when adopting frequency converter that common ac motor is controlled, the common 7.5kW AC asynchronous motor price that for example adopts when carrying out the research of variant-frequency vibration blanking only is more than 1000 a yuan of RMB, and the frequency converter of the M1 of supporting with it MAT (Panasonic) * 754BSA type low noise PWM control mode, its reference frequency output is 0.5～400Hz (resolution ratio is 0.01Hz), and this frequency converter price is up to 10000 yuan.Generally speaking, in industrial practical application, simply the interchange constant speed motor in the existing machinery forcing press is changed into the ac motor of band frequency converter, realize that it is infeasible that low speed is forged towards quickreturn characteristics, in view of above-mentioned same reason, it also is infeasible using dc motor in industrial reality in punching machine.

Have only Japan abroad with the servomotor commercialization, but Japan holds this technology in close confidence again, almost can not find out any about this equipment key technology and discuss document.Because it is with high content of technology, so the cost of Japanese AC servo forcing press is 3～5 times of the same specification legacy equipment.But the domestic AC servo motor power maximum of developing also has only 5kW, can not driving power up to tens, dozens or even hundreds of kilowatt punching machine, can not satisfy the use of economy, green manufacturing requirement.

Summary of the invention

The objective of the invention is to overcome above-mentioned prior art deficiency, a kind of transmission system of switched reluctance motor servo-drive duplex bar punching machine is provided, by the forcing press transmission system is designed, make punching machine slide position, adjustable-speed, can satisfy the needs of kinds of processes to the slide block movement characteristic, realize the position that slide block can be parked in top dead-centre or set arbitrarily, the flexibility processing of forcing press is adjustable, has realized the inertia equilibrium of forces simultaneously; Reduce mould repeat make and waste, saved cost.

Technical scheme of the present invention is achieved in that

Switched reluctance motor rotating shaft key link small belt pulley, small belt pulley connects big belt pulley by belt pulley, and the big belt pulley key is linked on the final drive shaft; Final drive shaft links with the concentric key of master gear, and main crank one end and final drive shaft are affixed, and the other end is by being connected rigid body triangle AB ₁B ₂The A point; Rigid body triangle AB ₁B ₂B ₁Point links rigid body triangle AB with an end pin of Your Majesty's toggle link ₁B ₂B ₂Point is connected with an end of main lower elbow lever, and the other end of main lower elbow lever is connected an end of slide block, master gear and pinion synchro-meshing, and pinion links with the auxiliary driving axle key; Auxiliary crank is fixed on the counter drive shaft; Auxiliary crank one end and counter drive shaft are affixed, and the other end is by being connected rigid body triangle A ' B ₁' B ₂' A ' point; Rigid body triangle A ' B ₁' B ₂' B ₁' link rigid body triangle A ' B with an end pin of secondary upper elbow lever ₁' B ₂' B ₂' being connected with an end of secondary lower elbow lever, the other end of secondary lower elbow lever is connected the other end of slide block.

Described rigid body triangle AB ₁B ₂Middle ∠ AB ₁B ₂Be defined as the α angle, the α scope is 70 °≤α≤90 °.

The transmission mechanism of the symmetrical two point double-crank of the present invention toggle link structure replaces the single crank toggle link transmission mechanism of traditional forcing press; The servo-drive mode of switched reluctance motor has replaced the type of drive of the alternating current asynchronous constant speed motor of traditional forcing press, and the expensive novel type of drive of AC servomotor; Be improved to the connecting rod of rigid body triangular form by traditional plain connecting rod, rather than 3 bearing pin on-link mode (OLM)s of upper and lower toggle link and connecting rod in traditional forcing press transmission mechanism; Slide block and linking of toggle link also have single-point to link to be improved to the two point of symmetry to link.Therefore in the transmission mechanism of the present invention, the slide block movement characteristic can satisfy low speed and forge the job requirement of dashing, the operating characteristic flexibility that has realized forcing press is adjustable, simplified press structure greatly, balance inertial force is energy-saving and cost-reducing to greatest extent, reduces cost, improved the market competitiveness, experiment shows can energy-conservation 30% than traditional punching machine.

Description of drawings

Fig. 1 is a system construction drawing of the present invention;

Fig. 2 main drive gear is simplified the force analysis schematic diagram;

Rotary inertia and the crank angle graph of a relation of Fig. 3 transmission system equivalence to the bent axle;

Fig. 4 transmission mechanism motion analysis schematic diagram;

Rotary inertia and the crank angle graph of a relation of Fig. 5 transmission system equivalence to the bent axle;

The rotary inertia that Fig. 5 (a) is the servo system equivalence to the main crank and the variation relation figure of main crank corner;

Fig. 5 (b) is the variation relation figure of other parts equivalent moment of inertia and main crank corner except that flywheel;

Fig. 6 loading condition sliding block kinematics curve map;

Fig. 6 (a) loading condition sliding block displacement changing curve figure;

Fig. 6 (b) loading condition sliding block speed change curves figure;

Fig. 6 (c) loading condition sliding block acceleration change curve map;

The illustraton of model of Fig. 7 switched reluctance motor SERVO CONTROL press machine system.

Below in conjunction with accompanying drawing content of the present invention is described in further detail.

The specific embodiment

With reference to shown in Figure 1, switched reluctance motor power transmission shaft 20 links with small belt pulley 1 key, and small belt pulley 1 connects big belt pulley 21 by belt 2, and big belt pulley 21 keys are linked at final drive shaft 4; Master gear 3 links with final drive shaft 4 keys, and pinion 14 links with counter drive shaft 12 keys; Master gear 3 equates fully that with pinion 14 various parameters both engagements make final drive shaft 4 and counter drive shaft 12 Synchronous Transmission; Main crank 5 one ends and final drive shaft 4 are affixed, and auxiliary crank 13 is fixed together with counter drive shaft 12; Rigid body AB ₁B ₂Link at an A and main crankshaft 5 pins respectively, at a B ₁Link with Your Majesty's toggle link 8 pin, at a B ₂The place links with main lower elbow lever 10 pins; Rigid body triangle A ' B ₁' B ₂' three edge lengths and rigid body triangle AB ₁B ₂Three edge lengths are equal fully, rigid body A ' B ₁' B ₂' link at an A ' and secondary crankshaft 13 pins respectively, at a B ₁' link with secondary upper elbow lever 17 pins, at a B ₂' locate to link with secondary lower elbow lever 19 pins; Secondary upper elbow lever 17 equates with Your Majesty's toggle link 8 sizes; Secondary lower elbow lever 19 equates with main lower elbow lever 10 sizes; Secondary lower elbow lever 19 and main lower elbow lever 10 link by pin and slide block 11 respectively, and two linking points distribute about the slide block left-right symmetry.

Switched reluctance motor rotating shaft 20 drives small belt pulley 1, and small belt pulley 1 is by one-level belt pulley 2 deceleration big belt pulleys 21, because big belt pulley 21 and final drive shaft 4 concentric keyed jointings, then final drive shaft 4 and big belt pulley 21 movements at the uniform velocity; And because final drive shaft 4 is 5 affixed with main crank respectively, with master gear 3 keyed jointings, then drive main crank 5 simultaneously and master gear 3 rotates synchronously with main shaft 4, then main crank 5 drive rigid body AB ₁B ₂With Your Majesty's lower elbow lever 8,10, move up and down thereby can drive slide block 11; Owing to master gear 3 and pinion 14 synchro-meshings, then drive counter drive shaft 12 and rotate synchronously again, thereby drive rigid body A ' B with final drive shaft 4 ₁' B ₂', on the pair lower elbow lever 17,19 respectively with rigid body AB ₁B ₂With 8,10 movements at the uniform velocity of Your Majesty's lower elbow lever, thereby realized being synchronized with the movement of slide block two linking points.

With reference to shown in Figure 2, main crank 5 one end pin joints on final drive shaft 4, an end pin joint on connecting rod 22, the rigid body triangle AB among Fig. 1 ₁B ₂Be reduced to connecting rod 22, the other end of connecting rod 22 and Your Majesty's toggle link 8, main lower elbow lever 10 pin joints and a bit, Your Majesty's toggle link 8 other ends and fuselage pin joint, main lower elbow lever 10 other ends and slide block pin joint.P among Fig. 2 _gExpression forcing press nominal pressure (unit: N), P _BDExpression forcing press master lower elbow lever 10 suffered pulling force (unit: N), P _CBExpression transmission mechanism Your Majesty toggle link 8 suffered pulling force (unit: N), P _ABExpression connecting rod 22 suffered pulling force, S _DThe impulse stroke of expression slide block, φ represents main lower elbow lever 10 and vertical direction angle (unit: deg), ψ represents that (unit: deg),  represents that (unit: deg), γ represents the corner (unit: deg) of main crank 5 with connecting rod 22 angles for Your Majesty's toggle link 8 for Your Majesty's toggle link 8 and vertical direction angle.

Transmission mechanism shown in Figure 2 is carried out preanalysis.Have $P_{\mathrm{BD}}=\frac{P_g}{\cos \mathrm{\φ}}.$

Because of slide block impulse stroke S _DVery little, so φ is very little, get cos φ ≈ 1, so: P _BD≈ P _g

Your Majesty's lower elbow lever 8 is stressed

 ≈ is 90 ° in the forcing press punching stroke, ψ ≈ 0, and so φ ≈ 0 is P _CB≈ P _BD≈ P _g

Connecting rod 22 suffered pulling force

With reference to shown in Figure 3, the moment of torsion (not ignoring under the friction condition) that can obtain on the final drive shaft 4 is:

M _g＝M _l+M _μ＝P _g(m _l+m _μ)＝P _gm _g

In the formula: M _gExpression act on moment of torsion on the final drive shaft 4 (unit: Nm), M _lMoment of torsion when expression does not have friction on the final drive shaft 4 (unit: Nm), M _μExpression since the existence that rubs append to moment of torsion on the final drive shaft 4 (unit: Nm), m _lEquivalent arm of force when expression does not have friction (unit: m), m _μThe existence that is expressed as owing to friction appends to the equivalent arm of force (unit: m) on the final drive shaft 4.

Use l ₁, l ₂, l ₃, l ₄Represent the length of main crank 5, connecting rod 22, Your Majesty's toggle link 8, main lower elbow lever 10 respectively, get $\frac{l_1}{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}=\mathrm{\&lambda;},$ λ is the connecting rod coefficient, and punching press stage ψ is very little, cos ψ ≈ 1.r _o, r _AThe radius of representing bearing pin O point and A point place bearing pin respectively because stressed size is similar with failure mode, is got identical value when the bearing pin at B, C, D point place designs, so all be made as r when calculating.Therefore derivation place:

$M_g\&ap;P_g{l}_1(\sin \mathrm{\&gamma;}-\mathrm{\&lambda;}\cos \mathrm{\&gamma;}\sin \mathrm{\&gamma;}+\frac{b-l_3}{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}\cos \mathrm{\&gamma;})+\mathrm{\&mu;}{P}_g[{\mathrm{<figure-callout\; id="0"\; label="r"\; filenames="A20071001806400211.png,A20071001806400213.png"\; state="\{\{state\}\}">r</figure-callout>}}_0+r_A(1+\mathrm{\&lambda;}\cos \mathrm{\&gamma;})]$

$+\mathrm{\&mu;r\&lambda;}[(\frac{l_2{\mathrm{<figure-callout\; id="3"\; label="P\; g\; l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">P</figure-callout>}}_g}{l_{}}+\frac{2l_2{P}_g}{l_4}+\frac{l_2{P}_g}{l_3})\sin \mathrm{\&gamma;}+P_g(\cos \mathrm{\&gamma;}+\frac{l_2}{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}\sin \mathrm{\&gamma;})]$

Bring the leverage design parameter into following formula, obtain the relation of corner γ between them of the moment of resistance on the final drive shaft 4 and main crank 5:

M _g＝3771sinγ+243cosγ-309sin2γ+91

After the forcing press nominal pressure was demarcated, long because self strength condition of hinged everywhere pin diameter and bar changed when little relatively, close relation between the corner γ of the moment of resistance on the final drive shaft 4 and main crank 5.As shown in Figure 3, the moment of resistance on the final drive shaft 4 increases along with the increase of the corner γ of main crank 5, so will reduce the merit that overcomes moment of resistance consumption and reduce selected power of motor, should make punching press stage main crank 5 corners as much as possible little.Satisfying under the various constraintss, but diagonal angle γ is optimized.

Fig. 4 is the signal of transmission mechanism motion analysis, because mechanism adopts the symmetrical expression mode, so on one side only it is carried out correlation analysis, last result of calculation is multiplied by the corresponding proportion factor and gets final product.

According to the vector ring law:

β---expression rigid body triangle AB ₁B ₂In affixed bar 6 and affixed bar 7 fixed angle/°;

P---expression rigid body triangle AB ₁B ₂In affixed bar 7 length/m;

X, Y---the distance/m of expression transmission mechanism and fuselage hinged place;

l ₁, l ₂, l ₃, l ₄---represent main crank 5, rigid body triangle AB respectively ₁B ₂In the length/m of affixed bar 6, Your Majesty's toggle link 8, main lower elbow lever 10;

 ₁,  ₂,  ₃,  ₄---represent crank 5, rigid body triangle AB respectively ₁B ₂In affixed bar 6, Your Majesty's toggle link 8, main lower elbow lever 10 and x axle positive direction angle/°.

Decompose at x and y axle:

Order Can obtain rigid body triangle AB ₁B ₂,

The corner expression formula of Your Majesty's toggle link 8, main lower elbow lever 10 is as follows:

And some B ₂The position on x axle and y axle, decompose, weight expression is as follows:

The slide position can be expressed as follows:

ω then ₂, ω ₃And ω ₄Can specifically be expressed as:

Point B ₂Speed divide on x axle and y axle that to solve its weight expression as follows:

The systemic velocity of rod member and the movement velocity of slide block can be expressed as following form:

v _s＝v _px+ω ₄l ₄?sin ₄

$v_{\mathrm{<figure-callout\; id="3"\; label="c"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">c</figure-callout>}3}=\frac{1}{2}{\mathrm{\&omega;}}_3{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3$

v _s, v _C2, v _C3, v _C4---expression slide block 11, rigid body triangle AB ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 systemic velocities/ms ^-1

v _{C2, x}, v _{C2, y}, v _{C4, x}, v _{C4, y}, v _Px, v _Py---expression rigid body triangle AB ₁B ₂, main lower elbow lever 10 systemic velocity and the some B ₂The component/ms of speed on x axle and y axle ^-1

Can get following relation from the analysis of kinematics basic theories:

a _Px, a _Py---pin joint B ₂Acceleration is at the component/ms of x and y axle ^-2

ω ₁, ω ₂, ω ₃, ω ₄---represent main crank 5, rigid body triangle AB respectively ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 angular speed/rads ^-1

a ₁, a ₂, a ₃, a ₄, a _s---represent main crank 5, rigid body triangle AB respectively ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 angular acceleration and slide block 11 acceleration/ms ^-2

It is as follows that the reasoning of application kinematical theory can get main crank 5 barycenter acceleration:

In like manner but the acceleration of winner's upper elbow lever 8 barycenter is as follows:

In like manner can get rigid body triangle AB ₁B ₂The barycenter acceleration:

But the barycenter acceleration of winner's lower elbow lever 10 in like manner:

a _Ci(i=1,2,3,4)---represent main crank 5, rigid body triangle AB respectively ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 barycenter acceleration/ms ^-2

l _Ci(i=1,2,3,4)---represent main crank 5, rigid body triangle AB respectively ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 barycenter to the distance/m of its pin joint;

a _{Ci, x}, a _{Ci, y}(i=1,2,3,4)---represent main crank 5, rigid body triangle AB respectively ₁B ₂, Your Majesty's toggle link 8, main lower elbow lever 10 the barycenter acceleration at the component/ms of x and y axle ^-2

Rotary inertia and crank angle relation that Fig. 5 is the transmission system equivalence to the bent axle.Servo system rotary inertia and driving link, that is the corner of bent axle is functional relation, along with crank angle changes and changes.Servo system equivalent moment of inertia J _e∈ (13.84,15.3) (kgm ²), and in general, satisfy under the prerequisite that the forcing press press work requires at the rotary inertia that guarantees flywheel, for making switched reluctance motor rotor moment of inertia and servo system equivalent moment of inertia Optimum Matching, should reduce servo system equivalent moment of inertia J as far as possible _e

Paired observation Fig. 5 (a) and Fig. 5 (b) are as can be known, flywheel and bent axle etc. account for the exhausted vast scale of servo system equivalent moment of inertia around the rotary inertia of the parts of crankshaft center rotation, so want to reduce the servo system equivalent moment of inertia, only need just can realize by the frame for movement or the kind of drive improved around main crankshaft 5 center rotatable parts.By top Rotary Inertia of Flywheel calculated value, guarantee that promptly the minimum of a value that press work normally carries out is 10.6kgm ²As can be known, the transmission system rotary inertia is excessive.Therefore, guaranteeing that the transmission system rotary inertia should reduce 13.84-10.6=3.24kgm under the forcing press operate as normal prerequisite ², so that selected servomotor rotor moment of inertia diminishes, thereby export-oriented size, weight and the power of motor can further reduce, the forcing press overall structure is also more perfect.According to above-mentioned reason, under the prerequisite that does not reduce mechanical performance, some improve the bigger parts of servo system rotary inertia influence to flywheel, synchromesh gear etc., make the transmission system equivalent moment of inertia be reduced to 11kgm ²

Fig. 6 is a loading condition sliding block kinematics characteristic curve.Slide block 11 displacements are 46.8mm shown in Fig. 6 (a) curve, meet design requirement; By slide block 11 translational speeds shown in Fig. 6 (b) and main crank 5 angle relation curves as can be known, rate curve has a tangible land regions at amplitude 0 place, illustrates that dual-elbow-bar mechanism can realize that by switching magnetic-resistance motivation servo-drive low speed forges towards characteristic; The accelerating curve of slide block 11 under loading condition shown in Fig. 6 (c) illustrated that also the velocity variations of slide block 11 is to meet the requirements, when not arriving impulse stroke, velocity variations is violent, and velocity variations is slow within the impulse stroke scope, and bigger velocity variations is arranged during backhaul.

Fig. 7 is a laboratory bench model.Sensor 23 is gathered slide block 11 position signallings, send to host computer 25, host computer 25 is according to the requirement of Flexible Control, the transmission speed signal is given the speed setting controller 27 of switched reluctance motor, the speed setting controller 27 of switched reluctance motor sends and requires pulse to PLC26, PLC26 transmits control signal to the speed setting controller 27 of switched reluctance motor according to pulse signal again, utilizes 27 pairs of switched reluctance motors of speed setting controller 28 of switched reluctance motor to carry out the speed adjusting then.This testing stand can be divided into following three parts on function: switched reluctance motor 28 condition monitoring parts, servo-pressing machine slide block 11 position detection parts and switched reluctance motor 28 rotating speed control sections.Wherein, switched reluctance motor 28 condition monitorings are partly realized the action from computer digit amount control signal to concrete optoelectronic switch (photodiode), are responsible for the extraction and the switch motor 28 start and stop control of servo-driver and motor status signal; Slide block 11 position detection parts are mainly to slide block 11 displacement signal collections and carry out real-time analysis, for switched reluctance motor motor 28 rotating speed control sections provide the speed change foundation; Switched reluctance motor 28 rotating speed control sections are imported corresponding analog control signal according to slide block 11 positions that slide block 11 position monitorings partly provide to servo-driver, thereby the rotating speed of gauge tap motor 11 output, the slide block that makes switch reluctance servo driving pressure machine satisfies the requirement of various technologies to slide block movement speed by the rate curve motion of setting.

(1) the transmission system design of switch reluctance servo driving

Angle from switched reluctance motor servo-drive power match and moment of torsion coupling, in the forcing press press work stage, load torque on the motor reel and bearing power can not be excessive, be that transmission mechanism must have reinforcement effect, make the load torque and the bearing power that are delivered on the motor main shaft as far as possible little, thereby the development cost of forcing press is reduced.Therefore the selection of transmission mechanism must have the reinforcement deceleration of punching press stage, backhaul and the high speed characteristics in idle running stage.

The stressed schematic diagram of elbow-bar mechanism shown in Figure 2.Before definite transmission system parameter, it is carried out stressed preanalysis, obtain to influence the influence factor of transmission system key parameter, adopt related optimization that the transmission system parameter is optimized then, obtain the transmission system of optkmal characteristics.

Transmission mechanism is carried out preanalysis, obtains acting on the moment of resistance model on the final drive shaft 4:

$M_g\&ap;P_g{l}_1(\sin \mathrm{\&gamma;}-\mathrm{\&lambda;}\cos \mathrm{\&gamma;}\sin \mathrm{\&gamma;}+\frac{b-l_3}{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}\cos \mathrm{\&gamma;})+\mathrm{\&mu;}{P}_g[{\mathrm{<figure-callout\; id="0"\; label="r"\; filenames="A20071001806400211.png,A20071001806400213.png"\; state="\{\{state\}\}">r</figure-callout>}}_0+r_A(1+\mathrm{\&lambda;}\cos \mathrm{\&gamma;})]$

$+\mathrm{\&mu;r\&lambda;}[(\frac{{\mathrm{<figure-callout\; id="1"\; label="P\; g\; m"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">P</figure-callout>}}_g}{m_{}}+\frac{2{\mathrm{<figure-callout\; id="2"\; label="P\; g\; m"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">P</figure-callout>}}_g}{m_{}}+\frac{P_g}{m_1})\sin \mathrm{\&gamma;}+P_g(\cos \mathrm{\&gamma;}+\frac{1}{{\mathrm{<figure-callout\; id="1"\; label="m"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">m</figure-callout>}}_1}\sin \mathrm{\&gamma;})]$

Bring following formula into according to the leverage Preliminary design parameter that strength condition and duplex bar constraints obtain, obtain concerning between the moment of resistance on Fig. 2 final drive shaft 4 and the main crank corner γ.The moment of resistance of effect increases with the increase of angle of entry γ on the final drive shaft 4, so will reduce the merit that overcomes moment of resistance consumption and reduce selected power of motor, should make punching press stage main crank 5 corners as much as possible little.

Transmission system is the double-crank elbow-bar mechanism, belongs to planar linkage mechanism, by its linkage parameter is optimized design, makes the object function of setting at transmission system reach optimal value.

A. optimize parameter

The design of Transmission System variable is: X=[x ₁, x ₂, x ₃, x ₄, x ₅, x ₆] ^T=[l ₁, l ₂, l ₃, l ₄, a, b] ^T

In the formula:

A, b---the distance/m of expression transmission mechanism and fuselage hinged place sees that Fig. 2 shows;

l ₁, l ₂, l ₃, l ₄---represent the length/m of main crank 5, connecting rod 22, Your Majesty's toggle link 8, main lower elbow lever 10 respectively.

Transmission system drives the identical crank toggle mechanism of two cover parameters by one-level belt reducing gear series connection one-level synchromesh gear mechanism and constitutes, because of belt reducing gear and synchromesh gear mechanism are linear mechanisms, being that force-transfer characteristic and transmission velocity ratio are certain, mainly is that the parameter of main crank elbow-bar mechanism is bigger to the transmission system performance influence.

B. constraints

I type endplay device satisfies: ${\mathrm{<figure-callout\; id="1"\; label="g"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">g</figure-callout>}}_1={{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}^2+{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2-({{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1}^2+\sqrt{a^2+b^2})>0$

Can get following constraint equation by the Planar Crank-and-rocker Mechanism existence condition:

$\left\{\begin{array}{c}{\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">g</figure-callout>}}_2=l_3-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1>0\\ {\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">g</figure-callout>}}_2=l_2-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1>0\\ {\mathrm{<figure-callout\; id="3"\; label="g"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">g</figure-callout>}}_3=\sqrt{a^2+b^2}-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1>0\\ {\mathrm{<figure-callout\; id="4"\; label="g"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">g</figure-callout>}}_4={\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+l_3-({\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1+\sqrt{a^2+b^2})>0\\ {\mathrm{<figure-callout\; id="5"\; label="g"\; filenames="A20071001806400201.png,A20071001806400202.png"\; state="\{\{state\}\}">g</figure-callout>}}_5=\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}+l_3-({\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1+l_2)>0\\ {\mathrm{<figure-callout\; id="6"\; label="g"\; filenames="A20071001806400201.png"\; state="\{\{state\}\}">g</figure-callout>}}_6={\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+\sqrt{a^2+b^2}-({\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1+l_3)>0\end{array}\right.$

In punching course, at lower dead point position the two punching press phenomenons of one-stroke appear for fear of slide block, and toggle link and vertical direction angle are greater than zero in the time of should making the slide block bottom dead centre, and it is as follows to draw constraints:

${\mathrm{<figure-callout\; id="7"\; label="g"\; filenames="A20071001806400201.png"\; state="\{\{state\}\}">g</figure-callout>}}_7=a\mathrm{<figure-callout\; id="3"\; label="cos\; l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">cos</figure-callout>}\frac{{l_{}}^{}}{}\frac{{{}_3}^2+(a^2+b^2)-{(l_2-l_1)}^2}{2l_3\sqrt{a^2+b^2}}-a\tan (a/b)>0$

Can get following constraints by stroke of a press designing requirement again:

g ₈＝(s _l-s _h)-44＞0

g ₉＝45-(s _l-s _h)＞0

Following formula, s _hAnd s _lRepresent the displacement of the relative upper elbow lever pin joint of bottom dead centre on the slide block respectively, both differences are the range of forcing press,

$\left\{\begin{array}{c}{s}_l={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\cos \&angle;1+{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\cos \&angle;2\\ s_h={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\cos \&angle;1^{\&prime;}+{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\cos \&angle;2^{\&prime;}\\ \&angle;1=a\mathrm{<figure-callout\; id="3"\; label="cos\; l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">cos</figure-callout>}\frac{{l_{}}^{}}{}\frac{{{}_3}^2+(a^2+b^2)-{(l_2-l_1)}^2}{2l_3\sqrt{a^2+b^2}}-a\tan (a/b)\\ {\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\sin \&angle;1={\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\sin \&angle;2\\ \&angle;1^{\&prime;}=a\mathrm{<figure-callout\; id="3"\; label="cos\; l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">cos</figure-callout>}\frac{{l_{}}^{}}{}\frac{{{}_3}^2+(a^2+b^2)-{({\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2+l_1)}^2}{2l_3\sqrt{a^2+b^2}}-a\tan (a/b)\\ {\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\sin \&angle;1^{\&prime;}={\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\sin \&angle;2^{\&prime;}\end{array}\right.$

Except that top performance constraint,, determine the up-and-down boundary constraint of variable, so increase by 6 * 2=12 boundary constraint at last according to the restriction of forcing press length.

The constraints of above-mentioned transmission system optimization is g ₁, g ₂..., g ₂₁

C. object function determines

Get the pairing main crank corner 5 of punching machine punching stroke, i.e. impulse stroke angle θ minimum, transmission system optimization aim function is as follows: f (X ^*)=minf (X)=min (θ) (X ∈ R ⁶)

According to the relevant theory of plane analytic geometry, above-mentioned object function is refined as the expression formula of design variable:

$\left\{\begin{array}{c}\mathrm{\&theta;}=\mathrm{\&beta;}-\mathrm{\&alpha;}\\ \mathrm{\&alpha;}=-\frac{\mathrm{\&pi;}}{2}+a\tan (a/b)+a\cos \frac{{(l_2-l_1)}^2+a^2+b^2-{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2}{2(l_2-l_1)\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}}\\ \mathrm{\&gamma;}=a\cos (1-\frac{2}{l_3})\\ {\mathrm{<figure-callout\; id="0"\; label="l"\; filenames="A20071001806400211.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_0=\sqrt{{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2+a^2+b^2-2l_3\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}\cos (a\tan (a/b)+\mathrm{\&gamma;})}\\ \&angle;\mathrm{BCD}=a\mathrm{<figure-callout\; id="0"\; label="cos\; l"\; filenames="A20071001806400211.png,A20071001806400213.png"\; state="\{\{state\}\}">cos</figure-callout>}\frac{{l_{}}^{}}{}\frac{{{}_0}^2+a^2+b^2-{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="A20071001806400201.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_3}^2}{2l_0\sqrt{a^2+{\mathrm{<figure-callout\; id="2"\; label="b"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">b</figure-callout>}}^2}}\\ \&angle;\mathrm{BCD}=a\mathrm{<figure-callout\; id="0"\; label="cos\; l"\; filenames="A20071001806400211.png,A20071001806400213.png"\; state="\{\{state\}\}">cos</figure-callout>}\frac{{l_{}}^{}}{}\frac{{{}_0}^2+{{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1}^2-{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="A20071001806400201.png,A20071001806400213.png"\; state="\{\{state\}\}">l</figure-callout>}}_2}^2}{2l_0{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="A20071001806400221.png,A20071001806400222.png"\; state="\{\{state\}\}">l</figure-callout>}}_1}\\ \mathrm{\&beta;}=\mathrm{\&pi;}-(\&angle;\mathrm{BCD}-(\&angle;\mathrm{BCD}-a\tan (a/b)))\end{array}\right.$

According to the constraint inequality g that extracts ₁, g ₂..., g ₂₁With optimization aim function f (X ^*), use Matlab software, adopt the programming of single goal multiconstraint optimization method to be optimized, and the result is carried out rounding, draw following optimization linkage parameter:

l ₁＝40mm，l ₂＝240mm，l ₃＝175mm，l ₄＝165mm，a＝198mm，b＝190mm

In concrete structured design process, find at bearing pin B place because l ₂, l ₃, l ₄Link together with one heart by bearing pin, make that bearing pin B axial dimension is excessive, thereby make the front and back of machine oversize, unreasonable structure so leverage is further improved, is decomposed into two pin joint B with pin joint B ₁And B ₂, and leverage suitably adjusted, wherein, lB ₁B ₂=120mm, ∠ α=87.1 °, l _{OO '}=410mm, other parameter constants obtain the transmission system after the parameter optimization, show as Fig. 3.

(2) the realization switched reluctance motor is controlled the technology of various workpiece on unit, and the kinetic characteristic of press ram can be adjusted, effectively controlling organization motion.

In the forcing press transmission mechanism motion process, each member all is subjected to the effect of power, and particularly the punching press stage, the member stress situation changes greatly.Act on the power in the mechanism, be not only the motion that influences machine and the important parameter of power performance, and be decision respective members shape and the important evidence of selecting motor.JSD25-63 type servo-pressing machine transmission mechanism is seen Fig. 1.

(seeing Fig. 4 motion analysis) analysed in the crank power credit:

The slide block dynamic analysis:

$\left\{\begin{array}{c}-m_{s}g-F_{4s,x}-f_{\mathrm{os}}+F_{\mathrm{extr}}=m_s{a}_s\\ -F_{4s,y}+N_{\mathrm{os}}=0\\ f_{\mathrm{os}}=N_{\mathrm{os}}\&CenterDot;{\mathrm{\&mu;}}_{\mathrm{os}}\end{array}\right.$

The slide position expression formula:

Ram speed expression formula: v _s=v _Px+ ω ₄l ₄Sin  ₄

(3) finite element analysis of JSD25-63 fuselage.

Based on the servo-pressing machine that the transmission system of double-crank elbow-bar mechanism is researched and developed, fuselage is an open type welding fuselage, adopts symmetrical structure.Fuselage mainly by about two plates with aditus laryngis district, the top board that bears punching press counter-force and fixing motor, the front and back two boards material that supports bent axle, work top etc. constitute.Important technological parameters is as follows:

Nominal pressure: 630kN;

Nominal working stroke: 4mm;

Ram travel: 45mm;

Ram travel number of times: 150r/min;

Maximum die set height: 250mm;

Height of packing compact regulated quantity: 110mm;

The fuselage aditus laryngis degree of depth: 280mm;

Work top size: 500 * 1350mm ²

Claims (2)

1. the transmission system of a switched reluctance motor servo-drive duplex bar punching machine is characterized in that:

Switched reluctance motor rotating shaft (20) key link small belt pulley (1), small belt pulley (1) connects big belt pulley (21) by belt pulley (2), and big belt pulley (21) key is linked on the final drive shaft (4); Final drive shaft (4) links with the concentric key of master gear (3), and main crank (5) one ends and final drive shaft (4) are affixed, and the other end is by being connected rigid body triangle AB ₁B ₂The A point; Rigid body triangle AB ₁B ₂B ₁Point links rigid body triangle AB with an end pin of Your Majesty's toggle link (8) ₁B ₂B ₂Point is connected with an end of main lower elbow lever (10), and the other end of main lower elbow lever (10) is connected an end of slide block (11), master gear (3) and pinion (14) synchro-meshing, and pinion (14) links with counter drive shaft (12) key; Auxiliary crank (13) is fixed on the counter drive shaft (12); Auxiliary crank (13) one ends and counter drive shaft (12) are affixed, and the other end is by being connected rigid body triangle A ' B ₁' B ₂' A ' point; Rigid body triangle A ' B ₁' B ₂' B ₁' link rigid body triangle A ' B with an end pin of secondary upper elbow lever (17) ₁' B ₂' B ₂' being connected with an end of secondary lower elbow lever (19), the other end of secondary lower elbow lever (19) is connected the other end of slide block (11).

2, the transmission system of switched reluctance motor servo-drive duplex bar punching machine according to claim 1 is characterized in that rigid body triangle AB ₁B ₂Middle ∠ AB ₁B ₂Be defined as the α angle, the α scope is 70 °≤α≤90 °.

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