CN107008786A - The free forming dynamic optimization method of three-dimensional bending tube head and the tail geometry exact position - Google Patents
The free forming dynamic optimization method of three-dimensional bending tube head and the tail geometry exact position Download PDFInfo
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- CN107008786A CN107008786A CN201710167497.XA CN201710167497A CN107008786A CN 107008786 A CN107008786 A CN 107008786A CN 201710167497 A CN201710167497 A CN 201710167497A CN 107008786 A CN107008786 A CN 107008786A
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The invention discloses a kind of free forming dynamic optimization method of three-dimensional bending tube head and the tail geometry exact position, one section of free bend is implemented according to economics analysis parameter first and shaped；The coordinate of section node is bent by Laser Scanning Equipment dynamic scan, and geometric data is fed back into control software；The error of actual flexion angle and theoretical value is measured by three-dimensional modeling；Correction factor k is introduced, the relation of amendment bending radius and bulb eccentric throw eliminates the error amount of angle of bend, made after actual free bend, bent back ends node is tried one's best with theoretical position error relative to the physical location of first node and is reduced or eliminated；It is completely eliminated if not yet realized, will continues to adjust subsequent node position, so that space bent pipe end is in assigned position, so as to realize that space bent pipe head and the tail geometric position is accurately controlled.
Description
Technical field
The invention belongs to metal complex component advanced manufacturing technology field, more particularly to a kind of aerospace vehicle three-dimensional bending tube
The free forming dynamic optimization method of head and the tail geometry exact position.
Background technology
The accuracy of 3 D complex bend pipe first and end relative geometrical relation is in aerospace vehicle manufacture, accurate assembly process
In it is significant.But all there is different degrees of rebound phenomenon, especially three dimensions in existing bending forming method
Bend pipe, each section has resilience, the head end of bend pipe and the relative position relation of end is difficult to accurate control, to final
The accurate assembly of aerospace vehicle brings problem.The present invention is namely based on areal survey and closed loop feedback thought, by freely curved
Dynamic, the real-time adjustment of bent forming technology, finally realizes the accurate control of head end, the relative position relation of end.
The content of the invention
Traditional hardware bending techniques are when bending complex space axis shape tubing, due to each section of bent portion
In the presence of different degrees of rebound phenomenon, it is difficult to the head end and end relative position relation of bend pipe are controlled, so as to reduce bend pipe
Dimensional accuracy.The deficiency that the present invention exists for the accurate complex space axis shape tubing in head and the tail geometric position, it is proposed that one
Plant the free forming dynamic optimization method of aerospace vehicle three-dimensional bending tube head and the tail geometry exact position.
A kind of free forming dynamic optimization method of aerospace vehicle three-dimensional bending tube head and the tail geometry exact position, including it is following
Step：Implement one section of free bend shaping first, the coordinate of section node is bent by Laser Scanning Equipment dynamic scan, is led to
Cross the error that three-dimensional modeling measures actual flexion angle and theoretical value；According to the error amount amendment bending radius and bulb eccentric throw
Between quantitative relation obtain the angle of bend of next bending section, Duan Jie is bent by Laser Scanning Equipment dynamic scan
The coordinate of point, the error of actual flexion angle and theoretical value is measured by three-dimensional modeling, if physical location is missed with theoretical position
Difference is not eliminated, and continuation obtains next according to the quantitative relation between the error amount amendment bending radius and bulb eccentric throw
The angle of bend of individual bending section, until the space bent pipe end finally obtained is in assigned position, so as to realize that space bent pipe is first
Tail geometric position is accurately controlled.
Described free forming dynamic optimization method, specifically includes following steps：
The first step, implements first paragraph free bend according to economics analysis parameter first and shapes；
In second step, forming process, the starting point for the Laser Scanning Equipment dynamic scan first paragraph that manipulator is carried and end
Point (node), and geometric data is fed back into control centre；
Actual flexion result is compared with theoretical digital-to-analogue by three-dimensional modeling for 3rd step, control centre, calculates reality
The error amount of border angle of bend and theoretical angle of bend；
4th step, by introducing correction factor k, the relation of amendment bending radius and bulb eccentric throw adjusts second segment
Bending parameters, target is the error amount for eliminating the angle of bend described in the 3rd step, is made after the actual free bend of second segment, Section three
Point is tried one's best with theoretical position error relative to the physical location of first node and is reduced or eliminated.
5th step, is completely eliminated if not yet realized, will continue to adjust fourth node, the 5th node, passes through multistage dynamic
Adjustment, finally makes the error between first node and the position relationship actual value and theoretical value of final node minimum or eliminates, from
And realize space bent pipe head and the tail geometric position and accurately control.
In described method, the first step, economics analysis parameter refers to the geometry for setting up straight section, changeover portion, bending section
Parameter and node coordinate.
In described method, second step, by Laser Scanning Equipment dynamic scan obtain space bent pipe originate end node and
The coordinate of first bending section endpoint node.
In described method, the 3rd step, three-dimensional modeling is carried out according to the coordinate that second step is obtained, actual flexion angle is obtained
With the error amount of theoretical angle of bend.
In described method, the 4th step, the following institute of the introducing of relation and correction factor k of bending radius and bulb eccentric throw
Show, wherein A be bending die center to distance, v between guiding mechanism front end be tubing along Z axis feed rate, LnIt is straight for n-th section
Segment length,For the angle between bending direction and x-axis positive direction, RnFor the bending radius of n-th section of arc section, θnTo be curved
Bent angle：
Straightway：ux=0 uy=0 uz=vt
First Transition section：
uz=vt
Bending section:
uz=vt
Second changeover portion：
uz=vt
In described method, the 5th step, between the position relationship actual value and theoretical value of first node and final node
Error is less than 1%.
Beneficial effect：
1st, the present invention is a kind of free forming dynamic optimization side of aerospace vehicle three-dimensional bending tube head and the tail geometry exact position
Method；
2nd, the present invention is the accurate tubing optimize technique in head and the tail geometric position, and tubing 3 D auto bending apparatus is changed
Enter, bend pipe head and the tail geometric position function can accurately be controlled by making it have, realize the accurate three-dimensional bending tube essence in head and the tail geometric position
Close manufacture；
3rd, the inventive method simple possible, production efficiency is high, has important engineering application value in aerospace field
With obvious economic benefit.
Brief description of the drawings
Fig. 1 is tubing 3 D auto bending apparatus schematic diagram, and wherein A is the spacing of bending die center to guiding mechanism front end
It is tubing along Z axis feed rate from, v；1st, pipe, 2, bending die, 3, guiding mechanism, 4, spherical bearing, 5, feed mechanism；
Fig. 2 for complicated shape bend pipe 3-D geometric model be segmented and differently curved section between changeover portion supplement figure,
Pn-1For the point of intersection of tangents of the (n-1)th bending section two, PnFor the point of intersection of tangents of the n-th bending section two, Pn+1Handed over for the tangent line of the (n+1)th bending section two
Point, Ln-1For the (n-1)th length of straigh line, LnFor the n-th length of straigh line, Ln+1For the (n+1)th length of straigh line, θn+1It is curved for (n+1)th
Tune angle of bend, θnFor the n-th bending section angle of bend, θn+1For the (n+1)th bending section angle of bend, Rn+1For the (n+1)th bending section
Bending radius, RnFor the n-th bending section bending radius, Rn+1For the (n+1)th bending section bending radius；
Fig. 3 is the angle schematic diagram between bending pipes direction and x-axis positive direction, and wherein B is spherical bearing, and C is bending
Mould,For the angle between bending direction and x-axis positive direction；
Fig. 4 is plane bend pipe；
Fig. 5 is plane bend pipe piecewise graph, P0- bend pipe starting point, P1- first paragraph bends straightway intersection point, P2- second segment is curved
Right and wrong intersection point of line segments, P3- the three section of bending straightway intersection point, P4- bend pipe terminal, L1- first paragraph length of straigh line, L2- the second is straight
Line segment length, L3- the three length of straigh line, L4- final stage length of straigh line, θ1- first paragraph angle of bend, θ2- second segment is curved
Bent angle, θ3- the three section of angle of bend, R1- first paragraph bending radius, R2- second segment bending radius, R3- the three section of bending half
Footpath.
Fig. 6 is space bent pipe；
Fig. 7 is space bent pipe piecewise graph, T0Bend pipe starting point, T1First paragraph bends straightway intersection point, T2Second segment bending is straight
Intersection point of line segments, T3Bend pipe terminal, l1First paragraph length of straigh line, l2Second straight line segment length, l3Final stage length of straigh line, α1
First paragraph angle of bend, α2Second segment angle of bend, r1First paragraph bending radius, r2Second segment bending radius.
Embodiment
Below in conjunction with the accurate plane in head and the tail geometric position and the bending example of spatial axis shape tubing, the present invention is entered
Row is described in detail.
3D free bend formers, including bending die, spherical bearing etc. are used in the embodiment of the present invention, bending die is in ball
It can be axially moved in the presence of spherical bearing along X/Y.
Embodiment 1
The first step, is 20mm by external diameter, and wall thickness is 6mm, and straight section length is respectively 500mm, 700mm, 900mm and 435mm,
Arc section radius be respectively 300mm, 400mm and 250mm bend pipe set up plane bend pipe (shown in Fig. 4) straight section, it is changeover portion, curved
The geometric shape parameterses of tune, first paragraph bending is formed.
In second step, forming process, the Laser Scanning Equipment dynamic scan first paragraph bending section that manipulator is carried is risen
Initial point P0, node P1And P2Coordinate, and geometric data is fed back into control software；
Actual flexion result, is compared, calculates first paragraph actual by the 3rd step by three-dimensional modeling with theoretical digital-to-analogue
The error amount of angle of bend and theoretical angle of bend；
4th step, by introducing correction factor k, the relation of amendment bending radius and bulb eccentric throw adjusts second segment
Bending parameters, target is the error amount for eliminating the angle of bend described in the 3rd step, is made after the actual free bend of second segment, Section three
Point is tried one's best relative to the physical location of first node with theoretical position error to be reduced 1% or eliminates.
5th step, is completely eliminated if not yet realized, will continue to adjust the 4th according to the 3rd step and the 4th step methods described
Node, is dynamically adjusted by multistage, finally made between first node and the position relationship actual value and theoretical value of final node
Error is minimum or eliminates, so as to realize that space bent pipe head and the tail geometric position is accurately controlled.
Embodiment 2
The first step, is 20mm by external diameter, wall thickness is 6mm, and straight section length is respectively 320mm, 4800mm and 250mm, arc section
Radius is all the geometric shape parameterses that 135mm bend pipe sets up three-dimensional bending tube (shown in Fig. 4) straight section, changeover portion, bending section, right
First paragraph bending is formed.
In second step, forming process, the starting point coordinate for the Laser Scanning Equipment dynamic scan first paragraph that manipulator is carried
T0, node T1And T2, and geometric data is fed back into control software；
Actual flexion result, is compared, calculates first paragraph actual by the 3rd step by three-dimensional modeling with theoretical digital-to-analogue
The error amount of angle of bend and theoretical angle of bend；
4th step, by introducing correction factor k, the relation of amendment bending radius and bulb eccentric throw adjusts second segment
Bending parameters, target is the error amount for eliminating the angle of bend described in the 5th step, is made after the actual free bend of second segment, Section three
Point is tried one's best relative to the physical location of first node with theoretical position error to be reduced within 1% or eliminates.
It should be appreciated that for those of ordinary skills, can according to the above description be improved or converted,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (7)
1. a kind of free forming dynamic optimization method of aerospace vehicle three-dimensional bending tube head and the tail geometry exact position, its feature exists
In comprising the following steps：Implement one section of free bend shaping first, Duan Jie is bent by Laser Scanning Equipment dynamic scan
The coordinate of point, the error of actual flexion angle and theoretical value is measured by three-dimensional modeling；According to the error amount amendment bending radius
Quantitative relation between bulb eccentric throw obtains the angle of bend of next bending section, passes through Laser Scanning Equipment dynamic scan
The coordinate of section node is bent, the error of actual flexion angle and theoretical value is measured by three-dimensional modeling, if physical location
It is not eliminated, continues according to the quantity between the error amount amendment bending radius and bulb eccentric throw with theoretical position error
Relation obtains the angle of bend of next bending section, until the space bent pipe end finally obtained is in assigned position, so that real
Existing space bent pipe head and the tail geometric position is accurately controlled.
2. free forming dynamic optimization method according to claim 1, it is characterised in that specifically include following steps：
The first step, implements first paragraph free bend according to economics analysis parameter first and shapes；
In second step, forming process, starting point and the terminal (section for the Laser Scanning Equipment dynamic scan first paragraph that manipulator is carried
Point), and geometric data is fed back into control centre；
Actual flexion result is compared with theoretical digital-to-analogue by three-dimensional modeling for 3rd step, control centre, is calculated actual curved
Bent angle and the error amount of theoretical angle of bend；
4th step, by introducing correction factor k, the relation of amendment bending radius and bulb eccentric throw adjusts the bending of second segment
Parameter, target is the error amount for eliminating the angle of bend described in the 3rd step, is made after the actual free bend of second segment, the 3rd node phase
Physical location for first node is tried one's best with theoretical position error and is reduced or eliminated.
5th step, is completely eliminated if not yet realized, will continue to adjust fourth node, the 5th node, is dynamically adjusted by multistage,
The final error made between first node and the position relationship actual value and theoretical value of final node is minimum or eliminates, so as to realize
Space bent pipe head and the tail geometric position is accurately controlled.
3. method according to claim 2, it is characterised in that：In the first step, economics analysis parameter refers to set up straight section, mistake
Cross section, the geometric shape parameterses and node coordinate of bending section.
4. method according to claim 2, it is characterised in that：In second step, obtained by Laser Scanning Equipment dynamic scan
The coordinate of end node and first bending section endpoint node is originated to space bent pipe.
5. method according to claim 2, it is characterised in that：In 3rd step, three are carried out according to the coordinate that second step is obtained
Dimension modeling, obtains actual flexion angle and the error amount of theoretical angle of bend.
6. method according to claim 2, it is characterised in that：In 4th step, the relation of bending radius and bulb eccentric throw
And correction factor k introducing is as follows, wherein A be bending die center to distance, v between guiding mechanism front end be tubing along Z
Axle feed rate, Ln for n-th section straight section length,It it is n-th section for the angle between bending direction and x-axis positive direction, Rn
The bending radius of arc section, θ n are angle of bend：
Straightway：ux=0 uy=0 uz=vt
First Transition section：
uz=vt
Bending section:
uz=vt
Second changeover portion：
uz=vt
7. method according to claim 2, it is characterised in that：In 5th step, the position of first node and final node is closed
It is that error between actual value and theoretical value is less than 1%.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931383A (en) * | 2017-11-30 | 2018-04-20 | 中国科学院金属研究所 | A kind of 3 D auto bending and numerical-controlled bending composite forming apparatus |
| CN108062444A (en) * | 2017-12-15 | 2018-05-22 | 西北工业大学 | Parameters of bent pipe determines method |
| CN108080458A (en) * | 2017-12-13 | 2018-05-29 | 南京航空航天大学 | A kind of three axis free bend part progressive molding device and methods |
| CN108746283A (en) * | 2018-05-21 | 2018-11-06 | 南京航威智造科技有限公司 | A kind of technique optimization method improving three-dimensional hollow component forming precision |
| CN110116153A (en) * | 2019-03-18 | 2019-08-13 | 安徽省路港工程有限责任公司 | Large diameter steel pipe clod wash makes engineering method |
| CN111185505A (en) * | 2020-02-28 | 2020-05-22 | 西北工业大学 | Technological parameter optimization method for forming spatial complex pipe fitting |
| CN111504225A (en) * | 2020-04-30 | 2020-08-07 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN111672947A (en) * | 2020-08-17 | 2020-09-18 | 常州固高智能装备技术研究院有限公司 | Complex component forming device and forming method thereof |
| CN112139320A (en) * | 2020-09-10 | 2020-12-29 | 中国航发贵州黎阳航空动力有限公司 | Spiral catheter processing method |
| CN112270079A (en) * | 2020-10-22 | 2021-01-26 | 南京航空航天大学 | Three-dimensional free bending active bending die motion pose analysis method |
| WO2021103290A1 (en) * | 2019-11-28 | 2021-06-03 | 南京航空航天大学 | Continuous free bending precise shaping method |
| CN113351704A (en) * | 2021-04-21 | 2021-09-07 | 南京航空航天大学 | Pipe bending robot track control and forming processing method |
| CN113579024A (en) * | 2021-06-30 | 2021-11-02 | 北京卫星制造厂有限公司 | Method for bending and forming ammonia axial channel heat pipe based on laser induction |
| CN114378153A (en) * | 2021-12-22 | 2022-04-22 | 中船重工西安东仪科工集团有限公司 | Thin-wall steel pipe cold bending die and cold bending method |
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| CN107931383A (en) * | 2017-11-30 | 2018-04-20 | 中国科学院金属研究所 | A kind of 3 D auto bending and numerical-controlled bending composite forming apparatus |
| CN107931383B (en) * | 2017-11-30 | 2024-03-08 | 中国科学院金属研究所 | Three-dimensional free bending and numerical control winding composite forming equipment |
| CN108080458A (en) * | 2017-12-13 | 2018-05-29 | 南京航空航天大学 | A kind of three axis free bend part progressive molding device and methods |
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| CN108062444A (en) * | 2017-12-15 | 2018-05-22 | 西北工业大学 | Parameters of bent pipe determines method |
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| CN110116153A (en) * | 2019-03-18 | 2019-08-13 | 安徽省路港工程有限责任公司 | Large diameter steel pipe clod wash makes engineering method |
| WO2021103290A1 (en) * | 2019-11-28 | 2021-06-03 | 南京航空航天大学 | Continuous free bending precise shaping method |
| CN111185505B (en) * | 2020-02-28 | 2020-12-08 | 西北工业大学 | Technological parameter optimization method for forming spatial complex pipe fitting |
| CN111185505A (en) * | 2020-02-28 | 2020-05-22 | 西北工业大学 | Technological parameter optimization method for forming spatial complex pipe fitting |
| CN111504225B (en) * | 2020-04-30 | 2022-05-31 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN111504225A (en) * | 2020-04-30 | 2020-08-07 | 中国核工业华兴建设有限公司 | Pipeline position detection method based on three-dimensional scanning |
| CN111672947A (en) * | 2020-08-17 | 2020-09-18 | 常州固高智能装备技术研究院有限公司 | Complex component forming device and forming method thereof |
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| CN112139320B (en) * | 2020-09-10 | 2023-03-03 | 中国航发贵州黎阳航空动力有限公司 | Spiral catheter processing method |
| CN112270079A (en) * | 2020-10-22 | 2021-01-26 | 南京航空航天大学 | Three-dimensional free bending active bending die motion pose analysis method |
| CN112270079B (en) * | 2020-10-22 | 2024-03-29 | 南京航空航天大学 | Three-dimensional free bending active bending die movement pose analysis method |
| CN113351704A (en) * | 2021-04-21 | 2021-09-07 | 南京航空航天大学 | Pipe bending robot track control and forming processing method |
| CN113579024A (en) * | 2021-06-30 | 2021-11-02 | 北京卫星制造厂有限公司 | Method for bending and forming ammonia axial channel heat pipe based on laser induction |
| CN113579024B (en) * | 2021-06-30 | 2024-02-09 | 北京卫星制造厂有限公司 | Laser-induced ammonia axial channel heat pipe bending forming method |
| CN114378153A (en) * | 2021-12-22 | 2022-04-22 | 中船重工西安东仪科工集团有限公司 | Thin-wall steel pipe cold bending die and cold bending method |
| CN114378153B (en) * | 2021-12-22 | 2023-11-28 | 中船重工西安东仪科工集团有限公司 | Cold bending die and cold bending method for thin-wall steel pipe |
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| CN107008786B (en) | 2019-01-01 |
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