CN103962423A - Servo direct-driven harmonic drive spiral bending machine - Google Patents

Abstract

A servo direct-driven harmonic drive spiral bending machine comprises two symmetrically arranged power portions. Output of the power portions is achieved through planetary roller screw mechanisms, and the power portions are connected with a sliding block of the bending machine. Each power portion comprises a permanent magnetic motor portion, a harmonic wave speed reduction portion and a roller screw portion; when permanent magnetic motors are powered up, rotors directly drive harmonic generators to rotate under the action of magnetic field force and accordingly staggered tooth motions are carried out between a flexible gear and a rigid gear, speed reduction and torque increase are achieved, motions output by the flexible gear drive output shafts to rotate, the front ends of the output shafts are provided with the planetary roller screw mechanisms, and accordingly the sliding block is driven to move up and down, and a plate is bent and formed through a die on the sliding block. The mechanical-electrical integration design is adopted, the structure is compact, and equipment reliability is high; a large reduction ratio can be achieved through harmonic gears, and large forming force is provided; by means of a computer and servo control, elasticity of the plate can be predicted, and the plate can be bent and formed accurately.

Description

A Servo Direct Drive Harmonic Drive Spiral Bending Machine

technical field

The invention belongs to forging punching and shearing equipment, in particular to a servo direct drive type harmonic drive spiral bending machine.

Background technique

When processing the plate, it is often necessary to bend the plate at a certain angle to meet the needs of practical applications. At present, the main sheet metal bending equipment is divided into mechanical type and hydraulic type. The mechanical bending machine usually uses a motor and a series of gear transmission systems to realize the up and down movement of the slider; the hydraulic bending machine uses a hydraulic cylinder and a series of Complex oil circuit control elements to realize the up and down movement of the slider. Bending machines play an important role in the iron and steel industry, especially in large iron and steel enterprises, which often require continuous and high-precision operation of bending machines. However, at present, due to the complexity of the transmission system of traditional mechanical bending machines, hydraulic bending machine oil circuit There are many control components and high failure rate, which limits its popularization. Bending machines can only be seen in large iron and steel enterprises with strong economic strength. With the rapid development of the national economy, more and more small enterprises need to produce some bending parts. There is an urgent demand for CNC bending machines with low price, simple structure and reliable work in the market.

In the Chinese patent that application number is 201110395280.7, a kind of small-sized bending machine is disclosed, and it makes pushing block move in guide rail by the hydraulic jack that is installed on the top. This kind of bending machine has a simple structure, but the bending accuracy is poor, the degree of automation is low, the overall rigidity of the equipment is poor, the sheet materials that can be processed are limited, and the versatility is poor.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a servo direct drive type harmonic drive spiral bending machine. The whole bending machine has a simple and compact structure, high precision and strong equipment versatility.

In order to achieve the above object, the technical scheme that the present invention takes is:

A servo direct drive type harmonic transmission spiral bending machine, including two symmetrically arranged power parts, the main body of the power part is installed on the upper plate 17 of the top cavity and the lower plate 37 of the top cavity, and the output of the power part is a planetary roller The lead screw mechanism is threadedly connected with the slide block 30 of the bending machine, the slide block 30 is connected with the body 33 , and the body 33 is connected with the base 31 .

The power part includes a permanent magnet motor stator 2, and the permanent magnet motor stator 2 is fixed on the inner ring boss of the motor casing 1; the tail of the permanent magnet motor rotor 3 is supported on the support shaft 8 through the rear end bearing 6, and the support shaft 8 It is fixed with the rear end cover 5 of the motor; the rotor 3 of the permanent magnet motor and the tail of the motor casing 1 are respectively equipped with a resolver stator 4 and a resolver rotor 10 for providing feedback signals.

The harmonic generator 12 is fixed on the front end of the permanent magnet motor rotor 3, the inner side of the harmonic generator 12 is supported on the tail of the output shaft 23 through the front end bearing 18, the harmonic generator 12 is in the shape of an ellipse, and the flexible bearing 14 is installed on the harmonic The outer side of the wave generator 12 is axially fixed by the upper cover plate 13 and the lower cover plate 40; the outer side of the flexible bearing 14 cooperates with the inner side of the flexible wheel 16. Since the harmonic generator 12 is in a rigid elliptical shape, the flexible bearing 14 and the flexible wheel The wheel 16 also becomes an elliptical shape; the rigid wheel 15 is a rigid ring with an inner gear ring, the flexible wheel 16 and the rigid wheel 15 are meshed through the tooth shape, the rigid wheel 15 cooperates with the motor casing 1 through a buckle, and the rear end cover of the motor 5. The motor casing 1 and the rigid wheel 15 are pressed into the recessed platform of the upper plate 17 of the top chamber through the evenly distributed tension bolts 11, and the circumferential direction of the rigid wheel 15 is positioned at the same time.

The flexible spline 16 is installed on the flexible spline support 20, and the flexible spline support 20 is connected with the output shaft 23 to transmit power. There are an upper tapered roller bearing 22 and a lower tapered roller bearing 24, the upper tapered roller bearing 22 is supported on the motion reaction force balance chamber 36 through the backing plate 21, and the outer ring of the lower tapered roller bearing 24 is supported on the end cover 25 of the balance chamber Above, the balance cavity end cover 25 is connected on the motion reaction force balance cavity 36, and the motion reaction force balance cavity 36 is connected with the support cylinder 38 welded on the lower plate 37 of the top cavity.

The front end of the output shaft 23 is made into a screw, and the screw part of the output shaft 23 meshes with a circle of planetary rollers 27. The two ends of the planetary rollers 27 are supported on a pair of support rings 29. Rotate, the support ring 29 is respectively supported on the upper support 35 and the lower support 28, and the whole lead screw nut part is packaged in the lead screw housing 26 with the lead screw upper cover plate 34 and the lead screw lower cover plate 32, and the lead screw housing 26 Fixed with slider 30.

The advantages of the present invention are: electric drive, flexible arrangement of equipment; mechanical and electrical integration design, compact structure, high equipment reliability; harmonic gears can achieve a large reduction ratio, so that the present invention can provide a large forming force; through Computer and servo control can predict the springback of the sheet in advance, and realize the precise bending and forming of the sheet.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a structural schematic diagram of the power part of the present invention.

Fig. 3 is a block diagram showing the connection of the present invention and its auxiliary electrical modules.

Detailed ways

The present invention will be explained in detail below with reference to the accompanying drawings.

Referring to Fig. 1 and Fig. 2, a servo direct drive type harmonic transmission spiral bending machine includes two symmetrically arranged power parts, the main body of the power part is installed on the upper plate 17 of the top cavity and the lower plate 37 of the top cavity, and the power Part of the output is that the planetary roller screw mechanism is threadedly connected to the slider 30 of the bending machine, the slider 30 is connected to the body 33, and the body 33 is connected to the base 31;

Referring to Fig. 2, the power part includes a permanent magnet motor stator 2, and the permanent magnet motor stator 2 is fixed on the inner ring boss of the motor housing 1 by anaerobic glue or small screws; the tail of the permanent magnet motor rotor 3 passes through the rear end bearing 6 is supported on the support shaft 8, and the support shaft 8 is fixed to the rear end cover 5 of the motor through double round nuts 7 and flat keys 9; the rotor 3 of the permanent magnet motor and the tail of the motor housing 1 are respectively equipped with a resolver stator 4 and Resolver rotor 10;

The harmonic generator 12 is fixed on the front end of the permanent magnet motor rotor 3 by screws and pins, the inner side of the harmonic generator 12 is supported on the tail of the output shaft 23 through the front end bearing 18, the harmonic generator 12 is in the shape of an ellipse, and the flexible bearing 14 is The deformation is installed on the outside of the harmonic generator 12, and the axial direction is fixed by the upper cover plate 13 and the lower cover plate 40; the outer side of the flexible bearing 14 cooperates with the inner side of the flexible wheel 16. Since the harmonic generator 12 is a rigid ellipse, it will make the flexible The bearing 14 and the flexible spline 16 also become elliptical; the rigid spline 15 is a rigid ring with an internal gear ring, and the flexible spline 16 and the rigid spline 15 mesh through the tooth shape. When the harmonic generator 12 rotates, it drives the flexible spline 16 undergoes controllable elastic deformation, and carries out staggered tooth movement with the rigid wheel 15 for transmission; the rigid wheel 15 cooperates with the motor casing 1 through buckles, and the rear end cover 5 of the motor, the motor casing 1 and the rigid wheel 15 pass through uniformly distributed six A tension bolt 11 is compressed in the concave platform of the upper plate 17 of the top cavity, and the circumferential direction of the rigid wheel 15 is positioned by a pin at the same time.

The flexspline 16 is installed on the flexspline support 20 through bolts and pins. The flexspline support 20 has a keyway, and the power is transmitted by connecting the flat key 39 and the shoulder on the output shaft 23 to the output shaft 23. The flexspline support The sleeve 19 provided on the upper part of 20 is used to support part of the self-weight of the motor. The upper tapered roller bearing 22 and the lower tapered roller bearing 24 are installed on the middle part of the output shaft 23. On the force balance chamber 36, the outer ring of the lower tapered roller bearing 24 is supported on the balance chamber end cover 25, and the balance chamber end cover 25 is connected to the motion reaction force balance chamber 36 by bolts, and the motion reaction force balance chamber 36 passes through the The flange and the bolts are connected with the support cylinder 38 welded on the lower plate 37 of the top chamber.

The front end of the output shaft 23 is made into a screw, and the screw part of the output shaft 23 meshes with a circle of planetary rollers 27. The two ends of the planetary rollers 27 are supported on a pair of support rings 29. Rotate, the support ring 29 is respectively supported on the upper support 35 and the lower support 28, and the whole lead screw nut part is packaged in the lead screw housing 26 with the lead screw upper cover plate 34 and the lead screw lower cover plate 32, and the lead screw housing 26 It is fixed with the slide block 30 by flanges and bolts thereon.

Working principle of the present invention is:

Referring to Fig. 3, the two power parts of the present invention are connected to the servo driver through cables, the servo driver is connected to the 380V power supply, the control terminal of the servo driver is connected to the controller, the controller is connected to the industrial computer, and the motion signals of the two power parts are fed back to the controller to ensure the synchronization of its work.

The industrial computer controls the servo drive through the controller to power on the power part. When the power part is powered on, the permanent magnet motor rotor 3 starts to rotate under the action of the magnetic field force, and at the same time drives the harmonic generator 12 connected to it to rotate, and the harmonic generator 12 makes the flexwheel 16 controllable through the flexible bearing 14 Elastic deformation, this kind of controllable elastic deformation will make the tooth movement between flex spline 16 and rigid spline 15, so that the flex spline 16 outputs low speed and high torque; the output of flex spline 16 drives the output shaft 23 through the flat key 39 Start to rotate, the output shaft 23 cannot move in the axial direction due to the fixation of the motion reaction force balance chamber 36, but can only rotate along its own axis, so the thread at the front end will drive the planetary roller 27 and the screw housing 26 to move in the axial direction , and then drive the slider 30 to move up and down, and precisely control the bending of the sheet metal.

Claims (1)

1. A servo direct drive type harmonic transmission spiral bending machine, including two symmetrically arranged power parts, characterized in that: the main body of the power part is installed on the top cavity upper plate (17) and the top cavity lower plate (37) Above, the output of the power part is threaded connection between the planetary roller screw mechanism and the slider (30) of the bending machine, the slider (30) is connected to the body (33), and the body (33) is connected to the base (31) superior; The power part includes a permanent magnet motor stator (2), and the permanent magnet motor stator (2) is fixed on the inner ring boss of the motor casing (1); the tail of the permanent magnet motor rotor (3) passes through the rear end bearing (6) Supported on the support shaft (8), the support shaft (8) is fixed to the rear end cover (5) of the motor; the rotor (3) of the permanent magnet motor and the tail of the motor casing (1) are respectively equipped with a resolver stator ( 4) and resolver rotor (10); The harmonic generator (12) is fixed on the front end of the permanent magnet motor rotor (3), and the inner side of the harmonic generator (12) is supported on the tail of the output shaft (23) through the front end bearing (18). The harmonic generator (12) is Oval shape, the flexible bearing (14) is installed on the outside of the harmonic generator (12) through pre-deformation, and the axial direction is fixed by the upper cover plate (13) and the lower cover plate (40); the outer side of the flexible bearing (14) is connected with the flexwheel ( 16) Inner fit, since the harmonic generator (12) has a rigid elliptical shape, the flexible bearing (14) and the flexible spline (16) will also become elliptical; the rigid spline (15) is a The rigid ring, the flexible spline (16) and the rigid spline (15) are meshed through teeth, the rigid spline (15) is matched with the motor casing (1) through buckles, the rear end cover of the motor (5), the motor casing (1) and The rigid wheel (15) is pressed into the concave platform of the upper plate (17) of the top cavity through the evenly distributed tension bolts (11), and the rigid wheel (15) is circumferentially positioned at the same time; The flexspline (16) is installed on the flexspline support (20), and the flexspline support (20) is connected to the output shaft (23) to transmit power. The sleeve (19) provided on the upper part of the flexspline support (20) is used to To support the self-weight of the motor part, the upper tapered roller bearing (22) and the lower tapered roller bearing (24) are installed on the middle part of the output shaft (23), and the upper tapered roller bearing (22) moves through the backing plate (21). The outer rings of the upper and lower tapered roller bearings (24) of the reaction force balance chamber (36) abut on the balance chamber end cover (25), and the balance chamber end cover (25) is connected to the movement reaction force balance chamber (36). The counter force balance chamber (36) is connected with the support cylinder (38) welded on the lower plate (37) of the top chamber; The front end of the output shaft (23) is made into a screw, and the screw part of the output shaft (23) meshes with a ring of planetary rollers (27), and the two ends of the planetary rollers (27) are supported on a pair of support rings (29). The planetary rollers (27) can rotate circumferentially along their own axes, the support rings (29) are respectively supported on the upper support (35) and the lower support (28), and the entire screw nut part is covered with the screw upper cover plate (34 ) and the lead screw lower cover plate (32) are packaged in the lead screw housing (26), and the lead screw housing (26) is fixed with the slide block (30).