CN110280629A - The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive - Google Patents

Abstract

The invention discloses a kind of mechanical full electric servo numerical control Synchronous Bending machines of multiple degrees of freedom composite drive, including rack, with rack be connected for bending lower die, can along rack move up and down top shoe and with top shoe be connected, cooperation lower die bending upper mold, the first driving mechanism and the second driving mechanism for driving top shoe to realize friction speed and stroke range are connected on the top shoe, wherein the second driving mechanism is symmetrical set.The mechanical full electric servo numerical control Synchronous Bending machine of multiple degrees of freedom composite drive of the present invention is suitble to large-tonnage operating condition, and has the advantages that heavy duty, high-precision, low energy consumption, driving motor power is small, power utilization is high, speed is fast low with manufacturing cost etc..

Description

Mechanical all-electric servo CNC synchronous bending machine with multi-degree-of-freedom compound drive

technical field

The invention relates to a plate bending machine, in particular to a mechanical all-electric servo numerical control synchronous bending machine with multi-degree-of-freedom compound drive.

Background technique

CNC bending machine is the most important and basic equipment in the field of sheet metal processing. Energy saving, environmental protection, high speed, high precision, digitization and intelligence are the future development trends. The driving methods of CNC bending machines include hydraulic drive and mechanical electric servo drive. At present, hydraulic drive is the main method, but mechanical electric servo is the future development trend.

The advantage of hydraulic drive is large tonnage, which is easy to realize the bending processing of large format and thick plates; the disadvantages of hydraulic drive are as follows: 1. Large noise, high energy consumption, hydraulic oil leakage and environmental pollution; 2. High cost High, because the cost of high-precision parts such as hydraulic cylinders, valve groups, and hydraulic pumps is relatively high. Among them, the high-end market of valve groups and hydraulic pump components is almost completely dependent on imports, and the cost is high; 3. The accuracy is not high, and the position accuracy control of the hydraulic system exists. Inherent disadvantages, poor position controllability; 4. Low service life, wear and tear of components, and pollution of hydraulic oil circuits are likely to have adverse effects on the stability of the hydraulic system; 5. The impact of the slider action is large and uneven; Factors such as temperature, humidity, and dust have great influence; 7. Motion control is complicated.

The electromechanical servo can solve the shortcomings of the above-mentioned hydraulic drive method, but due to the technical bottleneck of the electromechanical servo drive method, it is only widely used in the field of small tonnage, generally no more than 50 tons. At present, the driving mode of mechanical all-electric servo bending with small tonnage is shown in Figure 1 and Figure 2. Most of them adopt the driving mode of heavy-duty ball screw, mainly including servo motor a, synchronous belt drive b, ball screw drive c, Slider d, workbench e and other parts. Wherein the servo motor is fixed on the frame, the ball screw is hinged with the frame, the slide block is slidably connected with the frame and can slide up and down along the frame, and the workbench is fixed on the frame. Synchronous belt transmission consists of three parts: small pulley, synchronous belt and large pulley, which play the role of deceleration and transmission. The slider is driven by the ball screw transmission pair, the servo motor drives the screw to rotate through the synchronous belt, and the slider realizes the up and down motion under the drive of the ball screw transmission pair. The slider d moves up and down relative to the workbench e, the upper mold f is installed on the slider, and the lower mold g is installed on the workbench, so that the bending process of the plate h can be realized. The slider is driven symmetrically by two left and right lead screws. On the one hand, the load is large and the rigidity is high. On the other hand, when there is a parallelism error between the upper and lower dies, the parallelism can be fine-tuned by the reverse rotation of the left and right motors.

The above-mentioned mechanical all-electric servo bending machine driven by a ball screw has the advantages of simple structure, high mechanical transmission efficiency, fast speed, high precision, and effectively overcomes many problems of hydraulic transmission; the disadvantages are as follows: 1. Cost High, high-precision, heavy-duty ball screw basically depends on imports, and the price is expensive; 2. The processing and manufacturing precision of the machine tool is high; 3. It is only suitable for small-tonnage bending machines; 4. The power utilization rate is low, and the required drive motor power Large size and high cost; 5. Lead screw is easy to wear and damage.

Among them, the power utilization rate, the power consumed by the servo motor in the actual use process is determined by the load, and the ratio between the power consumed in the actual use process and the maximum power index (or rated power) that the motor can achieve can be used as the power utilization Rate. Under normal circumstances, during the bending process of the plate, the bending machine has experienced three action stages: 1. The fast down stage, the slider moves downward from the top dead center until the upper die touches the plate. This stage is very fast. The load is very small; the general speed is in the range of 150mm/s to 200mm/s, the load is basically to overcome the gravity of the slider, and the gravity of the slider generally does not exceed 1/50 of the nominal bending force of the bending machine, so the load is very small; This stage is a typical high-speed, low-load stage; 2. In the stage of work progress, the bending machine bends plates, which is a typical low-speed, heavy-load stage, and the speed is about 20mm/s, which is about 1/10 of the fast-down speed; 3. In the return stage, after the bending of the plate is completed, the slider moves upwards and returns to the top dead center. Its speed and load are the same as those in the fast down stage, with high speed and low load.

It can be seen from the above that the working condition of the bending machine is a typical variable speed and variable load condition. Due to the fixed transmission ratio of the ball screw drive, the servo motor reaches the maximum speed n _max in the fast lower stage, but the peak torque M _max is far from reaching. According to empirical data, it is generally only 1/50 of the peak torque, and the load can be directly Equivalent to the output torque of the motor, then the power consumed by the motor in the next stage is equivalent to: In the working stage, the motor reaches the peak torque M _max , but according to empirical data, the motor speed is only 1/10 of the maximum speed n _max at this time, mainly because of safety factors, and the working speed of the bending machine is usually low , the power required by the motor at this stage:

It can be known from the above that the drive system must not only meet the maximum speed requirements in the fast down and return stages, but also meet the peak torque requirements in the working stage; then under the premise of a fixed transmission ratio, the peak power: P _max ＝n _max × M _max . The required drive motor power is very large, even in the actual use process, the motor does not use the highest peak power, resulting in the power of the motor is not fully used, that is, the power utilization rate is low. Taking the common 35-ton electromechanical servo bending machine currently on the market as an example, its fast down speed and return speed are generally 200mm/s, and its nominal bending force is 350kN. In order to meet the requirements of the highest speed and maximum bending force at the same time, Usually need to use two 7.5kW servo motors, the conventional configuration in the current market, but in the actual work process, the actual power consumed by the two servo motors is about 1kw ~ 2kW, and the power utilization rate is very low.

Therefore, urgently need to solve the above-mentioned problem.

Contents of the invention

Purpose of the invention: the purpose of the present invention is to provide a kind of suitable for large tonnage, and has the advantages of heavy load, high precision, low energy consumption, small drive motor power, high power utilization rate, fast speed and low manufacturing cost, etc. It is a mechanical all-electric servo CNC synchronous bending machine driven by multi-degree-of-freedom composite drive with nonlinear motion characteristics and self-locking characteristics of specific positions.

Technical solution: In order to achieve the above objectives, the present invention discloses a multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine, including a frame, a lower mold fixedly connected to the frame for bending, and a machine that can be moved along the machine. The upper slider that moves up and down on the frame and the upper mold that is fixedly connected with the upper slider and cooperates with the lower mold to bend, the upper slider is hinged with a second connecting rod, and the second connecting rod is respectively connected to drive the upper slider. The block realizes the first drive mechanism and the second drive mechanism with different speeds and travel ranges, wherein the second drive mechanism is symmetrically arranged left and right; wherein the first drive mechanism includes a first power assembly located on the frame, and the first power assembly Two symmetrically arranged first cranks driven by the drive, and the first connecting rod connected with the first crank rotation pair, and the first connecting rod is hinged with the upper slider through the second connecting rod; the first power assembly outputs power to drive The first crank rotates, and the upper slider moves up and down through the first connecting rod and the second connecting rod; the second driving mechanism includes a second power assembly located on the frame, and a second crank driven by the second power assembly, And the pull rod connected with the second crank rotation pair, and the pull rod is hinged with the second connecting rod; the output power of the second power assembly drives the second crank to rotate, and the upper slider moves up and down through the pull rod and the second connecting rod.

Preferably, the first power assembly includes a first drive motor located on the frame, a first synchronous shaft connected to the output shaft of the first drive motor through a belt drive, synchronous shaft gears located at both shaft ends of the first synchronous shaft, and A crank gear meshed with each synchronous shaft gear, the crank gear is arranged coaxially with the first crank, and can drive the first crank to rotate.

Furthermore, the second power assembly includes a second drive motor located on the frame and a second drive shaft connected to the output shaft of the second drive motor through a belt drive, the second drive shaft is coaxially arranged with the second crank, And can drive the second crank to rotate.

Further, the asynchronous operation of 2 second drive motors arranged symmetrically can adjust the parallelism deviation of the upper mold and the lower mold.

Preferably, the second connecting rod is a length-adjustable connecting rod structure, the connecting rod structure includes a support, a worm located in the support with two shaft ends hinged to the support, a worm located in the support and engaged with the worm The worm wheel and the upper screw and lower screw threaded on the worm wheel through threaded connection, and both the upper and lower screws pass through the support; one shaft end of the worm is connected to a motor, and the motor starts to drive the worm gear and worm transmission, thereby driving the upper screw And the lower screw moves up and down along the worm wheel to realize the adjustable length.

Furthermore, the described worm wheel is provided with an upper thread matched with the upper screw rod and a lower thread matched with the lower screw rod, and the thread pitches of the upper thread and the lower thread are unequal.

Further, the outer cylindrical surfaces of the upper screw and the lower screw are provided with two mutually symmetrical planes, and a through hole matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support.

Preferably, the length of the first crank is greater than the length of the second crank, and the second driving mechanism is in a self-locking state when the first driving mechanism drives the upper slider to realize high-speed, light-load, non-working stroke movement; the second driving mechanism drives The first driving mechanism is in the self-locking device when the upper slider realizes low-speed, heavy-load, and process movement.

Furthermore, the length of the first crank is less than the length of the second crank, and the second drive mechanism is in a self-locking device when the first drive mechanism drives the upper slider to realize low-speed, heavy-load, and process movement. The first driving mechanism is in a self-locking state when the upper slider realizes high-speed, light-load, and non-working stroke motion.

Beneficial effects: compared with the prior art, the present invention has the following significant advantages:

(1), the present invention makes full use of the nonlinear motion characteristics of the connecting rod mechanism and the self-locking characteristics of a specific position, and according to the actual working conditions of the CNC bending machine, two independent driving mechanisms are used to realize the fast down and down of the bending machine Work-in and return movements; where the fast, low-load, large-stroke drive mechanism is used to realize the fast-down and return movements; the slow-speed, small-stroke, and heavy-load drive mechanism is used to realize work-in bending, which effectively improves performance and reduces costs , Realizing high-speed and heavy load is of great significance to promote the development of CNC bending machine from traditional hydraulic drive mode to mechanical electric servo drive mode.

(2) In the present invention, due to the nonlinear motion characteristics of the connecting rod mechanism, under the condition that the driving motor rotates at a constant speed, the speed of the connecting rod mechanism at its upper and lower dead center positions is relatively low, while at the intermediate position, the speed is relatively high and the movement Gentle, no impact.

(3) In the present invention, a fast and large-stroke drive mechanism is adopted to realize fast down and return actions, and a drive mechanism with a slow and small stroke and a greater force-increasing effect is used to realize the work-in motion. Two mutually coupled drive mechanisms cooperate to The action can greatly improve the power utilization rate of the servo motor, so as to realize the heavy-duty large-tonnage bending machine and overcome the technical bottleneck in the industry;

(4), because the present invention greatly improves the power utilization rate of the servo motor, the bending machine of the same tonnage can use a smaller drive motor, without the need for expensive heavy-duty, high-precision ball screws, and instead use ordinary cranks and connecting rods. Rods and other parts, effectively reducing the production cost, and maintenance-free, high reliability;

(5), the present invention can respectively drive the first drive mechanism and the second drive mechanism according to different process requirements, and the two cooperate to realize various processing modes and flexible combinations;

(6) The second connecting rod of the present invention can be set as a connecting rod structure with adjustable length. When changing different molds, the distance between the upper and lower sliders can be adjusted by adjusting the length of the connecting rod, which has a large adaptability and adjustment accuracy high;

(7) In the present invention, the asynchronous operation of the second drive motors arranged symmetrically can adjust the parallelism deviation of the upper mold and the lower mold, so that the left and right sides of the lower slider are not parallel, and the bending with taper can be realized;

(8) In the present invention, the first drive mechanism and the second drive mechanism are coupled to each other. When the length of the first crank is greater than the length of the second crank, the first drive mechanism drives the upper slider to realize high-speed and large-stroke movement The second drive mechanism keeps follow-up in real time and is in a self-locking state; when the second drive mechanism drives the upper slider to realize low-speed and small-stroke movement, the first drive mechanism keeps follow-up in real time and is in a self-locking device; when the length of the first crank is less than the first crank The length of the two cranks, when the first driving mechanism drives the upper slider to realize low-speed and small-stroke movement, the first driving mechanism keeps the follow-up in real time and is in a self-locking device, and the second driving mechanism drives the upper slider to realize high-speed and large-stroke movement. The mechanism saves the follow-up in real time and is in a self-locking state.

Description of drawings

Fig. 1 is the structural representation of bending machine in the prior art;

Fig. 2 is a schematic diagram of plate bending in the prior art;

Fig. 3 is schematic diagram 1 of principle of the present invention;

Fig. 4 is schematic diagram 2 of the present invention;

Fig. 5 is a structural schematic diagram 1 of the present invention;

Fig. 6 is a structural schematic diagram II of the present invention;

Fig. 7 is a structural schematic diagram three in the present invention;

Fig. 8 is a schematic structural view of the connecting rod structure in the present invention;

Fig. 9 is a schematic diagram of the connection of the worm gear in the connecting rod structure of the present invention;

Fig. 10 is a connection schematic diagram of the worm gear, the upper screw and the lower screw in the connecting rod structure of the present invention;

Fig. 11 is a schematic diagram of the end faces of the upper screw and the lower screw in the connecting rod structure of the present invention;

Figures 12(a) to 12(c) are schematic diagrams of the movement in the fast down stage in Embodiment 1 of the present invention;

Figures 13(a) to 13(b) are schematic diagrams of the movement of the working stage in Embodiment 1 of the present invention;

Fig. 14 is a schematic diagram of nonlinear motion characteristics of the link mechanism in the present invention.

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

Example 1

As shown in Fig. 3 and Fig. 4, a multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine includes a frame 1, a lower die 2, an upper slider 3 and a lower die 4. The upper slider 3 can move up and down along the frame 1, and the upper slider 3 is symmetrically provided with a guide groove 24 for guiding sliding, and the corresponding position on the frame 1 is provided with an insertion guide groove 24 that can slide up and down along the guide groove Guide block 25. Upper die 4 is fixedly arranged on the upper slide block 3, and lower die 2 is fixedly arranged on the frame 1, and upper die 4 and lower die 2 cooperate with each other to realize bending.

As shown in Figures 5 and 6, the upper slider 3 is connected with a first drive mechanism and a second drive mechanism for driving the upper slider to achieve different speeds and stroke ranges, the first drive mechanism includes a first power assembly, a first The crank 5, the first connecting rod 6 and the second connecting rod 7, the two first cranks 5 are symmetrically arranged on the left and right, and are driven by the same first power assembly, and each first crank 5 is connected with the first connecting rod in turn on the revolving pair 6 and the second connecting rod 7, and the second connecting rod 7 is hinged with the upper slider 3. Wherein the first power assembly comprises the first drive motor 10 on the frame, the first synchronous shaft 11 connected with the output shaft of the first drive motor 10 through a belt drive, the synchronous shaft gears 12 respectively located at the two shaft ends of the first synchronous shaft and A crank gear 13 meshing with each synchronous shaft gear, the crank gear 13 is arranged coaxially with the first crank 5 and can drive the first crank 5 to rotate. The belt transmission includes a driving wheel connected to the output shaft of the first drive motor 10, a driven wheel arranged on the first synchronous shaft 11, and a synchronous belt wound around the driving wheel and the driven wheel to realize transmission. The two axle ends of the first synchronizing shaft 11 are hinged with the frame, and it can rotate along the axis. The central axis of crank gear 13 is passed on the first crank 5, and is hinged with frame. The first driving motor 10 starts, and drives the first synchronous shaft 11 to rotate through the belt transmission, and simultaneously drives the synchronous shaft gears 12 on the left and right sides to rotate, and the synchronous shaft gear 12 and the crank gear 13 gear mesh transmission, driving the first crank set coaxially 5 rotates, the upper slider 3 is driven to move up and down along the frame by the first connecting rod 6 and the second connecting rod 7.

As shown in Fig. 5 and Fig. 7, the second driving mechanism of the present invention is symmetrically arranged left and right, and the second driving mechanism comprises a second power assembly, a second crank 8 and a pull rod 9, and the second crank 8 is driven by the second power assembly. A pull rod 9 is connected to the rotary pair on the two cranks 8, and the pull rod 9 is hinged to the second connecting rod 7. Wherein the second power assembly includes a second drive motor 14 positioned on the frame and a second drive shaft 15 connected to the output shaft of the second drive motor through a belt drive, the second drive shaft 15 is coaxially arranged with the second crank 8, And can drive the second crank 8 to rotate. Belt transmission comprises the driving wheel that is connected with the output shaft of the second driving motor, the driven wheel that is located on the second driving shaft 15 and the synchronous belt that is wound on driving wheel and driven wheel and realizes transmission. The second drive shaft 15 is passed through the second crank 8 and is hinged with the frame. The second drive motor 14 starts, drives the second drive shaft 15 to rotate by belt transmission, and drives the second crank 8 that is arranged on the same axis to rotate, and drives the upper slide block 3 to move up and down along the frame by the pull bar 9 and the second connecting rod 7. In the present invention, the parallelism deviation of the upper mold and the lower mold can be adjusted by asynchronous operation of 2 second driving motors arranged symmetrically so that the left and right sides of the lower slider are not parallel, and the bending with a taper can be realized.

As shown in Figure 3, the first connecting rod 6, the second connecting rod 7 and the pull rod 9 of the present invention can be hinged at one point, or as shown in Figure 4, the first connecting rod 6 and the second connecting rod 7 of the present invention are hinged At one point, the tie rod 9 is hinged at the middle of the second connecting rod 7, and the first connecting rod 6, the second connecting rod 7 and the tie rod 9 are hinged at different points in the present invention in order to obtain different kinematics and mechanical properties.

As shown in Figure 8, Figure 9 and Figure 10, the second connecting rod 7 of the present invention is a length-adjustable connecting rod structure, which includes a support 16, a worm 17, a worm wheel 18, an upper screw 19, a lower screw 20 and motor 21. Motor 21 is fixedly connected with one shaft end of worm screw 17, is used for driving worm screw 17 to rotate. Worm screw 17 is positioned at bearing 16, and two axle ends are hinged with bearing 16, and worm wheel 18 is positioned at bearing 16, and is meshed with worm screw and constitutes worm gear transmission pair. Worm wheel 18 is provided with the upper screw thread that matches with upper screw rod and the lower screw thread that matches with lower screw rod, and the thread pitch of upper screw thread and lower screw thread is not equal. Upper screw rod 19 and lower screw rod 20 are threaded on the worm wheel 18, and upper and lower screw rods all pass through support 16, and the upper screw rod 19 and lower screw rod 20 that stretch out are used to hinge other parts. Motor 21 starts, drives worm gear transmission, thereby drives upper screw rod 19 and lower screw rod 20 to move up and down along the worm gear and realizes that 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, and the worm wheel rotates once, the length adjustment amount that can be realized by the connecting rod structure is Δ=P1-P2, which effectively improves the adjustment accuracy of the connecting rod. As shown in Figure 11, the outer cylindrical surfaces of the upper screw 19 and the lower screw 20 are provided with two mutually symmetrical planes 22, and a through hole 23 matching with the upper and lower screws to form a moving pair is opened at the corresponding position of the support. , the surface that cooperates with the plane 22 on the through hole 23 is also a plane, and the surface that cooperates with the threaded surface can be a threaded surface, and other surfaces that can have a guiding effect can also be selected for use.

In the present invention, the length of the first crank 5 is greater than the length of the second crank 8 , and the length of the first crank 5 is 5 to 10 times the length of the second crank 8 . The first drive mechanism drives the upper slider to realize high-speed, light-load, non-working stroke movement, and the second drive mechanism drives the upper slider to realize low-speed, heavy-load, and work-in-progress movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore the present invention adopts the first driving mechanism to drive the upper slider to realize the fast down and return stages, and the second driving mechanism drives the upper slider to realize the working stage. As shown in Figure 12(a), the upper slider 3 is at the top dead center, that is, the first crank 5 and the first connecting rod 6 are collinear and coincident, and the second crank 8 and the tie rod 9 are collinear but not coincident. As shown in Figure 12(b) in the fast down stage of the present invention, the first drive motor 10 starts, drives the first synchronous shaft 11 to rotate through a belt drive, and its speed is ω1, and simultaneously drives the synchronous shaft gears 12 on the left and right sides to rotate, synchronously Shaft gear 12 and crank gear 13 are gear meshed and driven to drive the coaxial first crank 5 to rotate, and the second drive motor 14 is started to drive the second drive shaft 15 to rotate through belt transmission, and at the same time drive the coaxial second crank 8 Rotate, the rotational speeds of the two second cranks 8 are ω2 and ω3, keep the collinear but non-overlapping state of the second crank 8 and the tie rod 9 in real time, at this moment, the second connecting rod 7 drives the upper slider 3 to go down quickly; The position shown in 12(c) is the end of the lower stage, the first crank 5 and the first connecting rod 6 are collinear, but the two do not overlap, and the first drive mechanism is in the self-locking position at this time, that is, the first drive motor 10 only It is necessary to provide a small driving torque, or even no driving torque, to withstand a large bending load. In whole fast down stage, second crank 8 and pull bar 9 real-time dynamics keep collinear non-coincident state. Because the length of the first crank 5 is large, the present invention can realize fast descending in the fast descending stage, and the effect that the stroke is large. The present invention makes full use of when the crank-link mechanism is in the two positions of collinear coincidence and collinear non-coincidence, and the mechanism is in the self-locking position. As shown in Figure 13, in addition, due to the typical nonlinear motion characteristics of the linkage mechanism, the speed is low and the impact is small at the beginning and end of the fast down action. As shown in Fig. 13 (a), during the entire working process, the first crank 5 and the first connecting rod 6 need to maintain a collinear but non-overlapping state in real time, and the first driving mechanism is in a self-locking state to withstand a large Large bending load; the second drive motor 14 arranged symmetrically on the left and right sides drives the second crank 8 to rotate through the belt transmission, and the upper slider 3 is driven to move up and down along the frame through the pull rod 9 and the second connecting rod 7 . When the upper and lower molds have parallelism deviation, the second drive motor 14 on the left and right sides reverses or the different speeds in the same direction fine-tune the parallelism, and the speed of the lower drive motor 14 on the left and right sides is respectively ω2 and ω3. As shown in Figure 13(b), the second drive mechanism reaches the state where the second crank 8 and the tie rod 9 are collinear and coincident. The crank 8 and the pull rod 9 are collinear and coincident, or in other states, and the bending process is completed. Because the second crank 8 is less in length, it has a larger boosting effect, and the speed is slow, which meets the requirements of the working conditions.

In the present invention, the fast-down stage and the work-in stage can be combined to realize different processing modes, adopt different working modes according to different working conditions, achieve the effect of light-load fast and heavy-load slow, and improve the power utilization rate of the drive motor.

Fast mode: Only the fast down stage is used, that is, when bending thin plates, due to the small load, the bending process can be completed only through the first driving mechanism to drive the upper slider to move up and down, and the speed is fast; at the same time, the second In the second driving mechanism, the second crank 8 and the pull rod 9 are dynamically kept in a collinear and non-coincident state in real time;

Heavy-duty mode: the fast-down stage is followed by the work-in stage, that is, the fast-down action is performed first, and then the work-in action is performed. The second driving mechanism reaches the state where the second crank 8 and the tie rod 9 are collinear and overlapped, and the bending is completed;

Mixed mode: Simultaneous actions in the fast-down stage and the work-in stage;

Small opening bending mode: the upper slider does not stay completely at the bottom dead center, but only moves upward for a small distance, and the upper slider moves linearly within a small stroke range for bending. This mode is only suitable for bending small-sized and simple parts. efficient.

Example 2

The structure of embodiment 2 is the same as that of embodiment 1, the difference is that the length of the first crank 5 is shorter than the length of the second crank 8, and the first driving mechanism drives the upper slider to realize low-speed, heavy-load, and process movement , the second driving mechanism drives the upper slider to realize high-speed, light-load, non-working stroke movement. The working condition of the bending machine is a typical variable speed and variable load condition. The fast down and return stages are high-speed, low-load and large-stroke motion stages, and the working stage is low-speed, large-load and small-stroke motion stages. Therefore, the present invention adopts the second drive mechanism to drive the upper slider to realize the fast down and return stages, and the first drive mechanism to drive the upper slider to realize the working stage.

Claims (9)

1. A mechanical all-electric servo numerical control synchronous bending machine with multi-degree-of-freedom composite drive, characterized in that it includes a frame (1), a lower die (2) fixedly connected to the frame for bending, and a The upper slider (3) that moves up and down the frame and the upper mold (4) that is fixedly connected with the upper slider and cooperates with the bending of the lower mold. The upper slider (3) is respectively connected with a and the first driving mechanism and the second driving mechanism of the stroke range, wherein the second driving mechanism is symmetrically arranged left and right; the first driving mechanism includes the first power assembly located on the frame, and two symmetrical The first crank (5) provided, and the first connecting rod (6) connected with the rotation pair of the first crank (5), and the first connecting rod (6) is connected with the upper slider through the second connecting rod (7) (3) are hinged; the output power of the first power assembly drives the first crank (5) to rotate, and drives the upper slider (3) to move up and down through the first connecting rod (6) and the second connecting rod (7); The second drive mechanism includes a second power assembly positioned on the frame, a second crank (8) driven by the second power assembly, and a pull rod (9) connected to the second crank (8) rotation pair, and the pull rod (9) It is hinged with the second connecting rod (7); the output power of the second power assembly drives the second crank (8) to rotate, and drives the upper slider (3) to move up and down through the pull rod (9) and the second connecting rod (7). 2. The multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the first power assembly includes a first drive motor (10) located on the frame, The first synchronous shaft (11) connected to the output shaft of the first driving motor (10) through a belt drive, the synchronous shaft gears (12) located at the two shaft ends of the first synchronous shaft, and the crank gear meshed with each synchronous shaft gear (13), the crank gear (13) is arranged coaxially with the first crank (5), and can drive the first crank (5) to rotate. 3. The multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the second power assembly includes a second drive motor (14) on the frame and A second drive shaft (15) connected to the output shaft of the second drive motor through a belt transmission, the second drive shaft (15) is coaxially arranged with the second crank (8), and can drive the second crank (8) to rotate. 4. The multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine according to claim 3, characterized in that: two symmetrically arranged second drive motors (14) operate asynchronously and can adjust the upper mold and Parallelism deviation of the die. 5. The multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the second connecting rod (7) is a connecting rod structure with adjustable length, and the connecting rod (7) The rod structure includes a support (16), a worm (17) located in the support with two shaft ends hinged to the support, a worm wheel (18) located in the support and engaged with the worm, and threaded on the worm wheel The upper screw (19) and the lower screw (20), and the upper and lower screws pass through the support; one shaft end of the worm is connected with a motor (21), and the motor (21) starts to drive the worm gear, thereby driving the upper Screw rod (19) and lower screw rod (20) move up and down along the worm wheel to realize adjustable length. 6. The mechanical all-electric servo numerical control synchronous bending machine with multi-degree-of-freedom composite drive according to claim 5, characterized in that: the worm wheel (18) is provided with an upper screw thread matched with the upper screw and a lower screw thread. The lower thread that the screw rod matches, the thread pitch of the upper thread and the lower thread are not equal. 7. The multi-degree-of-freedom compound-driven mechanical all-electric servo numerical control synchronous bending machine according to claim 5, characterized in that: the outer cylindrical surface of the upper screw (19) and the lower screw (20) is provided with two Two mutually symmetrical planes (22) are provided with through holes (23) matching with the upper and lower screw rods to form a moving pair at corresponding positions of the support. 8. The multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the length of the first crank (5) is greater than the length of the second crank (8), When the first driving mechanism drives the upper slider to realize high-speed, light-load, and non-working stroke movement, the second driving mechanism is in a self-locking state; the second driving mechanism drives the upper slider to realize low-speed, heavy-load, and work-in-progress movement. The mechanism is in a self-locking device. 9. The multi-degree-of-freedom composite drive mechanical all-electric servo numerical control synchronous bending machine according to claim 1, characterized in that: the length of the first crank (5) is less than the length of the second crank (8), The first driving mechanism drives the upper slider to realize low-speed, heavy-load, and working stroke movement, and the second driving mechanism is in the self-locking device. The second driving mechanism drives the upper slider to realize high-speed, light-load, and non-working stroke movement. The mechanism is in a self-locking state.