CN106475445B - A kind of metal pipe material 3D free bends manufacturing process and five axis free bend equipment - Google Patents
A kind of metal pipe material 3D free bends manufacturing process and five axis free bend equipment Download PDFInfo
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- CN106475445B CN106475445B CN201610977932.0A CN201610977932A CN106475445B CN 106475445 B CN106475445 B CN 106475445B CN 201610977932 A CN201610977932 A CN 201610977932A CN 106475445 B CN106475445 B CN 106475445B
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- 239000000463 material Substances 0.000 title claims abstract description 26
- 239000002184 metal Substances 0.000 title claims abstract description 24
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 238000005452 bending Methods 0.000 claims abstract description 230
- 230000006698 induction Effects 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000010438 heat treatment Methods 0.000 claims abstract description 10
- 238000005461 lubrication Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 53
- 230000008569 process Effects 0.000 claims description 39
- 239000003921 oil Substances 0.000 claims description 26
- 239000000047 product Substances 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000007704 transition Effects 0.000 claims description 10
- 230000005693 optoelectronics Effects 0.000 claims description 9
- 239000000945 filler Substances 0.000 claims description 8
- 239000010687 lubricating oil Substances 0.000 claims description 8
- 230000001737 promoting effect Effects 0.000 claims description 5
- 239000013589 supplement Substances 0.000 claims description 5
- 230000008676 import Effects 0.000 claims description 3
- 230000001050 lubricating effect Effects 0.000 claims description 3
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 3
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- -1 polytetrafluoroethylene Polymers 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die
- B21D7/085—Bending rods, profiles, or tubes by passing between rollers or through a curved die by passing through a curved die
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/14—Bending rods, profiles, or tubes combined with measuring of bends or lengths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
- B21D7/162—Heating equipment
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of metal pipe material 3D free bends manufacturing process and five axis free bend equipment, including tubing propulsion die, tubing to be axially moved oriented module, manipulator bending module, induction coil heating module, lubrication module, reverse scanning and measurement module；Tubing propulsion die includes taper push rod (3), and Z-direction servo motor (5), ball-screw (4), the linear guide (1), wherein Z-direction servo motor (5) are used for the axial feeding of tubing；Manipulator is bent module：X is to servo motor (15), Y-direction servo motor (16), bending die driving servo motor (18), bending die holder driving servo motor (17), bending die (8) and is bent die holder (9), only need the movement locus by control machinery hand bending apparatus, it can shape the bend pipe of differently curved radius, simultaneously because bending die plane can keep vertical in real time with tubing axis, therefore the forming tubular product quality being bent out is preferable.
Description
Technical field
The invention belongs to metal complex component advanced manufacturing technology field, more particularly to a kind of metal pipe material 3D free bends
Manufacturing process and five axis free bend equipment.
Background technology
Currently, aerospace, nuclear energy, petrochemical industry project field are to bent bilge radius, axis is that plane or space curve are put down
Face or stereo bent pipe have very important actual demand.In Aerospace Engineering field, aerospace vehicle is due to weight and sky
Between limitation, generally without large scale hollow unit.It is bent for plane or space due to bent bilge radius, axis for bend pipe
The complicated bend pipe steric configuration of line is more flexible, therefore can efficiently use space, keeps the overall structure of component compacter.Separately
Outside, pipe-line system weight can be substantially reduced using the above complex configuration bend pipe, it is non-for aero-engine and guided missile system
It is often important.
Currently, traditional metal component bending techniques such as press-bending, stretch bending, go for a stroll, push away curved and spread out by above-mentioned basic technology
Bending process born etc. needs constantly to replace bending mould according to bending radius when bending bent the bend pipe of bilge radius, greatly
Reduce production efficiency.In addition, when curved using the above tradition bent tube technique curved space, the curved 3-d modelling in space is by many
Limitation, cannot achieve the high-precision bending forming of complicated metal component, for bent bilge radius, axis as plane or space curve
Complicated metal component, the above tradition bending method cannot achieve disposable high-precision and shapes.
Currently, some typical bend pipes zero in the oil piping system of military aircraft both domestic and external and commercial aircraft, environmental control system
Part still uses conventional tube forming technology in many cases：(1) semicanal is to welding；(2) two-tube fillet welding.The above forming technology
Main problem is：(1) since there are weld seam and residual stress, strength reduction, the poor reliability of pipe fitting；(2) it welds in bend pipe pipe
It is rough, fluid resistance is big etc..
Invention content
The present invention is for insufficient existing for existing bending pipes method, it is proposed that a kind of new metal pipe material 3D is freely curved
Bent manufacturing process and five axis free bend equipment.
The present invention uses following technical scheme：
A kind of five axis free bend equipment of metal pipe material, including tubing propulsion die, tubing are axially moved oriented module, machine
Tool hand is bent module, induction coil heating module, lubrication module, reverse scanning and measurement module；Tubing propulsion die includes cone
Shape push rod (3), Z-direction servo motor (5), ball-screw (4), the linear guide (1), wherein Z-direction servo motor (5) are for tubing
Axial feeding；Manipulator is bent module：X is electric to servo motor (15), Y-direction servo motor (16), bending die driving servo
Machine (18), bending die holder driving servo motor (17), bending die (8) and it is bent die holder (9), wherein X is to servo motor (15) and Y
To servo motor (16) for driving bending die (8) along the translation of X-axis and Y direction, meet bias when bending radius is R
Away from bending die holder driving servo motor (17) is for driving bending die to be rotated around own axes direction so that curved in forming process
Qu Mo remains vertical with forming tubular product position, improves forming quality, bending die holder driving servo motor (17) is for driving
Bending die holder (9) rotates about the z axis, and then bending die (8) is driven to rotate about the z axis, bending die when meeting complicated bend component forming
(8) with the angle of X-axis positive directionReverse scanning and measurement module include 3D sweep measuring sets (20), reverse scanning and measurement
Work station (21), 3D sweep measuring sets are used to carry out reverse scanning to target " L " the shape bend pipe shaped by semi-automatic mode,
Obtain its 3-D geometric model I；Reverse scanning is used to parse to obtain specifically 3-D geometric model I with work station is measured
Dimensional parameters, and specific dimensional parameters are converted into actual flexion technological parameter；Reverse scanning is used for also with work station is measured
For to tubing after bending carry out reverse scanning to obtain its 3-D geometric model II, and compare 3-D geometric model II with
The size difference of 3-D geometric model I, and bending process parameter is corrected according to the difference, above-mentioned revised bending process is joined
Number imports in five axis free bend equipment control softwares, using the revised bending process driving parameter X to servo motor
(15), Y-direction servo motor (16), bending die driving servo motor (18), bending die holder driving servo motor (17) carry out practical
Bending；
The five axis free bend equipment of metal pipe material, it includes cylinder (7), pipe that the tubing, which is axially moved oriented module,
Material clamping device (6), cylinder (7) are the chucking power that clamping mechanism of tubular product (6) provides clamping tubing.
The five axis free bend equipment of metal pipe material, induction coil heating module are used to be the pipe into bending die 8
Material is heated to set temperature comprising：Radio-frequency induction coil (10), insulated thermal insulating layer (11), insulated thermal insulating layer (11) setting exist
Radio-frequency induction coil (10) is between tubing；Lubrication module is used for
Oil pump (14), oil filler point (13), oil groove (12), optoelectronic switch (19).
The five axis free bend equipment of metal pipe material, the reverse scanning is with measurement work station to 3-D geometric model
The method that I is parsed is as follows：
The 3-D geometric model of complicated shape bend pipe is segmented by the first step, including straight section, bending section；
Second step supplements changeover portion between different bending sections；
Third walk, establish straight section, changeover portion, bending section including straight section length L, radius of curvature R, bending angle
Quantitative relation between geometric shape parameters and bending process parameter.
The five axis free bend equipment of metal pipe material, the taper push rod (3) is inserted tightly into tubing tail portion, to push away
Dynamic tubing advances, the phenomenon that prevent tubing from being rotated in bending process；Clamping mechanism of tubular product (6) material selection polytetrafluoro
Ethylene；Being bent on die holder (9) has zigzag structure, is realized about the z axis under the drive of bending die holder driving servo motor (17)
Rotation, and then bending die is driven to rotate about the z axis, the angle of bending die and X-axis positive direction when meeting complicated bend component forming
It is placed with insulated thermal insulating layer (11) inside radio-frequency induction coil (10), to prevent heat loss, while preventing from adding high frequency coil
Heat；Lubricating arrangement selects high temperature greases or room temperature lubricating oil according to the different of equipment operating condition.
A kind of manufacturing process carrying out metal pipe material 3D free bends according to any equipment, includes the following steps：
1) use 3D sweep measuring sets (20) to using semi-automatic technique bending forming metal target complex component into
Row reverse scanning obtains its 3-D geometric model；
2) 3-D geometric model is parsed in reverse scanning and measurement work station (21) to obtain specific size ginseng
Number, and specific dimensional parameters are converted into actual flexion technological parameter, it imports in five axis free bend equipment control softwares；
3) tubing is lain in a horizontal plane on clamping mechanism of tubular product (6), and taper push rod (3) is inserted into tubing tail portion, tubing
It is fitted close with taper push rod, the phenomenon that prevent tubing from being rotated in bending process；
4) start cylinder (7), clamping mechanism of tubular product (6) is driven to compress tubing；
5) it is powered to radio-frequency induction coil (10), and it is suitable size to be heated temperature setting；
6) start five axis free bend equipment control softwares, tubing is under the impetus for axially promoting servo motor (5)
Axially movable, when tubing nose motion to optoelectronic switch (19), lubricating oil is passed through oil filler point by triggering oil pump (14) automatically
(13) in injection oil groove (12), while Crush trigger hand is bent module, and after tubing moves to bending die, manipulator is bent module
Start bending process under being acted on while four servo motors；
7) reverse scanning is carried out to obtain its 3-D geometric model to tubing after bending, and compares the 3-D geometric model
With the size difference of the 3-D geometric model obtained in step 1), and then correct bending process parameter.
Complicated shape bend pipe according to adjacent straight section and arc section is one group in the step 2) by the manufacturing process
Mode is segmented, and is obtained the geometric dimension parameter in each section and included：Straight section length L, arc section radius of curvature R, bending
Angle, θ, bending direction and X-axis positive direction angle
The manufacturing process, among straight section and arc section First Transition section of the supplement from straight section to arc section transition and
From the second changeover portion of the downward straight section transition of the arc section.
The manufacturing process, by following formula by specific geometric dimension Parameter Switch at real in every a bit of section
Border bending process parameter：
Bending die is turned to around tubing axis directionPlace；
Straight section：ux=uy=w=0uz=v
First Transition section：
uz=v,
Bending section：ux=uy=w=0, uz=v,
Second changeover portion：uz=v,
Wherein set tubing axial feeding speed u in bending processzFor definite value v, bending die to bending die holder centre distance
It is time variable for A, t, geometric dimension parameter includes：Straight section length L, arc section radius of curvature R, bending angle θ；Bending process is joined
Number includes：Bending direction and X-axis positive direction angleBending die x is to movement velocity ux, bending die y is to movement velocity uy, tubing axis
To feed rate uz, bending die turn about the Z axis angle, forming per needed for a bit of around own axis angular speed w, bending die
Time Δ t.
Advantageous effect：
1, the present invention is that the 3D free bends of metal complex component shape and provide a kind of new analysis of forming technique and excellent
Change method；
2, the free angle pipe equipment of five axis provided by the present invention does not need to change bending mould, it is only necessary to curved by control machinery hand
The movement locus of bent device, you can the bend pipe of differently curved radius is shaped, simultaneously because bending die plane can be protected with tubing axis
Hold vertical in real time, therefore the forming tubular product quality being bent out is preferable, and the tubing that traditional piping material bending techniques can be overcome intrinsic is cut
The defects of area distortion, bend pipe inner arc wall thickness thicken, outer arc wall thickness reduction.Again since the five bending shafts mold has very high freedom
Degree, therefore it can the extremely complex bend pipe of curved configuration；
3, metal pipe material 3D free bends manufacturing process simple possible provided by the present invention, production efficiency is high, in aviation
The engineering fields such as space flight, nuclear energy, petrochemical industry have important engineering application value and apparent economic benefit.
Description of the drawings
Fig. 1, the free angle pipe equipment general illustration of five axis of the invention；
Fig. 2, tubing of the present invention propulsion die schematic diagram；
Fig. 3, tubing of the present invention are axially moved oriented module schematic diagram；
Fig. 4, manipulator of the present invention are bent module diagram；
Fig. 5, induction coil heating module of the present invention and lubrication module diagram；
In figure, 1- the linear guides, 2- tubing, 3- tapers push rod, 4- ball-screws, 5-Z are to servo motor, 6- pipe clampings
Mechanism, 7- cylinders, 8- bending dies, 9- bendings die holder, 10- radio-frequency induction coils, 11- insulated thermal insulating layers, 12- oil grooves, 13- oilings
Hole, 14- oil pumps, 15-X drive servo motor, 18- to driving servo motor, 16-Y to driving servo motor, 17- bending die holders
Bending die drives servo motor, 19- optoelectronic switches, 20-3D sweep measuring sets, 21- reverse scannings and measures work station；
Fig. 6, metal pipe material 3D free bends forming step flow chart of the present invention；
Fig. 7, the free angle pipe equipment Partial key parameter schematic diagram of five axis of the invention；
Fig. 8, " L " shape bend pipe 3D free bend manufacturing process schematic diagrames；
In figure, the first straight sections of 22-, 23- First Transition sections, the first bending sections of 24-, the second changeover portions of 25-, 26- second is directly
Section；
Fig. 9, " u "-shaped bend pipe 3D free bend manufacturing process schematic diagrames；
In figure, 27- third straight sections, 28- third changeover portions, the second bending sections of 29-, the 4th changeover portions of 30-, 31- the 4th is directly
Section, the 5th changeover portions of 32-, 33- third bending sections, the 6th changeover portions of 34-, the 5th straight sections of 35-；
Figure 10, serpentine bend pipe 3D free bend manufacturing process schematic diagrames；
In figure, the 7th changeover portions of 36-, the 4th bending sections of 37-, the 8th changeover portions of 38-, the 9th changeover portions of 39-, 40- the 5th
Bending section, the tenth changeover portions of 41-.
Specific implementation mode
Below in conjunction with specific embodiment, the present invention is described in detail.
As shown in Fig. 1,2,3,4,5, the free angle pipe equipment of five axis of the invention, including tubing propulsion die, tubing are axial
Motion guide module, manipulator bending module, induction coil heating module, lubrication module, reverse scanning and measurement module.Tubing
Propulsion die includes taper push rod (3), Z-direction servo motor (5), ball-screw (4), the linear guide (1), wherein Z-direction servo electricity
Machine (5) is used for the axial feeding of tubing；It includes cylinder (7) that the tubing, which is axially moved oriented module, clamping mechanism of tubular product (6),
Cylinder (7) is the chucking power that clamping mechanism of tubular product (6) provides clamping tubing；Manipulator is bent module：X is electric to servo
Machine (15), Y-direction servo motor (16), bending die driving servo motor (18), bending die holder driving servo motor (17), bending die
(8) and bending die holder (9), wherein X to servo motor (15) and Y-direction servo motor (16) for drive bending die (8) along X-axis with
The translation of Y direction, meets eccentricity when bending radius is R, and bending die holder driving servo motor (17) is bent for driving
Mould is rotated around own axes direction so that bending die remains vertical with forming tubular product position in forming process, improves forming
Quality, bending die holder driving servo motor (17) for drive bending die holder (9) rotate about the z axis, and then drive bending die (8) around
Z axis rotates, the angle of bending die (8) and X-axis positive direction when meeting complicated bend component formingInduction coil heating module is used
In being heated to set temperature for the tubing for entering bending die 8, include mainly：Radio-frequency induction coil (10), insulated thermal insulating layer
(11), insulated thermal insulating layer (11) is arranged in radio-frequency induction coil (10) between tubing；It lubricates module and is used to be into bending die 8
Tubing provide lubrication, mainly include oil pump (14), oil filler point (13), oil groove (12), optoelectronic switch (19)；Reverse scanning with
Measurement module mainly include 3D sweep measuring sets (20), reverse scanning with measure work station (21), 3D sweep measuring sets for pair
Target " L " the shape bend pipe shaped by semi-automatic mode carries out reverse scanning, obtains its 3-D geometric model I；Reverse scanning
With measure work station for being parsed to 3-D geometric model I to obtain specific size parameter, and by specific dimensional parameters
It is converted into actual flexion technological parameter；Reverse scanning is used to be additionally operable to inversely sweep tubing after bending with work station is measured
It retouches to obtain its 3-D geometric model II, and compares the size difference of 3-D geometric model II and 3-D geometric model I, and root
Bending process parameter is corrected according to the difference, it is soft that above-mentioned revised bending process parameter is imported the control of five axis free bend equipment
In part, driven to servo motor (15), Y-direction servo motor (16), bending die using the revised bending process driving parameter X
Servo motor (18), bending die holder driving servo motor (17) carry out actual flexion；
The reverse scanning and the method that measurement work station parses 3-D geometric model I are as follows：
The 3-D geometric model of complicated shape bend pipe is segmented by the first step, including straight section, bending section；
Second step supplements changeover portion between different bending sections；
Third walk, establish straight section, changeover portion, bending section including straight section length L, radius of curvature R, bending angle
Quantitative relation between geometric shape parameters and bending process parameter；Above-mentioned taper push rod (3) is inserted tightly into tubing tail portion, with
Tubing is pushed to advance, the phenomenon that prevent tubing from being rotated in bending process；Clamping mechanism of tubular product (6) material selection poly- four
Vinyl fluoride；Being bent on die holder (9) has zigzag structure, is realized around Z under the drive of bending die holder driving servo motor (17)
Shaft rotation is dynamic, and then bending die is driven to rotate about the z axis, the angle of bending die and X-axis positive direction when meeting complicated bend component formingIt is placed with insulated thermal insulating layer (11) inside radio-frequency induction coil (10), to prevent heat loss, while being prevented to high frequency coil
Heating；Lubricating arrangement selects high temperature greases or room temperature lubricating oil according to the different of equipment operating condition.
Below in conjunction with the specific implementation example of " L " shape, " u "-shaped, serpentine bend pipe, the present invention is described in detail.
Embodiment 1
1) reverse scanning, is carried out to target " L " the shape bend pipe shaped by semi-automatic mode using 3D sweep measuring sets,
Obtain its 3-D geometric model；
2), 3-D geometric model is parsed to obtain the size of " L " shape bend pipe with measurement work station in reverse scanning
Parameter is：Outer diameter is 20mm, and straight section length in both ends is respectively 200mm, and arc section radius is 87.85mm,To " L " shape
Bend pipe carries out segmentation as shown in Figure 8.Now take tubing axial feeding speed uz=10mm/s, bending die to bending die holder centre-to-centre spacing
It is 30mm from A.The dimensional parameters are converted into per a bit of actual flexion technological parameter, as follows, wherein uxFor bending die x
To movement velocity, uyFor bending die y to movement velocity, w be bending die around own axis angular speed, Δ t it is that forming is each
Section required time, R are bending section bending radius, A is bending die extremely bending die holder centre distance, tubing axial direction fltting speed uzFor
Definite value v,When being translatable for bending die and X-axis positive direction angle, L are straight section length, t is time variable：
It is fixed to be bent die holder；
First straight section 22：ux=uy=w=0, uz=10,
First Transition section 23：
uz=10mm/s, w=0.1138rad/s,
First bending section 24：ux=uy=w=0, uz=10mm/s,
Second changeover portion 25：
uz=10mm/s；
Δ t=3s；
Second straight section 26：ux=uy=w=0, uz=10,
Above-mentioned actual flexion technological parameter is imported in five axis free bend equipment control softwares；
3), tubing to be bent is lain in a horizontal plane on clamping mechanism of tubular product, and taper push rod is inserted into tubing tail portion, tubing
It is fitted close with taper push rod, the phenomenon that prevent tubing from being rotated in bending process；
4), start cylinder, clamping mechanism of tubular product is driven to compress tubing；
5) it, is powered to radio-frequency induction coil, and it is suitable size to be heated temperature setting；
6), start five axis free bend equipment control softwares (software is conventional control software, and the present invention repeats no more),
Tubing axially movable, when tubing nose motion to optoelectronic switch, triggers under the impetus for axially promoting servo motor
Oil pump is automatically injected lubricating oil in oil groove by oil filler point, while Crush trigger hand bending apparatus, and bending is moved in tubing
After mould, X and Y-direction driving servo motor drive bending die in X and Y-direction according to above-mentioned ux、uyIt realizes translation, meets radius of curvature R
Required eccentricity, bending die drives servo motor driving bending die to be rotated according to angular speed w along own axes direction, so that curved
Qu Mo remains vertical with forming tubular product position, and bending die holder driving servo motor then drives bending die to turn to X-axis just
Angular separation isDirection；
7), " L " the shape bend pipe obtained to step 6) bending carries out reverse scanning to obtain its 3-D geometric model, and compares
The size difference of the 3-D geometric model and the 3-D geometric model obtained in step 1), and then correct bending process parameter.
8), using revised bending process parameter according to above-mentioned steps 3) -6) carry out practical bend pipe process.
Embodiment 2
1) reverse scanning, is carried out to the target " u "-shaped bend pipe shaped using semi-automatic mode using 3D sweep measuring sets,
Obtain its 3-D geometric model；
2), 3-D geometric model is parsed to obtain the size of " u "-shaped bend pipe with measurement work station in reverse scanning
Parameter is：Outer diameter is 15mm, and both ends and bottom straight section length are 200mm, and arc section radius is 63.75mm, two arc sections
It is 90 °.Segmentation as shown in Figure 9 is carried out to the " u "-shaped bend pipe.Now take tubing axial feeding speed uz=10mm/s, bending
Mould to bending die holder centre distance is 22.5mm.It is as follows that the dimensional parameters are converted into actual flexion technological parameter, wherein
uxIt is bending die x to movement velocity, uyFor bending die y to movement velocity, w be bending die around own axis angular speed, Δ t
To shape each section of required time, R is bending section bending radius, A is that bending die to bending die holder centre distance, tubing axially pushes away
Into speed uzFor definite value v,When being translatable for bending die and X-axis positive direction angle, L are straight section length, t is time variable：
When being bent two arc sections, bending die holder is fixed；
Third straight section 27：ux=uy=0, w=0, uz=10mm/s,
Third changeover portion 28：
uz=10mm/s, w=0.1569rad/s,
Second bending section 29：ux=uy=0, w=0, uz=10mm/s,
4th changeover portion 30：
uz=10mm/s；
Δ t=2.25s；
4th straight section 31：ux=uy=0, w=0, uz=10mm/s,
5th changeover portion 32：
uz=10mm/s, w=0.1569rad/s,
Third bending section 33：ux=uy=0, w=0, uz=10mm/s,
6th changeover portion 34：
uz=10mm/s；
Δ t=2.25s；
5th straight section 35：ux=uy=w=0, uz=10mm/s,
Above-mentioned actual flexion technological parameter is imported in five axis free bend equipment control softwares；
3), tubing is lain in a horizontal plane on clamping device, and taper push rod is inserted into tubing tail portion, tubing and taper push rod
It is fitted close, the phenomenon that prevent tubing from being rotated in bending process；
4), start cylinder, clamping device is driven to compress tubing；
5) it, is powered to radio-frequency induction coil, and it is suitable size to be heated temperature setting；
6), start five axis free bend device-specific control softwares, tubing is in the impetus for axially promoting servo motor
Under axially movable, when tubing nose motion to optoelectronic switch, triggering oil pump automatically by lubricating oil pass through oil filler point inject oil
In slot, while Crush trigger hand bending apparatus, after tubing moves to bending die, X and Y-direction driving servo motor drive bending die
In X and Y-direction realization translation, meet the eccentricity needed for radius of curvature R, bending die drives servo motor driving bending die along certainly
The rotation in body axis direction makes bending die remain vertical with forming tubular product position, and bending die holder driving servo motor then drives
Dynamic bending die turns to bending directionDirection；
7) the " u "-shaped bend pipe obtained after, being bent to step 6) carries out reverse scanning to obtain its 3-D geometric model, and right
Than the size difference of the 3-D geometric model obtained in the 3-D geometric model and step 1), and then correct bending process ginseng
Number；
8), using revised bending process parameter according to above-mentioned steps 3) -6) carry out practical bend pipe process.
Embodiment 3
1) reverse scanning, is carried out to the target serpentine bend pipe shaped using semi-automatic mode using 3D sweep measuring sets,
Obtain its 3-D geometric model；
2), 3-D geometric model is parsed to obtain the size of serpentine bend pipe with measurement work station in reverse scanning
Parameter is：Outer diameter is 15mm, and two semicircle radius are 100mm, two arc sectionsValue is 90 °.To the serpentine bend pipe
Carry out segmentation as shown in Figure 10.Now take tubing axial feeding speed uz=10mm/s, bending die to bending die holder centre distance
For 22.5mm.The dimensional parameters are converted into actual flexion technological parameter as follows, wherein uxIt is fast to movement for bending die x
Degree, uyBy bending die y to movement velocity, w be bending die around own axis angular speed, Δ t it is that each section of forming takes
Between, R be bending section bending radius, A is bending die to bending die holder centre distance, tubing axial direction fltting speed uzFor definite value v,
When being translatable for bending die and X-axis positive direction angle, L are straight section length, t is time variable：
When being bent two arc sections, bending die holder is fixed；
7th changeover portion 36：
uz=10mm/s, w=0.1569rad/s,
4th bending section 37：ux=uy=w=0, uz=10mm/s, Δ t=:26.736s；
8th changeover portion 38：
uz=10mm/s；
Δ t=2.25s；
9th 39 changeover portion：
uz=10mm/s, w=0.1569rad/s,
5th bending section 40：ux=uy=w=0, uz=10mm/s, Δ t=:26.736s；
Tenth changeover portion 41：
Above-mentioned actual flexion technological parameter is imported in five axis free bend device-specific control softwares；
3), tubing is lain in a horizontal plane on clamping device, and taper push rod is inserted into tubing tail portion, tubing and taper push rod
It is fitted close, the phenomenon that prevent tubing from being rotated in bending process；
4), start cylinder, clamping device is driven to compress tubing；
5) it, is powered to radio-frequency induction coil, and it is suitable size to be heated temperature setting；
6), start five axis free bend device-specific control softwares, tubing is in the impetus for axially promoting servo motor
Under axially movable, when tubing nose motion to optoelectronic switch, triggering oil pump automatically by lubricating oil pass through oil filler point inject oil
In slot, while Crush trigger hand bending apparatus, after tubing moves to bending die, X and Y-direction driving servo motor drive bending die
In X and Y-direction realization translation, meet the eccentricity needed for radius of curvature R, bending die drives servo motor driving bending die along certainly
The rotation in body axis direction makes bending die remain vertical with forming tubular product position, and bending die holder driving servo motor then drives
Dynamic bending die is turned to is with X-axis positive direction angleDirection；
7) reverse scanning, is carried out to obtain its 3-D geometric model to tubing after bending, and compares the three-dimensional geometry mould
The size difference of type and the 3-D geometric model obtained in step 1), and then correct bending process parameter；
8), using revised bending process parameter according to above-mentioned steps 3) -6) carry out practical bend pipe process.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (8)
1. a kind of five axis free bend equipment of metal pipe material, it is characterised in that：It is led including tubing propulsion die, tubing axial movement
To module, manipulator bending module, induction coil heating module, lubrication module, reverse scanning and measurement module；Tubing propulsion module
Block includes taper push rod (3), and Z-direction servo motor (5), ball-screw (4), the linear guide (1), wherein Z-direction servo motor (5) are used
In the axial feeding of tubing；Manipulator is bent module：X drives to servo motor (15), Y-direction servo motor (16), bending die
Dynamic servo motor (18), bending die holder driving servo motor (17), bending die (8) and bending die holder (9), wherein X are electric to servo
For driving bending die (8) along the translation of X-axis and Y direction, it is R to meet bending radius for machine (15) and Y-direction servo motor (16)
When eccentricity, bending die holder driving servo motor (17) for drive bending die around own axes direction rotate so that forming
Bending die remains vertical with forming tubular product position in the process, improves forming quality, bending die holder driving servo motor (17)
For driving bending die holder (9) to rotate about the z axis, and then bending die (8) is driven to rotate about the z axis, meets complicated bend component forming
When bending die (8) and X-axis positive direction angleReverse scanning and measurement module include 3D sweep measuring sets (20), inversely sweep
It retouches and measures work station (21), 3D sweep measuring sets are used to carry out target " L " the shape bend pipe shaped by semi-automatic mode
Reverse scanning obtains its 3-D geometric model I；Reverse scanning is used to parse 3-D geometric model I with work station is measured
To obtain specific size parameter, and specific dimensional parameters are converted into actual flexion technological parameter；Reverse scanning and measurement work
Make station to be additionally operable to carry out reverse scanning to tubing after bending to obtain its 3-D geometric model II, and compares the three-dimensional geometry mould
The size difference of type II and 3-D geometric model I, and bending process parameter is corrected according to the difference, by above-mentioned revised bending
Technological parameter imports in five axis free bend equipment control softwares, using the revised bending process driving parameter X to servo
Motor (15), Y-direction servo motor (16), bending die driving servo motor (18), bending die holder driving servo motor (17) carry out
Actual flexion；
By following formula by specific geometric dimension Parameter Switch at actual flexion technological parameter in every a bit of section：
Bending die is turned to around tubing axis directionPlace；
Straight section：ux=uy=w=0 uz=v
First Transition section：
uz=v,
Bending section：ux=uy=w=0, uz=v,
Second changeover portion：
uz=v,
Wherein set tubing axial feeding speed u in bending processzFor definite value v, bending die to bending die holder centre distance is A, t
For time variable, geometric dimension parameter includes：Straight section length L, arc section radius of curvature R, bending angle θ；Bending process parameter packet
It includes：Bending direction and X-axis positive direction angleBending die x is to movement velocity ux, bending die y is to movement velocity uy, tubing axially gives
Into speed uz, bending die turn about the Z axis angle, forming per a bit of required time around own axis angular speed w, bending die
Δt。
2. five axis free bend equipment of metal pipe material according to claim 1, it is characterised in that：The tubing is axially moved
Oriented module includes cylinder (7), clamping mechanism of tubular product (6), and cylinder (7) is the folder that clamping mechanism of tubular product (6) provides clamping tubing
Holding force.
3. five axis free bend equipment of metal pipe material according to claim 1, it is characterised in that：Induction coil heating module
For being heated to set temperature for the tubing into bending die 8 comprising：Radio-frequency induction coil (10), insulated thermal insulating layer (11),
Insulated thermal insulating layer (11) is arranged in radio-frequency induction coil (10) between tubing；It lubricates module and is used to be the pipe into bending die 8
Material provides lubrication, includes mainly oil pump (14), oil filler point (13), oil groove (12), optoelectronic switch (19).
4. five axis free bend equipment of metal pipe material according to claim 1, it is characterised in that：The reverse scanning and survey
The method that amount work station parses 3-D geometric model I is as follows：
The 3-D geometric model of complicated shape bend pipe is segmented by the first step, including straight section, bending section；
Second step supplements changeover portion between different bending sections；
Third walks, and establishes the geometry including straight section length L, radius of curvature R, bending angle of straight section, changeover portion, bending section
Quantitative relation between form parameter and bending process parameter.
5. five axis free bend equipment of metal pipe material according to claim 1, it is characterised in that：The taper push rod (3)
It is inserted tightly into tubing tail portion, to push tubing to advance, the phenomenon that prevent tubing from being rotated in bending process；Tubing presss from both sides
Hold mechanism (6) material selection polytetrafluoroethylene (PTFE)；Being bent on die holder (9) has zigzag structure, in bending die holder driving servo electricity
It realizes and turns about the Z axis under the drive of machine (17), and then bending die is driven to rotate about the z axis, meet curved when complicated bend component forming
The angle of Qu Mo and X-axis positive directionIt is placed with insulated thermal insulating layer (11) inside radio-frequency induction coil (10), to prevent heat from dissipating
It loses, while preventing from heating high frequency coil；Lubricating arrangement selects high temperature greases or room temperature according to the different of equipment operating condition
Lubricating oil.
6. a kind of manufacturing process carrying out metal pipe material 3D free bends according to any equipment of claim 1-5, feature
It is, includes the following steps：
1) 3D sweep measuring sets (20) are used to carry out the metal target complex component using semi-automatic technique bending forming inverse
To scanning, its 3-D geometric model is obtained；
2) 3-D geometric model is parsed with measurement work station (21) to obtain specific size parameter in reverse scanning, and
Specific dimensional parameters are converted into actual flexion technological parameter, are imported in five axis free bend equipment control softwares；
3) tubing is lain in a horizontal plane on clamping mechanism of tubular product (6), and taper push rod (3) is inserted into tubing tail portion, tubing and cone
Shape push rod is fitted close, the phenomenon that prevent tubing from being rotated in bending process；
4) start cylinder (7), clamping mechanism of tubular product (6) is driven to compress tubing；
5) it is powered to radio-frequency induction coil (10), and it is suitable size to be heated temperature setting；
6) start five axis free bend equipment control softwares, tubing is under the impetus for axially promoting servo motor (5) along axis
To movement, when tubing nose motion to optoelectronic switch (19), lubricating oil is passed through oil filler point (13) by triggering oil pump (14) automatically
It injects in oil groove (12), while Crush trigger hand is bent module, after tubing moves to bending die, manipulator is bent module four
Lower beginning bending process is acted on while a servo motor；
7) reverse scanning is carried out to obtain its 3-D geometric model to tubing after bending, and compares the 3-D geometric model and step
It is rapid 1) obtained in 3-D geometric model size difference, and then correct bending process parameter.
7. manufacturing process according to claim 6, it is characterised in that：By complicated shape bend pipe according to phase in the step 2)
The mode that adjacent straight section and arc section are one group is segmented, and is obtained the geometric dimension parameter in each section and included：Straight section length
L, arc section radius of curvature R, bending angle θ, bending direction and X-axis positive direction angle
8. manufacturing process according to claim 7, it is characterised in that：Supplement is from straight section to circle among straight section and arc section
The First Transition section of segmental arc transition and the second changeover portion from the downward straight section transition of the arc section.
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