CN107350321A - A kind of 3 D auto bending forming system based on polar coordinate system control - Google Patents
A kind of 3 D auto bending forming system based on polar coordinate system control Download PDFInfo
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- CN107350321A CN107350321A CN201710732714.5A CN201710732714A CN107350321A CN 107350321 A CN107350321 A CN 107350321A CN 201710732714 A CN201710732714 A CN 201710732714A CN 107350321 A CN107350321 A CN 107350321A
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- coordinate system
- polar coordinate
- bending
- controlling organization
- system controlling
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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
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/22—Auxiliary equipment, e.g. positioning devices
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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
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention belongs to the bending forming technical field of hollow body component, specifically a kind of 3 D auto bending forming system based on polar coordinate system control.Including pedestal, polar coordinate system controlling organization, feeler mechanism, bending mechanism and auxiliary body, wherein polar coordinate system controlling organization, feeler mechanism and auxiliary body are arranged on pedestal, and polar coordinate system controlling organization realizes polar coordinate system control by producing radial feed motion and gyration；Feeler mechanism is used to radial feed motion and gyration caused by polar coordinate system controlling organization passing to bending mechanism；Bending mechanism is arranged on feeler mechanism, and the bending forming for the motion completion component for passing through feeler mechanism transmission；Auxiliary body is corresponding with bending mechanism, for the feed motion of drive member progress vertically.Present invention control and simple to operate, accurate and rapid, and the problem of overcome workpiece bent portion and mould interfere, expand the processing scope of application of bending.
Description
Technical field
The invention belongs to the bending forming technical field of hollow body component, it is specifically a kind of based on polar coordinate system control
3 D auto bending forming system.
Background technology
Bending forming processing is carried out to the hollow body such as tubing and section bar component in the prior art, especially for space three
Dimension and the shaping of the bool of curvature radius still have technological difficulties.Respectively by being returned to radial displacement, slew gear
Turn the adjustment of orientation and the bool amount of feeding, realize to three elbow radius, bend pipe direction and bend pipe angle free bend variables
Accurate control, to realize flexural deformation to three-dimensional tubing.Early stage digitally controlled mold-free bending machine is carried out using rectangular coordinate system more
Control, as the digitally controlled mold-free bending machine of Japanese Nissin companies is when controlling bend pipe direction, because of bend pipe drive shaft and bent tube technique
Parameter needs two interpolation operations of the drive shafts linkage through digital control system of rectangular co-ordinate to change bend pipe direction without direct corresponding relation,
So that system response time is slack-off and machining accuracy reduces；If realizing accurate to system motion, rapid control, will make
Numerical control system complex is obtained, the control and operation to system require also will be higher.
Japanese Nissin companies find the shortcomings that rectangular coordinate system type of drive, and the digitally controlled mold-free bending machine in later stage is by right angle
The type of drive of coordinate is changed to use polar coordinates type of drive.It is a kind of preferable solution using polar coordinates control, can
With directly corresponding with technological parameter directly by digitally controlled mold-free bending machine drive shaft.But its structure is using whole drive mechanisms are straight
Connect the mode on the bending-forming mold, i.e., whole drive device around workpiece revolution, the driving structure there is also it is obvious the shortcomings that,
Because drive mechanism is arranged in around workpiece, and overall size is larger, is easily interfered with the workpiece after bending, makes its use
Processing range diminishes.Curved mechanism segment set, so its geometric scale is bigger, limits into related motion control structure
Workpiece to be machined is the curvature range of bend pipe, it is difficult to realizes the controlled high accuracy processing of deep camber bend pipe.Therefore there is an urgent need to open
Send out a kind of based on polar coordinates control, space any direction, the nothing of the hollow object such as larger radius of curvature tubing and section bar can be realized
Mould bending method and system.
The content of the invention
To be bent in view of the above-mentioned problems, it is an object of the invention to provide a kind of 3 D auto based on polar coordinate system control
Shape system, the system and method can manufacture deep camber bend pipe, and can realize that hollow objects such as special section tubular product and section bar etc. pass
The digital control processing manufacture of the difficult processing part of system.
To achieve these goals, the present invention uses following technical scheme：
It is a kind of based on polar coordinate system control 3 D auto bending forming system, including pedestal, polar coordinate system controlling organization,
Feeler mechanism, bending mechanism and auxiliary body, wherein,
The polar coordinate system controlling organization be arranged on the pedestal on, by produce radial feed motion and gyration come
Realize polar coordinate system control；
The feeler mechanism is arranged on the pedestal and is connected with the polar coordinate system controlling organization, described
Feeler mechanism is used to radial feed motion and gyration caused by the polar coordinate system controlling organization passing to the bending
Mechanism；
The bending mechanism is arranged on the opening position away from the polar coordinate system controlling organization on the feeler mechanism, described
The bending forming of component is completed in the motion that bending mechanism is transmitted by the feeler mechanism；
The auxiliary body is arranged on the pedestal and corresponding with the bending mechanism, auxiliary body's use
The feed motion of component progress to be bent in the bending mechanism vertically is placed in driving.
The feeler mechanism includes fore-stock, in length and breadth rail brackets and after-poppet, and wherein after-poppet is connected with the pedestal,
The after-poppet is provided with cross slide way, and the rail brackets in length and breadth is slidably connected with the cross slide way, the guide rail in length and breadth
Support is provided with longitudinal rail, and the fore-stock is slidably connected with the longitudinal rail；The polar coordinate system controlling organization and institute
State fore-stock rotation connection.
One end away from the polar coordinate system controlling organization is provided with bending mechanism mounting hole on the feeler mechanism, described curved
Shape mechanism is installed in rotation in bending mechanism mounting hole.
The polar coordinate system controlling organization includes rotary motion mechanism and depth-feed mechanism, and wherein rotary motion mechanism is set
It is placed on the pedestal, the depth-feed mechanism is arranged on the rotary motion mechanism and rotated with the fore-stock
Connection.
The rotary motion mechanism includes turning motor, pivoting support and rotary disk, and wherein pivoting support is placed in described
It is connected in the centre bore of after-poppet and with the pedestal, the rotary disk is installed in rotation on the pivoting support, institute
Turning motor is stated on the pivoting support and output shaft is connected by transmission device I with the rotary disk.
The depth-feed mechanism includes radial motor, nut seat, leading screw, radially slides guide rail, slide and drive rod, its
Middle radial motor, leading screw and radially slide guide rail and be arranged on the rotary disk, the radial motor passes through to be driven with leading screw to be filled
Put II connections, the nut seat is connected by screw with threads of lead screw, the slide be connected with the nut seat and with it is described
Radially slide guide rail to be slidably connected, one end of the drive rod is connected with the slide, and the other end rotates with the fore-stock to be connected
Connect.
The drive rod is connected with the bending mechanism driving.
The bending mechanism includes catheter block, conduit, bending die, bend pipe die holder and revolving support, and wherein revolving support can
It is rotatably mounted on the fore-stock, the bend pipe die holder is embedded in the revolving support, and the bending die is arranged at institute
State in bend pipe die holder；The catheter block is arranged on the after-poppet, and the conduit is inserted in the catheter block and described
The axis coaxle of the axis of conduit and the revolving support.
One opposite sides of the bend pipe die holder is rotatablely connected by revolving support axle and the revolving support, the revolution
The axis of support shaft is vertical with the axis of the conduit, and the revolving support axle passes through transmission device III and the polar coordinate system
Controlling organization is connected, and the transmission device III is rotatablely connected with the catheter block, and the bend pipe die holder passes through the polar coordinate system
The bending direction of the drives edge component of controlling organization rotates.
The transmission device III includes synchronous pulley I, synchronous pulley II, timing belt, gear and rack, wherein timing belt
Wheel I be arranged on the polar coordinate system controlling organization, the synchronous pulley II be installed in rotation on the catheter block and
Coaxial with the conduit, the synchronous pulley II is connected by timing belt with the synchronous pulley I, and the two of the synchronous pulley II
Side is respectively equipped with two racks, and gear is equipped with two revolving support axles, and two gears engage with two racks respectively.
Advantages of the present invention and have the beneficial effect that：
1. formation system involved in the present invention is by the way of polar coordination programming control, without being based on numerical control under rectangular co-ordinate
Two drive shafts linkage of system interpolation operation, but radial feed drive device is arranged on device for revolving and driving and common
Polar coordinate system controlling organization is formed, drives polar coordinate system controlling organization to export the polar diameter specified using two independent servomotors
And polar angle so that control of the system to bending mechanism is simpler, accurate and rapid；
It is remote that 2. the present invention by polar coordinate system controlling organization and bending organizational separation, by power source is arranged on cabinet middle and lower part
The opening position on bend pipe head, polar coordinates movement locus caused by polar coordinates controlling organization is accurately and efficiently passed using feeler mechanism
Bending mechanism is delivered to, avoids the bent portion of polar coordinate system controlling organization and the set of bending mechanism and tubing in legacy equipment
Interference, expand the bend pipe curve limit and the technique scope of application of present system；
3. feeler mechanism main body involved in the present invention is platy structure, along tubing axial direction (i.e. feeler mechanism thickness side
To) size is small, simple in construction, radial feed motion and the motion that rotates in a circumferential direction, the biography of motion are transmitted using guide rail structure in length and breadth
Pass accurate, efficient and reliable, feeler mechanism bearing as bending mechanism simultaneously, directly control bending die, make polar coordinate system
The position that controlling organization is mounted remotely from head is possibly realized.
4. the present invention can equally realize the null gyration of radial displacement, directly driven by corresponding servomotor
Synchronous transmission device in polar coordinate system controlling organization, gyration is directly delivered to bending mechanism without feeler mechanism,
Transmission blind spot supplemented with feeler mechanism, the motion only drives bending mould to turn round, simple in construction, load is small, easily realizes.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is rotary motion mechanism and the axonometric drawing of radial drive mechanism in the present invention；
Fig. 3 is rotary motion mechanism and the sectional view of radial drive mechanism in the present invention；
Fig. 4 is the structural representation of feeler mechanism in the present invention；
Fig. 5 is D-D sectional views in Fig. 4；
Fig. 6 is enlarged drawing at A in Fig. 5；
Fig. 7 is enlarged drawing at B in Fig. 5；
Fig. 8 is E-E sectional views in Fig. 4；
Fig. 9 is enlarged drawing at C in Fig. 8；
Figure 10 is the axonometric drawing of feeler mechanism in the present invention；
Figure 11 is the structural representation of bending mechanism in the present invention；
Figure 12 is the transmission schematic diagram of bend pipe die holder in the present invention；
Figure 13 is the axonometric drawing of bending mechanism in the present invention.
Figure 14 is that polar coordinate system of the present invention controls free bend entirety principle schematic.
In figure：1 is rotary motion mechanism, and 101 be turning motor, and 102 be revolution driving wheel, and 103 be pivoting support, 104
It is rotary disk for floating bearing, 105,106 be revolution driven pulley, and 107 be adpting flange a, and 2 be depth-feed mechanism, and 201 be footpath
To motor, 202 be nut seat, and 203 be leading screw, and 204 be radial motor seat, and 205 be radial direction driven pulley, and 206 lead to radially slide
Rail, 207 be slide, and 208 be drive rod, and 209 be bearing cap, and 210 be bearing block, and 211 be synchronous pulley I, and 212 be adpting flange
B, 213 be radial feed seat, and 3 be feeler mechanism, and 301 be fore-stock, and 302 be rail brackets in length and breadth, and 303 be after-poppet, and 304 are
Cross slide way, 305 be bending mechanism mounting hole, and 306 be longitudinal rail, and 4 be bending mechanism, and 401 be forward flange, and 402 be rear method
Orchid, 403 be synchronous pulley II, and 404 be synchronous pulley base, and 405 be catheter block, and 406 be gland, and 407 be conduit, and 408 be tooth
Wheel, 409 be rack, and 410 be bending die, and 411 be adpting flange c, and 412 be bend pipe die holder, and 413 be revolving support, and 414 be conduit
Slewing bearing, 415 be end face bearing, and 416 be revolving support axle, and 5 be component.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.
As shown in figure 1, a kind of 3 D auto bending forming system based on polar coordinate system control provided by the invention, including
Pedestal, polar coordinate system controlling organization, feeler mechanism 3, bending mechanism 4 and auxiliary body, wherein polar coordinate system controlling organization, profiling
Mechanism 3 and auxiliary body are arranged on pedestal, and feeler mechanism 3 is connected with the polar coordinate system controlling organization, bending mechanism 4
The opening position away from the polar coordinate system controlling organization, the auxiliary body are relative with bending mechanism 4 on feeler mechanism 3
Should.The polar coordinate system controlling organization realizes polar coordinate system control by producing radial feed motion and gyration；Profiling
Mechanism 3 is used to radial feed motion and gyration caused by the polar coordinate system controlling organization passing to bending mechanism 4；It is curved
The bending forming of component 5 is completed in the motion that shape mechanism 4 is transmitted by feeler mechanism 3；The auxiliary body is placed in for driving
Component 5 to be bent carries out feed motion vertically in bending mechanism 4.
The auxiliary body is mainly made up of stand-by motor and guiding branch hold mode etc., is mainly used to that workpiece is applied axially to enter
To motion, and provide rear side unshaped pipe effective twelve Earthly Branches during bending tube forming and support and limit.
As shown in figs. 4 through 10, feeler mechanism 3 includes fore-stock 301, in length and breadth rail brackets 302 and after-poppet 303, wherein after
Support 303 is connected with pedestal, and after-poppet 303 is provided with cross slide way 304, and rail brackets 302 slides with cross slide way 304 in length and breadth
Connection, rail brackets 302 is provided with longitudinal rail 306 in length and breadth, and fore-stock 301 is slidably connected with longitudinal rail 306；The pole is sat
Mark system controlling organization is rotatablely connected with fore-stock 301.
Further, cross slide way 304 and longitudinal rail 306 are crossed roller guide rail.
One end away from polar coordinate system controlling organization on feeler mechanism 3 is provided with bending mechanism mounting hole 305, bending mechanism 4
It is installed in rotation in bending mechanism mounting hole 305.
The polar coordinate system controlling organization includes rotary motion mechanism 1 and depth-feed mechanism 2, wherein rotary motion mechanism
1 is arranged on pedestal, and depth-feed mechanism 2 is arranged on rotary motion mechanism 1 and is rotatablely connected with fore-stock 301.
The after-poppet 303 of feeler mechanism 3 is fixed relative to system, and fore-stock 301 carries out horizontal stroke relative to after-poppet 303
It is accurate, reliable by guide rail transmission campaign in length and breadth to the motion with longitudinal direction.The radial direction position of the not only driven lever 208 of fore-stock 301
The influence of shifting, and influenceed by its gyration, the radial motion of polar coordinate system controlling organization and gyration are divided automatically
Solve as translation of the fore-stock 301 along horizontally and vertically direction.Fore-stock 301 by polar coordinate system controlling organization servomotor return
Transhipment turn turns to the translation characteristic of feeler mechanism 3, then such a kinetic characteristic is passed into bending mechanism 4.
As Figure 2-3, rotary motion mechanism 1 includes turning motor 101, pivoting support 103 and rotary disk 105, wherein
Pivoting support 103 is placed in the centre bore of after-poppet 303 and is connected with pedestal, turning motor 101 and pivoting support 103
Connection, rotary disk 105 be installed in rotation on by floating bearing 104 on pivoting support 103 and by transmission device I with
The output axis connection of turning motor 101.
The transmission device I includes revolution driving wheel 102 and revolution driven pulley 106, wherein revolution driving wheel 102 is arranged at
On the output shaft of turning motor 101, revolution driven pulley 106 is hollow-core construction and is sheathed on rotary disk 105, and revolution is actively
Wheel 102 is connected with revolution driven pulley 106 by toothed belt transmission.
Depth-feed mechanism 2 includes radial motor 201, nut seat 202, leading screw 203, radially slides guide rail 205, slide
207 and drive rod 208, wherein radial motor 201, leading screw 203 and radially slide guide rail 206 and be arranged on rotary disk 105, radially
The output shaft of motor 201 is parallel with leading screw 203 and vertical with the output shaft of turning motor 101.The output of radial motor 201
Axle is connected with leading screw 203 by transmission device II, and nut seat 202 is threadedly coupled by screw with leading screw 203, slide 207 and silk
Female seat 202 is connected and is slidably connected with radially sliding guide rail 206, and one end of drive rod 208 is connected with slide 207, the other end
It is rotatablely connected with fore-stock 301 by bearing.
Further, drive rod 208 is connected with bending mechanism 4.
The transmission device II includes radial direction driven pulley 205, radial direction driving wheel and radial direction timing belt, radial direction driven pulley 205
The end of leading screw 203 is arranged at, the radial direction driving wheel is arranged on the output shaft of radial motor 201 and by radially same
Step band is connected with radial direction driven pulley 205.
Further, rotary disk 105 is hollow-core construction, leading screw 203, radially slides guide rail 206 and slide 207 is placed in back
In the hollow cavity of rotating disk 105, the bearing at the both ends of leading screw 203 is positioned by adpting flange b212, adpting flange b212 and revolution
Disk 105 connects.
As figs 11-13, bending mechanism 4 include catheter block 405, conduit 407, bending die 410, bend pipe die holder 412 and
The bending mechanism that revolving support 413, wherein revolving support 413 are installed in rotation on fore-stock 301 by end face bearing 415 is pacified
Fill in hole 305, bend pipe die holder 412 is embedded in revolving support 413, and the sphere of bend pipe die holder 412 and revolving support 413 has space
Do not contact, bending die 410 is arranged in bend pipe die holder 412.Catheter block 405 is arranged on after-poppet 303, and conduit 407 is inserted in
The axis coaxle that catheter block 405 is interior and the axis of conduit 407 is with stating revolving support 413.
Further, an opposite sides of bend pipe die holder 412 is rotated by revolving support axle 416 and revolving support 413 and connected
Connect, the axis of revolving support axle 416 is vertical with the axis of conduit 407, revolving support axle 416 by transmission device III with it is described
The drive rod 208 of polar coordinate system controlling organization is connected, and the transmission device III is rotatablely connected with catheter block 405, bend pipe die holder
412 are rotated by the bending direction of the drives edge component 5 of the polar coordinate system controlling organization.
Further, the front and rear side of end face bearing 415 is positioned by forward flange 401 and rear flange 402 respectively, forward flange
401 and rear flange 402 be connected with fore-stock 301.Bending die 410 is by being arranged at the adpting flange of the end of bend pipe die holder 412
C411 is positioned, and adpting flange c411 is connected with bend pipe die holder 412.Conduit 407 is by being arranged at the gland of the end of catheter block 405
405 positioning, gland 405 are connected with catheter block 405.
The transmission device III includes synchronous pulley I 211, synchronous pulley II 403, timing belt, gear 408 and rack
409, wherein synchronous pulley I 211 is arranged on drive rod 208, and synchronous pulley II 403 is arranged on synchronous pulley base 404,
Synchronous pulley base 404 is installed in rotation on catheter block 405 by conduit slewing bearing 414, synchronous pulley II
403 is coaxial with conduit 407, and synchronous pulley II 403 is connected by timing belt with synchronous pulley I 211.Synchronous pulley II's 403
Both sides are respectively equipped with two racks 409, are equipped with gear 408 on two revolving support axles 415, and two gears 408 are respectively with two
Individual rack 409 engages.
Because feeler mechanism 3 can not transmit the null gyration of radial displacement, so the transmission device III is shaping
During synchronous pulley I 211 directly driven by rotary motion mechanism 1, it is then same on bending-forming mold by timing belt drive installation
Belt wheel II 403 is walked, gyration is directly delivered in bending mechanism 4 without feeler mechanism 3, supplements the biography of feeler mechanism 3
Dynamic blind spot.The bending die 410 of bending mechanism 4 can not only be acted on motion diametrically by feeler mechanism 3, additionally it is possible in gear
The null gyration of radial displacement is done along bending pipes direction under rack effect, which adds the model of bending pipes
Enclose.
Bending mechanism 4 carries out bending forming manufacture to tubing, and it controls elbow radius and two, bend pipe direction variable to realize
Bend pipe operates；Wherein, elbow radius corresponds to radial displacement, and radial displacement is that depth-feed mechanism 2 is imitative by the drive of drive rod 208
The fore-stock 301 of shape mechanism 3 does radial motion, and radial motion is delivered in bending mechanism 4 by fore-stock 301, so as to control pipe
The elbow radius of part；Bend pipe direction corresponds to gyratory directions, and gyratory directions are that rotary motion mechanism 1 passes through the bands of synchronous pulley I 211
Dynamic synchronous pulley II 403 carries out gyration, and gyration is delivered to curved by synchronous pulley II 403 by rack and pinion engagement
In shape mechanism 4, so as to active control Tube Bending Deformation.
The present invention operation principle be：
As shown in figure 14, the present invention is bent using polar coordinates control to tubing, and the auxiliary body gives to be bent
Component 5 apply the feed motion of axially (- Z-direction), axial feed distance is I, depth-feed mechanism 2 radially feed away from
Radial feed motion ρ is passed into bending mechanism 4 from for ρ, feeler mechanism 3, rotary motion mechanism 1 drives bending mechanism 4 to carry out
Gyration, produce angle of revolution θ；I, tri- parameters of ρ, θ determine the free bend shaping of bend piece, so as to realize to component 5
Polar coordinate system control；Polar coordinate system controlling organization is mounted remotely from the position of component 5, with feeler mechanism 3 by polar coordinates
It is that control is delivered on component 5, expands the process parameters range of bend piece, while bigger sky is left to bool shaping
Between, prevent that bent portion interferes bool with polar coordinate system controlling organization.
Radial motion
Radial drive motor 201 drives connected radial direction driven pulley 205 to carry out revolution fortune by radial direction driving belt
Dynamic, because leading screw 203 (ball-screw) both sides are arranged in bearing, two side bearings are positioned by adpting flange b212, so
The axially restrained motion that can not be carried out radially of leading screw 203, can only be radially enterprising relative to the nut seat 202 coordinated with it
Row motion；The gyration of radial direction driven pulley 205 is thus converted into the radial motion of depth-feed mechanism 2, rotary disk 105
Drive rod 208 and nut seat 202 are fixed as one, therefore drive rod 208 carries out radial motion with nut seat 202, drives
Lever 208 is attached by the fore-stock 301 of bearing and feeler mechanism 3.Radial motion is thus delivered to feeler mechanism 3
Fore-stock 301 on.Because bending mechanism 4 is arranged on feeler mechanism 3, so bending mechanism 4 also can just carry out radial direction fortune
It is dynamic.The angle of bend of the hollow body such as the bending radius of radial motion control member 5, tubing and section bar component 5 by auxiliary body edge
Axial fed distance determines.
The gyration that radial displacement is zero
When initial, turning motor 101 rotates, and drives connected revolution driven pulley 106 to rotate by timing belt, because returning
Turn driven pulley 106 to be fixed together with rotary disk 105, adpting flange a107, synchronous pulley I 211, rotary disk 105 passes through revolution
Bearing 104 is attached with pivoting support 103, can carry out gyration with respect to pivoting support 103.Therefore, turning motor 101
Gyration be just synchronously delivered on synchronous pulley I 211, synchronous pulley I 211 is further through timing belt and bending mechanism 4
On synchronous pulley II 403 be connected, synchronous pulley II 403 is arranged on catheter block 405 by conduit slewing bearing 414
On, gyration can be carried out along conduit 407.Synchronous pulley II 403 interacts with the rounded sections of bending mechanism 4 again, curved
Shape part includes bending die 410, adpting flange c411 and bend pipe die holder 412.Adpting flange c411 is by bending die 410 and bending die
Seat 412 is fixed as one, and there is revolving support axle 416 in the outside of bend pipe die holder 412, and revolving support axle 416 is arranged on revolving support 413
On, and can be rotated along bending pipes direction.There is gear 408 on revolving support axle 416, gear 408 is carried out with rack 409
Engagement, rack 409 are acted with moving gear 408, complete gyration in the face that radial displacement is zero.
In summary, the present invention can realize any variable curvature bending forming of the three-dimensional of the hollow body component such as tubing and section bar,
Respectively by the control and adjustment to radial displacement, the gyrobearing of slew gear and the workpiece amount of feeding, realize to elbow radius,
The accurate control of the three free bend variables in bend pipe direction and bend pipe angle.Radial drive mechanism is arranged on revolution and driven by the present invention
On motivation structure, polar type of drive is realized, while polar coordinate system controlling organization is arranged in the position away from workpiece, with imitative
Polar coordinates movement locus is accurately delivered in bending mechanism by shape mechanism.Feeler mechanism drives the bending in bending mechanism simultaneously
The defects of die holder, ensureing in forming process the stabilization of bending-forming mold and static, preventing deformable member surface wrinkling, curvature low precision sends out
It is raw, the polar coordinate system of initial blank free bend shaping is controlled so as to realize.Compared with prior art, control of the invention and
Operation is more simple, accurate and rapid, realizes that drive shaft is directly corresponding with technological parameter, and overcome workpiece bending section
Divide the problem of being interfered with mould, expand the processing scope of application of bending.The present invention filled up the hollow body such as tubing component into
The technological gap in shape field, there is expected huge economic value and social value.
Embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within made any modification, equivalent substitution and improvements, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of 3 D auto bending forming system based on polar coordinate system control, it is characterised in that including pedestal, polar coordinate system
Controlling organization, feeler mechanism (3), bending mechanism (4) and auxiliary body, wherein,
The polar coordinate system controlling organization is arranged on the pedestal, is realized by producing radial feed motion and gyration
Polar coordinate system controls；
The feeler mechanism (3) is arranged on the pedestal and is connected with the polar coordinate system controlling organization, described imitative
Shape mechanism (3) is used to radial feed motion and gyration caused by the polar coordinate system controlling organization passing to the bending
Mechanism (4)；
The bending mechanism (4) is arranged on the opening position away from the polar coordinate system controlling organization, institute on the feeler mechanism (3)
State the bending forming that component (5) is completed in the motion that bending mechanism (4) is transmitted by the feeler mechanism (3)；
The auxiliary body is on the pedestal and corresponding with the bending mechanism (4), and the auxiliary body is used for
Driving is placed in the feed motion of component (5) progress to be bent in the bending mechanism (4) vertically.
2. the 3 D auto bending forming system according to claim 1 based on polar coordinate system control, it is characterised in that institute
Stating feeler mechanism (3) includes fore-stock (301), in length and breadth rail brackets (302) and after-poppet (303), wherein after-poppet (303) with
The pedestal connection, the after-poppet (303) are provided with cross slide way (304), the rail brackets in length and breadth (302) and the horizontal stroke
Direction guiding rail (304) is slidably connected, and the rail brackets in length and breadth (302) is provided with longitudinal rail (306), the fore-stock (301)
It is slidably connected with the longitudinal rail (306)；The polar coordinate system controlling organization is rotatablely connected with the fore-stock (301).
3. the 3 D auto bending forming system according to claim 2 based on polar coordinate system control, it is characterised in that institute
State one end away from the polar coordinate system controlling organization on feeler mechanism (3) and be provided with bending mechanism mounting hole (305), the bending
Mechanism (4) is installed in rotation in bending mechanism mounting hole (305).
4. the 3 D auto bending forming system according to claim 2 based on polar coordinate system control, it is characterised in that institute
Stating polar coordinate system controlling organization includes rotary motion mechanism (1) and depth-feed mechanism (2), and wherein rotary motion mechanism (1) is set
Be placed on the pedestal, the depth-feed mechanism (2) be arranged on the rotary motion mechanism (1) and with the preceding branch
Frame (301) is rotatablely connected.
5. the 3 D auto bending forming system according to claim 4 based on polar coordinate system control, it is characterised in that institute
Stating rotary motion mechanism (1) includes turning motor (101), pivoting support (103) and rotary disk (105), wherein pivoting support
(103) it is placed in the centre bore of the after-poppet (303) and is connected with the pedestal, the rotary disk (105) is rotatable
Ground is arranged on the pivoting support (103), and the turning motor (101) is arranged on the pivoting support (103) and defeated
Shaft is connected by transmission device I with the rotary disk (105).
6. the 3 D auto bending forming system according to claim 5 based on polar coordinate system control, it is characterised in that institute
Stating depth-feed mechanism (2) includes radial motor (201), nut seat (202), leading screw (203), radially slides guide rail (206), be sliding
Seat (207) and drive rod (208), wherein radial motor (201), leading screw (203) and radially slide guide rail (206) be arranged at it is described
On rotary disk (105), the radial motor (201) is connected with leading screw (203) by transmission device II, the nut seat (202)
Be threadedly coupled by screw with leading screw (203), the slide (207) be connected with the nut seat (202) and with the radial direction
Rail plate (206) is slidably connected, and one end of the drive rod (208) is connected with the slide (207), the other end with it is described before
Support (301) is rotatablely connected.
7. the 3 D auto bending forming system according to claim 6 based on polar coordinate system control, it is characterised in that institute
Drive rod (208) is stated to be connected with the bending mechanism (4).
8. the 3 D auto bending forming system according to claim 2 based on polar coordinate system control, it is characterised in that institute
Stating bending mechanism (4) includes catheter block (405), conduit (407), bending die (410), bend pipe die holder (412) and revolving support
(413), wherein revolving support (413) is installed in rotation on the fore-stock (301), and the bend pipe die holder (412) is embedded
In the revolving support (413), the bending die (410) is arranged in the bend pipe die holder (412)；The catheter block
(405) it is arranged on the after-poppet (303), the conduit (407) is inserted in the catheter block (405) and described led
Manage the axis of (407) and the axis coaxle of the revolving support (413).
9. the 3 D auto bending forming system according to claim 8 based on polar coordinate system control, it is characterised in that institute
The opposite sides for stating bend pipe die holder (412) is rotatablely connected by revolving support axle (416) and the revolving support (413), institute
State that the axis of revolving support axle (416) is vertical with the axis of the conduit (407), and the revolving support axle (416) passes through transmission
Device III is connected with the polar coordinate system controlling organization, and the transmission device III is rotatablely connected with the catheter block (405), institute
The bending direction for stating the drives edge component (5) that bend pipe die holder (412) passes through the polar coordinate system controlling organization rotates.
10. the 3 D auto bending forming system according to claim 9 based on polar coordinate system control, it is characterised in that
The transmission device III includes synchronous pulley I (211), synchronous pulley II (403), timing belt, gear (408) and rack
(409), wherein synchronous pulley I (211) is arranged on the polar coordinate system controlling organization, and the synchronous pulley II (403) can turn
It is arranged on dynamicly on the catheter block (405) and with the conduit (407) coaxially, the synchronous pulley II (403) is by same
Step band is connected with the synchronous pulley I (211), and the both sides of the synchronous pulley II (403) are respectively equipped with two racks (409),
Gear (408) is equipped with two revolving support axles (416), two gears (408) are nibbled with two racks (409) respectively
Close.
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| CN110560529A (en) * | 2019-09-10 | 2019-12-13 | 广东职业技术学院 | Method and system for machining bent pipe by applying polar coordinate method |
| CN111250575A (en) * | 2020-02-17 | 2020-06-09 | 西北工业大学 | Double-ball bowl type die for free bending forming process |
| CN111580464A (en) * | 2020-05-20 | 2020-08-25 | 南京航空航天大学 | Method for analyzing forming track of three-dimensional constant curvature member freely bent by multiple rollers |
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| CN111250575B (en) * | 2020-02-17 | 2021-01-05 | 西北工业大学 | Double-ball bowl type die for free bending forming process |
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