CN210358660U - Multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine - Google Patents
Multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine Download PDFInfo
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- CN210358660U CN210358660U CN201921156405.9U CN201921156405U CN210358660U CN 210358660 U CN210358660 U CN 210358660U CN 201921156405 U CN201921156405 U CN 201921156405U CN 210358660 U CN210358660 U CN 210358660U
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Abstract
The utility model discloses a multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine, which comprises a frame, a lower die, an upper slide block, an upper die, a first driving mechanism and a second driving mechanism, wherein the first driving mechanism comprises a first power assembly, a first crank, a first connecting rod and a second connecting rod; the first power assembly outputs power to drive the first crank to rotate, and the upper sliding block is driven to move up and down through the first connecting rod and the second connecting rod; the second driving mechanism comprises a second power assembly, a second crank and a pull rod; the second power assembly outputs power to drive the second crank to rotate, and the upper sliding block is driven to move up and down through the pull rod and the second connecting rod; the corresponding positions of the upper sliding block and the frame are provided with guide components which are used for guiding the upper sliding block to move up and down in a matched manner. The utility model discloses multi freedom mechanical type full electric servo numerical control synchronous bender is fit for the large-tonnage operating mode, and has advantages such as heavy load, high accuracy, low energy consumption, driving motor power are little, power utilization is high, fast and low in manufacturing cost.
Description
Technical Field
The utility model relates to a panel bender especially relates to a multi freedom mechanical type full electric servo numerical control synchronous bender.
Background
The numerical control bending machine is the most important and basic equipment in the field of metal plate processing, and energy conservation, environmental protection, high speed, high precision, digitalization and intellectualization are the development trends in the future. The driving modes of the numerical control bending machine include hydraulic driving and mechanical and electrical servo driving, and at present, the hydraulic driving mode is mainly used, but the mechanical and electrical servo driving is a future development trend.
The hydraulic drive has the advantages of large tonnage and easy realization of bending processing of large-breadth thick plates; the disadvantages of hydraulic drives are the following: 1. large noise, high energy consumption, hydraulic oil leakage and environmental pollution; 2. the cost is high, and high-precision parts such as a hydraulic oil cylinder, a valve bank, a hydraulic pump and the like have high cost, wherein the high-end market of the valve bank and the hydraulic pump almost completely depends on import, and the cost is high; 3. the precision is not high, the position precision control of the hydraulic system has inherent disadvantages, and the position controllability is poor; 4. the service life is short, components are worn, and the hydraulic oil circuit is polluted, so that the stability of a hydraulic system is easily influenced; 5. the action impact of the slide block is large and not gentle; 6. the influence of factors such as environmental temperature, humidity and dust is large; 7. the motion control is complicated.
The mechanical-electric servo can solve the defects of the hydraulic driving mode, but the mechanical-electric servo driving mode has technical bottlenecks, so that the mechanical-electric servo is only applied to the field of small tonnage at present and generally does not exceed 50 tons. The existing small-tonnage mechanical all-electric servo bending driving mode is shown in fig. 1 and fig. 2, a heavy-duty ball screw driving mode is mostly adopted, and the small-tonnage mechanical all-electric servo bending driving mode mainly comprises a servo motor a, a synchronous belt transmission b, a ball screw transmission c, a sliding block d, a workbench e and the like. The servo motor is fixed on the rack, the ball screw is hinged with the rack, the sliding block is connected with the rack in a sliding mode and can slide along the upper direction and the lower direction of the rack, and the workbench is fixed on the rack. The synchronous belt transmission consists of a small belt wheel, a synchronous belt and a large belt wheel, and plays roles in speed reduction and transmission. The slide block is driven by the ball screw transmission pair, the servo motor drives the screw to rotate through the synchronous belt, and the slide block moves up and down under the driving of the ball screw transmission pair. The sliding block d moves up and down relative to the workbench e, the upper die f is installed on the sliding block, and the lower die g is installed on the workbench, so that the bending processing of the plate h can be realized. The slide block is symmetrically driven by the left screw and the right screw, so that on one hand, the load is large, the rigidity is high, and on the other hand, when a parallelism error occurs between the upper die and the lower die, the parallelism fine adjustment can be realized through the reverse rotation of the left motor and the right motor.
The mechanical full-electric servo bending machine driven by the ball screw has the advantages of simple structure, high mechanical transmission efficiency, high speed and high precision, and effectively solves the problems of hydraulic transmission; the disadvantages are as follows: 1. the cost is high, the high-precision and heavy-load ball screw basically depends on import, and the price is high; 2. the machining and manufacturing precision of the machine tool is high; 3. the bending machine is only suitable for small-tonnage bending machines; 4. the power utilization rate is low, the required driving motor power is large, and the cost is high; 5. the lead screw is easily worn and damaged.
The power utilization rate and the power consumed by the servo motor in the actual use process are determined by the load, and the ratio of the power consumed in the actual use process to the maximum power index (or rated power) which can be reached by the motor can be used as the power utilization rate. Generally, the bending machine successively undergoes three action stages in the process of bending the plate: 1. in the fast descending stage, the slide block moves downwards from the upper dead point until the upper die contacts the plate, and the speed is high in the stage and the load is small; the speed is generally in the range of 150 mm/s-200 mm/s, the load basically overcomes the gravity of the sliding block, the gravity of the sliding block is generally not more than 1/50 of the nominal bending force of the bending machine, and therefore the load is very small; this phase is typically high speed, low load; 2. in the working-in stage, the bending machine bends the plate, which is a typical low-speed and large-load stage, the speed is about 20mm/s, and the speed is about 1/10 of the fast-down speed; 3. and in the return stage, after the plate is bent, the sliding block moves upwards and returns to the top dead center, and the speed and the load of the sliding block are the same as those in the fast-down stage, and the sliding block is high-speed and low-load.
From the above, the working condition of the bending machine is the typical variable speed and variable load working condition. Because the transmission ratio of the ball screw transmission is fixed, the servo motor reaches the highest rotating speed n at the fast descending stagemaxBut peak torque MmaxFar from this, according to empirical data, generally 1/50, which is only the peak torque, the load can be directly equivalent to the output torque of the motor, and then the power consumed by the motor corresponding to the fast-down phase is:
and in the working stage, the motor reaches the peak torque MmaxHowever, according to empirical data, the rotational speed of the motor is only the maximum rotational speed n max1/10, mainly considering safety factors, the working speed of the bending machine is generally low, and the power required by the motor at this stage is as follows:
therefore, the driving system needs to meet the requirement of the highest rotating speed at the fast descending stage and the return stroke stage, and simultaneously needs to meet the requirement of the peak torque at the working process stage; then, with a fixed transmission ratio, the peak power: pmax＝nmax×Mmax. The required power of the driving motor is very large, and even in the actual use process, the highest peak power is not used by the motor, so that the power of the motor is not completely applied, namely, the power utilization rate is low. Taking a 35-ton mechanical-electric servo bending machine commonly available in the market as an example, the fast down speed and the return speed are generally 200mm/s, the nominal bending force is 350kN, in order to meet the requirements of the highest speed and the maximum bending force at the same time, 2 7.5kW servo motors are generally needed, and the conventional configuration of the market is adopted at present, but in the actual working process, the actually consumed power of the two servo motors is approximately 1 kW-2 kW, and the utilization rate of the power is very low.
Therefore, it is desired to solve the above problems.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at providing a be fit for the large-tonnage, and have advantages such as heavy load, high accuracy, low energy consumption, driving motor power are little, power utilization is high, fast and low in manufacturing cost, utilize the full electric servo numerical control synchronous bender of multi freedom mechanical type of the auto-lock characteristic of link mechanism's nonlinear motion characteristic and specific position simultaneously.
The technical scheme is as follows: in order to achieve the purpose, the utility model discloses a multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine, which comprises a frame, a lower die fixedly connected with the frame for bending, an upper slide block capable of moving up and down along the frame, and an upper die fixedly connected with the upper slide block and matched with the lower die for bending, wherein the upper slide block is hinged with a second connecting rod, the second connecting rod is respectively connected with a first driving mechanism and a second driving mechanism for driving the upper slide block to realize different speeds and stroke ranges, and the second driving mechanism is arranged in a bilateral symmetry way; the first driving mechanism comprises a first power assembly positioned on the rack, 2 symmetrically arranged first cranks driven by the first power assembly, and a first connecting rod connected with a first crank rotating pair, and the first connecting rod is hinged with the upper sliding block through a second connecting rod; the first power assembly outputs power to drive the first crank to rotate, and the upper sliding block is driven to move up and down through the first connecting rod and the second connecting rod; the second driving mechanism comprises a second power assembly positioned on the rack, a second crank driven by the second power assembly, and a pull rod connected with a second crank revolute pair, and the pull rod is hinged with a second connecting rod; the second power assembly outputs power to drive the second crank to rotate, and the upper sliding block is driven to move up and down through the pull rod and the second connecting rod; and guide components which are used for guiding the upper sliding block to move up and down in a matched manner are arranged at corresponding positions of the upper sliding block and the rack.
The first power assembly comprises a first driving motor, a first synchronizing shaft, synchronizing shaft gears and crank gears, wherein the first driving motor is located on the rack, the first synchronizing shaft is connected with an output shaft of the first driving motor through belt transmission, the synchronizing shaft gears are located at two shaft ends of the first synchronizing shaft respectively, the crank gears are meshed with the synchronizing shaft gears, and the crank gears are coaxially arranged with the first cranks and can drive the first cranks to rotate.
Furthermore, the second power component comprises a second driving motor positioned on the rack and a second driving shaft in transmission connection with an output shaft of the second driving motor through a belt, and the second driving shaft and the second crank are coaxially arranged and can drive the second crank to rotate.
Furthermore, the parallelism deviation of the upper die and the lower die can be adjusted by the asynchronous operation of 2 second driving motors which are arranged in bilateral symmetry.
Preferably, the second connecting rod is a connecting rod structure with adjustable length, and the connecting rod structure comprises a support, a worm which is positioned in the support and two shaft ends of which are hinged with the support, a worm wheel which is positioned in the support and is meshed with the worm, and an upper screw rod and a lower screw rod which are connected through threads and are arranged on the worm wheel in a penetrating manner, wherein the upper screw rod and the lower screw rod both penetrate out of the support; one shaft end of the worm is connected with a motor, the motor is started to drive the worm gear and the worm to drive the upper screw rod and the lower screw rod to move up and down along the worm wheel, and the length is adjustable.
Furthermore, an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel, and the thread pitches of the upper thread and the lower thread are different.
Furthermore, the outer cylindrical surfaces of the upper screw and the lower screw are provided with two planes which are symmetrical to each other, and the corresponding position of the support is provided with a through hole which is matched with the upper screw and the lower screw to form a sliding pair.
Preferably, the length of the first crank is greater than that of the second crank, and the first driving mechanism drives the upper sliding block to realize the self-locking state of the second driving mechanism when the upper sliding block moves at a high speed, a light load and a non-working stroke; the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and work-stroke movement, and the first driving mechanism is positioned in the self-locking device.
Furthermore, the length of the first crank is smaller than that of the second crank, the second driving mechanism is in a self-locking device when the first driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, and the first driving mechanism is in a self-locking state when the second driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement.
Has the advantages that: compared with the prior art, the utility model has the advantages of it is following:
(1) the utility model makes full use of the non-linear motion characteristic of the link mechanism and the self-locking characteristic of the specific position, and adopts two independent driving mechanisms to realize the fast-down, work-in and return actions of the bending machine according to the actual working condition characteristics of the numerical control bending machine; wherein, the fast-down and return actions are realized by a fast, low-load and large-stroke driving mechanism; the driving mechanism with low speed, small stroke and heavy load is adopted to realize the work-in bending, the performance is effectively improved, the cost is reduced, the high-speed heavy load is realized, and the driving mechanism has important significance for promoting the development of a numerical control bending machine from a traditional hydraulic driving mode to a mechanical-electric servo driving mode.
(2) The utility model discloses in because of link mechanism's nonlinear motion characteristic, under driving motor at the uniform velocity rotation condition, link mechanism is lower at its upper and lower dead point position's speed, and higher, the action is mild, do not have the impact at intermediate position speed.
(3) The utility model adopts a fast large-stroke driving mechanism to realize fast descending and returning actions, adopts a slow small-stroke driving mechanism with larger force increasing effect to realize feeding actions, and adopts two mutually coupled driving mechanisms to cooperate with actions, so that the power utilization rate of a servo motor can be greatly improved, thereby realizing heavy-load large-tonnage bending machines and overcoming the technical bottleneck in the industry;
(4) the utility model greatly improves the power utilization rate of the servo motor, the bending machine with the same tonnage can adopt a smaller driving motor, does not need expensive heavy-load and high-precision ball screws, and uses common parts such as cranks, connecting rods and the like, thereby effectively reducing the manufacturing cost, and having no maintenance and high reliability;
(5) the utility model can respectively drive the first driving mechanism and the second driving mechanism according to different process requirements, and the first driving mechanism and the second driving mechanism are matched to act, so that a plurality of processing modes are realized, and the combination is flexible;
(6) the second connecting rod of the utility model can be arranged into a connecting rod structure with adjustable length, when different molds are replaced, the distance between the upper and lower sliding blocks can be adjusted by adjusting the length of the connecting rod, the application range is large and the adjustment precision is high;
(7) the utility model utilizes 2 second driving motors which are arranged symmetrically left and right to asynchronously operate to adjust the parallelism deviation of the upper die and the lower die, so that the left side and the right side of the lower sliding block are not parallel, and the bending with taper can be realized;
(8) the first driving mechanism and the second driving mechanism are coupled with each other, when the length of the first crank is larger than that of the second crank, the second driving mechanism keeps follow-up in real time and is in a self-locking state when the first driving mechanism drives the upper sliding block to realize high-speed large-stroke motion; the first driving mechanism stores follow-up motion in real time and is positioned in the self-locking device when the second driving mechanism drives the upper sliding block to realize low-speed and small-stroke motion; when the length of the first crank is smaller than that of the second crank, the first driving mechanism stores follow-up action in real time and is in a self-locking state when the first driving mechanism drives the upper sliding block to realize low-speed small-stroke motion, and the second driving mechanism stores follow-up action in real time and is in a self-locking state when the second driving mechanism drives the upper sliding block to realize high-speed large-stroke motion.
Drawings
FIG. 1 is a schematic diagram of a bending machine in the prior art;
FIG. 2 is a schematic view of a prior art bending of a sheet material;
fig. 3 is a first schematic diagram of the present invention;
FIG. 4 is a schematic diagram of the second embodiment of the present invention;
fig. 5 is a first schematic structural diagram of the present invention;
fig. 6 is a second schematic structural view of the present invention;
fig. 7 is a third schematic structural diagram of the present invention;
fig. 8 is a schematic structural view of the middle link structure of the present invention;
FIG. 9 is a schematic view of the connection of worm and worm gear in the connecting rod structure of the present invention;
fig. 10 is a schematic view of the connection between the worm wheel, the upper screw rod and the lower screw rod in the connecting rod structure of the present invention;
fig. 11 is a schematic end view of the upper screw rod and the lower screw rod in the connecting rod structure of the present invention;
fig. 12(a) -12 (c) are schematic diagrams of the movement in the fast-descending stage in embodiment 1 of the present invention;
fig. 13(a) -13 (b) are schematic diagrams of the movement of the working stage in embodiment 1 of the present invention;
fig. 14 is a schematic view of the non-linear motion characteristic of the middle link mechanism according to the present invention.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings.
Example 1
As shown in fig. 3 and 4, the utility model relates to a multi freedom mechanical type full electric servo numerical control synchronous bending machine, which comprises a frame 1, a lower die 2, an upper slide block 3 and a lower die 4. The upper sliding block 3 can move up and down along the rack 1, guide grooves 24 for guiding sliding are symmetrically arranged on the upper sliding block 3 from left to right, guide blocks 25 which are inserted into the guide grooves 24 and can slide up and down along the guide grooves 24 are arranged at corresponding positions on the rack 1, and the guide grooves 24 and the guide blocks 25 form a guide assembly. Go up mould 4 and fixed the setting on last slider 3, lower mould 2 is fixed to be set up in frame 1, goes up mould 4 and lower mould 2 and mutually supports the realization and bend.
As shown in fig. 5 and 6, the upper sliding block 3 is connected with a first driving mechanism and a second driving mechanism for driving the upper sliding block to realize different speeds and different travel ranges, the first driving mechanism includes a first power assembly, a first crank 5, a first connecting rod 6 and a second connecting rod 7, 2 first cranks 5 are arranged in bilateral symmetry and driven by the same first power assembly, a first connecting rod 6 and a second connecting rod 7 are sequentially connected to a revolute pair on each first crank 5, and the second connecting rod 7 is hinged to the upper sliding block 3. The first power assembly comprises a first driving motor 10 located on the rack, a first synchronizing shaft 11 connected with an output shaft of the first driving motor 10 through belt transmission, synchronizing shaft gears 12 respectively located at two shaft ends of the first synchronizing shaft, and crank gears 13 meshed with the synchronizing shaft gears, wherein the crank gears 13 are coaxially arranged with the first crank 5 and can drive the first crank 5 to rotate. The belt transmission comprises a driving wheel connected with an output shaft of the first driving motor 10, a driven wheel arranged on the first synchronous shaft 11 and a synchronous belt wound on the driving wheel and the driven wheel to realize transmission. Two shaft ends of the first synchronizing shaft 11 are hinged with the frame and can rotate along the shaft line. The central shaft of the crank gear 13 is arranged on the first crank 5 in a penetrating way and is hinged with the frame. The first driving motor 10 is started, the first synchronizing shaft 11 is driven to rotate through belt transmission, the synchronizing shaft gears 12 on the left side and the right side are driven to rotate simultaneously, the synchronizing shaft gears 12 are in gear meshing transmission with the crank gears 13, the first crank 5 which is coaxially arranged is driven to rotate, and the upper sliding block 3 is driven to move up and down along the rack through the first connecting rod 6 and the second connecting rod 7.
As shown in fig. 5 and 7, the second driving mechanism of the present invention is provided with bilateral symmetry, the second driving mechanism includes a second power assembly, a second crank 8 and a pull rod 9, the second crank 8 is driven by the second power assembly, the upper revolute pair of the second crank 8 is connected with the pull rod 9, and the pull rod 9 is hinged to the second connecting rod 7. The second power assembly comprises a second driving motor 14 positioned on the rack and a second driving shaft 15 in transmission connection with an output shaft of the second driving motor through a belt, and the second driving shaft 15 and the second crank 8 are coaxially arranged and can drive the second crank 8 to rotate. The belt transmission comprises a driving wheel connected with an output shaft of the second driving motor, a driven wheel arranged on the second driving shaft 15 and a synchronous belt wound on the driving wheel and the driven wheel to realize transmission. The second driving shaft 15 is arranged on the second crank 8 in a penetrating way and is hinged with the frame. The second driving motor 14 is started, the second driving shaft 15 is driven to rotate through belt transmission, the second crank 8 which is coaxially arranged is driven to rotate, and the upper sliding block 3 is driven to move up and down along the rack through the pull rod 9 and the second connecting rod 7. The utility model discloses the depth of parallelism deviation of the adjustable mould of going up of the asynchronous operation of second driving motor that well usable 2 bilateral symmetry set up and lower mould makes the left and right sides nonparallel of lower slider, can realize taking tapered bending.
As shown in fig. 3, the utility model discloses a first connecting rod 6, second connecting rod 7 and pull rod 9 can articulate in a bit, perhaps as shown in fig. 4, the utility model discloses a first connecting rod 6 and second connecting rod 7 articulate in a bit, and pull rod 9 articulates in 7 middle parts departments of second connecting rod, the utility model discloses first connecting rod 6, second connecting rod 7 and pull rod 9 articulate in the difference is for obtaining different kinematics and mechanical properties.
As shown in fig. 8, 9 and 10, the second connecting rod 7 of the present invention is a connecting rod structure with adjustable length, and the connecting rod structure includes a support 16, a worm 17, a worm wheel 18, an upper screw 19, a lower screw 20 and a motor 21. The motor 21 is fixedly connected with one shaft end of the worm 17 and is used for driving the worm 17 to rotate. The worm 17 is positioned in the support 16, two shaft ends are hinged with the support 16, and the worm wheel 18 is positioned in the support 16 and meshed with the worm to form a worm and gear transmission pair. An upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel 18, and the thread pitches of the upper thread and the lower thread are different. The upper screw rod 19 and the lower screw rod 20 are connected through threads and penetrate through the worm wheel 18, the upper screw rod and the lower screw rod penetrate through the support 16, and the extended upper screw rod 19 and the extended lower screw rod 20 are used for being hinged with other parts. The motor 21 is started to drive the worm gear to drive, so that the upper screw rod 19 and the lower screw rod 20 are driven to move up and down along the worm gear, and the length of the connecting rod structure is adjustable. The pitch of the upper thread is P1, the pitch of the lower thread is P2, the worm wheel rotates for a circle, the length adjustment quantity delta which can be realized by the connecting rod structure is P1-P2, and the adjustment precision of the connecting rod is effectively improved. As shown in fig. 11, the outer cylindrical surfaces of the upper screw rod 19 and the lower screw rod 20 are provided with two planes 22 which are symmetrical to each other, the corresponding positions of the support are provided with through holes 23 which are matched with the upper screw rod and the lower screw rod to form a moving pair, the surfaces of the through holes 23 which are matched with the planes 22 for guiding are also planes, and the surfaces which are matched with the thread surfaces can be thread surfaces or other surfaces which can have a guiding function.
The utility model discloses well first crank 5's length is greater than second crank 8's length, and first crank 5's length is 5 ~ 10 times of second crank 8's length. The first driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement, and the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and working stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the fast descending and returning stages are high-speed and low-load large-stroke movement stages, and the working advancing stage is a low-speed and large-load small-stroke movement stage. Therefore the utility model discloses a first actuating mechanism drives the upper shoe and realizes going back the journey stage down soon, and second actuating mechanism drives the upper shoe and realizes doing things in advance the stage. As shown in fig. 12(a), the upper slider 3 is located at the top dead center, i.e. the first crank 5 and the first connecting rod 6 are collinear and coincide, and the second crank 8 and the tie rod 9 are collinear and do not coincide. The utility model discloses a stage is as shown in fig. 12(b) soon, first driving motor 10 starts, it is omega 1 to rotate its rotational speed through belt drive first synchronizing shaft 11, the synchronizing shaft gear 12 who drives the left and right sides simultaneously rotates, synchronizing shaft gear 12 and crank gear 13 gear engagement transmission, it rotates to drive coaxial setting's first crank 5, second driving motor 14 starts, it rotates to drive second drive shaft 15 through belt drive, drive coaxial setting's second crank 8 simultaneously and rotate, the rotational speed of two second cranks 8 is omega 2 and omega 3, real-time dynamic keeps the collineation of second crank 8 and pull rod 9 but the state of not coinciding, second connecting rod 7 drives the top block 3 fast down this moment; when the position shown in fig. 12(c) is reached, that is, the end of the lower stage, the first crank 5 and the first link 6 are collinear, but they are not coincident, and at this time, the first driving mechanism is in the self-locking position, that is, the first driving motor 10 only needs to provide a small driving torque, even no driving torque, and can bear a large bending load. In the whole fast descending stage, the second crank 8 and the pull rod 9 are dynamically kept in a collinear and misaligned state in real time. The utility model discloses because first crank 5's length is big, can realize going down fast of stage soon, the effect that the stroke is big. The utility model discloses make full use of among the crank link mechanism when collineation coincidence, collineation do not coincide two positions, the mechanism is in the auto-lock position. As shown in fig. 13, the typical non-linear motion characteristic of the link mechanism is low in speed and small in impact at the start and end of the fast-downward motion. As shown in fig. 12(a), in the whole working process, the first crank 5 and the first connecting rod 6 need to be dynamically kept in a collinear but non-coincident state in real time, and the first driving mechanism is in a self-locking state to bear a large bending load; the second driving motors 14 symmetrically arranged on the left side and the right side drive the second crank 8 to rotate through belt transmission, and the upper slide block 3 is driven to move up and down along the rack through the pull rod 9 and the second connecting rod 7. When the parallelism deviation occurs to the upper die and the lower die, the second driving motors 14 on the left side and the right side perform fine adjustment on the parallelism with different rotating speeds in the opposite direction or the same direction, and the rotating speeds of the lower driving motors 14 on the left side and the right side are omega 2 and omega 3 respectively. As shown in fig. 12(b), the second driving mechanism reaches a state where the second crank 8 and the pull rod 9 are collinear and overlapped, and when the thicknesses of the plates to be bent are different and the bending angles are different, the working process is not necessarily located at the state where the second crank 8 and the pull rod 9 are collinear and overlapped, and may be located at other states, and the bending process is completed. Because the length of the second crank 8 is smaller, the second crank has a larger force increasing effect and is slow in speed, and the requirements of working conditions are met.
The utility model discloses in can make up fast lower stage and worker's advance stage, realize different processing modes, take different mode according to the operating mode difference, reach the light load fast, heavy load slow effect, promote driving motor power utilization.
A fast mode: only a fast-descending stage is adopted, namely when the thin plate is bent, the bending processing can be finished only by driving the upper sliding block to move up and down through the first driving mechanism due to small load, and the speed is high; meanwhile, the second cranks 8 and the pull rods 9 in the second driving mechanisms on the left side and the right side are dynamically kept in a collinear and non-coincident state in real time;
the heavy load mode: firstly, carrying out quick descending and then carrying out working advancing, wherein the second driving mechanism achieves the collinear and superposed state of the second crank 8 and the pull rod 9, and the bending is finished;
mixed mode: the fast descending stage and the working progress stage act simultaneously;
small opening bending mode: the upper sliding block does not completely stay at the bottom dead center and only moves upwards for a small distance, the upper sliding block moves linearly in a small stroke range to be bent, and the mode is only suitable for bending small-size and simple parts and is high in efficiency.
Example 2
The structure of example 2 is the same as that of example 1, except that: the length of the first crank 5 is smaller than that of the second crank 8, the first driving mechanism drives the upper sliding block to realize low-speed, heavy-load and work-stroke movement, and the second driving mechanism drives the upper sliding block to realize high-speed, light-load and non-work-stroke movement. The working condition of the bending machine is a typical variable speed and variable load working condition, the fast descending and returning stages are high-speed and low-load large-stroke movement stages, and the working advancing stage is a low-speed and large-load small-stroke movement stage. Therefore the utility model discloses a second actuating mechanism drives the upper shoe and realizes going back the journey stage down soon, and first actuating mechanism drives the upper shoe and realizes doing things in advance the stage.
Claims (9)
1. The utility model provides a multi freedom mechanical type full electric servo numerical control synchronous bender which characterized in that: the bending machine comprises a rack (1), a lower die (2) fixedly connected with the rack and used for bending, an upper sliding block (3) capable of moving up and down along the rack and an upper die (4) fixedly connected with the upper sliding block and matched with the lower die for bending, wherein the upper sliding block (3) is respectively connected with a first driving mechanism and a second driving mechanism which are used for driving the upper sliding block to realize different speeds and different travel ranges, and the second driving mechanisms are arranged in bilateral symmetry; the first driving mechanism comprises a first power assembly positioned on the rack, 2 symmetrically arranged first cranks (5) driven by the first power assembly, and a first connecting rod (6) connected with a revolute pair of the first cranks (5), and the first connecting rod (6) is hinged with the upper sliding block (3) through a second connecting rod (7); the first power assembly outputs power to drive the first crank (5) to rotate, and the upper sliding block (3) is driven to move up and down through the first connecting rod (6) and the second connecting rod (7); the second driving mechanism comprises a second power assembly positioned on the rack, a second crank (8) driven by the second power assembly, and a pull rod (9) connected with a revolute pair of the second crank (8), and the pull rod (9) is hinged with the second connecting rod (7); the second power assembly outputs power to drive the second crank (8) to rotate, and the upper sliding block (3) is driven to move up and down through the pull rod (9) and the second connecting rod (7); and guide components which are used for guiding the upper sliding block to move up and down in a matched manner are arranged at corresponding positions of the upper sliding block (3) and the rack (1).
2. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the first power assembly comprises a first driving motor (10) located on the rack, a first synchronizing shaft (11) connected with an output shaft of the first driving motor (10) through belt transmission, synchronizing shaft gears (12) respectively located at two shaft ends of the first synchronizing shaft and crank gears (13) meshed with the synchronizing shaft gears, wherein the crank gears (13) are coaxially arranged with the first crank (5) and can drive the first crank (5) to rotate.
3. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the second power assembly comprises a second driving motor (14) positioned on the rack and a second driving shaft (15) in transmission connection with an output shaft of the second driving motor through a belt, and the second driving shaft (15) and the second crank (8) are coaxially arranged and can drive the second crank (8) to rotate.
4. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 3, characterized in that: the parallelism deviation of the upper die and the lower die can be adjusted by the asynchronous operation of 2 second driving motors (14) which are arranged in bilateral symmetry.
5. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the second connecting rod (7) is of a connecting rod structure with adjustable length, the connecting rod structure comprises a support (16), a worm (17) which is positioned in the support and two shaft ends of which are hinged with the support, a worm wheel (18) which is positioned in the support and is meshed with the worm, and an upper screw rod (19) and a lower screw rod (20) which are connected with each other in a penetrating way on the worm wheel through threads, and the upper screw rod and the lower screw rod both penetrate out of the support; one shaft end of the worm is connected with a motor (21), the motor (21) is started to drive the worm gear and the worm to drive the upper screw rod (19) and the lower screw rod (20) to move up and down along the worm gear, and the length can be adjusted.
6. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 5, characterized in that: an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod are arranged in the worm wheel (18), and the thread pitches of the upper thread and the lower thread are different.
7. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 5, characterized in that: the outer cylindrical surfaces of the upper screw (19) and the lower screw (20) are provided with two planes (22) which are symmetrical to each other, and the corresponding positions of the support are provided with through holes (23) which are matched with the upper screw and the lower screw to form a moving pair.
8. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the length of the first crank (5) is greater than that of the second crank (8), and the second driving mechanism is in a self-locking state when the first driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement; the second driving mechanism drives the upper sliding block to realize low-speed, heavy-load and work-stroke movement, and the first driving mechanism is positioned in the self-locking device.
9. The multi-degree-of-freedom mechanical full-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the length of the first crank (5) is smaller than that of the second crank (8), the second driving mechanism is in a self-locking device when the first driving mechanism drives the upper sliding block to realize low-speed, heavy-load and engineering movement, and the first driving mechanism is in a self-locking state when the second driving mechanism drives the upper sliding block to realize high-speed, light-load and non-working stroke movement.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280629A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110280629A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive |
| CN110280629B (en) * | 2019-07-22 | 2024-06-07 | 南京邮电大学 | Multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine |
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Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: Multi DOF mechanical all electric servo CNC synchronous bending machine Granted publication date: 20200421 License type: Common License Record date: 20201026 |
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