CN102126301A - Triangular toggle-rod working mechanism of servo mechanical press and optimized design method thereof - Google Patents
Triangular toggle-rod working mechanism of servo mechanical press and optimized design method thereof Download PDFInfo
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Abstract
The invention discloses a triangular toggle-rod working mechanism of a servo mechanical press and an optimized design method thereof. The triangular toggle-rod working mechanism comprises a crank AB, a connecting rod BCE, an upper toggle rod CD and a lower toggle rod EF, wherein a sliding block is established by a point F, the upper toggle rod CD and the lower toggle rod EF are unequal in length, the upper toggle rod CD is shorter than the lower toggle rod EF, a point D and the point F are located on a vertical line, and points B, C and E are used for establishing the triangular connecting rod BCE. In the invention, because symmetrical toggle rods are modified into unsymmetrical toggle rods and a linear connecting rod is modified into a triangular connecting rod, the triangular toggle-rod working mechanism has a higher force increasing ratio and can greatly decrease the driving torque required by the crank under the condition of guaranteeing compact machine-body mechanism, sufficient sliding-block stroke and single sliding-block movement downstream, thereby lowering the capacity and cost of a servo motor. The triangular toggle-rod working mechanism of the servo mechanical press, designed by the invention, is simple and convenient to use, has a reasonable structure and is convenient and practical.
Description
Technical field
The present invention is a kind of servounit forcing press triangle toggle link operating mechanism and Optimization Design thereof, belongs to the innovative design of mechanical transmission fields.
Background technology
The standard machinery forcing press generally adopts ordinary ac asynchronous motor to drive, and adopts large-scale flywheel energy storage; And the servounit forcing press replaces AC asynchronous motor with AC servomotor, and cancellation flywheel, not only can simplify driving-chain, the automation of raising equipment, intelligent level and functional reliability, also can save energy significantly, reduce noise, energy-saving and emission-reduction have crucial meaning to manufacturing industry.The servounit forcing press is not owing to there is flywheel, and operating pressure mainly produces by the instantaneous torque of motor, thereby the drive motor capacity is much bigger than ordinary press.The employing of big capacity servomotor causes the equipment manufacturing cost height, becomes the big obstacle that the servounit forcing press is applied.
By improvement mechanism, increase the force increasing ratio of operating mechanism, can reduce the Motor Drive moment of torsion, for reducing motor capacity, reduce servounit forcing press cost, and then the engineering that promotes this technology is used and is had conclusive effect.The operating mechanism of tradition punching machine generally adopts crank connecting link, symmetrical toggle link or multi-link structure.Crank connecting link has advantage of simple structure, but nominal working stroke is little, and force increasing ratio is little, can only be applicable to small-sized servounit forcing press, is disclosed a kind of forcing press among the ZL200320118186.8 as China Patent No.; Idle stroke is anxious returns and the approximate characteristic of resting of impulse stroke though the symmetry toggle link has, and force increasing ratio is still big inadequately, is disclosed mechanism among ZL 200720054117.3, the ZL 200820082737.2 as China Patent No.; And multi-connecting-rod mechanism can improve the kinetic characteristic of slide block in impulse stroke, and still having force increasing ratio is not shortcomings such as optimum and complex structure, is ZL 200820030514.1 disclosed mechanisms as China Patent No..
Summary of the invention
The objective of the invention is to consider the problems referred to above and provide a kind of and guaranteeing under fuselage mechanism compactness, ram travel is enough, slide block down the is dull situation, has higher force increasing ratio, the driving torque that the crank place needs be can significantly reduce, and then the capacity of servomotor and the servounit forcing press triangle toggle link operating mechanism of cost reduced.
Another object of the present invention is to provide the Optimization Design of a kind of forcing press of servounit simply and easily triangle toggle link operating mechanism.
Technical scheme of the present invention is: servounit forcing press triangle toggle link of the present invention operating mechanism, include the crank AB that makes up by A point and B point, by the B point, C point and E point make up connecting rod BCE, upper elbow lever CD by C point and D point structure, lower elbow lever EF by E point and F point structure, slide block by F point structure, the A point is set up the revolute between bent axle and the fuselage, set up revolute between bent axle and the triangular coupling rod at the B point, set up revolute between triangular coupling rod and the upper elbow lever at the C point, set up revolute between upper elbow lever and the fuselage at the D point, set up revolute between triangle toggle link and the lower elbow lever at the E point, set up revolute between lower elbow lever and the slide block at the F point, between slide block and fuselage, set up moving sets, it is characterized in that upper elbow lever CD and lower elbow lever EF are not isometric, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on the vertical line, by the B point, it is triangular coupling rod BCE that C point and E point make up connecting rod.
The CE limit of above-mentioned delta link BCE is minor face, and angle ∠ CBE is no more than 30 °.
The crankshaft center of above-mentioned bent axle AB and the upper elbow lever position relation vector a little that is fixedly hinged
l 1Expression; When slide block was in upper limit position, AB, DC, FE intersected at a point, and when slide block was in the lower position, C point and E point not necessarily were positioned on the DF line.
The Optimization Design of servounit forcing press triangle toggle link of the present invention operating mechanism comprises the steps:
1) makes up parameterized mechanism model
Make up parameterized mechanism model, need to determine to describe the minimum structural parameters of triangle elbow-bar mechanism, adopt vector
l 1,
l 2,
l 3,
l 4,
l 5,
l 6Two sealing vector rings that constitute are described the yardstick of mechanism, and one group of minimum structural parameters of triangle elbow-bar mechanism comprise: upper elbow lever be fixedly hinged a little to crankshaft center apart from l
1, the crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
l 1The azimuth
φ 11, the crank vector
l 2The azimuth
φ 21, delta link top vector
l 3The azimuth
φ 31, following vector angle on the delta link
γ, the lower elbow lever vector the azimuth
φ 61, wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on the crankshaft center, and all azimuths all are to originate in the X-axis forward, and to be rotated counterclockwise direction for just;
2) set up parameterized virtual prototyping model
The foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving,
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in the corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6,
φ 11,
φ 21,
φ 31,
γWith
φ 61Represent X and the Y-axis coordinate of key point A, B, C, D, E and F with design variable, the initial value of given one group of design variable can be determined the coordinate figure of 5 key points; After determining the sectional dimension value of each geometric features, can make up crank AB by A point and B point respectively, make up triangular coupling rod BCE, make up upper elbow lever CD, make up lower elbow lever EF, make up slide block by the F point by E point and F point by C point and D point by B point, C point and E point;
Constraint modeling: set up revolute between bent axle and the fuselage at the A point, set up revolute between bent axle and the triangular coupling rod at the B point, set up revolute between triangular coupling rod and the upper elbow lever at the C point, set up revolute between upper elbow lever and the fuselage at the D point, set up revolute between triangle toggle link and the lower elbow lever at the E point, set up revolute between lower elbow lever and the slide block at the F point, between slide block and fuselage, set up moving sets, and the coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set;
Applying of power and driving: on slide block, apply time dependent single power of simulation punching press load, can adopt STEP, IF or AKIMA function to set up the punching press load curve; Apply driving moment on the revolute between bent axle and the fuselage, rotating speed can be constant, and size is determined according to the punching press frequency, rotating speed also can be time dependent driving function, direction of rotation is generally counterclockwise, is two-way under swing work and the free mode of operation, and is given by driving function;
3) analyze the sensitivity of each structural parameters
In order to reduce the complexity of optimizing model, should reduce the quantity that participates in optimizing the design variable that calculates as far as possible, then need all structural parameters are carried out sensitivity analysis, analyze the importance of each parameter; By carrying out design studies, the analytical structure parameter specifically comprises the sensitivity of target:
Create destination object: force increasing ratio is the ratio between loading slider and the crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, so can suppose that in the load of whole nominal working stroke inner slide be the steady state value that equals nominal pressure, then the force increasing ratio maximization problems can be converted into crank driving torque minimization problem, be about to destination object and be set at the crank driving torque;
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span.
After the sensitivity of analytical structure parameter, select the higher structural parameters of sensitivity to use design variable one by one as optimizing;
4) foundation is optimized model and is found the solution
(1) determine design variable and object function:
Above-mentioned 10 structural parameters availability vector forms are expressed as
In order to reduce the dimension of optimization problem, can choose the bigger result parameter of sensitivity as design variable according to the result of structural parameters sensitivity analysis;
According to the dynamic analysis model, the crank driving torque is relevant with each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters; After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant with above-mentioned 10 structural parameters, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function can be expressed as with implicit function:
The object function that the crank driving torque minimizes optimization problem can be described as
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein,
Be horizontal arrowhead,
Be vertical arrowhead;
The constraint of toggle link pivot angle:
Upper elbow lever:
Lower elbow lever:
Wherein,
With
For with design variable
Relevant constraint function,
Be upper elbow lever maximum constraints pivot angle,
Be lower elbow lever maximum constraints pivot angle;
The ram travel constraint:
Wherein,
For with design variable
Relevant constraint function,
With
Represent last, the little limit value of slide block range respectively, can get equal value;
Slide block down direction constraint independent of time:
Wherein,
For with design variable
Relevant constraint function;
(3) optimize calculating: the objective definition function is the crank driving torque, objective definition minimizes for making object function, add design variable and constraints, select the brief gradient method of broad sense for optimizing algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
The present invention is because employing changes symmetrical toggle link into asymmetric toggle link, straight line connecting rod is changed into the structure of delta link, therefore, it can guarantee under fuselage mechanism compactness, ram travel is enough, slide block down the is dull situation, has higher force increasing ratio, the driving torque that the crank place needs be can significantly reduce, and then the capacity and the cost of servomotor reduced.Servounit forcing press triangle toggle link of the present invention operating mechanism is reasonable in design, convenient and practical, and the Optimization Design of servounit forcing press triangle toggle link of the present invention operating mechanism is simple and convenient.
Description of drawings
Fig. 1 is the structural model of triangle elbow-bar mechanism of the present invention
Fig. 2 is the slide block movement characteristic schematic diagram after the optimal design of the present invention;
Fig. 3 optimizes front and back crank driving torque schematic diagram for the present invention;
Fig. 4 optimizes front and back mechanism force increasing ratio schematic diagram for the present invention;
Fig. 5 optimizes front and back slide block load schematic diagram allowable for the present invention.
The specific embodiment
In order to understand technical scheme of the present invention better, be described in further detail below in conjunction with drawings and Examples.
The first step: the structural model that makes up the triangle elbow-bar mechanism
As shown in Figure 1, change the isometric upper and lower toggle link of symmetrical elbow-bar mechanism into not isometric toggle link CD and EF, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on the vertical line; Change the straight line connecting rod of symmetrical elbow-bar mechanism into delta link BCE, and the CE limit is minor face, angle ∠ CBE is no more than 30 °; The throw of crankshaft of bent axle is AB, crankshaft center and the upper elbow lever position relation vector a little that is fixedly hinged
l 1Expression; When slide block was in upper limit position, AB, DC, FE intersected at a point, and when slide block was in the lower position, C point and E point not necessarily were positioned on the DF line.
Second step: make up parameterized mechanism model
Make up parameterized mechanism model, need to determine to describe the minimum structural parameters of triangle elbow-bar mechanism, the present invention adopts vector
l 1,
l 2,
l 3,
l 4,
l 5,
l 6Two sealing vector rings that constitute are described the yardstick of mechanism, as shown in Figure 1.One group of minimum structural parameters describing the triangle elbow-bar mechanism comprise: upper elbow lever be fixedly hinged a little to crankshaft center apart from l
1, the crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
l 1The azimuth
φ 11, the crank vector
l 2The azimuth
φ 21, delta link top vector
l 3The azimuth
φ 31, following vector angle on the delta link
γ, the lower elbow lever vector the azimuth
φ 61Wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on the crankshaft center, and all azimuths all are to originate in the X-axis forward, and to be rotated counterclockwise direction for just.
The 3rd step: set up parameterized virtual prototyping model
In the virtual Prototype software ADAMS, the foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving.
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in the corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6,
φ 11,
φ 21,
φ 31,
γWith
φ 61Represent X and the Y-axis coordinate of key point A, B, C, D, E and F with design variable, the relation of parametrization coordinate figure and design variable as shown in Figure 2, the initial value of given one group of design variable can be determined the coordinate figure of 5 key points; After determining the sectional dimension value of each geometric features, can make up crank AB by A point and B point respectively, make up triangular coupling rod BCE, make up upper elbow lever CD, make up lower elbow lever EF, make up slide block by the F point by E point and F point by C point and D point by B point, C point and E point.
Constraint modeling: set up revolute between bent axle and the fuselage at the A point, set up revolute between bent axle and the triangular coupling rod at the B point, set up revolute between triangular coupling rod and the upper elbow lever at the C point, set up revolute between upper elbow lever and the fuselage at the D point, set up revolute between triangle toggle link and the lower elbow lever at the E point, set up revolute between lower elbow lever and the slide block at the F point, between slide block and fuselage, set up moving sets, and the coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set.
Applying of power and driving: on slide block, apply time dependent single power of simulation punching press load, can adopt STEP, IF or AKIMA function to set up the punching press load curve; Apply driving moment on the revolute between bent axle and the fuselage, rotating speed can be constant, and size is determined according to the punching press frequency, rotating speed also can be time dependent driving function, direction of rotation is generally counterclockwise single, is two-way under swing work and the free mode of operation, and is given by driving function.
The 4th step: analyze the sensitivity of each structural parameters
In order to reduce the complexity of optimizing model, should reduce the quantity that participates in optimizing the design variable that calculates as far as possible, then need all structural parameters are carried out sensitivity analysis, analyze the importance of each parameter.In the virtual Prototype software ADAMS, can specifically comprise by carrying out of the sensitivity of design studies (Design Study) analytical structure parameter to target:
Create destination object: force increasing ratio is the ratio between loading slider and the crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, so can suppose that in the load of whole nominal working stroke inner slide be the steady state value that equals nominal pressure, then the force increasing ratio maximization problems can be converted into crank driving torque minimization problem, be about to destination object and be set at the crank driving torque.
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span.
After the sensitivity of analytical structure parameter, select the higher parameter of sensitivity one by one as the optimization design variable.
The 5th step: foundation is optimized model and is found the solution
(1) determine design variable and object function:
Above-mentioned 10 structural parameters availability vector forms are expressed as
In order to reduce the dimension of optimization problem, can choose the bigger result parameter of sensitivity as design variable according to the result of structural parameters sensitivity analysis.
According to the dynamic analysis model, the crank driving torque is relevant with each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters.After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant with above-mentioned 10 structural parameters.In ADAMS, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function can be expressed as with implicit function:
The object function that the crank driving torque minimizes optimization problem can be described as
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein,
Be horizontal arrowhead,
Be vertical arrowhead.
The constraint of toggle link pivot angle:
Upper elbow lever:
Lower elbow lever:
Wherein,
With
For with design variable
Relevant constraint function,
Be upper elbow lever maximum constraints pivot angle,
Be lower elbow lever maximum constraints pivot angle.
The ram travel constraint:
Wherein,
For with design variable
Relevant constraint function,
With
Represent last, the little limit value of slide block range respectively, can get equal value.
Slide block down direction constraint independent of time:
Wherein,
For with design variable
Relevant constraint function.
(3) optimize calculating: in ADAMS, the objective definition function is the crank driving torque, objective definition minimizes for making object function, add design variable and constraints, select the brief gradient method of broad sense for optimizing algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
Embodiment:
To certain servounit forcing press triangle toggle link operating mechanism optimal design, main design performance index is: the slide block impulse stroke is 200mm, and nominal pressure Pg is 1600kN, and nominal pressure point is 6mm.Other main designing requirement comprises: laterally arrowhead Lh is 600mm, and vertically arrowhead Lv is 320mm, and last lower elbow lever maximum pendulum angle is no more than 50 °, and the servomotor peak torque does not surpass 1500Nm.
First and second goes on foot with three according to implementation step, the initial value of given 10 structural parameters (as shown in table 1), set up parameterized virtual prototyping model, and according to the 4th stepping line parameter sensitivity analysis, the design variable that is identified for optimizing according to analysis result (as shown in table 1) is DV1, DV2, DV3, DV4, DV6, DV7, DV8, DV9, according to the 5th step and main performance index and designing requirement foundation optimization model, and find the solution.Results of optimum design is shown in table 2,3, wherein table 3 has provided the values of the structural parameters before and after optimizing, Fig. 2 has provided the kinetic characteristic of optimal design rear slider, the driving moment of crank before and after Fig. 3 has provided and optimized, the force increasing ratio of mechanism before and after Fig. 4 has provided and optimized, the load allowable of operating mechanism before and after Fig. 5 has provided and optimized.As seen, under the prerequisite that satisfies design performance index and designing requirement, nominal working stroke 6mm place, force increasing ratio is brought up to 123/m by 85/m, and increasing degree reaches 45%, and the crank driving torque is reduced to 13010Nm by the 18743Nm before optimizing, and decreases by 30%.
The key point coordinate that table 1 design variable is represented
| Design point | The X coordinate | The Y coordinate |
| A | 0 | 0 |
| B | DV_2 *COS(DV_7) | DV_2 *SIN(DV_7) |
| C | DV_2 *COS(DV_7) + DV_3 * COS(DV_8) | DV_2 *SIN(DV_7) + DV_3 * SIN(DV_8) |
| D | DV_1 *COS(DV_6) | DV_1 *SIN(DV_6) |
| E | DV_2 *COS(DV_7) + DV_4 * COS(DV_8 + DV_9) | DV_2 *SIN(DV_7) + DV_4 * SIN(DV_8 + DV_9) |
| F | DV_1 *COS(DV_6) | DV_2 *SIN(DV_7) + DV_4 * SIN(DV_8 + DV_9) + DV_5 * SIN(DV_10) |
Table 2 structural parameters initial value and initial value place parametric sensitivity
Values of the structural parameters before and after table 3 is optimized
Claims (4)
1. servounit forcing press triangle toggle link operating mechanism, include the crank AB that makes up by A point and B point, by the B point, C point and E point make up connecting rod BCE, upper elbow lever CD by C point and D point structure, lower elbow lever EF by E point and F point structure, slide block by F point structure, the A point is set up the revolute between bent axle and the fuselage, set up revolute between bent axle and the triangular coupling rod at the B point, set up revolute between triangular coupling rod and the upper elbow lever at the C point, set up revolute between upper elbow lever and the fuselage at the D point, set up revolute between triangle toggle link and the lower elbow lever at the E point, set up revolute between lower elbow lever and the slide block at the F point, between slide block and fuselage, set up moving sets, it is characterized in that upper elbow lever CD and lower elbow lever EF are not isometric, and upper elbow lever CD is shorter than lower elbow lever EF, D point and F point are on the vertical line, by the B point, it is triangular coupling rod BCE that C point and E point make up connecting rod.
2. servounit forcing press triangle toggle link according to claim 1 operating mechanism is characterized in that the CE limit of above-mentioned delta link BCE is minor face, and angle ∠ CBE is no more than 30 °.
3. servounit forcing press triangle toggle link according to claim 1 operating mechanism is characterized in that be fixedly hinged a little position relation vector of the crankshaft center of above-mentioned bent axle AB and upper elbow lever
l 1Expression; When slide block was in upper limit position, AB, DC, FE intersected at a point, and when slide block was in the lower position, C point and E point not necessarily were positioned on the DF line.
4. the Optimization Design of a servounit forcing press triangle toggle link according to claim 1 operating mechanism is characterized in that comprising the steps:
1) makes up parameterized mechanism model
Make up parameterized mechanism model, need to determine to describe the minimum structural parameters of triangle elbow-bar mechanism, adopt vector
l 1,
l 2,
l 3,
l 4,
l 5,
l 6Two sealing vector rings that constitute are described the yardstick of mechanism, and one group of minimum structural parameters of triangle elbow-bar mechanism comprise: upper elbow lever be fixedly hinged a little to crankshaft center apart from l
1, the crank length l
2, delta link top length l
3, the following length l of delta link
4, the lower elbow lever length l
6, and upper elbow lever is fixedly hinged a little to the crankshaft center vector
l 1The azimuth
φ 11, the crank vector
l 2The azimuth
φ 21, delta link top vector
l 3The azimuth
φ 31, following vector angle on the delta link
γ, the lower elbow lever vector the azimuth
φ 61, wherein, coordinate system adopts right-handed Cartesian coordinate system, and the origin of coordinates is based upon on the crankshaft center, and all azimuths all are to originate in the X-axis forward, and to be rotated counterclockwise direction for just;
2) set up parameterized virtual prototyping model
The foundation of parameterized virtual prototyping model comprises: the applying of parametrization Geometric Modeling, constraint modeling and power and driving,
Geometric Modeling: set up 10 design variable DV1, DV2 ..., DV10, respectively 10 structural parameters l in the corresponding parametrization mechanism model
1, l
2, l
3, l
4, l
6,
φ 11,
φ 21,
φ 31,
γWith
φ 61Represent X and the Y-axis coordinate of key point A, B, C, D, E and F with design variable, the initial value of given one group of design variable can be determined the coordinate figure of 5 key points; After determining the sectional dimension value of each geometric features, can make up crank AB by A point and B point respectively, make up triangular coupling rod BCE, make up upper elbow lever CD, make up lower elbow lever EF, make up slide block by the F point by E point and F point by C point and D point by B point, C point and E point;
Constraint modeling: set up revolute between bent axle and the fuselage at the A point, set up revolute between bent axle and the triangular coupling rod at the B point, set up revolute between triangular coupling rod and the upper elbow lever at the C point, set up revolute between upper elbow lever and the fuselage at the D point, set up revolute between triangle toggle link and the lower elbow lever at the E point, set up revolute between lower elbow lever and the slide block at the F point, between slide block and fuselage, set up moving sets, and the coefficient of friction and the revolute pair bearing pin radius of each kinematic pair are set;
Applying of power and driving: on slide block, apply time dependent single power of simulation punching press load, can adopt STEP, IF or AKIMA function to set up the punching press load curve; Apply driving moment on the revolute between bent axle and the fuselage, rotating speed can be constant, and size is determined according to the punching press frequency, rotating speed also can be time dependent driving function, direction of rotation is generally counterclockwise, is two-way under swing work and the free mode of operation, and is given by driving function;
3) analyze the sensitivity of each structural parameters
In order to reduce the complexity of optimizing model, should reduce the quantity that participates in optimizing the design variable that calculates as far as possible, then need all structural parameters are carried out sensitivity analysis, analyze the importance of each parameter; By carrying out design studies, the analytical structure parameter specifically comprises the sensitivity of target:
Create destination object: force increasing ratio is the ratio between loading slider and the crank driving torque, when design, require slide block to be not more than nominal pressure in the load of nominal working stroke inner slide, so can suppose that in the load of whole nominal working stroke inner slide be the steady state value that equals nominal pressure, then the force increasing ratio maximization problems can be converted into crank driving torque minimization problem, be about to destination object and be set at the crank driving torque;
The structural parameters assignment: given structural parameters initial value, specify each structural parameters span;
After the sensitivity of analytical structure parameter, select the higher structural parameters of sensitivity to use design variable one by one as optimizing;
4) foundation is optimized model and is found the solution
(1) determine design variable and object function:
Above-mentioned 10 structural parameters availability vector forms are expressed as
In order to reduce the dimension of optimization problem, can choose the bigger result parameter of sensitivity as design variable according to the result of structural parameters sensitivity analysis;
According to the dynamic analysis model, the crank driving torque is relevant with each bar quality, centroid position, rotary inertia, loading slider, revolute pair bearing pin radius, coefficient of friction and above-mentioned 10 structural parameters; After when definite bar material, to fixed load and bearing pin radius, the crank driving torque is only relevant with above-mentioned 10 structural parameters, the crank driving torque is tried to achieve by the Newton-Raphson numerical computation method by inner solver, and at this, the crank driving function can be expressed as with implicit function:
The object function that the crank driving torque minimizes optimization problem can be described as
(2) determine constraints:
The constraint of fuselage general structure:
Laterally:
Vertically:
Wherein,
Be horizontal arrowhead,
Be vertical arrowhead;
The constraint of toggle link pivot angle:
Upper elbow lever:
Lower elbow lever:
Wherein,
With
For with design variable
Relevant constraint function,
Be upper elbow lever maximum constraints pivot angle,
Be lower elbow lever maximum constraints pivot angle;
The ram travel constraint:
Wherein,
For with design variable
Relevant constraint function,
With
Represent last, the little limit value of slide block range respectively, can get equal value;
Slide block down direction constraint independent of time:
Wherein,
For with design variable
Relevant constraint function;
(3) optimize calculating: the objective definition function is the crank driving torque, objective definition minimizes for making object function, add design variable and constraints, select the brief gradient method of broad sense for optimizing algorithm, it is default value that convergence error limit, maximum iteration time and differential mode are set, and starts to optimize to calculate.
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|---|---|---|---|
| CN2010105721357A CN102126301B (en) | 2010-12-03 | 2010-12-03 | Optimized design method of triangular toggle-rod working mechanism of servo mechanical press |
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|---|---|---|---|
| CN2010105721357A CN102126301B (en) | 2010-12-03 | 2010-12-03 | Optimized design method of triangular toggle-rod working mechanism of servo mechanical press |
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| CN102126301B CN102126301B (en) | 2013-11-27 |
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| CN2010105721357A Expired - Fee Related CN102126301B (en) | 2010-12-03 | 2010-12-03 | Optimized design method of triangular toggle-rod working mechanism of servo mechanical press |
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Cited By (10)
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| CN103317741A (en) * | 2012-03-23 | 2013-09-25 | 许勒压力机有限责任公司 | Press drive with several modes of operating a press and method for operating a press drive |
| CN104379336A (en) * | 2012-03-23 | 2015-02-25 | 许勒压力机有限责任公司 | Press drive comprising two working areas |
| CN104441726A (en) * | 2014-11-17 | 2015-03-25 | 一重集团大连设计研究院有限公司 | Auxiliary design and optimization method for mechanical press design |
| CN104646584A (en) * | 2015-01-12 | 2015-05-27 | 广东工业大学 | Double-drive toggle rod mechanism for servo mechanical press and control method thereof |
| CN104784006A (en) * | 2015-04-20 | 2015-07-22 | 芜湖天人智能机械有限公司 | Method for determining working position of rehabilitation chair for coordinated limb and trunk movement |
| CN104952349A (en) * | 2015-06-25 | 2015-09-30 | 广东工业大学 | Physical simulation experiment device for operating mechanisms of mechanical press |
| CN105930592A (en) * | 2016-04-26 | 2016-09-07 | 哈尔滨工程大学 | Method for predicting driving torque of crank and connecting rod mechanism by considering crank and connecting rod vibration |
| CN108908978A (en) * | 2018-05-30 | 2018-11-30 | 广东工业大学 | A kind of mechanical advantage pole of servo-pressing machine determines method |
| CN109654189A (en) * | 2018-11-21 | 2019-04-19 | 广东工业大学 | A kind of crank-triangular coupling rod-elbow-bar mechanism is avoided the peak hour design method |
| CN113408079A (en) * | 2021-07-16 | 2021-09-17 | 广东工业大学 | Optimization method of dual-drive toggle rod mechanism |
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| CN103317741A (en) * | 2012-03-23 | 2013-09-25 | 许勒压力机有限责任公司 | Press drive with several modes of operating a press and method for operating a press drive |
| CN104379336A (en) * | 2012-03-23 | 2015-02-25 | 许勒压力机有限责任公司 | Press drive comprising two working areas |
| CN104379336B (en) * | 2012-03-23 | 2017-07-18 | 许勒压力机有限责任公司 | Forcing press driver with two working regions |
| CN103317741B (en) * | 2012-03-23 | 2016-05-25 | 许勒压力机有限责任公司 | Have operating pressure machine some patterns forcing press actuator and for the method for operating pressure machine actuator |
| CN104441726B (en) * | 2014-11-17 | 2016-01-06 | 一重集团大连设计研究院有限公司 | A kind of Computer Aided Design for punching machine design and optimization method |
| CN104441726A (en) * | 2014-11-17 | 2015-03-25 | 一重集团大连设计研究院有限公司 | Auxiliary design and optimization method for mechanical press design |
| CN104646584A (en) * | 2015-01-12 | 2015-05-27 | 广东工业大学 | Double-drive toggle rod mechanism for servo mechanical press and control method thereof |
| CN104784006A (en) * | 2015-04-20 | 2015-07-22 | 芜湖天人智能机械有限公司 | Method for determining working position of rehabilitation chair for coordinated limb and trunk movement |
| CN104952349A (en) * | 2015-06-25 | 2015-09-30 | 广东工业大学 | Physical simulation experiment device for operating mechanisms of mechanical press |
| CN104952349B (en) * | 2015-06-25 | 2018-09-04 | 广东工业大学 | A kind of mechanical press operating mechanism physical simulation experiment device |
| CN105930592A (en) * | 2016-04-26 | 2016-09-07 | 哈尔滨工程大学 | Method for predicting driving torque of crank and connecting rod mechanism by considering crank and connecting rod vibration |
| CN108908978A (en) * | 2018-05-30 | 2018-11-30 | 广东工业大学 | A kind of mechanical advantage pole of servo-pressing machine determines method |
| CN109654189A (en) * | 2018-11-21 | 2019-04-19 | 广东工业大学 | A kind of crank-triangular coupling rod-elbow-bar mechanism is avoided the peak hour design method |
| CN109654189B (en) * | 2018-11-21 | 2021-08-03 | 广东工业大学 | Peak staggering design method for crank-triangular connecting rod-toggle rod mechanism |
| CN113408079A (en) * | 2021-07-16 | 2021-09-17 | 广东工业大学 | Optimization method of dual-drive toggle rod mechanism |
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