CN106903191B - A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot - Google Patents

A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot Download PDF

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CN106903191B
CN106903191B CN201710148448.1A CN201710148448A CN106903191B CN 106903191 B CN106903191 B CN 106903191B CN 201710148448 A CN201710148448 A CN 201710148448A CN 106903191 B CN106903191 B CN 106903191B
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bending die
bending
tubing
parallel
vector
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CN106903191A (en
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郭训忠
熊昊
王辉
马燕楠
陶杰
徐勇
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D7/00Bending rods, profiles, or tubes
    • B21D7/12Bending rods, profiles, or tubes with programme control

Abstract

The invention discloses a kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot, it is characterized in that, the bending die telecontrol equipment used includes a silent flatform, an end effector and is correspondingly connected between each end effector and silent flatform and is used to control multigroup driving rod piece that end effector moves in space;The driving of bending die motion platform is directly driven using six-degree-of-freedom parallel connection mechanism, or is realized in the form of connection in series-parallel combination drive;The advantages such as parallel institution stiffness/weight ratio is big, bearing capacity is strong, deviation accumulation is small, dynamic property is good, compact-sized, comprehensive manufacturing cost is low are fully played, the forming accuracy for improving 3 D auto bending solves the problems, such as that 3 D auto bending forming difficulty shapes large scale heavy wall pipe.

Description

A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot
Technical field
The invention belongs to metal complex component advanced manufacturing technology fields, more particularly to a kind of to be based on polypody parallel robot Complex components three-dimensional free bend manufacturing process.
Background technology
The metal complex component of various cross sectional shapes is in aerospace, nuclear power, automobile, naval vessel, petrochemical industry, building and other The numerous areas such as civilian industry have a wide range of applications, and are played in terms of the production cost and loss of weight for reducing product important Effect.Large scale thick-walled pipe intensity is high, possesses good pressure-resistant anti-bending strength, is mainly used as petroleum geology drill pipe, oil Cracking tube, boiler tube, bushed bearing and automobile, tractor, aviation high-precision configuration pipe etc. of chemical industry.The three of complex component Dimension free bend method can realize the high-precision mouldless shaping of tubing, proximate matter, wire rod under the conditions of various bending radius.It is existing from It is the axial feeding that servo motor drives movement of the bending die in plane or space in combination with tubing by bending forming method, And then realize the bending forming of tubing.But when shaping large scale thick-walled pipe, since servo motor driving force is insufficient, head is whole Rigidity is low and the axial plastic force of tubing is very big, is easy to cause head overall deformation, the eccentricity of bending die substantially exceeds theory Maximum value, to directly affect the geometric accuracy of drip molding.If implementing multivariant head to reinforce, will greatly promote entire The manufacturing cost of equipment.Simultaneously because translation and rotation of the bending die in space need to have multigroup servo motor to drive jointly, Cumulative errors are also easy to produce when Machine-Tool Control.
Parallel institution be moving platform be connected by least two independent kinematic chains with fixed platform, mechanism tool there are two or More than two degree of freedom, and a kind of close loop mechanism driven with parallel way.Polypody parallel robot mechanism usually has electro-hydraulic watch Dress system drives, with stiffness/weight ratio is big, bearing capacity is strong, deviation accumulation is small, dynamic property is good, compact-sized, synthesis system This low advantage is caused, need not be obtained in the field of very big working space needing high rigidity, high-precision or big load Extensive use.
Invention content
Existing tubing 3 D auto bending system can not quick Accurate Shaping large scale thick-walled pipe.The present invention is for existing Tubing 3 D auto bending system existing for it is insufficient, it is proposed that a kind of new complex component three based on polypody parallel robot Tie up free bend manufacturing process.
The technical solution adopted in the present invention is:
A kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the bending die movement of use Device includes that a silent flatform, an end effector and being correspondingly connected with is used in combination between each end effector and silent flatform In multigroup driving rod piece that control end effector moves in space;The driving of bending die motion platform uses six degree of freedom simultaneously Online structure directly drives, or is realized in the form of connection in series-parallel combination drive;Manufacturing process includes the following steps:
1), by the geometric parameter input device controls system of pipe fitting, by iterative calculation determine bending die eccentric center translation away from Time-displacement curve from U, bending die rotational angle θ, tubing axial feeding distance S;2), above-mentioned technological parameter is respectively transmitted Bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment determine that driving rod piece is long according to the movement locus of bending die The displacement time curve of degree or its prismatic pair length, tubing thrustor determine the displacement time curve that tubing is sent into;3) it, is bent Mould telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete the actual flexion forming of pipe fitting.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, wherein the closed loop is transported Motivation structure is a vertical or horizontal six-degree-of-freedom parallel connection mechanism or a five degree of freedom for including a minority carrier generation lifetime Hybrid serial-parallel mechanism.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the six degree of freedom is simultaneously Online structure is Stewart parallel institutions or 3-RPSR parallel institutions, and the five degree of freedom hybrid serial-parallel mechanism is Three Degree Of Freedom The hybrid mechanism that Tricept parallel institutions and two degrees of freedom series connection rotation wrist device compose in series.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the Stewart is simultaneously Online structure includes silent flatform (1), six groups of identical SPS (the S- flexural pivots of bending die motion platform (5) and connection therebetween Chain, P- prismatic pairs, S- spherical hinges) driving rod piece (3), drive rod piece (3) by spherical linkage or the Three Degree Of Freedom equivalent with it Hooke is connected with silent flatform (1) and bending die motion platform (5) respectively compared with (2,4), parallel to adjust by driving electrohydraulic servo system The length of six groups of SPS driving rod pieces (3) is controlled, controllable position and posture of the bending die motion platform (5) in space (determines it The angle crossed around cartesian coordinate system XYZ shaft rotations), and various curvilinear motions are completed, and then realize the multidimensional fortune of bending die (7) It is dynamic, complete bending forming process in conjunction with axial promote of tubing (6).
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the 3-RPSR are in parallel Mechanism includes that (R- rotates the three groups of identical RPSR of silent flatform (1), bending die motion platform (5) and connection therebetween Pair, P- prismatic pairs, S- spherical hinges, R- revolutes) driving rod piece (13);Driving rod piece one end (13) passes sequentially through prismatic pair (22) Triangle rotary secondary (24) with compound secondary (12) of spherical pair (23) composition and at silent flatform center is connected with silent flatform (1), The other end is connected by revolute (14) with bending die motion platform (5), by driving electrohydraulic servo system, while adjusting three groups RPSR drives prismatic pair (22) length of rod piece (13), can control position and posture and completion of the bending die (7) in space Various curvilinear motions realize bending forming process in conjunction with axial promote of tubing (6).
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the Tricept is simultaneously TPS (T- Hookes are cut with scissors, P- prismatic pairs, S- spherical hinges) driving rod piece (active branched chain) (17) of online structure passes through spherical linkage (19) It is connected respectively with moving platform (20), silent flatform (1) with Hooke hinge (15), one end of the driven branch in center (18) is cut with scissors by Hooke (16) it is connected with silent flatform (1), the other end is directly fastenedly connected with moving platform (20);By driving electrohydraulic servo system, simultaneously Position control of the bending die motion platform (5) in space can be realized by changing the length of three groups of rod pieces, be moved by bending die flat Two degrees of freedom series connection rotation wrist device (12) between platform (5) and moving platform (20) can control bending die (7) in space Posture finally combines axial promote of tubing (6) to realize bending forming process.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, the bending die are being transported Spatial movement under the driving of motivation structure is ranging from:Eccentric distance ranging from 0-100mm is moved around cartesian coordinate system XYZ shaft rotations Angular range is 0-25 °.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, bending tube forming it is specific Step is:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:
(R is bending pipes radius, before A is bending die center and guide sleeve by θ=vt/R, S=vt The distance at end, v are the speed that tubing level is sent into);
Second, above-mentioned technological parameter is sent to bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment Determine that the flexible displacement time curve of six groups of SPS driving rod pieces, tubing thrustor determine pipe according to the movement locus of bending die The displacement time curve that material is sent into, wherein the length formula of six groups of SPS driving rod pieces is: (i=1,2,3,4,5,6) (P(0)=[x(0),y(0),z(0)]TFor the position vector at bending die moving platform center, T is moving platform appearance The direction cosine matrix of state, PiVector of the hinge centres point in moving coordinate system on moving platform, the hinge in bi fixed bases The vector of central point, Li are i-th of connecting rod vector, and the length of connecting rod is li);
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, bending tube forming it is specific Step is:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:Wherein, U= θ=vt/R, S=vt (R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding Speed);
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment root Determine that three groups of RPSR drive the displacement time curve of rod piece prismatic pair length, tubing thrustor true according to the movement locus of bending die The displacement time curve that fixed tube material is sent into, wherein three groups of RPSR drivings rod piece prismatic pair length formulas are:
(Ri is silent flatform endpoint and origin line in coordinate system The vector of O-XYZ, angles of the θ i between silent flatform and vertical shift pair,For revolute pair vector ri, that is, connecting rod vector Li and erect The corner of horizontal plane between straight prismatic pair vector, ψ i are revolute pair vector ri, that is, connecting rod Li and the secondary vectorial perpendicular of vertical shift Between corner, it is specified that rotating clockwise as just, to rotate counterclockwise be negative);
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
The complex components three-dimensional free bend manufacturing process based on polypody parallel robot, bending tube forming it is specific Step is:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:Wherein, U= θ=vt/R, S=vt, R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding Speed;
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment root The displacement time curve of three groups of TPS driving rod lengths (active branched chain), tubing pushing tow dress are determined according to the movement locus of bending die The displacement time curve that determining tubing is sent into is set, wherein three groups of TPS drivings rod piece length formulas are:
R points O ' is the position at fixed reference system O-xyz Vector, bi and ai are measurement of the position vector of hinge B, A at coordinate system O-xyz and O '-x ' y ' z ', and T is moving platform posture Direction cosine matrix;
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
Advantageous effect:
1, the present invention is the improvement project of 3 D auto bending apparatus, has fully played parallel institution stiffness/weight ratio The advantages such as greatly, bearing capacity is strong, deviation accumulation is small, dynamic property is good, compact-sized, comprehensive manufacturing cost is low, improve three-dimensional The forming accuracy of free bend solves the problems, such as that 3 D auto bending forming difficulty shapes large scale heavy wall pipe.
2, the method for the present invention simple possible, production efficiency is high, has weight in engineering fields such as aerospace, nuclear power, automobiles The engineering application value and apparent economic benefit wanted.
Description of the drawings
Fig. 1 is the complex components three-dimensional free bend manufacturing process flow chart based on polypody parallel robot;
Fig. 2 is the 3 D auto bending apparatus schematic diagram based on vertical Stewart parallel institutions;
Fig. 3 is the 3 D auto bending apparatus schematic diagram based on horizontal Stewart parallel institutions;
Fig. 4 is the 3 D auto bending apparatus schematic diagram based on vertical 3-RPSR parallel institutions;
Fig. 5 is the 3 D auto bending apparatus schematic diagram based on horizontal 3-RPSR parallel institutions;
Fig. 6 is the hybrid mechanism 3 D auto bending apparatus based on Tricept parallel institutions and series connection rotation wrist device Schematic diagram;
Fig. 7 is the motion principle schematic diagram of Stewart parallel institutions;
Fig. 8 is the motion principle schematic diagram of 3-RPSR parallel institutions;
Fig. 9 is the motion principle schematic diagram of Tricept parallel institutions;
Specific implementation mode
Below in conjunction with specific embodiment, the present invention is described in detail.
Embodiment 1
Fig. 2 and Fig. 3 is the 3 D auto bending apparatus schematic diagram based on vertical and horizontal Stewart parallel institutions.Fig. 2's Stewart parallel institutions are vertical installation, i.e., silent flatform 1 is fixed on level ground, and bending die 7 is perpendicularly fixed at bending die 5 center of motion platform;The Stewart parallel institutions of Fig. 3 be horizontal installation, i.e., silent flatform 1 be fixed on fuselage side (with flatly Face is vertical), and bending die 7 is parallel is fixed on 5 center of bending die motion platform.Two kinds of equipment include bending die telecontrol equipment and Tubing thrustor two large divisions.Wherein bending die telecontrol equipment includes silent flatform 1,5 (namely end of bending die motion platform Actuator) and the identical SPS of connection therebetween six groups drive rod pieces 3.Driving rod piece 3 passes through spherical linkage (2,4) It is connected respectively with silent flatform 1 and bending die motion platform 5, changes simultaneously the length of six groups of SPS driving rod pieces 3, can control bending Position and posture and completion various curvilinear motions of the mould 7 in space.Six groups of telescoping rods 3 are directly driven by electrohydraulic servo system It is dynamic.Tubing thrustor is made of guide sleeve 8, pushing block 9, mandrel 10, ball wire bar pair 11.Servo motor drives feed screw nut's rotation Turn, the convert rotational motion of adjutant feed screw nut itself is the axial linear movement of tubing 6.
In this example, bending tube forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:
(R is bending pipes radius, before A is bending die center and guide sleeve by θ=vt/R, S=vt The distance at end, v are the speed that tubing level is sent into);
Second, above-mentioned technological parameter is sent to bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment Determine that the flexible displacement time curve of six groups of SPS driving rod pieces, tubing thrustor determine pipe according to the movement locus of bending die The displacement time curve that material is sent into, wherein the length formula of six groups of SPS driving rod pieces is: (i=1,2,3,4,5,6) (P0=[x0,y0,z0]TFor the position vector at bending die moving platform center, T is the side of moving platform posture To cosine matrix, PiVector of the hinge centres point in moving coordinate system on moving platform, the hinge centres point in bi fixed bases Vector, Li is i-th connecting rod vector, and the length of connecting rod is li);
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
Embodiment 2
Fig. 4 and Fig. 5 is the 3 D auto bending apparatus schematic diagram based on vertical and horizontal 3-RPSR parallel institutions.Fig. 4's 3-RPSR parallel institutions are vertical installation, i.e., silent flatform 1 is fixed on level ground, and bending die 7 is perpendicularly fixed at bending die 5 center of motion platform;The 3-RPSR parallel institutions of Fig. 5 be horizontal installation, i.e., silent flatform 1 be fixed on fuselage side (with flatly Face is vertical), and bending die 7 is parallel is fixed on 5 center of bending die motion platform.Two kinds of equipment include bending die telecontrol equipment and Tubing thrustor two large divisions.Wherein bending die telecontrol equipment includes silent flatform 1,5 (namely end of bending die motion platform Actuator) and the identical RPSR of connection therebetween three groups drive rod pieces 13.13 one end of driving rod piece passes through shifting respectively Compound secondary 12 and the triangle rotary pair 24 at silent flatform center that dynamic pair 22 and spherical pair 23 form are connected with silent flatform 1, separately One end is connected by revolute pair 14 with bending die motion platform 5, and the prismatic pair of rod piece 13 is driven by adjusting three groups of RPSR parallel 22 length can control position and posture and completion various curvilinear motions of the bending die 7 in space.The movement of three groups of rod pieces 13 Pair 22 is directly driven by electrohydraulic servo system.Tubing thrustor is made of guide sleeve 8, pushing block 9, mandrel 10, ball wire bar pair 11. It is the axial linear movement of tubing 6 that servo motor, which drives feed screw nut's rotation, the convert rotational motion of adjutant feed screw nut itself,.
In this example, bending tube forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:Wherein, U= θ=vt/R, S=vt (R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding Speed);
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment root Determine that three groups of RPSR drive the displacement time curve of rod piece prismatic pair length, tubing thrustor true according to the movement locus of bending die The displacement time curve that fixed tube material is sent into, wherein three groups of RPSR drivings rod piece prismatic pair length formulas are:
(Ri is silent flatform endpoint and origin line in coordinate system The vector of O-XYZ, angles of the θ i between silent flatform and vertical shift pair,For revolute pair vector ri, that is, connecting rod vector Li and erect The corner of horizontal plane between straight prismatic pair vector, ψ i are revolute pair vector ri, that is, connecting rod Li and the secondary vectorial perpendicular of vertical shift Between corner, it is specified that rotating clockwise as just, to rotate counterclockwise be negative);
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
Embodiment 3
Fig. 6 is the hybrid mechanism 3 D auto bending apparatus based on Tricept parallel institutions and series connection rotation wrist device Schematic diagram.Compared with the 3 D auto bending apparatus based on Stewart parallel institutions and 3-RPSR parallel institutions, it is based on series-parallel connection machine The 3 D auto bending apparatus of structure can realize the disadvantage of orientation capability difference efficiently against the pure parallel institution moving platform of six degree of freedom, And then larger working space and lathe volume ratio are obtained, with working space, big, rigidity/weight ratio is high, reconfigurable ability is strong, And the advantages that can realizing terminal position closed-loop feedback.The equipment includes two big portion of bending die telecontrol equipment and tubing thrustor Point.Wherein bending die telecontrol equipment includes Tricept parallel institutions and two degrees of freedom series connection rotation wrist device 12.Tricept Parallel institution includes silent flatform 1, moving platform 20 and connection TPS driving rod pieces 17 identical between the two three groups and passively Center constrained branched chain 18.Two degrees of freedom series connection rotation wrist device 21 is connected between moving platform 20 and bending die motion platform 5. Driving rod piece is connected with moving platform 20 and silent flatform 1 respectively by spherical linkage 19 and hook hinge 15, center constrained branched chain 18 One end is connected by Hooke's hinge 16 with silent flatform 1, and one end is directly fastenedly connected with moving platform 20.By regulating and controlling three groups of drivings parallel The length of rod piece 17, it can be achieved that position control of the bending die 7 in space, by bending die motion platform 5 and moving platform 20 it Between two degrees of freedom rotation wrist device 21 can control posture of the bending die 7 in space.Three groups of TPS telescoping rods 17 are by electro-hydraulic Servo-drive system directly drives, and two degrees of freedom series connection rotation wrist device 21 can be directly realized by by servo motor.Tubing thrustor It is made of guide sleeve 8, pushing block 9, mandrel 10, ball wire bar pair 11.Servo motor drives feed screw nut's rotation, and adjutant feed screw nut is certainly The convert rotational motion of body is the axial linear movement of tubing 6.
In this example, bending tube forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation is determined by iterative calculation The time-displacement curve of distance U, bending die rotational angle θ, tubing axial feeding distance S:
Wherein, U=(R is bending pipes radius, and A is bending die center and guide sleeve by θ=vt/R, S=vt The distance of front end, v are the speed that tubing level is sent into);
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment root The displacement time curve of three groups of TPS driving rod lengths (active branched chain), tubing pushing tow dress are determined according to the movement locus of bending die The displacement time curve that determining tubing is sent into is set, wherein three groups of TPS drivings rod piece length formulas are:
(r points O ' is the position at fixed reference system O-xyz Set vector, the measurement of bi and position vector that ai is hinge B, A at coordinate system O-xyz and O '-x ' y ' z ', T is moving platform appearance The direction cosine matrix of state);
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete pipe fitting Actual flexion forming.
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 (2)

1. a kind of complex components three-dimensional free bend manufacturing process based on polypody parallel robot, which is characterized in that use Bending die telecontrol equipment include a silent flatform, an end effector and be correspondingly connected with each end effector with it is quiet flat Between platform and for controlling multigroup driving rod piece that end effector moves in space;The driving of bending die motion platform uses Six-degree-of-freedom parallel connection mechanism directly drives, or is realized in the form of connection in series-parallel combination drive;The six-degree-of-freedom parallel Structure is Stewart parallel institutions or 3-RPSR parallel institutions, and the connection in series-parallel combination drive is Three Degree Of Freedom Tricept parallel machines The hybrid mechanism that structure and two degrees of freedom series connection rotation wrist device compose in series;
The Stewart parallel institutions include six of silent flatform (1), bending die motion platform (5) and connection therebetween The identical SPS driving rod pieces (3) of group, driving rod piece (3) is by spherical linkage or the Three Degree Of Freedom Hooke equivalent with it is compared with (2,4) It is connected respectively with silent flatform (1) and bending die motion platform (5), by driving electrohydraulic servo system, parallel six groups of SPS of regulation and control to drive The length of lever part (3) can control position and posture of the bending die motion platform (5) in space, and complete various curves Movement, and then realize the multi-dimensional movement of bending die (7), complete bending forming process in conjunction with axial promote of tubing (6);Its bend pipe Forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation distance is determined by iterative calculation U, the time-displacement curve of bending die rotational angle θ, tubing axial feeding distance S:θ=vt/R, S =vt, R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding speed;
Second, above-mentioned technological parameter is sent to bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment according to The movement locus of bending die determines that the flexible displacement time curve of six groups of SPS driving rod pieces, tubing thrustor determine that tubing is sent Into displacement time curve, wherein the length formula of six groups of SPS driving rod pieces is:I= 1,2,3,4,5,6, P(0)=[x(0),y(0),z(0)]TFor the position vector at bending die moving platform center, T is the side of moving platform posture To cosine matrix, PiVector of the hinge centres point in moving coordinate system on moving platform, the hinge centres point in bi fixed bases Vector, Li is i-th connecting rod vector, and the length of connecting rod is li;
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete the reality of pipe fitting Border bending forming;
The 3-RPSR parallel institutions include three groups of silent flatform (1), bending die motion platform (5) and connection therebetween Identical RPSR driving rod pieces (13);Driving rod piece (13) one end passes sequentially through what prismatic pair (22) and spherical pair (23) formed Compound pair (12) and triangle rotary secondary (24) at silent flatform center are connected with silent flatform (1), and the other end passes through revolute (14) it is connected with bending die motion platform (5), by driving electrohydraulic servo system, while adjusts three groups of RPSR driving rod pieces (13) Prismatic pair (22) length, can control position and posture of the bending die (7) in space and complete various curvilinear motions, in conjunction with Axial promote of tubing (6) realizes bending forming process;Its bending tube forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation distance is determined by iterative calculation U, the time-displacement curve of bending die rotational angle θ, tubing axial feeding distance S:Wherein, θ= Vt/R, S=vt, R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding speed Degree;
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment is according to curved The movement locus of Qu Mo determines that the displacement time curve of three groups of RPSR driving rod piece prismatic pair length, tubing thrustor determine pipe The displacement time curve that material is sent into, wherein three groups of RPSR drivings rod piece prismatic pair length formulas are:
Ri is silent flatform endpoint and origin line in coordinate system The vector of O-XYZ, angles of the θ i between silent flatform and vertical shift pair,For revolute pair vector ri, that is, connecting rod vector Li and erect The corner of horizontal plane between straight prismatic pair vector, ψ i are revolute pair vector ri, that is, connecting rod Li and the secondary vectorial perpendicular of vertical shift Between corner, it is specified that it is negative to rotate clockwise just, to rotate counterclockwise;
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete the reality of pipe fitting Border bending forming;
The Tricept parallel institutions TPS driving rod piece (17) by spherical linkage (19) and Hooke hinge (15) respectively with move Platform (20), silent flatform (1) are connected, and one end of the driven branch in center (18) is connected by Hooke hinge (16) with silent flatform (1), separately One end is directly fastenedly connected with moving platform (20);By driving electrohydraulic servo system, the length for changing simultaneously three groups of rod pieces can be real Position control of the existing bending die motion platform (5) in space, by between bending die motion platform (5) and moving platform (20) Two degrees of freedom series connection rotation wrist device (21) can control posture of the bending die (7) in space, finally combine tubing (6) Axial promote realizes bending forming process;Its bending tube forming the specific steps are:
First, by the geometric parameter input device controls system of pipe fitting, bending die eccentric center translation distance is determined by iterative calculation U, the time-displacement curve of bending die rotational angle θ, tubing axial feeding distance S:Wherein, θ= Vt/R, S=vt, R be bending pipes radius, A be bending die center with guide sleeve front end at a distance from, v be tubing level feeding speed Degree;
Second, above-mentioned technological parameter is transmitted into bending die telecontrol equipment and tubing thrustor, bending die telecontrol equipment is according to curved The movement locus of Qu Mo determines that the displacement time curve of three groups of TPS driving rod lengths, tubing thrustor determine that tubing is sent into Displacement time curve, wherein three groups of TPS driving rod piece length formulas are:
R points O ' is the position at fixed reference system O-xyz Vector, bi and ai are measurement of the position vector of hinge B, A at coordinate system O-xyz and O '-x ' y ' z ', and T is moving platform posture Direction cosine matrix;
Third, bending die telecontrol equipment and tubing thrustor start simultaneously, execute above-mentioned curve movement, complete the reality of pipe fitting Border bending forming.
2. the complex components three-dimensional free bend manufacturing process according to claim 1 based on polypody parallel robot, It is characterized in that, spatial movement of the bending die under motion driving is ranging from:Eccentric distance ranging from 0-100mm, around The dynamic angular range of cartesian coordinate system XYZ shaft rotations is 0-25 °.
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