CN106427007A - Dual drive toggle rod mechanism for servo mechanical press and optimization method - Google Patents
Dual drive toggle rod mechanism for servo mechanical press and optimization method Download PDFInfo
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- CN106427007A CN106427007A CN201610950091.4A CN201610950091A CN106427007A CN 106427007 A CN106427007 A CN 106427007A CN 201610950091 A CN201610950091 A CN 201610950091A CN 106427007 A CN106427007 A CN 106427007A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B1/00—Presses, 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
- B30B1/10—Presses, 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
- B30B1/14—Presses, 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 cams, eccentrics, or cranks
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Abstract
The invention discloses a dual drive toggle rod mechanism for a servo mechanical press and an optimization method. The technical scheme is that an upper toggle rod part comprises a first crank, a first connecting rod, a second toggle rod and a machine body; mechanism optimization is carried out with the stroke adopted as an optimization target; after mechanism parameters of optimization of the upper toggle rod part are acquired, the mechanism parameters are substituted into the entire dual drive toggle rod mechanism; a lower toggle rod part is optimized with the driving torque adopted as an optimization target; and through decoupling iterative optimization of stroke and driving torque of the upper toggle rod part and the lower toggle rod part, the problem that an optimal solution of the dual drive toggle rod mechanism is hard to acquire through adopting a traditional optimization method can be solved, optimization of the dual drive toggle rod mechanism for the servo mechanical press is achieved, the performance and adaptability of the press are improved, the stroke of the machine body structure and a sliding block can be guaranteed to meet the working requirement, the driving torque of the cranks is greatly reduced, and the capacity and cost of a servo motor are reduced. According to the dual drive toggle rod mechanism, the utilization is simple and convenient, the structure is reasonable, and the mechanism is convenient and practical.
Description
Technical field
The present invention relates to mechanical transmission fields, more particularly to servounit forcing press Dual Drive elbow-bar mechanism and optimization side
Method.
Background technology
Punching machine is a kind of one of important mechanized equipment, and wherein punching machine with toggle rod type punching machine is
Main.Because toggle rod type punching machine has, speed of working stroke is slow, force increasing ratio is big, slide block bottom dead centre dwell time length,
Fuselage is rigidly good, be applied to the compressing or extrusion molding of precision metal, is widely used in the row such as machinery, automobile, instrument and meter
In industry.
As traditional toggle rod type Press Slider motion mode is relatively fixed constant, forcing press single function, work
The poor and motor of skill adaptability does not stop flywheel driven rotation causes the development that total energy consumption is high, be therefore not suitable with modern manufacturing industry.
In prior art, forcing press is directly driven from servo drive motor, but forcing press is still using traditional toggle link
The operating mechanism of formula forcing press, then can cause the instantaneous power of the servo drive motor that selects and moment of torsion to be far longer than conventional pressure
The common induction machine of machine, so as to cause the involving great expense of forcing press, relatively costly, does not utilize popularization and application, it is therefore necessary to adopt
With new operating mechanism.Chinese patent " a kind of servounit forcing press Dual Drive elbow-bar mechanism and its control method "
CN201510013662.7, proposes a kind of servounit forcing press Dual Drive elbow-bar mechanism, achievable forcing press engineering pressure
Stroke and bottom dead centre are adjustable, slide block movement mode arbitrarily can be arranged, and greatly promote performance and the suitability of forcing press, and can reduce
The moment of torsion of separate unit motor and instantaneous power.
But general Dual Drive toggle link operating mechanism can not give full play to the advantage of above-mentioned operating mechanism, to driving electricity
The reduction of machine moment of torsion and instantaneous power and the lifting of service behaviour can only play limited action, be unfavorable for said mechanism in reality
Apply in servo-pressing machine.Therefore, for the advantage of above-mentioned operating mechanism is given full play to, promote popularization and application, should propose rational
Method of optimizing its structure is optimized to said mechanism.
Content of the invention
The main object of the present invention is to propose servounit forcing press Dual Drive elbow-bar mechanism and optimization method, it is intended to excellent
Change servounit forcing press Dual Drive elbow-bar mechanism, the performance so as to elevating mechanism forcing press and adaptability.
For achieving the above object, the present invention proposes a kind of servounit forcing press Dual Drive elbow-bar mechanism, including first
Crank, the second crank, first connecting rod, second connecting rod, the first toggle link, the second toggle link, the 3rd toggle link, slide block and fuselage；Described
One end of first crank is connected to constitute with the fuselage and rotates secondary, the other end of first crank and the one of the first connecting rod
End is connected to constitute and rotates secondary, and the other end of the first connecting rod is while one end and second toggle link with first toggle link
One end be connected to constitute and rotate secondary, the other end of second toggle link composition that is connected with the fuselage rotates pair；Described second is bent
One end of handle is connected with the fuselage, and composition rotation is secondary, and the other end of second crank is connected with one end of the second connecting rod
Constitute rotate secondary, the other end of the second connecting rod at the same with the other end of first toggle link and the 3rd toggle link one
The composition that is connected is held to rotate secondary, the other end of the 3rd toggle link is connected to constitute with the slide block and rotates pair；The slide block is placed in institute
State in fuselage guide rail and constitute sliding pair and make reciprocating linear slip；, the slide block led along the fuselage within a period of motion
Rail is slided only through a bottom dead centre and a top dead-centre, when the slide block is through the bottom dead centre, first toggle link, described second
Toggle link and the 3rd toggle link are conllinear and overlap with the fuselage rail axis, and first crank is with the first connecting rod altogether
Line, second crank is conllinear with the second connecting rod；When the slide block is along the fuselage slide and through the top dead-centre,
The other end of the first connecting rod is while the composition that is connected with one end of first toggle link and one end of second toggle link
Rotate the other end of secondary and described second connecting rod at the same with the other end of first toggle link and the 3rd toggle link one
End is connected the rotation pair for constituting, and is located at the both sides of the fuselage rail axis or the same side respectively and is in away from the fuselage
The ultimate range of rail axis.
Preferably, the slide block makees reciprocating linear slip, the top dead-centre extreme higher position of the slide block along the fuselage guide rail
Distance is the total kilometres of forcing press between bottom dead centre extreme lower position.
Preferably, the slide block makees reciprocating linear slip along the fuselage guide rail, when first crank and described second
Crank synchronous rotary and the slide block from top dead-centre extreme higher position to bottom dead centre extreme lower position slide into nominal working stroke point when,
The slide block is that nominal working stroke, now the second toggle link axis is led with the fuselage with its bottom dead centre extreme lower position distance
Rail axis angulation α, the 3rd toggle link axis becomes angle beta with fuselage rail axis, and the α and β is more than 0 and to be less than or equal to
10 degree of angle, during the slide block is from nominal working stroke point to bottom dead centre extreme lower position sliding process, the pressure for bearing is more than
Nominal pressure equal to forcing press.
The present invention also proposes a kind of optimization method using the servounit forcing press Dual Drive elbow-bar mechanism, including
Following steps：
1) according to the overall requirement of servounit forcing press design, determine the servounit forcing press Dual Drive
The basic fundamental parameter of elbow-bar mechanism, including nominal pressure, nominal working stroke, total kilometres, forcing press maximum total height, pressure
Machine total width, and the length requirement of each crank, connecting rod and toggle link；
2) when the servounit forcing press Dual Drive elbow-bar mechanism is in bottom dead centre extreme lower position with the slide block it is
Normal condition, is constituted upper elbow lever part with first crank, the first connecting rod, second toggle link with the fuselage, with
Under second crank, the second connecting rod, first toggle link, the 3rd toggle link, the slide block are constituted with the fuselage
Toggle link part；
3) stroke being connected a little with second toggle link with the first connecting rod is target to the maximum, to the upper elbow lever part
Design is optimized, obtains the mechanism parameter for optimizing；
4) increase the constraint of the total kilometres, by step 3) mechanism parameter that optimizes of gained upper elbow lever part substitute into described in watch
Mechanical press Dual Drive elbow-bar mechanism is taken, minimum with the driving torque sum of first crank and second crank
Target, is optimized design to the lower elbow lever part, obtains the mechanism parameter for optimizing；
5) judge the servounit forcing press Dual Drive elbow-bar mechanism optimize after first toggle link, described second
Whether toggle link and the 3rd toggle link length sum meet the total height of forcing press requires；
6) as described in after optimization the first toggle link, as described in the second toggle link and the 3rd toggle link length sum meet forcing press
Total height require, then obtain the mechanism parameter of optimization；
7) as described in after optimization the first toggle link, as described in the second toggle link and the 3rd toggle link length sum be unsatisfactory for pressure
The total height of machine is required, after the greatest length constraint of second toggle link deducts certain size, is constrained as new greatest length,
Proceed the step 3), first toggle link after the optimization, second toggle link and the 3rd toggle link length it
With the requirement for meeting forcing press total height.
Preferably, the step 3) it is optimized design to the upper elbow lever part, the mechanism parameter for optimizing is obtained, including
Herein below：
1) basic model is set up
The servounit forcing press Dual Drive elbow-bar mechanism with the slide block in bottom dead centre extreme lower position when as base
Quasi- state, with second toggle link rotate sub-center point connected with the fuselage as zero, with first toggle link, institute
The second toggle link and the 3rd toggle link institute coaxial line are stated for Y-axis, upwards, X-direction to the right, takes described first bent to Y direction
Handle length is l1, the first connecting rod length is l2, the second toggle link length is l5, first crank and X-axis forward direction angle
ForFirst crank rotate sub-center point coordinates connected with the fuselage is (X1, Y1), the upper elbow lever part body
By l1、l2、l5WithDetermine completely, X1And Y1With l1、l2、l5WithRelated.
2) optimization aim
When rotating a circle as first crank, the first connecting rod is connected with second toggle link to rotate sub-center point
The stroke of Y-direction isThen optimization aim takes maximum, i.e. Max for S
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l1min≤l1≤l1max
l2min≤l2≤l2max
l5min≤l5≤l5max
X1min≤X1≤X1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, the mechanism parameter l in meet the constraint condition down stroke S maximum is tried to achieve1、l2、l5WithReal
The Mechanism Optimization of the existing Dual Drive elbow-bar mechanism upper elbow lever part.
Preferably, the step 4) it is optimized design to the lower elbow lever part, the mechanism parameter for optimizing is obtained, specifically
Step includes：
1) basic model is set up
The Dual Drive elbow-bar mechanism by the slide block in bottom dead centre extreme lower position when on the basis of state, with described second
Toggle link rotate sub-center point connected with the fuselage is zero, with first toggle link, second toggle link and institute
The 3rd toggle link institute coaxial line is stated for Y-axis, Y direction upwards, X-direction to the right, according to the optimization design of the upper elbow lever part,
Have determined that l1、l2、l5WithFor the lower elbow lever part, second crank length is taken for l '1, the second connecting rod length
For l3, the first toggle link length is l4, the 3rd toggle link length is l6, the angle of second crank and X-axis pros isSecond crank rotate sub-center point coordinates connected with the fuselage is (X '1, Y '1), then lower elbow lever part machine
Structure is by l '1、l3、l4、l6WithDetermine, whole mechanism is by l1、l2、l5Withl′1、l3、l4、l6WithDetermine completely, X '1With Y '1
With l '1、l3、l4、l5WithRelated.
2) optimization aim
When being in nominal working stroke point position as the slide block, second toggle link is at an angle with Y-axis, second elbow
Bar is at an angle β with Y-axis, and the slide block bears forcing press nominal pressure, and now the driving torque of first crank isThe driving torque of second crank isThen optimize
Target is N+N ' minimalization, i.e. Min
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l′1min≤l′1≤l′1max
l3min≤l3≤l3max
l4min≤l4≤l4max
l6min≤l6≤l7max
X′1min≤X′1≤X′1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, the mechanism parameter l ' during driving torque N+N ' minimum under the conditions of meet the constraint is tried to achieve1、l3、
l4、l6WithRealize the Mechanism Optimization of the lower elbow lever part.
Technical solution of the present invention servounit forcing press Dual Drive elbow-bar mechanism and optimization method, Dual Drive elbow-bar mechanism
Including the first crank, the second crank, first connecting rod, second connecting rod, the first toggle link, the second toggle link, the 3rd toggle link, slide block；This
Bright proposition Dual Drive elbow-bar mechanism upper elbow lever part and lower elbow lever partly decoupled iterative optimized design method, upper elbow lever part is by the
One crank, first connecting rod, the second toggle link and fuselage composition, carry out Mechanism Optimization with stroke as optimization aim, are obtaining upper elbow lever
After optimizing mechanism parameter, whole Dual Drive elbow-bar mechanism is substituted into, the optimization of lower elbow lever part is carried out as optimization aim with driving torque,
By the decoupling iteration optimization to upper and lower toggle link partial journey and driving torque, it is possible to resolve Dual Drive elbow-bar mechanism is excellent using tradition
Change method is difficult to obtain a difficult problem for optimal solution, realizes the optimization of servounit forcing press Dual Drive elbow-bar mechanism, to lift pressure
The performance of power machine and adaptability, on the premise of meeting job requirement airframe structure, ram travel is ensured, are greatly reduced crank
Driving torque, and then reduce the capacity of servomotor and cost.The present invention is easy to use, designed servounit
Forcing press is rational in infrastructure with Dual Drive elbow-bar mechanism, convenient and practical..
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for technology description is had to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the initiating structure schematic diagram of the present invention；
Fig. 2 is the work structuring schematic diagram of the present invention；
The structural representation that Fig. 3 optimizes for upper elbow lever part of the present invention；
Fig. 4 is the structural representation of global optimization of the present invention.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 1 | First crank | 4 | First toggle link |
| 1′ | Second crank | 5 | Second toggle link |
| 2 | First connecting rod | 6 | 3rd toggle link |
| 3 | Second connecting rod | 7 | Slide block |
The realization of the object of the invention, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that relate in the embodiment of the present invention directivity indicate (such as up, down, left, right, before and after ...),
Then directionality indicate be only used for explain the relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality indicates also correspondingly to change therewith.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, being somebody's turn to do " first ", " second " etc.
Description be only used for describing purpose, and it is not intended that indicating or implying its relative importance or implicit indicate indicated skill
The quantity of art feature.Thus, " first " is defined, the feature of " second " can be expressed or implicitly include at least one spy
Levy.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, the knot of this technical scheme is will be understood that when the combination appearance of technical scheme is conflicting or cannot realize
Close and do not exist, also not within the protection domain of application claims.
Refer to Fig. 1 and Fig. 2, the servounit forcing press Dual Drive elbow-bar mechanism of the present invention, including the first crank 1,
Second crank 1 ', first connecting rod 2, second connecting rod 3, the first toggle link 4, the second toggle link 5, the 3rd toggle link 6 and slide block 7.First is bent
One end of handle 1 is connected to constitute with fuselage and rotates secondary RO, and the other end of the first crank 1 is connected to constitute with one end of first connecting rod 2 and turns
Secondary RA is moved, the other end of first connecting rod 2 is while the composition that is connected with one end of the first toggle link 4 and one end of the second toggle link 5 is rotated
Secondary RC, the other end of the second toggle link 5 is connected to constitute with fuselage and rotates secondary RD.One end of second crank 1 ' is connected to constitute with fuselage and turns
Move secondary RO ', the other end of the second crank 1 ' be connected with one end of second connecting rod 3 constitute rotation secondary RA ', second connecting rod 3 another
End at the same be connected with the other end of the first toggle link 4 and one end of the 3rd toggle link 6 composition rotation secondary RB, the 3rd toggle link 6 another
End is connected to constitute with slide block 7 and rotates secondary RE；Slide block 7 is placed in fuselage guide rail and constitutes sliding pair SE and make along fuselage guide rail reciprocal straight
Line slides.Slide block 7 works as cunning along fuselage slide only through a bottom dead centre and a top dead-centre within a period of motion
When block 7 is through bottom dead centre, the first toggle link 4, the second toggle link 5 and 6 three of the 3rd toggle link are conllinear and overlap with fuselage rail axis DE,
At this moment the first crank 1 is conllinear with first connecting rod 2, and the second crank 1 ' is conllinear with second connecting rod 3.When slide block 7 is slided along fuselage guide rail
Dynamic and during through top dead-centre, the other end of first connecting rod 2 is while be connected with one end of the first toggle link 4 and one end of the second toggle link 5
The other end of the rotation secondary RC of composition and second connecting rod 3 at the same with the other end of the first toggle link 4 and the 3rd toggle link 6 one
The connected rotation secondary RB for constituting in end, is located at both sides or the same side of fuselage rail axis DE respectively, and is in leading away from fuselage
The ultimate range of rail axis DE.
The servounit forcing press Dual Drive elbow-bar mechanism of the present invention, slide block 7 makees reciprocating linear slip along fuselage guide rail,
Between the top dead-centre extreme higher position of slide block 7 and bottom dead centre extreme lower position, distance is the total kilometres S of forcing press0.
Refer to Fig. 2, the servounit forcing press Dual Drive elbow-bar mechanism of the present invention, slide block 7 is made past along fuselage guide rail
Complex line slide, when the first crank 1 and 1 ' synchronous rotary of the second crank and slide block 7 from top dead-centre extreme higher position to bottom dead centre most
When lower position slides into nominal working stroke point, slide block 7 is nominal working stroke S with its bottom dead centre extreme lower position distance, now
Second toggle link, 5 axis DC and fuselage rail axis DE angulation α, 6 axis E B of the 3rd toggle link and fuselage rail axis DE become angle beta, α and
The angle of β is more than 0 and to be less than or equal to 10 degree, during slide block 7 is from nominal working stroke point to bottom dead centre extreme lower position sliding process,
The pressure that mechanism can bear is more than or equal to nominal pressure N of forcing press.
The principle of optimality of the servounit forcing press Dual Drive elbow-bar mechanism of the present invention is：
Refer to Fig. 1, the servounit forcing press of the present invention with Dual Drive elbow-bar mechanism, when slide block 7 is led in fuselage
During rail bottom dead centre, the first toggle link 4, the second toggle link 5,6 three of the 3rd toggle link are overlapped collinearly and with fuselage rail axis DE, at this moment
First crank 1 and first connecting rod 2 are conllinear, and the second crank 1 ' and second connecting rod 3 are conllinear.By two servomotors respectively to first
Crank 1 and the second crank 1 ' drive, and make the first crank 1 and the second crank 1 ' carry out counterclockwise rotates, because the first crank 1
It is the motion of synchronous counterclockwise rotates with the second crank 1 ', the straight line in fuselage guide rail within a period of motion of slide block 7 is slided
During dynamic, only through the bottom dead centre of a fuselage guide rail, so as to ensure loading and the drawback movement monotonicity of forcing press.
Refer to Fig. 2, the servounit forcing press of the present invention with Dual Drive elbow-bar mechanism, when slide block 7 is led in fuselage
During the top dead-centre of rail, the other end of first connecting rod 2 is while the structure that is connected with one end of the first toggle link 4 and one end of the second toggle link 5
The rotation secondary RC for becoming and the other end of second connecting rod 3 at the same with the other end of the first toggle link 4 and one end of the 3rd toggle link 6
Be connected the rotation secondary RB for constituting, and above rotation secondary RC and rotation secondary RB are located at fuselage rail axis DE both sides or same respectively
Side, and in the ultimate range away from fuselage rail axis DE.
Fig. 1 and Fig. 2 is referred to, is set slide block 7 and make reciprocating linear slip, the top dead-centre highest order of slide block 7 along fuselage guide rail
It is S for the total kilometres of forcing press to put distance between bottom dead centre extreme lower position0；Slide block 7 makees reciprocating linear slip along fuselage guide rail,
When the first crank 1 and 1 ' synchronous rotary of the second crank and slide block 7 are slided from top dead-centre extreme higher position to bottom dead centre extreme lower position
During to nominal working stroke point, slide block 7 is S with its bottom dead centre extreme lower position distance for nominal working stroke；Now the second toggle link 5
Axis DC and fuselage rail axis DE angulation α, 6 axis E B of the 3rd toggle link becomes angle beta with fuselage rail axis DE, α and β angle is big
In 0 and 10 degree are less than or equal to, during slide block 7 is from nominal working stroke point to bottom dead centre extreme lower position sliding process, the pressure that can bear
Power is more than or equal to nominal pressure N of forcing press, forcing press maximum total height can be by servounit forcing press Dual Drive toggle link machine
2 points of structure original state DE apart from H limit, so as to set maximum total height as H0, and the length of each crank, connecting rod and toggle link
Degree is required.
Fig. 3 and Fig. 4 is referred to, the servounit forcing press Dual Drive elbow-bar mechanism for setting the present invention is in slide block 7
State on the basis of during bottom dead centre extreme lower position, is constituted upper elbow lever portion with the first crank 1, first connecting rod 2, the second toggle link 5 with fuselage
Point, lower elbow lever part is constituted with fuselage with the second crank 1 ', second connecting rod 3, the first toggle link 4, the 3rd toggle link 6, slide block 7.
Target is to the maximum be connected with the second toggle link 5 stroke of point C of first connecting rod 2, upper elbow lever part is optimized and is set
Meter, obtains the mechanism parameter for optimizing, concretely comprises the following steps：
1) basic model is set up
Fig. 3 is referred to, and servounit forcing press Dual Drive elbow-bar mechanism when bottom dead centre extreme lower position is in slide block 7 is
Normal condition, with the second toggle link 5 rotation sub-center point D connected with fuselage as zero, with the first toggle link 4, the second toggle link 5
And the conllinear axis DE of 6 three of the 3rd toggle link is that Y-axis, upwards, to the right, take 1 length of the first crank is X-direction Y direction
l1, 2 length of first connecting rod is l2, 5 length of the second toggle link is l5, the first crank 1 and X-axis forward direction angle isFirst crank 1 with
The connected rotation sub-center point O coordinate of fuselage is (X1, Y1), upper elbow lever part body is by l1、l2、l5WithDetermine completely.X1With
Y1With l1、l2、l5WithCorrelation is simultaneously expressed.
2) optimization aim
As first connecting rod 2 when the first crank 1 rotates a circle and 5 connected rotation sub-center point C point Y-direction of the second toggle link
Stroke isThen optimization aim takes maximum, i.e. Max for S
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l1min≤l1≤l1max
l2min≤l2≤l2max
l5min≤l5≤l5max
X1min≤X1≤X1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, mechanism parameter l during nominal working stroke S maximum under the conditions of meet the constraint is tried to achieve1、l2、l5
WithRealize the Mechanism Optimization of servounit forcing press Dual Drive elbow-bar mechanism upper elbow lever part.
Then increase total kilometres S0Constraint, by above-mentioned gained upper elbow lever part optimize mechanism parameter l1、l2、l5With
Servounit forcing press Dual Drive elbow-bar mechanism is substituted into, with the driving torque sum minimum of the first crank 1 and the second crank 1 '
For target, design being optimized to lower elbow lever part, obtains the mechanism parameter for optimizing, concretely comprise the following steps：
1) basic model is set up
Refer to Fig. 3 and Fig. 4, Dual Drive elbow-bar mechanism by slide block 7 in bottom dead centre extreme lower position when on the basis of state, with
Second toggle link 5 rotate sub-center point D connected with fuselage is zero, with the first toggle link 4, the second toggle link 5 and the 3rd elbow
6 coaxial lines of bar be Y-axis, Y direction upwards, X-direction to the right, according to the optimization design of upper elbow lever part, it has been determined that l1、l2、
l5WithFor lower elbow lever part, 1 ' length of the second crank is taken for l '1, 3 length of second connecting rod is l3, 4 length of the first toggle link is
l4, 6 length of the 3rd toggle link is l6, the angle of the second crank 1 ' and X-axis pros isThe rotation connected with fuselage of second crank 1 '
Sub-center point O ' coordinate is (X '1, Y '1), then lower elbow lever part body is by l '1、l3、l4、l6WithDetermine, whole mechanism is by l1、
l2、l5Withl′1、l3、l4、l6WithDetermine completely.X′1With Y '1With l '1、l3、l4、l5WithRelated.
2) optimization aim
When being in nominal working stroke point position as slide block 7, the second toggle link 5 is at an angle with Y-axis, and the second toggle link 5 becomes β with Y-axis
Angle, slide block 7 bears forcing press nominal pressure, and now the driving torque of the first crank 1 isSecond is bent
The driving torque of handle 1 ' isThat is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N ' minimalization, that is then optimization aim be N+N
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l′1min≤l′1≤l′1max
l3min≤l3≤l3max
l4min≤l4≤l4max
l6min≤l6≤l7max
X′1min≤X′1≤X′1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, the mechanism parameter l ' during driving torque N+N ' minimum under the conditions of meet the constraint is tried to achieve1、l3、
l4、l6WithRealize the Mechanism Optimization of Dual Drive elbow-bar mechanism lower elbow lever part.
After initial optimization, judge servounit forcing press Dual Drive elbow-bar mechanism total height, i.e. DE apart from H,
It is whether the first toggle link 4 after optimizing, the second toggle link 5 and 6 length sum of the 3rd toggle link meet H0Requirement, if H≤H0,
Corresponding optimization mechanism parameter is then obtained.As H ＞ H0, then take h=H-H0, after the greatest length constraint of the second toggle link 5 deducts h, make
Enter row constraint for new greatest length, optimization design then again respectively to upper elbow lever part and to the excellent of lower elbow lever part
Change design, until meeting the requirement of forcing press total height.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention is not thereby limited, every at this
Under the inventive concept of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/use indirectly
It is included in the scope of patent protection of the present invention in other related technical fields.
Claims (6)
1. a kind of servounit forcing press Dual Drive elbow-bar mechanism, including the first crank, the second crank, first connecting rod, second
Connecting rod, the first toggle link, the second toggle link, the 3rd toggle link, slide block and fuselage；One end of first crank is connected with the fuselage
Constitute and pair is rotated, the other end of first crank is connected with one end of the first connecting rod, and composition rotation is secondary, and described first even
The other end of bar while the composition that is connected with one end of first toggle link and one end of second toggle link rotates pair, described the
The other end of two toggle links is connected to constitute with the fuselage and rotates pair；One end of second crank is connected to constitute with the fuselage and turns
Dynamic pair, the other end of second crank composition that is connected with one end of the second connecting rod rotates pair, the second connecting rod another
One end is connected simultaneously to constitute with the other end of first toggle link and one end of the 3rd toggle link and rotates secondary, the 3rd elbow
The other end of bar is connected to constitute with the slide block and rotates pair；The slide block is placed in the fuselage guide rail and constitutes sliding pair and make past
Complex line slides；Characterized in that, the slide block is along the fuselage slide only through once lower dead within a period of motion
Point and a top dead-centre, when the slide block is through the bottom dead centre, first toggle link, second toggle link and the 3rd elbow
Bar is conllinear and overlaps with the fuselage rail axis, and first crank is conllinear with the first connecting rod, second crank and
The second connecting rod is conllinear；When the slide block is along the fuselage slide and through the top dead-centre, the first connecting rod another
One end is simultaneously connected with one end of one end of first toggle link and second toggle link rotation secondary and described the of composition
The other end of two connecting rods is while the rotation of the composition that is connected with the other end of first toggle link and one end of the 3rd toggle link
Pair, be located at the both sides of the fuselage rail axis or the same side respectively and be in maximum away from the fuselage rail axis away from
From.
2. servounit forcing press Dual Drive elbow-bar mechanism as claimed in claim 1, it is characterised in that the slide block is along institute
State fuselage guide rail and make reciprocating linear slip, between the top dead-centre extreme higher position of the slide block and bottom dead centre extreme lower position, distance is pressure
The total kilometres of power machine.
3. servounit forcing press Dual Drive elbow-bar mechanism as claimed in claim 1, it is characterised in that the slide block is along institute
State fuselage guide rail and make reciprocating linear slip, when first crank and the second crank synchronous rotary and the slide block are by upper dead
Point extreme higher position to bottom dead centre extreme lower position slide into nominal working stroke point when, the slide block and its bottom dead centre extreme lower position away from
From for nominal working stroke, now the second toggle link axis and fuselage rail axis angulation α, the 3rd toggle link axis
It is that the slide block is by nominal pressure more than 0 and less than or equal to 10 degree of angle to become angle beta, the α and the β with fuselage rail axis
Force-stroke point is in bottom dead centre extreme lower position sliding process, and the pressure for bearing is more than or equal to the nominal pressure of forcing press.
4. a kind of use servounit forcing press optimization side of Dual Drive elbow-bar mechanism as described in any one of claims 1 to 3
Method, it is characterised in that comprise the following steps：
1) according to the overall requirement of servounit forcing press design, determine the servounit forcing press Dual Drive toggle link
The basic fundamental parameter of mechanism, including nominal pressure, nominal working stroke, total kilometres, forcing press maximum total height, forcing press most
Big overall width, and the length requirement of each crank, connecting rod and toggle link；
2) the servounit forcing press with Dual Drive elbow-bar mechanism by the slide block in bottom dead centre extreme lower position when on the basis of
State, is constituted upper elbow lever part with first crank, the first connecting rod, second toggle link with the fuselage, with described
Second crank, the second connecting rod, first toggle link, the 3rd toggle link, the slide block constitute lower elbow lever with the fuselage
Part；
3) stroke being connected a little with second toggle link with the first connecting rod is target to the maximum, and the upper elbow lever part is carried out
Optimization design, obtains the mechanism parameter for optimizing；
4) increasing the constraint of the total kilometres, by step 3) mechanism parameter that optimizes of gained upper elbow lever part substitutes into the servo
Tool forcing press Dual Drive elbow-bar mechanism, with the minimum mesh of the driving torque sum of first crank and second crank
Mark, is optimized design to the lower elbow lever part, obtains the mechanism parameter for optimizing；
5) first toggle link after servounit forcing press Dual Drive elbow-bar mechanism optimization, second toggle link are judged
The total height for whether meeting forcing press with the 3rd toggle link length sum is required；
6) as described in after optimization the first toggle link, as described in the second toggle link and the 3rd toggle link length sum meet the total of forcing press
Requirement for height, then obtain the mechanism parameter of optimization；
7) as described in after optimization the first toggle link, as described in the second toggle link and the 3rd toggle link length sum be unsatisfactory for forcing press
Total height is required, after the greatest length constraint of second toggle link deducts certain size, is constrained as new greatest length, is continued
Carry out the step 3), first toggle link after the optimization, second toggle link and the 3rd toggle link length sum are full
The requirement of sufficient forcing press total height.
5. optimization method as claimed in claim 4, it is characterised in that the step 3) the upper elbow lever part is optimized
Design, obtains the mechanism parameter for optimizing, including herein below：
1) basic model is set up
The servounit forcing press with Dual Drive elbow-bar mechanism by the slide block in bottom dead centre extreme lower position when on the basis of shape
State, with second toggle link rotate sub-center point connected with the fuselage as zero, with first toggle link, described the
Two toggle links and the 3rd toggle link institute coaxial line are that Y-axis, upwards, X-direction to the right, takes first crank long to Y direction
Spend for l1, the first connecting rod length is l2, the second toggle link length is l5, first crank and X-axis forward direction angle isFirst crank rotate sub-center point coordinates connected with the fuselage is (X1, Y1), the upper elbow lever part body by
l1、l2、l5WithDetermine completely, X1And Y1With l1、l2、l5WithRelated.
2) optimization aim
When rotating a circle as first crank, the first connecting rod is connected with second toggle link to rotate sub-center point Y side
To stroke beThen optimization aim takes maximum, i.e. Max for S
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l1min≤l1≤l1max
l2min≤l2≤l2max
l5min≤l5≤l5max
X1min≤X1≤X1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, the mechanism parameter l in meet the constraint condition down stroke S maximum is tried to achieve1、l2、l5WithRealize institute
State the Mechanism Optimization of Dual Drive elbow-bar mechanism upper elbow lever part.
6. optimization method as claimed in claim 4, it is characterised in that the step 4) the lower elbow lever part is optimized
Design, obtains the mechanism parameter for optimizing, and concrete steps include：
1) basic model is set up
The Dual Drive elbow-bar mechanism by the slide block in bottom dead centre extreme lower position when on the basis of state, with second toggle link
Rotation sub-center point connected with the fuselage be zero, with first toggle link, second toggle link and described the
Three toggle link institute coaxial lines are Y-axis, Y direction upwards, X-direction to the right, according to the optimization design of the upper elbow lever part, really
Determine l1、l2、l5WithFor the lower elbow lever part, second crank length is taken for l '1, the second connecting rod length is l3,
The first toggle link length is l4, the 3rd toggle link length is l6, the angle of second crank and X-axis pros isDescribed
Second crank rotate sub-center point coordinates connected with the fuselage is (X '1, Y '1), then the lower elbow lever part body is by l '1、
l3、l4、l6WithDetermine, whole mechanism is by l1、l2、l5Withl′1、l3、l4、l6WithDetermine completely, X '1With Y '1With l '1、
l3、l4、l5WithRelated.
2) optimization aim
As the slide block in nominal working stroke point position when, second toggle link is at an angle with Y-axis, second toggle link and Y
Axle is at an angle β, and the slide block bears forcing press nominal pressure, and now the driving torque of first crank isThe driving torque of second crank isThen optimize
Target is N+N ' minimalization, i.e. Min
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Existence condition according to four-bar mechanism has：
Manufactured according to crank connecting link component and airframe structure requires have：
l′1min≤l′1≤l′1max
l3min≤l3≤l3max
l4min≤l4≤l4max
l6min≤l6≤l7max
X′1min≤X′1≤X′1max
4) mechanism parameter for optimizing is solved
With optimized algorithm, the mechanism parameter l ' during driving torque N+N ' minimum under the conditions of meet the constraint is tried to achieve1、l3、l4、l6WithRealize the Mechanism Optimization of the lower elbow lever part.
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| CN106584898A (en) * | 2016-10-26 | 2017-04-26 | 广东工业大学 | Dual-drive toggle rod mechanism used for mechanical press and optimization method |
| CN113408079A (en) * | 2021-07-16 | 2021-09-17 | 广东工业大学 | Optimization method of dual-drive toggle rod mechanism |
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