Torsion Shaft Structure Based Multi-link All-electric Servo Synchronous Bending Machine

Abstract

A torsion shaft structure based multi-link all-electric servo synchronous bending machine, comprising a machine frame, a lower die fixedly connected to the machine frame and used for bending, a slider capable of moving up and down along the machine frame, and an upper die fixedly connected to the slider and cooperating with the lower die to perform bending, wherein the slider is left-right symmetrically connected to drive mechanisms for driving the slider to realize a transmission ratio adjustable motion.

Claims

1. A torsion shaft structure based multi-link all-electric servo synchronous bending machine, comprising a machine frame (1), a lower die (2) fixedly connected to the machine frame and used for bending, a slider (3) capable of moving up and down along the machine frame, and an upper die (4) fixedly connected to the slider and cooperating with the lower die to perform bending, wherein the slider (3) is left-right symmetrically connected to two drive mechanisms for driving the slider to realize a nonlinear motion characteristic.

2. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 1, wherein the drive mechanisms comprise a power assembly located on the machine frame, a screw (5) driven by the power assembly, a nut (6) in thread fit with the screw, a rotatable torsion shaft (7) disposed perpendicular to a slider plate surface and hingedly connected to the machine frame, a first crank (8) having one end hingedly connected to the nut and the other end fixedly connected to the torsion shaft, and a second crank (10) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the slider via a first link (9), wherein the power assembly outputs power, drives the screw (5) to rotate, drives the nut (6) to move via a screw thread pair transmission, and drives the slider (3) to move up and down sequentially via the first crank (8), the torsion shaft (7), the second crank (10) and the first link (9).

3. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 1, wherein the drive mechanisms comprise a power assembly located on the machine frame, a screw (5) driven by the power assembly, a nut (6) in thread fit with the screw, a tripod (11) having one end hingedly connected to the nut and the other end hingedly connected to the machine frame, a rotatable torsion shaft (7) disposed perpendicular to a slider plate surface and hingedly connected to the machine frame, a first crank (8) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the tripod via a second link (12), and a second crank (10) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the slider via a first link (9), wherein the power assembly outputs power, drives the screw (5) to rotate, drives the nut (6) to move via a screw thread pair transmission, and drives the slider (3) to move up and down sequentially via the tripod (11), the second link (12), the first crank (8), the torsion shaft (7), the second crank (10) and the first link (9).

4. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 1, wherein the drive mechanisms comprise a power assembly located on the machine frame, a third crank (13) driven by the power assembly, a fourth link (14) connected to a revolute pair of the third crank, a rotatable torsion shaft (7) disposed perpendicular to a slider plate surface and hingedly connected to the machine frame, a first crank (8) having one end hingedly connected to the fourth link and the other end fixedly connected to the torsion shaft, and a second crank (10) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the slider via a first link (9), wherein the power assembly outputs power, drives the third crank (13) to rotate, and drives the slider (3) to move up and down sequentially via the fourth link (14), the first crank (8), the torsion shaft (7), the second crank (10) and the first link (9).

5. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 1, wherein the drive mechanisms comprise a power assembly located on the machine frame, a third crank (13) driven by the power assembly, a fourth link (14) connected to a revolute pair of the third crank, a tripod (11) having one end hingedly connected to the fourth link and the other end hingedly connected to the machine frame, a rotatable torsion shaft (7) disposed perpendicular to a slider plate surface and hingedly connected to the machine frame, a first crank (8) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the tripod via a second link (12), and a second crank (10) having one end fixedly connected to the torsion shaft and the other end hingedly connected to the slider via a first link (9), wherein the power assembly outputs power, drives the third crank (13) to rotate, and drives the slider (3) to move up and down sequentially via the fourth link (14), the tripod (11), the second link (12), the first crank (8), the torsion shaft (7), the second crank (10) and the first link (9).

6. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 2, wherein the power assembly comprises a servo motor (15) located on the machine frame, a small belt wheel (16) located on an output shaft of the servo motor, a big belt wheel (17) coaxially fixedly connected to the screw, and a synchronous belt (18) winding on the small belt wheel and big belt wheel to perform transmission.

7. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 4, wherein the power assembly comprises a servo motor (15) located on the machine frame, a small belt wheel (16) located on an output shaft of the servo motor, a big belt wheel (17) coaxially fixedly connected to the third crank, and a synchronous belt (18) winding on the small belt wheel and big belt wheel to perform transmission.

8. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 2, wherein the machine frame (1) is hingedly connected to a fixing base (19) for configuring the power assembly; and the screw (5) is hingedly connected to the fixing base (19) via a bearing.

9. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 2, wherein the nut (6) is hingedly connected to the first crank (8) via a connecting base (20).

10. The torsion shaft structure based multi-link all-electric servo synchronous bending machine according to claim 3, wherein the nut (6) is hingedly connected to the tripod (11) via a connecting base (20).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG. 1 is a structural schematic diagram of a bending machine in the prior art;

[0025] FIG. 2 is a schematic diagram how to bend a plate in the prior art;

[0026] FIG. 3 is a schematic diagram of the embodiment 1 of the present invention;

[0027] FIG. 4 is a structural schematic diagram I of the embodiment 1 of the present invention;

[0028] FIG. 5 is a structural schematic diagram II of the embodiment 1 of the present invention;

[0029] FIG. 6 is a structural schematic diagram of the embodiment 1 of the present invention having the machine frame removed;

[0030] FIG. 7 is a schematic diagram of the embodiment 2 of the present invention;

[0031] FIG. 8 is a structural schematic diagram I of the embodiment 2 of the present invention;

[0032] FIG. 9 is a structural schematic diagram II of the embodiment 2 of the present invention;

[0033] FIG. 10 is a structural schematic diagram of the embodiment 2 of the present invention having the machine frame removed;

[0034] FIG. 11 is a schematic diagram of the embodiment 3 of the present invention;

[0035] FIG. 12 is a structural schematic diagram I of the embodiment 3 of the present invention;

[0036] FIG. 13 is a structural schematic diagram II of the embodiment 3 of the present invention;

[0037] FIG. 14 is a structural schematic diagram of the embodiment 3 of the present invention having the machine frame removed;

[0038] FIG. 15 is a schematic diagram of the embodiment 4 of the present invention;

[0039] FIG. 16 is a structural schematic diagram I of the embodiment 4 of the present invention;

[0040] FIG. 17 is a structural schematic diagram II of the embodiment 4 of the present invention;

[0041] FIG. 18 is a structural schematic diagram of the embodiment 4 of the present invention having the machine frame removed;

[0042] FIG. 19 is a schematic diagram of the nonlinear motion characteristic of the link mechanism in the present invention; and

[0043] FIG. 20 is a force diagram of slider in the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0044] The technical solution of the present invention will be further described hereafter in combination with the drawings.

Embodiment 1

[0045] As shown in FIG. 3, a torsion shaft structure based multi-link all-electric servo synchronous bending machine provided by the present invention comprises a machine frame 1, a lower die 2, a slider 3 and a lower die 4, wherein the slider 3 can move up and down along the machine frame 1; the upper die 4 is fixedly disposed on the slider 3; the lower die 2 is fixedly disposed on the machine frame 1; the upper die 4 and the lower die 2 cooperate with each other to realize bending; the machine frame 1 comprises two machine frame side plates which are symmetrically arranged, a machine frame bottom plate located at the bottom and used for fix the lower die, and a machine frame cross beam member for connecting the two machine frame side plates; and the cross section of the machine frame cross beam member is a U-shaped structure.

[0046] As shown in FIGS. 4, 5 and 6, the slider 3 is left-right symmetrically connected to drive mechanisms for driving the slider to realize a transmission ratio adjustable motion; the drive mechanisms comprise a power assembly, a screw 5, a nut 6, a torsion shaft 7, a first crank 8, a first link 9 and a second crank 10; the machine frame 1 is hingedly connected to a fixing base 19; the screw 5 penetrates through the fixing base 19, and is hingedly connected to the fixing base 19 via a bearing;

[0047] the power assembly comprises a servo motor located on the fixing base 19, a small belt wheel 16 located on an output shaft of the servo motor, a big belt wheel 17 coaxially fixedly connected to the screw, and a synchronous belt 18 winding on the small belt wheel and big belt wheel to perform transmission; the screw 5 is coaxially fixedly connected to the big belt wheel 17, and is driven to rotate by the servo motor via a belt transmission; the nut 6 and the screw 5 are in thread fit; the nut 6 is fixedly connected to a connecting base 20; the connecting base 20 is hingedly connected to one end of the first crank 8; the other end of the first crank 8 is fixedly connected to one end of the torsion shaft; the other end of the torsion shaft is fixedly connected to one end of the second crank; the other end of the second crank is hingedly connected to the slider 3 via the first link 9; the servo motor outputs power, drives the big belt wheel to rotate together with the screw via a synchronous belt transmission, drives the nut 6 to move via a screw thread pair transmission, and drives the slider 3 to move up and down sequentially via the first crank 8, the torsion shaft 7, the second crank 10 and the first link 9. The present invention can utilize the asynchronous operations of two left-right symmetrically arranged servo motors to adjust the parallel misalignment between the upper die and the lower die, such that the left and right sides of the slider are not in parallel, thus realizing tapered bending.

[0048] As shown in FIG. 19, the operating mode of the bending machine is a typical variable speed and variable load operating mode. The fast downward and return stage thereof is a high speed, low load and long stroke motion stage; and the machining stage is a low speed, high load and short stroke motion stage. Therefore, when the slider is at an upper dead point or a lower dead point, the mechanism is at a self-locking position; the present invention makes full use of the above characteristic and the typical nonlinear motion characteristic of the link mechanism to realize high speed motion and low load output in a non-machining stroke, that is, the fast downward and return stage, and realize heavy load output and low speed motion in the machining stroke, thus greatly reducing the power of a drive motor, and solving the problem that the transmission ratio in a ball screw drive mode cannot be adjusted. The present invention can amplify the driving force of the screw by 3-5 times via the link mechanism, and can realize a large tonnage mechanical electric servo bending machine. As shown in FIG. 20, in the present invention, the second crank and the first link are symmetrically arranged, and the horizontal component forces generated by the mechanism can counteract with each other, thus preventing the mechanism from bearing a lateral force.

Embodiment 2

[0049] As shown in FIG. 7, a torsion shaft structure based multi-link all-electric servo synchronous bending machine provided by the present invention comprises a machine frame 1, a lower die 2, a slider 3 and a lower die 4, wherein the slider 3 can move up and down along the machine frame 1; the upper die 4 is fixedly disposed on the slider 3; the lower die 2 is fixedly disposed on the machine frame 1; the upper die 4 and the lower die 2 cooperate with each other to realize bending; the machine frame 1 comprises two machine frame side plates which are symmetrically arranged, a machine frame bottom plate located at the bottom and used to fix the lower die, and a machine frame cross beam member for connecting the two machine frame side plates; and the cross section of the machine frame cross beam member is a U-shaped structure.

[0050] As shown in FIGS. 8, 9 and 10, the slider 3 is left-right symmetrically connected to drive mechanisms for driving the slider to realize a transmission ratio adjustable motion; the drive mechanisms comprise a power assembly, a screw 5, a nut 6, a torsion shaft 7, a first crank 8, a first link 9, a second crank 10, a tripod 11 and a second link 12; the machine frame 1 is hingedly connected to a fixing base 19; the screw 5 penetrates through the fixing base 19, and is hingedly connected to the fixing base 19 via a bearing; the power assembly comprises a servo motor located on the fixing base 19, a small belt wheel 16 located on an output shaft of the servo motor, a big belt wheel 17 coaxially fixedly connected to the screw, and a synchronous belt 18 winding on the small belt wheel and big belt wheel to perform transmission;

[0051] the power assembly of the present invention is located at the lower part of the machine frame, has a low center of gravity, and effectively improve the stability of the whole bending machine; the screw 5 is coaxially fixedly connected to the big belt wheel 17, and is driven to rotate by the servo motor via a belt transmission; the nut 6 and the screw 5 are in thread fit; the nut 6 is fixedly connected to a connecting base 20; the connecting base 20 is hingedly connected to one end of the tripod 11; one end of the tripod 11 is hingedly connected to the machine frame, and the other end of the tripod 11 is hingedly connected to one end of the second link 12; the other end of the second link 12 is hingedly connected to one end of the first crank 8; the other end of the first crank 8 is fixedly connected to one end of the torsion shaft; the other end of the torsion shaft is fixedly connected to one end of the second crank; the other end of the second crank is hingedly connected to the slider 3 via the first link 9; the servo motor outputs power, drives the big belt wheel to rotate together with the screw via a synchronous belt transmission, drives the nut 6 to move via a screw thread pair transmission, and drives the slider 3 to move up and down sequentially via the tripod 11, the second link 12, the first crank 8, the torsion shaft 7, the second crank 10 and the first link 9. The present invention can utilize the asynchronous operations of two left-right symmetrically arranged servo motors to adjust the parallel misalignment between the upper die and the lower die, such that the left and right sides of the slider are not in parallel, thus realizing tapered bending.

[0052] As shown in FIG. 19, the operating mode of the bending machine is a typical variable speed and variable load operating mode. The fast downward and return stage thereof is a high speed, low load and long stroke motion stage; and the machining stage is a low speed, high load and short stroke motion stage. Therefore, when the slider is at an upper dead point or a lower dead point, the mechanism is at a self-locking position; the present invention makes full use of the above characteristic and the typical nonlinear motion characteristic of the link mechanism to realize high speed motion and low load output in a non-machining stroke, that is, the fast downward and return stage, and realize heavy load output and low speed motion in the machining stroke, thus greatly reducing the power of a drive motor, and solving the problem that the transmission ratio in a ball screw drive mode cannot be adjusted. The present invention can amplify the driving force of the screw by 3-5 times via the link mechanism, and can realize a large tonnage mechanical electric servo bending machine.

Embodiment 3

[0053] As shown in FIG. 11, a torsion shaft structure based multi-link all-electric servo synchronous bending machine provided by the present invention comprises a machine frame 1, a lower die 2, a slider 3 and a lower die 4, wherein the slider 3 can move up and down along the machine frame 1; the upper die 4 is fixedly disposed on the slider 3; the lower die 2 is fixedly disposed on the machine frame 1; the upper die 4 and the lower die 2 cooperate with each other to realize bending; the machine frame 1 comprises two machine frame side plates which are symmetrically arranged, a machine frame bottom plate located at the bottom and used for fix the lower die, and a machine frame cross beam member for connecting the two machine frame side plates; and the cross section of the machine frame cross beam member is a U-shaped structure.

[0054] As shown in FIGS. 12, 13 and 14, the slider 3 is left-right symmetrically connected to drive mechanisms for driving the slider to realize a transmission ratio adjustable motion; the drive mechanisms comprise a power assembly, a third crank 13, a fourth link 14, a torsion shaft 7, a first crank 8, a first link 9 and a second crank 10; the power assembly comprises a servo motor, a small belt wheel 16 located on an output shaft of the servo motor, a big belt wheel 17 coaxially fixedly connected to the third crank, and a synchronous belt 18 winding on the small belt wheel and big belt wheel to perform transmission; the third crank 13 is coaxially fixedly connected to the big belt wheel 17, and is driven to rotate by the servo motor via a belt transmission; alternatively, the third crank 13 is directly disposed on the output shaft of the servo motor, and is directly driven to rotate by the servo motor;

the third crank 13 is connected to a revolute pair at one end of the fourth link 14; the other end of the fourth link 14 is hingedly connected to one end of the first crank 8; the other end of the first crank 8 is fixedly connected to one end of the torsion shaft; the other end of the torsion shaft is fixedly connected to one end of the second crank; the other end of the second crank is hingedly connected to the slider 3 via the first link 9; the servo motor outputs power, drives the big belt wheel to rotate together with the third crank 13 via a synchronous belt transmission, drives the fourth link move via the revolute pair, and drives the slider 3 to move up and down sequentially via the first crank 8, the torsion shaft 7, the second crank 10 and the first link 9. The present invention can utilize the asynchronous operations of two left-right symmetrically arranged servo motors to adjust the parallel misalignment between the upper die and the lower die, such that the left and right sides of the slider are not in parallel, thus realizing tapered bending.

[0055] As shown in FIG. 19, the operating mode of the bending machine is a typical variable speed and variable load operating mode. The fast downward and return stage thereof is a high speed, low load and long stroke motion stage; and the machining stage is a low speed, high load and short stroke motion stage. Therefore, when the slider is at an upper dead point or a lower dead point, the mechanism is at a self-locking position; the present invention makes full use of the above characteristic and the typical nonlinear motion characteristic of the link mechanism to realize high speed motion and low load output in a non-machining stroke, that is, the fast downward and return stage, and realize heavy load output and low speed motion in the machining stroke, thus greatly reducing the power of a drive motor, and solving the problem that the transmission ratio in a ball screw drive mode cannot be adjusted. The present invention can amplify the driving force of the screw by 3-5 times via the link mechanism, and can realize a large tonnage mechanical electric servo bending machine.

Embodiment 4

[0056] As shown in FIG. 15, a torsion shaft structure based multi-link all-electric servo synchronous bending machine provided by the present invention comprises a machine frame 1, a lower die 2, a slider 3 and a lower die 4, wherein the slider 3 can move up and down along the machine frame 1; the upper die 4 is fixedly disposed on the slider 3; the lower die 2 is fixedly disposed on the machine frame 1; the upper die 4 and the lower die 2 cooperate with each other to realize bending; the machine frame 1 comprises two machine frame side plates which are symmetrically arranged, a machine frame bottom plate located at the bottom and used for fix the lower die, and a machine frame cross beam member for connecting the two machine frame side plates; and the cross section of the machine frame cross beam member is a U-shaped structure.

[0057] As shown in FIGS. 16, 17 and 18, the slider 3 is left-right symmetrically connected to drive mechanisms for driving the slider to realize a transmission ratio adjustable motion; the drive mechanisms comprise a power assembly, a third crank 13, a fourth link 14, a torsion shaft 7, a first crank 8, a first link 9, a second crank 10, the tripod 11 and the second link 12; the power assembly comprises a servo motor, a small belt wheel 16 located on an output shaft of the servo motor, a big belt wheel 17 coaxially fixedly connected to the third crank, and a synchronous belt 18 winding on the small belt wheel and big belt wheel to perform transmission; the third crank 13 is coaxially fixedly connected to the big belt wheel 17, and is driven to rotate by the servo motor via a belt transmission; alternatively, the third crank 13 is directly disposed on the output shaft of the servo motor, and is directly driven to rotate by the servo motor; the third crank 13 is connected to a revolute pair at one end of the fourth link 14; the other end of the fourth link 14 is hingedly connected to one end of the tripod 11; one end of the tripod 11 is hingedly connected to the machine frame, and the other end of the tripod 11 is hingedly connected to one end of the second link 12;

[0058] the other end of the second link 12 is hingedly connected to one end of the first crank 8; the other end of the first crank 8 is fixedly connected to one end of the torsion shaft; the other end of the torsion shaft is fixedly connected to one end of the second crank; the other end of the second crank is hingedly connected to the slider 3 via the first link 9; the servo motor outputs power, drives the big belt wheel to rotate together with the third crank via a synchronous belt transmission, drives the fourth link 14 move via the revolute pair, and drives the slider 3 to move up and down sequentially via the tripod 11, the second link 12, the first crank 8, the torsion shaft 7, the second crank 10 and the first link 9. The present invention can utilize the asynchronous operations of two left-right symmetrically arranged servo motors to adjust the parallel misalignment between the upper die and the lower die, such that the left and right sides of the slider are not in parallel, thus realizing tapered bending.

[0059] As shown in FIG. 19, the operating mode of the bending machine is a typical variable speed and variable load operating mode. The fast downward and return stage thereof is a high speed, low load and long stroke motion stage; and the machining stage is a low speed, high load and short stroke motion stage. Therefore, when the slider is at an upper dead point or a lower dead point, the mechanism is at a self-locking position; the present invention makes full use of the above characteristic and the typical nonlinear motion characteristic of the link mechanism to realize high speed motion and low load output in a non-machining stroke, that is, the fast downward and return stage, and realize heavy load output and low speed motion in the machining stroke, thus greatly reducing the power of a drive motor, and solving the problem that the transmission ratio in a ball screw drive mode cannot be adjusted. The present invention can amplify the driving force of the screw by 3-5 times via the link mechanism, and can realize a large tonnage mechanical electric servo bending machine.