CN108908978A - A kind of mechanical advantage pole of servo-pressing machine determines method - Google Patents

A kind of mechanical advantage pole of servo-pressing machine determines method Download PDF

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Publication number
CN108908978A
CN108908978A CN201810544859.7A CN201810544859A CN108908978A CN 108908978 A CN108908978 A CN 108908978A CN 201810544859 A CN201810544859 A CN 201810544859A CN 108908978 A CN108908978 A CN 108908978A
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mechanical advantage
servo
pole
pressing machine
vector
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CN201810544859.7A
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CN108908978B (en
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王海龙
卢志斌
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Guangzhou Eaton Testing Technology Service Co., Ltd
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Guangdong University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B30PRESSES
    • B30BPRESSES IN GENERAL
    • B30B1/00Presses, 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
    • B30B1/26Presses, 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 cams, eccentrics, or cranks
    • B30B1/268Presses, 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 cams, eccentrics, or cranks using a toggle connection between driveshaft and press ram
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B30PRESSES
    • B30BPRESSES IN GENERAL
    • B30B1/00Presses, 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
    • B30B1/26Presses, 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 cams, eccentrics, or cranks
    • B30B1/263Presses, 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 cams, eccentrics, or cranks work stroke adjustment means

Abstract

The invention discloses a kind of mechanical advantage poles of servo-pressing machine to determine method, this method is due to the continuous function that the mechanical advantage of the mechanism is crank angle, all there is biggish mechanical advantage near mechanical advantage maximum position, the crank angle angle α is collinearly obtained according to ABK, the mechanical advantage pole of the as described servo-pressing machine, nominal working stroke, which is arranged in these positions, can effectively reduce the torque of driving motor;It is simple, quick compared to being designed using the various optimization methods of computer based;And by analysis of the application to mechanical advantage extreme point, it can be used for design, the design of triangular coupling rod size, the design of choice of electrical machine to the location of workpiece.

Description

A kind of mechanical advantage pole of servo-pressing machine determines method
Technical field
The present invention determines method about a kind of servo-pressing machine, the mechanical advantage pole of especially a kind of servo-pressing machine.
Background technique
Servo-pressing machine (Servo Press), as power source, passes through transmission mechanism and executing agency using servo motor Convert the rotary motion of motor to the linear motion of sliding block.Due to not having flywheel, operating pressure suffered by servo-pressing machine is by electricity The instantaneous torque of machine balances, and the capacity of motor is more much bigger than ordinary press.How transmission mechanism and execution sufficiently excavated The structure potentiality of mechanism, maximize mechanical advantage in nominal working stroke, are the driving torques for reducing motor, to reduce Equipment cost and the effective way for improving operation stability.Such as servo-pressing machine (CN101480692B), two symmetrical fortune Connecting rod in dynamic branch is all made of parallelogram sturcutre, therefore can guarantee during the motion, the connecting rod rack of two sides, cunning Block remains horizontal attitude, and the overturning freedom degree of slide block movement is eliminated by mechanism, carries out when to complicated asymmetric part When processing, since the kinetic characteristic of itself constrains, the sliding block by non-symmetrical load will not cause side to fuselage during exercise To load, to improve the offset load resistance of mechanism.Such as multi-connecting rod servo press machine (CN107972301A), in multi link In drive system, typically uni-directional punching press pushes inertia and is conducive to pressurize, but the inertia switching between resetting and being reciprocal, can pole The stability of big influence equipment, the precision of forging and stamping and the stability of driving structure;Above two press machine equally faces in this way The technical issues of, the structure potentiality of transmission mechanism and executing agency how are sufficiently excavated, mechanical benefit is made in nominal working stroke It is the driving torque for reducing motor that benefit, which maximizes, to reduce equipment cost and improve the effective way of operation stability.
Crank-triangular coupling rod-elbow-bar mechanism is current using very wide servo-pressing machine executing agency.The machinery of the mechanism Interests are influenced by many factors, such as length, rack installation dimension, the triangular coupling rod shape, nominal working stroke pair of each component The factors such as the crank angle answered can all influence the movement and dynamic characteristics of entire mechanism.It is at present to adopt due to the complex nature of the problem more It is designed with the various optimization methods of computer based, that there are mathematical models is not intuitive, calculating process is unstable, is difficult to ask The problems such as to globally optimal solution.
Summary of the invention
A kind of mechanical advantage pole determination side of servo-pressing machine is provided it is an object of the invention to consider the above problem Method.
To achieve the above object, the technical solution adopted by the present invention is that:A kind of mechanical advantage pole of servo-pressing machine is true Determine method, the structure of the servo-pressing machine is crank-triangular coupling rod-elbow-bar mechanism, and the structure of the servo-pressing machine includes Crank AB, triangular coupling rod BCD, upper elbow lever CE, lower elbow lever DF;The crank AB is driving link, the A point revolution in rack, institute It states E point of the upper elbow lever CE in rack to swing back and forth, the triangular coupling rod BCD and lower elbow lever DF do plane motion, the lower elbow Bar DF drives sliding block to export ramming motion along guide rail upward-downward translation;Include the following steps:
Step 1: establish using A point as the plane right-angle coordinate XAY of origin, X-axis positive direction be horizontally to the right, it is vertical with EF, α be to AmountWith the positive angle counterclockwise of X-axis, obtain:A=(0,0); Meaning representated by F=(- L ,-H) each symbol is as follows:F:Mechanical advantage, P:Useful production resistance is (for servo-pressing machine For, according to the object of driving, which is constant), Q:Driving force, it is known that crank-each bar of triangular coupling rod-elbow-bar mechanism ruler Very little AB=r, BC=L3, CD=L2, BD=L4, CE=L1, DF=L5, L:Horizontal distance between sliding block and A point, H:Sliding block with Vertical distance between A point;
Step 2: vector convert clockwise be it is known, such as formula (1), turn the angle θ obtains vector to vector a (p, q) clockwise B (x, y), it is known that vector rotates clockwise transformation for mula:
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (2):
Note:β is the ∠ BEC in Δ BEC,
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (3):
Note:γ is the ∠ BCD in Δ BCD,
Step 3: verification vectorsWith vectorIntersection point K, when ABK is conllinear, sliding block is located near top dead center, and is machine Tool interests maximum point position, only works as vectorWith vectorWhen not parallel can invocation point K, and using K point to straight line AB away from From being 0, i.e., when ABK is conllinear, α is solved;The angle α, the mechanical advantage pole of the as described servo-pressing machine are collinearly obtained according to ABK.
Preferably, the step 3 collinearly obtains the angle α, the mechanical advantage pole of the as described servo-pressing machine according to ABK Point;The position between workpiece and sliding block is arranged according to the mechanical advantage pole in step 3.
Preferably, the step 3 collinearly obtains the angle α, the mechanical advantage pole of the as described servo-pressing machine according to ABK Point;Optimize triangular coupling rod structure according to the mechanical advantage pole in step 3.
Preferably, the step 3 collinearly obtains the angle α, the mechanical advantage pole of the as described servo-pressing machine according to ABK Point;Type selecting is carried out according to motor of the mechanical advantage pole in step 3 to driving crank AB.
Preferably, a kind of servo pressure, the mechanical advantage pole including a kind of servo-pressing machine determine method for work The design of part position, the design of triangular coupling rod size, the design of choice of electrical machine.
The mechanical advantage pole that the present invention discloses a kind of servo-pressing machine determines method, machinery of this method due to the mechanism Interests are the continuous functions of crank angle, all have biggish mechanical advantage near mechanical advantage maximum position, nominal Pressure stroke, which is arranged in these positions, can effectively reduce the torque of driving motor, sufficiently excavate transmission mechanism and executing agency Structure potentiality, maximize mechanical advantage in nominal working stroke, the driving torque of motor are not only reduced, to reduce equipment Cost and raising operation stability;The application, only need to analyze ABK collinearly can find out the extreme point of mechanical advantage, compared to use The various optimization methods of computer based are simple, quick to be designed;And mechanical advantage extreme point is divided by the application Analysis, can be used for design, the design of triangular coupling rod size, the design of choice of electrical machine to the location of workpiece.
Detailed description of the invention
Fig. 1 is crank-triangular coupling rod-knuckle-lever press structural scheme of mechanism;
Fig. 2 is the relevant maximum position schematic diagram of crank-triangular coupling rod-knuckle-lever press mechanism;
Fig. 3 solves driving force Q schematic diagram;
The schematic diagram of Fig. 4 corner a and slider displacement;
Fig. 5 is the schematic diagram of corner a and mechanical advantage.
Specific embodiment
To better illustrate the object, technical solutions and advantages of the present invention, below in conjunction with specific embodiment to the present invention It is described further.
A kind of mechanical advantage pole of servo-pressing machine determines method, as shown in Figure 1, the structure of the servo-pressing machine is Crank-triangular coupling rod-elbow-bar mechanism, the structure of the servo-pressing machine include crank AB, triangular coupling rod BCD, upper elbow lever CE, under Toggle link DF;The crank AB is driving link, and the A point revolution in rack, E point of the upper elbow lever CE in rack carrys out backswing Dynamic, the triangular coupling rod BCD and lower elbow lever DF do plane motion, and the lower elbow lever DF driving sliding block is exported along guide rail upward-downward translation Ramming motion.
As shown in Fig. 2, Fig. 2 is crank-triangular coupling rod-relevant maximum position of knuckle-lever press mechanism, rub ignoring In the case where wiping, upper lower elbow lever is all two power bars, and the direction line of triangular coupling rod C and D stress meets at K point.According to rational mechanics original Reason, triangular coupling rod pass through BK in the Impact direction line of B point, and wherein F/F ' is the dead-centre position up and down of sliding block;According to rational mechanics Principle, under the premise of ignoring friction and component is elastic, the mechanical advantage maximum of crank link mechanism and elbow-bar mechanism is resonable By above reaching infinite.It is attached in mechanical advantage maximum position since the mechanical advantage of the mechanism is the continuous function of crank angle Closely all there is biggish mechanical advantage, nominal working stroke, which is arranged in these positions, can effectively reduce the torsion of driving motor Square.
Embodiment 1, the relationship at conventional analytic method the analysis angle a and slider displacement:
Meaning representated by each symbol is as follows:F:Mechanical advantage, P:Useful production resistance (carrys out servo-pressing machine Say, according to the object of driving, which is constant), Q:Driving force, it is known that crank-each bar of triangular coupling rod-elbow-bar mechanism size AB=r, BC=L3, CD=L2, BD=L4, CE=L1, DF=L5, L:Horizontal distance between sliding block and A point, H:Sliding block and A Vertical distance between point.
Establish using A point as the plane right-angle coordinate XAY of origin, X-axis positive direction be horizontally to the right, it is vertical with EF, α be to AmountWith the positive angle counterclockwise of X-axis, obtain:A (0,0),
As shown in figure 3, generally defining mechanical advantage according to the input/output relation of servo-pressing machine:F=P/Qr, P are It is known.
It is as follows for the value difference of parameters for the present embodiment:
R=100, xe=-500, ye=500, L1=600, L2=550, L3=550, L4=550, L5=600, L= 500。
In this field, vector convert clockwise be it is known, such as formula (1), vector a (p, q) turns the angle θ clockwise and obtains To vector b (x, y), it is known that vector rotates clockwise transformation for mula:
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (2):
Note:β is the ∠ BEC in Δ BEC,
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (3):
Note:γ is the ∠ BCD in Δ BCD,
It show that D point coordinate is (xd, yd), H, changing rule such as Fig. 4 is found out by formula (4).
As can be drawn from Figure 4, it is lower dead center that α takes 2.1,4.4 respectively, and 3.1,6.2 when is top dead centre;
Embodiment 2 analyzes the position where mechanical advantage maximum point according to the technical solution of the present invention;
1) verification vectorsWith vectorIntersection point K, when ABK is conllinear, sliding block is located near top dead center, and is mechanical advantage Maximum point position.
Since K point isWithIntersection point obtains K (xk, yk) by formula (5)
Note:Only work as vectorWith vectorWhen not parallel can invocation point K, and using K point to straight line AB distance be 0, i.e. ABK be total to When line, α is solved equal to 3.1 and 6.1;
2) work pieces process resistance analysis, Y direction resistance P=1000 (unit N) study sliding block as shown in Figure 3a, and N is Guide rail normal pressure obtains combination resistance R by formula (6)FD
As shown in Figure 3b, triangular coupling rod force analysis is studied, the parallel DF of ab is, taking ab line segment length is resistance RFD, ab with BK intersection point is a, and B excessively does CE parallel lines and friendship ab, and in b, (line segment Bb length is CE bar stress REC), it crosses a and makees the vertical crank of straight line AB extended line obtains intersection point d, and driving force Q is equal to line segment ad length.Such as formula (7), formula (8) are calculated, obtains the change of mechanical advantage F Change curve, as shown in Figure 5.When α is respectively 3.1,6.2, ABK is conllinear, is located near top dead center, and is mechanical advantage maximum point Position.
The analysis of mechanical advantage maximum can be seen that by conventional resolution method and technical solution of the present invention;Work as use When this traditional calculating machine interests of analytic method, calculating α and taking 2.1,4.4 respectively is lower dead center, when 3.1,6.2 for it is upper only Point, as shown in Figure 4;When using technical solution of the present invention calculating machine interests, when α is respectively 3.1,6.2, ABK is conllinear, position It near top dead center, and is mechanical advantage maximum point position;It follows that in face of various using computer based Optimization method is designed, and that there are mathematical models is not intuitive, calculating process is unstable, be difficult to the problems such as seeking globally optimal solution When, the application, only need to analyze ABK collinearly can find out the extreme point of mechanical advantage, near mechanical advantage maximum position all With biggish mechanical advantage, nominal working stroke, which is arranged in these positions, can effectively reduce the torque of driving motor, fill The structure potentiality for dividing excavation transmission mechanism and executing agency, maximize mechanical advantage in nominal working stroke, not only reduce The driving torque of motor, to reduce equipment cost and improve operation stability, and the calculation method of the application is simple, intuitive.
This scheme of the extreme point of mechanical advantage can be collinearly found out by analyzing ABK using the application, passes through design three The shape of angle connecting rod is not changing rack installation site, under the premise of not changing two pole length of AB and DF, under slider stroke only Point realizes 4 points of ECDF conllinear, acquisition mechanical advantage maximum;It can be with known crank-each bar of triangular coupling rod-elbow-bar mechanism Size obtains the nominal working stroke position of maximum machine interests and determines the peak torque of motor.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those of ordinary skill in the art should Understand, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the essence of technical solution of the present invention And range.

Claims (5)

1. a kind of mechanical advantage pole of servo-pressing machine determines that method, the structure of the servo-pressing machine are that crank-triangle connects Bar-elbow-bar mechanism, the structure of the servo-pressing machine include crank AB, triangular coupling rod BCD, upper elbow lever CE, lower elbow lever DF;It is described Crank AB is driving link, and the A point revolution in rack, E point of the upper elbow lever CE in rack swings back and forth, and the triangle connects Bar BCD and lower elbow lever DF does plane motion, and the lower elbow lever DF driving sliding block exports ramming motion along guide rail upward-downward translation;Including Following steps:
Step 1: establishing using A point as the plane right-angle coordinate XAY of origin, X-axis positive direction is, α vertical with EF horizontally to the right For vectorWith the positive angle counterclockwise of X-axis, obtain:A=(0,0);F= Meaning representated by (- L ,-H) each symbol is as follows:F:Mechanical advantage, P:Useful production resistance, Q:Driving force, it is known that bent Handle-each bar of triangular coupling rod-elbow-bar mechanism size AB=r, BC=L3, CD=L2, BD=L4, CE=L1, DF=L5, L:Sliding block With the horizontal distance between A point, H:Vertical distance between sliding block and A point;
Step 2: vector convert clockwise be it is known, such as formula (1), vector a (p, q) turn clockwise the angle θ obtain vector b (x, Y), it is known that vector rotates clockwise transformation for mula:
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (2):
Note:β is the ∠ BEC in Δ BEC,
And then using vector transformation formula (1) according to vectorIt is converted toSuch as formula (3):
Note:γ is the ∠ BCD in Δ BCD,
Step 3: verification vectorsWith vectorIntersection point K, when ABK is conllinear, sliding block is located near top dead center, and is mechanical advantage Maximum point position, only works as vectorWith vectorWhen not parallel can invocation point K, and using K point to straight line AB distance be 0, When i.e. ABK is conllinear, α is solved;The angle α, the mechanical advantage pole of the as described servo-pressing machine are collinearly obtained according to ABK.
2. a kind of mechanical advantage pole of servo-pressing machine as described in claim 1 determines method, it is characterised in that:The step Rapid three, the angle α, the mechanical advantage pole of the as described servo-pressing machine are collinearly obtained according to ABK;According to the machinery benefit in step 3 Beneficial pole arranges the position between workpiece and sliding block.
3. a kind of mechanical advantage pole of servo-pressing machine as described in claim 1 determines method, it is characterised in that:The step Rapid three, the angle α, the mechanical advantage pole of the as described servo-pressing machine are collinearly obtained according to ABK;According to the machinery benefit in step 3 Beneficial pole optimizes triangular coupling rod structure.
4. a kind of mechanical advantage pole of servo-pressing machine as described in claim 1 determines method, it is characterised in that:The step Rapid three, the angle α, the mechanical advantage pole of the as described servo-pressing machine are collinearly obtained according to ABK;According to the machinery benefit in step 3 Beneficial pole carries out type selecting to the motor of driving crank AB.
5. a kind of servo pressure, the mechanical advantage pole including a kind of servo-pressing machine of such as claim 1 determine method for pair The design of the location of workpiece, the design of triangular coupling rod size, the design of choice of electrical machine.
CN201810544859.7A 2018-05-30 2018-05-30 Mechanical benefit pole determining method for servo press Active CN108908978B (en)

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KR20170064041A (en) * 2015-11-30 2017-06-09 (주)아이디에스 Vector Motors Press Systems

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Publication number Priority date Publication date Assignee Title
EP1004431A2 (en) * 1998-11-25 2000-05-31 Morito Co., Ltd. Cam mechanism and pressing apparatus
US6325662B1 (en) * 2000-02-23 2001-12-04 Unisys Corporation Apparatus for testing IC chips using a sliding springy mechanism which exerts a nearly constant force apparatus
CN102019707A (en) * 2010-12-03 2011-04-20 广东锻压机床厂有限公司 Triangular connecting rod-toggle rod transmission mechanism with large force magnification ratio for servo press
CN102126301A (en) * 2010-12-03 2011-07-20 广东工业大学 Triangular toggle-rod working mechanism of servo mechanical press and optimized design method thereof
CN102126301B (en) * 2010-12-03 2013-11-27 广东工业大学 Optimized design method of triangular toggle-rod working mechanism of servo mechanical press
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乃舜峰: "伺服压力机肘杆机构的运动与动力优化设计研究", 《中国优秀硕士学位论文全文数据库》 *

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