CN110280631A - Mechanical full electric servo numerical control bender based on multiple degrees of freedom coupling driving - Google Patents

Abstract

The invention discloses a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling drive, which includes a frame, a lower mold fixedly connected to the frame for bending, a slider that can move up and down along the frame, and a The slider is fixedly connected and matched with the lower mold to bend the upper mold. The slider is connected with a first drive mechanism and a second drive mechanism for driving the slider to achieve different speeds and stroke ranges, wherein the second drive mechanism is symmetrically arranged left and right . The invention is suitable for large tonnage, and has the advantages of heavy load, high precision, low energy consumption, small drive motor power, high power utilization rate, fast speed and low manufacturing cost. Self-locking characteristics and leverage principle or self-locking characteristics using threaded auxiliary transmission.

Description

Mechanical all-electric servo CNC bending machine based on multi-degree-of-freedom coupling drive

technical field

The invention relates to a plate bending machine, in particular to a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling drive.

Background technique

CNC bending machine is the most important and basic equipment in the field of sheet metal processing. Energy saving, environmental protection, high speed, high precision, digitization and intelligence are the future development trends. The driving methods of CNC bending machines include hydraulic drive and mechanical electric servo drive. At present, hydraulic drive is the main method, but mechanical electric servo is the future development trend.

The advantage of hydraulic drive is large tonnage, which is easy to realize the bending processing of large format and thick plates; the disadvantages of hydraulic drive are as follows: 1. Large noise, high energy consumption, hydraulic oil leakage and environmental pollution; 2. High cost High, because the cost of high-precision parts such as hydraulic cylinders, valve groups, and hydraulic pumps is relatively high. Among them, the high-end market of valve groups and hydraulic pump components is almost completely dependent on imports, and the cost is high; 3. The accuracy is not high, and the position accuracy control of the hydraulic system exists. Inherent disadvantages, poor position controllability; 4. Low service life, wear and tear of components, and pollution of hydraulic oil circuits are likely to have adverse effects on the stability of the hydraulic system; 5. The impact of the slider action is large and uneven; Factors such as temperature, humidity, and dust have great influence; 7. Motion control is complicated.

The electromechanical servo can solve the shortcomings of the above-mentioned hydraulic drive method, but due to the technical bottleneck of the electromechanical servo drive method, it is only widely used in the field of small tonnage, generally no more than 50 tons. At present, the driving mode of mechanical all-electric servo bending with small tonnage is shown in Figure 1 and Figure 2. Most of them adopt the driving mode of heavy-duty ball screw, mainly including servo motor a, synchronous belt drive b, ball screw drive c, Slider d, workbench e and other parts. Wherein the servo motor is fixed on the frame, the ball screw is hinged with the frame, the slide block is slidably connected with the frame and can slide up and down along the frame, and the workbench is fixed on the frame. Synchronous belt transmission consists of three parts: small pulley, timing belt, and large pulley, which play the role of deceleration and transmission. The slider is driven by the ball screw transmission pair, the servo motor drives the screw to rotate through the synchronous belt, and the slider moves up and down under the drive of the ball screw transmission pair. The slider d moves up and down relative to the workbench e, the upper mold f is installed on the slider, and the lower mold g is installed on the workbench, so that the bending process of the plate h can be realized. The slide block is driven symmetrically by two left and right lead screws. On the one hand, the load is large and the rigidity is high. On the other hand, when there is a parallelism error between the upper and lower molds, the parallelism can be fine-tuned by the reverse rotation of the left and right two motors.

The above-mentioned mechanical all-electric servo bending machine driven by a ball screw has the advantages of simple structure, high mechanical transmission efficiency, fast speed, high precision, and effectively overcomes many problems of hydraulic transmission; the disadvantages are as follows: 1. Cost High, high-precision, heavy-duty ball screws are basically dependent on imports, and the price is expensive; 2. The processing and manufacturing precision of the machine tool is high; 3. It is only suitable for small-tonnage bending machines; 4. The power utilization rate is low, and the required drive motor power Large size and high cost; 5. Lead screw is easy to wear and damage.

Among them, the power utilization rate, the power consumed by the servo motor in the actual use process is determined by the load, and the ratio between the power consumed in the actual use process and the maximum power index (or rated power) that the motor can achieve can be used as the power utilization Rate. Under normal circumstances, during the bending process of the plate, the bending machine has experienced three action stages: 1. The fast down stage, the slider moves downward from the top dead center until the upper die touches the plate. This stage is very fast. The load is very small; the general speed is in the range of 150mm/s to 200mm/s, the load is basically to overcome the gravity of the slider, and the gravity of the slider generally does not exceed 1/50 of the nominal bending force of the bending machine, so the load is very small; This stage is a typical high-speed, low-load stage; 2. In the stage of work progress, the bending machine bends the plate, which is a typical low-speed, heavy-load stage. The speed is about 20mm/s, which is about 1/10 of the fast-down speed; 3. In the return stage, after the bending of the plate is completed, the slider moves upwards and returns to the top dead center. Its speed and load are the same as those in the fast down stage, with high speed and low load.

It can be seen from the above that the working condition of the bending machine is a typical variable speed and variable load condition. Due to the fixed transmission ratio of the ball screw drive, the servo motor reaches the maximum speed n _max in the fast lower stage, but the peak torque M _max is far from reaching. According to empirical data, it is generally only 1/50 of the peak torque, and the load can be directly Equivalent to the output torque of the motor, then the power consumed by the motor in the next stage is equivalent to: In the working stage, the motor reaches the peak torque M _max , but according to empirical data, the motor speed is only 1/10 of the maximum speed n _max at this time, mainly because of safety factors, and the working speed of the bending machine is usually low , the power required by the motor at this stage:

It can be seen from the above that the drive system must not only meet the maximum speed requirements in the fast down and return stages, but also meet the peak torque requirements in the working stage; then under the premise of a fixed transmission ratio, the peak power: P _max = n _max × M _max . The required drive motor power is very large, even in the actual use process, the motor does not use the highest peak power, resulting in the power of the motor is not fully used, that is, the power utilization rate is low. Taking the common 35-ton electromechanical servo bending machine currently on the market as an example, its fast down speed and return speed are generally 200mm/s, and its nominal bending force is 350kN. In order to meet the requirements of the highest speed and maximum bending force at the same time, Usually need to use two 7.5kW servo motors, the conventional configuration in the current market, but in the actual work process, the actual power consumed by the two servo motors is about 1kw ~ 2kW, and the power utilization rate is very low.

Therefore, urgently need to solve the above-mentioned problem.

Contents of the invention

Purpose of the invention: the purpose of the present invention is to provide a kind of suitable for large tonnage, and has the advantages of heavy load, high precision, low energy consumption, small drive motor power, high power utilization rate, fast speed and low manufacturing cost, etc. The nonlinear motion characteristics and the self-locking characteristics of specific positions or the self-locking characteristics of the screw pair transmission are based on the mechanical all-electric servo CNC bending machine driven by multi-degree-of-freedom coupling.

Technical solution: In order to achieve the above objectives, the present invention discloses a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling drive, including a frame, a lower mold fixedly connected to the frame for bending, and a The slider that moves up and down on the frame and the upper mold that is fixedly connected with the slider and cooperates with the lower mold to bend, the slider is connected with a first drive mechanism and a second drive mechanism for driving the slider to achieve different speeds and stroke ranges, Wherein the second drive mechanism is symmetrically arranged left and right.

Wherein, the first drive mechanism includes a first power assembly located on the frame, two symmetrically arranged first eccentric wheels driven by the first power assembly, a first pull rod connected to the first eccentric wheel, and a first pull rod connected to the The slider is hinged, and the middle part is hinged with the first pull rod; the first power assembly outputs power to drive the first eccentric wheel to rotate, and the slider moves up and down through the first pull rod and the main beam; the second drive mechanism includes a The second drive motor on the frame, the second eccentric wheel driven by the second drive motor, and the second pull rod connected with the second eccentric wheel, and the second pull rod is hinged with the other end of the main beam; the second drive The output power of the motor drives the rotation of the second eccentric wheel, and drives the slider to move up and down through the second pull rod and the main beam.

Preferably, the first drive mechanism includes a first power assembly located on the frame, two symmetrically arranged first eccentric wheels driven by the first power assembly, a first pull rod connected to the first eccentric wheel, and a central The main beam is hinged with the first tie rod, and one end is hinged with the slider through the third tie rod; the output power of the first power assembly drives the first eccentric wheel to rotate, and the slider moves up and down through the first tie rod, the main beam and the third tie rod ; The second drive mechanism includes a second drive motor on the frame and a second eccentric wheel driven by the second drive motor, the second eccentric wheel is hinged with the other end of the main beam; the second drive motor output power Drive the second eccentric wheel to rotate, and drive the slider to move up and down through the main beam and the third tie rod.

Furthermore, the first driving mechanism is arranged symmetrically from left to right, and the first driving mechanism includes a first power assembly, a nut driven by the first power assembly, a screw threaded with the nut, and a screw that is sleeved on the outer wall of the nut and hinged with the nut. The bracket and the main beam whose middle part is hinged with the bracket and one end is hinged with the slider through the third tie rod; the drive motor outputs power to drive the nut to rotate, and the screw is driven by the threaded auxiliary drive, and the slider moves up and down through the main beam and the third tie rod ; The second drive mechanism includes a second drive motor on the frame and a second eccentric wheel driven by the second drive motor, the second eccentric wheel is hinged with the other end of the main beam; the second drive motor output power Drive the second eccentric wheel to rotate, and drive the slider to move up and down through the main beam and the third tie rod.

Furthermore, the first power assembly includes a first drive motor on the frame and a synchronous shaft connected to the output shaft of the first drive motor through a belt drive, and the first eccentric wheel is fixedly connected to two shaft ends of the synchronous shaft.

Preferably, the first pull rod and/or the second pull rod is a link structure with adjustable length, and the link structure includes a support, a worm located in the support with two shaft ends hinged to the support, and a worm located in the support. The worm wheel meshing with the worm and the upper screw and the lower screw threaded on the worm wheel through threaded connection, and both the upper and lower screws pass through the support; one shaft end of the worm is connected to a motor, and the motor starts to drive the worm gear. , so as to drive the upper screw and the lower screw to move up and down along the worm wheel to realize the adjustable length; the worm wheel is provided with an upper thread matched with the upper screw and a lower thread matched with the lower screw, and the thread pitch of the upper thread and the lower thread are different. etc.; the outer cylindrical surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and a through hole matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support.

Furthermore, the first pull rod and/or the third pull rod is a link structure with adjustable length, and the link structure includes a support, a worm located in the support and whose two shaft ends are hinged to the support, and a worm located in the support. The worm wheel meshing with the worm and the upper screw and the lower screw threaded on the worm wheel through threaded connection, and both the upper and lower screws pass through the support; one shaft end of the worm is connected to a motor, and the motor starts to drive the worm gear. , so as to drive the upper screw and the lower screw to move up and down along the worm wheel to realize the adjustable length; the worm wheel is provided with an upper thread matched with the upper screw and a lower thread matched with the lower screw, and the thread pitch of the upper thread and the lower thread are different. etc.; the outer cylindrical surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and a through hole matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support.

Further, the third pull rod is a connecting rod structure with adjustable length, and the connecting rod structure includes a support, a worm located in the support and whose two shaft ends are hinged to the support, a worm gear located in the support and engaged with the worm And the upper screw and the lower screw on the worm wheel are threaded, and the upper and lower screws pass through the support; one shaft end of the worm is connected to a motor, and the motor starts to drive the worm gear to drive the upper screw and the lower screw. The screw moves up and down along the worm wheel to achieve adjustable length; the worm wheel is provided with an upper thread matched with the upper screw and a lower thread matched with the lower screw, and the thread pitches of the upper thread and the lower thread are not equal; the upper screw and The outer cylindrical surface of the lower screw rod is provided with two mutually symmetrical planes, and a through hole matching with the upper and lower screw rods to form a moving pair is opened at the corresponding position of the support.

Furthermore, the eccentricity of the first eccentric wheel is greater than the eccentricity of the second eccentric wheel, and the second driving mechanism is in a self-locking state when the first driving mechanism drives the slider to realize high-speed, light-load, and non-working stroke movement. When the driving mechanism drives the slider to realize low-speed, heavy-load, and process movement, the first driving mechanism is in the self-locking device; or the eccentricity of the first eccentric wheel is smaller than the eccentricity of the second eccentric wheel, the first driving mechanism drives the slider to realize The second driving mechanism is in the self-locking device during low-speed, heavy-load, and working-stroke movement, and the first driving mechanism is in the self-locking device when the second driving mechanism drives the slider to realize high-speed, light-load, and non-working stroke movement.

Preferably, the movement stroke of the screw is greater than the movement stroke of the second eccentric wheel, the first driving mechanism drives the slider to realize high-speed, light-load, and non-working stroke movement, and the second driving mechanism drives the slider to realize low-speed, heavy-load, and working strokes. stroke movement; or the movement stroke of the screw is less than the movement stroke of the second eccentric wheel, the first drive mechanism drives the slider to realize low speed, heavy load, and process movement, and the second drive mechanism drives the slider to realize high speed, light load, non-stop Work stroke movement.

Beneficial effects: compared with the prior art, the present invention has the following significant advantages:

(1), the present invention makes full use of the nonlinear motion characteristics of the connecting rod mechanism and the self-locking characteristics of specific positions or the self-locking characteristics of the screw pair transmission, and according to the actual working conditions of the CNC bending machine, two driving mechanisms are used to realize bending Bending machine's fast down, work forward and return actions; among them, the fast down and return actions are realized by the fast, low load, and large stroke driving mechanism; the work forward bending is realized by the slow speed, small stroke, and heavy load drive mechanism, which is effective Improve performance, reduce cost, and realize high-speed and heavy load, which is of great significance to promote the development of CNC bending machine from traditional hydraulic drive mode to mechanical electric servo drive mode.

(2) In the present invention, due to the nonlinear motion characteristics of the connecting rod mechanism, under the condition that the driving motor rotates at a constant speed, the speed of the connecting rod mechanism at its upper and lower dead center positions is relatively low, while at the intermediate position, the speed is relatively high and the movement Gentle, no impact.

(3) In the present invention, a fast and large-stroke drive mechanism is adopted to realize fast down and return actions, and a drive mechanism with a slow and small stroke and a greater force-increasing effect is used to realize the work-in-progress action. The two drive mechanisms can cooperate to move The power utilization rate of the servo motor is greatly improved, so as to realize the heavy-duty large-tonnage bending machine and overcome the technical bottleneck in the industry;

(4), because the present invention greatly improves the power utilization rate of the servo motor, the bending machine of the same tonnage can use a smaller drive motor, without the need for expensive heavy-duty, high-precision ball screws, and instead use ordinary cranks and connecting rods. Rods and other parts, effectively reducing the production cost, and maintenance-free, high reliability;

(5), the present invention can respectively drive the first drive mechanism and the second drive mechanism according to different process requirements, and the two cooperate to realize various processing modes and flexible combinations;

(6) The first connecting rod, the second connecting rod and the third connecting rod of the present invention can be set as a connecting rod structure with adjustable length. When changing different molds, the length of the connecting rod can be adjusted to adjust the up and down Block spacing, large adaptability and high adjustment accuracy;

(7) In the present invention, two symmetrically arranged second driving motors are used to operate asynchronously to adjust the parallelism deviation of the upper mold and the lower mold, so that the left and right sides of the lower slider are not parallel, and the bending with a taper can be realized.

Description of drawings

Fig. 1 is the structural representation of bending machine in the prior art;

Fig. 2 is a schematic diagram of plate bending in the prior art;

Fig. 3 is the schematic diagram of the principle of embodiment 1 in the present invention;

Fig. 4 is a structural schematic diagram 1 of Embodiment 1 in the present invention;

Fig. 5 is the structural schematic diagram II of embodiment 1 in the present invention;

Figure 6 is a partial sectional view of Embodiment 1 of the present invention;

Fig. 7 is the structural representation of connecting rod structure in the present invention;

Fig. 8 is a schematic diagram of the connection of the worm gear in the connecting rod structure of the present invention;

Fig. 9 is a connection schematic diagram of the worm gear, the upper screw and the lower screw in the connecting rod structure of the present invention;

Fig. 10 is a schematic diagram of the end faces of the upper screw and the lower screw in the connecting rod structure of the present invention;

Figures 11(a) to 11(c) are schematic diagrams of the movement in the fast down stage in Embodiment 1 of the present invention;

Figures 12(a) to 12(b) are schematic diagrams of the movement of the working stage in Embodiment 1 of the present invention;

Fig. 13 is a schematic diagram of nonlinear motion characteristics of the linkage mechanism in the present invention;

Figure 14 is a schematic diagram of the principle of Embodiment 3 of the present invention;

Figure 15 is a schematic structural diagram of Embodiment 3 of the present invention;

Fig. 16 is a structural schematic diagram II of Embodiment 3 of the present invention;

Figure 17 is a partial sectional view of Embodiment 3 of the present invention;

Figures 18(a) to 18(c) are schematic diagrams of the movement in the fast-down stage in Embodiment 3 of the present invention;

Fig. 19 is a schematic diagram of the movement of the working stage in Embodiment 3 of the present invention;

Figure 20 is a schematic diagram of the principle of Embodiment 5 of the present invention;

Figure 21 is a schematic structural diagram of Embodiment 5 of the present invention;

Fig. 22 is a structural schematic diagram II of Embodiment 5 of the present invention;

Figure 23 is a partial sectional view of Embodiment 5 of the present invention;

Fig. 24 is a schematic structural view of the gap elimination mechanism in Embodiment 5 of the present invention;

Fig. 25 is a schematic cross-sectional view of the gap elimination mechanism in Embodiment 5 of the present invention;

Figure 26 is a schematic diagram of the nut taper of Embodiment 5 of the present invention;

Fig. 27 is a schematic diagram of the groove on the nut in Example 5 of the present invention;

Figures 28(a) to 28(b) are schematic diagrams of the movement in the fast-down stage in Embodiment 5 of the present invention;

Fig. 29 is a schematic diagram of the movement of the working stage in Embodiment 5 of the present invention;

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

Example 1

As shown in FIG. 3 , a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling drive of the present invention includes a frame 1 , a lower die 2 , a slider 3 and a lower die 4 . The slide block 3 can move up and down along the frame 1, and the slide block 3 is left and right symmetrically provided with a guide groove 24 for guiding sliding, and the corresponding position on the frame 1 is provided with a guide block inserted into the guide groove 24, which can slide up and down along the guide groove 24 25. The upper die 4 is fixedly arranged on the slider 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 cooperate with each other to realize bending.

As shown in FIG. 4 and FIG. 5 , the slider 3 is connected with a first driving mechanism and a second driving mechanism for driving the slider to achieve different speeds and stroke ranges. The first driving mechanism includes a first power assembly, a first eccentric wheel 5, a first pull rod 6 and a main beam 7, and two first eccentric wheels 5 are symmetrically arranged on the left and right, driven by the same first power assembly, each first eccentric The rotating pair on the wheel 5 is connected with the first pull rod 6, one end of the main beam 7 is hinged with the slide block 3, and the middle part of the main beam is hinged with the first pull rod. The first power assembly includes a first drive motor 14 on the frame and a synchronous shaft 15 connected to the output shaft of the first drive motor through a belt transmission, and the first eccentric wheel 5 is fixedly connected to two shaft ends of the synchronous shaft 15 . The two ends of the synchronous shaft 15 are hinged with the frame, and the belt transmission includes a driving wheel connected to the output shaft of the first drive motor 14, a driven wheel arranged on the synchronous shaft 15, and a belt that is wound around the driving wheel and the driven wheel to realize transmission. timing belt. The first driving motor 14 starts, drives the synchronous shaft 15 to rotate through the belt transmission, and drives the first eccentric wheels 5 on the left and right sides coaxially arranged to rotate at the same time, drives the slider 3 to move along the frame through the first pull rod 6 and the main beam 7 Move up and down.

As shown in Fig. 4 and Fig. 6, the second driving mechanism of the present invention is symmetrically arranged left and right, and the second driving mechanism includes a second driving motor 8, a second eccentric wheel 9 and a second pull rod 10, and the second driving motor 8 is arranged on the machine. On the frame, the output shaft is connected with the second eccentric wheel 9, and drives the second eccentric wheel 9 to rotate. The second eccentric wheel 9 is hinged to one end of the second tie rod 10, and the other end of the second tie rod 10 is hinged to one end of the main beam. The second driving motor 8 outputs power to drive the second eccentric wheel 9 to rotate, and the second pull rod 10 and the main beam 7 drive the slider 3 to move up and down along the frame. In the present invention, two symmetrically arranged second drive motors can be used to operate asynchronously to adjust the parallelism deviation of the upper mold and the lower mold, so that the left and right sides of the lower slider are not parallel, and the bending with taper can be realized.

As shown in Fig. 7, Fig. 8 and Fig. 9, the first pull rod 6 and/or the second pull rod 10 of the present invention is a link structure with adjustable length, and the link structure includes a support 16, a worm 17, a worm wheel 18, Upper screw rod 19, lower screw rod 20 and motor 21. The motor 21 is fixedly connected to one shaft end of the worm 17 for driving the worm 17 to rotate. The worm 17 is located in the support 16, and its two shaft ends are hinged with the support 16. The worm wheel 18 is located in the support 16 and meshes with the worm to form a worm gear transmission pair. The worm wheel 18 is provided with an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod, and the thread pitches of the upper thread and the lower thread are unequal. The upper screw rod 19 and the lower screw rod 20 are threaded on the worm wheel 18, and the upper and lower screw rods pass through the support 16, and the stretched upper screw rod 19 and the lower screw rod 20 are used to hinge other parts. The motor 21 starts to drive the worm gear to drive the upper screw 19 and the lower screw 20 to move up and down along the worm gear to realize the adjustable length of the connecting rod structure. The pitch of the upper thread is P1, the pitch of the lower thread is P2, and the worm wheel rotates once, the length adjustment Δ=P1-P2 that can be realized by the connecting rod structure effectively improves the adjustment accuracy of the connecting rod. As shown in Figure 10, the outer cylindrical surfaces of the upper screw 19 and the lower screw 20 are provided with two mutually symmetrical planes 22, and a through hole 23 matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support. , the surface that cooperates with the plane 22 on the through hole 23 is also a plane, and the surface that cooperates with the threaded surface can be a threaded surface, and other surfaces that can have a guiding effect can also be selected for use.

In the present invention, the eccentricity of the first eccentric wheel 5 is greater than the eccentricity of the second eccentric wheel 9, the first driving mechanism drives the slider to realize high-speed and large-stroke movement, and the second driving mechanism drives the slider to realize low-speed and small-stroke movement; or the first The eccentric distance of the eccentric wheel is smaller than the eccentric distance of the second eccentric wheel, the first driving mechanism drives the slider to realize low-speed and small-stroke movement, and the second driving mechanism drives the slider to realize high-speed and large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore, the present invention adopts the first drive mechanism to drive the slider to realize the fast-down and return stages, and the second drive mechanism to drive the slider to realize the work-in stage. As shown in FIG. 11( a ), the slider 3 is at the top dead center, that is, the first eccentric 5 and the first tie rod 6 are collinear and coincident, and the second eccentric 9 and the second tie rod 10 are collinear but not coincident. As shown in Figure 11 (b) in the fast down stage of the present invention, the first drive motor 14 starts, drives the synchronous shaft 15 to rotate through the belt drive, and drives the first eccentric wheel 5 on the left and right sides of the coaxial arrangement to rotate at the same time, and its rotating speed is ω1, through the first pull rod 6 and the main beam 7, the slider 3 is driven down quickly; at this time, the second drive motor 8 is started, and the output power drives the second eccentric wheel 9 to rotate, and the speeds of the two second eccentric wheels 9 are ω2 and ω3 , keep the second eccentric wheel 9 and the second pull rod 10 collinear but non-overlapping state dynamically in real time, that is, the second driving mechanism is in the self-locking device.

When the position shown in Figure 11(c) is reached, the lower stage is about to end. At this time, the slider 3 is located at the bottom dead center, that is, the first eccentric wheel 5 and the first pull rod 6 are collinear, but the two do not overlap. At this time, the first drive The mechanism is in the self-locking position, that is, the first driving motor 14 only needs to provide a small driving torque, or even does not provide a driving torque, and can bear a large bending load. During the entire fast-down stage, the second eccentric wheel 9 and the second pull rod 10 dynamically maintain a collinear non-coinciding state in real time. Because the eccentric length of the first eccentric wheel 5 is large, and the hinged position of the first pull rod and the main beam is located in the middle of the main beam, the present invention can realize the effect of rapid descending and large stroke in the fast descending stage. The invention makes full use of the fact that the mechanism is in the self-locking position when the slider is in the two positions of the upper dead center and the lower dead center. As shown in Fig. 13, in addition, due to the typical nonlinear motion characteristics of the linkage mechanism, the speed is low and the impact is small at the beginning and end of the fast down action.

As shown in Figure 12(a), during the entire working process, the first eccentric wheel 5 and the first tie rod 6 need to maintain a collinear but non-overlapping state in real time, and the first driving mechanism is in a self-locking state to withstand a large Large bending load; the second driving motor 8 arranged symmetrically on the left and right sides is started, and the output power drives the second eccentric wheel 9 to rotate, and the second tie rod 10 and the main beam 7 drive the slider 3 down at a slow speed, and the maximum output force drops , to achieve work-in bending. When there is deviation in parallelism between the upper and lower dies, the second drive motors 8 on the left and right sides are fine-tuned in the opposite direction or at different speeds in the same direction, and the speeds of the lower drive motors 8 on the left and right sides are ω2 and ω3 respectively. As shown in Figure 12(b), the slider reaches the bottom dead center, and the second eccentric wheel 9 and the second tie rod 10 are collinear and coincident. It must be located at the bottom dead center, and it can also be located at other points, and the bending process is completed. Because the eccentric length of the second eccentric wheel 9 is relatively small, and it is located at the other end of the main beam, it utilizes the principle of leverage, so it has a large boosting effect, and the speed is slow, which meets the requirements of the working conditions. In the present invention, the fast-down stage and the work-in stage can be combined to realize different processing modes, adopt different working modes according to different working conditions, achieve the effect of light-load fast and heavy-load slow, and improve the power utilization rate of the drive motor.

Fast mode: Only the fast down stage is used, that is, when the thin plate is bent, due to the small load, the second eccentric wheel 9 and the second tie rod 10 are dynamically kept in line but not coincident in real time, and the slider is only driven by the first driving mechanism The bending process can be completed by moving up and down, and the speed is fast;

Heavy-duty mode: first the fast down stage and then the work-in stage, that is, the fast-down action is performed first, and then the work-in action is performed, the slider reaches the bottom dead point, and the bending is completed;

Mixed mode: the fast down stage and the work progress stage act at the same time

Small opening bending mode: the slider does not stay completely at the bottom dead center, but only moves upward for a small distance, and the slider moves linearly within a small stroke range for bending. This mode is only suitable for bending small-sized and simple parts, with high efficiency .

Example 2

The structure of embodiment 2 is the same as that of embodiment 1, the difference is that: the eccentricity of the first eccentric wheel 5 is smaller than the eccentricity of the second eccentric wheel 9, the first driving mechanism drives the slider to realize low-speed and small-stroke movement, and the second The second driving mechanism drives the slider to realize high-speed and large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore the present invention adopts the second drive mechanism to drive the slide block to realize the fast-down and return stages, and the first drive mechanism to drive the slide block to realize the work advance stage.

Example 3

As shown in FIG. 14 , a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling drive of the present invention includes a frame 1 , a lower die 2 , a slider 3 and a lower die 4 . The slide block 3 can move up and down along the frame 1, and the slide block 3 is left and right symmetrically provided with a guide groove 24 for guiding sliding, and the corresponding position on the frame 1 is provided with a guide block inserted into the guide groove 24, which can slide up and down along the guide groove 24 25. The upper die 4 is fixedly arranged on the slider 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 cooperate with each other to realize bending.

As shown in FIG. 15 and FIG. 16 , the slider 3 is connected with a first driving mechanism and a second driving mechanism for driving the slider to achieve different speeds and stroke ranges. The first driving mechanism includes a first power assembly, a first eccentric wheel 5, a first tie rod 6, a main beam 7 and a third tie rod 11, and two first eccentric wheels 5 are symmetrically arranged left and right, driven by the same first power assembly, The rotation pair on each first eccentric wheel 5 is connected with the first pull rod 6, and one end of the third pull rod 11 is hinged with the slider 3, and the other end is hinged with one end of the main beam 7, and the middle part of the main beam 7 is connected with the first Pull rod 6 is hinged. The first power assembly includes a first drive motor 14 on the frame and a synchronous shaft 15 connected to the output shaft of the first drive motor through a belt transmission, and the first eccentric wheel 5 is fixedly connected to two shaft ends of the synchronous shaft 15 . The two ends of the synchronous shaft 15 are hinged with the frame, and the belt transmission includes a driving wheel connected to the output shaft of the first driving motor 14, a driven wheel arranged on the synchronous shaft 15, and a belt that is wound around the driving wheel and the driven wheel to realize transmission. timing belt. The first drive motor 14 starts, drives the synchronous shaft 15 to rotate through the belt transmission, and drives the first eccentric wheels 5 on the left and right sides coaxially arranged at the same time to rotate, and drives the slider through the first pull rod 6, the main beam 7 and the third pull rod 11 3 Move up and down along the rack.

As shown in Fig. 15 and Fig. 17, the second driving mechanism of the present invention is symmetrically arranged left and right, and the second driving mechanism includes a second driving motor 8 and a second eccentric wheel 9, and the second driving motor 8 is arranged on the frame, and its output A second eccentric wheel 9 is connected to the shaft and drives the second eccentric wheel 9 to rotate. The second eccentric wheel 9 is hinged with the other end of the main beam 7 . The second driving motor 8 outputs power to drive the second eccentric wheel 9 to rotate, and the main beam 7 and the third pull rod 11 drive the slider 3 to move up and down along the frame. In the present invention, two symmetrically arranged second drive motors can be used to operate asynchronously to adjust the parallelism deviation of the upper mold and the lower mold, so that the left and right sides of the lower slider are not parallel, and the bending with taper can be realized.

The first pull rod 6 and/or the third pull rod 11 of the present invention is a length-adjustable connecting rod structure, as shown in Figure 7, Figure 8 and Figure 9, the connecting rod structure includes a support 16, a worm 17, a worm wheel 18, Upper screw rod 19, lower screw rod 20 and motor 21. The motor 21 is fixedly connected to one shaft end of the worm 17 for driving the worm 17 to rotate. The worm 17 is located in the support 16, and its two shaft ends are hinged with the support 16. The worm wheel 18 is located in the support 16 and meshes with the worm to form a worm gear transmission pair. The worm wheel 18 is provided with an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod, and the thread pitches of the upper thread and the lower thread are unequal. The upper screw rod 19 and the lower screw rod 20 are threaded on the worm wheel 18, and the upper and lower screw rods pass through the support 16, and the stretched upper screw rod 19 and the lower screw rod 20 are used to hinge other parts. The motor 21 starts to drive the worm gear to drive the upper screw 19 and the lower screw 20 to move up and down along the worm gear to realize the adjustable length of the connecting rod structure. The pitch of the upper thread is P1, the pitch of the lower thread is P2, and the worm wheel rotates once, the length adjustment Δ=P1-P2 that can be realized by the connecting rod structure effectively improves the adjustment accuracy of the connecting rod. As shown in Figure 10, the outer cylindrical surfaces of the upper screw 19 and the lower screw 20 are provided with two mutually symmetrical planes 22, and a through hole 23 matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support. , the surface that cooperates with the plane 22 on the through hole 23 is also a plane, and the surface that cooperates with the threaded surface can be a threaded surface, and other surfaces that can have a guiding effect can also be selected for use.

In the present invention, the eccentricity of the first eccentric wheel 5 is greater than the eccentricity of the second eccentric wheel 9, the first driving mechanism drives the slider to realize high-speed and large-stroke movement, and the second driving mechanism drives the slider to realize low-speed and small-stroke movement; or the first The eccentric distance of the eccentric wheel is smaller than the eccentric distance of the second eccentric wheel, the first driving mechanism drives the slider to realize low-speed and small-stroke movement, and the second driving mechanism drives the slider to realize high-speed and large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore, the present invention adopts the first drive mechanism to drive the slider to realize the fast-down and return stages, and the second drive mechanism to drive the slider to realize the work-in stage.

As shown in Figure 18(a), the slider 3 is at the top dead center, that is, the first eccentric 5 and the first tie rod 6 are collinear and coincident, and the main beam 7 and the second eccentric 9 are kept vertical in real time. As shown in Figure 18 (b) of the fast down stage of the present invention, the first drive motor 14 starts, drives the synchronous shaft 15 to rotate through the belt drive, and drives the first eccentric wheel 5 on the left and right sides that coaxially arranges simultaneously and its rotating speed is ω1, through the first pull rod 6, the main beam 7 and the third pull rod 11, the slider 3 is driven down quickly; at this time, the second drive motor 8 is started, and the output power drives the second eccentric wheel 9 to rotate, and the two second eccentric wheels 9 The rotational speeds are ω2 and ω3, and the real-time dynamic maintenance of the second eccentric wheel 9 and the main beam 7 maintains a vertical state, that is, the second driving mechanism is in a self-locking device. Reach the position shown in Figure 18 (c) that is, the end of the lower stage. At this time, the slider 3 is located at the bottom dead center, that is, the first eccentric wheel 5 and the first pull rod 6 are collinear, but the two do not overlap. At this time, the first drive The mechanism is in the self-locking position, that is, the first driving motor 14 only needs to provide a small driving torque, or even does not provide a driving torque, and can bear a large bending load. During the entire fast-down stage, the main beam 7 and the second eccentric wheel 9 maintain a vertical state in real time. Because the eccentric length of the first eccentric wheel 5 is large, and the hinged position of the first pull rod and the main beam is located in the middle of the main beam, the present invention can realize the effect of rapid descending and large stroke in the fast descending stage. The invention makes full use of the fact that the mechanism is in the self-locking position when the slider is in the two positions of the upper dead center and the lower dead center. As shown in Fig. 13, in addition, due to the typical nonlinear motion characteristics of the linkage mechanism, the speed is low and the impact is small at the beginning and end of the fast down action.

As shown in Fig. 19, during the entire working process, the first eccentric wheel 5 and the first tie rod 6 need to maintain a collinear but non-overlapping state in real time, and the first driving mechanism is in a self-locking state to withstand large bending. Bending load: the second drive motor 8 arranged symmetrically on the left and right sides is started, and the output power drives the second eccentric wheel 9 to rotate, and the slider 3 is driven down at a slow speed by the second tie rod 10, the main beam 7 and the third tie rod 11, with a large output The force is reduced, and the work-in bending is realized. When there is deviation in parallelism between the upper and lower dies, the second drive motors 8 on the left and right sides are fine-tuned in the opposite direction or at different speeds in the same direction, and the speeds of the lower drive motors 8 on the left and right sides are ω2 and ω3 respectively. Because the eccentric length of the second eccentric wheel 9 is relatively small, and it is located at the other end of the main beam, it utilizes the principle of leverage, so it has a large boosting effect, and the speed is slow, which meets the requirements of the working conditions.

In the present invention, the fast-down stage and the work-in stage can be combined to realize different processing modes, adopt different working modes according to different working conditions, achieve the effect of light-load fast and heavy-load slow, and improve the power utilization rate of the drive motor.

Fast mode: Only the fast down stage is used, that is, when the thin plate is bent, the main beam 7 and the second eccentric wheel 9 keep the vertical state in real time due to the small load, and the bending can be completed only by driving the slider up and down through the first driving mechanism Bending processing, and the speed is fast;

Heavy-duty mode: first the fast down stage and then the work-in stage, that is, the fast-down action is performed first, and then the work-in action is performed, the slider reaches the bottom dead point, and the bending is completed;

Mixed mode: Simultaneous actions in the fast-down stage and the work-in stage;

Small opening bending mode: the slider does not stay completely at the bottom dead center, but only moves upward for a small distance, and the slider moves linearly within a small stroke range for bending. This mode is only suitable for bending small-sized and simple parts, with high efficiency .

Example 4

The structure of embodiment 4 is the same as that of embodiment 3, the difference is that the eccentricity of the first eccentric wheel 5 is smaller than the eccentricity of the second eccentric wheel 9, the first driving mechanism drives the slider to realize low-speed and small-stroke movement, and the second The second driving mechanism drives the slider to realize high-speed and large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore the present invention adopts the second drive mechanism to drive the slide block to realize the fast-down and return stages, and the first drive mechanism to drive the slide block to realize the work advance stage.

Example 5

As shown in FIG. 20 , the present invention is a mechanical all-electric servo CNC bending machine based on multi-degree-of-freedom coupling drive, including a frame 1 , a lower die 2 , a slider 3 and a lower die 4 . The slide block 3 can move up and down along the frame 1, and the slide block 3 is left and right symmetrically provided with a guide groove 24 for guiding sliding, and the corresponding position on the frame 1 is provided with a guide block inserted into the guide groove 24, which can slide up and down along the guide groove 24 25. The upper die 4 is fixedly arranged on the slider 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 cooperate with each other to realize bending.

As shown in FIG. 21 and FIG. 22 , the slider 3 is connected with a first driving mechanism and a second driving mechanism for driving the slider to achieve different speeds and stroke ranges. The first driving mechanism is left and right symmetrically arranged, and the first driving mechanism comprises the first power assembly, nut 12, screw rod 13, main beam 7, the 3rd pull rod 11 and support 31, and the first power assembly comprises a drive motor, and this drive motor and support 31 is fixedly connected, and its output shaft is connected with the nut 12, which is used to drive the nut 12 to rotate. The nut 12 and the screw rod 13 form a threaded auxiliary transmission. The bracket 31 is set on the outer wall of the nut and is hinged with the nut. Hinged, one end of the main beam is hinged with one end of the third tie rod, and the other end of the third tie rod is hinged with the slider. The driving motor starts, the driving nut 12 rotates, the screw rod 13 is driven to move through the thread auxiliary transmission, and the slider 3 is driven to move up and down through the main beam 7 and the third pull rod 11.

As shown in Fig. 21 and Fig. 23, the second drive mechanism of the present invention is symmetrically arranged left and right, and the second drive mechanism includes a second drive motor 8 and a second eccentric wheel 9, and the second drive motor 8 is arranged on the frame, and its output A second eccentric wheel 9 is connected to the shaft and drives the second eccentric wheel 9 to rotate. The second eccentric wheel 9 is hinged with one end of the main beam. The second driving motor 8 outputs power to drive the second eccentric wheel 9 to rotate, and the main beam 7 and the third pull rod 11 drive the slider 3 to move up and down along the frame. In the present invention, two symmetrically arranged second drive motors can be used to operate asynchronously to adjust the parallelism deviation of the upper mold and the lower mold, so that the left and right sides of the lower slider are not parallel, and the bending with taper can be realized. The nut 12 of the present invention is provided with a gap eliminating mechanism, as shown in FIG. 24 and FIG. 25 , the gap eliminating mechanism includes a pressing block 26 , a guide rod 28 and a spring 29 . The pressing block 26 is threaded on the screw rod 13 together with the nut 12 , and the pitch and thread rotation direction of the pressing block 26 are the same as those of the nut 12 . A plurality of counterbores 27 are evenly distributed along the circumferential direction of the pressure block 26, and a guide rod step surface is provided on the guide rod 28. The guide rod 28 passes through the counterbore 27 and is fixedly connected with the nut 12. A moving pair is formed between the hole walls of the hole, which acts as a guide. The spring 29 is sleeved on the guide rod 28. One end of the spring 29 abuts against the step surface of the guide rod, and the other end abuts against the step surface of the counterbore to form a preload, thereby achieving the purpose of eliminating the gap. The spring 29 is preferably a butterfly shape spring. Because usually only a few circles of thread bear the load when the thread pair is driven, it is very easy to cause the stress concentration of the thread to be damaged, and there is a great quality and safety hazard. The inclination angle of the small stress concentration is a taper, which can effectively reduce the stiffness of the thread engagement, increase the number of turns of the stressed thread, and then achieve the purpose of reducing the stress concentration. The main restrictive factors of thread transmission limiting speed and load capacity are lubrication and heat dissipation. Therefore, as shown in FIG. In the groove 30, lubricating oil can easily flow into the inside of the thread, which is convenient for lubrication and heat dissipation, and has no effect on the rigidity and strength of the thread pair transmission.

The third tie rod 11 of the present invention is an adjustable length connecting rod structure, as shown in Figure 7, Figure 8 and Figure 9, the connecting rod structure includes a support 16, a worm 17, a worm wheel 18, an upper screw 19, a lower screw 20 and motor 21. The motor 21 is fixedly connected to one shaft end of the worm 17 for driving the worm 17 to rotate. The worm 17 is located in the support 16, and its two shaft ends are hinged with the support 16. The worm wheel 18 is located in the support 16 and meshes with the worm to form a worm gear transmission pair. The worm wheel 18 is provided with an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod, and the thread pitches of the upper thread and the lower thread are unequal. The upper screw rod 19 and the lower screw rod 20 are threaded on the worm wheel 18, and the upper and lower screw rods pass through the support 16, and the stretched upper screw rod 19 and the lower screw rod 20 are used to hinge other parts. The motor 21 starts to drive the worm gear to drive the upper screw 19 and the lower screw 20 to move up and down along the worm gear to realize the adjustable length of the connecting rod structure. The pitch of the upper thread is P1, the pitch of the lower thread is P2, and the worm wheel rotates once, the length adjustment Δ=P1-P2 that can be realized by the connecting rod structure effectively improves the adjustment accuracy of the connecting rod. As shown in Figure 10, the outer cylindrical surfaces of the upper screw 19 and the lower screw 20 are provided with two mutually symmetrical planes 22, and a through hole 23 matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support. , the surface that cooperates with the plane 22 on the through hole 23 is also a plane, and the surface that cooperates with the threaded surface can be a threaded surface, and other surfaces that can have a guiding effect can also be selected for use.

The movement stroke of the screw rod 13 of the present invention is greater than the movement stroke of the second eccentric wheel 9, the first drive mechanism drives the slider to realize high-speed and large-stroke movement, and the second drive mechanism drives the slider to realize low-speed and small-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore, the present invention adopts the first drive mechanism to drive the slider to realize the fast-down and return stages, and the second drive mechanism to drive the slider to realize the work-in stage.

As shown in Figures 28(a) and 28(b), the main beam 7 and the second eccentric wheel 9 maintain a vertical state in real time. In the fast down stage of the present invention, as shown in Figure 18(b), the drive motor starts, the drive nut 12 rotates, the screw rod 13 is driven to move by the threaded auxiliary transmission, and its rotational speed is ω1, and the slider 3 is driven by the main beam 7 and the third pull rod 11 Up and down movement; now the second drive motor 8 starts, the output power drives the second eccentric wheel 9 to rotate, the rotating speed of the two second eccentric wheels 9 is ω2 and ω3, and the real-time dynamic keeps the second eccentric wheel 9 and the main beam 7 to keep vertical State, that is, the second drive mechanism is in the self-locking device. During the entire fast-down stage, the main beam 7 and the second eccentric wheel 9 maintain a vertical state in real time. As shown in Fig. 13, in addition, due to the typical nonlinear motion characteristics of the linkage mechanism, the speed is low and the impact is small at the beginning and end of the fast down action.

As shown in Figure 29, the second drive motor 8 symmetrically arranged on the left and right sides is started, and the output power drives the second eccentric wheel 9 to rotate, and the main beam 7 and the third tie rod 11 drive the slider 3 to go down at a slow speed, and the maximum output force drops , to achieve work-in bending. When there is deviation in parallelism between the upper and lower dies, the second drive motors 8 on the left and right sides are fine-tuned in the opposite direction or at different speeds in the same direction, and the speeds of the lower drive motors 8 on the left and right sides are ω2 and ω3 respectively. Because the eccentric length of the second eccentric wheel 9 is relatively small, and it is located at the other end of the main beam, it utilizes the principle of leverage, so it has a large boosting effect, and the speed is slow, which meets the requirements of the working conditions.

In the present invention, the fast-down stage and the work-in stage can be combined to realize different processing modes, adopt different working modes according to different working conditions, achieve the effect of light-load fast and heavy-load slow, and improve the power utilization rate of the drive motor.

Fast mode: Only the fast down stage is used, that is, when the thin plate is bent, the main beam 7 and the second eccentric wheel 9 keep the vertical state in real time due to the small load, and the bending can be completed only by driving the slider up and down through the first driving mechanism Bending processing, and the speed is fast;

Heavy-duty mode: first the fast down stage and then the work-in stage, that is, the fast-down action is performed first, and then the work-in action is performed, the slider reaches the bottom dead point, and the bending is completed;

Mixed mode: the fast down stage and the work progress stage act at the same time

Small opening bending mode: the slider does not stay completely at the bottom dead center, but only moves upward for a small distance, and the slider moves linearly within a small stroke range for bending. This mode is only suitable for bending small-sized and simple parts, with high efficiency .

Example 6

The structure of embodiment 6 is the same as that of embodiment 5, the difference is that the movement stroke of the screw rod 13 of the present invention is smaller than the movement stroke of the second eccentric wheel 9, the first driving mechanism drives the slider to realize low-speed and small-stroke movement, the second The second driving mechanism drives the slider to realize high-speed and large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore the present invention adopts the second drive mechanism to drive the slide block to realize the fast-down and return stages, and the first drive mechanism to drive the slide block to realize the work advance stage.

Claims (10)

1. a kind of mechanical full electric servo numerical control bender based on multiple degrees of freedom coupling driving, it is characterised in that: including rack (1), with rack be connected for bending lower die (2), can along rack move up and down sliding block (3) and with sliding block be connected, cooperation The upper mold (4) of lower die bending is connected with first for driving sliding block to realize friction speed and stroke range on the sliding block (3) Driving mechanism and the second driving mechanism, wherein the second driving mechanism is symmetrical set.

2. the mechanical full electric servo numerical control bender according to claim 1 based on multiple degrees of freedom coupling driving, special Sign is: first driving mechanism includes the first Power Component in the rack, right by 2 of the driving of the first Power Component Claim the first eccentric wheel (5), the first pull rod (6) being connected with the first eccentric wheel and one end of setting and sliding block (3) to be hinged, The girder (7) that middle part and the first pull rod (6) are hinged；First Power Component output power drives the first eccentric wheel (5) rotation, leads to It crosses the first pull rod (6) and girder (7) band movable slider (3) moves up and down；Second driving mechanism includes the in the rack Two driving motors (8), by the second driving motor drive the second eccentric wheel (9), and be connected with the second eccentric wheel second Pull rod (10), and the other end of the second pull rod and girder (7) is hinged；Second driving motor (8) output power driving second is partially Heart wheel (9) rotation, is moved up and down by the second pull rod (10) and girder (7) band movable slider (3).

3. the mechanical full electric servo numerical control bender according to claim 1 based on multiple degrees of freedom coupling driving, special Sign is: first driving mechanism includes the first Power Component in the rack, right by 2 of the driving of the first Power Component The first eccentric wheel (5), the first pull rod (6) being connected with the first eccentric wheel and the middle part of setting is claimed mutually to cut with scissors with the first pull rod It connects, the girder (7) that one end is hinged by third pull rod (11) and sliding block (3)；First Power Component output power driving first Eccentric wheel (5) rotation is moved up and down by the first pull rod (6), girder (7) and third pull rod (11) band movable slider (3)；Described Two driving mechanisms include the second driving motor (8) in the rack and the second eccentric wheel (9) for being driven by the second driving motor, Second eccentric wheel (9) and the other end of girder (7) are hinged；Second driving motor (8) output power drives the second eccentric wheel (9) it rotates, is moved up and down by girder (7) and third pull rod (11) band movable slider.

4. the mechanical full electric servo numerical control bender according to claim 1 based on multiple degrees of freedom coupling driving, special Sign is: first driving mechanism is symmetrical set, which includes the first Power Component, by the first power The nut (12) of Component driver, is set in bracket hinged with nut on nut outer wall at the screw rod (13) cooperated with nut thread (31) and middle part and bracket (31) are hinged, one end is hinged by third pull rod (11) with sliding block girder (7)；Driving electricity Machine output power drives nut (12) rotation, is driven by screw thread pair and drives screw rod (13) movement, drawn by girder (7) and third Bar (11) band movable slider moves up and down；Second driving mechanism includes the second driving motor (8) He You in rack The second eccentric wheel (9) of two driving motors driving, second eccentric wheel (9) and the other end of girder (7) are hinged；Second driving Motor (8) output power drives the second eccentric wheel (9) rotation, is transported up and down by girder (7) and third pull rod (11) band movable slider It is dynamic.

5. the mechanical full electric servo numerical control bender according to claim 2 and 3 based on multiple degrees of freedom coupling driving, Be characterized in that: first Power Component includes the first driving motor (14) in the rack and defeated with the first driving motor The synchronizing shaft (15) that shaft is connected by V belt translation, the two axial ends of the synchronizing shaft (15) are fixed with the first eccentric wheel (5).

6. the mechanical full electric servo numerical control bender according to claim 2 based on multiple degrees of freedom coupling driving, special Sign is: first pull rod (6) and/or the second pull rod (10) are the link mechanism of adjustable in length, which includes Support (16), in support and two axial ends are hinged with support worm screw (17), the snail that is meshed in support with worm screw It takes turns (18) and is connected through a screw thread the upper screw rod (19) and lower screw rod (20) being threaded through on worm gear, and upper and lower screw rod is pierced by Support；A shaft end for worm screw is connected with motor (21), and motor (21) starting drives Worm Wheel System, to drive upper screw rod (19) it is moved up and down along worm gear with lower screw rod (20) and realizes that length is adjustable；It is equipped in the worm gear (18) and to be matched with upper screw rod The thread pitch of upper screw thread and the lower screw thread matched with lower screw rod, upper screw thread and lower screw thread differs；The upper screw rod (19) and The outer cylinder of lower screw rod (20) is set there are two symmetrical plane (22), the corresponding position of support (16) offer with it is upper, Lower screw rod is adapted the through-hole (23) for constituting prismatic pair.

7. the mechanical full electric servo numerical control bender according to claim 3 based on multiple degrees of freedom coupling driving, special Sign is: first pull rod (6) and/or third pull rod (11) are the link mechanism of adjustable in length, which includes Support (16), in support and two axial ends are hinged with support worm screw (17), the snail that is meshed in support with worm screw It takes turns (18) and is connected through a screw thread the upper screw rod (19) and lower screw rod (20) being threaded through on worm gear, and upper and lower screw rod is pierced by Support；A shaft end for worm screw is connected with motor (21), and motor (21) starting drives Worm Wheel System, to drive upper screw rod (19) it is moved up and down along worm gear with lower screw rod (20) and realizes that length is adjustable；It is equipped in the worm gear (18) and to be matched with upper screw rod The thread pitch of upper screw thread and the lower screw thread matched with lower screw rod, upper screw thread and lower screw thread differs；The upper screw rod (19) and The outer cylinder of lower screw rod (20) is set there are two symmetrical plane (22), the corresponding position of support (16) offer with it is upper, Lower screw rod is adapted the through-hole (23) for constituting prismatic pair.

8. the mechanical full electric servo numerical control bender according to claim 4 based on multiple degrees of freedom coupling driving, special Sign is: the third pull rod (11) is the link mechanism of adjustable in length, which includes support (16), is located at support Worm screw (17) that interior and two axial ends are hinged with support, the worm gear (18) being meshed in support with worm screw and pass through screw thread The upper screw rod (19) and lower screw rod (20) being threaded through on worm gear are connected, and upper and lower screw rod is pierced by support；A shaft end for worm screw connects It is connected to motor (21), motor (21) starting drives Worm Wheel System, to drive upper screw rod (19) and lower screw rod (20) along snail Wheel, which moves up and down, realizes that length is adjustable；It is equipped with the upper screw thread matched with upper screw rod in the worm gear (18) and matches with lower screw rod The thread pitch of the lower screw thread closed, upper screw thread and lower screw thread differs；The outer cylinder of the upper screw rod (19) and lower screw rod (20) is set There are two symmetrical planes (22), offer in the corresponding position of support (16) and are adapted composition movement with upper and lower screw rod Secondary through-hole (23).

9. the mechanical full electric servo numerical control bender according to claim 2 or 3 based on multiple degrees of freedom coupling driving, Be characterized in that: the eccentricity of first eccentric wheel (5) is greater than the eccentricity of the second eccentric wheel (9), and the first driving mechanism drives The second driving mechanism is in self-locking state when sliding block realizes high speed, underloading, inoperative stroke motion, and the second driving mechanism, which drives, to be slided The first driving mechanism is in self-locking device when block realizes low speed, heavy duty, work into stroke motion；Or first eccentric wheel eccentricity it is small In the eccentricity of the second eccentric wheel, the second driving when the first driving mechanism band movable slider realizes low speed, heavy duty, work into stroke motion Mechanism is in self-locking device, the first driving machine when the second driving mechanism band movable slider realizes high speed, underloading, inoperative stroke motion Structure is in self-locking device.

10. the mechanical full electric servo numerical control bender according to claim 4 based on multiple degrees of freedom coupling driving, special Sign is: the movement travel of the screw rod (13) is greater than the movement travel of the second eccentric wheel (9), the first driving mechanism band movable slider Realize high speed, underloading, inoperative stroke motion, the second driving mechanism band movable slider realizes low speed, heavy duty, work into stroke motion； Or the movement travel of screw rod, less than the movement travel of the second eccentric wheel, the first driving mechanism band movable slider realizes low speed, heavy duty, work Into stroke motion, the second driving mechanism band movable slider realizes high speed, underloading, inoperative stroke motion.