CN110280631B - Mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving - Google Patents

Mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving Download PDF

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Publication number
CN110280631B
CN110280631B CN201910661124.7A CN201910661124A CN110280631B CN 110280631 B CN110280631 B CN 110280631B CN 201910661124 A CN201910661124 A CN 201910661124A CN 110280631 B CN110280631 B CN 110280631B
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China
Prior art keywords
sliding block
driving
driving mechanism
worm
pull rod
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CN201910661124.7A
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CN110280631A (en
Inventor
徐丰羽
芦雨轩
申景金
蒋国平
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D37/00—Tools as parts of machines covered by this subclass
    • B21D37/10—Die sets; Pillar guides
    • B21D37/12—Particular guiding equipment, e.g. pliers; Special arrangements for interconnection or cooperation of dies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/004—Bending sheet metal along straight lines, e.g. to form simple curves with program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0209—Tools therefor
    • B21D5/0227—Length adjustment of the die

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention discloses a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving, which comprises a frame, a lower die fixedly connected with the frame for bending, a sliding block capable of moving up and down along the frame, and an upper die fixedly connected with the sliding block and matched with the lower die for bending, wherein a first driving mechanism and a second driving mechanism for driving the sliding block to realize different speeds and stroke ranges are connected to the sliding block, and the second driving mechanism is arranged in bilateral symmetry. The invention is suitable for large tonnage, has the advantages of heavy load, high precision, low energy consumption, small power of the driving motor, high power utilization rate, high speed, low manufacturing cost and the like, and simultaneously utilizes the nonlinear motion characteristic of the connecting rod mechanism, the self-locking characteristic of a specific position and the lever principle or the self-locking characteristic of screw pair transmission.

Description

Mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving
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 driving.
Background
The numerical control bending machine is the most important and basic equipment in the field of sheet metal processing, and is a future development trend in energy conservation, environmental protection, high speed, high precision, digitization and intellectualization. The driving mode of the numerical control bending machine is hydraulic driving and mechano-electric servo driving, mainly hydraulic driving mode is adopted at present, but mechano-electric servo is a future development trend.
The hydraulic drive has the advantages of large tonnage and easy realization of bending processing of a large-breadth thick plate; the disadvantages of hydraulic drives are the following: 1. the noise is large, the energy consumption is high, hydraulic oil leaks and pollutes the environment; 2. the cost is high, because the cost of high-precision parts such as a hydraulic cylinder, a valve bank, a hydraulic pump and the like is high, wherein the high-end market of the valve bank and the hydraulic pump part almost completely depends on import, and the cost is high; 3. the accuracy is not high, the position accuracy control of the hydraulic system has the inherent disadvantage, and the position controllability is poor; 4. the service life is low, components are worn, a hydraulic oil way is polluted, and the stability of a hydraulic system is easily influenced; 5. the action impact of the sliding block is large and not gentle; 6. the influence of factors such as the temperature, humidity, dust and the like of the environment is great; 7. motion control is complex.
The mechanical and electric servo can solve the defects of the hydraulic driving mode, but the mechanical and electric servo driving mode has technical bottlenecks, so that the mechanical and electric servo driving mode is only applied to the small tonnage field at present, and the application of the mechanical and electric servo driving mode is generally not more than 50 tons. The driving mode of the current small tonnage mechanical full electric servo bending is shown in fig. 1 and 2, and mostly adopts a heavy-load ball screw driving mode, and mainly comprises a servo motor a, a synchronous belt transmission b, a ball screw transmission c, a sliding block d, a workbench e and the like. The servo motor is fixed on the frame, the ball screw is hinged with the frame, the sliding block is in sliding connection with the frame and can slide along the up-down direction of the frame, and the workbench is fixed on the frame. The synchronous belt transmission consists of three parts, namely a small belt wheel, a synchronous belt and a large belt wheel, and plays a role in speed reduction and transmission. The sliding block is driven by the ball screw transmission pair, the servo motor drives the screw rod to rotate by the synchronous belt, and the sliding block moves up and down under the driving of the ball screw transmission pair. The sliding block d moves up and down relative to the workbench e, the upper die f is arranged on the sliding block, and the lower die g is arranged on the workbench, so that bending processing of the plate h can be realized. The slider adopts two left and right screw symmetries drive, and on the one hand the load is big, and rigidity is high, and on the other hand when the parallelism error appears between upper and lower mould, can realize the parallelism fine setting through the reverse rotation of two motors about.
The mechanical all-electric servo bending machine driven by the ball screw has the advantages of simple structure, high mechanical transmission efficiency, high speed and high precision, and simultaneously effectively solves a plurality of problems of hydraulic transmission; the disadvantages are the following: 1. the cost is high, the high-precision and heavy-load ball screw is basically dependent on import, and the price is high; 2. the machining and manufacturing precision of the machine tool is high; 3. the bending machine is only suitable for small tonnage bending machines; 4. the power utilization rate is low, the required driving motor power is high, and the cost is high; 5. the screw rod is easy to wear and damage.
The power utilization rate is determined by the load of the power consumed by the servo motor in the actual use process, and the ratio of the power consumed in the actual use process to the maximum power index (or rated power) which can be achieved by the motor can be used as the power utilization rate. In general, in the bending process of the plate by the bending machine, three action stages are successively performed: 1. the quick-down stage, in which the sliding block moves downwards from the top dead center until the upper die contacts the plate, the speed is very high and the load is very small; the general speed is in the range of 150 mm/s-200 mm/s, the load is basically the gravity of overcoming the sliding block, and the gravity of the sliding block is generally not more than 1/50 of the nominal bending force of the bending machine, so the load is very small; this stage is typically high speed, low load; 2. in the working stage, the bending machine bends the plate, and the plate bending machine is a typical low-speed and heavy-load stage, wherein the speed is about 20mm/s and about 1/10 of the quick-down speed; 3. and in the return stage, after the plate is bent, the sliding block moves upwards and returns to the upper dead point, and the speed and the load of the sliding block are the same as those in the quick-down stage, and the sliding block is high in speed and low in load.
From the above, the bending machine is under typical variable speed and variable load conditions. Because the transmission ratio of the ball screw transmission is fixed, the servo motor reaches the highest rotating speed n max in the quick-down stage, but the peak torque M max is far short, according to empirical data, the peak torque is generally only 1/50 of the peak torque, and the load can be directly equivalent to the output torque of the motor, so that the power required to be consumed by the motor in the quick-down stage is equivalent to that: In the working stage, the motor reaches the peak torque M max, but according to the empirical data, the rotating speed of the motor is only 1/10 of the highest rotating speed n max, mainly considering the safety factor, the working speed of the bending machine is usually lower, and the power required by the motor in the stage is as follows: /(I)
The above-mentioned driving system is required to meet the highest rotation speed requirement in both the quick-down and return stages, and at the same time, the peak torque requirement in the working stage; then peak power with fixed gear ratio: p max＝nmax×Mmax. The power of the driving motor is very high, and even if the motor does not use the highest peak power in the actual use process, the power of the motor is not fully applied, namely the power utilization rate is low. Taking 35 tons of electromechanical servo bending machine common in the current market as an example, the quick down speed and the return speed of the electromechanical servo bending machine are generally 200mm/s, the nominal bending force is 350kN, 2 7.5kW servo motors are generally needed to meet the requirements of the highest speed and the maximum bending force at the same time, the conventional configuration of the current market is adopted, in the actual working process, the actual consumed power of the two servo motors is approximately 1 kW-2 kW, and the power utilization rate is very low.
Therefore, there is a need to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to: the invention aims to provide the mechanical all-electric servo numerical control bending machine which is suitable for large tonnage, has the advantages of heavy load, high precision, low energy consumption, small driving motor power, high power utilization rate, high speed, low manufacturing cost and the like, and simultaneously utilizes the nonlinear motion characteristic of a connecting rod mechanism and the self-locking characteristic of a specific position or the self-locking characteristic of screw pair transmission and is based on multi-degree-of-freedom coupling driving.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving, which comprises a frame, a lower die fixedly connected with the frame for bending, a sliding block capable of moving up and down along the frame, and an upper die fixedly connected with the sliding block and matched with the lower die for bending, wherein a first driving mechanism and a second driving mechanism for driving the sliding block to achieve different speeds and stroke ranges are connected to the sliding block, and the second driving mechanism is arranged in bilateral symmetry.
The first driving mechanism comprises a first power assembly positioned on the frame, 2 symmetrically arranged first eccentric wheels driven by the first power assembly, a first pull rod connected with the first eccentric wheels, and a main beam with one end hinged with the sliding block and the middle part hinged with the first pull rod; the first power component outputs power to drive the first eccentric wheel to rotate, and the first pull rod and the main beam drive the sliding block to move up and down; the second driving mechanism comprises a second driving motor, a second eccentric wheel and a second pull rod, the second driving motor is arranged on the frame, the second eccentric wheel is driven by the second driving motor, the second pull rod is connected with the second eccentric wheel, and the second pull rod is hinged with the other end of the main beam; the second driving motor outputs power to drive the second eccentric wheel to rotate, and the sliding block is driven to move up and down through the second pull rod and the main beam.
Preferably, the first driving mechanism comprises a first power assembly positioned on the frame, 2 symmetrically arranged first eccentric wheels driven by the first power assembly, a first pull rod connected with the first eccentric wheels, and a main beam with the middle part hinged with the first pull rod and one end hinged with the sliding block through a third pull rod; the first power component outputs power to drive the first eccentric wheel to rotate, and the first pull rod, the main beam and the third pull rod drive the sliding block to move up and down; the second driving mechanism comprises a second driving motor and a second eccentric wheel, the second driving motor is arranged on the frame, and the second eccentric wheel is driven by the second driving motor and hinged with the other end of the main beam; the second driving motor outputs power to drive the second eccentric wheel to rotate, and the sliding block is driven to move up and down through the main beam and the third pull rod.
The first driving mechanism is arranged in bilateral symmetry and comprises a first power component, a nut driven by the first power component, a screw rod in threaded fit with the nut, a bracket sleeved on the outer wall of the nut and hinged with the nut, and a main beam with the middle hinged with the bracket and one end hinged with the sliding block through a third pull rod; the driving motor outputs power to drive the nut to rotate, the screw is driven to move through the transmission of the thread pair, and the sliding block is driven to move up and down through the main beam and the third pull rod; the second driving mechanism comprises a second driving motor and a second eccentric wheel, the second driving motor is arranged on the frame, and the second eccentric wheel is driven by the second driving motor and hinged with the other end of the main beam; the second driving motor outputs power to drive the second eccentric wheel to rotate, and the sliding block is driven to move up and down through the main beam and the third pull rod.
Further, the first power assembly comprises a first driving motor arranged on the frame and a synchronizing shaft connected with an output shaft of the first driving motor through belt transmission, and two shaft ends of the synchronizing shaft are fixedly connected with a first eccentric wheel.
Preferably, the first pull rod and/or the second pull rod are/is of a length-adjustable connecting rod structure, and the connecting rod structure comprises a support, a worm rod positioned in the support and hinged with the support at two shaft ends, a worm wheel positioned in the support and meshed with the worm rod, and an upper screw rod and a lower screw rod which are arranged on the worm wheel in a penetrating way through threaded connection, wherein the upper screw rod and the lower screw rod penetrate out of the support; one shaft end of the worm is connected with a motor, and the motor is started to drive the worm gear and the worm to drive the upper screw rod and the lower screw rod to move up and down along the worm gear so as to realize adjustable length; an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel, and the thread pitches of the upper thread and the lower thread are different; the outer column surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and through holes matched with the upper screw and the lower screw to form a moving pair are formed in the corresponding positions of the support.
The first pull rod and/or the third pull rod is of a length-adjustable connecting rod structure, and the connecting rod structure comprises a support, a worm rod, a worm wheel, an upper screw rod and a lower screw rod, wherein the worm rod is positioned in the support, two shaft ends of the worm rod are hinged with the support, the worm wheel is positioned in the support and meshed with the worm rod, the upper screw rod and the lower screw rod are connected with the worm wheel in a threaded manner, and the upper screw rod and the lower screw rod penetrate out of the support; one shaft end of the worm is connected with a motor, and the motor is started to drive the worm gear and the worm to drive the upper screw rod and the lower screw rod to move up and down along the worm gear so as to realize adjustable length; an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel, and the thread pitches of the upper thread and the lower thread are different; the outer column surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and through holes matched with the upper screw and the lower screw to form a moving pair are formed in the corresponding positions of the support.
Further, the third pull rod is of a connecting rod structure with adjustable length, and the connecting rod structure comprises a support, a worm rod, a worm wheel, an upper screw rod and a lower screw rod, wherein the worm rod is positioned in the support, two shaft ends of the worm rod are hinged with the support, the worm wheel is positioned in the support and meshed with the worm rod, the upper screw rod and the lower screw rod are connected with the worm wheel in a threaded manner, and the upper screw rod and the lower screw rod penetrate out of the support; one shaft end of the worm is connected with a motor, and the motor is started to drive the worm gear and the worm to drive the upper screw rod and the lower screw rod to move up and down along the worm gear so as to realize adjustable length; an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel, and the thread pitches of the upper thread and the lower thread are different; the outer column surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and through holes matched with the upper screw and the lower screw to form a moving pair are formed in the corresponding positions of the support.
Furthermore, the eccentricity of the first eccentric wheel is larger than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize high-speed, light-load and non-working stroke movement, the second driving mechanism is in a self-locking state, and the second driving mechanism drives the sliding block to realize low-speed, heavy-load and working stroke movement, and the first driving mechanism is in a self-locking device; or the eccentricity of the first eccentric wheel is smaller than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize low-speed, heavy-load and engineering movement, the second driving mechanism is positioned in the self-locking device, and the second driving mechanism drives the sliding block to realize high-speed, light-load and non-working movement, and the first driving mechanism is positioned in the self-locking device.
Preferably, the movement stroke of the screw is larger than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize high-speed, light-load and non-working stroke movement, and the second driving mechanism drives the sliding block to realize low-speed, heavy-load and working stroke movement; or the movement stroke of the screw is smaller than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize low-speed, heavy-load and engineering movement, and the second driving mechanism drives the sliding block to realize high-speed, light-load and non-working movement.
The beneficial effects are that: compared with the prior art, the invention has the following remarkable advantages:
(1) According to the invention, the nonlinear motion characteristic of the connecting rod mechanism and the self-locking characteristic of a specific position or the self-locking characteristic of screw pair transmission are fully utilized, and the quick-down, the working-in and the return-out actions of the bending machine are realized by adopting two driving mechanisms according to the actual working condition characteristics of the numerical control bending machine; wherein, a quick-down and return motion is realized by a quick, low-load and large-stroke driving mechanism; the driving mechanism with low speed, small stroke and heavy load is adopted to realize the bending of the working, so that the performance is effectively improved, the cost is reduced, the high speed and heavy load are realized, and the method has important significance for pushing the numerical control bending machine to develop from the traditional hydraulic driving mode to the mechano-electric servo driving mode.
(2) According to the invention, due to the nonlinear motion characteristic of the link mechanism, under the condition that the driving motor rotates at a constant speed, the speed of the link mechanism at the upper dead center position and the lower dead center position is lower, and the speed at the middle position is higher, the action is gentle and no impact exists.
(3) The invention adopts the quick large-stroke driving mechanism to realize quick down and return stroke actions, adopts the driving mechanism with slow small stroke and larger boosting effect to realize industrial operation, and the two driving mechanisms cooperate to greatly improve the power utilization rate of the servo motor, thereby realizing a heavy-duty large-tonnage bending machine and overcoming the technical bottleneck in the industry;
(4) The invention greatly improves the power utilization rate of the servo motor, the bending machine with the same tonnage can adopt a smaller driving motor, does not need expensive heavy-load and high-precision ball screw, adopts common crank, connecting rod and other parts, effectively reduces the manufacturing cost, and has no maintenance and high reliability;
(5) According to different process requirements, the first driving mechanism and the second driving mechanism can be driven respectively and act in a matched mode, so that multiple processing modes are realized, and the combination is flexible;
(6) The first connecting rod, the second connecting rod and the third connecting rod can be set to be of a connecting rod structure with adjustable length, when different moulds are replaced, the distance between the upper sliding block and the lower sliding block can be adjusted by adjusting the length of the connecting rod, the application range is wide, and the adjustment precision is high;
(7) According to the invention, the parallelism deviation of the upper die and the lower die can be adjusted by using 2 second driving motors which are symmetrically arranged left and right to asynchronously operate, so that the left side and the right side of the lower slide block are not parallel, and the bending with taper can be realized.
Drawings
Fig. 1 is a schematic diagram of a bending machine in the prior art;
FIG. 2 is a schematic diagram of a prior art sheet bending;
FIG. 3 is a schematic diagram of embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of the structure of embodiment 1 of the present invention;
FIG. 5 is a second schematic structural diagram of embodiment 1 of the present invention;
FIG. 6 is a partial cross-sectional view of example 1 of the present invention;
FIG. 7 is a schematic view of a connecting rod structure according to the present invention;
FIG. 8 is a schematic diagram illustrating the connection of worm gears in the link structure of the present invention;
FIG. 9 is a schematic diagram of the connection of the worm gear, upper screw and lower screw in the connecting rod structure of the present invention;
FIG. 10 is a schematic end view of the upper and lower screws in the connecting rod structure of the present invention;
FIGS. 11 (a) -11 (c) are schematic views showing the motion of the quick-down stage in example 1 of the present invention;
FIGS. 12 (a) -12 (b) are schematic views showing the movement of the working stage in example 1 of the present invention;
FIG. 13 is a schematic view of nonlinear motion characteristics of a linkage mechanism according to the present invention;
FIG. 14 is a schematic diagram of embodiment 3 of the present invention;
FIG. 15 is a schematic diagram showing the structure of embodiment 3 of the present invention;
FIG. 16 is a second schematic structural view of the embodiment 3 of the present invention;
FIG. 17 is a partial cross-sectional view of example 3 of the present invention;
FIGS. 18 (a) -18 (c) are schematic views showing the motion of the fast-down stage in example 3 of the present invention;
FIG. 19 is a schematic view showing the movement of the working stage in embodiment 3 of the present invention;
FIG. 20 is a schematic diagram of embodiment 5 of the present invention;
FIG. 21 is a schematic diagram of the structure of embodiment 5 of the present invention;
FIG. 22 is a second schematic structural diagram of embodiment 5 of the present invention;
FIG. 23 is a partial cross-sectional view of example 5 of the present invention;
fig. 24 is a schematic structural view of a gap eliminating mechanism according to embodiment 5 of the present invention;
FIG. 25 is a schematic cross-sectional view of a gap elimination mechanism according to embodiment 5 of the present invention;
FIG. 26 is a schematic view of the taper of the nut of example 5 of the present invention;
FIG. 27 is a schematic view of the grooves on the nut of example 5 of the present invention;
FIGS. 28 (a) -28 (b) are schematic views showing the motion of the fast-down stage in example 5 of the present invention;
FIG. 29 is a schematic view showing the movement of the working stage in example 5 of the present invention;
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 3, the mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving comprises a frame 1, a lower die 2, a sliding block 3 and a lower die 4. The sliding block 3 can move up and down along the frame 1, the sliding block 3 is symmetrically provided with guide grooves 24 for guiding sliding, and the corresponding position on the frame 1 is provided with guide blocks 25 which are inserted into the guide grooves 24 and can slide up and down along the guide grooves 24. The upper die 4 is fixedly arranged on the sliding block 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 are matched with each other to realize bending.
As shown in fig. 4 and 5, a first driving mechanism and a second driving mechanism for driving the slider 3 to realize different speeds and stroke ranges are connected to the slider. The first driving mechanism comprises a first power component, first eccentric wheels 5, first pull rods 6 and main beams 7, wherein the first eccentric wheels 5 are symmetrically arranged left and right, the first power component drives the first eccentric wheels, a revolute pair on each first eccentric wheel 5 is connected with the first pull rod 6, one end of each main beam 7 is hinged with the sliding block 3, and the middle part of each main beam is hinged with the first pull rod. The first power assembly comprises a first driving motor 14 positioned on the frame and a synchronizing shaft 15 connected with an output shaft of the first driving motor through belt transmission, and two shaft ends of the synchronizing shaft 15 are fixedly connected with a first eccentric wheel 5. The two ends of the synchronizing shaft 15 are hinged with the frame, and the belt transmission comprises a driving wheel connected with the output shaft of the first driving motor 14, a driven wheel arranged on the synchronizing shaft 15 and a synchronizing belt wound on the driving wheel and the driven wheel to realize transmission. The first driving motor 14 is started, drives the synchronous shaft 15 to rotate through belt transmission, simultaneously drives the first eccentric wheels 5 on the left side and the right side which are coaxially arranged to rotate, and drives the sliding block 3 to move up and down along the frame through the first pull rod 6 and the main beam 7.
As shown in fig. 4 and 6, the second driving mechanism of the present invention is symmetrically arranged left and right, the second driving mechanism comprises a second driving motor 8, a second eccentric wheel 9 and a second pull rod 10, the second driving motor 8 is arranged on the frame, and the output shaft of the second driving motor is connected with the second eccentric wheel 9 and drives the second eccentric wheel 9 to rotate. The second eccentric wheel 9 is hinged with one end of a second pull rod 10, and the other end of the second pull rod 10 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 second pull rod 10 and the main beam 7 drive the sliding block 3 to move up and down along the frame. According to the invention, 2 second driving motors which are symmetrically arranged left and right can be utilized to asynchronously operate, so that the parallelism deviation of the upper die and the lower die can be adjusted, the left side and the right side of the lower sliding block are not parallel, and the bending with taper can be realized.
As shown in fig. 7, 8 and 9, the first tie rod 6 and/or the second tie rod 10 of the present invention is a length-adjustable link structure including a support 16, a worm 17, a worm wheel 18, an upper screw 19, a lower screw 20 and a motor 21. The motor 21 is fixedly connected with one shaft end of the worm 17 and is used for driving the worm 17 to rotate. The worm 17 is positioned in the support 16, the two shaft ends are hinged with the support 16, the worm wheel 18 is positioned in the support 16, and the worm wheel and the worm are meshed to form a worm wheel and worm transmission pair. The worm wheel 18 is internally 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 different. The upper screw rod 19 and the lower screw rod 20 are arranged on the worm wheel 18 in a penetrating way through threaded connection, the upper screw rod and the lower screw rod penetrate out of the support 16, and the upper screw rod 19 and the lower screw rod 20 which extend out are used for hinging other parts. The motor 21 is started to drive the worm gear and worm to drive the upper screw rod 19 and the lower screw rod 20 to move up and down along the worm gear so as 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, the worm wheel rotates for one circle, and the length adjustment quantity delta=P1-P2 which can be realized by the connecting rod structure effectively improves the adjustment precision of the connecting rod. As shown in fig. 10, the outer cylindrical surfaces of the upper screw rod 19 and the lower screw rod 20 are provided with two symmetrical planes 22, a through hole 23 which is matched with the upper screw rod and the lower screw rod to form a moving pair is arranged at the corresponding position of the support, the surface of the through hole 23 matched with the planes 22 is also a plane, the surface matched with the threaded surface can be a threaded surface, and other surfaces with guiding function can be selected.
In the invention, the eccentricity of the first eccentric wheel 5 is larger than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize high-speed large-stroke movement, and the second driving mechanism drives the sliding block to realize low-speed small-stroke movement; or the eccentricity of the first eccentric wheel is smaller than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize low-speed small-stroke movement, and the second driving mechanism drives the sliding block to realize high-speed large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the first driving mechanism to drive the sliding block to realize the quick-down and return stages, and the second driving mechanism drives the sliding block to realize the working stage. As shown in fig. 11 (a), the slider 3 is located at the top dead center, i.e., 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 and not coincident. In the quick-down stage of the invention, as shown in fig. 11 (b), a first driving motor 14 is started, a synchronous shaft 15 is driven to rotate through belt transmission, and simultaneously, first eccentric wheels 5 on the left side and the right side which are coaxially arranged are driven to rotate at the rotating speed omega 1, and a sliding block 3 is driven to quickly descend through a first pull rod 6 and a main beam 7; at this time, the second driving motor 8 is started, the output power drives the second eccentric wheels 9 to rotate, the rotating speeds of the two second eccentric wheels 9 are omega 2 and omega 3, and the second eccentric wheels 9 and the second pull rod 10 are dynamically kept in a collinear but non-coincident state in real time, namely, the second driving mechanism is in a self-locking device.
When the position shown in fig. 11 (c) is reached, i.e. the quick-down stage is finished, the sliding block 3 is positioned at the bottom dead center, i.e. the first eccentric wheel 5 and the first pull rod 6 are collinear, but not coincident, and the first driving mechanism is positioned at the self-locking position, i.e. the first driving motor 14 only needs to provide small driving torque, even does not provide driving torque, and can bear large bending load. During the whole quick-down stage, the second eccentric wheel 9 and the second pull rod 10 are dynamically kept in a collinearly non-coincident state in real time. According to the invention, as the length of the eccentric distance of the first eccentric wheel 5 is large, and the hinged position of the first pull rod and the main beam is positioned in the middle of the main beam, the effects of rapid descending and large stroke in the rapid descending stage can be realized. The invention fully utilizes the self-locking position of the mechanism when the sliding block is positioned at the top dead center and the bottom dead center. As shown in fig. 13, the link mechanism has typical nonlinear motion characteristics, and has low speed and small impact at the start and end of the quick-down operation.
As shown in fig. 12 (a), in the whole process of working, the first eccentric wheel 5 and the first pull rod 6 need to be dynamically kept in a collinear but non-coincident state in real time, and the first driving mechanism is in a self-locking state so as to bear a large bending load; the second driving motors 8 symmetrically arranged at the left side and the right side are started, the output power drives the second eccentric wheel 9 to rotate, the sliding block 3 is driven to slowly descend through the second pull rod 10 and the main beam 7, the large output force is reduced, and the bending of the working procedure is realized. When the parallelism deviation occurs in the upper die and the lower die, the second driving motors 8 on the left side and the right side are used for fine adjustment of the parallelism in the opposite directions or in the same direction, and the rotating speeds of the lower driving motors 8 on the left side and the right side are omega 2 and omega 3 respectively. As shown in fig. 12 (b), when the slider reaches the bottom dead center and the second eccentric wheel 9 and the second pull rod 10 are collinear and coincide, and the thickness of the plate to be bent is different and the bending angle is different, the end of the work is not necessarily located at the bottom dead center, but may be located at other points, and the bending process is completed. Because the second eccentric wheel 9 has smaller eccentric distance length and is positioned at the other end of the main beam, the lever principle is utilized, so that the device has larger force increasing effect and low speed, and meets the working condition requirement. According to the invention, the quick-down stage and the working stage can be combined to realize different processing modes, and different working modes are adopted according to different working conditions, so that the effects of quick light load and slow heavy load are achieved, and the power utilization rate of the driving motor is improved.
Fast mode: the bending processing can be completed only by adopting a quick-down stage, namely when a thin plate is bent, the second eccentric wheel 9 and the second pull rod 10 are dynamically kept in a collinear but non-coincident state in real time due to small load, and the first driving mechanism is used for driving the sliding block to move up and down, so that the bending processing is fast;
Heavy load mode: the quick-down stage and the later working stage are performed, namely the quick-down action is performed firstly, the working action is performed secondly, the sliding block reaches the bottom dead center, and the bending is completed;
hybrid mode: the quick-down stage and the working stage act simultaneously
Small opening bending mode: the sliding block does not completely stay at the bottom dead center, only moves upwards for a small distance, and moves linearly in a small stroke range to bend, and the mode is only suitable for bending small-size and simple parts and is high in efficiency.
Example 2
The structure of example 2 is the same as that of example 1, except that: the eccentricity of the first eccentric wheel 5 is smaller than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize low-speed small-stroke movement, and the second driving mechanism drives the sliding block to realize high-speed large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the second driving mechanism to drive the sliding block to realize the quick-down and return stages, and the first driving mechanism drives the sliding block to realize the working stage.
Example 3
As shown in fig. 14, the mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving comprises a frame 1, a lower die 2, a sliding block 3 and a lower die 4. The sliding block 3 can move up and down along the frame 1, the sliding block 3 is symmetrically provided with guide grooves 24 for guiding sliding, and the corresponding position on the frame 1 is provided with guide blocks 25 which are inserted into the guide grooves 24 and can slide up and down along the guide grooves 24. The upper die 4 is fixedly arranged on the sliding block 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 are matched with each other to realize bending.
As shown in fig. 15 and 16, a first driving mechanism and a second driving mechanism for driving the slider 3 to realize different speeds and stroke ranges are connected to the slider. The first driving mechanism comprises a first power component, first eccentric wheels 5, first pull rods 6, main beams 7 and third pull rods 11, wherein the 2 first eccentric wheels 5 are arranged in bilateral symmetry and driven by the same first power component, a revolute pair on each first eccentric wheel 5 is connected with the first pull rod 6, one end of each third pull rod 11 is hinged with the sliding block 3, the other end of each third pull rod is hinged with one end of each main beam 7, and the middle part of each main beam 7 is hinged with the corresponding first pull rod 6. The first power assembly comprises a first driving motor 14 positioned on the frame and a synchronizing shaft 15 connected with an output shaft of the first driving motor through belt transmission, and two shaft ends of the synchronizing shaft 15 are fixedly connected with a first eccentric wheel 5. The two ends of the synchronizing shaft 15 are hinged with the frame, and the belt transmission comprises a driving wheel connected with the output shaft of the first driving motor 14, a driven wheel arranged on the synchronizing shaft 15 and a synchronizing belt wound on the driving wheel and the driven wheel to realize transmission. The first driving motor 14 is started, drives the synchronous shaft 15 to rotate through belt transmission, simultaneously drives the first eccentric wheels 5 on the left side and the right side which are coaxially arranged to rotate, and drives the sliding block 3 to move up and down along the frame through the first pull rod 6, the main beam 7 and the third pull rod 11.
As shown in fig. 15 and 17, the second driving mechanism of the present invention is symmetrically arranged left and right, the second driving mechanism comprises a second driving motor 8 and a second eccentric wheel 9, the second driving motor 8 is arranged on the frame, and the output shaft of the second driving motor is connected with the second eccentric wheel 9 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 sliding block 3 is driven to move up and down along the frame through the main beam 7 and the third pull rod 11. According to the invention, 2 second driving motors which are symmetrically arranged left and right can be utilized to asynchronously operate, so that the parallelism deviation of the upper die and the lower die can be adjusted, the left side and the right side of the lower sliding block are not parallel, and the bending with taper can be realized.
The first tie rod 6 and/or the third tie rod 11 of the present invention is a length-adjustable link structure, which includes a support 16, a worm screw 17, a worm wheel 18, an upper screw 19, a lower screw 20, and a motor 21, as shown in fig. 7, 8, and 9. The motor 21 is fixedly connected with one shaft end of the worm 17 and is used for driving the worm 17 to rotate. The worm 17 is positioned in the support 16, the two shaft ends are hinged with the support 16, the worm wheel 18 is positioned in the support 16, and the worm wheel and the worm are meshed to form a worm wheel and worm transmission pair. The worm wheel 18 is internally 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 different. The upper screw rod 19 and the lower screw rod 20 are arranged on the worm wheel 18 in a penetrating way through threaded connection, the upper screw rod and the lower screw rod penetrate out of the support 16, and the upper screw rod 19 and the lower screw rod 20 which extend out are used for hinging other parts. The motor 21 is started to drive the worm gear and worm to drive the upper screw rod 19 and the lower screw rod 20 to move up and down along the worm gear so as 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, the worm wheel rotates for one circle, and the length adjustment quantity delta=P1-P2 which can be realized by the connecting rod structure effectively improves the adjustment precision of the connecting rod. As shown in fig. 10, the outer cylindrical surfaces of the upper screw rod 19 and the lower screw rod 20 are provided with two symmetrical planes 22, a through hole 23 which is matched with the upper screw rod and the lower screw rod to form a moving pair is arranged at the corresponding position of the support, the surface of the through hole 23 matched with the planes 22 is also a plane, the surface matched with the threaded surface can be a threaded surface, and other surfaces with guiding function can be selected.
In the invention, the eccentricity of the first eccentric wheel 5 is larger than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize high-speed large-stroke movement, and the second driving mechanism drives the sliding block to realize low-speed small-stroke movement; or the eccentricity of the first eccentric wheel is smaller than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize low-speed small-stroke movement, and the second driving mechanism drives the sliding block to realize high-speed large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the first driving mechanism to drive the sliding block to realize the quick-down and return stages, and the second driving mechanism drives the sliding block to realize the working stage.
As shown in fig. 18 (a), the slider 3 is located at the top dead center, that is, the first eccentric 5 and the first tie rod 6 are collinear and coincide, and the main beam 7 and the second eccentric 9 are kept vertical in real time. In the quick-down stage of the invention, as shown in fig. 18 (b), a first driving motor 14 is started, a synchronous shaft 15 is driven to rotate through belt transmission, and simultaneously, first eccentric wheels 5 on the left side and the right side which are coaxially arranged are driven to rotate at the rotating speed omega 1, and a sliding block 3 is driven to quickly descend through a first pull rod 6, a main beam 7 and a third pull rod 11; at this time, the second driving motor 8 is started, the output power drives the second eccentric wheels 9 to rotate, the rotating speeds of the two second eccentric wheels 9 are omega 2 and omega 3, and the second eccentric wheels 9 and the main beam 7 are kept in a vertical state dynamically in real time, namely, the second driving mechanism is positioned in a self-locking device. When the position shown in fig. 18 (c) is reached, i.e. the quick-down stage is finished, the sliding block 3 is positioned at the bottom dead center, i.e. the first eccentric wheel 5 and the first pull rod 6 are collinear, but not coincident, and the first driving mechanism is positioned at the self-locking position, i.e. the first driving motor 14 only needs to provide small driving torque, even does not provide driving torque, and can bear large bending load. The main beam 7 and the second eccentric 9 remain in a vertical state in real time throughout the fast-down phase. According to the invention, as the length of the eccentric distance of the first eccentric wheel 5 is large, and the hinged position of the first pull rod and the main beam is positioned in the middle of the main beam, the effects of rapid descending and large stroke in the rapid descending stage can be realized. The invention fully utilizes the self-locking position of the mechanism when the sliding block is positioned at the top dead center and the bottom dead center. As shown in fig. 13, the link mechanism has typical nonlinear motion characteristics, and has low speed and small impact at the start and end of the quick-down operation.
As shown in fig. 19, in the whole process of working, the first eccentric wheel 5 and the first pull rod 6 need to be dynamically kept in a collinear but non-coincident state in real time, and the first driving mechanism is in a self-locking state so as to bear a large bending load; the second driving motors 8 symmetrically arranged at the left side and the right side are started, the output power drives the second eccentric wheel 9 to rotate, the sliding block 3 is driven to slowly descend through the second pull rod 10, the main beam 7 and the third pull rod 11, the large output force is reduced, and the bending of the working feed is realized. When the parallelism deviation occurs in the upper die and the lower die, the second driving motors 8 on the left side and the right side are used for fine adjustment of the parallelism in the opposite directions or in the same direction, and the rotating speeds of the lower driving motors 8 on the left side and the right side are omega 2 and omega 3 respectively. Because the second eccentric wheel 9 has smaller eccentric distance length and is positioned at the other end of the main beam, the lever principle is utilized, so that the device has larger force increasing effect and low speed, and meets the working condition requirement.
According to the invention, the quick-down stage and the working stage can be combined to realize different processing modes, and different working modes are adopted according to different working conditions, so that the effects of quick light load and slow heavy load are achieved, and the power utilization rate of the driving motor is improved.
Fast mode: the bending processing can be completed only by adopting a quick-down stage, namely, when the thin plate is bent, the main beam 7 and the second eccentric wheel 9 keep a vertical state in real time due to small load and the sliding block is driven to move up and down by the first driving mechanism, and the bending processing is quick;
Heavy load mode: the quick-down stage and the later working stage are performed, namely the quick-down action is performed firstly, the working action is performed secondly, the sliding block reaches the bottom dead center, and the bending is completed;
Hybrid mode: the quick-down stage and the working stage act simultaneously;
Small opening bending mode: the sliding block does not completely stay at the bottom dead center, only moves upwards for a small distance, and moves linearly in a small stroke range to bend, and the mode is only suitable for bending small-size and simple parts and is high in efficiency.
Example 4
The structure of example 4 is the same as that of example 3, except that: the eccentricity of the first eccentric wheel 5 is smaller than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize low-speed small-stroke movement, and the second driving mechanism drives the sliding block to realize high-speed large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the second driving mechanism to drive the sliding block to realize the quick-down and return stages, and the first driving mechanism drives the sliding block to realize the working stage.
Example 5
As shown in fig. 20, the mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving comprises a frame 1, a lower die 2, a sliding block 3 and a lower die 4. The sliding block 3 can move up and down along the frame 1, the sliding block 3 is symmetrically provided with guide grooves 24 for guiding sliding, and the corresponding position on the frame 1 is provided with guide blocks 25 which are inserted into the guide grooves 24 and can slide up and down along the guide grooves 24. The upper die 4 is fixedly arranged on the sliding block 3, the lower die 2 is fixedly arranged on the frame 1, and the upper die 4 and the lower die 2 are matched with each other to realize bending.
As shown in fig. 21 and 22, a first driving mechanism and a second driving mechanism for driving the slider 3 to realize different speeds and stroke ranges are connected to the slider. The first actuating mechanism bilateral symmetry sets up, first actuating mechanism includes a power pack, the nut 12, the screw rod 13, girder 7, third pull rod 11 and support 31, first power pack includes a driving motor, this driving motor links firmly with support 31, its output shaft links to each other with nut 12 for drive nut 12 is rotatory, nut 12 constitutes screw pair transmission with screw rod 13, support 31 cover is established on the nut outer wall and is articulated mutually with the nut, support 31 is articulated mutually with the middle part of girder, the one end of girder is articulated mutually with the one end of third pull rod, the other end of third pull rod is articulated mutually with the slider. The driving motor is started, the driving nut 12 rotates, the screw 13 is driven to move through the transmission of the thread pair, and the sliding block 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 23, the second driving mechanism of the present invention is symmetrically arranged left and right, the second driving mechanism comprises a second driving motor 8 and a second eccentric wheel 9, the second driving motor 8 is arranged on the frame, and the output shaft of the second driving motor is connected with the second eccentric wheel 9 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 sliding block 3 is driven to move up and down along the frame through the main beam 7 and the third pull rod 11. According to the invention, 2 second driving motors which are symmetrically arranged left and right can be utilized to asynchronously operate, so that the parallelism deviation of the upper die and the lower die can be adjusted, the left side and the right side of the lower sliding block 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 including a pressing block 26, a guide rod 28 and a spring 29, as shown in fig. 24 and 25. The pressing block 26 is inserted into the screw 13 together with the nut 12, and the pitch and the screw rotation direction of the pressing block 26 are the same as those of the nut 12. A plurality of counter bores 27 are uniformly distributed along the circumferential direction of the pressing block 26, a guide rod step surface is arranged on the guide rod 28, the guide rod 28 passes through the counter bores 27 and is fixedly connected with the nut 12, and a moving pair is formed between the outer wall surface of the guide rod and the hole wall surface of the pressing block to play a guiding role. The spring 29 is sleeved on the guide rod 28, one end of the spring 29 is abutted against the step surface of the guide rod, the other end is abutted against the step surface of the counter bore, and a pre-pressing load is formed, so that the purpose of eliminating gaps is achieved, and the spring 29 is preferably a belleville spring. Because only a few circles of threads bear load during normal thread pair transmission, stress concentration damage of the threads is easy to cause, and great potential quality safety hazards exist, as shown in fig. 26, the taper for reducing the stress concentration inclination angle of a is arranged on the threads of the nut 12, so that the rigidity of thread engagement can be effectively reduced, the number of circles of stressed threads is increased, and the purpose of reducing the stress concentration is achieved. The main limiting factors of the speed and load limiting capacity of the screw thread transmission are lubrication and heat dissipation, so as shown in fig. 27, the screw thread of the nut 12 is provided with a plurality of grooves 30 which are arranged along the circumferential direction and extend along the axial direction, and lubricating oil easily flows into the screw thread through the grooves 30, so that the lubrication and heat dissipation are facilitated, and the rigidity and the strength of the screw thread pair transmission are not influenced.
The third link 11 of the present invention is a length-adjustable link structure including a support 16, a worm 17, a worm wheel 18, an upper screw 19, a lower screw 20, and a motor 21, as shown in fig. 7, 8, and 9. The motor 21 is fixedly connected with one shaft end of the worm 17 and is used for driving the worm 17 to rotate. The worm 17 is positioned in the support 16, the two shaft ends are hinged with the support 16, the worm wheel 18 is positioned in the support 16, and the worm wheel and the worm are meshed to form a worm wheel and worm transmission pair. The worm wheel 18 is internally 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 different. The upper screw rod 19 and the lower screw rod 20 are arranged on the worm wheel 18 in a penetrating way through threaded connection, the upper screw rod and the lower screw rod penetrate out of the support 16, and the upper screw rod 19 and the lower screw rod 20 which extend out are used for hinging other parts. The motor 21 is started to drive the worm gear and worm to drive the upper screw rod 19 and the lower screw rod 20 to move up and down along the worm gear so as 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, the worm wheel rotates for one circle, and the length adjustment quantity delta=P1-P2 which can be realized by the connecting rod structure effectively improves the adjustment precision of the connecting rod. As shown in fig. 10, the outer cylindrical surfaces of the upper screw rod 19 and the lower screw rod 20 are provided with two symmetrical planes 22, a through hole 23 which is matched with the upper screw rod and the lower screw rod to form a moving pair is arranged at the corresponding position of the support, the surface of the through hole 23 matched with the planes 22 is also a plane, the surface matched with the threaded surface can be a threaded surface, and other surfaces with guiding function can be selected.
The movement stroke of the screw 13 is larger than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize high-speed large-stroke movement, and the second driving mechanism drives the sliding block to realize low-speed small-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the first driving mechanism to drive the sliding block to realize the quick-down and return stages, and the second driving mechanism drives the sliding block to realize the working stage.
As shown in fig. 28 (a) and 28 (b), the main beam 7 and the second eccentric 9 are maintained in a vertical state in real time. In the quick-down stage of the invention, as shown in fig. 18 (b), a driving motor is started, a driving nut 12 rotates, a screw 13 is driven to move through a threaded pair transmission, the rotating speed of the screw is omega 1, and a sliding block 3 is driven to move up and down through a main beam 7 and a third pull rod 11; at this time, the second driving motor 8 is started, the output power drives the second eccentric wheels 9 to rotate, the rotating speeds of the two second eccentric wheels 9 are omega 2 and omega 3, and the second eccentric wheels 9 and the main beam 7 are kept in a vertical state dynamically in real time, namely, the second driving mechanism is positioned in a self-locking device. The main beam 7 and the second eccentric 9 remain in a vertical state in real time throughout the fast-down phase. As shown in fig. 13, the link mechanism has typical nonlinear motion characteristics, and has low speed and small impact at the start and end of the quick-down operation.
As shown in fig. 29, the second driving motors 8 symmetrically arranged at the left and right sides are started, output power drives the second eccentric wheel 9 to rotate, the sliding block 3 is driven to slowly descend through the main beam 7 and the third pull rod 11, and large output force is reduced, so that bending is realized. When the parallelism deviation occurs in the upper die and the lower die, the second driving motors 8 on the left side and the right side are used for fine adjustment of the parallelism in the opposite directions or in the same direction, and the rotating speeds of the lower driving motors 8 on the left side and the right side are omega 2 and omega 3 respectively. Because the second eccentric wheel 9 has smaller eccentric distance length and is positioned at the other end of the main beam, the lever principle is utilized, so that the device has larger force increasing effect and low speed, and meets the working condition requirement.
According to the invention, the quick-down stage and the working stage can be combined to realize different processing modes, and different working modes are adopted according to different working conditions, so that the effects of quick light load and slow heavy load are achieved, and the power utilization rate of the driving motor is improved.
Fast mode: the bending processing can be completed only by adopting a quick-down stage, namely, when the thin plate is bent, the main beam 7 and the second eccentric wheel 9 keep a vertical state in real time due to small load and the sliding block is driven to move up and down by the first driving mechanism, and the bending processing is quick;
Heavy load mode: the quick-down stage and the later working stage are performed, namely the quick-down action is performed firstly, the working action is performed secondly, the sliding block reaches the bottom dead center, and the bending is completed;
hybrid mode: the quick-down stage and the working stage act simultaneously
Small opening bending mode: the sliding block does not completely stay at the bottom dead center, only moves upwards for a small distance, and moves linearly in a small stroke range to bend, and the mode is only suitable for bending small-size and simple parts and is high in efficiency.
Example 6
The structure of example 6 is the same as that of example 5, except that: the movement stroke of the screw 13 is smaller than that of the second eccentric wheel 9, the first driving mechanism drives the sliding block to realize low-speed small-stroke movement, and the second driving mechanism drives the sliding block to realize high-speed large-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the quick down and return phases are high-speed, low-load and large-stroke movement phases, and the working phase is a low-speed, large-load and small-stroke movement phase. Therefore, the invention adopts the second driving mechanism to drive the sliding block to realize the quick-down and return stages, and the first driving mechanism drives the sliding block to realize the working stage.

Claims (4)

1. A mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving is characterized in that: the bending machine comprises a frame (1), a lower die (2) fixedly connected with the frame and used for bending, a sliding block (3) capable of moving up and down along the frame and an upper die (4) fixedly connected with the sliding block and matched with the lower die for bending, wherein a first driving mechanism and a second driving mechanism for driving the sliding block to realize different speeds and travel ranges are connected to the sliding block (3), the second driving mechanisms are arranged in bilateral symmetry, and the second driving mechanisms are respectively connected to the left end and the right end of the sliding block; the first driving mechanism comprises a first power assembly positioned on the frame, 2 symmetrically arranged first eccentric wheels (5) driven by the first power assembly, a first pull rod (6) connected with the first eccentric wheels, and a main beam (7) with one end hinged with the sliding block (3) and the middle part hinged with the first pull rod (6); the first power component outputs power to drive the first eccentric wheel (5) to rotate, the sliding block (3) is driven to move up and down through the first pull rod (6) and the main beams (7), and the two main beams (7) are respectively connected with the left end and the right end of the sliding block (3); the second driving mechanism comprises a second driving motor (8) positioned on the frame, a second eccentric wheel (9) driven by the second driving motor, and a second pull rod (10) connected with the second eccentric wheel, and the second pull rod 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 sliding block (3) is driven to move up and down through the second pull rod (10) and the main beam (7);
Or the first driving mechanism comprises a first power component, 2 symmetrically arranged first eccentric wheels (5) driven by the first power component, a first pull rod (6) connected with the first eccentric wheels, and a main beam (7) with the middle part hinged with the first pull rod and one end hinged with the sliding block (3) through a third pull rod (11), wherein the first power component is arranged on the frame; the first power component outputs power to drive the first eccentric wheel (5) to rotate, the first pull rod (6), the main beam (7) and the third pull rod (11) drive the sliding block (3) to move up and down, and the two third pull rods (11) are respectively connected with the left end and the right end of the sliding block (3); the second driving mechanism comprises a second driving motor (8) positioned on the frame and a second eccentric wheel (9) driven by the second driving motor, and 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 sliding block is driven to move up and down through the main beam (7) and the third pull rod (11);
The eccentricity of the first eccentric wheel (5) is larger than that of the second eccentric wheel (9), the first driving mechanism drives the sliding block to realize high-speed, light-load and non-working stroke movement, the second driving mechanism is in a self-locking state, and the second driving mechanism drives the sliding block to realize low-speed, heavy-load and working stroke movement, and the first driving mechanism is in a self-locking device; or the eccentricity of the first eccentric wheel is smaller than that of the second eccentric wheel, the first driving mechanism drives the sliding block to realize low-speed, heavy-load and engineering movement, the second driving mechanism is positioned in the self-locking device, and the second driving mechanism drives the sliding block to realize high-speed, light-load and non-working movement, and the first driving mechanism is positioned in the self-locking device.
2. The mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving according to claim 1, wherein the mechanical all-electric servo numerical control bending machine is characterized in that: the first power assembly comprises a first driving motor (14) positioned on the frame and a synchronizing shaft (15) connected with an output shaft of the first driving motor through belt transmission, and two shaft ends of the synchronizing shaft (15) are fixedly connected with a first eccentric wheel (5).
3. The mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving according to claim 1, wherein the mechanical all-electric servo numerical control bending machine is characterized in that: the first pull rod (6) and/or the second pull rod (10) are/is of a length-adjustable connecting rod structure, and the connecting rod structure comprises a support (16), a worm (17) positioned in the support and hinged to the support at two shaft ends, a worm wheel (18) positioned in the support and meshed with the worm, and an upper screw (19) and a lower screw (20) which are arranged on the worm wheel in a penetrating manner through threaded connection, wherein the upper screw and the lower screw penetrate out of the support; one shaft end of the worm is connected with a motor (21), and the motor (21) is started to drive the worm gear and the worm to drive an upper screw (19) and a lower screw (20) to move up and down along the worm gear so as to realize adjustable length; an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel (18), and the thread pitches of the upper thread and the lower thread are different; the outer column surfaces of the upper screw rod (19) and the lower screw rod (20) are provided with two mutually symmetrical planes (22), and through holes (23) which are matched with the upper screw rod and the lower screw rod to form a moving pair are formed in corresponding positions of the support (16).
4. The mechanical all-electric servo numerical control bending machine based on multi-degree-of-freedom coupling driving according to claim 1, wherein the mechanical all-electric servo numerical control bending machine is characterized in that: the first pull rod (6) and/or the third pull rod (11) are/is of a length-adjustable connecting rod structure, and the connecting rod structure comprises a support (16), a worm (17) positioned in the support and hinged to the support at two shaft ends, a worm wheel (18) positioned in the support and meshed with the worm, and an upper screw (19) and a lower screw (20) which are arranged on the worm wheel in a penetrating manner through threaded connection, wherein the upper screw and the lower screw penetrate out of the support; one shaft end of the worm is connected with a motor (21), and the motor (21) is started to drive the worm gear and the worm to drive an upper screw (19) and a lower screw (20) to move up and down along the worm gear so as to realize adjustable length; an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel (18), and the thread pitches of the upper thread and the lower thread are different; the outer column surfaces of the upper screw rod (19) and the lower screw rod (20) are provided with two mutually symmetrical planes (22), and through holes (23) which are matched with the upper screw rod and the lower screw rod to form a moving pair are formed in corresponding positions of the support (16).
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