CN102430681A - Driving mechanical coordination device of double servo motors of press machine - Google Patents
Driving mechanical coordination device of double servo motors of press machine Download PDFInfo
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- CN102430681A CN102430681A CN2011104512452A CN201110451245A CN102430681A CN 102430681 A CN102430681 A CN 102430681A CN 2011104512452 A CN2011104512452 A CN 2011104512452A CN 201110451245 A CN201110451245 A CN 201110451245A CN 102430681 A CN102430681 A CN 102430681A
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- connecting rod
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- revolute pair
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- servomotor
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- 230000003750 conditioning effect Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 21
- 230000007246 mechanism Effects 0.000 abstract description 19
- 238000004080 punching Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 239000002184 metal Substances 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
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Abstract
The invention discloses a driving mechanical coordination device with double servo motors, which comprises a rack, a servo motor A, a servo motor B, a crank A, a crank B, a connecting rod A, a connecting rod B, a connecting rod C and a guide rod, wherein the crank A, the crank B, the connecting rod A, the connecting rod B and the connecting rod C form a two-degree-of-freedom parallel mechanism, and the guide rod is connected to the connecting rod B through a revolute pair C. When the servo motor A and the servo motor B are driven asynchronously, the phases of the crank A and the crank B are inconsistent, so that the connecting rod A and the connecting rod C do asymmetric motion, and the connecting rod A and the connecting rod C jointly drive the connecting rod B to do micro rotary motion around the revolute pair C, so that the motion interference caused by the asynchronous input of the two motors is avoided, and the power of the two servo motors is output in a superposed manner. The device is adopted to coordinate and synthesize the power of the two servo motors to obtain the high-power servo press, so that the internal force interference caused by input errors can not be generated, and the control stability can be improved.
Description
Technical field
The present invention relates to a kind of device of metal forming machinery technical field, specifically is a kind of driving device conditioning unit of two servomotors of forcing press.
Background technology
Forcing press is a widely used forging equipment in the metal forming manufacture field, and kind and quantity are various, wherein uses the most extensive with punching machine.The demand for development forcing press of Modern Manufacturing Technology not only can be at a high speed, high accuracy, heavy load running, and should have bigger flexibility, can change the output movement rule rapidly, easily.Traditional punching machine kinetic characteristic is single, technology is poor for applicability.In recent years along with the technological progressively development of AC servo machinery driving Forming Equipments; The adjustable various AC servo driving pressure machines of slide block movement curve have appearred; Make the service behaviour and the technology applicability of forcing press improve greatly, equipment develops towards flexibility, intelligentized direction.
The standard machinery forcing press is general to adopt various mechanical transmission mechanism to obtain the required slide block movement rule of technology, to satisfy the different processes requirement.Traditional punching machine obtain some and satisfy the typical motion rule that Sheet Metal Forming Technology requires, but a kind of organization plan can't satisfy the requirement of multiple typical motion rule through selecting the suitable executing agency and the size of member thereof.Though adopt offset slider-crank mechanism, multi-connecting-rod mechanism, non-circular gear mechanism etc. can partly change the slide block movement rule of certain driving mechanism; But after the dimensional parameters of each rod member is confirmed; The kinetic characteristic of slide block is also confirmed thereupon; Thereby do not have flexibility, be difficult to use in different Sheet Metal Forming Technologies.The research that AC servomotor is applied to punching machine starts from ERC of the Ohio State Univ-Columbus USA nineties in last century; This center S.Yossifon and R.Shivpuri has proposed to drive ball-screw or crank by AC servomotor; Is the required motion of slide block through multi-bar linkage with conversion of motion, and it can the utmost point changes the curve movement of slide block easily, obtains the different workpiece deformation velocity; Be applicable to different Sheet Metal Forming Technologies, guarantee the quality of stamping parts.Afterwards, the research that AC servomotor is applied to punching machine develops rapidly, and states such as Japan, Canada have all carried out deep research, and companies such as Japanese Xiao Song and meeting field have developed the driving forcing press of AC servomotor separately respectively.
Through the retrieval of prior art is found, the HCP3000 of komatsu company, two 12kW servomotors be through belt drive two cover ball-screws separately, and the nut through screw mandrel directly drives Punching slider, and its nominal pressure only reaches 800kN.The H2F300 of komatsu company drives two cover ball-screws by two 100kW servomotors respectively through belt, and through the independent multi-connecting-rod mechanism driven in common Punching slider of two covers, its nominal pressure reaches 3000kN again.
Investigating existing servo-pressing machine driving mechanism can find; Angle from theory of mechanisms; The transmission mechanism of above-mentioned forcing press all is a mechanism with single degree of freedom, and servomotor directly or through multi-connecting-rod mechanism drives Punching slider with the rotation (crank) or (ball-screw) mode of moving.Mechanism with single degree of freedom realizes confirming that the principle of motion is to use a servomotor to drive.If the servo-pressing machine driving mechanism adopts two servomotor redundant drive, these two servomotors must guarantee synchronous constantly, to avoid importing the asynchronous movement interference that causes.Though can increase input power like this, increase the forming pressure of press, increased the difficulty of control strategy, and the bad stability of control, any error originated from input all can cause the driving mechanism can't operate as normal even be damaged.
Summary of the invention
Be to solve the problems referred to above that prior art exists, the present invention will design a kind of can the generation because of error originated from input and cause that internal force is interfered and the driving device conditioning unit of two servomotors that control stability is good.
To achieve these goals; Technical scheme of the present invention is following: the driving device conditioning unit of a kind of pair of servomotor; Comprise frame, servomotor A, servo motor B, crank A, crank B, connecting rod A, connecting rod B, connecting rod C and guide rod; Described crank A, crank B, connecting rod A, connecting rod B and connecting rod C constitute a binary parallel institution, and guide rod is connected on the connecting rod B through revolute pair C;
Described binary parallel institution; Comprise servomotor A, servo motor B, crank A, crank B, connecting rod A, connecting rod B and connecting rod C, described servomotor A is connected with crank A, and crank A is connected through revolute pair A with connecting rod A; Servo motor B is connected with crank B; Crank B is connected through revolute pair E with connecting rod C, and the end of connecting rod B is connected with revolute pair B with the end of connecting rod A, and the other end of connecting rod B is connected with revolute pair D with the end of connecting rod C.
The axis of revolute pair A of the present invention, revolute pair B, revolute pair C, revolute pair D and revolute pair E is parallel to each other.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention is directed to the above-mentioned deficiency that prior art exists; A kind of two driven by servomotor mechanical coordination devices that are used for forcing press are provided; Utilize the dual input characteristic of two-freedom-degree parallel mechanism; With two driven by servomotor cranks is input, does rectilinear motion through guide rod of connecting rod driven in common along guide rail.This guide rod can directly drive Punching slider, can also connect the elbow-bar mechanism with boosting function and drive Punching slider.When servomotor A driving asynchronous with servo motor B; Cause crank A and crank B phase place inconsistent; And then make connecting rod A and connecting rod C assymmetric motion; Connecting rod A and connecting rod C driven in common connecting rod B do small rotatablely moving around revolute pair C, have both avoided two asynchronous movement interferences that cause of motor input, make two servomotor power be able to stack output again.Adopt this device to coordinate synthetic two servomotor power, can not produce the internal force that causes because of error originated from input and interfere to obtain high-power servo-pressing machine.
2, the present invention is simple in structure, control is easy, low cost of manufacture, two servomotor redundant drive of can fine solution existing servo-pressing machine and the Synchronization Control cost that causes is high and the problem of poor reliability.When the servo-pressing machine driving mechanism adopted two servomotor redundant drive, it was synchronous constantly to guarantee two servomotors to carry out Synchronization Control to these two servomotors, otherwise will occur that servomotor internal force is interfered or problems such as mechanism kinematic interference.But, make Synchronization Control comparatively difficult, and poor reliability owing to reasons such as departure, systematic error, basic machine wearing and tearing.Adopt the present invention, can eliminate the error originated from input of two servomotors through mechanical coordination, and needn't two servomotors be carried out synchronously, improve control stability.Do not see the bibliographical information that is similar to the two driven by servomotor mechanical coordination devices of the present invention at present both at home and abroad as yet.
Description of drawings
The present invention is 1 of drawings attached only, wherein:
Fig. 1 is a structural representation of the present invention.
Among the figure: 1, servomotor A, 2, crank A, 3, frame, 4, revolute pair A, 5, connecting rod A; 6, revolute pair B, 7, connecting rod B, 8, revolute pair C, 9, guide rail, 10, guide rod; 11, revolute pair D, 12, connecting rod C, 13, revolute pair E, 14, crank B, 15, servo motor B.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.As shown in Figure 1; The driving device conditioning unit of a kind of pair of servomotor; Comprise frame 3, servomotor A1, servo motor B 15, crank A2, crank B14, connecting rod A5, connecting rod B7, connecting rod C12 and guide rod 10; Described crank A2, crank B14, connecting rod A5, connecting rod B7 and connecting rod C12 constitute a binary parallel institution, and guide rod 10 is connected on the connecting rod B7 through revolute pair C8;
Described binary parallel institution; Comprise servomotor A1, servo motor B 15, crank A2, crank B14, connecting rod A5, connecting rod B7 and connecting rod C12; Described servomotor A1 is connected with crank A2; Crank A2 is connected through revolute pair A4 with connecting rod A5, and servo motor B 15 is connected with crank B14, and crank B14 is connected through revolute pair E13 with connecting rod C12; The end of connecting rod B7 is connected with revolute pair B6 with the end of connecting rod A5, and the other end of connecting rod B7 is connected with revolute pair D11 with the end of connecting rod C12.The axis of described revolute pair A4, revolute pair B6, revolute pair C8, revolute pair D11 and revolute pair E13 is parallel to each other.
The operation principle of present embodiment is following: servomotor A1 rotates by setting the characteristics of motion, drives crank A2 and rotates, and servo motor B 15 is rotated by setting the characteristics of motion, drives crank B14 and rotates.Crank A2 is through connecting rod A5, and crank B14 is through connecting rod C12 driven in common connecting rod B7 motion, and connecting rod B7 drive leader 10 moves up and down along guide rail 9.Thus, the motion and the power transmission that come from two servomotors are synthesized on guide rod 10.
Present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Claims (2)
1. the driving device conditioning unit of two servomotors; It is characterized in that: comprise frame (3), servomotor A (1), servo motor B (15), crank A (2), crank B (14), connecting rod A (5), connecting rod B (7), connecting rod C (12) and guide rod (10); Described crank A (2), crank B (14), connecting rod A (5), connecting rod B (7) and connecting rod C (12) constitute a binary parallel institution, and guide rod (10) is connected on the connecting rod B (7) through revolute pair C (8);
Described binary parallel institution; Comprise servomotor A (1), servo motor B (15), crank A (2), crank B (14), connecting rod A (5), connecting rod B (7) and connecting rod C (12); Described servomotor A (1) is connected with crank A (2); Crank A (2) is connected through revolute pair A (4) with connecting rod A (5), and servo motor B (15) is connected with crank B (14), and crank B (14) is connected through revolute pair E (13) with connecting rod C (12); The end of connecting rod B (7) is connected with revolute pair B (6) with the end of connecting rod A (5), and the other end of connecting rod B (7) is connected with revolute pair D (11) with the end of connecting rod C (12).
2. the driving device conditioning unit of a kind of pair of servomotor according to claim 1, it is characterized in that: the axis of described revolute pair A (4), revolute pair B (6), revolute pair C (8), revolute pair D (11) and revolute pair E (13) is parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104512452A CN102430681A (en) | 2011-12-29 | 2011-12-29 | Driving mechanical coordination device of double servo motors of press machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104512452A CN102430681A (en) | 2011-12-29 | 2011-12-29 | Driving mechanical coordination device of double servo motors of press machine |
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| CN102430681A true CN102430681A (en) | 2012-05-02 |
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| CN2011104512452A Pending CN102430681A (en) | 2011-12-29 | 2011-12-29 | Driving mechanical coordination device of double servo motors of press machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103071997A (en) * | 2013-01-17 | 2013-05-01 | 银川西部大森数控技术有限公司 | Double-lever press-fitting mechanism |
| WO2014104993A1 (en) | 2012-12-28 | 2014-07-03 | Bes Isletme Arge Ve Muhendislik Cozumleri̇ Sanayi Ticaret Limited Sirketi | Mechanical system which produces extended stroke and high force, via rotary drive |
| CN104290344A (en) * | 2014-10-16 | 2015-01-21 | 南京航空航天大学 | Double-servo-motor-driven multi-connection-rod press machine and working method |
| CN105171096A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Mechanical shaping machine primary motion mechanism |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN110280634A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | Crank screw rod composite drive machine for press-bending metal sheet with multiple-working mode |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19842278A1 (en) * | 1998-09-16 | 2000-03-23 | Erfurt Umformtechnik Gmbh | Press employing crank or eccentric embodies modular drive unit with multifunctional cylinders between moving plunger and machine frame, in design adapting economically to diverse pressing operations |
| CN102172760A (en) * | 2011-03-02 | 2011-09-07 | 上海交通大学 | Crank-input multilink press driven by four servo motors in parallel |
| CN102228950A (en) * | 2011-05-31 | 2011-11-02 | 上海交通大学 | Multi-connecting rod press machine driven by two paralleled servo motors |
| EP2390089A2 (en) * | 2010-05-28 | 2011-11-30 | Aida Engineering, Ltd. | Servo press apparatus driven by multiple motors |
| CN202387897U (en) * | 2011-12-29 | 2012-08-22 | 一重集团大连设计研究院有限公司 | Driving machine coordination device for dual-servo motor of press |
-
2011
- 2011-12-29 CN CN2011104512452A patent/CN102430681A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19842278A1 (en) * | 1998-09-16 | 2000-03-23 | Erfurt Umformtechnik Gmbh | Press employing crank or eccentric embodies modular drive unit with multifunctional cylinders between moving plunger and machine frame, in design adapting economically to diverse pressing operations |
| EP2390089A2 (en) * | 2010-05-28 | 2011-11-30 | Aida Engineering, Ltd. | Servo press apparatus driven by multiple motors |
| CN102172760A (en) * | 2011-03-02 | 2011-09-07 | 上海交通大学 | Crank-input multilink press driven by four servo motors in parallel |
| CN102228950A (en) * | 2011-05-31 | 2011-11-02 | 上海交通大学 | Multi-connecting rod press machine driven by two paralleled servo motors |
| CN202387897U (en) * | 2011-12-29 | 2012-08-22 | 一重集团大连设计研究院有限公司 | Driving machine coordination device for dual-servo motor of press |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014104993A1 (en) | 2012-12-28 | 2014-07-03 | Bes Isletme Arge Ve Muhendislik Cozumleri̇ Sanayi Ticaret Limited Sirketi | Mechanical system which produces extended stroke and high force, via rotary drive |
| CN103071997A (en) * | 2013-01-17 | 2013-05-01 | 银川西部大森数控技术有限公司 | Double-lever press-fitting mechanism |
| CN104290344A (en) * | 2014-10-16 | 2015-01-21 | 南京航空航天大学 | Double-servo-motor-driven multi-connection-rod press machine and working method |
| CN104290344B (en) * | 2014-10-16 | 2016-01-20 | 南京航空航天大学 | Double servo motor driven multi-link press and working method |
| CN105171096A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Mechanical shaping machine primary motion mechanism |
| CN105171093A (en) * | 2015-10-27 | 2015-12-23 | 北华航天工业学院 | Variable-input reconfigurable mechanical shaper main motion mechanism |
| CN110280634A (en) * | 2019-07-22 | 2019-09-27 | 南京邮电大学 | Crank screw rod composite drive machine for press-bending metal sheet with multiple-working mode |
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Application publication date: 20120502 |