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 invention discloses a triangular toggle rod working mechanism of a servo mechanical press and an optimal design method thereof, belonging to the innovative design in the field of mechanical transmission.
Background
The common mechanical press is generally driven by a common alternating current asynchronous motor, and a large flywheel is adopted for storing energy; the servo mechanical press uses the alternating current servo motor to replace an alternating current asynchronous motor, and a flywheel is omitted, so that a transmission chain can be simplified, the automation and intelligence level and the working reliability of equipment can be improved, energy can be greatly saved, noise can be reduced, and the servo mechanical press has important significance for energy conservation and emission reduction in the manufacturing industry. The servo mechanical press has no flywheel, and the working pressure is mainly generated by the instantaneous torque of the motor, so that the capacity of the driving motor is much larger than that of the common press. The adoption of a large-capacity servo motor leads to high equipment cost and becomes a great obstacle for the popularization and the application of the servo mechanical press.
The driving torque of the motor can be reduced by improving the working mechanism and increasing the boosting ratio of the working mechanism, and the driving torque has decisive effect on reducing the capacity of the motor and the manufacturing cost of a servo mechanical press so as to promote the engineering application of the technology. The working mechanism of the traditional mechanical press generally adopts a crank connecting rod, a symmetrical toggle rod or a multi-connecting rod structure. The crank connecting rod has the advantage of simple structure, but has small nominal pressure stroke and small reinforcement ratio, and can only be suitable for small servo mechanical presses, such as the press disclosed in Chinese patent No. ZL 200320118186.8; although the symmetrical toggle rod has the characteristics of idle stroke quick return and approximate stop of the working stroke, the boosting ratio is not large enough, such as mechanisms disclosed in Chinese patent numbers ZL 200720054117.3 and ZL 200820082737.2; the multi-link mechanism can improve the motion characteristic of the slide block in the working stroke, and has the defects of suboptimal force increasing ratio, complex structure and the like, for example, the mechanism disclosed in Chinese patent No. ZL 200820030514.1.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a triangular toggle operating mechanism for a servo mechanical press, which has a high boosting ratio, can greatly reduce the driving torque required at the crank, and further reduce the capacity and cost of a servo motor, while ensuring a compact body mechanism, a sufficient stroke of a slide, and a monotonous downward movement of the slide.
The invention further aims to provide a simple and convenient method for optimally designing the triangular toggle rod working mechanism of the servo mechanical press.
The technical scheme of the invention is as follows: the invention relates to a triangular toggle rod working mechanism of a servo mechanical press, which comprises a crank AB constructed by a point A and a point B, a connecting rod BCE constructed by the point B, the point C and the point E, an upper toggle rod CD constructed by the point C and the point D, a lower toggle rod EF constructed by the point E and the point F, a slide block constructed by the point F, a rotating pair between a crankshaft and a machine body is established at the point A, a rotating pair between the crankshaft and a triangular connecting rod is established at the point B, a rotating pair between the triangular connecting rod and the upper toggle rod is established at the point C, a rotating pair between the upper toggle rod and the machine body is established at the point D, a rotating pair between the triangular toggle rod and the lower toggle rod is established at the point E, a rotating pair between the lower toggle rod and the slide block is established at the point F, a moving pair is established between the slide block and the machine body, and is characterized in that the upper toggle rod CD is not equal to the lower toggle rod EF, the D is shorter than the lower toggle rod EF to the point F, and, And the connecting rods constructed by the points C and E are triangular connecting rods BCE.
The CE edge of the triangular connecting rod BCE is the shortest edge, and the included angle CBE is not more than 30 degrees.
The vector for the position relationship between the crankshaft center of the crankshaft AB and the fixed hinge point of the upper toggle rodl 1Represents; when the slider is at the upper limit position, AB, DC and FE are intersected at one point, and when the slider is at the lower limit position, C point and E point are not necessarily positioned on the DF line.
The invention discloses an optimal design method of a triangular toggle rod working mechanism of a servo mechanical press, which comprises the following steps:
1) constructing parameterized mechanism models
Constructing parameterized mechanism model by determining minimum structural parameters capable of describing triangular toggle mechanism and adopting vectorl 1、l 2、l 3、l 4、l 5、l 6Two closed vector rings are formed to describe the dimension of the mechanism, and a set of minimum structural parameters of the triangular toggle link mechanism comprises: distance l from fixed hinged point of upper toggle rod to center of crankshaft1Length of crank l2Length l of upper side of triangular connecting rod3Lower side length l of triangular connecting rod4Lower toggle length l6And upper toggle lever fixed hinge point to crankshaft center vectorl 1OfAzimuth angleφ 11Crank vectorl 2Azimuth angle ofφ 21Upper edge vector of triangular connecting rodl 3Azimuth angle ofφ 31Upper and lower edge vector included angle of triangular connecting rodγAzimuth angle of lower toggle lever vectorφ 61The coordinate system adopts a right-handed Cartesian coordinate system, the origin of coordinates is established on the center of a crankshaft, all azimuth angles start from the positive direction of the X axis, and the counterclockwise rotation direction is taken as the positive direction;
2) establishing parameterized virtual prototype model
The establishment of the parameterized virtual prototype model comprises the following steps: parametric geometric modeling, constraint modeling and application of forces and drives,
geometric modeling: establishing 10 design variables DV1, DV2, … and DV10 respectively corresponding to 10 structural parameters l in the parameterized mechanism model1、l2、l3、l4、l6，φ 11、φ 21、φ 31、γAndφ 61(ii) a The X-axis coordinates and the Y-axis coordinates of the key points A, B, C, D, E and F are expressed by design variables, and the coordinate values of 5 key points can be determined by giving a group of initial values of the design variables; after the section size values of all geometric components are determined, a crank AB can be respectively constructed from a point A and a point B, a triangular connecting rod BCE can be constructed from the point B, the point C and the point E, an upper toggle rod CD can be constructed from the point C and the point D, a lower toggle rod EF can be constructed from the point E and the point F, and a sliding block can be constructed from the point F;
constraint modeling: establishing a rotating pair between a crankshaft and a machine body at a point A, establishing a rotating pair between the crankshaft and a triangular connecting rod at a point B, establishing a rotating pair between the triangular connecting rod and an upper toggle rod at a point C, establishing a rotating pair between the upper toggle rod and the machine body at a point D, establishing a rotating pair between the triangular toggle rod and a lower toggle rod at a point E, establishing a rotating pair between the lower toggle rod and a sliding block at a point F, establishing a moving pair between the sliding block and the machine body, and setting the friction coefficient of each moving pair and the pin shaft radius of the rotating pair;
application of force and drive: applying a single force simulating the stamping load and changing along with time on the sliding block, and establishing a stamping load curve by adopting a STEP, IF or AKIMA function; the driving torque is applied to a rotating pair between a crankshaft and a machine body, the rotating speed can be a constant value and is determined according to stamping frequency, the rotating speed can also be a driving function which changes along with time, the rotating direction is generally anticlockwise, the rotating direction is bidirectional in a swinging working mode and a free working mode, and the driving function is given;
3) sensitivity of analysis of each structural parameter
In order to reduce the complexity of the optimization model, the number of design variables participating in optimization calculation should be reduced as much as possible, and then all structural parameters need to be subjected to sensitivity analysis, and the importance of each parameter is analyzed; analyzing the sensitivity of the structural parameters to the target by performing a design study, including:
creating a target object: the force increasing ratio is the ratio between the slide block load and the crank driving torque, and the slide block load is required to be not more than the nominal pressure in the nominal pressure stroke during design, so that the problem of force increasing ratio maximization can be converted into the problem of crank driving torque minimization on the premise that the slide block load is a constant value equal to the nominal pressure in the whole nominal pressure stroke, namely, the target object is set as the crank driving torque;
structural parameter assignment: and giving an initial value of the structural parameter and specifying a value range of each structural parameter.
Analyzing the sensitivity of the structural parameters one by one, and selecting the structural parameters with higher sensitivity as design variables for optimization;
4) establishing optimization model and solving
(1) Determining design variables and an objective function:
the above 10 structural parameters can be expressed in a vector form as
In order to reduce the dimensionality of the optimization problem, a result parameter with higher sensitivity can be selected as a design variable according to the result of the sensitivity analysis of the structural parameter;
according to a dynamics analytic model, the crank driving torque is related to the mass of each rod, the position of a mass center, the rotational inertia, the slider load, the shaft radius of a rotating pair pin, the friction coefficient and the 10 structural parameters; after determining the rod material, the given load and the pin radius, the crank driving torque is only related to the 10 structural parameters, the crank driving torque is obtained by an internal solver through a Newton-Raphson numerical calculation method, and here, a crank driving function can be expressed as an implicit function:
the objective function of the crank drive torque minimization optimization problem can be described as
(2) Determining a constraint condition:
the overall structure of the fuselage is restricted:
transverse:
longitudinal direction:
wherein,
in order to limit the dimensions in the lateral direction,
is a longitudinal limit size;
and (3) toggle rod swing angle constraint:
an upper toggle rod:
a lower toggle link:
wherein,
and
to and design variablesThe associated constraint function(s) is (are),
the swing angle is limited to the maximum extent by the upper toggle rod,the swing angle is limited to the maximum extent for the lower toggle rod;
and (3) restricting the stroke of the sliding block:
wherein,
to and designVariables of
The associated constraint function(s) is (are),and
respectively representing the upper limit value and the lower limit value of the maximum stroke of the slide block, and taking the same value;
the down direction of the slide block is invariable restrained:
wherein,
to and design variables
A related constraint function;
(3) and (3) optimizing and calculating: defining an objective function as crank driving torque, defining an objective as minimizing the objective function, adding design variables and constraint conditions, selecting a generalized simple gradient method as an optimization algorithm, setting a convergence error limit, a maximum iteration number and a difference mode as default values, and starting optimization calculation.
The invention changes the symmetrical toggle rod into the asymmetrical toggle rod and changes the linear connecting rod into the triangular connecting rod, thereby having higher force increasing ratio under the conditions of ensuring compact mechanism of the machine body, enough stroke of the slide block and monotonous descending of the slide block, greatly reducing the driving torque required at the crank and further reducing the capacity and the cost of the servo motor. The triangular toggle rod working mechanism of the servo mechanical press is reasonable in design, convenient and practical, and the optimal design method of the triangular toggle rod working mechanism of the servo mechanical press is simple and convenient.
Drawings
FIG. 1 is a structural model of the triangular toggle link mechanism of the present invention
FIG. 2 is a schematic diagram of the motion characteristics of the slider after the optimal design of the present invention;
FIG. 3 is a schematic illustration of the optimized front and rear crank drive torques of the present invention;
FIG. 4 is a schematic diagram of the force ratio of the mechanism before and after optimization according to the present invention;
FIG. 5 is a schematic diagram of allowable slider loads before and after optimization according to the present invention.
Detailed Description
For better understanding of the technical solutions of the present invention, the following detailed description is made with reference to the accompanying drawings and examples.
The first step is as follows: structure model for constructing triangular toggle rod mechanism
As shown in fig. 1, the upper and lower toggle links with equal length of the symmetrical toggle link mechanism are changed into the toggle links CD and EF with different lengths, the upper toggle link CD is shorter than the lower toggle link EF, and the point D and the point F are on the vertical line; changing a linear connecting rod of the symmetrical toggle rod mechanism into a triangular connecting rod BCE, wherein the CE edge is the shortest edge, and the included angle CBE is not more than 30 degrees; the crank radius of the crankshaft is AB, and the vector for the position relation of the fixed hinge point of the crankshaft center and the upper toggle rodl 1Represents; when the slider is at the upper limit position, AB, DC and FE are intersected at one point, and when the slider is at the lower limit position, C point and E point are not necessarily positioned on the DF line.
The second step is that: constructing parameterized mechanism models
Constructing a parameterized mechanism model, determining the minimum structural parameters describing a triangular toggle mechanismThe invention adopts vectorsl 1、l 2、l 3、l 4、l 5、l 6Two closed vector loops are formed to describe the dimensions of the mechanism, as shown in fig. 1. A set of minimum structural parameters describing a triangular toggle mechanism includes: distance l from fixed hinged point of upper toggle rod to center of crankshaft1Length of crank l2Length l of upper side of triangular connecting rod3Lower side length l of triangular connecting rod4Lower toggle length l6And upper toggle lever fixed hinge point to crankshaft center vectorl 1Azimuth angle ofφ 11Crank vectorl 2Azimuth angle ofφ 21Upper edge vector of triangular connecting rodl 3Azimuth angle ofφ 31Upper and lower edge vector included angle of triangular connecting rodγAzimuth angle of lower toggle lever vectorφ 61. The coordinate system adopts a right-handed Cartesian coordinate system, the origin of coordinates is established on the center of a crankshaft, all azimuth angles start from the positive direction of the X axis, and the counterclockwise rotation direction is taken as the positive direction.
The third step: establishing parameterized virtual prototype model
In the ADAMS, the establishment of a parameterized virtual prototype model comprises the following steps: parametric geometric modeling, constraint modeling, and application of forces and drives.
Geometric modeling: establishing 10 design variables DV1, DV2, … and DV10 respectively corresponding to 10 structural parameters l in the parameterized mechanism model1、l2、l3、l4、l6，φ 11、φ 21、φ 31、γAndφ 61(ii) a The design variables are used for representing the X-axis coordinates and the Y-axis coordinates of the key points A, B, C, D, E and F, the relationship between the parameterized coordinate values and the design variables is shown in FIG. 2, and the coordinate values of 5 key points can be determined by giving a group of initial values of the design variables; after the section size values of the geometric components are determined, a crank AB can be respectively constructed from the points A and B, and a triangular connecting rod can be respectively constructed from the points B, C and EAnd the BCE is used for constructing an upper toggle rod CD from the points C and D, constructing a lower toggle rod EF from the points E and F, and constructing a slide block from the point F.
Constraint modeling: a rotating pair between a crankshaft and a machine body is established at a point A, a rotating pair between the crankshaft and a triangular connecting rod is established at a point B, a rotating pair between the triangular connecting rod and an upper toggle rod is established at a point C, a rotating pair between the upper toggle rod and the machine body is established at a point D, a rotating pair between the triangular toggle rod and a lower toggle rod is established at a point E, a rotating pair between the lower toggle rod and a slide block is established at a point F, a moving pair is established between the slide block and the machine body, and the friction coefficient of each moving pair and the pin shaft radius of the rotating pair are set.
Application of force and drive: applying a single force simulating the stamping load and changing along with time on the sliding block, and establishing a stamping load curve by adopting a STEP, IF or AKIMA function; the driving torque is applied to a rotating pair between a crankshaft and a machine body, the rotating speed can be a constant value and is determined according to the stamping frequency, the rotating speed can also be a driving function which changes along with time, the rotating direction is generally in a single-anticlockwise direction, and the rotating direction is bidirectional in a swinging working mode and a free working mode and is given by the driving function.
The fourth step: sensitivity of analysis of each structural parameter
In order to reduce the complexity of the optimization model, the number of design variables participating in the optimization calculation should be reduced as much as possible, and sensitivity analysis needs to be performed on all structural parameters to analyze the importance of each parameter. In the virtual prototype Design software ADAMS, the sensitivity of the structural parameters to the target can be analyzed by executing Design Study (Design Study), specifically including:
creating a target object: the boost ratio is the ratio between the slider load and the crank drive torque, and the slider load is required to be not more than the nominal pressure in the nominal pressure stroke when designing, so that the problem of maximizing the boost ratio can be converted into the problem of minimizing the crank drive torque, that is, the target object is set as the crank drive torque, assuming that the slider load is a constant value equal to the nominal pressure in the whole nominal pressure stroke.
Structural parameter assignment: and giving an initial value of the structural parameter and specifying a value range of each structural parameter.
And after the sensitivities of the structural parameters are analyzed one by one, selecting the parameters with higher sensitivity as design variables for optimization.
The fifth step: establishing optimization model and solving
(1) Determining design variables and an objective function:
the above 10 structural parameters can be expressed in a vector form as
In order to reduce the dimensionality of the optimization problem, a result parameter with higher sensitivity can be selected as a design variable according to the result of the sensitivity analysis of the structural parameter.
According to a dynamics analytic model, the crank driving torque is related to the mass of each rod, the position of the mass center, the rotational inertia, the load of a slide block, the shaft radius of a rotating pair pin, the friction coefficient and the 10 structural parameters. The crank drive torque is only related to the above 10 structural parameters when determining the rod material, given load and pin radius. In ADAMS, the crank drive torque is determined by an internal solver using a Newton-Raphson numerical method, where the crank drive function can be expressed as a latent function:
the objective function of the crank drive torque minimization optimization problem can be described as
(2) Determining a constraint condition:
the overall structure of the fuselage is restricted:
transverse:
longitudinal direction:
wherein,
in order to limit the dimensions in the lateral direction,
is the longitudinal limit dimension.
And (3) toggle rod swing angle constraint:
an upper toggle rod:
a lower toggle link:
wherein,
and
to and design variables
The associated constraint function(s) is (are),
the swing angle is limited to the maximum extent by the upper toggle rod,
the swing angle is limited to the maximum extent for the lower toggle lever.
And (3) restricting the stroke of the sliding block:
wherein,
to and design variables
The associated constraint function(s) is (are),
andthe upper limit value and the lower limit value of the maximum stroke of the slide block are respectively expressed, and can be equal.
The down direction of the slide block is invariable restrained:
wherein,
to and design variables
The associated constraint function.
(3) And (3) optimizing and calculating: in ADAMS, an objective function is defined as crank driving torque, an objective is defined as minimizing the objective function, a design variable and a constraint condition are added, a generalized simple gradient method is selected as an optimization algorithm, a convergence error limit, a maximum iteration number and a difference mode are set as default values, and optimization calculation is started.
Example (b):
the triangular toggle rod working mechanism of a certain servo mechanical press is optimally designed, and the main design performance indexes are as follows: the working stroke of the slide block is 200mm, the nominal pressure Pg is 1600kN, and the nominal pressure point is 6 mm. Other major design requirements include: the transverse limiting dimension Lh is 600mm, the longitudinal limiting dimension Lv is 320mm, the maximum swing angle of the upper toggle rod and the lower toggle rod is not more than 50 degrees, and the maximum torque of the servo motor is not more than 1500 Nm.
According to the first, second and third implementation steps, initial values of 10 structural parameters are given (shown in table 1), a parameterized virtual prototype model is established, parameter sensitivity analysis is carried out according to the fourth step, design variables used for optimization are determined to be DV1, DV2, DV3, DV4, DV6, DV7, DV8 and DV9 according to analysis results (shown in table 1), and an optimization model is established and solved according to the fifth step, main performance indexes and design requirements. The results of the optimization are shown in tables 2 and 3, wherein table 3 shows the values of the structural parameters before and after the optimization, fig. 2 shows the motion characteristics of the slider after the optimization, fig. 3 shows the driving torque of the crank before and after the optimization, fig. 4 shows the boosting ratio of the mechanism before and after the optimization, and fig. 5 shows the allowable load of the working mechanism before and after the optimization. Therefore, on the premise of meeting design performance indexes and design requirements, the increase ratio is improved to 123/m from 85/m at the position of a nominal pressure stroke of 6mm, the increase amplitude reaches 45%, the crank driving torque is reduced to 13010Nm from 18743Nm before optimization, and the decrease amplitude reaches 30%.
TABLE 1 Key Point coordinates for design variable representation
| Design point | X coordinate | 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 initial values of structural parameters and sensitivity of parameters at the initial values
TABLE 3 values of structural parameters before and after optimization
Claims (4)
1. A cam toggle lever working mechanism of servo mechanical press comprises a crank AB constructed by a point A and a point B, a connecting rod BCE constructed by the point B, the point C and the point E, an upper toggle lever CD constructed by the point C and the point D, a lower toggle lever EF constructed by the point E and the point F, a slide block constructed by the point F, a rotating pair between a crankshaft and a machine body is established by the point A, a rotating pair between the crankshaft and a triangular connecting rod is established by the point B, a rotating pair between the triangular connecting rod and the upper toggle lever is established by the point C, a rotating pair between the upper toggle lever and the machine body is established by the point D, a rotating pair between the triangular toggle lever and the lower toggle lever is established by the point E, a rotating pair between the lower toggle lever and the slide block is established by the point F, a moving pair is established between the slide block and the machine body, and is characterized in that the upper toggle lever CD is not equal to the lower toggle lever EF, the upper toggle lever CD is shorter than the lower toggle lever EF, the point D and the point F are on, And the connecting rods constructed by the points C and E are triangular connecting rods BCE.
2. The triangular toggle working mechanism of the servo mechanical press as claimed in claim 1, wherein the CE side of the BCE of the triangular link is the shortest side, and the included angle ≈ CBE is not more than 30 °.
3. The triangular toggle operating mechanism of a servo-mechanical press as claimed in claim 1, wherein the positional relationship between the crank center of the crankshaft AB and the fixed hinge point of the upper toggle link is represented by a vectorl 1Represents; when the slider is at the upper limit position, AB, DC and FE are intersected at one point, and when the slider is at the lower limit position, C point and E point are not necessarily positioned on the DF line.
4. A method for optimizing the design of the triangular toggle rod operating mechanism of the servo mechanical press according to claim 1, which is characterized by comprising the following steps:
1) constructing parameterized mechanism models
Constructing parameterized mechanism model by determining minimum structural parameters capable of describing triangular toggle mechanism and adopting vectorl 1、l 2、l 3、l 4、l 5、l 6Two closed vector rings are formed to describe the dimension of the mechanism, and a set of minimum structural parameters of the triangular toggle link mechanism comprises: distance l from fixed hinged point of upper toggle rod to center of crankshaft1Length of crank l2Length l of upper side of triangular connecting rod3Lower side length l of triangular connecting rod4Lower toggle length l6And upper toggle lever fixed hinge point to crankshaft center vectorl 1Azimuth angle ofφ 11Crank vectorl 2Azimuth angle ofφ 21Triangle, triangleConnecting rod upper edge vectorl 3Azimuth angle ofφ 31Upper and lower edge vector included angle of triangular connecting rodγAzimuth angle of lower toggle lever vectorφ 61The coordinate system adopts a right-handed Cartesian coordinate system, the origin of coordinates is established on the center of a crankshaft, all azimuth angles start from the positive direction of the X axis, and the counterclockwise rotation direction is taken as the positive direction;
2) establishing parameterized virtual prototype model
The establishment of the parameterized virtual prototype model comprises the following steps: parametric geometric modeling, constraint modeling and application of forces and drives,
geometric modeling: establishing 10 design variables DV1, DV2, … and DV10 respectively corresponding to 10 structural parameters l in the parameterized mechanism model1、l2、l3、l4、l6，φ 11、φ 21、φ 31、γAndφ 61(ii) a The X-axis coordinates and the Y-axis coordinates of the key points A, B, C, D, E and F are expressed by design variables, and the coordinate values of 5 key points can be determined by giving a group of initial values of the design variables; after the section size values of all geometric components are determined, a crank AB can be respectively constructed from a point A and a point B, a triangular connecting rod BCE can be constructed from the point B, the point C and the point E, an upper toggle rod CD can be constructed from the point C and the point D, a lower toggle rod EF can be constructed from the point E and the point F, and a sliding block can be constructed from the point F;
constraint modeling: establishing a rotating pair between a crankshaft and a machine body at a point A, establishing a rotating pair between the crankshaft and a triangular connecting rod at a point B, establishing a rotating pair between the triangular connecting rod and an upper toggle rod at a point C, establishing a rotating pair between the upper toggle rod and the machine body at a point D, establishing a rotating pair between the triangular toggle rod and a lower toggle rod at a point E, establishing a rotating pair between the lower toggle rod and a sliding block at a point F, establishing a moving pair between the sliding block and the machine body, and setting the friction coefficient of each moving pair and the pin shaft radius of the rotating pair;
application of force and drive: applying a single force simulating the stamping load and changing along with time on the sliding block, and establishing a stamping load curve by adopting a STEP, IF or AKIMA function; the driving torque is applied to a rotating pair between a crankshaft and a machine body, the rotating speed can be a constant value and is determined according to stamping frequency, the rotating speed can also be a driving function which changes along with time, the rotating direction is generally anticlockwise, the rotating direction is bidirectional in a swinging working mode and a free working mode, and the driving function is given;
3) sensitivity of analysis of each structural parameter
In order to reduce the complexity of the optimization model, the number of design variables participating in optimization calculation should be reduced as much as possible, and then all structural parameters need to be subjected to sensitivity analysis, and the importance of each parameter is analyzed; analyzing the sensitivity of the structural parameters to the target by performing a design study, including:
creating a target object: the force increasing ratio is the ratio between the slide block load and the crank driving torque, and the slide block load is required to be not more than the nominal pressure in the nominal pressure stroke during design, so that the problem of force increasing ratio maximization can be converted into the problem of crank driving torque minimization on the premise that the slide block load is a constant value equal to the nominal pressure in the whole nominal pressure stroke, namely, the target object is set as the crank driving torque;
structural parameter assignment: giving an initial value of the structural parameter, and specifying a value range of each structural parameter;
analyzing the sensitivity of the structural parameters one by one, and selecting the structural parameters with higher sensitivity as design variables for optimization;
4) establishing optimization model and solving
(1) Determining design variables and an objective function:
the above 10 structural parameters can be expressed in a vector form as
In order to reduce the dimensionality of the optimization problem, a result parameter with higher sensitivity can be selected as a design variable according to the result of the sensitivity analysis of the structural parameter;
according to a dynamics analytic model, the crank driving torque is related to the mass of each rod, the position of a mass center, the rotational inertia, the slider load, the shaft radius of a rotating pair pin, the friction coefficient and the 10 structural parameters; after determining the rod material, the given load and the pin radius, the crank driving torque is only related to the 10 structural parameters, the crank driving torque is obtained by an internal solver through a Newton-Raphson numerical calculation method, and here, a crank driving function can be expressed as an implicit function:
the objective function of the crank drive torque minimization optimization problem can be described as
(2) Determining a constraint condition:
the overall structure of the fuselage is restricted:
transverse:
longitudinal direction:
wherein,
in order to limit the dimensions in the lateral direction,
is a longitudinal limit size;
and (3) toggle rod swing angle constraint:
an upper toggle rod:
a lower toggle link:
wherein,
and
to and design variablesThe associated constraint function(s) is (are),
the swing angle is limited to the maximum extent by the upper toggle rod,
the swing angle is limited to the maximum extent for the lower toggle rod;
and (3) restricting the stroke of the sliding block:
wherein,
to and design variables
The associated constraint function(s) is (are),
and
respectively representing the upper limit value and the lower limit value of the maximum stroke of the slide block, and taking the same value;
the down direction of the slide block is invariable restrained:
wherein,
to and design variables
A related constraint function;
(3) and (3) optimizing and calculating: defining an objective function as crank driving torque, defining an objective as minimizing the objective function, adding design variables and constraint conditions, selecting a generalized simple gradient method as an optimization algorithm, setting a convergence error limit, a maximum iteration number and a difference mode as default values, and starting optimization calculation.
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