CN102172759B - Mechanical multi-link servo press driven by six parallelly-connected motors - Google Patents

Mechanical multi-link servo press driven by six parallelly-connected motors Download PDF

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Publication number
CN102172759B
CN102172759B CN 201010300084 CN201010300084A CN102172759B CN 102172759 B CN102172759 B CN 102172759B CN 201010300084 CN201010300084 CN 201010300084 CN 201010300084 A CN201010300084 A CN 201010300084A CN 102172759 B CN102172759 B CN 102172759B
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CN
China
Prior art keywords
rod
slide block
straight line
line driving
bar
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Application number
CN 201010300084
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Chinese (zh)
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CN102172759A (en
Inventor
高峰
郭为忠
白勇军
张勇
于随然
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上海交通大学
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Priority to CN 201010300084 priority Critical patent/CN102172759B/en
Publication of CN102172759A publication Critical patent/CN102172759A/en
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Publication of CN102172759B publication Critical patent/CN102172759B/en

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Classifications

    • 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
    • B30B1/10Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism
    • B30B1/103Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by toggle mechanism operated by screw means

Abstract

The invention discloses a mechanical multi-link servo press driven by six parallelly-connected motors, which belongs to the technical field of forging machines. The mechanical multi-link servo press comprises a rack, three sets of same linear drive mechanisms, a TDOF (three degree of freedom) parallel mechanism, a toggle link mechanism and a stamping slide block, wherein the three sets of linear drive mechanisms are connected with the parallel mechanism, the toggle link mechanism is respectively connected with the TDOF parallel mechanism and the stamping slide block, and the rack is connected and sleeved on the outer sides of the drive mechanisms and the stamping slide block. The mechanical multi-link servo press disclosed by the invention has the advantages of simple structure and low manufacturing cost, is easy to control, and can solve the problem that that a large tonnage servo press cannot be structured because the traditional servo press is limited by the small carrying capacity of a ball screw and the small power and output torque of a servo motor.

Description

Six motor parallel drive multi-link mechanical servo press

Technical field

What the present invention relates to is a kind of device of metal forming machinery technical field, specifically is a kind of six motor parallel drive multi-link mechanical servo press.

Background technology

Forcing press is widely used forging equipment in the metal forming manufacture field, and kind and quantity are various, wherein are most widely used with punching machine.The demand for development forcing press of Modern Manufacturing Technology not only can be at a high speed, high accuracy, heavy load running, and should have bigger flexibility, can change the output movement rule rapidly, easily.Traditional punching machine kinetic characteristic is single, technology is poor for applicability.In recent years along with the progressively development of AC servo machinery driving Forming Equipments technology, the adjustable various AC servo driving pressure machines of slide block movement curve have appearred, make service behaviour and the technology applicability of forcing press improve greatly, equipment develops towards flexibility, intelligentized direction.

The standard machinery forcing press is general to adopt various mechanical transmission mechanism to obtain the required slide block movement rule of technology, to satisfy different technological requirements.Traditional punching machine obtain some and satisfy the typical motion rule that Sheet Metal Forming Technology requires, but a kind of organization plan can't satisfy the requirement of multiple typical motion rule by selecting suitable executing agency and the size of member thereof.Though adopt offset slider-crank mechanism, multi-connecting-rod mechanism, non-circular gear mechanism etc. can partly change the slide block movement rule of certain driving mechanism, but after the dimensional parameters of each rod member is determined, the kinetic characteristic of slide block is also determined thereupon, thereby do not have flexibility, be difficult to use in different Sheet Metal Forming Technologies.The research that AC servomotor is applied to punching machine starts from ERC of the Ohio State Univ-Columbus USA nineties in last century, this center S.Yossifon and R.Shivpuri has proposed to drive ball-screw or crank by AC servomotor, by multi-bar linkage with conversion of motion be the required motion of slide block it can the utmost point change the curve movement of slide block easily, obtain different workpiece deformation speed, be applicable to different Sheet Metal Forming Technologies, guarantee the quality of stamping parts.Afterwards, the research that AC servomotor is applied to punching machine develops rapidly, and states such as Japan, Canada have all carried out deep research, and companies such as Japanese Xiao Song and meeting field have developed the driving forcing press of AC servomotor separately respectively.Wherein, the famous komatsu company of forcing press production firm of Japan is referred to as the forcing press with " free motion ", realize the required various curve movements of technology by working out different programs, developed different product of 3 generations: HCP3000 in 1998, the H2F of calendar year 2001, H4F series and H1F series in 2002.The AC servo machinery driving forcing press is the new trend of Forming Equipments development, is the inexorable trend of equipment flexibility development.

Because the forming pressure that the AC servo machinery driving forcing press needs when not having the flywheel stored energy to overcome the forging and pressing workpiece for reaching required nominal pressure value, often can realize certain boosting function by transmission mechanisms such as multi-connecting-rod mechanisms.Be subjected to ball-screw bearing capacity and servomotor power and the less restriction of output torque, though elbow-bar mechanism has big force increasing ratio, be difficult to make up the large-tonnage forcing press.

Find through the retrieval to prior art, the HCP3000 of komatsu company, servomotor drives ball-screw by transmission mechanisms such as belts, directly drives Punching slider by nut, and its nominal pressure only reaches 800kN, by two 12kW driven by servomotor.The H1F200 of komatsu company, servomotor drives crank by transmission mechanisms such as belt or gears, drives Punching slider by multi-connecting-rod mechanism again, and its nominal pressure reaches 2000kN, by a 52kW driven by servomotor.The H2F300 of komatsu company, servomotor drives ball-screw by transmission mechanisms such as belt or gears, drives Punching slider by multi-connecting-rod mechanism again, and its nominal pressure reaches 3000kN, by two 100kW driven by servomotor.

Investigating existing servo-pressing machine driving mechanism can find, angle from theory of mechanisms, the transmission mechanism of above-mentioned forcing press all is the serial mechanism of single-degree-of-freedom, and servomotor directly or by executing agency's (multi-connecting-rod mechanism) drives Punching slider with rotation (crank) or mobile (ball-screw) mode.Mechanism with single degree of freedom realizes determining that the principle of motion is to use a servomotor to drive.The servo-pressing machine driving mechanism that has adopts two servomotor redundant drive, but that these two servomotors must guarantee is synchronous constantly, to avoid importing the asynchronous movement interference that causes.Though can increase input power like this, increase the forming pressure of press, increased the difficulty of control, and the bad stability of control, any error originated from input all can cause the driving mechanism can't operate as normal even be damaged.

Summary of the invention

The present invention is directed to the prior art above shortcomings, a kind of six motor parallel drive multi-link mechanical servo press are provided, between servomotor and multi-connecting-rod mechanism, increase a driving mechanism in parallel, driving slide block (moving sets) with the driven by servomotor ball-screw is input, adopt parallel institution to coordinate the motion of a plurality of slide blocks, the output of parallel institution then is the slide block rectilinear motion of single-degree-of-freedom, drives the multi-connecting-rod mechanism with boosting function again, drives Punching slider work at last.

The present invention is achieved by the following technical solutions, the present invention includes: frame, three groups of identical straight line driving mechanisms, 3-freedom parallel mechanism, elbow-bar mechanism and Punching sliders, wherein: three groups of straight line driving mechanisms are connected with parallel institution, elbow-bar mechanism is connected with punching module with 3-freedom parallel mechanism respectively, and frame is socketed on the outside of driving mechanism and Punching slider.

Described straight line driving mechanism comprises: two servomotors, two driving leading screws and supporting nut, a mechanical coordination device and a driving slide block, wherein: servomotor is connected with the driving leading screw, and the two ends of two supporting nuts are connected with the mechanical coordination device with the driving slide block respectively.

Described parallel institution comprises: three connecting rods and a moving platform, and wherein: an end of three connecting rods is connected with three straight line driving mechanisms respectively, and the other end of three connecting rods is connected with moving platform simultaneously.

Described elbow-bar mechanism is the symmetrical six-bar mechanisms of two covers, and this elbow-bar mechanism is used common input and output, and input all is the rectilinear motion slide block with output.

Be connected by revolute pair with connecting rod between the output moving platform of the 3-freedom parallel mechanism that the present invention adopts and the input slide block of symmetrical elbow-bar mechanism.The input slide block of symmetry elbow-bar mechanism can only vertically move, and by the boosting function of elbow-bar mechanism, drives its public output (Punching slider), thereby realizes the forging and pressing processing action of Punching slider.

The present invention adopts elbow-bar mechanism to have big force increasing ratio, adopts symmetric arrangement can improve the anti-bias load ability simultaneously, reduces Punching slider to the load of guide rail, precision that can the long term maintenance forcing press.Simultaneously, symmetrical elbow-bar mechanism can be offset public input and the suffered horizontal side force of output, reduces the wearing and tearing of guide rail and the distortion of frame.Therefore, motion and torque that driving mechanism in parallel of the present invention will come from six servomotors are converted into single output, transmit, synthesize on Punching slider, make the bigger forming pressure of whole drive system output, make the control difficulty reduce relatively owing to have the motion fault tolerance, and motion that can be by the control servomotor is to realize different Forging Technologies.

The present invention is simple in structure, control is easy, low cost of manufacture, and can fine solution existing servo-pressing machine is subjected to ball-screw bearing capacity and servomotor power and the less restriction of output torque and can't makes up the problem of large-tonnage servo-pressing machine.

Description of drawings

Fig. 1 is structural representation of the present invention.

Fig. 2 is straight line driving mechanism schematic diagram of the present invention.

Fig. 3 is structural profile schematic diagram of the present invention.

The specific embodiment

Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

As shown in Figure 1, present embodiment comprises: frame 1, first straight line driving mechanism 2, first guide rail 3, second straight line driving mechanism 4, second guide rail 5, the 4th guide rail 6, elbow-bar mechanism 7, the 5th guide rail 8, Punching slider 9, slide block connecting rod 10, parallel institution 11, the 3rd guide rail 12 and the 3rd straight line driving mechanism 13, wherein: first straight line driving mechanism 2, second straight line driving mechanism 4, the output of the 3rd straight line driving mechanism 13 is respectively as the input of parallel institution 11, slide block connecting rod 10 is used for connecting parallel institution 11 and elbow-bar mechanism 7, Punching slider 8 is as the output of elbow-bar mechanism 7, and frame 1 is socketed on the outside of above-mentioned driving mechanism and Punching slider.

As shown in Figure 2, described first straight line driving mechanism 2, second straight line driving mechanism 4 has identical structure with the 3rd straight line driving mechanism 13, comprise: first servomotor 14, second servomotor 21, first drives leading screw 15, the first supporting nut 17, second drives leading screw 20, the second supporting nut 19, mechanical coordination device 16 and driving slide block 18, wherein: first drive two ends that leading screw 15 and second drives leading screw 20 respectively with first servomotor 14, second servomotor 21 is connected with frame 1, and the two ends of the first supporting nut 17 and the second supporting nut 19 are connected with mechanical coordination device 16 with driving slide block 18 respectively.

As shown in Figure 3, described parallel institution 11 comprises: first connecting rod 22, second connecting rod 32, third connecting rod 33 and moving platform 31, wherein: an end of first connecting rod 22, second connecting rod 32, third connecting rod 33 is connected with first straight line driving mechanism 2, second straight line driving mechanism 4 and the driving slide block 18 of the 3rd straight line driving mechanism 13 respectively, and the other end of first connecting rod 22, second connecting rod 32, third connecting rod 33 is connected with moving platform 31.

As shown in Figure 3, described elbow-bar mechanism 7 refers to the symmetrical six-bar mechanism of two covers, it uses common input and output, comprise: the 4th connecting rod 23, the 5th connecting rod 24, the 6th connecting rod 25, seven-link assembly 27, the 8th connecting rod 28 and the 9th connecting rod 29, input slide block 30 and Punching slider 26 (output slide block), wherein: the 4th connecting rod 23, the 5th connecting rod 24, the 6th connecting rod 25 1 ends connect with revolute pair, the other end is connected with Punching slider 26 with input slide block 30, frame 1 respectively, constitutes the left side six-bar mechanism; Seven-link assembly 27, the 8th connecting rod 28 and the 9th connecting rod 29 1 ends are connected with revolute pair, and the other end is connected with frame 1 with Punching slider 26, input slide block 30 respectively, constitutes the right side six-bar mechanism.

The operation principle of present embodiment is as follows: six servomotors rotate by setting the characteristics of motion, promote three first straight line driving mechanisms 2, the driving slide block 18 of second straight line driving mechanism 4 and the 3rd straight line driving mechanism 13, respectively along first guide rail 3, second guide rail 5 and 12 motions of the 3rd guide rail, and then first drive slide block 18 by first connecting rod 22, second drives slide block 18 by connecting rod 32, the 3rd drives slide block 18 moves by the connecting rod 33 common moving platforms 31 that drive, moving platform 31 drives slide block 30 by slide block connecting rod 10 and moves along the 4th guide rail 6, slide block 30 drives symmetrical elbow-bar mechanism 7 then, thereby realizes the forging action that Punching slider 26 moves up and down along column the 5th guide rail 8.Therefore, the motion and the power transmission that come from six servomotors are synthesized on Punching slider, finish forging and pressing work.

Claims (1)

1. motor parallel drive multi-link mechanical servo press, comprise: frame, straight line driving mechanism, parallel institution, elbow-bar mechanism and Punching slider, it is characterized in that: described parallel institution is 3-freedom parallel mechanism, described straight line driving mechanism is three groups of identical straight line driving mechanisms, three groups of straight line driving mechanisms are connected with parallel institution, elbow-bar mechanism is connected with Punching slider with 3-freedom parallel mechanism respectively, and frame is socketed on the outside of driving mechanism and Punching slider;
Described parallel institution comprises: first connecting rod, second connecting rod, third connecting rod and moving platform, wherein: an end of first connecting rod, second connecting rod, third connecting rod is connected with the driving slide block of first straight line driving mechanism, second straight line driving mechanism and the 3rd straight line driving mechanism respectively, and the other end of first connecting rod, second connecting rod, third connecting rod is connected with moving platform;
Described straight line driving mechanism is three groups of identical straight line driving mechanisms, every group comprises: first servomotor, second servomotor, first drive leading screw, the first supporting nut, second drives leading screw, the second supporting nut, mechanical coordination device and drives slide block, wherein: first drives leading screw is connected with frame with first servomotor, second servomotor respectively with second two ends that drive leading screw, and the two ends of the first supporting nut and the second supporting nut are connected with the mechanical coordination device with the driving slide block respectively;
Described elbow-bar mechanism is the symmetrical six-bar mechanisms of two covers, and this elbow-bar mechanism is used common input and output, and input all is the rectilinear motion slide block with output;
Described elbow-bar mechanism comprises: the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the 9th connecting rod, input slide block and Punching slider, wherein: the 4th connecting rod, the 5th connecting rod, the 6th connecting rod one end connect with revolute pair, the other end is connected with Punching slider with input slide block, frame respectively, constitutes the left side six-bar mechanism; Seven-link assembly, the 8th connecting rod and the 9th connecting rod one end are connected with revolute pair, and the other end is connected with frame with Punching slider, input slide block respectively, constitutes the right side six-bar mechanism;
Described six servomotors rotate by setting the characteristics of motion, promote first straight line driving mechanism, the driving slide block of second straight line driving mechanism and the 3rd straight line driving mechanism, respectively along first guide rail, second guide rail and the 3rd guide rail movement, and then first drive slide block and pass through first connecting rod, second drives slide block passes through second connecting rod, the 3rd drives slide block drives the moving platform motion jointly by third connecting rod, moving platform drives the input slide block along the 4th guide rail movement by slide block connecting rod, import slide block then and drive symmetrical elbow-bar mechanism, thereby realize the forging action that Punching slider moves up and down along column the 5th guide rail, the motion and the power transmission that come from six servomotors are synthesized on Punching slider, finish forging and pressing work.
CN 201010300084 2010-01-07 2010-01-07 Mechanical multi-link servo press driven by six parallelly-connected motors CN102172759B (en)

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CN102328448B (en) * 2011-09-30 2015-04-01 上海交通大学 Multi-connecting-rod mechanical press driven by three parallel servo motor inputs
CN102412657B (en) * 2011-11-24 2013-12-18 上海交通大学 Mechanical coordination redundancy fault-tolerant drive device
CN102514217B (en) * 2011-11-28 2015-01-14 上海交通大学 Twelve-servo motor input parallel driving multi-connecting-rod mechanical press machine
CN102909875A (en) * 2012-10-26 2013-02-06 苏州农业职业技术学院 Press machine based on ball screw and hinged rod force amplifier
CN103939555B (en) * 2014-04-15 2016-08-17 北京航天自动控制研究所 Many leading screws parallel drive unit
CN104624770A (en) * 2015-02-14 2015-05-20 中国重型机械研究院股份公司 Internal high-pressure forming system for pipe fittings
CN104985849A (en) * 2015-05-27 2015-10-21 北华航天工业学院 Novel three-degree-of-freedom mechanical controllable pressure machine tool
CN104943215A (en) * 2015-05-27 2015-09-30 北华航天工业学院 Three-freedom-degree mechanical type controllable pressure machine tool
CN104985848A (en) * 2015-05-27 2015-10-21 北华航天工业学院 Three-degree-of-freedom mechanical controllable pressure machine tool
CN104972455B (en) * 2015-07-14 2016-10-05 燕山大学 There is the series-parallel robot of redundant drive based on plane parallel mechanism
CN105171094A (en) * 2015-10-27 2015-12-23 北华航天工业学院 Two-degree-of-freedom mechanical controllable main movement mechanism of shaping machine
CN105171096A (en) * 2015-10-27 2015-12-23 北华航天工业学院 Mechanical shaping machine primary motion mechanism
CN106564210A (en) * 2016-11-16 2017-04-19 浙江大学 Guiding device for four-column hydraulic press slide block
EP3517290A1 (en) * 2018-01-29 2019-07-31 Promess Gesellschaft für Montage- und Prüfsysteme mbH Toggle press

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