CN106584898A - Dual-drive toggle rod mechanism used for mechanical press and optimization method - Google Patents

Abstract

The invention discloses a double-drive toggle mechanism for a mechanical press and an optimization method. The invention divides the double-drive toggle mechanism into an upper toggle part and a lower toggle part. The upper toggle part consists of a first crank, a second The first connecting rod, the second toggle and the fuselage, the lower toggle part is composed of the second crank, the second connecting rod, the first toggle, the third toggle, and the slider, and the upper toggle part takes the stroke as the optimization target. Mechanism optimization, the lower toggle part takes the driving torque as the optimization target, through the decoupling and iterative optimization of the stroke and driving torque of the upper and lower toggle parts, the optimization of the dual-drive toggle mechanism is realized to improve the performance and adaptability of the press, and the On the premise of ensuring that the fuselage structure and the stroke of the slider meet the working requirements, the driving torque of the crank is greatly reduced, thereby reducing the capacity and cost of the servo motor. The invention is simple and convenient to use, and the designed double-drive toggle mechanism is reasonable in structure, convenient and practical.

Description

A dual-drive toggle mechanism and optimization method for mechanical presses

technical field

The invention relates to the field of mechanical transmission, in particular to a double-drive toggle mechanism for a mechanical press and an optimization method.

Background technique

The mechanical press is one of the important mechanical equipment, and the mechanical press is mainly the toggle mechanical press. Because the toggle mechanical press has slow working stroke speed, large force ratio, long holding time of the slider at the bottom dead center, and good body rigidity, it is suitable for metal precision pressing or extrusion molding, and is widely used in machinery, Automotive, instrumentation and other industries.

Due to the relatively fixed movement mode of the slider of the traditional toggle mechanical press, single function of the press, poor process adaptability, and high total energy consumption due to the continuous rotation of the flywheel driven by the motor, it is not suitable for the development of modern manufacturing industry. .

In the prior art, the servo drive motor is used to directly drive the press, but if the press still uses the working mechanism of the traditional toggle press, the instantaneous power and torque of the servo drive motor will be far greater than the ordinary induction of the traditional press. Motor, thereby causing the cost of the press machine to be expensive, the cost is higher, and it is not used for popularization and application, so a new working mechanism must be adopted. The Chinese patent "A dual-drive toggle mechanism for servo mechanical presses and its control method" CN201510013662.7 proposes a dual-drive toggle mechanism for servo mechanical presses, which can realize the engineering pressure stroke and bottom dead center of the press. Adjustment and slider movement can be set arbitrarily, which greatly improves the performance and applicability of the press, and can reduce the torque and instantaneous power of a single drive motor.

However, the general double-drive toggle mechanism cannot give full play to the advantages of the above-mentioned working mechanism, and can only play a limited role in reducing the torque and instantaneous power of the driving motor and improving the working performance, which is not conducive to the use of the above-mentioned mechanism in the actual servo press. application. Therefore, in order to give full play to the advantages of the above-mentioned working mechanism and promote its popularization and application, a reasonable mechanism optimization design method should be proposed to optimize the above-mentioned mechanism.

Contents of the invention

The main purpose of the present invention is to propose a double-drive toggle mechanism and an optimization method for a mechanical press, aiming at optimizing the double-drive toggle mechanism so as to improve the performance and adaptability of the mechanical press.

To achieve the above object, the present invention proposes a dual-drive toggle mechanism for a mechanical press, comprising a first crank, a second crank, a first connecting rod, a second connecting rod, a first toggle, a second toggle , a third toggle, a slider, and a fuselage; one end of the first crank is connected to the fuselage to form a revolving pair, and the other end of the first crank is connected to one end of the first connecting rod to form a revolving pair , the other end of the first connecting rod is connected with one end of the first toggle link and one end of the second toggle link at the same time to form a revolving pair, and the other end of the second toggle link is connected with the fuselage to form a A rotary pair; one end of the second crank is connected to the fuselage to form a rotary pair, the other end of the second crank is connected to one end of the second connecting rod to form a rotary pair, and the other end of the second connecting rod is connected to form a rotary pair. One end is connected with the other end of the first toggle link and one end of the third toggle link to form a rotary pair, and the other end of the third toggle link is connected with the slider to form a rotary pair; A sliding pair is formed in the guide rail of the fuselage and performs reciprocating linear sliding; the slider slides along the guide rail of the fuselage only once through the bottom dead center and once through the upper dead center in one movement cycle, and the slider passes through the At the bottom dead point, the first toggle, the second toggle, and the third toggle are collinear and coincident with the axis of the fuselage guide rail, and the first crank and the first connecting rod collinear, the second crank is collinear with the second connecting rod; when the slider slides along the guide rail of the fuselage and passes through the top dead center, the other end of the first connecting rod is simultaneously with the One end of the first toggle link and one end of the second toggle link are connected to form a rotary pair, and the other end of the second link is simultaneously connected with the other end of the first toggle link and the third toggle link. The revolving pairs formed by connecting one ends of the two are respectively located on both sides or the same side of the axis of the guide rail of the fuselage and are at the maximum distance away from the axis of the guide rail of the fuselage.

Preferably, the slider slides reciprocally and linearly along the guide rail of the fuselage, and the distance between the highest position of the upper dead center and the lowest position of the lower dead center of the slider is the total stroke of the press.

Preferably, the slider reciprocates linearly along the guide rail of the fuselage, when the first crank and the second crank rotate synchronously and the slider slides from the highest position of the upper dead center to the lowest position of the lower dead center When reaching the nominal pressure stroke point, the distance between the slider and its lowest position at the bottom dead center is the nominal pressure stroke. At this time, the second toggle axis forms an angle α with the fuselage guide rail axis, and the third toggle axis It forms an angle β with the axis of the guide rail of the fuselage, and said α and said β are angles greater than 0 and less than or equal to 10 degrees. Equal to the nominal pressure of the press.

The present invention also proposes an optimization method using the double-drive toggle mechanism for a mechanical press, comprising the following steps:

1) According to the overall requirements for the design of the double-drive toggle mechanism for mechanical presses, determine the basic technical parameters of the double-drive toggle mechanism, including nominal pressure, nominal pressure stroke, total stroke, and maximum overall height of the press , the maximum overall width of the press, and the length requirements of each crank, connecting rod and toggle;

2) The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as the reference state, and the first crank, the first connecting rod, the second toggle and the fuselage Constitute the upper toggle part, with the second crank, the second connecting rod, the first toggle, the third toggle, the slider and the fuselage forming the lower toggle part;

3) taking the maximum stroke of the connecting point of the first connecting rod and the second toggle as the goal, optimizing the design of the upper toggle part to obtain optimized mechanism parameters;

4) increasing the constraint of the total stroke, aiming at the minimum driving torque of the second crank, optimizing the design of the lower toggle part to obtain optimized mechanism parameters;

5) judging whether the sum of the lengths of the first toggle, the second toggle and the third toggle after the optimization of the dual-drive toggle mechanism satisfies the overall height requirement of the press;

6) If the sum of the optimized lengths of the first toggle, the second toggle and the third toggle meets the overall height requirement of the press, then the optimized mechanism parameters are obtained;

7) If the sum of the optimized lengths of the first toggle, the second toggle and the third toggle does not meet the overall height requirement of the press, the maximum length constraint of the second toggle is subtracted from After a certain size, as a new maximum length constraint, proceed to step 3) until the sum of the optimized lengths of the first toggle, the second toggle and the third toggle satisfies the total length of the press. Highly demanding.

Preferably, the step 3) optimizes the design of the upper toggle part to obtain optimized mechanism parameters, including the following steps:

1) Establish a basic model

The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as the reference state, takes the center point of the rotation joint connecting the second toggle link with the fuselage as the coordinate origin, and takes the first The coaxial line of the toggle lever, the second toggle lever and the third toggle lever is the Y axis, the direction of the Y axis is upward, and the direction of the X axis is to the right. The length of the first crank is taken as l ₁ , and the first connecting rod The length is l ₂ , the length of the second toggle is l ₅ , and the angle between the first crank and the positive direction of the X axis is The coordinates of the center point of the rotary joint connecting the first crank with the fuselage are (X ₁ , Y ₁ ), and the upper toggle mechanism is composed of l ₁ , l ₂ , l ₅ and Fully determined, X ₁ and Y ₁ with l ₁ , l ₂ , l ₅ and relevant.

2) Optimization target

For example, when the first crank rotates one revolution, the stroke in the Y direction of the central point of the rotary joint connecting the first connecting rod with the second toggle is: Then the optimization goal is to take the maximum value of S, that is, Max

3) Constraints

According to the initial conditions in the base state of the institution are:

when ,

when ,

According to the existence conditions of the four-bar mechanism are:

According to the crank connecting rod component manufacturing and fuselage structure requirements are:

l _1min ≤l ₁ ≤l _1max

l _2min ≤l ₂ ≤l _2max

l _5min ≤l ₅ ≤l _5max

X _1min ≤X ₁ ≤X _1max

4) Optimized mechanism parameter solution

Using the optimization algorithm, obtain the mechanism parameters l ₁ , l ₂ , l ₅ and The mechanism optimization of the upper toggle part of the double-drive toggle mechanism is realized.

Preferably, the step 4) increases the constraint of the total stroke, and aims at the minimum driving torque of the second crank, optimizes the design of the lower toggle part to obtain optimized mechanism parameters, and the specific steps include:

1) Establish a basic model

The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as a reference state, assuming that the center point of the rotation joint connecting the first toggle and the third toggle is a hinge support, the The center point of the rotation joint formed by the first toggle and the third toggle is the coordinate origin, the coaxial line between the first toggle and the third toggle is the Y axis, the direction of the Y axis is upward, and the direction of the X axis is Right, then the length of the second crank is l′ ₁ , the length of the second connecting rod is l ₃ , the length of the first toggle is l ₄ , the length of the third toggle is l ₆ , the The angle between the second crank and the square of the X axis is The coordinates of the center point of the rotary joint connecting the second crank with the fuselage are (X′ ₁ , Y′ ₁ ), then the mechanism consists of l′ ₁ , l ₃ , l ₄ , l ₆ and totally sure. X' ₁ and Y' ₁ and l' ₁ , l ₃ , l ₄ , and Relate and express.

2) Optimization target

If the second crank is rotated to the position corresponding to the nominal pressure angle between the third toggle and the Y axis, and the slider is subjected to the nominal pressure N of the press, the driving torque of the second crank is Then the optimization goal is to take the minimum value of N, namely

3) Constraints

According to the initial conditions in the base state of the institution are:

when hour,

when hour,

According to the existence conditions of the four-bar mechanism are:

According to the crank connecting rod component manufacturing and fuselage structure requirements are:

l′ _1min ≤l′ ₁ ≤l′ _1max

l _3min ≤l ₃ ≤l _3max

l _4min ≤l ₄ ≤l _4max

l _6min ≤l ₆ ≤l _7max

X′ _1min ≤X′ ₁ ≤X′ _1max

4) Optimized mechanism parameter solution

Using the optimization algorithm, obtain the mechanism parameters l′ ₁ , l ₃ , l ₄ , l ₆ and The mechanism optimization of the lower toggle part of the double-drive toggle mechanism for mechanical presses is realized.

The technical solution of the present invention is a dual-drive toggle mechanism for a mechanical press and an optimization method thereof, including a first crank, a second crank, a first connecting rod, a second connecting rod, a first toggle, and a second toggle , the third toggle, slider. In the present invention, the double-drive toggle mechanism is divided into an upper toggle part and a lower toggle part. The upper toggle part is composed of a first crank, a first connecting rod, a second toggle and the fuselage, and the lower toggle part is composed of a second crank , the second connecting rod, the first toggle, the third toggle, and the slider. The upper toggle part takes the stroke as the optimization goal to optimize the mechanism, and the lower toggle part takes the driving torque as the optimization goal. By optimizing the upper and lower toggle parts The decoupled iterative optimization of stroke and driving torque can solve the problem that it is difficult to obtain the optimal solution for the double-drive toggle mechanism using traditional optimization methods, and realize the optimization of the double-drive toggle mechanism for mechanical presses, thereby improving the performance of the press And adaptability, under the premise of ensuring that the fuselage structure and the stroke of the slider meet the working requirements, the driving torque of the crank can be greatly reduced, thereby reducing the capacity and cost of the servo motor. The invention is simple and convenient to use, and the designed double-drive toggle mechanism for the mechanical press is reasonable in structure, convenient and practical.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is the initial structure schematic diagram of the present invention;

Fig. 2 is the working structure schematic diagram of the present invention;

Fig. 3 is a structural schematic diagram of the upper toggle part optimization of the present invention;

Fig. 4 is a structural schematic diagram of the optimization of the lower toggle part of the present invention.

Explanation of reference numbers:

label name label name 1 first crank 4 first toggle 1' second crank 5 second toggle 2 first link 6 third toggle 3 second link 7 slider

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be interpreted as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

Please refer to Fig. 1 and Fig. 2, the dual-drive toggle mechanism for mechanical press of the present invention includes a first crank 1, a second crank 1', a first connecting rod 2, a second connecting rod 3, a first toggle Rod 4, second toggle lever 5, third toggle lever 6 and slider 7. One end of the first crank 1 is connected with the fuselage to form a revolving pair RO, the other end of the first crank 1 is connected to one end of the first connecting rod 2 to form a revolving pair RA, and the other end of the first connecting rod 2 is simultaneously connected with the first toggle One end of 4 and one end of the second toggle 5 are connected to form a revolving pair RC, and the other end of the second toggle 5 is connected to the fuselage to form a revolving pair RD. One end of the second crank 1' is connected with the fuselage to form a revolving pair RO', the other end of the second crank 1' is connected to one end of the second connecting rod 3 to form a revolving pair RA', and the other end of the second connecting rod 3 is connected with the The other end of the first toggle 4 and one end of the third toggle 6 are connected to form a revolving pair RB, and the other end of the third toggle 6 is connected to a slider 7 to form a revolving pair RE; the slider 7 is placed in the guide rail of the fuselage to form a Slide the secondary SE and make a reciprocating linear slide along the guide rail of the fuselage. The slide block 7 slides along the fuselage guide rail and only passes through the bottom dead point and the top dead point once in one motion cycle. When the slide block 7 passes through the bottom dead point, the first toggle 4, the second toggle 5 and the third The three toggle levers 6 are collinear and coincide with the fuselage guide rail axis DE. At this time, the first crank 1 is collinear with the first connecting rod 2 , and the second crank 1 ′ is collinear with the second connecting rod 3 . When the slide block 7 slides along the guide rail of the fuselage and passes through the top dead center, the other end of the first connecting rod 2 is simultaneously connected with one end of the first toggle 4 and one end of the second toggle 5 to form a rotating pair RC and the second The other end of the two connecting rods 3 is connected to the other end of the first toggle 4 and one end of the third toggle 6 at the same time to form a revolving pair RB, respectively located on both sides or the same side of the axis DE of the fuselage guide rail, and are far away from The maximum distance of the fuselage rail axis DE.

In the dual-drive toggle mechanism for a mechanical press of the present invention, the slider 7 reciprocates linearly slides along the guide rail of the fuselage, and the distance between the highest position of the upper dead center and the lowest position of the lower dead center of the slider 7 is the total length of the press. Stroke S ₀ .

Please refer to Fig. 2, in the double-drive toggle mechanism for a mechanical press of the present invention, the slider 7 slides reciprocatingly linearly along the guide rail of the fuselage, when the first crank 1 and the second crank 1' rotate synchronously and the slider 7 is driven by When the highest position of the upper dead center slides to the lowest position of the lower dead center to the nominal pressure stroke point, the distance between the slider 7 and the lowest position of the lower dead center is the nominal pressure stroke S. At this time, the axis DC of the second toggle lever 5 and the axis DE of the fuselage guide rail Angle α, the axis EB of the third toggle 6 and the axis DE of the fuselage guide rail form an angle β, the angle between α and β is greater than 0 and less than or equal to 10 degrees, and the slider 7 slides from the nominal pressure stroke point to the lowest position of the dead center During the process, the pressure that the mechanism can withstand is greater than or equal to the nominal pressure N of the press.

The optimization principle of the dual-drive toggle mechanism for mechanical presses of the present invention is:

Please refer to Fig. 1, in the dual-drive toggle mechanism for mechanical presses of the present invention, when the slider 7 is at the bottom dead point of the fuselage rail, the first toggle 4, the second toggle 5, and the third toggle 6 The three are collinear and coincide with the axis DE of the guide rail of the fuselage. At this time, the first crank 1 and the first connecting rod 2 are collinear, and the second crank 1' and the second connecting rod 3 are collinear. The first crank 1 and the second crank 1' are respectively driven by two servo motors to make the first crank 1 and the second crank 1' rotate counterclockwise, because the first crank 1 and the second crank 1' are synchronous counterclockwise Rotating in the clockwise direction, the slider 7 only passes through the bottom dead center of the fuselage guide rail once during the linear sliding process in the guide rail of the fuselage within one movement cycle, thereby ensuring the monotony of the loading and return movement of the press.

Please refer to Fig. 2, in the dual-drive toggle mechanism for mechanical presses of the present invention, when the slide block 7 is at the top dead center of the fuselage guide rail, the other end of the first connecting rod 2 is simultaneously connected with the first toggle lever 4 One end of the second link 5 and one end of the second toggle 5 are connected to form a rotary pair RC, and the other end of the second link 3 is connected to the other end of the first toggle 4 and one end of the third toggle 6 to form a rotary pair RB. , the above revolving joint RC and revolving joint RB are respectively located on both sides or on the same side of the fuselage guide rail axis DE, and are at the maximum distance away from the fuselage guide rail axis DE.

Please refer to Fig. 1 and Fig. 2, set slide block 7 to do reciprocating linear sliding along the guide rail of the fuselage, the distance between the highest position of the upper dead center and the lowest position of the lower dead center of the slide block 7 is the total stroke of the press is S ₀ ; The slider 7 slides reciprocatingly along the guide rail of the fuselage. When the first crank 1 and the second crank 1′ rotate synchronously and the slider 7 slides from the highest position of the upper dead center to the lowest position of the lower dead center to the nominal pressure travel point, the sliding The distance between block 7 and the lowest position of the bottom dead center is the nominal pressure stroke S; at this time, the axis DC of the second toggle lever 5 forms an angle α with the axis DE of the guide rail of the fuselage, and the axis EB of the third toggle lever 6 forms an angle with the axis DE of the guide rail of the fuselage β, α, and β angles are greater than 0 and less than or equal to 10 degrees, and the slide block 7 can withstand a pressure greater than or equal to the nominal pressure N of the press, the maximum total pressure of the press, and The height can be defined by the distance H between two points in the initial state DE of the double-drive toggle mechanism used in a mechanical press, thereby setting the maximum overall height as H ₀ , and the length requirements of each crank, connecting rod and toggle.

Referring to Fig. 3 and Fig. 4, it is assumed that the dual-drive toggle mechanism for a mechanical press of the present invention takes the slide block 7 at the lowest position of the bottom dead center as the reference state, and the first crank 1, the first connecting rod 2 , the second toggle 5 and the fuselage constitute the upper toggle part, and the second crank 1 ', the second connecting rod 3, the first toggle 4, the third toggle 6, the slide block 7 and the fuselage constitute the lower toggle part.

Taking the maximum stroke of the connection point C of the first link 2 and the second toggle link 5 as the goal, optimize the design of the upper toggle part to obtain the optimized mechanism parameters. The specific steps are as follows:

1) Establish a basic model

Please refer to Fig. 3, the dual-drive toggle mechanism for mechanical presses takes the slider 7 at the lowest position of the bottom dead center as the reference state, and takes the center point D of the rotary joint connecting the second toggle 5 and the fuselage as the coordinate origin , take the axis DE of the first toggle 4, the second toggle 5 and the third toggle 6 as the Y axis, the direction of the Y axis is upward, and the direction of the X axis is rightward, and the length of the first crank 1 is taken as l ₁ , the length of the first connecting rod 2 is l ₂ , the length of the second toggle 5 is l ₅ , and the angle between the first crank 1 and the positive direction of the X axis is The coordinates of the center point O of the rotary joint connecting the first crank 1 and the fuselage are (X ₁ , Y ₁ ), and the upper toggle mechanism is composed of l ₁ , l ₂ , l ₅ and Completely determined, X ₁ and Y ₁ are related to l ₁ , l ₂ , l ₅ , Relate and express.

2) Optimization target

For example, when the first crank 1 rotates once, the stroke in the Y direction of the center point C of the rotating joint connecting the first connecting rod 2 and the second toggle 5 is: Then the optimization goal is to take the maximum value of S, that is, Max

3) Constraints

According to the initial conditions in the base state of the institution are:

when hour,

when hour,

According to the existence conditions of the four-bar mechanism are:

And according to the crank connecting rod component manufacturing and fuselage structure requirements are:

l _1min ≤l ₁ ≤l _1max

l _2min ≤l ₂ ≤l _2max

l _5min ≤l ₅ ≤l _5max

X _1min ≤X ₁ ≤X _1max

4) Optimized mechanism parameter solution

Using the optimization algorithm, obtain the mechanism parameters l ₁ , l ₂ , l ₅ and Realize the mechanism optimization of the upper toggle part of the double-drive toggle mechanism for mechanical presses.

Increase the constraint of the total stroke S ₀ , aim at the minimum driving torque of the second crank 1′, optimize the design of the lower toggle part, and obtain the optimized mechanism parameters. The specific steps are as follows:

1) Establish a basic model

Please refer to Fig. 4, the dual-drive toggle mechanism for mechanical presses takes the slider 7 at the lowest position of the bottom dead center as the reference state, assuming that the center point B of the rotary joint connecting the first toggle 4 and the third toggle 6 It is a hinge support, the center point C of the rotating pair is the coordinate origin, the coaxial line of the first toggle 4 and the third toggle 6 is the Y axis, the direction of the Y axis is upward, and the direction of the X axis is to the right, and then the second crank 1' is taken The length is l′ ₁ , the length of the second connecting rod 3 is l ₃ , the length of the first toggle 4 is l ₄ , the length of the third toggle 6 is l ₆ , and the included angle between the second crank 1′ and the square of the X axis is The coordinates of the center point O' of the rotary joint connecting the second crank 1' to the fuselage are (X' ₁ , Y' ₁ ), then the mechanism consists of l' ₁ , l ₃ , l ₄ , l ₆ and totally sure. X′ ₁ and Y′ ₁ and l′ ₁ , l ₃ , l ₄ , Relate and express.

2) Optimization target

For example, when the second crank 1' rotates to the corresponding position where the third toggle 6 forms an angle β (nominal pressure angle) with the Y axis, and the slider bears the nominal pressure N of the press, the driving torque of the second crank 1' at this time is Then the optimization goal is to take the minimum value of N, namely

3) Constraints

According to the initial conditions in the base state of the institution are:

when hour,

when hour,

According to the existence conditions of the institution are:

According to the crank connecting rod component manufacturing and fuselage structure requirements are:

l′ _1min ≤l′ _{1 ≤l} ′ 1max

l _3min ≤l ₃ ≤l _3max

l _4min ≤l ₄ ≤l _4max

l _6min ≤l ₆ ≤l _7max

X′ _1min ≤X′ ₁ ≤X′ _1max

4) Optimized mechanism parameter solution

Using the optimization algorithm, obtain the mechanism parameters l′ ₁ , l ₃ , l ₄ , l ₆ and The mechanism optimization of the lower toggle part of the double-drive toggle mechanism for mechanical presses is realized.

After optimization, determine the total height of the double-drive toggle mechanism used in the mechanical press, that is, the distance H of DE, that is, the length of the optimized first toggle 4, second toggle 5, and third toggle 6. and whether meet the requirements of H ₀ , if H ≤ H ₀ , then obtain the corresponding optimized mechanism parameters. If H>H ₀ , then take h=HH ₀ , subtract h from the maximum length constraint of the second toggle 5, and use it as the new maximum length constraint, and then re-optimize the upper toggle part and the lower toggle respectively. Optimize the design of the rod part until it meets the requirements of the overall height of the press.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Under the conception of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly/indirectly used in Other relevant technical fields are included in the patent protection scope of the present invention.

Claims (6)

1. A dual-drive toggle mechanism for a mechanical press, comprising a first crank, a second crank, a first connecting rod, a second connecting rod, a first toggle, a second toggle, a third toggle, slider and fuselage; one end of the first crank is connected to the fuselage to form a revolving pair, and the other end of the first crank is connected to one end of the first connecting rod to form a revolving pair. The other end of the rod is simultaneously connected with one end of the first toggle lever and one end of the second toggle lever to form a rotary pair, and the other end of the second toggle link is connected with the fuselage to form a rotary pair; One end of the two cranks is connected with the fuselage to form a revolving pair, the other end of the second crank is connected with one end of the second connecting rod to form a revolving pair, and the other end of the second connecting rod is simultaneously connected with the first connecting rod. The other end of a toggle link and one end of the third toggle link are connected to form a rotary pair, and the other end of the third toggle link is connected to the slider to form a rotary pair; the slider is placed on the guide rail of the fuselage A sliding pair is formed inside and performs reciprocating linear sliding; it is characterized in that, the slider slides along the guide rail of the fuselage in one movement cycle and only passes through the bottom dead point and the top dead point once, and the slider passes through the bottom dead point. At dead point, the first toggle, the second toggle and the third toggle are collinear and coincident with the fuselage guide rail axis, and the first crank is collinear with the first connecting rod , the second crank is in line with the second connecting rod; when the slider slides along the guide rail of the fuselage and passes through the top dead center, the other end of the first connecting rod is simultaneously with the second connecting rod. One end of a toggle and one end of the second toggle are connected to form a rotary pair, and the other end of the second link is simultaneously connected with the other end of the first toggle and one end of the third toggle The rotating pairs connected together are respectively located on both sides or on the same side of the axis of the guide rail of the fuselage and are located at a maximum distance away from the axis of the guide rail of the fuselage. 2. The double-drive toggle mechanism according to claim 1, wherein the slider slides reciprocatingly and linearly along the guide rail of the fuselage, and the highest position of the upper dead center and the lowest position of the lower dead center of the slider are The distance between them is the total stroke of the press. 3. The double-drive toggle mechanism according to claim 1, wherein the slider slides reciprocally linearly along the guide rail of the fuselage, when the first crank and the second crank rotate synchronously and the When the slider slides from the highest position of the upper dead center to the lowest position of the lower dead center to the nominal pressure stroke point, the distance between the slider and the lowest position of the bottom dead center is the nominal pressure stroke. The axis of the guide rail of the fuselage forms an angle α, the axis of the third toggle lever and the axis of the guide rail of the fuselage form an angle β, the α and the β are angles greater than 0 and less than or equal to 10 degrees, and the slider is controlled by a nominal pressure During the sliding process of the stroke point to the lowest position of the bottom dead point, the pressure it bears is greater than or equal to the nominal pressure of the press. 4. An optimization method using a double-drive toggle mechanism for a mechanical press according to any one of claims 1 to 3, characterized in that it comprises the following steps: 1) According to the overall requirements for the design of the double-drive toggle mechanism of a mechanical press, determine the basic technical parameters of the double-drive toggle mechanism, including nominal pressure, nominal pressure stroke, total stroke, maximum overall height of the press, The maximum overall width of the press, and the length requirements of each crank, connecting rod and toggle; 2) The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as the reference state, and the first crank, the first connecting rod, the second toggle and the fuselage Constitute the upper toggle part, with the second crank, the second connecting rod, the first toggle, the third toggle, the slider and the fuselage forming the lower toggle part; 3) taking the maximum stroke of the connecting point of the first connecting rod and the second toggle as the goal, optimizing the design of the upper toggle part to obtain optimized mechanism parameters; 4) increasing the constraint of the total stroke, aiming at the minimum driving torque of the second crank, optimizing the design of the lower toggle part to obtain optimized mechanism parameters; 5) judging whether the sum of the lengths of the first toggle, the second toggle and the third toggle after the optimization of the dual-drive toggle mechanism satisfies the overall height requirement of the press; 6) If the sum of the optimized lengths of the first toggle, the second toggle and the third toggle meets the overall height requirement of the press, then the optimized mechanism parameters are obtained; 7) If the sum of the optimized lengths of the first toggle, the second toggle and the third toggle does not meet the overall height requirement of the press, the maximum length constraint of the second toggle is subtracted from After a certain size, as a new maximum length constraint, proceed to step 3) until the sum of the optimized lengths of the first toggle, the second toggle and the third toggle satisfies the total length of the press. Highly demanding. 5. optimization method as claimed in claim 4, is characterized in that, described step 3) carries out optimal design to described upper toggle part, obtains the mechanism parameter of optimization, comprises the following steps: 1) Establish a basic model The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as the reference state, takes the center point of the rotation joint connecting the second toggle link with the fuselage as the coordinate origin, and takes the first The coaxial line of the toggle lever, the second toggle lever and the third toggle lever is the Y axis, the direction of the Y axis is upward, and the direction of the X axis is to the right. The length of the first crank is taken as l ₁ , and the first connecting rod The length is l ₂ , the length of the second toggle is l ₅ , and the angle between the first crank and the positive direction of the X axis is The coordinates of the center point of the rotary joint connecting the first crank with the fuselage are (X ₁ , Y ₁ ), and the upper toggle mechanism is composed of l ₁ , l ₂ , l ₅ and Fully determined, X ₁ and Y ₁ with l ₁ , l ₂ , l ₅ and relevant. 2) Optimization target For example, when the first crank rotates one revolution, the stroke in the Y direction of the central point of the rotary joint connecting the first connecting rod with the second toggle is: Then the optimization goal is to take the maximum value of S, that is, Max 3) Constraints According to the initial conditions in the base state of the institution are: when hour, when hour, According to the existence conditions of the four-bar mechanism are: According to the crank connecting rod component manufacturing and fuselage structure requirements are: l _1min ≤l ₁ ≤l _1max l _2min ≤l ₂ ≤l _2max l _5min ≤l ₅ ≤l _5max X _1min ≤X ₁ ≤X _1max 4) Optimized mechanism parameter solution Using the optimization algorithm, obtain the mechanism parameters l ₁ , l ₂ , l ₅ and The mechanism optimization of the upper toggle part is realized. 6. The optimization method according to claim 4, characterized in that, said step 4) increases the constraint of the total stroke, and takes the minimum driving torque of the second crank as the goal, and optimizes the design of the lower toggle part , to obtain optimized mechanism parameters, the specific steps include: 1) Establish a basic model The dual-drive toggle mechanism takes the slide block at the lowest position of the bottom dead center as a reference state, assuming that the center point of the rotation joint connecting the first toggle and the third toggle is a hinge support, the The center point of the rotation joint formed by the first toggle and the third toggle is the coordinate origin, the coaxial line between the first toggle and the third toggle is the Y axis, the direction of the Y axis is upward, and the direction of the X axis is Right, then the length of the second crank is l′ ₁ , the length of the second connecting rod is l ₃ , the length of the first toggle is l ₄ , the length of the third toggle is l ₆ , the The angle between the second crank and the square of the X axis is The coordinates of the center point of the rotary joint connecting the second crank with the fuselage are (X′ ₁ , Y′ ₁ ), then the mechanism consists of l′ ₁ , l ₃ , l ₄ , l ₆ and totally sure. X' ₁ and Y' ₁ and l' ₁ , l ₃ , l ₄ , and Relate and express. 2) Optimization target If the second crank is rotated to the position corresponding to the nominal pressure angle between the third toggle and the Y axis, and the slider is subjected to the nominal pressure N of the press, the driving torque of the second crank is Then the optimization goal is to take the minimum value of N, namely 3) Constraints According to the initial conditions in the base state of the institution are: when hour, when hour, According to the existence conditions of the four-bar mechanism are: According to the crank connecting rod component manufacturing and fuselage structure requirements are: l′ _1min ≤l′ ₁ ≤l′ _1max l _3min ≤l ₃ ≤l _3max l _4min ≤l ₄ ≤l _4max l _6min ≤l ₆ ≤l _7max X′ _1min ≤X′ ₁ ≤X′ _1max 4) Optimized mechanism parameter solution Using the optimization algorithm, obtain the mechanism parameters l′ ₁ , l ₃ , l ₄ , l ₆ and The mechanism optimization of the lower toggle part of the double-drive toggle mechanism for mechanical presses is realized.