CN1970281A - Motor driven link press - Google Patents

Motor driven link press Download PDF

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Publication number
CN1970281A
CN1970281A CNA200610146416XA CN200610146416A CN1970281A CN 1970281 A CN1970281 A CN 1970281A CN A200610146416X A CNA200610146416X A CN A200610146416XA CN 200610146416 A CN200610146416 A CN 200610146416A CN 1970281 A CN1970281 A CN 1970281A
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China
Prior art keywords
motor
slide block
rotation
linkage
control device
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CNA200610146416XA
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CN100418752C (en
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长江正行
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Murata Machinery Ltd
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Murata Machinery Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B30—PRESSES
    • B30B—PRESSES IN GENERAL
    • B30B1/00—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen
    • B30B1/26—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks
    • B30B1/268—Presses, using a press ram, characterised by the features of the drive therefor, pressure being transmitted directly, or through simple thrust or tension members only, to the press ram or platen by cams, eccentrics, or cranks using a toggle connection between driveshaft and press ram

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Press Drives And Press Lines (AREA)
  • Punching Or Piercing (AREA)

Abstract

The present invention provides a motor driven link press. A motor driven link press comprises a link mechanism that converts a rotating operation into a linear operation and a ram that elevates and lowers for press working on the basis of this linear operation. The link mechanism comprises a crank member having a crank shaft and an eccentric shaft portion, a pivoting link, a connecting rod, and a restraining link. The pivoting link has a first to third connecting portions and is connected to the eccentric shaft portion of the crank member using the connecting portion. The connecting rod is connected to the second connecting portion and the ram 6 . The restraining link is rotationally removably supported on a frame and is connected to the connecting portion to restrain pivoting of the pivoting link. A drive transmitting system is provided to transmit driving effected by a motor to the crank shaft of the link mechanism. The drive transmitting system can control rotation of the motor to transmit driving effected by the motor so that an elevating and lowering operations of the ram can be controlled.

Description

Motor-driven link press
The application be that April 30, application number in 2003 are 03124046.1 the applying date, denomination of invention divides an application for the application for a patent for invention of " motor-driven link press ".
Technical field
The present invention relates to a kind of motor-driven link press, it is applicable in punch press or other forcing presses.
Background technology
In mechanical punch, crank mechanism is often used as the sliding drive mechanism that the motor spinning movement is converted to the slide block lifting action.And, use flywheel, and flywheel is rotated or stop, to drive or to stop slide block by clutch being engaged or discharging.By crank mechanism, the rising or falling speed curve of slide block is symmetric form with respect to lower dead center.Therefore, decrease speed is identical with the rate of climb.Yet, for the general pressing operation that comprises punch process, slide block preferably in the decline process to move than low velocity, purpose is to make the down maneuver peace and quiet, or is suitable for the needs of pressure loading.Therefore yet vertical motion is not to be subjected to special restriction, preferred fast speed.If use the decrease speed crank mechanism identical, then finish vertical motion and need expend the more time with the rate of climb.Thereby increased the cycle time of punch process.
Recently, there is a kind of device to be suggested, wherein uses servomotor as drive source by the crank mechanism lifting slider, and don't with using any flywheel.Servomotor can freely change the speed of slide block in the stroke of slide block, and can increase the decrease speed of slide block, reduces its rate of climb simultaneously.Yet motor properties depends on its velocity of rotation.It is operated within the optimum velocity of rotation scope.If the velocity of rotation of motor is controlled so as to like this, promptly the decrease speed of slide block is different with the rate of climb, then can not make full use of motor properties.Therefore just need large-sized motor under the prerequisite that obtains required pressure loading, to increase the rate of climb.
Therefore, the applicant has investigated various slide block mechanism, and purpose is to select a kind of suitable slide block mechanism, so that slide block can be descending than low velocity, and can rise at a relatively high speed simultaneously.
Link press is used as a kind of slide mechanism for a long time, and it is used for implementing the plastic forming for example cold-extruded of metal or the pressworking equipment (for example, the special fair 3-42159 of Japanese Patent Application Publication document) of forging.Link press comprises the walking bar rod on the crank-pin that is connected crank mechanism, and connecting rod and constrained linkage also all are connected on this walking bar rod.Crank axle by means of flywheel by motor-driven.If use this link press, then constrained linkage is used to make the action of slip to have this feature, and promptly slide block is to descend than low velocity and to rise very fast.
Yet traditional link press is used to improve for example quality of cold-extruded of plastic forming by utilize its very slow down maneuver of carrying out near lower dead center.Therefore, do not have traditional link press to be applied to punch press, this is because the operating characteristic that punch press needs is different from those operating characteristics of plastic forming.And traditional link press is provided with flywheel, and flywheel is used for the power output from motor is stored as the inertia energy.Therefore, be difficult to traditional link press is carried out correct and be easy to controlling.
Summary of the invention
Therefore, it the purpose of this invention is to provide a kind of motor-driven link press, even when used motor power output is relatively low, also can carry out the processing of weight load, and time process-cycle is improved, can correctly and easily controls simultaneously it.
Another object of the present invention is a control operation speed freely, so that finish dissimilar operations, can utilize the advantage of link press simultaneously again.
Also purpose of the present invention is to guarantee that when link press is applied to punch press stampings falls.
A kind of motor-driven link press according to the present invention comprises: motor; Linkage, it is used for by drive transmission systems the spinning movement of motor output being converted to linearly operating; And slide block, it is installed in below the described linkage, be used for based on above-mentioned linearly operating and lifting so that carry out pressing operation.Described linkage comprises crank element, and it has crank axle and eccentric shaft portion; Walking bar rod, it has first to the 3rd coupling part that is positioned on the vertex of a triangle and is used as the part that is rotatably connected, and wherein the first pontes is connected on the eccentric shaft portion of described crank element; Connecting rod, its have be connected on described second coupling part and described upper end of slide block on end opposite; And constrained linkage, it has the near-end on the frame of being rotatably connected to and is connected front end on described the 3rd coupling part of described walking bar rod, described constrained linkage is used to retrain the oscillating motion of described walking bar rod, thereby when described crank axle when a direction is rotated with fixed speed, the down maneuver of slide block is slower than the vertical motion of slide block.Described drive transmission systems is used to control the rotation of motor, drive with the rotation that described motor is produced and pass to described crank axle, thereby the lifting action of slide block can be controlled.Described drive transmission systems does not comprise the parts flywheel for example that is used to apply inertia.Described drive transmission systems can have the output shaft of decelerator or motor, and crank axle can directly be linked together with it.
Operation to said structure is described below.Crank axle is rotated, thereby being carried out, walking bar rod comprises following two kinds of composition action, the first is along the spinning movement of the axis rotational trajectory of eccentric shaft portion, its two be because constrained linkage be connected make on the walking bar rod formula walking bar rod do before and after rotating rocking action.The spinning movement of walking bar rod is used for lifting and is connected connecting rod on the walking bar rod.Yet rotational action is used to prevent that the lower end position of connecting rod from also being that the rising or falling speed curve of slide position becomes the standard sine curve.Therefore, the curve of the curve of down maneuver and vertical motion is unsymmetric form.Descend and vertical motion which moves and comparatively fast depends on different factors for example the supporting-point position of constrained linkage and the combination of length.Thereby, can correctly design these factors so that constrained linkage can be carried out such adjusting to shaking of walking bar rod, promptly when crank axle when a direction is rotated with fixed speed, the down maneuver of slide block is slower than its vertical motion.By so reducing decrease speed,, also can finish the processing of weight load, and can increase the rate of climb even the power output of used motor is relatively low.Thereby improved time process-cycle.The change of above-mentioned speed can be finished under the situation that motor speed is fixed.Therefore, the decelerator that for example has suitable speed reducing ratio can be used in the motor that operation has such motor rotation speed, promptly can provide maximum motor power output according to the motor of motor characteristic under this rotating speed.This also makes it possible to use the motor of low power output.And, motor and crank axle by do not comprise the inertia application system for example the drive transmission systems of flywheel be joined together.Thereby, for example, based on such as to the control of motor rotation speed and the change of ram speed is controlled is very easy.
If above-mentioned motor is a servomotor, then motor speed can freely change.Therefore, the speed of slide block can access change in its lifting stroke.Thereby make and to carry out according to the operation of different needs.Also be, if motor is with uniform rotation, then be used as base speed curve as observation based on the rate curve of linkage action, and motor speed can change, wherein linkage is made of crank mechanism, walking bar rod, constrained linkage and analog.At this moment, the speed when for example punch die contacts with workpiece can be lowered, so that action is more undisturbedly carried out.As a kind of alternative method, the rate of climb can further increase.
Motor-driven link press of the present invention can be a punch press.In this case, that part of of slide block lifting stroke that is used for the pressing sheet material workpiece is the mid portion of the decline process of lifting stroke.The described setting height(from bottom) decision that is used for the part of punch process by height and the relation between the slide position and punch die and the mould or the similar appliances of the workbench of placing sheet material workpiece.
Therefore, if the mid portion of the lifting stroke of slide block then can be provided with enough big stroke as punch-out under the bottom surface of sheet material workpiece.Thereby guaranteed that stampings can fall.
Description of drawings
Fig. 1 is the decomposition front view according to the linkage in the motor-driven link press of the embodiment of the invention;
Fig. 2 is the decomposition side view of this linkage;
Fig. 3 A and 3B are respectively the front view and the side views of this linkage;
Fig. 4 is a side view, is used to represent this linkage and how connects;
Fig. 5 is a perspective view, expression be the part of motor-driven link press, wherein this linkage and motor are installed on the main body fuselage;
Fig. 6 is the fragmentary, perspective view of this linkage;
Fig. 7 is the schematic diagram of the operator scheme of this linkage of explanation;
Fig. 8 is a curve map, expression be degree in crank angle in this linkage and the relation between the slider displacement;
Fig. 9 A and 9B are curve maps, expression be this linkage and the comparison of crank-type forcing press aspect the slider displacement process;
Figure 10 is a vertical view, expression be the whole motor-driven link press of this embodiment;
Figure 11 is a side view, expression be whole motor-driven link press;
Figure 12 A and 12B are decomposition side views, expression be the following displacement state of the slide block modified gear in this motor-driven link press and following index position;
Figure 13 is the vertical view of the turntable in this motor-driven link press;
Figure 14 A and 14B are decomposition side views, respectively the position relation between slide block, turntable and the punch die of index position and following index position on this motor-driven link press of expression;
Figure 15 is the decomposition front view of the linkage in the link press in accordance with another embodiment of the present invention;
Figure 16 is a schematic diagram, expression be position relation between the coupling part in the scheduled operation situation of this linkage;
Figure 17 is a curve map, expression be relation between degree in crank angle and slider displacement and the torque, wherein torque is the torque that is applied under the situation that satisfies above-mentioned position relation on the crank axle;
Figure 18 is a curve map, expression be the track of the 3rd coupling part under the situation that satisfies above-mentioned position relation;
Figure 19 is a curve map, expression be the track of second coupling part under the situation that satisfies above-mentioned position relation;
Figure 20 is the combination of decomposition front view with the block diagram that is used to represent the Control System Design structure of the linkage in the motor-driven in accordance with another embodiment of the present invention link press;
Figure 21 A and 21B decompose front view, and expression is the operating conditions of connecting rod center of rotation changeable device respectively;
Figure 22 is a curve map, expression be degree in crank angle in this linkage of each center position of constrained linkage and the relation between the slider displacement;
Figure 23 A is a schematic diagram, expression be the project organization of motor-driven link press in accordance with another embodiment of the present invention, Figure 23 B is the schematic diagram of crank-operated of this link press of expression, and Figure 23 C is the sheet material translational speed in this link press of expression and the sequential chart of slide block spindle motor speed;
Figure 24 is a curve map, expression be when the motor degree in crank angle in this linkage and the relation between the slider displacement during respectively along forward and backward rotation;
Figure 25 is a block diagram, expression be control device in this link press and the relation between its control program;
Figure 26 is a schematic diagram, expression be a structure example of the procedure carried out by this control device;
Figure 27 is a schematic diagram, is used for illustrating the instantiation of sheet material mobile device, slide block axle control device and the parallel synchronous control device of this control device;
Figure 28 A and 28B are the sheet material translational speed in this link press and the sequential chart of slide block spindle motor speed;
Figure 29 A to 29C is a sequential chart, expression be sheet material translational speed and slide block spindle motor speed in this link press and the comparison example;
Figure 30 is the decomposition front view of the link press of driven by servomotor in accordance with another embodiment of the present invention;
Figure 31 is a curve map, expression be in degree in crank angle under the situation that this linkage is stopped in the decline process and the relation between the slider displacement;
Figure 32 A to 32D decomposes front view, and expression uses the link press of this driven by servomotor to carry out the mould of different processing types respectively;
Figure 33 is the combination of decomposition front view with the block diagram that is used to represent the Control System Design structure of the linkage in the motor-driven in accordance with another embodiment of the present invention link press;
Figure 34 A and 34B are curve maps, their expressions be when the motor degree in crank angle in this linkage and the relation between the slider displacement during respectively along forward and backward rotation.
The specific embodiment
A description will be given of an embodiment in accordance with the present invention with reference to the accompanying drawings.Fig. 1 is the decomposition front view that is arranged in the linkage of motor-driven link press.This motor-driven link press comprises motor 13, linkage 1 and slide block 6, wherein linkage is converted to linearly operating by drive transmission systems 14 with the spinning movement of motor 13 output, slide block be installed in linkage 1 below, be used for based on above-mentioned linearly operating and lifting so that carry out pressing operation.Linkage 1 comprises crank element 2, walking bar rod 5, connecting rod 7 and constrained linkage 8, and wherein crank element has the eccentric shaft portion 4 with respect to the eccentric axis of crank axle 3, and walking bar rod is connected on the eccentric shaft portion 4.Crank axle 3 is rotatably installed on the frame 9 and is used to receive rotary driving force.The diameter of eccentric shaft portion 4 is bigger than the diameter of crank axle 3.Except having for example illustrated eccentric shaft portion of larger-diameter eccentric shaft portion, the diameter of eccentric shaft portion 4 also can be littler than the diameter of crank axle 3, and can form as one by crank arm (not shown) and crank axle 3.Slide block 6 is used to drive for example punch die lifting of pressing operation applying portion.Slide block 6 is installed on the frame 9, thereby it is by guide 10 lifting freely.Slide block 6 be positioned at crank axle 2 under.
Walking bar rod 5 has first to the 3rd coupling part P1-P3, and is connected by the first pontes P1 on the eccentric shaft portion 4 of crank element 2.Coupling part P1-P3 makes that walking bar rod 5 is rotatably connected, and these coupling parts lay respectively on each summit of the triangle T that schematically shows among Fig. 7.Triangle T is formed on arbitrarily on the plane with the axis normal of crank axle 3.In Fig. 1, connecting rod 7 has top and bottom, and the upper end is connected on the second coupling part P2 of walking bar rod 5, and the lower end is rotatably connected on the upper end of slide block 6 by pin 11.Constrained linkage 8 has near-end and front end, and near-end can be rotated to support on the frame 9 by fulcrum shaft 12, and front end is connected on the 3rd coupling part P3 of walking bar rod 5.In constrained linkage 8, center of rotation also is the axis of fulcrum shaft 12, and the 3rd coupling part P3 is arranged in the respective sides of crank axle 3.These sides are positioned on the plane with the axis normal of crank axle 3, and can be by with respect to whole motor-driven link press side direction or vertically arrange.
Shown in Figure 4 and 5, crank axle 3 is connected on the output shaft (not shown) of motor 13 by drive transmission systems 14.Drive transmission systems 14 can be controlled the rotation of motor 13, drive with the rotation that motor 13 is produced and pass to crank axle 13, thereby the lifting action of slide block 6 can be controlled.Therefore, drive transmission systems 14 is the devices that are used to transmit motor 13 torques, and does not use any parts for example to be used to apply the flywheel of inertia.In this embodiment, drive transmission systems 14 is made of decelerator 15 and shaft coupling 16, and wherein shaft coupling is connected the output shaft of decelerator 15 on the crank axle 3.Motor 13 is a servomotor.Decelerator 15 and motor 13 for example can be formed on together, to be configured to have the motor of decelerator.
Fig. 2 is the decomposition side view of linkage 1.Crank axle 3 extends from the opposition side of eccentric shaft portion 4, and on the opposition side by bearing journal bearing and being can be rotated to support on the frame 9 for example.In walking bar rod 5, the inside diameter surface that constitutes the connecting hole of the first pontes P1 is assembled on the periphery of eccentric shaft portion 4 by lining 18.The second coupling part P2 and the connecting rod 7 of walking bar rod 5 are joined together by connecting pin 19.
Connecting rod 7 has slide block modified gear 20 in the centre position of its length direction, is used to change its length between two horizontal planes, thereby switches the lower end position of slide block 6 between last index position and following index position.Slide block modified gear 20 has displacement drive source 21, and the displacement drive source is made of cylinder assembly or analog and is actuated to switch index position.Describe in detail as the back, the switching of index position is used to make punch die to be replaced by different punch dies, can keep the top dead centre of punch die lower than the standby punch die on the turntable again simultaneously, and this top dead centre is associated with driving with slide block 6.The top dead centre of punch die is held lower, and purpose is to improve cycle time and allow to use the torque of the crank element 2 of small eccentricity amount with the reduction motor.Distance between following index position and the lower dead center also is the stroke of the lifting of punch die and slide block 6, approximately is three times of offset of the eccentric shaft portion 4 of crank element 2.
As shown in Figure 5, frame 9 is independent shaft portion frames of bearing connecting rod mechanism 1.This frame is connected on the front end of upper spider part 22a of main body fuselage 22.Shaft portion frame 9 is the box shape.Frame 9 is supporting the end opposite of crank axle 3 by using support plate 9b and the relative support plate 9c relative with support plate 9b, and support plate 9b is located on the surface, inside of fixing bottom 9a.On frame 9, be provided with motor support member 23.Motor 13 is installed on the motor support member 23.Thereby motor 13 removably is assembled on the main body fuselage 22 together with shaft portion frame 9, and linkage 1 is installed on shaft portion frame 9.
Main body fuselage 22 has C type side, and this side has opening portion 24, and sheet material workpiece or tool support enter from this opening portion.Main body fuselage 22 has pair of opposing sideplates.Fig. 5 has only represented in the relative side plate.In upper spider part 22a, side plate is joined together by using upper spider bottom panel 25 and middle stiffener 26 relatively.
Figure 10 and 11 expressions be the overall vertical view and the side view of an example, be provided with wherein that the motor-driven link press of linkage is applied to punch press among Fig. 1.Main body fuselage 22 is coated with frame guard shield 30.Except that linkage 1, mould supporting arrangement 28 and workpiece feed arrangement 29 are installed in the main body fuselage 22.A plurality of punch dies 31 and mould 32 are installed on the mould supporting arrangement 28, thereby arbitrary mould 31 and 32 can both be fed to position Q by calibration, carry out pressing operation (Figure 11) at position Q place slide block 6.Mould supporting arrangement 28 is made of last turntable 28a and play turntable 28b, about punch die 31 and mould 32 are installed in respectively on the turntable.Workpiece feed arrangement 29 moves the sheet material workpiece W on the workbench 33 along two orthogonal axis (X-axis and Y-axis) direction, thereby any part of workpiece W can be positioned on the Q of pressing operation position.Workpiece feed arrangement 29 has carriage 34, its along the longitudinal (Y direction) move, and cross slide 35, it is installed on the carriage 34, thereby transversely (X-direction) moves.The a plurality of workpiece fixtures 36 that are provided with on cross slide 35 are grasping sheet material workpiece W.Sheet material workpiece W by vertically moving of carriage 34 with laterally moving of cross slide 35 by along two axis direction feedings.
Operation to above-mentioned structure is described below.Subsequently the special tectonic and the operation of slide block modified gear 20 are given to describe.The operation described below linkage 1 among Fig. 1 is carried out, this is operated shown in the schematic diagram among Fig. 7.When crank axle 3 by motor-driven with when rotating, circular path C1 is as shown in Figure 7 drawn out at the center of the eccentric shaft portion 4 of crank element 2 around the axis of crank element 3.Walking bar rod 5 is rotatably connected on the eccentric shaft portion 4 by the first pontes P1, thereby rotates along circular path C1.Walking bar rod 5 is connected on the constrained linkage 8 by the 3rd coupling part P3, thereby makes its action can be adjusted.What carry out simultaneously is that walking bar rod 5 is done gyration by the mode of doing around the first pontes P1 to rock back and forth with rotatablely moving.Comprise that this rotatablely moves and the synthetic action of gyration makes the second coupling part P2 move along the inclined ellipse track C2 shown in this figure, coupling part P2 is located in the walking bar rod 5, so that connect on connecting rod 7.Slide block 6 is supported like this, promptly can only do lifting freely, and is connected by connecting rod 7 on second coupling part of walking bar rod 5.Therefore, when the second coupling part P2 drew out elliptical orbit, slide block 6 will lifting.Curve H is depicted as asymmetrically among the speed of lifting action such as Fig. 8, and curve H has expressed the relation between the crankangle and displacement in one-period.And, the crankangle θ when slide block 6 arrives lower dead center BDC BDCBe not equal to 180 °.What represent at the curve J shown in Fig. 8 equally is the vertical direction displacement of slide block in general crank mechanism.Curve J has shown that also the decline and the rate of climb are symmetrical.
The action of linkage 1 is subjected to following 8 kinds of factor affecting: the X-axis coordinate Ex and the Y-axis coordinate Ey of the supporting-point position of the coupling part P2 of the length w of crank length (offset) r, constrained linkage 8, the length L of connecting rod 7, walking bar rod 5 and the coupling part P2 of the subtended angle α between the P3, coupling part P1 and walking bar rod 5 and the length a between the P3 and b, constrained linkage 8.The origin of coordinates is the axis of crank axle 3.
In order to construct linkage 1, must construct the swivel-chain of four joints, wherein the fulcrum shaft 12 of the pivot of crank axle 3, coupling part P1, coupling part P3 and constrained linkage 8 is built as the tie point between these joints.And, if when short pitch is crank length r, must satisfy following expression.
When A = Ex 2 + Ey 2
r+a≤w+A
r+w≤a+A
r+A≤a+w
Famous Grashof theorem that Here it is.Value by parameter above correctly setting can freely design the displacement curve of slide block 8 to satisfy these conditions.
Which is comparatively fast determined by the rotation direction of motor and the combination of top these parameters decline and vertical motion.Therefore, when motor when fixed-direction rotates, above-mentioned parameter just correctly designed can produce such action, promptly the decrease speed of slide block 6 is lower than its rate of climb when motor 13 rotates with fixed speed.Like this, the reducing of decrease speed makes even uses the less relatively power output just can be with the processing of weight load, and the increase rate of climb.This has improved time process-cycle.
Fig. 9 contrasts crank-type forcing press and link press.If be expressed as cycle time " 10 ", then the decline of crank-type forcing press and rise time are " 5 " shown in Fig. 9 A.Yet link press can be designed to this form, and promptly be " 7 " fall time shown in Fig. 9 B, and the rise time is " 3 ".If linkage 1 is designed by this way, just the speed than crank-type forcing press is low for the ram speed in the down maneuver process so; Be 5/7ths of link press the fall time of crank-type forcing press.Pressure loading is big with regard to the corresponding load that can realize than crank-type forcing press; The crank-type forcing press is 7/5ths of a link press.When slide block 7 rises, do not need executable operations especially.Therefore, apply less power and do not have influence on operation.
And the change of above-mentioned speed is to take place under the situation that motor speed is fixed.Therefore, use the decelerator 15 (Fig. 4) with suitable speed reducing ratio can make motor turn round under such motor rotation speed, promptly it can provide peak power output according to motor characteristic under this speed.This also can make and use the motor 13 that hangs down power output.In addition, motor 13 and crank axle 3 link together by drive transmission systems 14, and this motor driven systems does not comprise for example flywheel of any inertia application system.Thereby, can be at an easy rate and control correctly is provided, for example ram speed can obtain by the velocity of rotation of control motor changing.
If motor 13 is servomotors, then the speed of motor can freely change.Thereby the speed of slide block 6 also can obtain changing in its lifting stroke procedure.This just makes it possible to according to various demand operations.That is to say, if motor 13 rotates with constant speed, rate curve based on linkage 1 action is used as the base speed curve of observing so, and linkage is made of crank element 2, walking bar rod 5, constrained linkage 8 and analog, and motor speed can change.Thereby for example the speed that contacts with sheet material workpiece W of punch die 31 can be reduced, and moves in more quiet mode.As a kind of alternative method, the rate of climb can further increase.And slide block 6 can stop on arbitrary height.
If this motor-driven link press is used to carry out pressing operation, the punch-out M that is used for pressing sheet material workpiece W so must be the mid portion of the decline process of slide block lifting stroke.As in the mid portion of punch-out M, be essentially straight line with respect to the displacement curve H of the degree in crank angle of slide block 6.The a little higher than die shut height DH of low side restriction site H1 of punch-out M.
If the use link press, when motor speed fixedly the time, curve is comparatively mild near top dead centre TDC, is straight line in mid portion, becomes comparatively mild near lower dead center BDC again.Near lower dead center BDC speed is minimum, therefore can obtain maximum pressure loading near lower dead center BDC.If use traditional link press that is used for processing and forming, near the weight load lower dead center BDC is used for processing and forming.Yet when carrying out punch process, stroke must be arranged under the bottom surface of sheet material workpiece W, can fall to guarantee stampings.On the contrary,, just enough big stroke can be set under the bottom surface of sheet material workpiece W, can fall to guarantee stampings if the mid portion of stroke is punch-out M.Thereby the intrinsic less pressure loading in mid portion can be compensated by linkage 1.In other words, near the of lower dead center BDC that can obtain weight load can not be utilized, but the use of linkage 1 can be more effective than the traditional crank mechanism with symmetry operation.Pressing operation not only needs big pressure loading, but also needs the service speed of increase gradually.And for punch process, higher drawing velocity can improve crudy.In addition, use mid portion can be provided as the drawing velocity that obtains desirable crudy and need effectively as punch-out M.After this manner, if this embodiment is applied to punch press, the action of linkage 1 just can be used effectively to be different from the employed mode of traditional link press that is used for processing and forming.
Each index position and the height relationships between the punch die on the mould supporting arrangement 28 31 of slide block modified gear 20 are described referring now to Figure 13 and 14.Except the punch die 31 the punch die 311 on the Q of pressing operation position (311 to 318) all is maintained at assigned altitute, these punch dies are being supported on the turntable 28a on the mould supporting arrangement 28 separately on the position.Punch die is maintained at assigned altitute by for example following method, be about to the neck of punch die 31 and circumferencial direction and be arranged on corresponding positioning and guiding ring (not shown) interlock on the turntable 28a, or be provided for the support spring spare (not shown) of each punch die 31 for turntable 28a along turntable 28a.Each guide ring all has barbed portion at pressing operation part Q place.As the above-mentioned height that is supported in each punch die 31 on the turntable 28a for example with the position corresponding, be basically on the bottom surface of turntable 28a promptly in the bottom surface of this position punch die 31.
In this embodiment, slide block 6 is fit to and the neck interlock that is transported to the punch die 31 at Q place, pressing operation position, with this punch die 31 of pull-up by force.Support by guide ring at other locational punch dies 31.Neck be assemblied in by T connector in the groove that is formed in slide block 6 lower ends punch die 31 and with slide block 6 interlocks, groove has T type cross section, and is hanging the neck of punch die 31, and corresponding with the constriction of T connector.
In order to use slide block 6 to drive rising or decline at the punch die 31 at Q place, pressing operation position, be positioned in other punch dies 31 times at the punch die 31 of the top dead center position of the lifting stroke of slide block 6, these punch dies are positioned on the turntable 28a as shown in Figure 14B.In this case, if the top dead center position of the punch die 31 at Q place, pressing operation position is lowered, and the height of slide block 6 remains unchanged, so when turntable 28a rotates, other punch dies 31 just can be interfered with the side of slide block 6, in case the punch die of limited slip block 6 is replaced.This be because the lower end of slide block 6 extend to the upper end that is positioned at other each punch dies 31 on the turntable 28a below.
Like this, slide block modified gear 20 is used for switching the lower end position of slide block 6 between last index position and following index position.In this case, when slide block 6 uses linkages 1 to be arranged on top dead center position and uses slide block modified gear 20 to be arranged on after displacement partly goes up, shown in Figure 14 A, the height of other punch dies 31 on the height that the punch die 31 of slide block 6 supporting is placed and the turntable 28a is identical.At this moment, by rotating table 28a simply, just can be more mold exchange of slide block 6 swimmingly.
By using slide block modified gear 20 to carry out punch process, so that slide block 6 is arranged on the above-mentioned following index position.This makes the top dead centre of lifting stroke of punch die 31 to be lowered, with the distance between the surface that minimizes punch die 31 and sheet material workpiece W.This makes ram travel can be designed to be shorter.
Therefore, with the spent time before surface with sheet material workpiece W contacts, or punch die 31 rises and returns the needed time and can be reduced after punch die 31 leaves top dead centre.Therefore, can improve the cycle time that is used to process.Being lowered for improving cycle time punch die 31 top dead centre simultaneously, can be more mold exchange of slide block 6 at an easy rate therefore.
Be described in detail below with reference to Fig. 1 and 12 pairs of slide block modified gears 20.In slide block modified gear 20, connecting rod 7 is divided into upper boom 7a and lower beam 7b, and they are joined together, so that can freely extend and shorten.Slide plate 52 (Figure 12) can unclamp and be configured between lower beam 7a and the 7b.The released position of slide plate 52 has determined that part of thickness of slide plate 52 between last lower beam 7a and 7b.And slide block modified gear 20 is provided with interlocking mechanism 53.Interlocking mechanism 53 is along with the insertion of slide plate 52 or shift out and the mechanical type combined operation, promoting or to reduce lower beam 7b, thereby can make lower beam 7a and 7b contact with each other by slide plate 52 when slide plate 52 insertions or when shifting out, and without any the gap.
In the separating part of connecting rod 7, the top of lower beam 7b removably is connected on the lower part of upper boom 7a.Specifically, the bottom of upper boom 7a is processed into hollow form so that the top of lower beam 7b can be assembled in this hollow hole, thereby bar 7 vertically on can slide.
Interlocking mechanism 53 is the cam mechanisms that are made of guide plate 54, and each guide plate has gathering sill 55 and motion bar 56, each gathering sill 55 interlock slidably in this motion bar and the guide plate 54.On each side of slide plate 52, be provided with two guide plates 54, and these two guide plates are fixed on the slide plate 52 in their front and back end.Guide plate 54 has gathering sill 55, and this gathering sill is formed on this part of the guide plate that protrudes below slide plate 52.On the upper end of lower beam 7b, be provided with paired motion bar 56, thus with the direction of vertical quadrature of bar 7a on protrude.Motion bar 56 be positioned at guide plate 54 respective side on gathering sill separately 55 interlock mutually.Groove 57 is formed in the lower part of upper boom 7a, and the motion bar 56 of lower beam 7b protrudes outside this groove, and upper boom vertically is shaped as hollow shaft along it.
Gathering sill 55 in each guide plate 54 is shaped as this shape, and promptly their first half extends along horizontal direction basically, and their latter half then is inclined upwardly.Shown in Figure 12 B, when guide plate 54 and slide plate 52 are against a time-out, lower beam 47b is under by the guiding of gathering sill 55 and be raised.Thereby reduced the outer length of connecting rod 7.
Slide plate 52 is inserted in the lateral aperture 64 that is formed among the upper boom 7a releasedly, is made it to move ahead and return by displacement drive source 21, and the displacement drive source is connected upper boom 7a and upward and by cylinder or analog constitutes.Specifically, lateral aperture 64 forms along the upper bottom surface of the hollow shaft part of upper boom 47a.And assembling dimple 52a is formed in the bottom surface of slide plate 52, and the upper end 7bb of lower beam 7b is assemblied in this assembling dimple, and the bottom surface of slide plate 52 is relative with the upper end 7bb of lower beam 7b.After slide plate 52 moved to predetermined released position with respect to upper boom 7a, the upper end 7bb of lower beam 7b can be assemblied among the assembling dimple 52a.Because be formed with assembling dimple 52a, the varied in thickness of slide plate 52 depends on its released position.That is to say that this part slide plate 52 that is formed with assembling dimple 52a is thinner.On the other hand, it is thicker not assemble this part slide plate 52 that dimple 52a forms.The upper end 7bb of lower beam 7b is shaped as the boss that protrudes from the upper end face of lower beam 7b.
Slide block modified gear 20 is set at down the index position place, and purpose is to carry out pressing operation.In Fig. 1, after slide block modified gear 20 was set in down index position with slide block 6, slide block axle control device 61 made motor 13 can drive crank axle 3, and slide block axle control device is used to control the motor 13 that is used to drive crank axle 3.Slide block modified gear 20 has index position sniffer 62, is used to survey down index position.Index position sniffer 62 can be located in the displacement drive source 21.The slide block that slide block axle control device 61 provides according to procedure (not shown) or analog drives instruction control motor 13.Slide block axle control device 61 can be set to for example part of numerical control device (not shown), and this numerical control device is used to control whole motor-driven link press.
Operation to slide block modified gear 20 is described below.For slide block 6 is set in index position, as described below, the outer length of connecting rod 7 will be reduced.That is to say that displacement drive source 21 drives in this manner, promptly slide plate 52 is forwarded to the precalculated position shown in Figure 12 B from the common position shown in Figure 12 A.Thereby the assembling dimple 52a in slide plate 52 arrives at the position that it extends through upper boom 7a inside.And, gathering sill 55 guiding of the motion bar 56 of lower beam 47b by being arranged in guide plate 54, motion bar and slide plate 52 integral body move ahead.Lower beam 7b enters among the assembling dimple 52a in the slide plate 52, thereby its upper end 7bb contacts with the upper bottom surface that assembles dimple 52a.Like this, the outer length of sliding bar 7 will reduce.When displacement drive source 21 drove in this manner, when being about to slide plate 52 and turning back to position shown in Figure 12 A, connecting rod 7 turned back to its original length.
Thereby the slide block modified gear 29 of constructing as above-mentioned mode can extend and shorten connecting rod 7.Therefore, compare with the vertical dislocation of the whole linkage 1 of connecting rod 5,8 with comprising crank axle 3, large corporation or the large scale drive source that uses for displacement are just no longer necessary.And slide block modified gear 20 is simple in structure.In addition, when slide plate 42 moved ahead and returns, connecting rod 7 can be by the operation elongation and the shortening of interlocking mechanism 53, and interlocking mechanism is made of gathering sill 55 and motion bar 56.Therefore, do not need to be provided with the drive source that independent being used to extended and shortened, so just further simplified structure.Thereby cost also is minimized.And connecting rod 7 can prolong and shorten before slide plate 52 move fully.This will reduce elongation and shorten the operation necessary operations time.
If attempt to use motor 13 to drive slide block 6, slide block has the slide block modified gear 20 of the index position of being placed in, and the effect of slide block axle control device 61 is exactly to prevent to drive to avoid error so.
In the above-described embodiments, slide block modified gear 20 is used for elongation and shortens connecting rod 7.Yet slide block modified gear 20 can also switch the lower end position of slide block 6 between last index position and following index position.For example, slide block modified gear 20 can be at the whole linkage 1 of vertical direction displacement.
And in the above-described embodiments, motor 13 uses servomotor.And unnecessary use servomotor.In addition, in the superincumbent description, this embodiment is applied to punch press.Yet motor-driven link press of the present invention not merely is applicable to punch process, but also is applicable to for example moulding and the bending of pressing operation of other types.
With reference to the accompanying drawings another embodiment is described.
Shown in Figure 15 and 16, the center of rotation E of constrained linkage 8 also is the axis of its fulcrum shaft 12, and the 3rd coupling part P3 is arranged in the respective sides of crank axle 3.And constrained linkage 8 is settled like this, and promptly when the eccentric shaft portion 4 of crank element 2 was in top dead centre, the part 4a of eccentric shaft portion 4 (dash area) was positioned at the top of straight line A, and straight line A is the center of rotation E of constrained linkage 8 and the line of coupling part P3.In other words, constrained linkage 8 is settled like this, and promptly when eccentric shaft portion 4 was in top dead centre, straight line A was by the cross section of eccentric shaft portion 4.Figure 16 is the schematic diagram of every part present position when eccentric shaft portion 4 is in top dead centre.
As shown in figure 15, the shape of constrained linkage 8 has the sweep 8a that is bent upwards, and interferes with walking bar rod 5 avoiding.In this embodiment, account for the basically whole length of constrained linkage 8 of sweep 8a, thus constrained linkage 8 is all crooked basically, just as common semi arch.It is the part of constrained linkage 8 that sweep 8a also can be shaped as on the length direction of constrained linkage.
In this link press, the center of rotation E of constrained linkage 8 and the 3rd coupling part P3 are placed in the respective sides of crank axle 3.And constrained linkage 8 is settled like this, and promptly when the eccentric shaft portion 4 of crank element 2 was in top dead centre, the part 4a of eccentric shaft portion 4 was positioned at the top of straight dashed line A (Figure 16), and straight line A is the center of rotation E of constrained linkage 8 and the line of coupling part P3.
Verified, the operating characteristic that this arrangement relation produced as shown in figure 17.In the figure, axis of abscissas is represented is degree in crank angle in the one-period, is the displacement of slide block and when predetermined load is applied on the slide block and act on torque on the crank axle and axis of ordinates is represented.If drive transmission systems 14 does not comprise for example flywheel of any element, the crank axle torque is directly proportional with motor torque, and using the flywheel purpose in this embodiment is to apply inertia.Curve H represents slider displacement, and curve TH represents the variation of torque.In this case, verified, the 3rd coupling part P3 that constitutes the front end of constrained linkage 8 moves back and forth on arc curve track C3 as shown in figure 18, and the second coupling part P2 then draws out oval curvilinear path C2 as shown in figure 19.
As shown in figure 17, partly be unsymmetric form with the corresponding slider displacement curve of lifting action H respectively, when slide block 6 arrives lower dead center BDC, reach top describedly as shown in Figure 8, degree in crank angle θ is not 180 degree.
For down maneuver, slider displacement curve H shows as linear forms in very long a part of AH, and this part A H is from extending near the top dead centre TDC near the lower dead center BDC.The decrease speed of slide block 6 remains unchanged in part A H basically.And, torque with the longer part A T of part A H in almost remain unchanged, part A T is longer than half of part A H.As described later, the constant basically part A T of torque can be used for punch process effectively.In addition, slider displacement curve H does not have wedge angle, but near the ATT part that is positioned at the top dead centre TDC, specifically on the respective side of top dead centre TDC, curve H is comparatively smooth.This show when slide block 6 when top dead centre TDC turns to, it is not accelerated significantly, is that slide block 6 does not change its speed significantly yet.Therefore, when slide block 6 when top dead centre TDC changes its traffic direction, only have very little impact and impose on machine.This Intensity Design and durability for machine is highly beneficial.
In this way, if this embodiment is used to punch press, the operation of linkage 1 just can be used by this way effectively, and promptly this mode is different with the mode that the conventional linkage formula forcing press that is used for processing and forming uses.Especially, operating characteristic shown in Figure 17 is very effective for punch process, the operating characteristic that is produced by constrained linkage 8 has benefited from such arrangement, be the top that the part 4a of eccentric shaft portion 4 as described above is positioned at straight line A, straight line A is the center of rotation E of constrained linkage 8 and the line of coupling part P3.As shown in the drawing, in being used as the mid portion of slide block 6 executable operations scopes, the decrease speed of slide block 6 remains unchanged.And it is constant that corresponding crank axle torque keeps.So just help carrying out stable punch process.
And in linkage 1, as shown in figure 15, the center of rotation E of constrained linkage 8 and the 3rd coupling part P3 are positioned in the respective sides of crank axle 3.Thereby this mechanism is in vertical direction and transversely very compact.Constrained linkage 8 has the sweep 8a that is bent upwards, and interferes with walking bar rod 5 avoiding.Therefore, the linkage 1 with compactness of above-mentioned layout can move, and can any interference not take place with walking bar rod 5.
With reference to the accompanying drawings another embodiment of the present invention is described.Figure 20 is the combination that the view and being used to of the linkage in this motor-driven link press is represented the block diagram of Control System Design structure.
As shown in figure 20, frame 9 is provided with connecting rod center of rotation changeable device 510, is used to change the position at the center of rotation E of the near-end of constrained linkage 8.Shown in Figure 20 and 21, connecting rod center of rotation changeable device 510 is made of rotating motion part 520 and actuator 530, wherein is provided with the fulcrum shaft 12 as eccentric part on rotating motion part 520, and actuator 530 moves rotating motion part 520 with rotating manner.Each rotating motion part 520 has shaft portion 520a (Figure 21), and shaft portion 520a is consistent with its core.By using shaft portion 520a, rotating motion part 520 is rotatably supported on the frame 9 by means of the bearing (not shown).Constrained linkage 8 has near-end, and this near-end rotates and is bearing in movably on the fulcrum shaft 12.Rotating motion part 520 can move with being rotated, changing the position of fulcrum shaft 12, and then has changed the center of rotation E of constrained linkage 8.A pair of rotating motion part 520 is provided with fulcrum shaft 12 in the coaxial line mode, and this two rotatably moving parts 520 are crossed in this fulcrum shaft extension.Actuator 530 is for example cylinders of fluid pressure cylinder, or motor, or o.
The purpose that is provided with of locking device 540 is that center of rotation E with constrained linkage 8 is fixed on each position of being set by connecting rod center of rotation changeable device 510.Locking device 540 is made of occlusion portion 550, locking piece 560 and disengagement drive source 570, and wherein occlusion portion is formed in the rotating motion part 520, and locking piece and occlusion portion 550 interlocks separate drive source and are used for and locking piece 560 interlocks and disengagement.Each occlusion portion 550 is made of the pit on the peripheral surface that is formed on rotating motion part 520.Locking piece 560 is made of pin shape spare, and this pin shape spare can freely protract and withdraw.Throw off drive source 570 and constitute, and be installed on the frame 9 by fluid pressure cylinder or o.Two occlusion portions 550 of rotating motion part 520 are formed on accordingly along on the position that circumference separates.Locking piece 560 by mobile rotating motion part 520 rotationally can with relative occlusion portion 550 interlocks.Therefore, the center of rotation E of constrained linkage 8 can be fixed on two positions.Can form three or more occlusion portions 550, thereby center of rotation E can be fixed on the three or more positions.
This embodiment is characterised in that the connecting rod center of rotation changeable device 510 among Figure 20 changes the position of center of rotation E, to change the displacement curve of slide block 6 described below.
The connecting rod characteristic variations that observes when below the center of rotation E of constrained linkage 8 being changed is described.If adopt position and the size relationship established between the member of linkage shown in Figure 20 1, if and center of rotation E is positioned at the top of the rotating motion part 520 shown in Figure 21 A, then obtain the analysis result that is expressed as slider displacement curve HA as shown in Figure 22.This is identical with the slider displacement curve H shown in Fig. 8.For the convenience that contrasts, Figure 22 is presented on the slider displacement curve HA, and the degree in crank angle corresponding with lower dead center is 180 degree.The torque relevant with slider displacement curve HA has long sloping portion, curve TA as shown in Figure 22, and torque remains unchanged in this part.
On the contrary, downward and when being moved to the left as center of rotation E shown in Figure 21 B with respect to the home position, then obtain slider displacement curve HB as shown in Figure 22.This curve shows that the decrease speed of the slide block decrease speed more represented than the curve HA that obtains before changing is big.Shown in curve TB among Figure 22, the torque relevant with slider displacement curve HB descends along with slide block and very obvious variation takes place.
Connecting rod rotates changeable device 510 can change center of rotation E, thereby makes it possible to freely to select among two slider displacement curve HA, the HB one.
If using heavy duty processes, if for example sheet material workpiece W has bigger thickness of slab, if or use the bigger punch die processing of external diameter, the slider displacement curve HA corresponding with lower decrease speed makes and utilizes the motor 13 of low power output just can finish processing.
If use underloading just can process, if for example sheet material workpiece W has less thickness of slab, the slider displacement curve HB corresponding with bigger decrease speed makes it possible to carry out high speed stamping, and then can obtain high-quality not with the punch process of burr.
Thereby connecting rod center of rotation changeable device 510 can be used in the characteristic that changes linkage 1, and purpose is to select optimum characteristic according to processing type.
Connecting rod characterstic controller 670 (Figure 20) is preferably according to the processing type setting, so that control link center of rotation changeable device 510.Connecting rod characterstic controller 670 for example is located in the Working control device 610.Connecting rod characterstic controller 670 is according to predetermined processing type identifying information decision processing type.The processing type identifying information can be for example predetermined instruction in the procedure 650 or information, the predetermined instruction that is provided to Working control device 610 by more high-rise control device (not shown) or information or by predetermined instruction or the information of operating personnel by the input of guidance panel (not shown).Connecting rod characterstic controller 670 has for example correspondence table (not shown), is used to represent the corresponding relation between the position of predetermined processing type identifying information and center of rotation E, and this correspondence table is by 510 controls of connecting rod center of rotation changeable device.Connecting rod characterstic controller 670 is by checking the position of controlling center of rotation E with processing type identifying information and correspondence table.The processing type identifying information can be the combination of multiple information, for example the combination of thickness of slab, processing girth or analog.
Below control system is described.Working control device 610 is used to control whole motor-driven link press.It is made of computerized numerical control device and Programmable Logic Controller, and they all are subjected to procedure 650 controls.Working control device 610 is provided with confirms the control function, if the center of rotation E of constrained linkage 8 changes, and the position is fixed after changing, and so just begins drive motors 13.Below this function and other functions are described.
Working control device 610 have connecting rod characterstic controller 670, variance command device 620, with change corresponding motor angle control device 630 and Locked Confirmation and processing approval apparatus 640.Variance command device 620 can be part or all of connecting rod characterstic controller 670.
As to the response from the predetermined instruction of procedure 650, variance command device 620 identification processing types are to change the position of the center of rotation E of constrained linkage 8 according to processing type control link center of rotation changeable device 510.Variance command device 620 is divided into two types with processing, i.e. heavy duty processing and underloading processing.For heavy duty processing, center of rotation E is located on the position (position shown in Figure 21 A) corresponding with heavy duty.For underloading processing, center of rotation E is located on the position corresponding with underloading (position shown in Figure 21 B).And before 510 operations of connecting rod center of rotation changeable device, locking device 540 is carried out unlocking operation.After change was finished, it then conducted the locking operations.Variance command device 620 can make connecting rod center of rotation changeable device 510 change center of rotation E according to the operation of switch 660, or according to carrying out this change operation from the instruction of procedure 650 or the operation of switch 660.
In order to make connecting rod center of rotation changeable device 510 carry out change operation, provide such control with changing corresponding motor angle control device 630, promptly drive motors 13 rotating crank axles 3 are through predetermined angular.This predetermined angular is to make crank axle 3 rotate such angle, i.e. operation in the position that changes center of rotation E causes that walking bar rod 5 waves and after the lifting slider 6, significant change does not take place in the position of slide block 6.
Before connecting rod center of rotation changeable device 510 changed the center of rotation E of constrained linkage 8, Locked Confirmation and processing approval apparatus 640 prevented that motor 13 is driven.After confirming that changing the position, back has been fixed, Locked Confirmation and processing approval apparatus allow motor 13 to be driven 640 this moments.Specifically, after occlusion portion 550 interlocks of the locking piece 560 of confirming locking device 540 and rotating motion part 520, Locked Confirmation and processing approval apparatus 640 can be driven motor 13.Locked Confirmation and processing approval apparatus 640 according to the signal from sniffer 580 identify locking piece 560 with the occlusion portion interlock, this sniffer is used to survey lock drive device 570 moving to the precalculated position.Sniffer 580 can omit, thus when variance command device 620 after the order of lock drive device 570 output lock operations, the running of motor 13 can be allowed to continue a certain scheduled time.For example when variance command device 620 during to locking device 540 output unlock command, Locked Confirmation and processing approval apparatus 640 are used to forbid that motor 13 is driven.
Below the control operation of being carried out by Working control device 610 in order to change center position is described.Process for heavy duty, as to from the predetermined instruction of procedure 650 or from the response of the signal of switch 660, variance command device 620 order connecting rod center of rotation changeable devices 510 are set in the center of rotation E of constrained linkage 8 on the corresponding position (shown in Figure 21 A) of heavy duty.On this position, can obtain slider displacement curve HA as shown in figure 22 as mentioned above.Therefore, slide block 6 low speed descend, thereby can carry out high-quality punch process.
Process for underloading, as to from the predetermined instruction of procedure 650 or from the response of the signal of switch 660, variance command device 620 order connecting rod center of rotation changeable devices 510 are set in the center of rotation E of constrained linkage 8 on the corresponding position of underloading (shown in Figure 21 B).On this position, can obtain slider displacement curve HB as shown in figure 22.Therefore, slide block 6 rises at a high speed, thereby can carry out high-quality punch process.
In order to utilize variance command device 620 to make connecting rod center of rotation changeable device 510 carry out change operation, locking device 540 release rotating motion part 520, the mobile rotationally rotating motion part 520 of actuator 530 is through a certain predetermined angular then.This rotational action makes the different occlusion portions 550 of rotating motion part 520 towards locking piece 560.Subsequently, locking device 540 is engaged in locking piece 560 in the occlusion portion 550, and with locking rotating motion part 520, thereby rotating motion part 520 can not be rotated.Therefore by using locking device 540 locking rotating motion part 520, prevented that the center of rotation E of constrained linkage 8 from being moved by load or analog in process.When rotating motion part 520 releases, Locked Confirmation and processing approval apparatus 640 are forbidden Working control device 610 drive motors.When sniffer 580 detected locking device 540 and has been in lock-out state, then Locked Confirmation and processing approval apparatus 640 allowed motors 13 to be driven.Like this, after the position of center of rotation E is fixed, just allow motor 13 to be driven, to be used for punch process.When locking action inadequately fully or center of rotation E do not located fully, this will stop the carrying out of punch process.Therefore, safety is guaranteed.About above-mentioned change operation, only to being described to the variation that the underloading position is taken place from heavily loaded position.Except the rotation moving direction of rotating motion part 520 is reversed, identical with above-mentioned those operations for the underloading position being changed to the required operation of carrying out in heavily loaded position.
And, when connecting rod center of rotation changeable device 510 moves rotation mobile device 520 rotationally, make motor 13 rotating crank axles 3 through a certain predetermined angular with the corresponding motor angle control device 630 of variation.That is to say that when the position at the center of rotation E of the near-end of constrained linkage 8 changed, it must be to change on the camber line around the 3rd coupling part P3, purpose is the proximal location that changes constrained linkage 8, and can not promote or reduce slide block 6.This is because the front end of constrained linkage 8 is connected on the 3rd coupling part P3 of walking bar rod 5.When the position changed on such camber line, the structure of connecting rod center of rotation changeable device 510 was restricted.Therefore, be located at this embodiment on the rotating motion part 520 according to fulcrum shaft 12 off-centre, this operation can not be carried out by this kind structure.Although in order to use path arbitrarily in the position that changes center of rotation E, but with change being arranged so that of corresponding motor angle control device 630 can be in the position of the center of rotation of the proximal end of constrained linkage 8 by following method change, promptly by crank axle 3 is rotated through with the amount of waving of walking bar rod 5 or with this rising or corresponding angle of slippage that changes relevant slide block 6, also promptly make motor 13 rotating crank axles 3 pass through a certain predetermined angular.Therefore, the operation of connecting rod center of rotation changeable device 510 can not be restricted, thereby has increased the free degree of connecting rod center of rotation changeable device 510 designs.This just makes structure very simple, and wherein fulcrum shaft 12 off-centre are located on the rotating motion part 520.
With reference to the accompanying drawings another embodiment of the present invention is described.As shown in figure 23, this motor-driven link press is by as the link press body 151 of mechanical part and the control device 152 of control link formula forcing press body 151.Link press body 151 comprises slide-driving device 153 and sheet material mobile device 29, wherein slide-driving device 153 is used to drive the mould that is positioned at a certain precalculated position and drives slide block 6 and do elevating movement, and the sheet material mobile device is used to move at 6 times sheet materials as workpiece of slide block.Slide-driving device 153 is the link-type drive units with linkage 1.
In Figure 23, control device 152 is made of computerized numerical control device (NC device) and Programmable Logic Controller.It is to be used to decode and to carry out the program control control device of procedure 155.
Control device 152 comprises sheet material mobile controller 157, slide block axle control device 158, parallel synchronous control device 159, order controller (not shown) and decoding actuating unit 156, wherein sheet material mobile controller 157 is used to control sheet material mobile device 29,158 controls of slide block axle control device are used for the motor 13 of slide-driving device 153, parallel synchronous control device 159 is used for two control device 157 of Synchronization Control and 158, order controller is used for various types of sequential controls of control link formula forcing press body 151, and the decoding actuating unit 156 be used for to procedure 155 decode and from procedure 155 to control device 157,158,159 ... order is provided.
Procedure 155 is stored in the program storage (not shown) of control device 152, or is loaded into the decoding actuating unit 156 from the outside.Procedure 155 uses NC code or similar code description.It comprises the description to the moving instruction of X-axis and y-axis shift, these moves can be used to make sheet material mobile device 29 respectively along X-axis and the moving direction of y-axis shift move sheet material the sheet material move, be used for lifting slider drive unit 153 the punching press instruction, be used for sequential instructions (not shown) and other instructions of control link formula forcing press body 151 various piece sequentially-operatings.Being used for the move of each axis and punching press instruction for example is used as an instruction block and provides.And procedure 155 has the information of relevant thickness of slab at its attribute information memory paragraph.
The servo controller 161,162 of sheet material mobile controller 157 by respective axis is controlled at X-axis and Y- axis servomotor 141 and 142 in the sheet material mobile device 29.Sheet material mobile controller 157 provides so trapezoidal control, and promptly the sheet material translational speed shows as the trapezoidal rate curve VW shown in Figure 23 C, and this curve comprises accelerating part, constant speed part with constant acceleration and the deceleration part with constant deceleration.If the displacement of sheet material is shorter, speed will be lowered to and also not reach constant speed movement, thereby produces leg-of-mutton rate curve VW.In the figure, the sheet material displacement cartographic represenation of area of the trapezoidal or gable of sheet material translational speed curve VW.
Sheet material control device 157 sends move by for example exporting pulse.It is by changing pulse distribution frequency shift speed.In this case, servo controller 161 and 162 is the digitlization servo control mechanisms according to input pulse sequence control current of electric.
Specifically, as shown in figure 27, sheet material mobile controller 157 is made of VELOCITY DISTRIBUTION model generating portion 157a and pulse distribution part 157b.VELOCITY DISTRIBUTION model generating portion 157a be used for according to predetermined maximal rate, predetermined acceleration and deceleration time constant and sheet material displacement (also being the table positions spacing) produce and above-mentioned trapezoidal or VELOCITY DISTRIBUTION model that triangle rate curve VW is corresponding.Pulse distribution part 157b is used for according to the rate curve VW dispense-pulse of setting, with drive motors.In Figure 27, the variation of pulse distribution frequency is represented with the height of pulse.
In this embodiment, sheet material mobile controller 157 is that each X-axis and Y-axis produce a VELOCITY DISTRIBUTION model.Yet it also can produce a mobile synchronous VELOCITY DISTRIBUTION model that can make along X-axis and Y-axis.
In Figure 23, slide block axle control device 158 is used for the motor 13 of slide-driving device 153 by servo controller 163 controls.Slide block axle control device 158 by along a direction rotary electric machine 13 and control motor 13 velocity of rotation and ram speed is controlled.Specifically, as shown in figure 27, slide block axle control device 158 is according to given ram speed distributed model VP dispense-pulse, with drive motors.
In Figure 23, parallel synchronous control device 159 sends instruction to slide block axle control device 158, thereby drive and make its punch die of doing elevating movement 31 to carry out simultaneously from height DP (Figure 24) mobile this action and sheet material the mobile of next processing stand from beginning to arriving at by slide block 6, above-mentioned sheet material mobile is the result who is subjected to 29 effects of sheet material mobile device, and described height DP leave the sheet material upper surface with punch die 31, just arrived by top dead centre TDC with the approaching height TP of sheet material upper surface after this moment corresponding.Shown in the instantiation of back, parallel synchronous control device 159 is by all keeping constant acceleration to arrive the purpose of control rate in acceleration and moderating process.If sheet material is shorter than setting-up time up to moving to next processing stand required time from beginning, parallel synchronous control device 159 can provide such control, and is zero to avoid the speed of motor 13 is reduced to.If for motor 13 specified any speed and acceleration or deceleration time constant, the size of this setting-up time just by these speed and acceleration and deceleration time constant determine.
Specifically, as shown in figure 27, parallel synchronous control device 159 has workbench and slide block synchronization interpolation part 159a and is used to produce the generating portion 159b of slide block spindle motor VELOCITY DISTRIBUTION model VP.Workbench and slide block synchronization interpolation part 159a are used for the sheet material translational speed curve VW of sheet material mobile controller 157 generations, sheet material from mobile calculate of beginning up to next processing stand required time of arrival and 29 generations of sheet material mobile device.The sheet material traveling time need be used for moving of X-axis and Y direction.If different with the traveling time on Y direction, so just get long moving as the sheet material traveling time at the traveling time on the X-direction.
Slide block spindle motor VELOCITY DISTRIBUTION model generating portion 159b is used to a kind of device that rotates the VELOCITY DISTRIBUTION model VP that produces motor 13 of crank axle 2.The motor speed distributed model VP2 of the motor speed distributed model VP1 of motor speed distributed model VP when being used for the sheet material noncontact when being used for sheet material and contacting constitutes, wherein the motor speed distributed model VP1 during the sheet material noncontact is corresponding with this action, promptly drive and make its punch die of doing elevating movement 31 from the mobile action of height DP (Figure 24) by slide block 6, and described height DP and punch die 31 leave the sheet material upper surface, just arrived corresponding with this moment behind the approaching height TP of the upper surface of sheet material W by top dead centre TDC, motor speed distributed model VP2 when being used for the sheet material contact is motor speed distributed model VP1 and then, and it is corresponding with this action, be punch die 31 from moving with the approaching height TP of upper surface, arrive the action of height DP by lower dead center BDC, and described height DP is corresponding with this moment after punch die has just left.
Slide block spindle motor VELOCITY DISTRIBUTION model generating portion 159b produces the motor speed distributed model VP1 when being used for the sheet material noncontact, thereby this action that punch die 31 moves from height DP is carried out in the sheet material traveling time that is obtained by workbench and slide block synchronization interpolation part 159a, described height DP leaves with punch die, just arrived through top dead centre TDC with the approaching height TP of upper surface after this moment corresponding.That is to say, the motor speed distributed model VP1 of generation can make the sheet material traveling time with equate from the slide block of height DP action required time, described height DP leave with punch die and this moment behind arrival just and the approaching height TP of upper surface corresponding.The motor speed distributed model VP1 that produces is such, be speed after just having left with punch die this constantly corresponding height DP place be maximum Vm (Figure 28), reduce gradually subsequently, maintain constant speed then, and rising to maximum (Vm) again with the approaching height TP place of upper surface.The generation of this kind motor speed distributed model be according to the maximal rate Vm that presets and acceleration and deceleration time constant carry out.Quicken and deceleration time constant for example have a certain fixed value.If quicken and deceleration time constant fix, the such rate curve of slide block spindle motor VELOCITY DISTRIBUTION model VP1 formation when then being used for the sheet material noncontact is inverted substantially trapezoidal, is made of deceleration part VPa, constant speed part of V Pb and accelerating part VPc.If the sheet material traveling time is shorter, then slide block is also shorter actuation time.Therefore, VELOCITY DISTRIBUTION model VP1 will not have constant speed part of V Pb and becomes the V-type shape.Slide block spindle motor VELOCITY DISTRIBUTION model VP2 when being used for the sheet material contact shows as fixing maximal rate Vm.Maximal rate Vm correctly is set on the velocity amplitude that is suitable for punch process.
If slide block spindle motor VELOCITY DISTRIBUTION model generating portion 159b produces motor speed distributed model VP1 as described above, then when the sheet material traveling time was longer, motor speed will reduce to zero.This be because quicken and deceleration time constant be fixed constant.Speed is maintained at null value and then increases gradually.Reduce to the null value required time from maximal rate Vm and equal above-mentioned setting-up time.If sheet material from beginning up to the mobile required time that arrives next processing stand less than above-mentioned setting-up time, then parallel synchronous control device 159 will provide such control, to avoid that motor speed is reduced to zero.
Begin punch process when being stopped at top dead centre or similar position at slide block; slide block spindle motor VELOCITY DISTRIBUTION model generating portion 159b produces such VELOCITY DISTRIBUTION model; promptly in the first simple slide block course of action; the motor rotational angle that slide block 6 is set when shutting down moves through and upper surface and the approaching height TP of top dead centre TDC, and this moment corresponding height DP place of arrival after just having left with punch die.
And parallel synchronous control device 159 provides such control, and soon sheet material mobile device 29 makes that beginning and slide block action that sheet material is moved are synchronous.This synchronization operation is when punch die 31 arrives height DP, by providing signal to sheet material mobile controller 157 so that the mode that sheet material begins to move realizes that described height DP is corresponding with this moment after punch die has just left processed sheet material W.This synchronization operational example is as being performed by workbench and slide block synchronization interpolation part 159a.Be located at suitable sniffer in linkage 1, slide block 6 or the analog can detect punch die 31 arrived with just left after this corresponding height DP constantly.
With just leave after this constantly corresponding height DP (Figure 24) and with the approaching height TD of upper surface all be the height that is positioned at the setting additional distance place of sheet material W surface.Setting additional distance can set arbitrarily.For with just leave after this constantly corresponding height DP the setting additional distance can with for getting different values with the setting additional distance of the approaching height TD of upper surface.The position on sheet material W surface can be by the information acquisition of setting in procedure 155 about sheet metal thickness.The surface location of the heavy-gauge sheeting that the surface location of sheet material W for example can serve as reasons that this motor-driven link press makes, and can have fixed value.
The procedure 155 that is located in sheet material mobile controller 157, parallel synchronous control device 159 or the decoding actuating unit 156 has pre-read functions, this pre-read functions is used for producing sheet material translational speed distributed model by sheet material mobile controller 157, and is used for producing slide block spindle motor VELOCITY DISTRIBUTION model by parallel synchronous control device 159.For example, when sheet material mobile controller 157 or slide block axle control device 158 during dispense-pulse, produces sheet material translational speed distributed model or slide block spindle motor VELOCITY DISTRIBUTION model as the response of instructing in the pre-reader piece to procedure 155 according to the procedure 155 that just is being performed.
What Figure 26 represented is the example of procedure 155 structures.As shown in figure 26, procedure 155 is made of the program block B of a series of orders execution.Description has been given in one or more instructions for example sheet material move Ba or mould instruction Bb in each program block B.Sheet material move Ba describes by the code (X, Y or similar character) that is used to represent moving direction and moves.For punch press, under most of situation, the part of the feasible sheet material that is about to be stamped of sheet material move Ba is moved to the slide position.Therefore, in this example, comprise that the program block B of sheet material move Ba means that punch process is to move the back at sheet material to carry out.In this case, for after sheet material moves and can not cause the program block B of any punch process, sheet material move Ba is used to forbid punch process followed by the instruction by M code or similar coded representation.Therefore, unless non-punching press instruction is added among the program block B, the decoding actuating unit 56 among Figure 23 is thought from procedure 155 and is comprised that the program block B of sheet material move Ba (Figure 26) comprises the punching press instruction.
As shown in figure 25, sheet material mobile controller 157, slide block axle control device 158 and the parallel synchronous control device 159 of the control device of describing with reference to Figure 23 152 are moved with punch process control program 170 by computer 152A, the sheet material of forming control device 152 and constitute.Sheet material moves with punch process control program 170 and can be stored in the storage medium 171, and program 170 can read from this storage medium by the storage medium reading device (not shown) of computer 152A.Storage medium 171 is for example CD or disk.As a kind of alternative method, sheet material moves with punch process control program 170 and can be stored in another computer, and this computer can provide program 170 to computer 152A by communication line.
Below sheet material is moved and slide block action between relation be described, they are by control device 152 controls.Suppose when sheet material moves with the rate curve VM1 shown in Figure 28 A left end that decoding actuating unit 156 (Figure 23) is pre-fetch program piece B from procedure shown in Figure 27.At this moment, the table positions spacing also is the displacement that sheet material arrives next processing stand, decoded come out from program block B.Based on the maximal rate set and acceleration and deceleration time constant, the locating speed distributed model generating portion 157a of sheet material mobile controller 157 is according to being which sheet material is moved and passes through the sheet material displacement that decodes and produce rate curve VW.Rate curve VW is generally trapezoidal, if but displacement is shorter, and it is a triangle.Subsequent plates mobile controller 157 uses preset time point and makes pulse distribution part 157b according to the rate curve VM dispense-pulse that produces, and moves sheet material to allow sheet material mobile device 29.Should move second speed curve VW2 based on Figure 28 A left end.Preset time point promptly is the moment of detecting following content when the sniffer (not shown), promptly after the final operation of carrying out by lifting slider 6, punch die 31 arrives height DP, and described height DP is corresponding with this moment after punch die 31 has just left sheet material W.
In case locating speed distributed model generating portion 157a produces rate curve VW2, parallel synchronous control device 159 just uses workbench and slide block synchronization interpolation part 159a to calculate sheet material and moves the needed time.Parallel synchronous control device 159 also uses slide block spindle motor VELOCITY DISTRIBUTION model generating portion 159b to produce slide block spindle motor VELOCITY DISTRIBUTION model VP.Motor speed distributed model VP is the combination of the motor speed distributed model VP2 of motor speed distributed model VP1 when being used for sheet material and contacting when being used for the sheet material noncontact, wherein motor speed distributed model VP1 is corresponding with this action, be that punch die 31 leaves the sheet material upper surface, through top dead centre TDC and arrive with the approaching height TP of the upper surface of sheet material W after, it moves from height DP (Figure 24), described height DP is constantly corresponding with after punch die has just left from the sheet material upper surface this, motor speed distributed model VP2 is motor speed distributed model VP1 and then, and it is corresponding with this action, be punch die 31 from moving with the approaching height TP of upper surface, arrive height DP correspondence through top dead centre BDC, described height DP is corresponding with this moment after punch die has just left.Motor speed distributed model VP is corresponding with time T 1 in Figure 28.
Motor speed distributed model VP1 when being used for the sheet material noncontact is produced so that this action correctly is done in the sheet material traveling time, promptly this after just left with punch die constantly corresponding height DP move to the height TP approaching with upper surface.The generation of above-mentioned motor speed distributed model be according to the maximal rate Vm that presets and acceleration and deceleration time constant carry out.The motor speed distributed model VP1 that produces is such, promptly this after just having left with punch die constantly corresponding height DP (Figure 28) speed of locating be maximum Vm, reduce gradually subsequently, remain on constant speed then, and increasing to maximum Vm again with the approaching height TP place of upper surface.Slide block spindle motor VELOCITY DISTRIBUTION model VP1 when being used for the sheet material noncontact is for inverted substantially trapezoidal.If the sheet material traveling time is shorter, then slide block is also shorter actuation time.Thereby VELOCITY DISTRIBUTION model VP1 will not have constant speed distributed model VPb and presents the V-type form.Slide block spindle motor VELOCITY DISTRIBUTION model VP2 when being used for the sheet material contact shows as changeless maximal rate Vm.
In this case, the slide block spindle motor VELOCITY DISTRIBUTION model VP of generation is output to slide block control device 158.After the slide block spindle motor VELOCITY DISTRIBUTION model VP that is used for last punch process finished, slide block axle control device 158 passed through dispense-pulse and drive motors according to the slide block spindle motor VELOCITY DISTRIBUTION model VP that produces.When punch die 31 arrived height DP after punch process, last slide block spindle motor VELOCITY DISTRIBUTION model VP finished, and described height DP is corresponding with this moment after punch die 31 has just left sheet material W.Therefore, be that after just having left with punch die this is performed after corresponding height DP constantly based on the control of current slide spindle motor VELOCITY DISTRIBUTION model VP.Read in advance in the program block B process of procedure 155 in order, this control is carried out repeatedly.
This control makes that following operation is carried out.Also promptly, slide block drive motors 13 rotates along a direction always.In this case, shown in Figure 23 B, the crank axle 2 of linkage 1 also just rotates along a direction always.From dropping to the process of lower dead center BCD with the approaching height TD of upper surface, slide block 6 is carried out punch process on sheet material W at slide block.With the approaching height TD of upper surface on, ram speed preferably is suitable for carrying out punch process.Drop at slide block and to rise to after just having left with punch die this in the process of lower dead center BDC and from lower dead center BDC constantly the process of corresponding height DP, remain this favor speed.And in these operations, sheet material W remains on halted state.
In case punch die 31 rises to and corresponding height DP of the moment after punch die has just left, sheet material mobile device 29 just begins mobile sheet material W.Be done in case sheet material moves, punch die 31 will arrive the height TD approaching with upper surface.Therefore, in the sheet material moving process, provide such Synchronization Control, i.e. slide block action can be finished and mould is contacted with sheet material W.This has eliminated the useless stand-by period, thereby minimized cycle time.And, can reduce cycle time and do not need to change crank axle 3.
And, crank axle 3 is risen to height TD along a direction rotation and with punch die from height DP after, slide block axle control device 158 attempts to avoid stopping slide block 6 according to the VELOCITY DISTRIBUTION model VP that is provided by parallel synchronous control device 159, wherein said height DP is constantly corresponding with after punch die has just left this, and described height TD and upper surface are approaching.That is to say that shorter than setting-up time if sheet material moves required time, the VELOCITY DISTRIBUTION model VP that parallel synchronous control device 159 provides then can avoid the speed of motor 13 to reduce to zero.This has just reduced the acceleration load that acts on the punching press driving servomotor 13, thereby makes acceleration and deceleration energy minimization.And then can reduce cycle time again, also promptly increase collision frequency and save punching press driving energy.For example, shown in the comparison example among Figure 29 B, this control that begins to carry out punch process with move a certain scheduled time before stopping at sheet material is compared, and does not need big acceleration or deceleration in order to drive slide block.Thereby prevented the energy that drive motors needs bigger being used to quicken and slow down.
In the process that produces motor speed distributed model VP, parallel synchronous control device 159 is acceleration and moderating process has been set constant acceleration.Therefore, constituting the amount of calculation that the computer 152A of control device 152 calculates motor speed distributed model VP will be less.In this case, calculating can be carried out fast by simple relatively computer.
And motor speed distributed model VP is a tapered in form, has constant speed distributed model part of V Pb.Therefore, when not having punch process to carry out, speed does not need rapid change, and then slide block 6 just can be by lifting reposefully.Thereby, can weaken vibration and impact.
In the above-described embodiments, motor speed distributed model VP is a tapered in form, thereby what carry out is linear quicken and slow down.Yet motor speed distributed model VP can change to the curve acceleration and slow down (so-called S type quickens and slows down).
Also an alternative embodiment of the invention is described with reference to the accompanying drawings.
Figure 30 is the decomposition front view of the linkage in the link press of this driven by servomotor.
Figure 32 A to 32D represents is the example of the various punch dies that are used in the link press of this driven by servomotor and driven by slide block 6.
What Figure 32 A represented is an example of punch process mould, wherein has punch die 31 and mould 32.
What Figure 32 B represented is mould.Patrix 31B has indent mould surface 31Ba.Counterdie 32B has protruding mould surface 32Ba.Patrix 31B is reduced by slide block 6 (Fig. 1), thereby forms moulding section Wa on the molded surface 31Ba of upper and lower mould 31B and 32B and the sheet material workpiece W between the 32Ba.
What Figure 32 C represented is a kind of example that rotates mould.Patrix 31C and counterdie 32C have working roll 31Ca and 32Ca respectively, and each working roll rotates around the axis with the central axis quadrature of mould.Patrix 31C is reduced to the position of predetermined altitude by slide block 6, so that sheet material workpiece W is clipped between two working roll 31Ca and the 32Ca.Thereby in sheet material workpiece W, formed groove shape moulding section.Working roll 31Ca and 32Ca can be clipped in sheet material workpiece W between them and sheet material workpiece is cut.
What Figure 32 D represented is a kind of example of shearing processing mold.Patrix 31D has cutting die 31Da, and counterdie 32D is that sheet material workpiece W is placed on top workbench.Patrix 31D is reduced to the position of predetermined altitude by slide block 6, shearing die 31Da is cut into the place, thickness of slab centre position of sheet material workpiece W downwards.Then, feeding sheet material workpiece W is to cut out groove Wb in sheet material workpiece W.
Mould 31B to 32D and 32B to 32D are installed on the above-mentioned mould supporting arrangement 28.For example, mould 31B to 31D is installed on the turntable 28a, and mould 32B to 32D is installed on the turntable 28b, and described turntable 28a and 28b constitute mould supporting arrangement 28.
Referring now to Figure 30 control system is described.The link press of this driven by servomotor has Servocontrol device 261, is used to control servomotor 13, so that slide block 6 can be stopped at any position in its lifting stroke.Servomotor control device 261 for example is made of computer that constitutes numerical control device and similar device, and computer or similar device are used to control the link press of whole driven by servomotor.Servomotor control device 261 can switch the operation of servomotor 13 between non-stop operational mode M1 and decline stop operational mode M2, servomotor 13 can not be stopped in the decline process in described operator scheme M1, and servomotor 13 can be stopped in slide block 6 decline processes in described operator scheme M2.The processing switching device shifter 262 that provides is used for providing instruction to servomotor control device 261, to switch the operation of servomotor 13 between non-stop operational mode M1 and decline stop operational mode M2.Processing switching device shifter 262 can be made of computer that for example constitutes above-mentioned numerical control device or the change-over switch that is located on the guidance panel.
In decline stop operational mode M2, when servomotor 13 by when rotation direction is rotated, servomotor control device 261 can make servomotor 13 stop in the decline process of slide block 6, thereby can make slide block stop at the interior any position of its lifting stroke, wherein when servomotor rotates, because the characteristic that linkage 1 is had, slide block 6 translational speed in the decline process is lower than the translational speed in the uphill process.And in decline stop operational mode M2, after servomotor stopped, servomotor just rotated in the opposite direction.Also promptly, motor is stopped and backward rotation before slide block arrives lower dead center.After this backward rotation, when slide block 6 arrived top dead centre TDC or predetermined lifting position, motor was reversed rotation again, also is that it is switched to original rotation direction.
The link press of this driven by servomotor uses servomotor 13 as drive source, therefore slide block 6 can be stopped at any position.Because these characteristics of motor and the motor control assembly that has used as servomotor control device 261, and wherein motor control assembly can be controlled servomotor 13 slide block 6 is stopped at the optional position in its lifting stroke, although therefore this embodiment is a link type, it also can stop at the optional position with slide block 6, thereby can carry out dissimilar processing.For example, the processing and forming in can execution graph 32B can be used rotation mould 31C among Figure 32 C and 32C and processes, or uses the cutting die 31Da among Figure 32 D to cut out groove Wb.If the processing and forming among the execution graph 32B then can change the protrusion height of the moulding section Wa that is formed on the sheet material workpiece W by the stop position of control slide block 6 with the decline stop position that changes patrix 31B.In this case, after slide block 6 stopped, the rotation direction of servomotor 13 was reversed, and was used to promote slide block 6.
If carry out in these processing types any one, wherein slide block 6 is stopped in the decline process, because slide block 6 can be stopped in the down maneuver process and to move than low velocity, the rotation inner slide in the per unit of servomotor 13 only descends than short distance so.Therefore, can give to control more accurately, thereby the control in making more among a small circle becomes possibility, and can carry out more accurate processing the stop position of slide block 6.
If carry out the operation that slide block 6 is stopped in the decline process, then after stopping, servomotor control device 261 will provide such control, even the rotation direction reversed of servomotor 13.In this case, as shown in figure 31, servomotor 13 back and forth rotates in part U, a rotation process of U part and servomotor 13 a part of corresponding.Thereby make this operation become possibility, promptly slide block can not be lowered to lower dead center.Also can carry out this operation, promptly slide block 6 is allowed to wait at holding altitude, rather than rises to top dead centre.
By switching the operator scheme of servomotor control device 261, processing switching device shifter 262 can switch mould-type between two kinds of operator schemes, slide block 6 can be stopped in the decline process in the one operator scheme, and slide block 6 can not be stopped in the decline process in another operator scheme.Thereby, this control can be provided, promptly can freely in these processing types, switch.
The use of servomotor 13 can make motor speed freely change.In the lifting stroke procedure of slide block 6, motor speed also can change, thereby can make processing be accomplished according to various different needs.Also promptly, if servomotor 13 with uniform rotation, then be used as the base speed curve of conduct observation based on the rate curve of the linkage operation that is made of crank element 2, walking bar rod 5, constrained linkage 8 and analog, and motor speed can change.For example, the motor speed when punch die 31 contacts with sheet material workpiece W is lowered, so that processing can more undisturbedly be carried out.As a kind of alternative method, the rate of climb can further increase.
Referring now to accompanying drawing another embodiment of the present invention is described.Figure 33 is the combination that the view and being used to of the bindiny mechanism in this link-type punch press is represented the block diagram of Control System Design mechanism.
In Figure 33, control device 341 is used to control whole link-type punch press, and is made of computerized numerical control device and Programmable Logic Controller, and wherein numerical control device and Programmable Logic Controller are all controlled by the procedure (not shown).Control device 341 has the control device that is used for each axis, is used to drive the lifting or the control workpiece feed arrangement 29 of slide block 6.One of them is slide block axle control device 343 for these control device.Slide block axle control device 343 is used to control motor 13, and motor 13 is used for the crank axle of drive link mechanism 1.Slide block axle control device 343 has direction of motor rotation control device 344, is used at forward and the rotation of switch motor 13 oppositely, and motor rotation speed control device 345 is used to control the velocity of rotation of motor 13.
Control device 341 has processing type selecting arrangement 342.The processing type that direction of motor rotation control device 344 is selected according to processing type selecting arrangement 342 and the rotation of switch motor 13 at forward and oppositely.Processing type selecting arrangement 342 is selected a kind of type of punch process quality, and purpose provides that expression selects is the information of for example common process or high-quality processing.In this example, select to comprise that one in three ranks of common process, high-quality processing and superior quality processing is possible.
The processing type that direction of motor rotation control device 344 is selected according to processing type selecting arrangement 342 and the rotation of switch motor 13 at forward and oppositely.If processing type selecting arrangement 342 selects common process as processing type, then direction of motor rotation control device 344 selects motor 13 to make forward rotation, also promptly under this rotation direction, rotate and transmit, thereby make the decrease speed of slide block 6 lower than its rate of climb by linkage 1.For high-quality processing, opposite rotation direction is set.If processing type selecting arrangement 342 is selected superior quality processing, then direction of motor rotation control device 344 also will be provided with opposite rotation direction.
If direction of motor rotation control device 344 is set such rotation direction, promptly in the decrease speed of this rotation direction sliding block 6 than its rate of climb height, then motor rotation speed control device 345 is provided with the function that is used to survey predetermined information, increasing the velocity of rotation of motor, and then further increase the decrease speed of slide block 6.Increase its velocity of rotation and then further increase in the process of decrease speed of slide block 6 at the control motor, motor rotation speed control device 345 can with once the rotating in all corresponding parts or only gather way in the slide block sloping portion in the rotation process in crank element 2 of crank element 2.Predetermined information shows that for example processing type selecting arrangement 342 has selected superior quality processing as processing type.
Specifically, processing type selecting arrangement 342 can be that the processing type of describing in the procedure is selected information, is located at the information in parameter setting apparatus (not shown) or the similar device, or operating personnel are from the information of guidance panel input.The information of the processing type of describing selecting in procedure can adopt the instruction mode of use NC code or similar code to provide, and maybe can be attribute information.Punch process quality type only allows punch process quality type to be identified.As a kind of alternative method, control device 341 can be discerned about the information of the material of sheet material, surface treatment type and reach and similar information like the processing type selection info class, and this information can be passed to direction of motor rotation control device 344.
Operation to the control device 341 of described structural form is described below.When processing type selecting arrangement 342 is selected common process, then direction of motor rotation control device 344 forward rotation motors 13.Therefore, as the top description that reference Figure 34 A is done, the service speed of slide block 6 in the decline process is lower than the service speed in the uphill process.
If processing type selecting arrangement 342 is selected high-quality processing, direction of motor rotation control device 344 rotary electric machine 13 in the opposite direction then.Therefore, shown in the curve Ha among Figure 34 B, the decrease speed of slide block 6 increases.Thereby high-quality processing can be accomplished.Also promptly, punch process can be finished under the situation that does not almost have burr.Yet, in this case, can not obtain big pressure loading, therefore can not carry out punching press to sheet material workpiece with big thickness of slab.In addition, need formation can not carry out than the punch process of large diameter hole.
Therefore, can freely select the processing of common process or high-quality, in described common process, sheet material workpiece with big thickness of slab can carry out punch process or have larger-diameter hole also can forming, although described high-quality processing is subjected to the restriction of efficient, thickness of slab, aperture or similar factor, it still can finish high-quality processing.
Select superior quality processing when processing type selecting arrangement 342, direction of motor rotation control device 344 is with opposite rotation direction rotary electric machine 13.Motor rotation speed control device 345 increases velocity of rotation, with the decrease speed of further increase slide block 6.What the curve Hb among Figure 34 B represented is the rate curve of slide block 6 in this case.Slide block 6 decrease speeds are faster, just can carry out higher-quality processing.In this case, need to give thickness of slab and aperture to apply more strict restriction.Yet, if they within the tolerance band of correspondence, high-quality processing just can be finished.
Motor-driven link press of the present invention adopts the linkage with crank element, walking bar rod, connecting rod and constrained linkage.Therefore, even use the less relatively motor of power output, also can carry out the processing of weight load, and can improve time process-cycle.And, even employing is linkage, be used to control the rotation of motor so that can transmit the drive transmission systems of slide block lifting action, thereby the rotation that motor can be produced drives the crank axle that pass to linkage with controlled manner owing to adopted.Promptly, this drive transmission systems does not comprise that any parts for example are used to apply the flywheel of inertia yet.Therefore, can correctly and easily control this motor-driven link press.
If what this motor used is servomotor, control operation speed freely then, thus can under the situation that makes full use of this link press advantage, finish various types of processing.
If this motor-driven link press is used to punch press, the mid portion of the decline process in slide block lifting stroke is used as the lifting stroke part of slide block, and the lifting stroke of slide block partly is used for the pressing sheet material workpiece, then enough big stroke can be set under the bottom surface of sheet material workpiece.Thereby guaranteed that stampings can fall.

Claims (7)

1. a motor-driven link press comprises: motor; Linkage, it is used for by drive transmission systems the spinning movement of motor output being converted to linearly operating; And slide block, it is installed in below the described linkage, be used for based on above-mentioned linearly operating and lifting so that carry out pressing operation, described linkage comprises: crank element, it has crank axle and eccentric shaft portion; Walking bar rod, it has first to the 3rd coupling part that is positioned on the vertex of a triangle and is used as the part that is rotatably connected, and wherein the first pontes is connected on the eccentric shaft portion of described crank element; Connecting rod, its have be connected on described second coupling part and described upper end of slide block on end opposite; And constrained linkage, it has the near-end on the frame of being rotatably connected to and is connected front end on described the 3rd coupling part of described walking bar rod, described constrained linkage is used to retrain the oscillating motion of described walking bar rod, thereby when described crank axle when a direction is rotated with fixed speed, the down maneuver of slide block is slower than the vertical motion of slide block, described drive transmission systems is used to control the rotation of motor, pass to described crank axle with the rotation driving that described motor is produced, thereby can control the lifting action of slide block;
Be provided with connecting rod center of rotation changeable device in the forcing press, it is used to change the center position of the near-end of described constrained linkage;
Described slide block be positioned at described crank axle under.
2. motor-driven link press as claimed in claim 1, it is characterized in that: described connecting rod center of rotation changeable device is made of rotating motion part and actuator, described rotating motion part is rotatably supported in the near-end of described constrained linkage on the eccentric part of described rotating motion part, and described actuator is used for rotation and moves described rotating motion part.
3. motor-driven link press as claimed in claim 2, it is characterized in that: be provided with and change corresponding motor angle control device, it is used for driving described motor when described connecting rod center of rotation changeable device is carried out change operation, with described crankshaft rotation predetermined angular.
4. motor-driven link press as claimed in claim 1, it is characterized in that: be provided with and change corresponding motor angle control device, it is used for driving described motor when described connecting rod center of rotation changeable device is carried out change operation, with described crankshaft rotation predetermined angular.
5. a link-type punch press comprises: motor; Linkage, it is used for by drive transmission systems the spinning movement of motor output being converted to linearly operating; And slide block, it is installed in below the described linkage, be used for based on above-mentioned linearly operating and lifting so that carry out pressing operation, described linkage comprises: crank element, it has crank axle and eccentric shaft portion; Walking bar rod, it has first to the 3rd coupling part that is positioned on the vertex of a triangle and is used as the part that is rotatably connected, and wherein the first pontes is connected on the eccentric shaft portion of described crank element; Connecting rod, its have be connected on described second coupling part and described upper end of slide block on end opposite; And constrained linkage, it has the near-end on the frame of being rotatably connected to and is connected front end on described the 3rd coupling part of described walking bar rod, and described constrained linkage is used to regulate waving of described walking bar rod;
Described punch press comprises processing type selecting arrangement and direction of motor rotation control device, described processing type selecting arrangement is used to select the type of stamping quality, and described direction of motor rotation control device is used for according to the processing type of described processing type selecting arrangement selection and at forward and the described motor of switching oppositely;
Described slide block be positioned at described crank axle under.
6. link-type punch press as claimed in claim 5, it is characterized in that: described drive transmission systems is used to control the rotation of motor, pass to described crank axle with the rotation driving that described motor is produced, thereby can control, and described motor is a servomotor the lifting action of slide block.
7. link-type punch press as claimed in claim 6, it is characterized in that: be provided with the motor rotation speed control device, be provided with such direction of motor rotation at described direction of motor rotation control device, be that the translational speed of described slide block in the decline process is when bigger than the translational speed in the uphill process, described motor rotation speed control device increases the velocity of rotation of motor, with the decrease speed of further increase slide block.
CNB200610146416XA 2002-05-01 2003-04-30 Motor driven link press Expired - Fee Related CN100418752C (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
JP129564/2002 2002-05-01
JP2002129562A JP2003320484A (en) 2002-05-01 2002-05-01 Motor driven type link press
JP129562/2002 2002-05-01
JP129616/2002 2002-05-01
JP129565/2002 2002-05-01
JP129563/2002 2002-05-01
JP129615/2002 2002-05-01
JP129566/2002 2002-05-01

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102105298A (en) * 2008-07-25 2011-06-22 米勒魏因加滕股份公司 Drive system for a forming press
CN102423919A (en) * 2011-11-25 2012-04-25 江苏金方圆数控机床有限公司 Small eccentric crank connecting rod transmission mechanism with length-variable connecting rod
CN105880349A (en) * 2016-05-13 2016-08-24 南京邮电大学 Numerical control punching machine main transmission mechanism with multiple machining modes
CN109213084A (en) * 2017-06-30 2019-01-15 发那科株式会社 Numerical control device
CN111957868A (en) * 2020-07-09 2020-11-20 蒙特费罗(湖州)电梯部件有限公司 A high strength steel sheet hot stamping forming apparatus for producing for elevator accessories

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CN114309204A (en) * 2021-11-30 2022-04-12 浙江易田精工机械股份有限公司 Multi-connecting-rod punch press

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102105298A (en) * 2008-07-25 2011-06-22 米勒魏因加滕股份公司 Drive system for a forming press
CN102105298B (en) * 2008-07-25 2015-09-30 米勒魏因加滕股份公司 The drive system of forming press
CN102423919A (en) * 2011-11-25 2012-04-25 江苏金方圆数控机床有限公司 Small eccentric crank connecting rod transmission mechanism with length-variable connecting rod
CN102423919B (en) * 2011-11-25 2015-01-21 江苏金方圆数控机床有限公司 Small eccentric crank connecting rod transmission mechanism with length-variable connecting rod
CN105880349A (en) * 2016-05-13 2016-08-24 南京邮电大学 Numerical control punching machine main transmission mechanism with multiple machining modes
CN109213084A (en) * 2017-06-30 2019-01-15 发那科株式会社 Numerical control device
US11226609B2 (en) 2017-06-30 2022-01-18 Fanuc Corporation Numerical controller
CN111957868A (en) * 2020-07-09 2020-11-20 蒙特费罗(湖州)电梯部件有限公司 A high strength steel sheet hot stamping forming apparatus for producing for elevator accessories

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