CN101786133A - Multi-connecting rod servo press for four-motor parallel drive machine - Google Patents
Multi-connecting rod servo press for four-motor parallel drive machine Download PDFInfo
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- CN101786133A CN101786133A CN 201010132634 CN201010132634A CN101786133A CN 101786133 A CN101786133 A CN 101786133A CN 201010132634 CN201010132634 CN 201010132634 CN 201010132634 A CN201010132634 A CN 201010132634A CN 101786133 A CN101786133 A CN 101786133A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
- B30B1/10—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism
- B30B1/106—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism operated by another toggle mechanism
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Abstract
The invention discloses a multi-connecting rod servo press for a four-motor parallel drive machine in the technical field of metal forming machinery, which comprises a machine frame, linear drive mechanisms, a parallel mechanism, a toggle mechanism and a stamping slide block. The linear drive mechanisms are divided into two groups with the same structure; the parallel mechanism is a two-degree-of-freedom parallel mechanism; the two groups of linear drive mechanisms are connected with the two-degree-of-freedom degree parallel mechanism respectively; the toggle mechanism is connected with the two-degree-of-freedom degree parallel mechanism and the stamping slide block respectively; and the machine frame is sleeved outside the drive mechanisms and the stamping slide block. The multi-connecting rod servo press has the advantages of simple structure, easy control, low manufacturing cost, and capability of well solving the problem that the large-tonnage servo press cannot be built because the traditional servo press is limited by relatively low bearing capacity of a ball screw and relatively low power and output torque of a servo motor.
Description
Technical field
What the present invention relates to is a kind of device of metal forming machinery technical field, specifically is a kind of multi-connecting rod servo press for four-motor parallel drive machine.
Background technology
Forcing press is a widely used forging equipment in the metal forming manufacture field, and kind and quantity are various, wherein are most widely used with punching machine.The demand for development forcing press of Modern Manufacturing Technology not only can be at a high speed, high accuracy, heavy load running, and should have bigger flexibility, can change the output movement rule rapidly, easily.Traditional punching machine kinetic characteristic is single, technology is poor for applicability.In recent years along with the progressively development of AC servo machinery driving Forming Equipments technology, the adjustable various AC servo driving pressure machines of slide block movement curve have appearred, make the service behaviour and the technology applicability of forcing press improve greatly, equipment develops towards flexibility, intelligentized direction.
The standard machinery forcing press is general to adopt various mechanical transmission mechanism to obtain the required slide block movement rule of technology, to satisfy different technological requirements.Traditional punching machine obtain some and satisfy the typical motion rule that Sheet Metal Forming Technology requires, but a kind of organization plan can't satisfy the requirement of multiple typical motion rule by selecting the suitable executing agency and the size of member thereof.Though adopt offset slider-crank mechanism, multi-connecting-rod mechanism, non-circular gear mechanism etc. can partly change the slide block movement rule of certain driving mechanism, but after the dimensional parameters of each rod member is determined, the kinetic characteristic of slide block is also determined thereupon, thereby do not have flexibility, be difficult to use in different Sheet Metal Forming Technologies.The research that AC servomotor is applied to punching machine starts from ERC of the Ohio State Univ-Columbus USA nineties in last century, this center S.Yossifon and R.Shivpuri has proposed to drive ball-screw or crank by AC servomotor, by multi-bar linkage with conversion of motion be the required motion of slide block it can the utmost point change the curve movement of slide block easily, obtain different workpiece deformation speed, be applicable to different Sheet Metal Forming Technologies, guarantee the quality of stamping parts.Afterwards, the research that AC servomotor is applied to punching machine develops rapidly, and states such as Japan, Canada have all carried out deep research, and companies such as Japanese Xiao Song and meeting field have developed the driving forcing press of AC servomotor separately respectively.Wherein, the famous komatsu company of forcing press production firm of Japan is referred to as the forcing press with " free motion ", realize the required various curve movements of technology by working out different programs, developed different product of 3 generations: HCP3000 in 1998, the H2F of calendar year 2001, H4F series and H1F series in 2002.The AC servo machinery driving forcing press is the new trend of Forming Equipments development, is the inexorable trend of equipment flexibility development.
Because the forming pressure that the AC servo machinery driving forcing press needs when not having the flywheel stored energy to overcome the forging and pressing workpiece for reaching required nominal pressure value, often can realize certain boosting function by transmission mechanisms such as multi-connecting-rod mechanisms.Be subjected to ball-screw bearing capacity and servomotor power and the less restriction of output torque,, be difficult to make up the large-tonnage forcing press though elbow-bar mechanism has big force increasing ratio.
Find through retrieval prior art, the HCP3000 of komatsu company, servomotor drives ball-screw by transmission mechanisms such as belts, directly drives Punching slider by nut, and its nominal pressure only reaches 800kN, by two 12kW driven by servomotor.The H1F200 of komatsu company, servomotor drives crank by transmission mechanisms such as belt or gears, drives Punching slider by multi-connecting-rod mechanism again, and its nominal pressure reaches 2000kN, by a 52kW driven by servomotor.The H2F300 of komatsu company, servomotor drives ball-screw by transmission mechanisms such as belt or gears, drives Punching slider by multi-connecting-rod mechanism again, and its nominal pressure reaches 3000kN, by two 100kW driven by servomotor.
Investigating existing servo-pressing machine driving mechanism can find, angle from theory of mechanisms, the transmission mechanism of above-mentioned forcing press all is the serial mechanism of single-degree-of-freedom, and servomotor directly or by executing agency's (multi-connecting-rod mechanism) drives Punching slider with the rotation (crank) or (ball-screw) mode of moving.Mechanism with single degree of freedom realizes determining that the principle of motion is to use a servomotor to drive.The servo-pressing machine driving mechanism that has adopts two servomotor redundant drive, but that these two servomotors must guarantee is synchronous constantly, to avoid importing the asynchronous movement interference that causes.Though can increase input power like this, increase the forming pressure of press, increased the difficulty of control strategy, and the bad stability of control, any error originated from input all can cause the driving mechanism can't operate as normal even be damaged.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of multi-connecting rod servo press for four-motor parallel drive machine is provided, between servomotor and multi-connecting-rod mechanism, increase a driving mechanism in parallel, driving slide block (moving sets) with the driven by servomotor ball-screw is input, adopt parallel institution to coordinate the motion of a plurality of slide blocks, the output of parallel institution then is the slide block rectilinear motion of single-degree-of-freedom, drives the multi-connecting-rod mechanism with boosting function again, drives Punching slider work at last.
The present invention is achieved by the following technical solutions, the present invention includes: frame, straight line driving mechanism, parallel institution, elbow-bar mechanism and Punching slider, wherein: described straight line driving mechanism is identical two groups of structure, described parallel institution is a two-freedom-degree parallel mechanism, two groups of straight line driving mechanisms are connected with two-freedom-degree parallel mechanism respectively, elbow-bar mechanism is connected with Punching slider with two-freedom-degree parallel mechanism respectively, and frame is socketed on the outside of driving mechanism and Punching slider;
Described straight line driving mechanism comprises: two servomotors, two driving leading screws, a mechanical coordination device and a driving slide block, wherein: servomotor is fixedlyed connected with the driving leading screw, and driving slide block and mechanical coordination device parallel sleeve respectively are connected on two driving leading screws;
Described two-freedom-degree parallel mechanism comprises: two compound side chains and a moving platform, and wherein: an end of two compound side chains is connected with the driving slide block of two straight line driving mechanisms respectively, and the other end is connected with moving platform simultaneously.
Described compound side chain is meant: two drive links that same structure be arranged in parallel.
Described elbow-bar mechanism comprises: six roots of sensation connecting rod and two input slide blocks of being symmetricly set in the both sides of moving platform, wherein: the coaxial connection of an end of three connecting rods, the other end of three connecting rods is connected with Punching slider with input slide block, a frame respectively, and the input slide block is fixedlyed connected with moving platform.
Be connected by moving horizontally pair between the output moving platform of the two-freedom-degree parallel mechanism that the present invention adopts and the input slide block of symmetrical elbow-bar mechanism.The input slide block of symmetry elbow-bar mechanism can only vertically move, and by having the elbow-bar mechanism of boosting function, drives its public output (Punching slider), thereby realizes the forging and pressing processing action of Punching slider.
The present invention adopts elbow-bar mechanism to have big force increasing ratio, adopts symmetric arrangement can improve the anti-bias load ability simultaneously, reduces the load of Punching slider to guide rail, precision that can the long term maintenance forcing press.Simultaneously, symmetrical elbow-bar mechanism can be offset public input and the suffered horizontal side force of output, reduces the wearing and tearing of guide rail and the distortion of frame.Therefore, motion and torque that driving mechanism in parallel of the present invention will come from four clothes motors are converted into single output, transmit, synthesize on Punching slider, make the bigger forming pressure of whole drive system output, make the control difficulty reduce relatively owing to have the motion fault tolerance, and motion that can be by the control servomotor is to realize different Forging Technologies.
The present invention is simple in structure, control is easy, low cost of manufacture, and can fine solution existing servo-pressing machine is subjected to ball-screw bearing capacity and servomotor power and the less restriction of output torque and can't makes up the problem of large-tonnage servo-pressing machine.Do not see as yet both at home and abroad at present and be similar to the bibliographical information that four-motor parallel of the present invention drives servo-pressing machine.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is a straight line driving mechanism schematic diagram of the present invention.
Fig. 3 is a structural profile schematic diagram of the present invention.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: frame 1, first straight line driving mechanism 2, first guide rail 3, parallel institution 4, the 3rd guide rail 5, elbow-bar mechanism 6, the 4th guide rail 7, Punching slider 8, second guide rail 9, second straight line driving mechanism 10, wherein: first straight line driving mechanism 2, the output of second straight line driving mechanism 10 is respectively as the input of parallel institution 4, adopt moving sets to connect between the input of the output of parallel institution 4 and elbow-bar mechanism 6, Punching slider 8 is as the output of elbow-bar mechanism 6, and frame 1 is socketed on the outside of above-mentioned driving mechanism and Punching slider.
As shown in Figure 2, described straight line driving mechanism 2 has identical structure with 10, comprise: first servomotor 11, second servomotor 18, first drive leading screw 12 and supporting nut 14, second thereof and drive leading screw 17 and supporting nut thereof 16, mechanical coordination device 13 and one and drive slide block 15, wherein: first drives leading screw 12 is connected with frame 1 with first servomotor 11, second servomotor 18 respectively with second two ends that drive leading screw 17, and the two ends of two supporting nuts 14,16 are connected with mechanical coordination device 13 with driving slide block 15 respectively.
As shown in Figure 3, described parallel institution 4 comprises: the first compound side chain that is made of two identical drive links 19, the second compound side chain and the output moving platform 27 that are made of two identical drive links 28, wherein: the two ends of the first compound side chain are connected with moving platform 27 with the driving slide block 15 of first straight line driving mechanism 2 respectively, and the two ends of the second compound side chain are connected with moving platform 27 with the driving slide block 15 of second straight line driving mechanism 10 respectively.
As shown in Figure 3, described elbow-bar mechanism 6 is meant symmetrical six-bar mechanism, it uses common input and output, comprise first connecting rod 20, second connecting rod 21, third connecting rod 22, the 4th connecting rod 23, the 5th connecting rod 24 and the 6th connecting rod 25, input slide block 26 and Punching slider 8 (output slide block), wherein: first connecting rod 20, one end of second connecting rod 21 and third connecting rod 22 is connected with a public revolute pair, the other end respectively with the input slide block 26, frame 1 is connected with Punching slider 8, the 4th connecting rod 23, one end of the 5th connecting rod 24 and the 6th connecting rod 25 is connected with a public revolute pair, the other end respectively with Punching slider 8, input slide block 26 is connected with frame 1.
The operation principle of present embodiment is as follows: four servomotors rotate by setting the characteristics of motion, promote the driving slide block 15 of first straight line driving mechanism 2 and second straight line driving mechanism 10, move along first guide rail 3 and second guide rail 9 respectively, and then the driving slide block 15 of first straight line driving mechanism 2 is by the first compound side chain, the driving slide block 15 of second straight line driving mechanism 10 is by the second compound side chain, the common moving platform 27 that drives moves, moving platform 27 drives slide block 26 by moving sets and moves along the 3rd guide rail 5, slide block 26 drives symmetrical elbow-bar mechanism 6 then, thereby realizes the forging action that Punching slider 8 moves up and down along the 4th guide rail 7.Thus, the motion and the power transmission that come from four servomotors are synthesized on Punching slider, finish forging and pressing work.
Claims (3)
1. multi-connecting rod servo press for four-motor parallel drive machine, comprise: frame, straight line driving mechanism, parallel institution, elbow-bar mechanism and Punching slider, it is characterized in that: described straight line driving mechanism is identical two groups of structure, described parallel institution is a two-freedom-degree parallel mechanism, two groups of straight line driving mechanisms are connected with two-freedom-degree parallel mechanism respectively, elbow-bar mechanism is connected with Punching slider with two-freedom-degree parallel mechanism respectively, and frame is socketed on the outside of driving mechanism and Punching slider;
Described straight line driving mechanism comprises: two servomotors, two driving leading screws, a mechanical coordination device and a driving slide block, wherein: servomotor is fixedlyed connected with the driving leading screw, and driving slide block and mechanical coordination device parallel sleeve respectively are connected on two driving leading screws;
Described two-freedom-degree parallel mechanism comprises: two compound side chains and a moving platform, and wherein: an end of two compound side chains is connected with the driving slide block of two straight line driving mechanisms respectively, and the other end is connected with moving platform simultaneously.
2. multi-connecting rod servo press for four-motor parallel drive machine according to claim 1 is characterized in that, described compound side chain is meant: two drive links that same structure be arranged in parallel.
3. multi-connecting rod servo press for four-motor parallel drive machine according to claim 1, it is characterized in that, described elbow-bar mechanism comprises: six roots of sensation connecting rod and two input slide blocks of being symmetricly set in the both sides of moving platform, wherein: the coaxial connection of an end of three connecting rods, the other end of three connecting rods is connected with Punching slider with input slide block, a frame respectively, and the input slide block is fixedlyed connected with moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010132634 CN101786133A (en) | 2010-03-26 | 2010-03-26 | Multi-connecting rod servo press for four-motor parallel drive machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010132634 CN101786133A (en) | 2010-03-26 | 2010-03-26 | Multi-connecting rod servo press for four-motor parallel drive machine |
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| CN101786133A true CN101786133A (en) | 2010-07-28 |
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| CN 201010132634 Pending CN101786133A (en) | 2010-03-26 | 2010-03-26 | Multi-connecting rod servo press for four-motor parallel drive machine |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102172759A (en) * | 2010-01-07 | 2011-09-07 | 上海交通大学 | Mechanical multi-link servo press driven by six parallelly-connected motors |
| CN102172760A (en) * | 2011-03-02 | 2011-09-07 | 上海交通大学 | Crank-input multilink press driven by four servo motors in parallel |
| CN102228950A (en) * | 2011-05-31 | 2011-11-02 | 上海交通大学 | Multi-connecting rod press machine driven by two paralleled servo motors |
| CN102275320A (en) * | 2011-08-31 | 2011-12-14 | 南京理工大学 | High-speed pressure machine |
| CN102328448A (en) * | 2011-09-30 | 2012-01-25 | 上海交通大学 | Multi-connecting-rod mechanical press with driven by three parallel servo motor inputs |
| CN102412657A (en) * | 2011-11-24 | 2012-04-11 | 上海交通大学 | Mechanical coordination redundancy fault-tolerant drive device |
| CN102514217A (en) * | 2011-11-28 | 2012-06-27 | 上海交通大学 | Twelve-servo motor input parallel driving multi-connecting-rod mechanical press machine |
| CN104325673A (en) * | 2013-07-22 | 2015-02-04 | 菲特压片机械有限公司 | Press for producing a pellet from powdered material |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN105171094A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Two-degree-of-freedom mechanical controllable main movement mechanism of shaping machine |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN109703090A (en) * | 2019-02-27 | 2019-05-03 | 河南科技大学 | A kind of hydraulic press with pressurization |
| CN110280634A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | Crank screw rod composite drive machine for press-bending metal sheet with multiple-working mode |
| CN110588037A (en) * | 2019-10-15 | 2019-12-20 | 惠州市高元利五金制品有限公司 | Stamping device for casting machining |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102172759A (en) * | 2010-01-07 | 2011-09-07 | 上海交通大学 | Mechanical multi-link servo press driven by six parallelly-connected motors |
| CN102172759B (en) * | 2010-01-07 | 2013-07-03 | 上海交通大学 | Mechanical multi-link servo press driven by six parallelly-connected motors |
| CN102172760B (en) * | 2011-03-02 | 2013-03-20 | 上海交通大学 | Crank-input multilink press driven by four servo motors in parallel |
| CN102172760A (en) * | 2011-03-02 | 2011-09-07 | 上海交通大学 | Crank-input multilink press driven by four servo motors in parallel |
| CN102228950A (en) * | 2011-05-31 | 2011-11-02 | 上海交通大学 | Multi-connecting rod press machine driven by two paralleled servo motors |
| CN102228950B (en) * | 2011-05-31 | 2013-07-03 | 上海交通大学 | Multi-connecting rod press machine driven by two paralleled servo motors |
| CN102275320A (en) * | 2011-08-31 | 2011-12-14 | 南京理工大学 | High-speed pressure machine |
| CN102275320B (en) * | 2011-08-31 | 2015-11-18 | 南京理工大学 | High-speed blanking press |
| CN102328448A (en) * | 2011-09-30 | 2012-01-25 | 上海交通大学 | Multi-connecting-rod mechanical press with driven by three parallel servo motor inputs |
| CN102328448B (en) * | 2011-09-30 | 2015-04-01 | 上海交通大学 | Multi-connecting-rod mechanical press driven by three parallel servo motor inputs |
| CN102412657A (en) * | 2011-11-24 | 2012-04-11 | 上海交通大学 | Mechanical coordination redundancy fault-tolerant drive device |
| CN102412657B (en) * | 2011-11-24 | 2013-12-18 | 上海交通大学 | Mechanical coordination redundancy fault-tolerant drive device |
| CN102514217A (en) * | 2011-11-28 | 2012-06-27 | 上海交通大学 | Twelve-servo motor input parallel driving multi-connecting-rod mechanical press machine |
| CN102514217B (en) * | 2011-11-28 | 2015-01-14 | 上海交通大学 | Twelve-servo motor input parallel driving multi-connecting-rod mechanical press machine |
| CN104325673A (en) * | 2013-07-22 | 2015-02-04 | 菲特压片机械有限公司 | Press for producing a pellet from powdered material |
| CN104325673B (en) * | 2013-07-22 | 2016-08-24 | 菲特压片机械有限公司 | For being manufactured the forcing press of stampings by dusty material |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN105171094A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Two-degree-of-freedom mechanical controllable main movement mechanism of shaping machine |
| CN107081672A (en) * | 2017-06-26 | 2017-08-22 | 北京交通大学 | A kind of parallel lapping device |
| CN107081672B (en) * | 2017-06-26 | 2019-10-22 | 北京交通大学 | A kind of parallel grinding device |
| CN109703090A (en) * | 2019-02-27 | 2019-05-03 | 河南科技大学 | A kind of hydraulic press with pressurization |
| CN110280634A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | Crank screw rod composite drive machine for press-bending metal sheet with multiple-working mode |
| CN110588037A (en) * | 2019-10-15 | 2019-12-20 | 惠州市高元利五金制品有限公司 | Stamping device for casting machining |
| CN110588037B (en) * | 2019-10-15 | 2021-09-10 | 惠州市高元利五金制品有限公司 | Stamping device for casting machining |
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