CN102172759B - Mechanical multi-link servo press driven by six parallelly-connected motors - Google Patents

Abstract

A six-motor parallel drive mechanical multi-link servo press in the technical field of forging machinery, including: a frame, three sets of identical linear drive mechanisms, a three-degree-of-freedom parallel mechanism, a toggle mechanism, and a stamping slider, wherein: three sets The linear drive mechanism is connected to the parallel mechanism, the toggle mechanism is respectively connected to the three-degree-of-freedom parallel mechanism and the stamping module, and the frame is sleeved on the outside of the drive mechanism and the stamping slider. The invention has the advantages of simple structure, easy control and low manufacturing cost, and can well solve the problem that the existing servo press cannot build a large-tonnage servo press due to the limitations of the bearing capacity of the ball screw, the power of the servo motor, and the small output torque.

Description

Six-motor parallel drive mechanical multi-link servo press

technical field

The invention relates to a device in the technical field of forging machinery, in particular to a six-motor parallel drive mechanical multi-link servo press.

Background technique

Presses are widely used forging equipment in the field of metal forming processing. There are many varieties and quantities, among which mechanical presses are the most widely used. The development of modern manufacturing technology requires that the press can not only operate at high speed, high precision and large load, but also have greater flexibility, and can change the output motion law quickly and conveniently. The traditional mechanical press has single motion characteristics and poor process applicability. In recent years, with the gradual development of AC servo motor-driven forming equipment technology, various AC servo-driven presses with adjustable slider motion curves have appeared, which has greatly improved the working performance and process applicability of the press, and the equipment is moving towards flexibility. , The direction of intelligent development.

Ordinary mechanical presses generally use various mechanical transmission mechanisms to obtain the movement rules of the slider required by the process to meet different process requirements. The traditional mechanical press obtains some typical motion laws that meet the requirements of the stamping process by selecting the appropriate size of the actuator and its components, but one structural scheme cannot meet the requirements of many typical motion laws. Although the movement law of the slider of a certain driving mechanism can be partially changed by using the offset crank slider mechanism, multi-link mechanism, non-circular gear mechanism, etc., when the size parameters of each rod are determined, the movement characteristics of the slider will also change accordingly. Therefore, it is not flexible and difficult to be used in different stamping processes. The research on applying AC servo motors to mechanical presses began in the 1990s at the Engineering Research Center of Ohio State University in the United States. The center S.Yossifon and R.Shivpuri proposed that the ball screw or crank driven by the AC servo motor, through the multi-rod The mechanism converts the movement into the movement required by the slider. It can easily change the movement curve of the slider to obtain different workpiece deformation speeds, which is suitable for different stamping processes and ensures the quality of stamping parts. After that, the research on the application of AC servo motors to mechanical presses developed rapidly. Japan, Canada and other countries have carried out in-depth research. Companies such as Komatsu and Aida in Japan have developed their own AC servo motor-driven presses. Among them, komatsu, a famous Japanese press manufacturer, called it a press with "free motion". By compiling different programs to realize various motion curves required by the process, three generations of different products have been developed: 1998 HCP3000, H2F, H4F series in 2001 and H1F series in 2002. The AC servo motor-driven press is a new trend in the development of forming equipment and an inevitable trend in the development of equipment flexibility.

Since the press driven by the AC servo motor does not have a flywheel to store energy to overcome the forming pressure required for forging the workpiece, in order to achieve the required nominal pressure value, a certain force can often be achieved through a transmission mechanism such as a multi-link mechanism. Limited by the bearing capacity of the ball screw and the small power and output torque of the servo motor, although the toggle mechanism has a large force ratio, it is difficult to build a large-tonnage press.

After searching the existing technology, it is found that the HCP3000 of komatsu company, the servo motor drives the ball screw through the transmission mechanism such as the belt, and directly drives the stamping slider through the nut. Its nominal pressure only reaches 800kN, and it is driven by two 12kW servo motors. Komatsu's H1F200, the servo motor drives the crank through a transmission mechanism such as a belt or gear, and then drives the stamping slider through a multi-link mechanism. Its nominal pressure reaches 2000kN and is driven by a 52kW servo motor. Komatsu's H2F300, the servo motor drives the ball screw through a transmission mechanism such as a belt or gear, and then drives the stamping slider through a multi-link mechanism. Its nominal pressure reaches 3000kN and is driven by two 100kW servo motors.

Examining the existing drive mechanisms of servo presses, it can be found that, from the perspective of mechanics, the transmission mechanisms of the above-mentioned presses are single-degree-of-freedom series mechanisms, and the servo motors rotate (crank) or move (ball screw) The stamping slide is driven directly or via an actuator (multi-link mechanism). The principle of single-degree-of-freedom mechanism to realize definite motion is to apply a servo motor to drive. Some servo press drive mechanisms use two servo motors for redundant drive, but these two servo motors must be synchronized at all times to avoid motion interference caused by input asynchrony. Although this can increase the input power and the forming pressure of the press, it increases the difficulty of control, and the stability of the control becomes worse. Any input error will cause the drive mechanism to fail to work normally or even be damaged.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the prior art, and provides a six-motor parallel drive mechanical multi-link servo press. A parallel drive mechanism is added between the servo motor and the multi-link mechanism, and the ball screw is driven by the servo motor. The slider (moving pair) is the input, and the parallel mechanism is used to coordinate the movement of multiple sliders. The output of the parallel mechanism is the linear motion of the slider with a single degree of freedom, and then drives the multi-link mechanism with a force-increasing effect, and finally drives the stamping The slider works.

The present invention is achieved through the following technical solutions. The present invention includes: a frame, three sets of identical linear drive mechanisms, a three-degree-of-freedom parallel mechanism, a toggle mechanism and a stamping slider, wherein: three sets of linear drive mechanisms are connected to the parallel mechanism , the toggle mechanism is respectively connected with the three-degree-of-freedom parallel mechanism and the stamping module, and the frame is sleeved on the outside of the driving mechanism and the stamping slider.

The linear drive mechanism includes: two servo motors, two driving screws and supporting nuts, a mechanical coordination device and a driving slider, wherein: the servo motor is connected to the driving screw, and the two ends of the two supporting nuts are respectively Connected with drive slider and mechanical coordinator.

The parallel mechanism includes: three connecting rods and a moving platform, wherein: one end of the three connecting rods is respectively connected with three linear drive mechanisms, and the other ends of the three connecting rods are connected with the moving platform at the same time.

The toggle mechanism is two sets of left-right symmetrical six-bar mechanisms. The toggle mechanism uses a common input end and output end, and both the input end and the output end are linear motion sliders.

The output moving platform of the three-degree-of-freedom parallel mechanism adopted in the present invention is connected with the input slide block of the symmetrical toggle mechanism through a rotating pair through a connecting rod. The input slider of the symmetrical toggle mechanism can only move in the vertical direction, and its common output end (stamping slider) is driven by the force-increasing effect of the toggle mechanism, so as to realize the forging processing action of the stamping slider.

The invention adopts a toggle mechanism with a large force ratio, and adopts a symmetrical arrangement to improve the anti-eccentric load capability, reduce the load of the stamping slider on the guide rail, and maintain the precision of the press for a long time. At the same time, the symmetrical toggle mechanism can offset the horizontal lateral force on the common input end and output end, reducing the wear of the guide rail and the deformation of the frame. Therefore, the parallel drive mechanism of the present invention converts the motion and torque from the six servo motors into a single output, which is transmitted and synthesized on the stamping slider, so that the entire drive system can output greater forming pressure. The control difficulty is relatively reduced, and different forging processes can be realized by controlling the movement of the servo motor.

The invention has the advantages of simple structure, easy control and low manufacturing cost, and can well solve the problem that the existing servo press cannot build a large-tonnage servo press due to the limitations of the bearing capacity of the ball screw, the power of the servo motor, and the small output torque.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of the linear drive mechanism of the present invention.

Fig. 3 is a schematic cross-sectional view of the structure of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Figure 1, this embodiment includes: a frame 1, a first linear drive mechanism 2, a first guide rail 3, a second linear drive mechanism 4, a second guide rail 5, a fourth guide rail 6, a toggle mechanism 7, The fifth guide rail 8, the stamping slider 9, the slider connecting rod 10, the parallel mechanism 11, the third guide rail 12 and the third linear drive mechanism 13, wherein: the first linear drive mechanism 2, the second linear drive mechanism 4, the first linear drive mechanism The output ends of the three linear drive mechanisms 13 are respectively used as the input ends of the parallel mechanism 11, the slider connecting rod 10 is used to connect the parallel mechanism 11 and the toggle mechanism 7, the stamping slider 8 is used as the output end of the toggle mechanism 7, and the frame 1 It is sleeved on the outside of the above-mentioned driving mechanism and the stamping slider.

As shown in Figure 2, the first linear drive mechanism 2, the second linear drive mechanism 4 and the third linear drive mechanism 13 have the same structure, including: a first servo motor 14, a second servo motor 21, a A driving screw 15, a first supporting nut 17, a second driving screw 20, a second supporting nut 19, a mechanical coordinating device 16 and a driving slider 18, wherein: the first driving screw 15 and the second driving screw 20 The two ends of the first servo motor 14, the second servo motor 21 and the frame 1 are connected respectively, and the two ends of the first matching nut 17 and the second matching nut 19 are respectively connected with the drive slider 18 and the mechanical coordinating device 16.

As shown in Figure 3, the described parallel mechanism 11 includes: a first connecting rod 22, a second connecting rod 32, a third connecting rod 33 and a moving platform 31, wherein: the first connecting rod 22, the second connecting rod 32, One end of the third connecting rod 33 is connected with the driving slide block 18 of the first linear driving mechanism 2, the second linear driving mechanism 4 and the third linear driving mechanism 13 respectively, the first connecting rod 22, the second connecting rod 32, The other end of the third connecting rod 33 is connected with the moving platform 31 .

As shown in Figure 3, the toggle mechanism 7 refers to two sets of left and right symmetrical six-bar mechanisms, which use a common input end and output end, including: the fourth connecting rod 23, the fifth connecting rod 24, the sixth connecting rod Connecting rod 25, seventh connecting rod 27, eighth connecting rod 28 and ninth connecting rod 29, input slider 30 and stamping slider 26 (output slider), wherein: fourth connecting rod 23, fifth connecting rod 24 1. One end of the sixth connecting rod 25 is connected with a rotating pair, and the other end is connected with the input slider 30, the frame 1 and the stamping slider 26 respectively to form a left side six-bar mechanism; the seventh connecting rod 27, the eighth connecting rod 28 and One end of the ninth connecting rod 29 is connected with a rotating pair, and the other end is connected with the stamping slider 26, the input slider 30 and the frame 1 respectively, forming a right six-bar mechanism.

The working principle of this embodiment is as follows: six servo motors rotate according to the set motion law, and push the drive sliders 18 of the first three linear drive mechanisms 2, the second linear drive mechanism 4 and the third linear drive mechanism 13, respectively Move along the first guide rail 3, the second guide rail 5 and the third guide rail 12, and then the first driving slider 18 passes through the first connecting rod 22, the second driving slider 18 passes through the connecting rod 32, and the third driving slider 18 passes through the connecting rod. The rods 33 jointly drive the moving platform 31 to move, and the moving platform 31 drives the slider 30 to move along the fourth guide rail 6 through the slider connecting rod 10, and then the slider 30 drives the symmetrical toggle mechanism 7, thereby realizing the stamping slider 26 moving along the fifth column. Guide rail 8 carries out the forging action of moving up and down. Therefore, the movement and force transmission from the six servo motors are synthesized on the stamping slide to complete the forging work.

Claims (1)

1. motor parallel drive multi-link mechanical servo press, comprise: frame, straight line driving mechanism, parallel institution, elbow-bar mechanism and Punching slider, it is characterized in that: described parallel institution is 3-freedom parallel mechanism, described straight line driving mechanism is three groups of identical straight line driving mechanisms, three groups of straight line driving mechanisms are connected with parallel institution, elbow-bar mechanism is connected with Punching slider with 3-freedom parallel mechanism respectively, and frame is socketed on the outside of driving mechanism and Punching slider;

Described parallel institution comprises: first connecting rod, second connecting rod, third connecting rod and moving platform, wherein: an end of first connecting rod, second connecting rod, third connecting rod is connected with the driving slide block of first straight line driving mechanism, second straight line driving mechanism and the 3rd straight line driving mechanism respectively, and the other end of first connecting rod, second connecting rod, third connecting rod is connected with moving platform;

Described straight line driving mechanism is three groups of identical straight line driving mechanisms, every group comprises: first servomotor, second servomotor, first drive leading screw, the first supporting nut, second drives leading screw, the second supporting nut, mechanical coordination device and drives slide block, wherein: first drives leading screw is connected with frame with first servomotor, second servomotor respectively with second two ends that drive leading screw, and the two ends of the first supporting nut and the second supporting nut are connected with the mechanical coordination device with the driving slide block respectively;

Described elbow-bar mechanism is the symmetrical six-bar mechanisms of two covers, and this elbow-bar mechanism is used common input and output, and input all is the rectilinear motion slide block with output;

Described elbow-bar mechanism comprises: the 4th connecting rod, the 5th connecting rod, the 6th connecting rod, seven-link assembly, the 8th connecting rod and the 9th connecting rod, input slide block and Punching slider, wherein: the 4th connecting rod, the 5th connecting rod, the 6th connecting rod one end connect with revolute pair, the other end is connected with Punching slider with input slide block, frame respectively, constitutes the left side six-bar mechanism; Seven-link assembly, the 8th connecting rod and the 9th connecting rod one end are connected with revolute pair, and the other end is connected with frame with Punching slider, input slide block respectively, constitutes the right side six-bar mechanism;

Described six servomotors rotate by setting the characteristics of motion, promote first straight line driving mechanism, the driving slide block of second straight line driving mechanism and the 3rd straight line driving mechanism, respectively along first guide rail, second guide rail and the 3rd guide rail movement, and then first drive slide block and pass through first connecting rod, second drives slide block passes through second connecting rod, the 3rd drives slide block drives the moving platform motion jointly by third connecting rod, moving platform drives the input slide block along the 4th guide rail movement by slide block connecting rod, import slide block then and drive symmetrical elbow-bar mechanism, thereby realize the forging action that Punching slider moves up and down along column the 5th guide rail, the motion and the power transmission that come from six servomotors are synthesized on Punching slider, finish forging and pressing work.

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