CN102172760B - Crank-input multilink press driven by four servo motors in parallel - Google Patents
Crank-input multilink press driven by four servo motors in parallel Download PDFInfo
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- CN102172760B CN102172760B CN 201110050428 CN201110050428A CN102172760B CN 102172760 B CN102172760 B CN 102172760B CN 201110050428 CN201110050428 CN 201110050428 CN 201110050428 A CN201110050428 A CN 201110050428A CN 102172760 B CN102172760 B CN 102172760B
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Abstract
The invention discloses a crank-input multilink press driven by four servo motors in parallel, belonging to the field of metal forming machinery. The press comprises a rack and a parallel connection mechanism, wherein the rack is arranged at the outer side of the parallel connection mechanism, the parallel connection mechanism comprises four crank-input movement branched chains, a movable platform, output movement branched chains and a punching sliding block, output rods of the crank-input movement branched chain and the output movement branched chain are in mirror symmetry, and are respectively hinged with the movable platform and the punching sliding block in a manner of being arranged in pairs at each side, the movable platform is hinged with the output movement branched chains, and axes at the hinging parts are parallel to each other. The multilink press is simple in structure and easy to control, can provide larger power and output torque than traditional servo motors, and can constitute a large-tonnage servo press.
Description
Technical field
What the present invention relates to is a kind of device of metal forming machinery technical field, specifically a kind of multi-link lever press of four servomotor parallel drives of crank input.
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 larger flexibility, can change rapidly, easily the output movement rule.Traditional punching machine kinetic characteristic is single, technique 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, so that the service behaviour of forcing press and technique applicability improve greatly, equipment is towards flexibility, intelligentized future development.
The standard machinery forcing press is general to adopt various mechanical transmission mechanism to obtain the required slide block movement rule of technique, 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.Although 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 easily the curve movement of slide block, 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 is Japanese, Canadian etc., and state all conducts in-depth research, Japanese Xiao Song and can the field etc. company developed respectively the driving forcing press of AC servomotor separately.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 technique by working out different programs, developed different product of 3 generations: HCP3000 in 1998, the H2F of calendar year 2001, H4F H1F serial and 2002 are serial.The AC servo machinery driving forcing press is the new trend of Forming Equipments development, is the inexorable trend of controlledization of equipment 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.Such as patent U.S.Patent 2006/0156933A1, Jan.20, a kind of ball screw of 2006 inventions drives the servo-pressing machine that multistage elbow-bar mechanism realizes reinforcement effect, and patent ZL200820030517.5 and ZL200720042169.9 also are applied to elbow-bar mechanism in the forcing press.Be subjected to ball-screw bearing capacity and servomotor power and the less restriction of output torque, although elbow-bar mechanism has large force increasing ratio, be difficult to make up the large-tonnage forcing press.
Find through the retrieval to the prior art patent documentation, " a kind of Punching slider drive unit for forcing press " (Seto, Y.and Hirose, S.Ram driving device and press machine using same US Patent 5,832,816, Nov.10,1998) propose turning cylinder with a horizontal positioned of two servomotor driven in synchronism, with transmission mechanism (such as linkage, ball wire rod mechanism or cam mechanism etc.) horizontal movement of turning cylinder is changed into moving both vertically of Punching slider.
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 mechanism of single-degree-of-freedom, and servomotor directly or by 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.As adopting two servomotor redundant drive, these two servomotors must guarantee synchronous constantly, to avoid inputting the asynchronous movement interference that causes.Although can increase input power like this, increase the forming pressure of press, increased the difficulty of control strategy, and the bad stability of control, any error originated from input all can cause driving mechanism to work even to be damaged.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of multi-link lever press of four servomotor parallel drives of crank input is provided, this apparatus structure is simple, control is easy, power and the output torque larger than existing servomotor can be provided, can make up the large-tonnage servo-pressing machine.
The present invention is achieved by the following technical solutions, the present invention includes: frame and parallel institution, wherein: erecting places the outside of parallel institution.
Described parallel institution comprises: four identical crank input motion side chain, moving platform, output movement side chain and Punching sliders, wherein: the take-off lever of every crank input motion side chain and output movement side chain is all symmetrical with mirror image and each arrangement mode of two of every limit is hinged with moving platform and Punching slider respectively, and moving platform and output movement side chain axis hinged and all hinges is all parallel to each other.
Described crank input motion side chain comprises: the compound master connecting-rod assembly of servomotor, crank and parallelogram, wherein: servomotor is connected with crank, the compound master connecting-rod member hinges of crank and parallelogram.
The compound master connecting-rod assembly of described parallelogram comprises: master connecting-rod, from connecting rod, four intermediate connecting rods and four composite rotation pairs, wherein: the first composite rotation pair connects the first intermediate connecting rod successively, master connecting-rod and the second intermediate connecting rod, the second composite rotation pair connects the other end of the first intermediate connecting rod successively, the other end from connecting rod and the second intermediate connecting rod, the 3rd composite rotation pair connects the other end of the 3rd intermediate connecting rod successively, from the other end of connecting rod and the other end of the 4th intermediate connecting rod, the 4th composite rotation pair connects the 3rd intermediate connecting rod successively, the other end of master connecting-rod and the 4th intermediate connecting rod, the axis of four composite rotation pairs is parallel to each other.
Described output movement side chain comprises: the compound elbow-bar mechanism from link assembly and two cover mirror image symmetries of parallelogram, wherein: two cover elbow-bar mechanism are compound hinged from link assembly with parallelogram respectively.
Described elbow-bar mechanism comprises: four connecting rods, a tranverse connecting rod, two output connecting rods, wherein: an end and the frame of first connecting rod, second connecting rod are hinged, one end and the parallelogram of third connecting rod, the 4th connecting rod are compound hinged from link assembly, one end and the Punching slider of the first output connecting rod, the second output connecting rod are hinged, and the other end and first tranverse connecting rod of first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first output connecting rod and the second output connecting rod are hinged.
Described parallelogram is compound to be comprised from link assembly: the moving platform connecting rod, slide block connecting rod, four intermediate connecting rods and four composite rotation pairs, wherein: the 5th composite rotation pair connects the 5th intermediate connecting rod successively, moving platform connecting rod and the 6th intermediate connecting rod, the 6th composite rotation pair connects the other end of the 5th intermediate connecting rod successively, the other end of slide block connecting rod and the 6th intermediate connecting rod, the 7th composite rotation pair connects the other end of the 7th intermediate connecting rod successively, the other end of the other end of slide block connecting rod and the 8th intermediate connecting rod, the 8th composite rotation pair connects the 7th intermediate connecting rod successively, the other end of moving platform connecting rod and the 8th intermediate connecting rod, the axis of four composite rotation pairs is parallel to each other.
Described frame is provided with the Punching slider guide rail.
Operation principle of the present invention is as follows: four crank input motion side chains are worked simultaneously, servomotor wherein rotates by setting the characteristics of motion, promote the motion of the compound master connecting-rod Component driver of parallelogram moving platform by crank, moving platform drives symmetrical elbow-bar mechanism by parallelogram is compound from link assembly, thereby realizes the forging action that Punching slider moves up and down along the Punching slider guide rail.Thus, the motion and the power transmission that come from four servomotors are synthesized on Punching slider, finish forging and pressing work.
Described symmetrical elbow-bar mechanism has large force increasing ratio at Punching slider near the limit inferior position, can increase the output pressure of forcing press.Employing is arranged symmetrically with and can improves offset load resistance, 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.
Described parallel institution is four-degree-of-freedom, and motion and torque that this mechanism will come from four servomotors are converted into single output, transmit, synthesize on Punching slider, makes the larger forming pressure of whole drive system output.Owing to have the mechanical coordination function, when having error originated from input, four servomotors can not move interference, so that control difficulty relative reduce, and motion that can be by the control servomotor is to realize different Forging Technologies.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the structural representation of the compound master connecting-rod assembly of parallelogram of crank input motion side chain of the present invention.
Fig. 3 is the compound structural representation from link assembly of the parallelogram of output movement side chain of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, present embodiment is implemented under take technical solution of the present invention as prerequisite, 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 and parallel institution 19, wherein: frame 1 is arranged at the outside of parallel institution 19.
Described parallel institution 19 comprises: four identical crank input motion side chain 5, moving platform 6, output movement side chain 8 and Punching sliders 17, wherein: the take-off lever of every crank input motion side chain 5 and output movement side chain 8 is all symmetrical with mirror image and each arrangement mode of two of every limit is hinged with moving platform 6 and Punching slider 17 respectively, moving platform 6 is hinged with output movement side chain 8, and the axis of above hinged place is all parallel to each other.
Described crank input motion side chain 5 comprises: the compound master connecting-rod assembly 4 of servomotor 2, crank 3 and parallelogram, and wherein: servomotor 2 is connected with crank 3, and the compound master connecting-rod assembly of crank 3 and parallelogram 4 is hinged.
As shown in Figure 2, the compound master connecting-rod assembly 4 of described parallelogram comprises: master connecting-rod 20, from connecting rod 25, four intermediate connecting rods (21,23,27,28) and four composite rotation pairs (22,24,26,29), wherein: the first composite rotation pair 22 connects the first intermediate connecting rod 21 successively, master connecting-rod 20 and the second intermediate connecting rod 22, the second composite rotation pair 24 connects the other end of the first intermediate connecting rod 21 successively, the other end from connecting rod 25 and the second intermediate connecting rod 23, the 3rd composite rotation pair 26 connects the other end of the 3rd intermediate connecting rod 27 successively, from the other end of connecting rod 25 and the other end of the 4th intermediate connecting rod 28, the 4th composite rotation pair 29 connects the 3rd intermediate connecting rod 27 successively, the other end of master connecting- rod 20 and 28, four composite rotation pairs (22 of the 4th intermediate connecting rod, 24,26,29) axis is parallel to each other.
As shown in Figure 1, described output movement side chain 8 comprises: the compound elbow-bar mechanism 9 from link assembly 7 and two cover mirror image symmetries of parallelogram, wherein: the elbow-bar mechanism 9 of two cover mirror image symmetries is compound hinged from link assembly 7 with parallelogram.
Described elbow-bar mechanism 9 comprises: first connecting rod 10, second connecting rod 11, third connecting rod 12, the 4th connecting rod 13, the first tranverse connecting rod 14, the first output connecting rod 15, the second output connecting rod 16, wherein: first connecting rod 10, one end and the frame of second connecting rod 11 are hinged, third connecting rod 12, one end of the 4th connecting rod 13 and parallelogram are compound hinged from link assembly 7, the first output connecting rod 15, one end and the Punching slider of the second output connecting rod 16 are hinged, first connecting rod 10, second connecting rod 11, third connecting rod 12, the 4th connecting rod 13, the first output connecting rod, the other end and first tranverse connecting rod 14 of the second output connecting rod 16 are hinged.
As shown in Figure 3, described parallelogram is compound to be comprised from link assembly 7: moving platform connecting rod 30, slide block connecting rod 35, four intermediate connecting rods (32,33,37,38) and four composite rotation pairs (31,34,36,39), wherein: the 5th composite rotation pair 31 connects the 5th intermediate connecting rod 32 successively, moving platform connecting rod 30 and the 6th intermediate connecting rod 33, the 6th composite rotation pair 34 connects the other end of the 5th intermediate connecting rod 32 successively, the other end of slide block connecting rod 35 and the 6th intermediate connecting rod 33, the 7th composite rotation pair 36 connects the other end of the 7th intermediate connecting rod 37 successively, the other end of the other end of slide block connecting rod 35 and the 8th intermediate connecting rod 38, the 8th composite rotation pair 39 connects the 7th intermediate connecting rod 37 successively, the other end of moving platform connecting rod 30 and 38, four composite rotation pairs (31 of the 8th intermediate connecting rod, 34,36,39) axis is parallel to each other.
As shown in Figure 1, described frame 1 is provided with Punching slider guide rail 18.
The present invention utilizes many input characteristics of multiple freedom parallel mechanism 19, adopts the power of four-freedom parallel mechanism 19 synthetic four servomotors, 2 inputs to obtain high-power servo-pressing machine.This forcing press is take four servomotors, 2 driving cranks 3 as input, by moving platform 6 of four crank input motion side chains, 5 common drivings, this moving platform 6 promotes Punching slider 17 by output movement side chain 8 and moves up and down to finish the punching press action, and wherein the symmetrical elbow-bar mechanism 9 of output movement side chain 8 has boosting function.The present invention is simple in structure, control is easy, low cost of manufacture, can fine solution existing servomotor power and the less restriction of output torque and can't make up the problem of large-tonnage servo-pressing machine.
Claims (5)
1. the multi-link lever press of four servomotor parallel drives of crank input, comprise: frame and parallel institution, wherein: erecting places the outside of parallel institution, described parallel institution comprises: four crank input motion side chains, moving platform, output movement side chain and Punching sliders, it is characterized in that: the take-off lever of every crank input motion side chain and output movement side chain is all symmetrical with mirror image and each arrangement mode of two of every limit is hinged with moving platform and Punching slider respectively, moving platform and output movement side chain are hinged, and the axis of hinged place is all parallel to each other;
Described crank input motion side chain comprises: the compound master connecting-rod assembly of servomotor, crank and parallelogram, and wherein: servomotor is connected with crank, the compound master connecting-rod member hinges of crank and parallelogram;
The compound master connecting-rod assembly of described parallelogram comprises: master connecting-rod, from connecting rod, four intermediate connecting rods and four composite rotation pairs, wherein: the first composite rotation pair connects the first intermediate connecting rod successively, master connecting-rod and the second intermediate connecting rod, the second composite rotation pair connects the other end of the first intermediate connecting rod successively, the other end from connecting rod and the second intermediate connecting rod, the 3rd composite rotation pair connects the 3rd intermediate connecting rod successively, the other end and the 4th intermediate connecting rod from connecting rod, the 4th composite rotation pair connects the other end of the 3rd intermediate connecting rod successively, the other end of the other end of master connecting-rod and the 4th intermediate connecting rod, the axis of four composite rotation pairs is parallel to each other.
2. the multi-link lever press of four servomotor parallel drives of crank according to claim 1 input, it is characterized in that, described output movement side chain comprises: the compound elbow-bar mechanism from link assembly and two cover mirror image symmetries of parallelogram, wherein: elbow-bar mechanism and the parallelogram of two cover mirror image symmetries are compound hinged from link assembly.
3. the multi-link lever press of four servomotor parallel drives of crank according to claim 2 input, it is characterized in that, described elbow-bar mechanism comprises: four connecting rods, a tranverse connecting rod, two output connecting rods, wherein: first connecting rod, one end and the frame of second connecting rod are hinged, third connecting rod, one end and the parallelogram of the 4th connecting rod are compound hinged from link assembly, the first output connecting rod, one end and the Punching slider of the second output connecting rod are hinged, first connecting rod, second connecting rod, third connecting rod, the 4th connecting rod, the first output connecting rod, the other end and first tranverse connecting rod of the second output connecting rod are hinged.
4. the multi-link lever press of four servomotor parallel drives of crank according to claim 2 input, it is characterized in that, described parallelogram is compound to be comprised from link assembly: the moving platform connecting rod, slide block connecting rod, four intermediate connecting rods and four composite rotation pairs, wherein: the 5th composite rotation pair connects the 5th intermediate connecting rod successively, moving platform connecting rod and the 6th intermediate connecting rod, the 6th composite rotation pair connects the other end of the 5th intermediate connecting rod successively, the other end of slide block connecting rod and the 6th intermediate connecting rod, the 7th composite rotation pair connects an end of the 7th intermediate connecting rod successively, one end of the other end of slide block connecting rod and the 8th intermediate connecting rod, the 8th composite rotation pair connects the other end of the 7th intermediate connecting rod successively, the other end of the other end of moving platform connecting rod and the 8th intermediate connecting rod, the axis of four composite rotation pairs is parallel to each other.
5. the multi-link lever press of four servomotor parallel drives of crank input according to claim 1 is characterized in that described frame is provided with the Punching slider guide rail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110050428 CN102172760B (en) | 2011-03-02 | 2011-03-02 | Crank-input multilink press driven by four servo motors in parallel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110050428 CN102172760B (en) | 2011-03-02 | 2011-03-02 | Crank-input multilink press driven by four servo motors in parallel |
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| CN102172760A CN102172760A (en) | 2011-09-07 |
| CN102172760B true CN102172760B (en) | 2013-03-20 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102513491A (en) * | 2011-12-29 | 2012-06-27 | 一重集团大连设计研究院有限公司 | Booster for servo press |
| CN102430681A (en) * | 2011-12-29 | 2012-05-02 | 一重集团大连设计研究院有限公司 | Drive machine coordinating device of dual servo motors of press machine |
| CN108127951A (en) * | 2017-12-25 | 2018-06-08 | 江苏精研科技股份有限公司 | Electrical servo shaping pressing machine |
| CN108859205A (en) * | 2018-07-04 | 2018-11-23 | 南京农业大学 | A kind of novel multi link heavy duty servo-pressing machine |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7004006B2 (en) * | 2002-05-01 | 2006-02-28 | Murata Kikai Kabushiki Kaisha | Motor driven link press |
| CN101087686A (en) * | 2004-10-25 | 2007-12-12 | 米勒魏因加滕股份公司 | Drive system for a forming press |
| CN101396876A (en) * | 2008-11-05 | 2009-04-01 | 上海交通大学 | Double-motor mechanical coordination in-phase slider driven eight-bar servo pressure device |
| CN101786133A (en) * | 2010-03-26 | 2010-07-28 | 上海交通大学 | Multi-connecting rod servo press for four-motor parallel drive machine |
-
2011
- 2011-03-02 CN CN 201110050428 patent/CN102172760B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7004006B2 (en) * | 2002-05-01 | 2006-02-28 | Murata Kikai Kabushiki Kaisha | Motor driven link press |
| CN101087686A (en) * | 2004-10-25 | 2007-12-12 | 米勒魏因加滕股份公司 | Drive system for a forming press |
| CN101396876A (en) * | 2008-11-05 | 2009-04-01 | 上海交通大学 | Double-motor mechanical coordination in-phase slider driven eight-bar servo pressure device |
| CN101786133A (en) * | 2010-03-26 | 2010-07-28 | 上海交通大学 | Multi-connecting rod servo press for four-motor parallel drive machine |
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