CN101863132B - Mechanical servo drive main transmission device for digital turrent punch press - Google Patents

Mechanical servo drive main transmission device for digital turrent punch press Download PDF

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Publication number
CN101863132B
CN101863132B CN2010101858327A CN201010185832A CN101863132B CN 101863132 B CN101863132 B CN 101863132B CN 2010101858327 A CN2010101858327 A CN 2010101858327A CN 201010185832 A CN201010185832 A CN 201010185832A CN 101863132 B CN101863132 B CN 101863132B
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CN
China
Prior art keywords
pair
connecting rod
platform
moving platform
kinematic pair
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Expired - Fee Related
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CN2010101858327A
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Chinese (zh)
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CN101863132A (en
Inventor
刘辛军
汪劲松
谢福贵
陈祥
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Tsinghua University
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Tsinghua University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B30PRESSES
    • B30BPRESSES IN GENERAL
    • B30B1/00Presses, 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
    • B30B1/008Presses, 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 a rod swinging between a fixed plane and the ram

Abstract

The invention relates to a mechanical servo drive main transmission device for a digital turrent punch press and belongs to the field of machine manufacturing. The device comprises a static platform, a dynamic platform provided with a punching head, first and second branch chains connected between the dynamic platform and the static platform, a guide sleeve which is fixedly connected with the static platform and limits the motion direction of the dynamic platform, a motion pair and a servo motor; both the first branch chain and the second branch chain have a moving pair or rotation pair which is actively driven by the servo motor; the two driving modes require different structure forms of the first and second branch chains; the motion pair between the dynamic platform and the guide sleeve is a following cylinder pair or moving pair; and the dynamic platform, the static platform, the guide sleeve and the first and second branch chains are connected to form the mechanical servo drive main transmission device for realizing the single degree of freedom punching motion in a direction allowed by the guide sleeve. The device has the advantages of simple structure, low manufacturing cost, high rigidity, high dynamic property, quick response, easy high-speed high-precision punching task realization, and the like.

Description

A kind of mechnical servo that is used for NC turret punch machine drives main drive
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of mechnical servo that is applied to NC turret punch machine drives main drive.
Background technology
Mechanical servo numerical control turret punching machine be automatic replacing and the sheet material of a kind of automatic transport of accomplishing plate, punch die the high efficiency Precision Machining, be suitable for the pressing equipment of the servo Punching Technology of thin plate continuous high speed; But high-efficiency and precision is processed various sheet-metal press working parts; Its essential characteristic is high efficiency, high accuracy, energy-saving and environmental protection and automation, has represented the developing direction of NC turret punch machine.Key technologies such as thermal balance technology under mechanical servo numerical control turret punching machine collection complete machine structure optimisation technique, servo-drive main transmission technology, servo-drive punching press control technology, feeding Mechanism Design and control technology, servo main transmission run up and digital control system integrated intelligence technology are one; Possess automatically, at a high speed, accurate three essential characteristics; Being widely used in high-tech areas such as Aero-Space, automobile, generating equipment, information, household electrical appliances, is one of great equipment for guaranteeing the necessary independent research of economy and national defense safety.
At present; High-speed hydraulic punch systems or the main transmission of common electric machine machinery are adopted in the punching press main transmission of NC turret punch machine more; The NC turret punch machine of hydraulic pressure main transmission or the main transmission of common electric machine machinery needs only start, the running that main motor will not stop a moment, and the dry run consumed power is more.The servo valve of hydraulic system control oil circuit is high to the requirement of oil product, and hydraulic oil needs periodic replacement, will guarantee also that in maintenance process oil circuit is not contaminated.During lathe work, the impact noise when the high-pressure oil passage valve commutates at a high speed is bigger.
Compare with hydraulic pressure main transmission NC turret punch machine, mechanical servo numerical control turret punching machine has energy-saving and environmental protection and safeguards simple, reliability advantages of higher.The external punch press producer hydraulic pressure main transmission NC turret punch machine that progressively stops production, then the NC turret punch machine of mechnical servo main transmission only is provided.Compare with the main transmission of common electric machine machinery, the main transmission of servomotor machinery has absolute predominances such as high speed, high accuracy, high energy saving and stroke be variable, is that the upgrading in the epoch of striding is technological.
Commercialization manufacturing machine servo digital control rotating tower punch producer mainly contains the field, Tian Tianhe village of Japan, the fragrant treasured of Finland in the world, and wherein the sales volume in day field is maximum, description is also more.The frame for movement of the servo main transmission punch press of EM series mechanical in it field is the simplest, and the mechanical transmission structure with traditional bent axle, connecting rod, vertical slipper is identical basically.With the high-power servo principal axis motor of customization, common electric machine and flywheel in the traditional mechanical structure have been replaced at crankshaft two end.Its shortcoming is that the servo principal axis motor cost of customization is very high, and the electrical control that the forward and reverse rotation of low-angle drives requires high (journey contrast in a state of excitement of identical step, the motor corner of EM is less).In view of the foregoing; It field company has developed the relatively punch press of the economic servo main transmission of AC series mechanical again; Wherein servomotor has adopted the high-power servomotor of little inertia of digital control system manufacturer standard configuration, and motor directly drives great lead ball lead screw through safety coupling; Leading screw drives cross sliding clock and makes horizontal reciprocating movement; Cross sliding clock is made the reciprocally swinging of certain angle through hinge coupling bar driven rotary lever; Rotating lever drives the ramming motion that vertical slipper is realized above-below direction.This has also brought new problem: the motor transformational relation calculation of complex that moves up and down with vertical slipper that rotatablely moves, and that electrical control requires is high, difficulty is big, and stroke is little at full capacity.
The mechnical servo main transmission structure in field, village has adopted the other toggle rod type reinforcement drive mechanism of putting crank, and servomotor drives the crank rotation through high-power reduction box; Crank drivening rod, connecting rod drive the toggle link swing; Toggle link drives the ramming motion that vertical slipper produces above-below direction.Its shortcoming is: crank adds the transformational relation calculation of complex that moves up and down of the dual stack generation vertical slipper of toggle link, and frame for movement is complicated, and the desired height size is bigger.
The servo main transmission structure of fragrant precious E series has adopted the ball-screw of big helical pitch to promote the horizontal movement that cross sliding clock is made prime, and the back level is transformed into vertical slipper when moving up and down, and fragrant treasured has adopted more simple voussoir, roll shaft structure.Therefore, required motor power is bigger, and the dynamic characteristic of motor is had relatively high expectations.
Summary of the invention
The objective of the invention is in order to overcome the weak point of prior art; Propose a kind of mechnical servo that is applied to NC turret punch machine and drive main drive, that this device has is simple in structure, low cost of manufacture, rigidity is high, dynamic characteristic is good, response is fast and be easy to realize high-speed, high precision punching press task dispatching advantage.
The present invention proposes a kind of mechnical servo that is used for NC turret punch machine and drives main drive, comprise fixed platform, an installation drift moving platform, connect first, second side chain and guide pin bushing, kinematic pair and the servomotor of a qualification moving platform direction of motion that is fixedly connected with said fixed platform between said moving platform and the fixed platform; This first, second side chain all contains a kinematic pair by the servomotor active drive; And this kinematic pair can be the moving sets by the servomotor active drive; It also can be revolute pair by the servomotor active drive; The rod member of first, second side chain that these two kinds of type of drive are required and the quantity of kinematic pair are different with version; Kinematic pair between said moving platform and the guide pin bushing is the cylindrical pair or the moving sets of servo-actuated, and said moving platform, fixed platform, guide pin bushing and first, second side chain connect and compose this mechnical servo and drive main drive, realizes allowing along guide pin bushing the single-degree-of-freedom ramming motion of direction.
The present invention proposes the mechnical servo driving main drive that another kind is used for NC turret punch machine; It is characterized in that: this device comprise fixed platform, an installation drift moving platform, connect first, second side chain and guide pin bushing, the kinematic pair of a qualification moving platform direction of motion that is fixedly connected with said fixed platform between said moving platform and the fixed platform, and servomotor; Said first, second side chain comprises crank, goes up connecting rod, slide block, connecting rod; Said kinematic pair has seven: one is the revolute pair that is connected between fixed platform and the crank, and this revolute pair is by the servomotor active drive; One is the kinematic pair that is connected between crank and the last connecting rod, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the kinematic pair that is connected between connecting rod and the slide block, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the moving sets that is connected between fixed platform and the slide block; One is the kinematic pair that is connected between slide block and the connecting rod; One is to be connected in kinematic pair between connecting rod and the moving platform; One is moving sets or the cylindrical pair that is connected between guide pin bushing and the moving platform.
Characteristics of the present invention and technique effect
A kind of mechnical servo that is applied to NC turret punch machine that the present invention proposes drives main drive; Adopt two servomotors to realize the ramming motion of single-degree-of-freedom respectively through the variable side chain driven in synchronism moving platforms of two version, have simple in structure, low cost of manufacture, rigidity is high, dynamic characteristic is good, response is fast and be easy to realize high-speed, high precision punching press task dispatching advantage.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1.
Fig. 2 is the supplementary notes sketch map of the embodiment of the invention 1.
Fig. 3 is the structural representation of the embodiment of the invention 2.
The specific embodiment
A kind of mechnical servo that is used for NC turret punch machine of the present invention drives main drive and combines accompanying drawing and embodiment to specify as follows:
The present invention proposes a kind of mechnical servo that is used for NC turret punch machine and drives main drive, it is characterized in that: this device comprise fixed platform, an installation drift moving platform, connect first, second side chain and guide pin bushing (guide pin bushing and fixed platform are all fixed with lathe bed), kinematic pair and the servomotor of a qualification moving platform direction of motion that is fixedly connected with said fixed platform between said moving platform and the fixed platform; Said first, second side chain comprises slide block, connecting rod; Said kinematic pair has four: one is the moving sets that is connected between fixed platform and the slide block, and this moving sets is by the servomotor active drive; One is the kinematic pair that is connected between slide block and the connecting rod; One is to be connected in kinematic pair between connecting rod and the moving platform; One is moving sets or the cylindrical pair that is connected between guide pin bushing and the moving platform.
Being connected in the connecting rod of said first, second side chain does not overlap with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between a kinematic pair in the kinematic pair be revolute pair, another is revolute pair, Hooke's hinge or ball pivot.
Being connected in the connecting rod of said first, second side chain overlaps with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between kinematic pair all be revolute pair, Hooke's hinge or ball pivot.
The present invention proposes the mechnical servo driving main drive that another kind is used for NC turret punch machine; It is characterized in that: this device comprise fixed platform, an installation drift moving platform, connect first, second side chain and guide pin bushing (guide pin bushing and fixed platform are all fixed with lathe bed), the kinematic pair of a qualification moving platform direction of motion that is fixedly connected with said fixed platform between said moving platform and the fixed platform, and servomotor; Said first, second side chain comprises crank, goes up connecting rod, slide block, connecting rod, and servomotor; Said kinematic pair has seven: one is the revolute pair that is connected between fixed platform and the crank, and this revolute pair is by the servomotor active drive; One is the kinematic pair that is connected between crank and the last connecting rod, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the kinematic pair that is connected between connecting rod and the slide block, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the moving sets that is connected between fixed platform and the slide block; One is the kinematic pair that is connected between slide block and the connecting rod; One is to be connected in kinematic pair between connecting rod and the moving platform; One is moving sets or the cylindrical pair that is connected between guide pin bushing and the moving platform.
Being connected in the connecting rod of said first, second side chain does not overlap with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between a kinematic pair in the kinematic pair be revolute pair, another is revolute pair, Hooke's hinge or ball pivot.
Being connected in the connecting rod of said first, second side chain overlaps with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between kinematic pair all be revolute pair, Hooke's hinge or ball pivot.
Embodiment 1:
The structure that a kind of mechnical servo that is used for NC turret punch machine of present embodiment drives main drive is as shown in Figure 1, comprises guide pin bushing 11 (guide pin bushing 11 and fixed platform 15,16 are all fixed with lathe bed), kinematic pair and the servomotor of moving platform 12, the said moving platform 12 of connection and fixed platform 15, first, second side chain between 16 and qualification moving platform 12 directions of motion that are fixedly connected with said fixed platform 15,16 of 15,16, installation drifts of fixed platform; Said first, second side chain comprises: slide block 14,17 and connecting rod 13,18; Said kinematic pair has four: one is to be connected in fixed platform 15,16 and slide block 14, the moving sets between 17, and this moving sets is by the servomotor active drive; One is to be connected in slide block 14,17 and connecting rod 13, the revolute pair between 18; One is to be connected in revolute pair between connecting rod 13,18 and the moving platform 12; One is the cylindrical pair that is connected between guide pin bushing 11 and the moving platform 12.
The pivot center of two revolute pairs between the connecting rod 13,18 that is connected in said first, second side chain and the said moving platform 12 does not overlap; Saidly be connected in slide block 14,17 and connecting rod 13, the revolute pair between 18 and of being connected in the revolute pair between connecting rod 13,18 and the moving platform 12 also can be Hooke's hinge or ball pivot.
Be connected in the connecting rod 13,18 of said first, second side chain in the present embodiment and also can overlap with two revolute pair turning cylinders between the said moving platform 12, as shown in Figure 2, the moving platform 12 that promptly replaces among Fig. 1 by moving platform among Fig. 2 121; The said revolute pair that is connected in slide block 14,17 and connecting rod 13, the revolute pair between 18 and is connected between connecting rod 13,18 and the moving platform 121 is all gone back Hooke's hinge or ball pivot
The cylindrical pair that is connected between said guide pin bushing 11 and the said moving platform 12 also can be a moving sets.
Embodiment 2:
Present embodiment a kind of is used for the NC turret punch machine mechnical servo, and to drive the structure of main drive as shown in Figure 3; Comprise fixed platform 24, fixed platform 27, an installation drift moving platform 212, connect guide pin bushing 213 (guide pin bushing 213 and fixed platform 24,27 are all fixed with lathe bed), the kinematic pair of said moving platform 212 and fixed platform 24, first, second side chain between 27 and qualification moving platform 212 directions of motion that are fixedly connected with said fixed platform 24,27 and servomotor 23,28; Said first, second side chain comprises: crank 22, crank 29, last connecting rod 21, last connecting rod 210, slide block 25, slide block 26, connecting rod 211, connecting rod 214; Said kinematic pair has seven: one is to be connected in fixed platform 24,27 and crank 22, the revolute pair between 29, and this revolute pair is by servomotor 23,28 active drive; One is to be connected in crank 22,29 and last connecting rod 21, the revolute pair between 210; One is to be connected in connecting rod 21,210 and slide block 25, the revolute pair between 26; One is to be connected in fixed platform 24,27 and slide block 25, the moving sets between 26; One is to be connected in slide block 25,26 and connecting rod 211, the revolute pair between 214; One is to be connected in revolute pair between connecting rod 211,214 and the moving platform 212; One is the cylindrical pair that is connected between guide pin bushing 213 and the moving platform 212.
Be connected in said crank 22,29 in the present embodiment and saidly go up connecting rod 21, the revolute pair between 210 can be Hooke's hinge or ball pivot; Being connected in said upward connecting rod 21,210 and said slide block 25, the revolute pair between 26 can be Hooke's hinge or ball pivot.
The pivot center of two revolute pairs between the connecting rod 211,214 that is connected in said first, second side chain in the present embodiment and the said moving platform 212 does not overlap; Saidly be connected in slide block 25,26 and connecting rod 211, the revolute pair between 214 and of being connected in the revolute pair between connecting rod 211,214 and the moving platform 212 also can be Hooke's hinge or ball pivot.
The pivot center of two revolute pairs between the connecting rod 211,214 that is connected in said first, second side chain in the present embodiment and the said moving platform 212 overlaps, and is as shown in Figure 2, the moving platform 212 that is promptly replaced among Fig. 3 by moving platform among Fig. 2 121; The said revolute pair that is connected in slide block 25,26 and connecting rod 211, the revolute pair between 214 and is connected between connecting rod 211,214 and the moving platform 212 all can also be Hooke's hinge or ball pivot.
The cylindrical pair that is connected between said guide pin bushing 213 and the said moving platform 212 also can be a moving sets.
More than the arrangement of the fixed platform 15,16,24,27 described in each embodiment all can convert vertical layout into by the horizontal arrangement shown in the figure.

Claims (3)

1. a mechnical servo that is used for NC turret punch machine drives main drive; It is characterized in that: this device comprise fixed platform, an installation drift moving platform, connect first, second side chain and guide pin bushing, the kinematic pair of a qualification moving platform direction of motion that is fixedly connected with said fixed platform between said moving platform and the fixed platform, and servomotor; Said first, second side chain comprises crank, goes up connecting rod, slide block, connecting rod; Said kinematic pair has seven: one is the revolute pair that is connected between fixed platform and the crank, and this revolute pair is by the servomotor active drive; One is the kinematic pair that is connected between crank and the last connecting rod, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the kinematic pair that is connected between connecting rod and the slide block, and this kinematic pair is revolute pair, Hooke's hinge or ball pivot; One is the moving sets that is connected between fixed platform and the slide block; One is the kinematic pair that is connected between slide block and the connecting rod; One is to be connected in kinematic pair between connecting rod and the moving platform; One is moving sets or the cylindrical pair that is connected between guide pin bushing and the moving platform.
2. mechnical servo as claimed in claim 1 drives main drive, it is characterized in that, is connected in the connecting rod of said first, second side chain and does not overlap with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between a kinematic pair in the kinematic pair be revolute pair, another is revolute pair, Hooke's hinge or ball pivot.
3. mechnical servo as claimed in claim 1 drives main drive, it is characterized in that, is connected in the connecting rod of said first, second side chain and overlaps with two kinematic pairs between the said moving platform; Said be connected in the kinematic pair between slide block and the connecting rod and be connected in connecting rod and moving platform between kinematic pair all be revolute pair, Hooke's hinge or ball pivot.
CN2010101858327A 2010-05-21 2010-05-21 Mechanical servo drive main transmission device for digital turrent punch press Expired - Fee Related CN101863132B (en)

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CN102319785B (en) * 2011-08-02 2013-06-05 济南铸造锻压机械研究所有限公司 Single-action type variable length connecting rod and crank-connecting rod transmission mechanism
CN102581158B (en) * 2012-03-09 2013-11-06 东北大学 Three-drive six-connecting-rod jig and wall board pressing-bending-shaping machine with the jig
CN102990654B (en) * 2012-12-27 2015-08-26 广西大学 A kind of parallel institution containing two pprrr closed-loop subchain
CN103071723B (en) * 2013-01-21 2015-06-24 清华大学 Main transmission device of mechanical servo numerical-control turret punching machine
CN106426096B (en) * 2016-10-25 2018-11-20 浙江理工大学 A kind of one mobile parallel connection mechanism of rotation of big corner two
CN112847417B (en) * 2020-12-31 2022-07-29 洛阳尚奇机器人科技有限公司 Mechanical arm tail end execution device
CN113443048A (en) * 2021-08-05 2021-09-28 重庆爱特佳自动化控制股份有限公司 Short-stroke large-thrust jacking mechanism and AGV trolley with same

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JP4880956B2 (en) * 2005-09-13 2012-02-22 株式会社アミノ Press drive device
CN101073924A (en) * 2007-06-15 2007-11-21 西安交通大学 Transmission system of servo-driven double-angle lever mechanical press of switch magnetic reluctant motor
CN201092120Y (en) * 2007-09-07 2008-07-30 济南汇力数控机械有限公司 Crank-connecting rod and punch press main drive unit with multi-rod drive structure

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