阅读说明：本技术 一种高精、重载数控折边机 (High-precision heavy-load numerical control flanging machine ) 是由 徐丰羽 李剑 于 2020-07-23 设计创作，主要内容包括：本发明公开了一种高精、重载数控折边机,包括机架、压边组件、折边梁和折边梁传动机构。折边梁传动机构包括倾斜滑轨、惰性块和两个曲柄连杆机构；折边梁具有一个驱动斜面；倾斜滑轨安装在机架上；惰性块具有两个不平行的斜面；其中,惰性块的一个斜面滑动安装在倾斜滑轨上,与倾斜滑轨之间形成移动副一；惰性块的另一个斜面与折边梁的驱动斜面滑动配合,两者间形成移动副二；两个曲柄连杆机构的曲柄均铰接安装在机架上,两个曲柄连杆机构的连杆分别与惰性块/折边梁和折边梁相铰接。本发明能实现水平方向和竖直方向的平动,避免附加摆动,刀尖轨迹控制精度高,折弯过程中在板面外观光洁,无压痕。同时,折弯模的刚度高,移动副的负载小。(The invention discloses a high-precision and heavy-load numerical control flanging machine which comprises a rack, a blank pressing assembly, a flanging beam and a flanging beam transmission mechanism. The flanging beam transmission mechanism comprises an inclined slide rail, an inert block and two crank connecting rod mechanisms; the edge folding beam is provided with a driving inclined plane; the inclined slide rail is arranged on the frame; the inert block is provided with two non-parallel inclined planes; one inclined surface of the inert block is slidably mounted on the inclined slide rail, and a moving pair I is formed between the inclined slide rail and the inclined slide rail; the other inclined surface of the inert block is in sliding fit with the driving inclined surface of the hemming beam, and a moving pair II is formed between the other inclined surface of the inert block and the driving inclined surface of the hemming beam; the cranks of the two crank link mechanisms are hinged on the frame, and the connecting rods of the two crank link mechanisms are respectively hinged with the inert block/the edge folding beam and the edge folding beam. The invention can realize translation in the horizontal direction and the vertical direction, avoids additional swing, has high precision of controlling the trajectory of the tool nose, and has smooth and clean appearance and no indentation in the bending process. Meanwhile, the bending die is high in rigidity, and the load of the moving pair is small.)

1. A high-precision and heavy-load numerical control flanging machine comprises a frame, a flanging assembly, a flanging beam driving mechanism and a flanging die; the edge pressing assembly is used for pressing the edge of the plate, the edge folding die is installed on the edge folding beam, and the edge folding beam moves up and down and left and right under the action of the edge folding beam driving mechanism; the method is characterized in that: the flanging beam driving mechanism comprises an inclined slide rail, an inert block and two crank connecting rod mechanisms;

the edge folding beam is provided with a driving inclined plane;

the inclined slide rail is obliquely arranged on the rack;

the inert block is provided with two non-parallel inclined planes; one inclined surface of the inert block is slidably mounted on the inclined slide rail, and a moving pair I is formed between the inclined slide rail and the inclined slide rail; the other inclined surface of the inert block is in sliding fit with the driving inclined surface of the hemming beam, and a moving pair II is formed between the other inclined surface of the inert block and the driving inclined surface of the hemming beam;

the cranks of the two crank-link mechanisms are hinged on the frame, the connecting rod of one crank-link mechanism is hinged with the flanging beam or the inert block, and the connecting rod of the other crank-link mechanism is hinged with the flanging beam.

2. A high precision, heavy duty, numerically controlled flanging machine according to claim 1, characterized in that: the device also comprises a flanging die displacement detection mechanism, and the flanging die displacement detection mechanism is used for detecting the coordinates of the flanging die.

3. A high precision, heavy duty, numerically controlled flanging machine according to claim 2, characterized in that: the hemming die displacement detection mechanism is a grating ruler, and the grating ruler comprises a scale grating, a reading head and a displacement connecting rod; the scale grating is installed on frame or hem roof beam, and reading head sliding connection is in the scale grating, and the displacement connecting rod is used for connecting reading head and hem roof beam or connecting reading head and frame.

4. A high precision, heavy duty, numerically controlled flanging machine according to claim 3, characterized in that: the two sets of grating rulers indirectly feed back the horizontal and vertical movement displacement of the folding beam through the synthesis and operation of the readings of the two sets of grating rulers.

5. A high precision, heavy duty, numerically controlled flanging machine according to claim 1, characterized in that: the inert block is L-shaped, triangular, trapezoidal, quadrangular or wedge-shaped.

6. A high precision, heavy duty, numerically controlled flanging machine according to claim 1 or 5, characterized in that: the edge folding beam comprises a C-shaped notch and a horizontal beam; the flanging die is installed at the notch of the C-shaped notch, one end of the horizontal beam is connected with the C-shaped notch, and the other end of the horizontal beam is provided with the driving inclined plane.

7. The high precision, heavy duty, digitally controlled flanging machine of claim 6, further comprising: the two crank connecting rod mechanisms are respectively a crank connecting rod mechanism I and a crank connecting rod mechanism II;

the first crank connecting rod mechanism comprises a first crank and a first connecting rod which are hinged with each other; the tail end of the first crank is hinged to the rack, and the other end of the first connecting rod is hinged to the flanging beam or the inert block;

the crank connecting rod mechanism II comprises a crank II and a connecting rod II which are hinged with each other; the tail end of the second crank is hinged to the frame, and the other end of the second connecting rod is hinged to the flanging beam.

8. The high precision, heavy duty, digitally controlled flanging machine of claim 7, further comprising: through optimizing the inclination angle of two inclined planes in the inert block, the position of the hinge point in the crank link mechanism, the supporting position and the length of the connecting rod, the precision and the rigidity of the flanging die can be improved, and the load of the first movable pair and the second movable pair is reduced.

9. A high precision, heavy duty, numerically controlled flanging machine according to claim 1, characterized in that: the included angle between the first sliding pair and the horizontal plane is within +/-75 degrees; the included angle between the second sliding pair and the vertical plane is within +/-75 degrees.

10. A high precision, heavy duty, numerically controlled flanging machine according to claim 1, characterized in that: the device also comprises a toggle rod mechanism, wherein the toggle rod mechanism is used for driving a crank connecting rod mechanism connected with the inert block, and the toggle rod mechanism is a third crank connecting rod mechanism or a screw rod transmission mechanism.

Technical Field

The invention relates to the field of metal plate processing, in particular to a high-precision and heavy-load numerical control flanging machine.

Background

In the field of industrial production, the proportion of metal plates is very high, taking the automobile industry as an example, the proportion of the metal plates in forming processing accounts for about 60%, the proportion of the metal plates in white appliance industry accounts for about 80%, and the proportion of the metal plates in industries such as electric appliance cabinets, express delivery cabinets, file cabinets and the like accounts for more than 95%.

In recent years, numerical control metal plate processing equipment is developing towards automation, intellectualization, high speed, high precision and heavy load. In the metal plate forming and processing industry, the bending processing of the plate is a process with the largest process difficulty and the largest automation difficulty. The overall technical level of the method determines the technical level of the whole metal plate processing field.

The conventional bending process for a metal plate is a "three-point" bending process, and the principle thereof is shown in fig. 12. According to the processing mode, the upward overturning action can be generated in the plate bending process, so that the processing precision is influenced, the personal safety of an operator is influenced, and the labor intensity is high.

To solve this problem, there are two solutions:

1. adopt supplementary material mechanism of holding in the palm, if: a bending follow-up material supporting device (application number: 201810934350.3), a numerical control bending machine synchronous follow-up material supporting device (application number: 201010194128.8) and the like.

2. And (3) bending by adopting a robot, such as: a sheet metal bending robot with seven additional shafts (application number: 201820081641.8) and a follow-up bending control method (application number: 201811527563.0) of the sheet metal machining robot are provided.

Above-mentioned two kinds of prior art solutions can improve the machining precision to a certain extent certainly, reduce intensity of labour, improve the operational safety nature. But in the scheme 1, manual participation is needed, a semi-automatic mode is adopted, and the production efficiency is not high; scheme 2, the robot price is higher, and area is big, and the following action of robot and the bender action uniformity of bending do not well influence the precision, and in the course of the work, the robot need carry out operations such as transport, upset, location many times to panel, seriously influences machining efficiency.

Therefore, people develop a bending processing technology and a processing device of a 'flanging' processing mode aiming at the heavy-load subdivision industries such as engineering machinery, shipbuilding, lamp posts and the like, and can be applied to subdivision industries such as electric cabinets, cabinets and the like, and the technology and the device are particularly shown in fig. 13.

The Chinese patent application with the application number of CN201610497320.1 is named as a flanging mechanism of a metal sheet flanging machine and comprises a frame, wherein a supporting table is arranged at the lower end of the front side of the frame, a pressing beam is arranged above the supporting table, a flanging beam is arranged in the front side of the frame, vertical driving mechanisms for driving the flanging beam to swing up and down are respectively arranged on the left side and the right side of the lower end of the flanging beam, and a horizontal driving mechanism for driving the flanging beam to swing back and forth is arranged at the rear end of the flanging beam. The vertical driving mechanism drives the flanging beam to swing up and down to realize vertical direction movement, the horizontal driving mechanism drives the flanging beam to swing back and forth to realize horizontal direction movement, and the flanging beam and the horizontal driving mechanism are linked to realize complex flanging tracks and meet the requirements of different customers.

However, the above patent application, in use, has the following disadvantages, and needs to be further improved:

1. the horizontal driving mechanism moves in the horizontal direction and has additional swing; the vertical drive mechanism has additional swing while driving the vertical motion, so that X, Y cannot realize single motion translation to two degrees of freedom in an absolute sense. Therefore, the accurate control of the tool nose track cannot be realized, the control precision is poor, the angle correction can be performed only through manual correction parameter input for many times during the bending process, the calculation of the correction value cannot be automatically completed through accurate mathematical calculation, the efficiency is low, and the intelligent control is difficult to realize. In addition, the precision of the tool nose track is poor, so that the problem of indentation left on the plate surface in the bending process is inevitable.

2. The machining precision of equipment depends on the machining and assembling precision of each hinge point, so the machining and manufacturing difficulty is high, the mass production is difficult to realize, and the large-scale popularization of the equipment is limited. In addition, in CN201610497320.1, the hinge point is not only used for driving, but also used for guiding the folding beam or limiting the degree of freedom. Therefore, the manufacturing error of the hinge point can influence the parallelism of the horizontal direction and the vertical direction of the folding beam during the movement process to generate influence.

3. Due to the existence of additional swing, real-time feedback of the movement position of the folding beam is difficult to realize (a feedback measurement sensor is installed everywhere), closed-loop feedback and control of the movement position of the folding beam are difficult to realize, and therefore the machining precision is difficult to guarantee.

4. The abrasion of the hinge point, the elastic deformation of each rod piece in the mechanism under stress and the temperature deformation of the component can greatly influence the processing precision.

Disclosure of Invention

The invention aims to solve the technical problem of the prior art and provides a high-precision heavy-load numerical control flanging machine, which can realize the translational motion in the horizontal direction and the vertical direction, has no additional swing, has high control precision of a tool nose track, and has smooth and clean appearance of a plate surface and no indentation in the bending process. Meanwhile, the bending die is high in rigidity, and the load of the moving pair is small; heavy-load and large-tonnage bending can be realized; the automatic control device can also realize the accurate control of the tool nose track, has high control precision, can automatically complete the calculation of a correction value through accurate mathematical calculation when angle correction is carried out in the bending process, has high efficiency, and can realize the intelligent control of the bending angle.

In order to solve the above-mentioned prior art problems, the technical scheme adopted by the invention is as follows:

a high-precision and heavy-load numerical control flanging machine comprises a machine frame, a flanging assembly, a flanging beam driving mechanism and a flanging die. The edge pressing assembly is used for pressing the edge of the plate, the edge folding die is installed on the edge folding beam, and the edge folding beam moves up and down and left and right under the action of the edge folding beam driving mechanism. The flanging beam driving mechanism comprises an inclined slide rail, an inert block and two crank connecting rod mechanisms.

The hem beam has a driving ramp.

The inclined slide rail is obliquely arranged on the frame.

The inert block has two non-parallel inclined surfaces. One inclined surface of the inert block is slidably mounted on the inclined slide rail, and a moving pair I is formed between the inclined slide rail and the inclined slide rail. And the other inclined surface of the inert block is in sliding fit with the driving inclined surface of the hemming beam, and a moving pair II is formed between the other inclined surface of the inert block and the driving inclined surface of the hemming beam.

The cranks of the two crank-link mechanisms are hinged on the frame, the connecting rod of one crank-link mechanism is hinged with the flanging beam or the inert block, and the connecting rod of the other crank-link mechanism is hinged with the flanging beam.

The device also comprises a flanging die displacement detection mechanism, and the flanging die displacement detection mechanism is used for detecting the coordinates of the flanging die.

The flanging die displacement detection mechanism is a grating ruler, and the grating ruler comprises a scale grating, a reading head and a displacement connecting rod. The scale grating is installed on frame or hem roof beam, and reading head sliding connection is in the scale grating, and the displacement connecting rod is used for connecting reading head and hem roof beam or connecting reading head and frame.

The two sets of grating rulers indirectly feed back the horizontal and vertical movement displacement of the folding beam through the synthesis and operation of the readings of the two sets of grating rulers.

The inert block is L-shaped, triangular, trapezoidal, quadrangular or wedge-shaped.

The hem beam includes C-shaped notch and horizontal crossbeam. The hemming die is installed at the notch of the C-shaped notch, one end of the horizontal beam is connected with the C-shaped notch, and the other end of the horizontal beam is provided with a driving inclined plane.

The two crank connecting rod mechanisms are respectively a crank connecting rod mechanism I and a crank connecting rod mechanism II.

The first crank connecting rod mechanism comprises a first crank and a first connecting rod which are hinged with each other. The tail end of the first crank is hinged to the rack, and the other end of the first connecting rod is hinged to the flanging beam or the inert block.

The crank link mechanism II comprises a crank II and a link II which are hinged with each other. The tail end of the second crank is hinged to the frame, and the other end of the second connecting rod is hinged to the flanging beam.

Through optimizing the inclination angle of two inclined planes in the inert block, the position of the hinge point in the crank link mechanism, the supporting position and the length of the connecting rod, the precision and the rigidity of the flanging die can be improved, and the load of the first movable pair and the second movable pair is reduced.

The included angle between the first sliding pair and the horizontal plane is within +/-75 degrees. The included angle between the second sliding pair and the vertical plane is within +/-75 degrees.

The device also comprises a toggle rod mechanism, wherein the toggle rod mechanism is used for driving a crank connecting rod mechanism connected with the inert block, and the toggle rod mechanism is a third crank connecting rod mechanism or a screw rod transmission mechanism.

The invention has the following beneficial effects:

1. the driving parts are hinged on the rack, so that the bending machine has higher rigidity and strength and simpler structure, and can be suitable for bending equipment with larger tonnage. If when a connecting rod I of a crank connecting rod mechanism I is hinged with a flanging beam, the bending load is directly transmitted to the rack through the crank connecting rod mechanism, and the kinematic pair only needs to bear a very small load (only needs to bear the overturning load caused by the fact that the load center and the hinge center are not on the same straight line, and actually the load is far smaller than the bending working load), so that heavy load and large-tonnage bending can be realized, and the requirements of industries such as engineering machinery, shipbuilding, lamp posts and the like on large-tonnage bending can be met.

2. The hemming die and the hemming beam are complete rigid X, Y-direction movement translation without additional swing, the degree of freedom is simple, the accurate control of the tool nose track can be realized, the rolling of the tool nose on the plate can be realized without relative sliding, and the indentation on the surface of the plate is avoided, so that the hemming die and the hemming beam are suitable for industries which have strict requirements on the indentation on the surface of the plate, such as household appliances, elevators and the like.

3. The linear guide rail is adopted for guiding, so that the manufacturing difficulty is small, the precision is high, the precision is easy to control, and the device is durable. The hinge point of the invention is only used for driving, and the ' guiding ' of the folding beam, or the function called freedom degree limiting ', is realized by the moving pair (guide rail), the precision of the hinge point is far better than that of the hinge mode, and the manufacturing difficulty is lower. The bending precision of the invention is high, the bending angle can reach +/-0.1 degrees, the bending size precision can reach +/-0.02 mm, and the parallelism can reach +/-0.05 mm.

4. Because no additional swing exists, linear displacement feedback measuring devices such as a grating ruler and the like can be adopted to feed back the displacement of the flanging beam in real time, and closed-loop control is formed. Through grating chi feedback, can compensate transmission part error, temperature deformation, the elastic deformation of structure, the precision promotes by a wide margin.

5. The automatic control device has the advantages that the accurate control of the tool nose track can be realized, the control precision is high, the calculation of a correction value can be automatically completed through accurate mathematical calculation when the angle is corrected in the bending process, the efficiency is high, and the intelligent control of the bending angle can be realized.

6. When the connecting rod of the crank-link mechanism I is hinged with the folded edge beam, the inverse kinematics solution of the folded edge beam driving mechanism is simpler, the analytic inverse solution is easier to realize, and the high-speed and high-precision control is facilitated.

Drawings

Fig. 1 shows a schematic structural view of a first embodiment of a high-precision heavy-duty numerically controlled flanging machine according to the invention.

Fig. 2 shows a schematic structural view of a second embodiment of the high-precision heavy-duty numerical control flanging machine.

FIG. 3 shows a schematic view of the structure of the hem beam and the inert blocks; wherein FIG. 3a shows an enlarged view of the hem beam and inert block of FIG. 1; figure 3b shows an enlarged view of the break beam and inert block of figure 2.

FIG. 4 is a schematic diagram showing the operation of a high-precision, heavy-duty, numerically controlled hemming machine of the present invention; fig. 4a and 4b show the working principle of the first and second embodiments, respectively.

FIG. 5 is a schematic diagram showing the position change of the hemming die driven by two crank link mechanisms with any degree of freedom according to the present invention; fig. 5a and 5b show schematic diagrams of the position change of the first and second embodiments when the hemming die is driven with any degree of freedom.

FIG. 6 is a schematic diagram showing the position change of the hemming die driven by two crank-link mechanisms according to the present invention in a vertical translation; fig. 6a and 6b show the schematic diagram of the position change of the hemming die in vertical translation of the first and second embodiments, respectively.

FIG. 7 is a schematic diagram showing the position change of the hemming die driven by two crank-link mechanisms according to the present invention in the horizontal translation; fig. 7a and 7b show the position change of the hemming die in the horizontal translation of the first and second embodiments, respectively.

Fig. 8 shows a schematic structural diagram of two grating scales when mounted on a frame.

FIG. 9 is a schematic diagram showing the variation of the horizontal or vertical displacement of two grating scales according to the present invention; FIG. 9a is a schematic diagram showing the combined horizontal displacement variation of two grating scales; fig. 9b shows a schematic diagram of the resultant vertical displacement change of two grating scales.

Fig. 10 shows a schematic diagram of the displacement solving process of the grating ruler.

Fig. 11 shows a schematic diagram of the rolling trajectory of the nose in the hemming die during bending.

Fig. 12 shows a schematic "three-point" bending diagram of a prior art sheet bending apparatus.

Fig. 13 shows a schematic view of a hemming working of a plate material in the prior art.

FIG. 14 is a diagram showing the stress deformation of the lead screw under heavy load when the lead screw is adopted in the transmission mechanism of the present invention.

FIG. 15 shows a speed versus position graph of the transmission of the present invention.

FIG. 16 shows a force versus position graph for the transmission of the present invention.

Fig. 17 shows a schematic view of the crank mechanism of the present invention moved to a specific position.

Fig. 18 shows a schematic view of a first embodiment of the toggle mechanism.

Fig. 19 shows a schematic view of a second embodiment of the toggle mechanism.

Fig. 20 shows a schematic view of a third embodiment of the toggle mechanism.

Among them are:

10. a frame; 11. a frame side plate; 12. a plate supporting seat;

20. bending a die; 21. an upper die; 211. a lifting slide block; 22. a lower die;

30. folding a die; 31. a flanging beam; 311, C-shaped groove; 312. a horizontal cross beam; 313. a drive ramp; 32. upward flanging dies; 33. downward flanging dies; 34. a knife tip; 35. a nose trajectory;

41. inclining the slide rail; 42. an inert block; 421. an upper inclined plane; 422. a lower inclined plane;

43. a first crank connecting rod mechanism; 431. a first fixed seat; 432. a first crank; 433. a first connecting rod;

44. a crank connecting rod mechanism II; 441. a second fixed seat; 442. a crank II; 443. a second connecting rod;

51. a first scale grating; 52. reading a first reading head; 53. a first displacement connecting rod; 54. a second scale grating; 55. a second reading head; 56. a second displacement connecting rod;

60. a plate material.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.