CN110280633B - High-speed heavy-load full-electric servo numerical control bending machine with multiple working modes - Google Patents
High-speed heavy-load full-electric servo numerical control bending machine with multiple working modes Download PDFInfo
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- CN110280633B CN110280633B CN201910661133.6A CN201910661133A CN110280633B CN 110280633 B CN110280633 B CN 110280633B CN 201910661133 A CN201910661133 A CN 201910661133A CN 110280633 B CN110280633 B CN 110280633B
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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, PROFILES OR LIKE SEMI-MANUFACTURED PRODUCTS 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
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- 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
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- 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
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- 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)
- Press Drives And Press Lines (AREA)
Abstract
The invention discloses a high-speed heavy-load full-electric servo numerical control bending machine with multiple working modes, which comprises a frame, a lower die fixedly connected with the frame for bending, a main sliding block capable of moving up and down along the frame, an auxiliary sliding block which is connected with the main sliding block in a sliding manner and can slide up and down relatively, and an upper die fixedly connected with the auxiliary sliding block and matched with the lower die for bending, wherein the main sliding block is connected with a main driving mechanism for driving the main sliding block to move together with the auxiliary sliding block, and two auxiliary driving mechanisms for driving the auxiliary sliding block to move relative to the main sliding block are symmetrically connected with the auxiliary sliding block in a left-right manner, and the auxiliary driving mechanism is hinged with the main sliding block. 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 self-locking characteristic of screw pair transmission.
Description
Technical Field
The invention relates to a plate bending machine, in particular to a high-speed heavy-load full-electric servo numerical control bending machine with a plurality of working modes.
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:
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 a high-speed heavy-duty full-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, the self-locking characteristic of a specific position and the self-locking characteristic of screw pair transmission and has a multi-working mode.
The technical scheme is as follows: in order to achieve the above purpose, the invention discloses a high-speed heavy-load full-electric servo numerical control bending machine with multiple working modes, which comprises a frame, a lower die fixedly connected with the frame and used for bending, a main sliding block capable of moving up and down along the frame, an auxiliary sliding block which is slidably connected with the main sliding block and can slide up and down relatively, and an upper die fixedly connected with the auxiliary sliding block and used for bending in cooperation with the lower die, wherein the main sliding block is connected with a main driving mechanism used for driving the main sliding block to move together with the auxiliary sliding block, and two auxiliary driving mechanisms used for driving the auxiliary sliding block to move relative to the main sliding block are symmetrically connected on the auxiliary sliding block.
The main driving mechanism comprises a main power assembly positioned on the frame, 2 symmetrically arranged screws driven by the main power assembly, and a nut in threaded connection with each screw, wherein the nut is fixedly connected with the main sliding block; the main power assembly outputs power to drive the screw rod to rotate, and the main sliding block and the auxiliary sliding block are driven to move up and down through threaded transmission; the auxiliary driving mechanism comprises an auxiliary power assembly positioned on the auxiliary sliding block, an eccentric wheel driven by the auxiliary power assembly and two pull rods symmetrically and rotatably connected to two sides of the eccentric wheel, and each pull rod is hinged with the main sliding block through a first connecting rod and is hinged with the auxiliary sliding block through a second connecting rod; the auxiliary power assembly outputs power to drive the eccentric wheel to rotate, the main sliding block and the auxiliary sliding block are driven to move up and down respectively through the pull rod, the first connecting rod and the second connecting rod, and the auxiliary sliding block moves up and down relative to the main sliding block.
Preferably, the main power assembly comprises a main driving motor positioned on the frame, a small belt wheel positioned on an output shaft of the main driving motor, guide wheels symmetrically arranged on the frame left and right, a large belt wheel coaxially and fixedly connected with the screw rod, and a synchronous belt which is wound on the small belt wheel and the large belt wheel after being guided by the guide wheels.
Furthermore, the auxiliary power assembly comprises an auxiliary driving motor positioned on the auxiliary sliding block, a pinion positioned on an output shaft of the auxiliary driving motor and a large gear meshed with the pinion, wherein the large gear is fixedly connected with the eccentric wheel coaxially and drives the eccentric wheel to rotate.
Further, the first connecting rod and/or the second connecting rod are/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, the 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 arranged on the worm wheel in a penetrating manner through threaded connection, 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.
And the nut is provided with a gap eliminating mechanism, the gap eliminating mechanism comprises a pressing block which is penetrated through the screw together with the nut, a plurality of counter bores which are reversely and uniformly distributed along the circumference of the pressing block, a guide rod which penetrates through the counter bores and is fixed with the nut, and a spring which is sleeved on the guide rod, the guide rod is provided with a guide rod step surface, one end of the spring is abutted against the guide rod step surface, and the other end of the spring is abutted against the counter bore step surface, and forms a pre-pressing load.
Preferably, the thread of the nut is provided with a taper with an inclination angle a for reducing stress concentration.
Further, grooves which are lubricated by heat dissipation are formed in the threads of the nut.
Furthermore, the movement stroke of the screw is larger than that of the eccentric wheel, the main driving mechanism drives the main sliding block and the auxiliary sliding block to realize high-speed, light-load and non-working stroke movement, and the auxiliary driving mechanism drives the auxiliary sliding block to realize low-speed, heavy-load and working stroke movement;
preferably, the movement stroke of the screw is smaller than that of the eccentric wheel, the main driving mechanism drives the main sliding block and the auxiliary sliding block to realize low-speed, heavy-load and working stroke movement, and the auxiliary driving mechanism drives the auxiliary sliding block to realize high-speed, light-load and non-working stroke 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, the self-locking characteristic of a specific position and the self-locking characteristic of the screw pair transmission are fully utilized, and the quick-down, the working-in and the return 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 main driving mechanism and the auxiliary driving mechanism can be driven respectively, and the main driving mechanism and the auxiliary driving mechanism are matched to act, so that a plurality of processing modes are realized, and the combination is flexible;
(6) The first connecting rod and/or the second connecting rod can be provided with 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, so that 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 auxiliary 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 the present invention;
FIG. 4 is a schematic diagram of the upper power assembly of the present invention;
FIG. 5 is a schematic diagram of the structure of the present invention;
FIG. 6 is a schematic diagram of a part of the present invention;
FIG. 7 is a schematic diagram of a portion of a second embodiment of the present invention;
FIG. 8 is a schematic view of a connecting rod structure according to the present invention;
FIG. 9 is a schematic diagram illustrating the connection of worm gears in the link structure of the present invention;
FIG. 10 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. 11 is a schematic end view of the upper and lower screws in the connecting rod structure of the present invention;
FIG. 12 is a schematic view of the intermediate gap elimination mechanism of the present invention;
FIG. 13 is a schematic cross-sectional view of a gap elimination mechanism of the present invention;
FIG. 14 is a schematic view of the taper of a nut in accordance with the present invention;
FIG. 15 is a schematic view of the grooves on the nut of the present invention;
FIGS. 16 (a) -16 (c) are schematic views showing the motion of the quick-down stage in example 1 of the present invention;
FIGS. 17 (a) -17 (b) are schematic views showing the movement of the working stage in example 1 of the present invention;
FIG. 18 is a schematic view of nonlinear motion characteristics of a linkage mechanism according to the present invention;
fig. 19 is a schematic view showing calculation of bending load of the link mechanism in the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings.
As shown in fig. 3 and 4, the high-speed heavy-duty full-electric servo numerical control bending machine with the multiple working modes comprises a frame 1, a lower die 2, a main sliding block 3, an auxiliary sliding block 4 and an upper die 5. The main sliding block 3 is in sliding connection with the frame 1 and can move up and down along the frame 1, main guide grooves 33 for guiding sliding are symmetrically arranged on the main sliding block 3 left and right, and main guide blocks 34 which are inserted into the main guide grooves 33 and can slide up and down along the main guide grooves 33 are arranged at corresponding positions on the frame; the auxiliary slide block 4 is in sliding connection with the main slide block 3 and can slide up and down relative to the main slide block, an auxiliary guide groove 35 which can be penetrated by the auxiliary slide block 4 and has a guiding sliding effect is formed in the main slide block 3, auxiliary guide blocks 36 which can slide up and down along the auxiliary guide groove 35 are symmetrically arranged on the auxiliary slide block 4, the auxiliary slide block 4 penetrates through the auxiliary guide groove 35, and the auxiliary guide blocks 36 slide up and down along the auxiliary guide groove 35. The upper die 5 and the lower die 2 are matched with each other to realize bending, wherein the upper die 5 is fixed on the auxiliary sliding block 4 and can move up and down along with the auxiliary sliding block 4, and the lower die 2 is fixed on the frame 1.
As shown in fig. 5,6 and 7, the main slider 3is connected with a main driving mechanism for driving the main slider to move together with the auxiliary slider, the main driving mechanism comprises a main driving assembly, screw rods 6 and nuts 7,2 screw rods 6 are symmetrically arranged left and right and are driven to rotate by the same main driving assembly, a nut 7 is connected to a thread pair on each screw rod 6, and the nut 7 is fixedly connected with the main slider 2. The main power assembly comprises a main driving motor 12 positioned on the frame, a small belt pulley 13 positioned on an output shaft of the main driving motor, guide wheels 14 symmetrically arranged on the frame left and right, a large belt pulley 15 coaxially and fixedly connected with the screw rod 6, and a synchronous belt 16 wound on the small belt pulley and the large belt pulley after being guided by the guide wheels 14. The large belt wheel 15 is arranged on the screw rod 6 in a penetrating way and can drive the screw rod 6 to rotate along the nut 7. The main driving motor 12 is started to drive the small belt pulley 13 to rotate, the large belt pulley 15 is driven to rotate through the guide wheel 14 and the synchronous belt 16, the screw rod 6 and the nut 7 form a screw transmission pair, and the nut 7 drives the main sliding block 3 to move up and down along the frame. The nut 7 of the present invention is provided with a gap eliminating mechanism including a pressing block 28, a guide bar 30 and a spring 31 as shown in fig. 12 and 13. The pressing block 28 is arranged on the screw rod 6 together with the nut 7 in a penetrating way, and the pitch and the thread rotation direction of the pressing block 28 are the same as those of the nut 7. A plurality of counter bores 29 are uniformly distributed along the circumferential direction of the pressing block 28, a guide rod step surface is arranged on the guide rod 30, the guide rod 30 passes through the counter bores 29 to be fixedly connected with the nut 7, 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 31 is sleeved on the guide rod 30, one end of the spring 31 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 31 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. 14, the taper for reducing the stress concentration inclination angle of a is arranged on the threads of the nut 7, 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 constraint factors of the speed and load limiting capacity of the screw thread transmission are lubrication and heat dissipation, so as shown in fig. 15, the screw thread of the nut 7 is provided with a plurality of grooves 32 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 32, so that the lubrication and heat dissipation are facilitated, and the rigidity and the strength of the screw thread pair transmission are not influenced.
As shown in fig. 5, 6 and 7, two auxiliary driving mechanisms for driving the auxiliary sliding block to move relative to the main sliding block are symmetrically connected on the auxiliary sliding block 4 in a left-right mode, and the auxiliary driving mechanisms are hinged with the main sliding block 3. The auxiliary driving mechanism comprises an auxiliary power assembly, an eccentric wheel 8, 2 pull rods 9, 2 first connecting rods 10 and a second connecting rod 11. The eccentric wheel 8 is driven by an auxiliary power assembly, two symmetrical revolute pairs on two sides of the eccentric wheel are connected with 2 pull rods 9, the other ends of the two pull rods 9, one ends of 2 first connecting rods 10 and one ends of second connecting rods 11 are hinged together, the other ends of the 2 first connecting rods 10 are hinged to the main sliding block 3 together, and the other ends of the second connecting rods 11 are hinged to the auxiliary sliding block 4. The auxiliary power assembly comprises an auxiliary driving motor 17 positioned on the auxiliary sliding block 4, a pinion 18 positioned on an output shaft of the auxiliary driving motor and a large gear 19 meshed with the pinion, wherein the large gear is fixedly connected with the eccentric wheel 8 coaxially and drives the eccentric wheel 8 to rotate. The auxiliary driving motor 17 is started to drive the pinion 18 and the large gear 19 to be in meshed transmission, the eccentric wheel 8 is driven to rotate, the pull rod 9 and the first connecting rod 10 drive the main sliding block 3 to move, the pull rod 9 and the second connecting rod 11 drive the auxiliary sliding block 4 to move, and meanwhile the auxiliary sliding block 4 moves up and down relative to the main sliding block 3. According to the invention, 2 auxiliary driving motors 17 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 slide block are not parallel, and the bending with taper can be realized.
As shown in fig. 8, 9 and 10, the first link 10 and/or the second link 11 of the present invention is a length-adjustable link structure including a support 20, a worm 21, a worm wheel 22, an upper screw 23, a lower screw 24 and a motor 25. The motor 25 is fixedly connected with one shaft end of the worm 21 and is used for driving the worm 21 to rotate. The worm 21 is positioned in the support 20, the two shaft ends are hinged with the support 20, the worm wheel 22 is positioned in the support 20, and the worm wheel 22 is meshed with the worm to form a worm and gear transmission pair. The worm wheel 22 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 23 and the lower screw 24 are threaded on the worm wheel 22, the upper screw and the lower screw are penetrated out of the support 20, and the upper screw 23 and the lower screw 24 which extend out are used for hinging other parts. The motor 25 is started to drive the worm gear and worm to drive the upper screw 23 and the lower screw 24 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. 11, the outer cylindrical surfaces of the upper screw 23 and the lower screw 24 are provided with two symmetrical planes 26, a through hole 27 matched with the upper screw and the lower screw to form a moving pair is arranged at the corresponding position of the support, the surface of the through hole 27 matched with the plane 26 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 motion stroke of the screw rod 6 is larger than that of the eccentric wheel 8, the main driving mechanism drives the main sliding block and the auxiliary sliding block to realize high-speed, light-load and non-working stroke motion, and the auxiliary driving mechanism drives the auxiliary sliding block to realize low-speed, heavy-load and working stroke motion. 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 main driving mechanism to drive the main sliding block to be communicated with the auxiliary sliding block to realize the quick-down and return stage, and the auxiliary driving mechanism drives the auxiliary sliding block to move relative to the main sliding block to realize the working stage. As shown in fig. 16 (a), the main slider 2 is at the top dead center, and the sub slider 3 is at the top dead center, that is, the lower crank 8 and the tie rod 9 are collinear and overlap. In the quick-down stage of the invention, as shown in fig. 16 (b), the main driving motor 12 is started to drive the small belt pulley 13 to rotate, the large belt pulley 15 is driven to rotate by the guide wheel 14 through the synchronous belt 16, the screw rod 6 and the nut 7 form a threaded transmission pair, the rotating speed of the screw rod 6 is omega 1, and the main sliding block 3 is driven to quickly descend along the frame. When the position shown in fig. 16 (c), i.e. the end of the quick-down stage, is reached, the screw pair transmission has a self-locking property, and the main driving mechanism is at the self-locking position, i.e. the main driving motor 12 only needs to provide a small driving torque, even no driving torque, and can bear a large bending load. Also because the movement travel of the screw rod 6 is large, the effect of quick descending and large travel in the quick descending stage can be realized. Screw pair drives are now generally limited by the heat generated by friction, i.e., F 'x V, where F' is the load carrying capacity and V is the running speed. Therefore, the invention fully utilizes the characteristic, can realize quick operation in quick-down and return stages, and when the working stage with great bearing capacity is needed, the screw thread pair is still, and the self-locking characteristic is utilized to bear load. As shown in fig. 17 (a), the auxiliary driving motors 17 on the left and right sides are started to drive the pinion 18 and the bull gear 19 to mutually mesh and drive the eccentric wheels 8 to rotate, the rotating speeds of the two eccentric wheels 8 are omega 2 and omega 3, the main sliding block 3 is driven to move through the pull rod 9 and the first connecting rod 10, the auxiliary sliding block 4 is driven to move through the pull rod 9 and the second connecting rod 11, and meanwhile downward movement of the auxiliary sliding block 4 relative to the main sliding block 3 is realized. When the parallelism deviation occurs in the upper die and the lower die, the auxiliary driving motors 17 on the left side and the right side are used for fine adjustment of the parallelism in opposite directions or in the same direction at different rotating speeds. As shown in fig. 17 (b), when the secondary slide reaches the bottom dead center, that is, the bottom crank 8 and the pull rod 9 are in a collinear and non-overlapping state, 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 top dead center, but may be located at other points, and the bending process is completed. Because the eccentric radius length of the eccentric wheel is smaller, the eccentric wheel has larger force increasing effect and is low in speed, and meets the working condition requirement, the bending load calculation formula is M=F×R×sin (alpha+beta), as shown in fig. 19, wherein M is driving torque, F is bending load, R is crank length, alpha is an included angle between the lower crank and the vertical direction, and beta is an included angle between the lower connecting rod and the vertical direction, and the force increasing effect is larger when the lower crank length is shorter. as shown in fig. 18, the typical nonlinear motion characteristics of the link mechanism are low in speed and small in impact at the start and end of the quick-down operation; the invention fully utilizes the self-locking position of the mechanism when the auxiliary sliding block is positioned at the top dead center and the bottom dead center.
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 bending the sheet, the auxiliary sliding block is positioned at the bottom dead center due to small load and the main sliding block and the auxiliary sliding block are driven to move up and down by the main driving mechanism, and the bending processing is quick;
Heavy load mode: the quick-down stage and the working stage are performed firstly, namely quick-down action is performed firstly, and after the main sliding block reaches the bottom dead center, the auxiliary sliding block starts to act for bending;
hybrid mode: the quick-down stage and the working stage act simultaneously
Small opening bending mode: the main sliding block stays at the bottom dead center or only moves upwards for a small distance, the auxiliary sliding block 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 movement stroke of the screw rod 6 is smaller than that of the eccentric wheel 8, the upper driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, and the lower driving mechanism drives the lower sliding block to realize high-speed, light-load and non-working 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 lower driving mechanism to drive the lower sliding block to realize the quick-down and return stage, and the upper driving mechanism drives the upper sliding block to realize the working stage.
Claims (1)
1. A high-speed heavy-load full-electric servo numerical control bending machine with multiple working modes 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 main sliding block (3) capable of moving up and down along the frame, an auxiliary sliding block (4) which is connected with the main sliding block in a sliding manner and can slide up and down relatively, and an upper die (5) fixedly connected with the auxiliary sliding block and matched with the lower die for bending, wherein a main driving mechanism used for driving the main sliding block to move together with the auxiliary sliding block is connected onto the main sliding block (3), and two auxiliary driving mechanisms used for driving the auxiliary sliding block to move relatively to the main sliding block are symmetrically connected onto the auxiliary sliding block (4), and the auxiliary driving mechanisms are hinged with the main sliding block (3); The main sliding block (3) is in sliding connection with the frame (1) and can move up and down along the frame (1), main guide grooves for guiding and sliding are symmetrically arranged on the main sliding block (3) left and right, and main guide blocks which are inserted into the main guide grooves and can slide up and down along the main guide grooves are arranged at corresponding positions on the frame; the auxiliary sliding block (4) is in sliding connection with the main sliding block (3) and can slide up and down relative to the main sliding block (3), an auxiliary guide groove which can be penetrated by the auxiliary sliding block (4) and plays a guiding sliding role is formed in the main sliding block (3), auxiliary guide blocks which can slide up and down along the auxiliary guide groove are symmetrically arranged on the auxiliary sliding block (4), the auxiliary sliding block (4) penetrates through the auxiliary guide groove, and the auxiliary guide blocks slide up and down along the auxiliary guide groove; The main driving mechanism comprises a main power assembly, 2 symmetrically arranged screws (6) and nuts (7), wherein the main power assembly is arranged on the frame, the screws (6) are driven by the main power assembly, the nuts (7) are in threaded connection with each screw, and the nuts (7) are fixedly connected with the main sliding block (3); the main power assembly outputs power to drive the screw (6) to rotate, and drives the main sliding block (3) and the auxiliary sliding block (4) to move up and down through thread transmission; the auxiliary driving mechanism comprises an auxiliary power assembly positioned on the auxiliary sliding block, an eccentric wheel (8) driven by the auxiliary power assembly and two pull rods (9) symmetrically and rotatably connected to two sides of the eccentric wheel, wherein each pull rod (9) is hinged with the main sliding block (3) through a first connecting rod (10) and is hinged with the auxiliary sliding block (4) through a second connecting rod (11); The auxiliary power assembly outputs power to drive the eccentric wheel (8) to rotate, the main sliding block (3) and the auxiliary sliding block (4) are respectively driven to move up and down by the pull rod (9), the first connecting rod (10) and the second connecting rod (11), and the auxiliary sliding block (4) moves up and down relative to the main sliding block (3); the main power assembly comprises a main driving motor (12) positioned on the frame, a small belt wheel (13) positioned on an output shaft of the main driving motor, guide wheels (14) symmetrically arranged on the frame left and right, a large belt wheel (15) coaxially and fixedly connected with the screw rod, and a synchronous belt (16) wound on the small belt wheel and the large belt wheel after being guided by the guide wheels; the auxiliary power assembly comprises an auxiliary driving motor (17) positioned on the auxiliary sliding block, a pinion (18) positioned on an output shaft of the auxiliary driving motor and a large gear (19) meshed with the pinion, wherein the large gear is fixedly connected with the eccentric wheel (8) in a coaxial way and drives the eccentric wheel (8) to rotate; The first connecting rod (10) and/or the second connecting rod (11) are/is of a length-adjustable connecting rod structure, and the connecting rod structure comprises a support (20), a worm (21) positioned in the support and hinged with the support at two shaft ends, a worm wheel (22) positioned in the support and meshed with the worm, and an upper screw (23) and a lower screw (24) which are arranged on the worm wheel in a penetrating way 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 (25), and the motor (25) is started to drive the worm gear and the worm to drive an upper screw (23) and a lower screw (24) 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 (22), and the thread pitches of the upper thread and the lower thread are different; The outer column surfaces of the upper screw rod (23) and the lower screw rod (24) are provided with two mutually symmetrical planes (26), and through holes (27) 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; the nut (7) is provided with a gap eliminating mechanism, the gap eliminating mechanism comprises a pressing block (28) which is penetrated on the screw rod together with the nut, a plurality of counter bores (29) which are reversely and uniformly distributed along the circumference of the pressing block, a guide rod (30) which penetrates through the counter bores and is fixed with the nut, and a spring (31) which is sleeved on the guide rod, the guide rod is provided with a guide rod step surface, one end of the spring (31) is abutted against the guide rod step surface, and the other end is abutted against the counter bore step surface, and a pre-pressing load is formed; The thread of the nut (7) is provided with a taper with an inclination angle a for reducing stress concentration; a groove (32) which utilizes heat dissipation and lubrication is formed in the thread of the nut (7); the motion stroke of the screw (6) is larger than that of the eccentric wheel (8), the main driving mechanism drives the main sliding block and the auxiliary sliding block to realize high-speed, light-load and non-working stroke motion, and the auxiliary driving mechanism drives the auxiliary sliding block to realize low-speed, heavy-load and working stroke motion; or the movement stroke of the screw (6) is smaller than that of the eccentric wheel (8), the main driving mechanism drives the main sliding block and the auxiliary sliding block to realize low-speed, heavy-load and working stroke movement, and the auxiliary driving mechanism drives the auxiliary sliding block to realize high-speed, light-load and non-working stroke movement.
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