CN102744452B - Numerical control driving device of crank-connecting rod-toggle rod plate shearing machine - Google Patents
Numerical control driving device of crank-connecting rod-toggle rod plate shearing machine Download PDFInfo
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Abstract
本发明公开了一种曲柄—连杆—肘杆剪板机数控驱动装置，其包括数控系统、电机、连接所述电机的传动机构、连接所述传动机构的增力机构，连接所述增力机构的滑块及动刀架，其特征在于：所述传动机构包括曲柄连杆机构、所述增力机构包括肘杆机构，所述滑块设置在滑槽中，所述滑块固定设置在所述动刀架上；所述肘杆机构一端连接机身另一端连接所述滑块；所述曲柄连杆机构的曲柄连接所述电机的转子，所述曲柄连杆机构的连杆连接所述肘杆机构的中部。本发明不仅能提高机械剪板机的剪切力、自动化控制水平，同时省略机械剪板机动刀架导向导轨，简化结构，提高剪板机剪切宽度和精度，提高其工作效率。
The invention discloses a crank-connecting rod-toggle rod shearing machine numerical control driving device, which includes a numerical control system, a motor, a transmission mechanism connected to the motor, a booster mechanism connected to the transmission mechanism, and a booster mechanism connected to the booster The slider and the moving tool holder of the mechanism are characterized in that: the transmission mechanism includes a crank linkage mechanism, the booster mechanism includes a toggle mechanism, the slider is arranged in a chute, and the slider is fixed on the One end of the toggle mechanism is connected to the fuselage and the other end is connected to the slider; the crank of the crank-link mechanism is connected to the rotor of the motor, and the connecting rod of the crank-link mechanism is connected to the The middle part of the toggle mechanism. The invention can not only improve the shearing force and automatic control level of the mechanical shearing machine, but also omit the guiding guide rail of the mechanical shearing motor tool holder, simplify the structure, improve the shearing width and precision of the shearing machine, and improve its working efficiency.
Description
技术领域 technical field
本发明涉及一种剪板机数控驱动装置，尤其涉及驱动机构为曲柄—连杆—肘杆剪板机数控驱动装置。 The invention relates to a numerically controlled driving device for a shearing machine, in particular to a numerically controlled driving device for a shearing machine whose driving mechanism is a crank-connecting rod-knuckle rod.
背景技术 Background technique
剪板机是根据尺寸要求对板材进行切断加工的剪切设备，是各工业部门使用最广泛的材料剪断设备，主要用于剪裁各种尺寸金属板材的直线边缘，在制造领域具有广泛应用。数控剪板机是指用数字、文字和符号组成的数字指令来指挥驱动机构实现一台剪板机或多台剪板机设备动作控制的技术。 Shearing machine is a shearing equipment for cutting and processing plates according to size requirements. It is the most widely used material cutting equipment in various industrial sectors. It is mainly used to cut straight edges of various sizes of metal plates and has a wide range of applications in the manufacturing field. CNC shearing machine refers to the technology of using digital instructions composed of numbers, characters and symbols to command the driving mechanism to realize the motion control of one shearing machine or multiple shearing machines.
目前，剪板机主运动的驱动方式，主要有液压、气动和机械三种。其中，液压剪板机存在的主要技术问题是：1、油液泄露造成环境污染；2、传动效率低，造成较大的能源浪费；3、泵、阀等液压元件价格较昂贵，维护较困难；4、大型液压剪板机需要液压泵具有较大的流量，同时也需要油箱具有较大的容积，造成系统体积庞大。气动剪板机存在的主要技术问题是：1、系统压强低，只能用于剪切力较小的场合；2、气体具有可压缩性，无法像液压剪板机那样采用同步回路，因而不能用于剪切宽度较大的场合。传统机械剪板机存在的主要技术问题是：1、自动化控制水平低；2、必须采用导轨对动刀架直线运动进行导向，对于大型剪板机势必造成导轨宽度过大结构复杂制造，增加了制造难度，提高了制造成本，且无法保证剪切精度。 At present, the driving modes of the main movement of the shearing machine mainly include hydraulic, pneumatic and mechanical. Among them, the main technical problems of the hydraulic shearing machine are: 1. Oil leakage causes environmental pollution; 2. The transmission efficiency is low, resulting in a large waste of energy; 3. Hydraulic components such as pumps and valves are expensive and difficult to maintain ; 4. The large hydraulic shearing machine requires a large flow rate of the hydraulic pump and a large volume of the fuel tank, resulting in a large system volume. The main technical problems of pneumatic shearing machine are: 1. The system pressure is low, so it can only be used in occasions with small shearing force; It is used in occasions where the cutting width is large. The main technical problems of the traditional mechanical shearing machine are: 1. The level of automation control is low; 2. The guide rail must be used to guide the linear motion of the moving tool holder. For large shearing machines, the width of the guide rail will inevitably be too large and the structure will be complicated. The manufacturing difficulty increases the manufacturing cost, and the shearing accuracy cannot be guaranteed.
发明内容 Contents of the invention
本发明的目的是提供曲柄—连杆—肘杆剪板机数控驱动装置，以提高机械剪板机的剪切力、自动化控制水平，同时省略机械剪板机动刀架导向导轨，简化结构，提高剪板机剪切宽度和精度，提高其工作效率。 The purpose of the present invention is to provide crank-connecting rod-knuckle rod shearing machine numerical control driving device, to improve the shearing force and automatic control level of the mechanical shearing machine, while omitting the guide rail of the mechanical shearing motorized knife rest, simplifying the structure, improving The shearing machine cuts the width and precision to improve its work efficiency.
为达到上述目的，本发明采用的技术方案是：曲柄—连杆—肘杆剪板机数控驱动装置，包括数控系统、电机、连接所述电机的传动机构、连接所述传动机构的增力机构、连接所述增力机构的上滑块及动刀架，所述传动机构包括曲柄连杆机构、所述增力机构包括肘杆机构，所述滑块设置在滑槽中，所述滑块固定设置在所述动刀架上；所述肘杆机构一端连接机身另一端连接所述滑块；所述曲柄连杆机构的曲柄连接所述电机的转子，所述曲柄连杆机构的连杆连接所述肘杆机构的中部。 In order to achieve the above object, the technical solution adopted in the present invention is: the crank-connecting rod-knuckle rod shearing machine numerical control driving device, including a numerical control system, a motor, a transmission mechanism connected to the motor, and a booster mechanism connected to the transmission mechanism . Connect the upper slider and the moving tool rest of the booster mechanism, the transmission mechanism includes a crank linkage mechanism, the booster mechanism includes a toggle mechanism, the slider is arranged in a chute, and the slider It is fixedly arranged on the moving tool holder; one end of the toggle mechanism is connected to the fuselage and the other end is connected to the slider; the crank of the crank linkage mechanism is connected to the rotor of the motor, and the crank linkage mechanism is connected to the A rod connects the middle of the toggle mechanism.
优选地，所述增力机构为肘杆机构包括第一肘杆、第二肘杆，所述第一肘杆一端连接机身另一端连接所述第二肘杆，所述第二肘杆另一端连接所述滑块。 Preferably, the booster mechanism is a toggle mechanism including a first toggle and a second toggle, one end of the first toggle is connected to the fuselage and the other end is connected to the second toggle, and the second toggle is further One end is attached to the slider.
优选地，所述曲柄连杆机构包括所述曲柄、所述连杆，所述曲柄一端连接所述电机的转子另一端连接所述连杆，所述连杆另一端连接所述第一肘杆、第二肘杆连接处。 Preferably, the crank linkage mechanism includes the crank and the connecting rod, one end of the crank is connected to the rotor of the motor, the other end is connected to the connecting rod, and the other end of the connecting rod is connected to the first toggle , The second toggle joint.
优选地，所述电机和所述传动机构、增力机构对称设置有两组，所述数控系统控制所述电机的同步转动。 Preferably, two sets of the motor, the transmission mechanism and the booster mechanism are arranged symmetrically, and the numerical control system controls the synchronous rotation of the motor.
上述方案中，所述数控系统为双轴联动数控系统，可以同步向两个电机发出电子信号，所述电机为伺服电机，利用伺服电机同步驱动左右两组传动机构，这样可以保证左右两肘杆的压力角相同，就可以保证同步性，其中电机的转速不是恒转速的，在进入工作行程内时其速度要相应减小，当进入回程时，以较大的加速度回程。 In the above solution, the numerical control system is a two-axis linkage numerical control system, which can send electronic signals to two motors synchronously. The motors are servo motors, and the servo motors are used to drive the left and right sets of transmission mechanisms synchronously, so that the left and right toggles can be guaranteed If the pressure angle is the same, the synchronization can be guaranteed. The speed of the motor is not constant. When entering the working stroke, its speed should be reduced accordingly. When entering the return stroke, return with a greater acceleration.
本发明工作原理是：首先，数控系统发出指令，两个伺服电机同时同速转动，带动着曲柄连杆机构运动，压力角 变小，进行第一次力放大。同时，第一肘杆和第二肘杆受到连杆的推力作用，压力角也变小，此时进行第二次力放大作用，传动机构进行两次力放大作用后，由滑块带动上动刀架向下剪切工件。当剪切完工件后，数控系统向电机发出指令，带动曲柄连杆机构同时反转，拉动肘杆机构返程，同时由滑块带动上动刀架复位，完成一个工作过程。 The working principle of the present invention is as follows: first, the numerical control system issues an instruction, and the two servo motors rotate at the same speed at the same time, driving the crank connecting rod mechanism to move, and the pressure angle becomes smaller, the first force amplification is performed. At the same time, the first toggle and the second toggle are subjected to the thrust of the connecting rod, the pressure angle Also become smaller, now carry out the second force amplification effect, after the transmission mechanism has carried out the force amplification effect twice, the upper moving tool rest is driven by the slide block to cut the workpiece downward. After the workpiece is cut, the numerical control system sends an instruction to the motor to drive the crank connecting rod mechanism to reverse at the same time, pull the toggle mechanism to return, and at the same time, the slider drives the upper moving tool rest to reset, and completes a working process.
由于上述技术方案运用，本发明与现有技术相比具有下列优点： Due to the use of the above-mentioned technical solutions, the present invention has the following advantages compared with the prior art:
1、由于本发明使用了数控系统、伺服电机和曲柄-连杆-肘杆增力机构，不仅能高精度地使传动机构同步，而且输出力也放大许多倍，可以较好的完成剪切工作，工作效率高。 1. Since the present invention uses a numerical control system, a servo motor, and a crank-connecting rod-toggle-rod booster mechanism, not only can the transmission mechanism be synchronized with high precision, but the output force is also amplified many times, and the shearing work can be better completed. high working efficiency.
2、由于本发明的传动机构成轴对称分布，使得动刀架受力均匀，剪切精度高。 2. Due to the axisymmetric distribution of the transmission mechanism of the present invention, the force on the moving knife rest is uniform and the shearing precision is high.
3、由于本发明采用的二轴联动曲柄同步方法，简化了结构，同时保证了动刀架左右驱动同步。不仅可以省略传统剪板机动刀架导向导轨，而且可大大提高剪切宽度和精度，提高其工作效率。 3. Due to the two-axis linkage crank synchronization method adopted in the present invention, the structure is simplified, and the left and right driving synchronization of the movable tool holder is guaranteed at the same time. Not only can the guide rail of the traditional shear plate motorized tool holder be omitted, but also the cutting width and precision can be greatly improved, and the working efficiency can be improved.
附图说明 Description of drawings
附图1为本发明实施例的示意图。 Accompanying drawing 1 is the schematic diagram of the embodiment of the present invention.
以上附图中：1、数控系统；2、电机；3、曲柄；4、连杆；5、第一肘杆；6、第二肘杆；7、滑块；8、滑槽；9、动刀架。 In the above drawings: 1, numerical control system; 2, motor; 3, crank; 4, connecting rod; 5, first toggle; 6, second toggle; 7, slider; 8, chute; 9, moving knife holder.
具体实施方式 Detailed ways
下面结合附图所示的实施例对本发明作进一步描述： The present invention will be further described below in conjunction with the embodiment shown in accompanying drawing:
实施例一：参见附图1所示。 Embodiment 1: Refer to the accompanying drawing 1.
曲柄—连杆—肘杆剪板机数控驱动装置，其包括数控系统1、电机2、连接电机2的传动机构、连接传动机构的增力机构第一肘杆5、第二肘杆6，连接增力机构的滑块7，滑块7设置在滑槽8中，连接滑块的动刀架9，传动机构包括曲柄连杆机构，增力机构为肘杆机构包括，第一肘杆5、第二肘杆6，第一肘杆5一端连接机身另一端连接第二肘杆6，第二肘杆6另一端连接滑块7。 Crank-connecting rod-knuckle rod shearing machine CNC driving device, which includes a numerical control system 1, a motor 2, a transmission mechanism connected to the motor 2, a power booster connected to the transmission mechanism, the first toggle 5, the second toggle 6, and the The slide block 7 of booster mechanism, slide block 7 is arranged in the chute 8, connects the moving knife rest 9 of slide block, transmission mechanism comprises crank linkage, and booster mechanism is that toggle mechanism comprises, first toggle lever 5, The second toggle 6, one end of the first toggle 5 is connected to the fuselage and the other end is connected to the second toggle 6, and the other end of the second toggle 6 is connected to the slider 7.
曲柄连杆机构包括曲柄3、连杆4，曲柄一端连接电机2的转子另一端连接连杆4，连杆4另一端连接第一肘杆5、第二肘杆6连接处。 The crank-link mechanism includes a crank 3 and a connecting rod 4, one end of the crank is connected to the rotor of the motor 2 and the other end is connected to the connecting rod 4, and the other end of the connecting rod 4 is connected to the junction of the first toggle 5 and the second toggle 6.
电机2和传动机构对称设置有两组，数控系统1控制电机2的同步转动；电机2为伺服电机；数控系统1为双轴联动数控系统。 The motor 2 and the transmission mechanism are symmetrically arranged in two groups. The numerical control system 1 controls the synchronous rotation of the motor 2; the motor 2 is a servo motor; the numerical control system 1 is a double-axis linkage numerical control system.
数控系统1同步向两个伺服电机发出电子信号，伺服电机同步驱动左右两组传动机构，这样可以保证左右两肘杆的压力角相同，当压力角变小，进行第一次力放大，同时，第一肘杆5和第二肘杆6受到连杆4的推力作用，压力角也变小，此时进行第二次力放大作用，传动机构进行两次力放大作用后，由滑块7带动动刀架9向下剪切工件。 The numerical control system 1 synchronously sends electronic signals to the two servo motors, and the servo motors synchronously drive the left and right two sets of transmission mechanisms, so that the pressure angle of the left and right toggles can be guaranteed Same, when the pressure angle becomes smaller, and the first force is amplified. At the same time, the first toggle 5 and the second toggle 6 are pushed by the connecting rod 4, and the pressure angle Also become smaller, now carry out the force amplification effect for the second time, after the transmission mechanism has carried out the force amplification effect twice, drive the tool rest 9 to shear the workpiece downwards by the slide block 7.
该传动机构的力理想放大系数为： The ideal force amplification factor of the transmission mechanism is:
实际增力系数为： The actual boost coefficient is:
式中： In the formula:
、— 肘杆机构理论压力角； , — theoretical pressure angle of toggle mechanism;
、— 铰链副的当量摩擦角，计算公式为（其中为铰链轴半径，为肘杆上两肘链孔的中心距，为肘杆铰链副的摩擦系数）。 , — The equivalent friction angle of the hinge pair, the calculation formula is (in is the radius of the hinge axis, is the center distance between the two toggle chain holes on the toggle rod, is the friction coefficient of the toggle joint).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103832868B (en) * | 2012-11-28 | 2016-02-24 | 苏州英达瑞机器人科技有限公司 | A kind of Based Intelligent Control material cutter |
| CN104669433B (en) * | 2013-12-03 | 2017-02-15 | 天津中金博奥重工机械有限责任公司 | Mechanical pushing device |
| CN105252064B (en) * | 2015-11-29 | 2017-07-11 | 山东交通学院 | A kind of toggle rod type flying shearing machine |
| CN107931695A (en) * | 2017-12-28 | 2018-04-20 | 天津市昊鼎精密机械技术有限公司 | A kind of cutter |
| CN108513809A (en) * | 2018-06-01 | 2018-09-11 | 湘潭大学 | A kind of vehicle-mounted shake formula device for picking fruit of crawler belt |
| CN109079211B (en) * | 2018-09-06 | 2023-10-20 | 重庆胜禹新型材料有限公司 | Steel plate shearing machine |
| CN114453645A (en) * | 2022-03-29 | 2022-05-10 | 永康市钧凯机械设备有限公司 | Numerical control cutting machine |
| CN115533974A (en) * | 2022-08-26 | 2022-12-30 | 河海大学常州校区 | Thick stalk class crop cutting device |
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| GB832433A (en) * | 1956-11-27 | 1960-04-13 | Svetsmekano Ab | Improvements in or relating to plate shearing machines |
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| CN101318236A (en) * | 2007-06-07 | 2008-12-10 | 江苏富力数控机床有限公司 | Numerical control guillotine shear |
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