双伺服驱动高速精冲机主传动系统的运动规划

Motion planning of main drive system of high speed fine blanking press by double servo drive

针对高速精冲过程中滑块速度和力能分配急剧变化的特点,提出一种双伺服驱动二自由度七杆机构的高速精冲机主传动系统.通过构造伺服电机柔性加减速函数,使伺服电机速度平滑过渡,结合精冲工艺要求及主传动机构尺寸参数,研究双伺服电机的运动规划方法,得到双伺服电机的运动与冲裁板厚、极限冲裁速度、电机特性的关系函数.利用ADAMS（动力学分析软件）建立主传动系统虚拟样机模型进而对整个精冲的过程进行仿真,分析不同冲裁板厚及不同极限冲裁速度下滑块的运动学特性曲线及伺服电机扭矩曲线.实验结果表明：该运动规划方法能够满足不同冲裁板料精冲工艺要求,降低伺服电机功率,提高精冲机工作效率.

In the process of high speed fine blanking,the slider speed and force distribution change rapidly,thus,a 2 D seven-bar mechanism as main drive system of high speed fine blanking press driven by double servo motors was proposed.Flexible acceleration and deceleration function was constructed to smooth the speed of servo motors.The motion planning method of double servo motors was studied according to the fine blanking process requirements and the main drive mechanism dimension parameters.The relationship function of the blanking plate thickness,the limit blanking speed and the motor characteristics of the double servo motor motions was obtained.The virtual prototype model of the main drive system was established by ADAMS（dynamic analysis software） and the whole fine blanking process was simulated,and then the slider＇s kinematic characteristic curves and double servo motor torque curves of different blanking thickness and different limit blanking speed were analyzed.The results show that the proposed motion planning method can meet the fine blanking process requirements for different blanking plates,while reducing the power of servo motors and improving the efficiency of fine blanking machine.