CN104174733A - Four-degree-of-freedom series-parallel multi-point flexible shape pulling machine - Google Patents
Four-degree-of-freedom series-parallel multi-point flexible shape pulling machine Download PDFInfo
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Abstract
本发明公开了一种四自由度混联式多头柔性拉形机，由底座、左牵引装置、右牵引装置、左夹板机构、右夹板机构组成。左牵引装置、右牵引装置的底部固定在底座上，分别用于支撑左夹板机构和右夹板机构，左牵引装置与右牵引装置的结构完全相同，均为{4RPU-UPR}结构的四自由度混联机构。用于夹持与固定板料的左夹板机构、右夹板机构的结构也完全相同。与现有技术相比，本发明的牵引装置采用四自由度混联机构和分层次调节及拉形作业方式，使拉形件上各位置点易于实现柔性变形，减少工艺余量，提高成形质量和材料的利用率。本发明不仅运动自由度多、所需液压缸的数量少，还具有柔性度高、控制简单、设备制造成本低等优点。
The invention discloses a four-degree-of-freedom mixed multi-head flexible drawing machine, which consists of a base, a left traction device, a right traction device, a left splint mechanism and a right splint mechanism. The bottoms of the left traction device and the right traction device are fixed on the base, which are respectively used to support the left splint mechanism and the right splint mechanism. The structures of the left traction device and the right traction device are exactly the same, and both are four degrees of freedom of {4RPU-UPR} structure Mixed organization. The structures of the left splint mechanism and the right splint mechanism for clamping and fixing sheet materials are also exactly the same. Compared with the prior art, the traction device of the present invention adopts a four-degree-of-freedom hybrid mechanism, hierarchical adjustment and drawing operation mode, so that each position point on the drawing part is easy to realize flexible deformation, reduces the process margin, and improves the forming quality and material utilization. The invention not only has many degrees of freedom of movement and requires few hydraulic cylinders, but also has the advantages of high flexibility, simple control, low equipment manufacturing cost and the like.
Description
Technical field
The present invention relates to a kind of sheet material plastic forming equipment field, particularly a kind of have space two translations two and rotate the series parallel type bull flexible stretch-forming machine of totally four freedoms of motion.
Background technology
Three-dimension curved surface part is widely used in the industries such as Aero-Space, high-speed railway, boats and ships naval vessels, engineering in medicine, modern architecture, the advanced manufacturing technology that a lot of military or civilian major projects and engineering all need to process high-quality three-dimension curved surface part.Traditional plastic forming technology, because need to use very long, manufacture of production cycle and the very high mould of debugging cost, has limited the development of relevant industries at aspects such as product diversification, personalization and renewal upgradings.For substituting the curve generating mould using in plastic forming process, numerous experts and scholars have carried out the research relevant to " flexible manufacturing " technology.Existing Flexible Manufacturing Technology mainly contains: be applied in the contour peening of aerospace industry, the flame forming plate that is applied in shipbuilding industry and single-point progressive molding etc., but have that production efficiency is low, component shaping precision is low, too rely on operator's experience and the problem such as shaped sheet thickness is limited.And multi-point forming technique is that flexible manufacturing and computer technology are combined as a whole, based on discrete thought, by the discrete entity mould element body unit for series of rules arrangement, by the each element body cell height of computer control, construct forming face, then the sheet material that stretches by bull flexible stretch-forming machine is realized the three-dimensional curve generation of sheet material on the adjustable shape mould of multipoint digitalization.Multi-point forming technique, because of its unique advantage having, has become the important research direction in modern manufacture field.
Stretching machine, stretching former is to make sheet material produce the key equipment of stretch forming, is mainly used in the shaping of hyperbolicity skin part in aerospace field.Traditional stretching machine, stretching former can be divided into horizontal stretching machine, stretching former and longitudinal stretching machine, stretching former.The pull-shaped ectonexine that can make sheet material produces tension and stretching strain at draw direction, thereby reduces the springback capacity after workpiece plastic deformation.Because the clamp of traditional stretching machine, stretching former clamps the longitudinally synchro-draw of various piece that makes sheet material after sheet material under the cooperation of pull-shaped mould, in the time of shaping hyperbolicity skin part, the tension of part and stretching strain distribute obviously inhomogeneously, and easily mould, drawing crack or the forming defects such as wrinkling are not pasted in generation.Therefore, in order to eliminate defect, pull-shapedly often need larger process allowance with blank, cause the utilization rate of material to reduce.In addition, current existing high-flexibility multi-head stretching machine (ZL200910217701.X) has adopted multiple-limb multi-spindle hydraulic servo control system, a point position just needs three large displacement hydraulic cylinders, not only required hydraulic cylinder quantity is many, and complex structure, control inconvenience, also cause its manufacturing expense costliness.
Summary of the invention
The object of the invention is the deficiency for existing bull flexible stretch-forming machine technology, provide a kind of and there are space two translations two and rotate the series parallel type bull flexible stretch-forming machine of totally four freedoms of motion.Technical problem to be solved by this invention realizes by the following technical solutions.
A kind of four-freedom hybrid formula bull flexible stretch-forming machine, is made up of base, left draw-gear, right draw-gear, left clamping plate mechanism, right clamping plate mechanism.Wherein, the bottom of described left draw-gear, right draw-gear is fixed on base, be respectively used to carries left clamping plate mechanism and right clamping plate mechanism, described left draw-gear is identical with the structure of right draw-gear, and all has translation and two rotations motion and regulatory function of totally four frees degree of space both direction.For clamping the left end of identical with the structure of the left clamping plate mechanism of fixing plate, right clamping plate mechanism, described left clamping plate mechanism and the top of left draw-gear is connected by hinge; The right-hand member of described right clamping plate mechanism is connected by hinge with the top of right draw-gear.Described left draw-gear is made up of bracing frame in parallel and series connection haulage gear, and wherein bracing frame in parallel has two translations and rotation motion and the regulatory function of three degree of freedom altogether; And described series connection haulage gear has an independent translation and two rotations motion and regulatory function of three degree of freedom altogether, the quantity of series connection haulage gear is no less than three, and the series connection lower end of haulage gear and the top of bracing frame in parallel are connected mutually.Described bracing frame in parallel is the parallel institution of 4-{RPU} structure, described series connection haulage gear is for adopting { the serial mechanism of UPR} structure, bracing frame in parallel is connected in series and forms a structure for the { hybrid mechanism of 4RPU-UPR} with the haulage gear of connecting, wherein R represents revolute pair, P represents moving sets, U represents universal joint, and moving sets P in the present invention realizes by hydraulic cylinder.
Described bracing frame in parallel by connecting cross beam and be connected in base in parallel and connecting cross beam between the first side chain, the second side chain, the 3rd side chain, the 4th side chain form, and the first described side chain, the second side chain, the 3rd side chain are identical with the structure of the 4th side chain, all to adopt { RPU} structure, and moving sets P in above-mentioned four side chains realizes by hydraulic cylinder.
The first described side chain is made up of the first revolute pair, the first main hydraulic cylinder and the first universal joint.Wherein, the lower end of the first described main hydraulic cylinder is connected with base by the first revolute pair, and the upper end of the first main hydraulic cylinder is connected with connecting cross beam by the first universal joint.The second described side chain is made up of the second revolute pair, the second main hydraulic cylinder and the second universal joint.Wherein, the lower end of the second described main hydraulic cylinder is connected with base by the second revolute pair, and the upper end of the second main hydraulic cylinder is connected with connecting cross beam by the second universal joint.The 3rd described side chain is made up of the 3rd revolute pair, the 3rd main hydraulic cylinder and the 3rd universal joint.Wherein, the lower end of the 3rd described main hydraulic cylinder is connected with base by the 3rd revolute pair, and the upper end of the 3rd main hydraulic cylinder is connected with connecting cross beam by the 3rd universal joint.The 4th described side chain is made up of the 4th revolute pair, the 4th main hydraulic cylinder and the 4th universal joint.Wherein, the lower end of the 4th described main hydraulic cylinder is connected with base by the 4th revolute pair, and the upper end of the 4th main hydraulic cylinder is connected with connecting cross beam by the 4th universal joint.
Between the axis of revolute pair, moving sets (being hydraulic cylinder) and universal joint in described the first side chain, the second side chain, the 3rd side chain, the 4th side chain, keep strict yardstick restriction relation.The axis of described the first revolute pair, the second revolute pair, the 3rd revolute pair and the 4th revolute pair is parallel to each other; The axis of the first described main hydraulic cylinder is perpendicular to the axis of the first revolute pair, the axis of the second described main hydraulic cylinder is perpendicular to the axis of the second revolute pair, the axis of the 3rd described main hydraulic cylinder is perpendicular to the axis of the 3rd revolute pair, and the axis of the 4th described main hydraulic cylinder is perpendicular to the axis of the 4th revolute pair; The axis of the cross axle of the first described universal joint is parallel to each other with the axis of the cross axle of the second universal joint or is vertical, and an axis of the cross axle of the axis of the first revolute pair and the first universal joint is parallel to each other; The axis of the cross axle of the 3rd universal joint is parallel to each other with the axis of the cross axle of the 4th universal joint or is vertical, and one article of axis of the cross axle of the axis of the 3rd revolute pair and the 3rd universal joint is parallel to each other.
Described series connection haulage gear is made up of universal joint Connection Block, inferior hydraulic cylinder and engaging lug seat.Wherein, the lower end of described universal joint Connection Block is connected mutually with connecting cross beam, and its upper end is connected mutually with the bottom of time hydraulic cylinder; Described engaging lug seat is connected mutually with the piston-rod end of time hydraulic cylinder.
Described left clamping plate mechanism is made up of splint body, clamping hydraulic cylinder, connecting rod, guide rod and active chuck.Wherein, be provided with ears seat at the top of described splint body, be provided with U-shaped breach at the front end of splint body, and be provided with zigzag skid resistant course on the lower surface of U-shaped breach; Described clamping hydraulic cylinder is built in the rear end of splint body, and the bottom of clamping hydraulic cylinder is connected with splint body by screw; The rear end of described connecting rod is connected by hinge with the piston rod of clamping hydraulic cylinder, and the middle part of connecting rod is connected by hinge with the ears seat on splint body, and the front end of connecting rod is connected by hinge with the top of guide rod; Described active chuck is placed in the U-shaped breach of splint body, and on the lower surface of active chuck, is provided with lower zigzag skid resistant course, and the upper end of described active chuck is connected mutually with the lower end of guide rod.
Left draw-gear of the present invention, the installation site of right draw-gear on base can left and right adjusting, and the pull-shaped mould being used in conjunction with can adopt entity mould, also can adopt the pull-shaped mould of Multipoint adjustable.
When pull-shaped, use all or several left clamping plate mechanisms, right clamping plate mechanism clamp respectively plate, and by corresponding left draw-gear, right draw-gear stretch forming material under the cooperation of pull-shaped mould.By adjusting stroke and the hydraulic coupling of each main hydraulic cylinder and inferior hydraulic cylinder on left draw-gear, right draw-gear, can obtain optimum stretch position and angle.Especially by regulating stroke and the hydraulic coupling of inferior hydraulic cylinder of diverse location can make everybody produce different displacements and corner along draw direction by left clamping plate mechanism and the right clamping plate mechanism on putting a little; Required freedom of motion while having sheet metal deformation due to left draw-gear, right draw-gear, when pull-shaped, left clamping plate mechanism, right clamping plate mechanism can be complied with the variation tendency of die curve and move, swing or rotate.Therefore, the distribution of the tension of pull-shaped and stretching strain is more even.
The invention has the beneficial effects as follows, compared with prior art, the draw-gear of four-freedom hybrid formula bull flexible stretch-forming machine of the present invention adopts the hybrid mechanism of four-degree-of-freedom, regulates and pull-shaped operating type by different level.Wherein, the bracing frame in parallel with the common three degree of freedom of two translations one rotations is mainly used in attitude adjustment and pull-shaped operation by a relatively large margin, and multiple spot dispersed placement and there is a translation two and rotate the series connection haulage gear of three degree of freedom altogether and be mainly used in the pull-shaped motion of otherness of each location point, the load path that not only can make to be applied to the each location point of processed plate is more reasonable, make the distribution of the tension of pull-shaped and stretching strain more even, reduce by the process allowance of pull-shaped, improve the utilization rate of forming quality and material, also can realize cross curvature has more greatly or laterally curved-surface piece pull-shaped of certain wave.The relatively more existing three-port type multiple spot of the present invention high-flexibility multi-head stretching machine, not only freedom of motion is many, and processing flexibility degree is high, and the quantity of required hydraulic cylinder greatly reduces, and can also simplify the control of hydraulic cylinder, reduces the manufacturing cost of equipment.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is the structural representation of bracing frame in parallel of the present invention;
Fig. 3 is the structural representation of series connection haulage gear of the present invention and left clamping plate mechanism;
Fig. 4 is the internal structure schematic diagram of left clamping plate mechanism of the present invention;
Fig. 5 is working state schematic representation of the present invention.
Detailed description of the invention
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with specific embodiment and diagram, further set forth the present invention.
As shown in Figure 1 and Figure 5, a kind of four-freedom hybrid formula bull flexible stretch-forming machine, is made up of base 1, left draw-gear 2, right draw-gear 3, left clamping plate mechanism 4, right clamping plate mechanism 5.Wherein, described left draw-gear 2, the bottom of right draw-gear 3 are fixed on base 1, be respectively used to carries left clamping plate mechanism 4 and right clamping plate mechanism 5, described left draw-gear 2 is identical with the structure of right draw-gear 3, and all has translation along from space X to, Z-direction and rotation the moving and regulatory function of totally four frees degree around X-axis and Y-axis.Identical with the structure of the left clamping plate mechanism 4 of fixing plate, right clamping plate mechanism 5 for clamping, the left end of described left clamping plate mechanism 4 is connected by hinge with the top of left draw-gear 2; The right-hand member of described right clamping plate mechanism 5 is connected by hinge with the top of right draw-gear 3.Described left draw-gear 2 is made up of bracing frame in parallel 21 and series connection haulage gear 22, and wherein bracing frame 21 in parallel has two translations along from space X to, Z-direction and rotation the moving and regulatory function of three degree of freedom altogether around Y-axis; And described series connection haulage gear 22 have along X to or independent translation of Z-direction and rotate moving and regulatory function of three degree of freedoms altogether around X-axis, two of Z axis, the lower end of series connection haulage gear 22 is connected mutually with the top of bracing frame 21 in parallel.The quantity of series connection haulage gear 22 can be chosen according to the width of plate 7, and the width of plate 7 is wider, sheet metal deformation is more complicated, and the quantity of required series connection haulage gear 22 is more, and the quantity minimum of the haulage gear 22 of generally connecting is no less than three.Described bracing frame in parallel 21 is the parallel institution of 4-{RPU} structure, described series connection haulage gear 22 is the { serial mechanism of UPR} structure, bracing frame 21 in parallel is connected in series and forms a structure for the { hybrid mechanism of 4RPU-UPR} with the haulage gear 22 of connecting, wherein R represents revolute pair, P represents moving sets, U represents universal joint, and moving sets P in the present invention realizes by hydraulic cylinder.
As shown in Figure 1, Figure 2 with shown in Fig. 5, described bracing frame in parallel 21 by connecting cross beam 215 and be connected in base 1 in parallel and connecting cross beam 215 between the first side chain 211, the second side chain 212, the 3rd side chain 213, the 4th side chain 214 form, and described the first side chain 211, the second side chain 212, the 3rd side chain 213 are identical with the structure of the 4th side chain 214, all to adopt { RPU} structure, wherein R represents revolute pair, P represents moving sets, U represents universal joint, and moving sets in above-mentioned four side chains is realized by hydraulic cylinder.
With shown in Fig. 5, the first described side chain 211 is made up of the first revolute pair 2111, the first main hydraulic cylinder 2112 and the first universal joint 2113 as shown in Figure 1, Figure 2.Wherein, the lower end of the first described main hydraulic cylinder 2112 is connected with base 1 by the first revolute pair 2111, and the upper end of the first main hydraulic cylinder 2112 is connected with connecting cross beam 215 by the first universal joint 2113.The second described side chain 212 is made up of the second revolute pair 2121, the second main hydraulic cylinder 2122 and the second universal joint 2123.Wherein, the lower end of the second described main hydraulic cylinder 2122 is connected with base 1 by the second revolute pair 2121, and the upper end of the second main hydraulic cylinder 2122 is connected with connecting cross beam 215 by the second universal joint 2123.The 3rd described side chain 213 is made up of the 3rd revolute pair 2131, the 3rd main hydraulic cylinder 2132 and the 3rd universal joint 2133.Wherein, the lower end of the 3rd described main hydraulic cylinder 2132 is connected with base 1 by the 3rd revolute pair 2131, and the upper end of the 3rd main hydraulic cylinder 2132 is connected with connecting cross beam 215 by the 3rd universal joint 2133.The 4th described side chain 214 is made up of the 4th revolute pair 2141, the 4th main hydraulic cylinder 2142 and the 4th universal joint 2143.Wherein, the lower end of the 4th described main hydraulic cylinder 2142 is connected with base 1 by the 4th revolute pair 2141, and the upper end of the 4th main hydraulic cylinder 2142 is connected with connecting cross beam 215 by the 4th universal joint 2143.
As shown in Figure 1, Figure 2 with shown in Fig. 5, between the axis of revolute pair, moving sets (being hydraulic cylinder) and universal joint in described the first side chain 211, the second side chain 212, the 3rd side chain 213, the 4th side chain 214, keep strict yardstick restriction relation.The axis of described the first revolute pair 2111, the second revolute pair 2121, the 3rd revolute pair 2131 and the 4th revolute pair 2141 is parallel to each other; The axis of the first described main hydraulic cylinder 2112 is perpendicular to the axis of the first revolute pair 2111, the axis of the second described main hydraulic cylinder 2122 is perpendicular to the axis of the second revolute pair 2121, the axis of the 3rd described main hydraulic cylinder 2132 is perpendicular to the axis of the 3rd revolute pair 2131, and the axis of the 4th described main hydraulic cylinder 2142 is perpendicular to the axis of the 4th revolute pair 2141; The axis of the cross axle of the first described universal joint 2113 is parallel to each other with the axis of the cross axle of the second universal joint 2123 or is vertical, and an axis of the cross axle of the axis of the first revolute pair 2111 and the first universal joint 2113 is parallel to each other; The axis of the cross axle of the 3rd universal joint 2133 is parallel to each other with the axis of the cross axle of the 4th universal joint 2143 or is vertical, and one article of axis of the cross axle of the axis of the 3rd revolute pair 2131 and the 3rd universal joint 2133 is parallel to each other.
As shown in figures 1 and 3, described series connection haulage gear 22 is made up of universal joint Connection Block 221, inferior hydraulic cylinder 222 and engaging lug seat 223.Wherein, the lower end of described universal joint Connection Block 221 is connected mutually with connecting cross beam 215, and its upper end is connected mutually with the bottom of time hydraulic cylinder 222; Described engaging lug seat 223 is connected mutually with the piston-rod end of time hydraulic cylinder 222.
As shown in Figure 3 and Figure 4, described left clamping plate mechanism 4 is made up of splint body 41, clamping hydraulic cylinder 42, connecting rod 43, guide rod 44 and active chuck 45.Wherein, be provided with ears seat 411 at the top of described splint body 41, be provided with U-shaped breach 412 at the front end of splint body 41, and be provided with zigzag skid resistant course 413 on the lower surface of U-shaped breach 412; Described clamping hydraulic cylinder 42 is built in the rear end of splint body 41, and the bottom of clamping hydraulic cylinder 42 is connected with splint body 41 by screw; The rear end of described connecting rod 43 is connected by hinge with the piston rod of clamping hydraulic cylinder 42, and the middle part of connecting rod 43 is connected by hinge with the ears seat 411 on splint body 41, and the front end of connecting rod 43 is connected by hinge with the top of guide rod 44; Described active chuck 45 is placed in the U-shaped breach 412 of splint body 41, and on the lower surface of active chuck 45, is provided with lower zigzag skid resistant course 451, and the upper end of described active chuck 45 is connected mutually with the lower end of guide rod 44.
Left draw-gear 2 of the present invention, the installation site of right draw-gear 3 on base 1 can left and right adjusting, and the pull-shaped mould being used in conjunction with can adopt entity mould, also can adopt the pull-shaped mould 6 of Multipoint adjustable.
As shown in Figure 1 and Figure 5, when pull-shaped, use all or several left clamping plate mechanisms 4, right clamping plate mechanism 5 clamp respectively plate 7, and by corresponding left draw-gear 2, right draw-gear 3 under the cooperation of the pull-shaped mould 6 of Multipoint adjustable by plate 7 stretch formings.Draw-gear of the present invention can adopt and regulate by different level and pull-shaped operating type.When plate 7 being installed or being carried out preliminary pull-shaped operation, can synchronously use the bracing frame in parallel in left draw-gear 2 and right draw-gear 3 to realize attitude adjustment and preliminary pull-shaped operation by a relatively large margin; And mainly rely on the motion of the series connection haulage gear of multiple spot dispersed placement to complete in the time of the pull-shaped motion of the otherness of carrying out the each location point of plate.By adjusting stroke and the hydraulic coupling of each main hydraulic cylinder and inferior hydraulic cylinder on left draw-gear 2, right draw-gear 3, can obtain optimum stretch position and angle.Especially produce different displacement and corner from left clamping plate mechanism 4 and right clamping plate mechanism 5 that hydraulic coupling can make to be clamped on the each location point of plate along draw direction by the stroke of inferior hydraulic cylinder that regulates diverse location; Because having space two translations two, left draw-gear 2, right draw-gear 3 rotate totally four freedoms of motion, when pull-shaped, left clamping plate mechanism 4, right clamping plate mechanism 5 can be complied with the variation tendency of die curve and move, swing or rotate, and make plate produce the degree of flexibility of being out of shape higher.Therefore, the distribution of the tension of pull-shaped and stretching strain is more even.
More than show and described general principle of the present invention, principal character and advantage.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and description, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the scope of protection of present invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (2)
1. a four-freedom hybrid formula bull flexible stretch-forming machine, formed by base, left draw-gear, right draw-gear, left clamping plate mechanism, right clamping plate mechanism, it is characterized in that: described left draw-gear, the bottom of right draw-gear are fixed on base, and described left draw-gear is identical with the structure of right draw-gear; The structure of described left clamping plate mechanism, right clamping plate mechanism is identical, and the left end of described left clamping plate mechanism is connected by hinge with the top of left draw-gear, and the right-hand member of described right clamping plate mechanism is connected by hinge with the top of right draw-gear; Described left draw-gear by bracing frame in parallel and series connection haulage gear form, and series connection haulage gear quantity be no less than three, the described lower end of series connection haulage gear and the top of bracing frame in parallel are connected mutually;
Described bracing frame in parallel by connecting cross beam and be connected in base in parallel and connecting cross beam between the first side chain, the second side chain, the 3rd side chain, the 4th side chain form, and the first described side chain, the second side chain, the 3rd side chain are identical with the structure of the 4th side chain;
The first described side chain is made up of the first revolute pair, the first main hydraulic cylinder and the first universal joint, and the lower end of the first described main hydraulic cylinder is connected with base by the first revolute pair, and the upper end of the first main hydraulic cylinder is connected with connecting cross beam by the first universal joint; The second side chain is made up of the second revolute pair, the second main hydraulic cylinder and the second universal joint, and the lower end of the second described main hydraulic cylinder is connected with base by the second revolute pair, and the upper end of the second main hydraulic cylinder is connected with connecting cross beam by the second universal joint; The 3rd described side chain is made up of the 3rd revolute pair, the 3rd main hydraulic cylinder and the 3rd universal joint, and the lower end of the 3rd described main hydraulic cylinder is connected with base by the 3rd revolute pair, and the upper end of the 3rd main hydraulic cylinder is connected with connecting cross beam by the 3rd universal joint; The 4th described side chain is made up of the 4th revolute pair, the 4th main hydraulic cylinder and the 4th universal joint, and the lower end of the 4th described main hydraulic cylinder is connected with base by the 4th revolute pair, and the upper end of the 4th main hydraulic cylinder is connected with connecting cross beam by the 4th universal joint; The axis of described the first revolute pair, the second revolute pair, the 3rd revolute pair and the 4th revolute pair is parallel to each other; The axis of the first described main hydraulic cylinder is perpendicular to the axis of the first revolute pair, the axis of the second described main hydraulic cylinder is perpendicular to the axis of the second revolute pair, the axis of the 3rd described main hydraulic cylinder is perpendicular to the axis of the 3rd revolute pair, and the axis of the 4th described main hydraulic cylinder is perpendicular to the axis of the 4th revolute pair; The axis of the cross axle of the first described universal joint is parallel to each other with the axis of the cross axle of the second universal joint or is vertical, and an axis of the cross axle of the axis of the first revolute pair and the first universal joint is parallel to each other; The axis of the cross axle of the 3rd universal joint is parallel to each other with the axis of the cross axle of the 4th universal joint or is vertical, and one article of axis of the cross axle of the axis of the 3rd revolute pair and the 3rd universal joint is parallel to each other;
Described series connection haulage gear is made up of universal joint Connection Block, inferior hydraulic cylinder and engaging lug seat, and the lower end of described universal joint Connection Block is connected mutually with connecting cross beam, and its upper end is connected mutually with the bottom of time hydraulic cylinder; Described engaging lug seat is connected mutually with the piston-rod end of time hydraulic cylinder.
2. four-freedom hybrid formula bull flexible stretch-forming machine according to claim 1, it is characterized in that: described left clamping plate mechanism is made up of splint body, clamping hydraulic cylinder, connecting rod, guide rod and active chuck, be provided with ears seat at the top of described splint body, be provided with U-shaped breach at the front end of splint body, and be provided with zigzag skid resistant course on the lower surface of U-shaped breach; Described clamping hydraulic cylinder is built in the rear end of splint body, and the bottom of clamping hydraulic cylinder is connected with splint body by screw; The rear end of described connecting rod is connected by hinge with the piston rod of clamping hydraulic cylinder, and the middle part of connecting rod is connected by hinge with the ears seat on splint body, and the front end of connecting rod is connected by hinge with the top of guide rod; Described active chuck is placed in the U-shaped breach of splint body, and on the lower surface of active chuck, is provided with lower zigzag skid resistant course, and the upper end of described active chuck is connected mutually with the lower end of guide rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410475947.8A CN104174733B (en) | 2014-09-17 | 2014-09-17 | Four-freedom hybrid formula bull flexible stretch-forming machine |
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| CN201410475947.8A CN104174733B (en) | 2014-09-17 | 2014-09-17 | Four-freedom hybrid formula bull flexible stretch-forming machine |
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| CN104174733A true CN104174733A (en) | 2014-12-03 |
| CN104174733B CN104174733B (en) | 2016-03-02 |
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| CN105945910A (en) * | 2016-05-16 | 2016-09-21 | 安庆米锐智能科技有限公司 | Clamping mechanical arm of unmanned aerial vehicle |
| CN106272359A (en) * | 2016-09-30 | 2017-01-04 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN106694656A (en) * | 2017-01-13 | 2017-05-24 | 东莞市燕丰数控设备有限公司 | Curved surface arc machine |
| CN107030219A (en) * | 2017-05-26 | 2017-08-11 | 西安理工大学 | A kind of plate progressive molding automatic clamping device |
| CN108480481A (en) * | 2018-04-16 | 2018-09-04 | 西安飞机工业（集团）有限责任公司 | A kind of method of stretch forming of airplane wingtip skins front edges |
| CN111331551A (en) * | 2020-02-29 | 2020-06-26 | 沈阳中车轨道交通装备有限公司 | Five degrees of freedom equipment installation platform |
| CN112371841A (en) * | 2020-10-22 | 2021-02-19 | 中国航发贵州黎阳航空动力有限公司 | Forming method of high-temperature alloy corrugated cylinder heat shield |
| CN112978254A (en) * | 2019-12-02 | 2021-06-18 | 天津巴泰克汽车装备有限公司 | Balance air cylinder assembly for reciprocating rod conveying mechanism |
| CN113020387A (en) * | 2021-02-08 | 2021-06-25 | 中国重型机械研究院股份公司 | Skin stretcher with three-rotation one-movement characteristic |
| CN113020388A (en) * | 2021-02-08 | 2021-06-25 | 中国重型机械研究院股份公司 | Four-degree-of-freedom transverse skin stretcher |
| CN113145740A (en) * | 2021-03-14 | 2021-07-23 | 西北工业大学 | Flexible wall plate laser shot blasting forming clamp and forming method |
| CN114393063A (en) * | 2021-11-29 | 2022-04-26 | 广西西交轨道交通产业技术研发有限公司 | Stretching and straightening production method of arc-section rail transit aluminum profile |
| CN115870394A (en) * | 2022-12-29 | 2023-03-31 | 吉林大学 | Joint-like freedom degree controllable push-pull mechanism for flexible stretch forming machine |
| CN115990641A (en) * | 2022-12-13 | 2023-04-21 | 吉林大学 | Beast claw-like electric control permanent magnet clamping mechanism and flexible stretch forming machine |
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| CN105945910B (en) * | 2016-05-16 | 2017-11-21 | 黄勇 | A kind of unmanned plane clamping manipulator |
| CN105945910A (en) * | 2016-05-16 | 2016-09-21 | 安庆米锐智能科技有限公司 | Clamping mechanical arm of unmanned aerial vehicle |
| CN106272359A (en) * | 2016-09-30 | 2017-01-04 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN106694656A (en) * | 2017-01-13 | 2017-05-24 | 东莞市燕丰数控设备有限公司 | Curved surface arc machine |
| CN107030219A (en) * | 2017-05-26 | 2017-08-11 | 西安理工大学 | A kind of plate progressive molding automatic clamping device |
| CN107030219B (en) * | 2017-05-26 | 2018-11-27 | 西安理工大学 | A kind of plate progressive molding automatic clamping device |
| CN108480481A (en) * | 2018-04-16 | 2018-09-04 | 西安飞机工业（集团）有限责任公司 | A kind of method of stretch forming of airplane wingtip skins front edges |
| CN112978254A (en) * | 2019-12-02 | 2021-06-18 | 天津巴泰克汽车装备有限公司 | Balance air cylinder assembly for reciprocating rod conveying mechanism |
| CN111331551B (en) * | 2020-02-29 | 2025-02-14 | 沈阳中车轨道交通装备有限公司 | Five-degree-of-freedom equipment installation platform |
| CN111331551A (en) * | 2020-02-29 | 2020-06-26 | 沈阳中车轨道交通装备有限公司 | Five degrees of freedom equipment installation platform |
| CN112371841A (en) * | 2020-10-22 | 2021-02-19 | 中国航发贵州黎阳航空动力有限公司 | Forming method of high-temperature alloy corrugated cylinder heat shield |
| CN113020387A (en) * | 2021-02-08 | 2021-06-25 | 中国重型机械研究院股份公司 | Skin stretcher with three-rotation one-movement characteristic |
| CN113020387B (en) * | 2021-02-08 | 2023-03-10 | 中国重型机械研究院股份公司 | Skin stretcher with three transfer and one transfer characteristics |
| CN113020388B (en) * | 2021-02-08 | 2023-03-10 | 中国重型机械研究院股份公司 | Four-degree-of-freedom transverse skin stretcher |
| CN113020388A (en) * | 2021-02-08 | 2021-06-25 | 中国重型机械研究院股份公司 | Four-degree-of-freedom transverse skin stretcher |
| CN113145740A (en) * | 2021-03-14 | 2021-07-23 | 西北工业大学 | Flexible wall plate laser shot blasting forming clamp and forming method |
| CN114393063A (en) * | 2021-11-29 | 2022-04-26 | 广西西交轨道交通产业技术研发有限公司 | Stretching and straightening production method of arc-section rail transit aluminum profile |
| CN115990641A (en) * | 2022-12-13 | 2023-04-21 | 吉林大学 | Beast claw-like electric control permanent magnet clamping mechanism and flexible stretch forming machine |
| CN115990641B (en) * | 2022-12-13 | 2023-09-26 | 吉林大学 | An electronically controlled permanent magnet clamping mechanism and flexible drawing machine imitating animal claws |
| CN115870394A (en) * | 2022-12-29 | 2023-03-31 | 吉林大学 | Joint-like freedom degree controllable push-pull mechanism for flexible stretch forming machine |
| CN115870394B (en) * | 2022-12-29 | 2023-10-24 | 吉林大学 | Controlled push-pull mechanism with simulated joint degree of freedom for flexible stretch forming machines |
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