CN106584898A - Dual-drive toggle rod mechanism used for mechanical press and optimization method - Google Patents
Dual-drive toggle rod mechanism used for mechanical press and optimization method Download PDFInfo
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- CN106584898A CN106584898A CN201610949971.XA CN201610949971A CN106584898A CN 106584898 A CN106584898 A CN 106584898A CN 201610949971 A CN201610949971 A CN 201610949971A CN 106584898 A CN106584898 A CN 106584898A
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- toggle link
- crank
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- fuselage
- slide block
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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
- B30B1/106—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 another toggle mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- Pure & Applied Mathematics (AREA)
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- Press Drives And Press Lines (AREA)
Abstract
The invention discloses a dual-drive toggle rod mechanism used for a mechanical press and an optimization method. The dual-drive toggle rod mechanism is divided into an upper toggle rod part and a lower toggle rod part. The upper toggle rod part is composed of a first crank, a first connecting rod, a second toggle rod and a unit body. The lower toggle rod part is composed of a second crank, a second connecting rod, a first toggle rod, a third toggle rod and a sliding block. Mechanism optimization is conducted on the upper toggle rod part with the stroke as the optimization target, and the driving torque is used as the optimization target of the lower toggle rod part. Through decoupling iterative optimization of the stroke and the driving torque of the upper toggle rod part and the lower toggle rod part, optimization of the dual-drive toggle rod mechanism is achieved, and the performance and adaptability of the press are improved accordingly; and the driving torque of the crank can be greatly reduced on the premise that the structure of the unit body and the stroke of the sliding block meet working requirements, and the capacity and cost of a servo motor are reduced accordingly. The dual-drive toggle rod mechanism used for the mechanical press is easy and convenient to use, reasonable in structure and practical.
Description
Technical field
The present invention relates to mechanical transmission fields, more particularly to a kind of Dual Drive elbow-bar mechanism for punching machine and excellent
Change 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
It 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, suitable for precision metal is compressing or extrusion molding, be 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
Skill adaptability is poor, and motor do not stop flywheel driven rotation and cause that total energy consumption is high, therefore be not suitable with the development of modern manufacturing industry.
In prior art, forcing press is directly driven from servo drive motor, but if forcing press is still using tradition
The operating mechanism of toggle press, then can make the instantaneous power and moment of torsion of servo drive motor be far longer than conventional press
Common induction 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 using 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, is capable of achieving forcing press engineering pressure
Stroke and bottom dead centre is adjustable, slide block movement mode arbitrarily can be arranged, greatly promotes performance and the suitability of forcing press, and can reduce
The moment of torsion and instantaneous power of separate unit motor.
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, to give full play to the advantage of above-mentioned operating mechanism, promote popularization and application, should propose rational
Method of optimizing its structure is optimized to said mechanism.
The content of the invention
The main object of the present invention is to propose a kind of Dual Drive elbow-bar mechanism and optimization method for punching machine, purport
In optimization Dual Drive elbow-bar mechanism, so as to the performance and adaptability of elevating mechanism forcing press.
For achieving the above object, the present invention proposes a kind of Dual Drive elbow-bar mechanism for punching machine, 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；It is 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, the other end of first connecting rod one end and second toggle link simultaneously 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 and rotate secondary, the other end of the second connecting rod simultaneously with the other end and the 3rd toggle link of first toggle link one
Hold to be connected to constitute and rotate secondary, the other end of the 3rd toggle link is connected to constitute with the slide block and rotates secondary；The slide block is placed in institute
State；The slide block is within a period of motion along the fuselage guide rail
Slide bottom dead centre of a Jing and a top dead-centre, described in the slide block Jing during bottom dead centre, first toggle link, second elbow
Bar and the 3rd toggle link are conllinear and overlap with the fuselage rail axis, and first crank is total to the first connecting rod
Line, second crank are conllinear with the second connecting rod；The slide block along the fuselage slide and described in Jing during 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 it is secondary, and the second connecting rod the other end simultaneously with the other end and the 3rd toggle link of first toggle link one
End is connected the rotation pair for constituting, and positioned at the both sides or the same side of the fuselage rail axis and is in away from the fuselage respectively
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
Total kilometres of the distance for 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 nominal working stroke with its bottom dead centre extreme lower position distance, and now the second toggle link axis is led with the fuselage
Rail axis angulation α, with fuselage rail axis into angle beta, the α and β is more than 0 and is less than or equal to the 3rd toggle link axis
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
Equal to the nominal pressure of forcing press.
The present invention also proposes a kind of optimization method using the Dual Drive elbow-bar mechanism for punching machine, including
Following steps：
1) the overall requirement designed according to the Dual Drive elbow-bar mechanism for punching machine, determines the 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) the Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, with described the
One crank, the first connecting rod, second toggle link and the fuselage constitute upper elbow lever part, with second crank, described
Second connecting rod, first toggle link, the 3rd toggle link, the slide block constitute lower elbow lever part with the fuselage；
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, the mechanism parameter of optimization is obtained；
4) increase the constraint of the total kilometres, with the minimum target of driving torque of second crank, to the lower elbow
Bar part is optimized design, obtains the mechanism parameter of optimization；
5) first toggle link after the Dual Drive elbow-bar mechanism optimization, second toggle link and the 3rd elbow are judged
Whether pole length sum meets 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, as new greatest length constraint,
Proceed the step 3), first toggle link, second toggle link and the 3rd toggle link length after optimization it
With the requirement for meeting forcing press total height.
Preferably, the step 3) design is optimized to the upper elbow lever part, the mechanism parameter of optimization is obtained, including
Following steps：
1) set up basic model
The Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, with described second
The rotation sub-center point that toggle link is connected with the fuselage is zero, with first toggle link, second toggle link and institute
It is Y-axis to state the 3rd toggle link coaxial line, and upwards, X-direction to the right, takes first crank length for l to Y direction1, described first
Length of connecting rod is l2, the second toggle link length is l5, first crank and X-axis forward direction angle isFirst crank
The rotation sub-center point coordinates being connected with the fuselage is (X1, Y1), the upper elbow lever part body is by l1、l2、l5WithCompletely
It is determined that, X1And Y1With l1、l2、l5WithIt is related.
2) optimization aim
When rotating a circle such as first crank, the rotation sub-center point that the first connecting rod is connected with second toggle link
The stroke of Y-direction beThen optimization aim takes maximum, i.e. Max for S
3) constraints
Had according to the initial condition under mechanism's normal condition：
When,
When,
Had according to the existence condition of four-bar mechanism：
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 when meet the constraint condition down stroke S is maximum is tried to achieve1、l2、l5WithIt is real
The Mechanism Optimization of the existing Dual Drive elbow-bar mechanism upper elbow lever part.
Preferably, the step 4) increase total kilometres constraint, with the minimum target of driving torque of second crank,
Design is optimized to the lower elbow lever part, the mechanism parameter of optimization is obtained, concrete steps include：
1) set up basic model
The Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, it is assumed that described the
The rotation sub-center point that one toggle link is connected with the 3rd toggle link is hinged-support, and first toggle link constituted with the 3rd toggle link
Rotation sub-center point be zero, first toggle link and the 3rd toggle link institute coaxial line are Y-axis, Y direction upwards,
X-direction takes to the right, then second crank length for l '1, the second connecting rod length is l3, the first toggle link length
For l4, the 3rd toggle link length is l6, the square angle of second crank and X-axis isSecond crank and the machine
The rotation sub-center point coordinates that body is connected is (X '1, Y '1), then mechanism is by l '1、l3、l4、l6WithDetermine completely.X′1With Y '1With
l′1、l3、l4, andCorrelation is simultaneously expressed.
2) optimization aim
When rotating to the 3rd toggle link and Y-axis into nominal pressure angle correspondence position such as second crank, and the cunning
Block bears forcing press nominal pressure N, and now the driving torque of second crank isThen optimize mesh
N minimalizations are designated as, i.e.,
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Had according to the existence condition of four-bar mechanism：
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 ' when driving torque N is minimum under the conditions of meet the constraint is tried to achieve1、l3、l4、l6
WithRealize the Mechanism Optimization of the Dual Drive elbow-bar mechanism lower elbow lever part for punching machine.
A kind of Dual Drive elbow-bar mechanism and its optimization method for punching machine of technical solution of the present invention, 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.The present invention is by double drives
Dynamic elbow-bar mechanism is divided into upper elbow lever part and lower elbow lever part, and upper elbow lever part is by the first crank, first connecting rod, the second toggle link
Constitute with fuselage, the second crank of lower elbow lever part, second connecting rod, the first toggle link, the 3rd toggle link, slide block composition, upper elbow lever part
Mechanism Optimization is carried out by optimization aim of stroke, lower elbow lever part with driving torque as optimization aim, by upper and lower toggle link portion
The decoupling iteration optimization of branch's journey and driving torque, it is possible to resolve Dual Drive elbow-bar mechanism is difficult to obtain most using traditional optimization
A difficult problem for excellent solution, realizes the optimization of the Dual Drive elbow-bar mechanism for punching machine, so as to the performance of adherence pressure machine and suitable
Ying Xing, on the premise of meeting job requirement airframe structure, ram travel is ensured, is greatly reduced the driving torque of crank, enters
And reduce the capacity and cost of servomotor.The present invention double drives for punching machine easy to use, designed
Dynamic elbow-bar mechanism is rational in infrastructure, 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 having technology description is 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, can be with
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；
Fig. 3 is the structural representation of upper elbow lever part optimization of the present invention；
Fig. 4 is the structural representation of lower elbow lever part 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 a part of embodiment only of the invention, rather than the embodiment of whole.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is 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, the description of " first ", " second " etc. is related 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, define " first ", at least one spy can be expressed or be implicitly included to the feature of " second "
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
Conjunction is not present, also not within the protection domain of application claims.
Refer to Fig. 1 and Fig. 2, the Dual Drive elbow-bar mechanism for punching machine 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 is turned
Dynamic secondary RA, the other end of first connecting rod 2 are connected simultaneously to constitute with one end of the first toggle link 4 and one end of the second toggle link 5 and are rotated
Secondary RC, the other end of the second toggle link 5 are connected to constitute with fuselage and rotate secondary RD.One end of second crank 1 ' is connected to constitute with fuselage and is turned
Dynamic secondary RO ', the other end of the second crank 1 ' are connected with one end of second connecting rod 3 and constitute rotation secondary RA ', second connecting rod 3 it is another
End is simultaneously connected with one end of the other end and the 3rd toggle link 6 of the first toggle link 4 composition rotation secondary RB, the 3rd toggle link 6 it is 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 reciprocal straight along fuselage guide rail
Line slides.Slide block 7 within the period of motion along fuselage slide only through a bottom dead centre and a top dead-centre, work as cunning
During 7 Jing bottom dead centres of block, 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
During dynamic and Jing top dead-centres, the other end of first connecting rod 2 is connected with one end of the first toggle link 4 and one end of the second toggle link 5 simultaneously
The rotation secondary RC of composition, and second connecting rod 3 the other end simultaneously with the other end and the 3rd toggle link 6 of the first toggle link 4 one
The connected rotation secondary RB for constituting in end, respectively positioned at the both sides or the same side of fuselage rail axis DE, and is in leading away from fuselage
The ultimate range of rail axis DE.
The Dual Drive elbow-bar mechanism for punching machine of the present invention, slide block 7 make reciprocating linear slip along fuselage guide rail,
Total kilometres S of the distance for forcing press between the top dead-centre extreme higher position of slide block 7 and bottom dead centre extreme lower position0。
Fig. 2 is referred to, the Dual Drive elbow-bar mechanism for punching machine of the present invention, slide block 7 make 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 into angle beta, α and
The angle of β is more than 0 and is 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,
Nominal pressure N of the pressure that mechanism can bear more than or equal to forcing press.
The principle of optimality of the Dual Drive elbow-bar mechanism for punching machine of the present invention is：
Fig. 1 is referred to, in the Dual Drive elbow-bar mechanism for punching machine of the present invention, 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 is conllinear and overlaps 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 synchronous counterclockwise rotates motion with the second crank 1 ', slide block 7 within a period of motion, in fuselage guide rail, slide by straight line
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.
Fig. 2 is referred to, in the Dual Drive elbow-bar mechanism for punching machine of the present invention, 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
Into rotation secondary RC, and second connecting rod 3 other end one end simultaneously with the other end and the 3rd toggle link 6 of the first toggle link 4
Be connected the rotation secondary RB for constituting, and the rotation secondary RC and rotation secondary RB of the above 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, setting slide block 7 makees 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 the 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 for nominal working stroke with its bottom dead centre extreme lower position distance；Now the second toggle link 5
Axis DC and fuselage rail axis DE angulation α, with fuselage rail axis DE into angle beta, α and β angles are big to 6 axis E B of the 3rd toggle link
In 0 and 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 can be born
Power is more than or equal to nominal pressure N of forcing press, forcing press maximum total height can be by the Dual Drive toggle link machine for punching 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 Dual Drive elbow-bar mechanism for punching machine 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 fuselage with the first crank 1, first connecting rod 2, the second toggle link 5
Point, lower elbow lever part is constituted with the second crank 1 ', second connecting rod 3, the first toggle link 4, the 3rd toggle link 6, slide block 7 and fuselage.
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 of optimization, concretely comprises the following steps：
1) set up basic model
Refer to Fig. 3, for punching machine Dual Drive elbow-bar mechanism with slide block 7 be in bottom dead centre extreme lower position when be
Normal condition, the rotation sub-center point D being connected with fuselage with the second toggle link 5 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 Y-axis, upwards, X-direction to the right, takes 1 length of the first crank in the direction of Y-axis
For 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
The rotation sub-center point O coordinates being connected with fuselage are (X1, Y1), upper elbow lever part body is by l1、l2、l5WithDetermine completely, X1
And Y1With l1、l2、l5、Correlation is simultaneously expressed.
2) optimization aim
The rotation sub-center point C point Y-directions that first connecting rod 2 is connected with the second toggle link 5 when rotating a circle such as the first crank 1
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,
Had according to the existence condition of four-bar mechanism：
And require have according to the manufacture of crank connecting link component and airframe structure：
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 when nominal working stroke S is maximum under the conditions of meet the constraint is tried to achieve1、l2、l5
WithRealize the Mechanism Optimization of the Dual Drive elbow-bar mechanism upper elbow lever part for punching machine.
Increase total kilometres S0Constraint, with the minimum target of the driving torque of the second crank 1 ', lower elbow lever part is carried out
Optimization design, obtains the mechanism parameter of optimization, concretely comprises the following steps：
1) set up basic model
Refer to Fig. 4, for punching machine Dual Drive elbow-bar mechanism with slide block 7 be in bottom dead centre extreme lower position when be
Normal condition, it is assumed that the rotation sub-center point B that the first toggle link 4 is connected with the 3rd toggle link 6 is hinged-support, rotating sub-center point C is
Zero, 6 coaxial lines of the first toggle link 4 and the 3rd toggle link are Y-axis, and upwards, X-direction takes to the right, then second to Y direction
1 ' length of crank is 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 second crank
1 ' the angle square with X-axis beThe rotation sub-center point O ' coordinates that second crank 1 ' is connected with fuselage are (X '1, Y '1), then machine
Structure is by l '1、l3、l4、l6WithDetermine completely.X′1With Y '1With l '1、l3、l4、Correlation is simultaneously expressed.
2) optimization aim
When rotating to the correspondence position of the 3rd toggle link 6 and Y-axis (nominal pressure angle) at an angle β such as the second crank 1 ', and slide block
Forcing press nominal pressure N is born, now the driving torque of the second crank 1 ' isThen optimization aim is N
Minimalization, i.e.,
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Had according to the existence condition of mechanism：
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 ' when driving torque N is minimum under the conditions of meet the constraint is tried to achieve1、l3、l4、l6
WithRealize the Mechanism Optimization of the Dual Drive elbow-bar mechanism lower elbow lever part for punching machine.
After optimization, judge the total height of the Dual Drive elbow-bar mechanism for punching machine, i.e. DE apart from H, that is to say
Whether the first toggle link 4, the second toggle link 5 and 6 length sum of the 3rd toggle link after optimization meets H0Requirement, if H≤H0, then obtain
Obtain and optimize mechanism parameter accordingly.Such as H ＞ H0, then take h=H-H0, after the greatest length constraint of the second toggle link 5 deducts h, as new
Greatest length enter row constraint, optimization design then again respectively to upper elbow lever part and the optimization to lower elbow lever part set
Meter, 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, it is every at this
Under the design of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/it is used in indirectly which
The technical field of his correlation is included in the scope of patent protection of the present invention.
Claims (6)
1. a kind of Dual Drive elbow-bar mechanism for punching machine, 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 rotate secondary, the other end of first crank is connected to constitute with one end of the first connecting rod and rotates secondary, and described first connects
The other end of the bar composition that is connected with one end of first toggle link and one end of second toggle link simultaneously rotates pair, and described the
The other end of two toggle links is connected to constitute with the fuselage and rotates secondary；One end of second crank is connected to constitute with the fuselage and is turned
Dynamic pair, the other end of second crank composition that is connected with one end of the second connecting rod rotate pair, the second connecting rod it is another
One end is connected simultaneously to constitute with one end of the other end and the 3rd toggle link of first toggle link and rotates secondary, the 3rd elbow
The other end of bar is connected to constitute with the slide block and rotates secondary；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 once lower dead along the fuselage slide Jing within a period of motion
Point and a top dead-centre, described in the slide block Jing during 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；The slide block along the fuselage slide and described in Jing during top dead-centre, the first connecting rod it is another
One end be connected with one end of one end of first toggle link and second toggle link simultaneously composition rotation it is secondary, and described the
The other end of two connecting rods is while the rotation of the composition that is connected with one end of the other end and the 3rd toggle link of first toggle link
Pair, respectively positioned at the both sides or the same side of the fuselage rail axis and be in maximum away from the fuselage rail axis away from
From.
2. Dual Drive elbow-bar mechanism as claimed in claim 1, it is characterised in that the slide block makees reciprocal along the fuselage guide rail
Linear slide, total kilometres of the distance for forcing press between the top dead-centre extreme higher position of the slide block and bottom dead centre extreme lower position.
3. Dual Drive elbow-bar mechanism as claimed in claim 1, it is characterised in that the slide block makees reciprocal along the fuselage guide rail
Linear slide, when first crank and the second crank synchronous rotary and the slide block is dead downwards by top dead-centre extreme higher position
When point extreme lower position slides into nominal working stroke point, the slide block is nominal pressure row with its bottom dead centre extreme lower position distance
Journey, now the second toggle link axis and fuselage rail axis angulation α, the 3rd toggle link axis and fuselage rail axis
Into angle beta, the α and β is that, more than 0 and less than or equal to 10 degree of angle, the slide block is dead downwards by nominal working stroke point
In point extreme lower position sliding process, nominal pressure of the pressure for bearing more than or equal to forcing press.
4. a kind of use is used for the optimization side of the Dual Drive elbow-bar mechanism of punching machine as described in any one of claims 1 to 3
Method, it is characterised in that comprise the following steps：
1) required for the overall of punching machine Dual Drive elbow-bar mechanism design according to described, determine the Dual Drive toggle link machine
The basic fundamental parameter of structure, including nominal pressure, nominal working stroke, total kilometres, forcing press maximum total height, forcing press maximum
Overall width, and the length requirement of each crank, connecting rod and toggle link；
2) the Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, it is bent with described first
Handle, the first connecting rod, second toggle link and the fuselage constitute upper elbow lever part, with second crank, described second
Connecting rod, first toggle link, the 3rd toggle link, the slide block constitute lower elbow lever part with the fuselage；
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 of optimization；
4) increase the constraint of the total kilometres, with the minimum target of driving torque of second crank, to the lower elbow lever portion
Divide and be optimized design, obtain the mechanism parameter of optimization；
5) judge that first toggle link after the Dual Drive elbow-bar mechanism optimization, second toggle link and the 3rd toggle link are long
Whether degree sum meets 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 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 requires, after the greatest length constraint of second toggle link deducts certain size, constrains as new greatest length, continue
Carry out the step 3), first toggle link, second toggle link and the 3rd toggle link length sum after optimization is 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 of optimization, comprises the following steps：
1) set up basic model
The Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, with second toggle link
The rotation sub-center point being connected with the fuselage is zero, with first toggle link, second toggle link and described the
Three toggle link coaxial lines are Y-axis, and upwards, X-direction to the right, takes first crank length for l to Y direction1, the first connecting rod
Length is l2, the second toggle link length is l5, first crank and X-axis forward direction angle isFirst crank and institute
It is (X to state the connected rotation sub-center point coordinates of fuselage1, Y1), the upper elbow lever part body is by l1、l2、l5WithCompletely really
It is fixed, X1And Y1With l1、l2、l5WithIt is related.
2) optimization aim
When rotating a circle such as first crank, the Y of the rotation sub-center point that the first connecting rod is connected with second toggle link
The stroke in 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,
Had according to the existence condition of four-bar mechanism：
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 when meet the constraint condition down stroke S is maximum is tried to achieve1、l2、l5WithRealize institute
State the Mechanism Optimization of upper elbow lever part.
6. optimization method as claimed in claim 4, it is characterised in that the step 4) increase the constraint of total kilometres, with described
The minimum target of driving torque of the second crank, is optimized design to the lower elbow lever part, obtains the mechanism parameter of optimization,
Concrete steps include：
1) set up basic model
The Dual Drive elbow-bar mechanism by the slide block be in bottom dead centre extreme lower position when on the basis of state, it is assumed that first elbow
The rotation sub-center point that bar is connected with the 3rd toggle link is hinged-support, first toggle link and turning that the 3rd toggle link is constituted
Dynamic sub-center point is zero, and first toggle link and the 3rd toggle link institute coaxial line are Y-axis, Y direction upwards, X-axis
Direction takes to the right, then second crank length 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 square angle of second crank and X-axis isSecond crank and the machine
The rotation sub-center point coordinates that body is connected is (X '1, Y '1), then mechanism is by l '1、l3、l4、l6WithDetermine completely.X′1With Y '1With
l′1、l3、l4, andCorrelation is simultaneously expressed.
2) optimization aim
When rotating to the 3rd toggle link and Y-axis into nominal pressure angle correspondence position such as second crank, and the slide block holds
Be stressed machine nominal pressure N, and now the driving torque of second crank isThen optimization aim is N
Minimalization, i.e.,
3) constraints
Had according to the initial condition under mechanism's normal condition：
WhenWhen,
WhenWhen,
Had according to the existence condition of four-bar mechanism：
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 ' when driving torque N is minimum under the conditions of meet the constraint is tried to achieve1、l3、l4、l6With
Realize the Mechanism Optimization of the Dual Drive elbow-bar mechanism lower elbow lever part for punching machine.
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| CN106427007A (en) * | 2016-10-26 | 2017-02-22 | 广东工业大学 | Dual drive toggle rod mechanism for servo mechanical press and optimization method |
| CN109654189A (en) * | 2018-11-21 | 2019-04-19 | 广东工业大学 | A kind of crank-triangular coupling rod-elbow-bar mechanism is avoided the peak hour design method |
| CN110030349A (en) * | 2019-05-13 | 2019-07-19 | 常州轻工职业技术学院 | A kind of four bar thtee-stage shiplock force amplificatory structures |
| 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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