CN107350321B - Three-dimensional free bending forming system based on polar coordinate system control - Google Patents
Three-dimensional free bending forming system based on polar coordinate system control Download PDFInfo
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- CN107350321B CN107350321B CN201710732714.5A CN201710732714A CN107350321B CN 107350321 B CN107350321 B CN 107350321B CN 201710732714 A CN201710732714 A CN 201710732714A CN 107350321 B CN107350321 B CN 107350321B
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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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- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention belongs to the technical field of bending forming of hollow members, and particularly relates to a three-dimensional free bending forming system based on polar coordinate system control. The device comprises a base, a polar coordinate system control mechanism, a profiling mechanism, a bending mechanism and an auxiliary mechanism, wherein the polar coordinate system control mechanism, the profiling mechanism and the auxiliary mechanism are arranged on the base, and the polar coordinate system control mechanism realizes the polar coordinate system control by generating radial feeding motion and rotary motion; the profiling mechanism is used for transmitting radial feeding motion and rotary motion generated by the polar coordinate system control mechanism to the bending mechanism; the bending mechanism is arranged on the profiling mechanism, and the bending formation of the component is completed through the motion transmitted by the profiling mechanism; the auxiliary mechanism corresponds to the bending mechanism and is used for driving the component to perform feeding motion along the axial direction. The invention has simple, accurate and rapid control and operation, solves the problem of interference between the bent part of the workpiece and the die, and expands the application range of bending processing.
Description
Technical Field
The invention belongs to the technical field of bending forming of hollow members, and particularly relates to a three-dimensional free bending forming system based on polar coordinate system control.
Background
In the prior art, the bending forming processing is carried out on hollow members such as pipes, profiles and the like, and particularly, the bending forming processing still has technical difficulties for bending parts with space three-dimensional and variable curvature radius. The three free bending variables of the radius, the direction and the angle of the bent pipe are precisely controlled by adjusting the radial displacement, the rotation direction of the rotation mechanism and the feeding amount of the bent piece, so as to realize the bending deformation of the three-dimensional pipe. The early numerical control die-less pipe bending machine is controlled by adopting a rectangular coordinate system, and when the numerical control die-less pipe bending machine like Nissin corporation in Japan controls the pipe bending direction, the two driving shafts of the rectangular coordinate are required to be linked to change the pipe bending direction through interpolation operation of a numerical control system because the driving shafts of the pipe bending do not have direct corresponding relation with the pipe bending process parameters, so that the response speed of the system is reduced and the processing precision is reduced; if the accurate and rapid control of the system movement is to be realized, the digital control system is complex, and the control and operation requirements of the system are also high.
The Nissin corporation in Japan finds the disadvantage of the rectangular coordinate system driving mode, and the latter numerical control die-less pipe bender is changed from the rectangular coordinate driving mode to the polar coordinate driving mode. The adoption of polar coordinate control is a better solution, and the driving shaft of the numerical control die-free pipe bender can be directly corresponding to the technological parameters. However, the structure adopts a mode of directly mounting all driving mechanisms on the bending die, namely, the whole driving device rotates around the workpiece, and the driving structure has obvious defects, and the driving mechanism is arranged around the workpiece, so that the outline size is large, interference with the bent workpiece is easy to occur, and the application range of the driving mechanism is reduced. The bending mechanism part integrates a related motion control structure, so that the geometric dimension of the bending mechanism part is relatively large, the curvature range of a processed workpiece, namely the bent pipe, is limited, and the controlled high-precision processing of the bent pipe with large curvature is difficult to realize. Therefore, there is an urgent need to develop a method and a system for the non-mould bending of hollow parts such as pipes and profiles with large curvature radius in any direction in space based on polar coordinate control.
Disclosure of Invention
The invention aims to provide a three-dimensional free bending forming system based on polar coordinate system control, which can manufacture a large-curvature bent pipe and realize numerical control machining and manufacturing of traditional difficult-to-machine parts such as special-shaped pipes, hollow parts such as sectional materials and the like.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a three-dimensional free bending forming system based on polar coordinate system control comprises a base, a polar coordinate system control mechanism, a profiling mechanism, a bending mechanism and an auxiliary mechanism, wherein,
the polar coordinate system control mechanism is arranged on the base and realizes the polar coordinate system control by generating radial feeding motion and rotary motion;
the profiling mechanism is arranged on the base and is in transmission connection with the polar coordinate system control mechanism, and the profiling mechanism is used for transmitting radial feeding motion and rotary motion generated by the polar coordinate system control mechanism to the bending mechanism;
the bending mechanism is arranged at a position, far away from the polar coordinate system control mechanism, on the profiling mechanism, and the bending mechanism completes the bending formation of the component through the motion transmitted by the profiling mechanism;
the auxiliary mechanism is arranged on the base and corresponds to the bending mechanism, and is used for driving a member to be bent accommodated in the bending mechanism to perform feeding motion along the axial direction.
The profiling mechanism comprises a front support, a longitudinal and transverse guide rail support and a rear support, wherein the rear support is connected with the base, a transverse guide rail is arranged on the rear support, the longitudinal and transverse guide rail support is in sliding connection with the transverse guide rail, a longitudinal guide rail is arranged on the longitudinal and transverse guide rail support, and the front support is in sliding connection with the longitudinal guide rail; the polar coordinate system control mechanism is rotationally connected with the front support.
And one end, far away from the polar coordinate system control mechanism, of the profiling mechanism is provided with a curved mechanism mounting hole, and the curved mechanism is rotatably arranged in the curved mechanism mounting hole.
The polar coordinate system control mechanism comprises a rotation driving mechanism and a radial feeding mechanism, wherein the rotation driving mechanism is arranged on the base, and the radial feeding mechanism is arranged on the rotation driving mechanism and is rotationally connected with the front support.
The rotary driving mechanism comprises a rotary motor, a rotary support and a rotary disc, wherein the rotary support is accommodated in a central hole of the rear support and is connected with the base, the rotary disc is rotatably installed on the rotary support, the rotary motor is installed on the rotary support, and an output shaft is connected with the rotary disc through a transmission device I.
The radial feeding mechanism comprises a radial motor, a screw seat, a screw rod, a radial sliding guide rail, a sliding seat and a driving rod, wherein the radial motor, the screw rod and the radial sliding guide rail are arranged on the rotary disc, the radial motor is connected with the screw rod through a transmission device II, the screw seat is in threaded connection with the screw rod through a screw nut, the sliding seat is connected with the screw seat and is in sliding connection with the radial sliding guide rail, one end of the driving rod is connected with the sliding seat, and the other end of the driving rod is in rotary connection with the front support.
The driving rod is in transmission connection with the bending mechanism.
The bending mechanism comprises a guide pipe seat, a guide pipe, a bending pipe die holder and a rotary support, wherein the rotary support is rotatably arranged on the front support, the bending pipe die holder is embedded in the rotary support, and the bending pipe die is arranged in the bending pipe die holder; the catheter seat is arranged on the rear bracket, the catheter is inserted into the catheter seat, and the axis of the catheter is coaxial with the axis of the rotary support.
The pipe bending die holder comprises a pipe bending die holder, a pipe bending die holder, a pipe bending device and a pipe bending die holder, wherein one opposite side of the pipe bending die holder is rotationally connected with the rotary support through a rotary support shaft, the axis of the rotary support shaft is perpendicular to the axis of a pipe, the rotary support shaft is connected with a polar coordinate system control mechanism through a transmission device III, the transmission device III is rotationally connected with the pipe bending die holder, and the pipe bending die holder is rotationally driven by the polar coordinate system control mechanism to rotate along the bending direction of a component.
The transmission III comprises a synchronous pulley I, a synchronous pulley II, synchronous belts, gears and racks, wherein the synchronous pulley I is arranged on the polar coordinate system control mechanism, the synchronous pulley II is rotatably arranged on the guide pipe seat and coaxial with the guide pipe, the synchronous pulley II is connected with the synchronous pulley I through the synchronous belts, two racks are respectively arranged on two sides of the synchronous pulley II, two gears are respectively arranged on the rotary support shaft, and the two gears are respectively meshed with the two racks.
The invention has the advantages and beneficial effects as follows:
1. the forming system adopts a polar coordinate programming control mode, two driving shafts based on interpolation operation of a numerical control system are not required to be linked under rectangular coordinates, a radial feeding driving device is arranged on a rotary driving device and forms a polar coordinate system control mechanism together, and two independent servo motors are used for driving the polar coordinate system control mechanism to output a designated polar diameter and a designated polar angle, so that the system can control the bending mechanism more simply, accurately and rapidly;
2. according to the invention, the polar coordinate system control mechanism is separated from the bending mechanism, the power source is arranged at the position of the middle lower part of the chassis far away from the head part of the bent pipe, and the polar coordinate motion track generated by the polar coordinate control mechanism is accurately and efficiently transmitted to the bending mechanism by adopting the profiling mechanism, so that interference between the polar coordinate system control mechanism and the bending mechanism set and the bent part of the pipe in the traditional equipment is avoided, and the curvature limit and the process application range of the bent pipe of the system are enlarged;
3. the profiling mechanism main body is of a plate-shaped structure, has small size along the axial direction of the pipe (namely the thickness direction of the profiling mechanism), is simple in structure, adopts a longitudinal and transverse guide rail structure to transmit radial feeding motion and circumferential rotation motion, is accurate, efficient and reliable in motion transmission, and simultaneously serves as a support of a bending mechanism to directly control a pipe bending die, so that the polar coordinate system control mechanism is possibly arranged at a position far away from the head.
4. The invention can realize the rotary motion with the radial displacement equal to zero, directly drives the synchronous transmission device in the polar coordinate system control mechanism through the corresponding servo motor, directly transmits the rotary motion to the bending mechanism without passing through the profiling mechanism, supplements the transmission blind point of the profiling mechanism, and only drives the bending die to rotate, and has simple structure, small load and easy realization.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an isometric view of a swing drive mechanism and a radial drive mechanism in accordance with the present invention;
FIG. 3 is a cross-sectional view of a swing drive mechanism and a radial drive mechanism in accordance with the present invention;
FIG. 4 is a schematic diagram of the profiling mechanism of the present invention;
FIG. 5 is a sectional view D-D of FIG. 4;
FIG. 6 is an enlarged view of FIG. 5 at A;
FIG. 7 is an enlarged view of FIG. 5 at B;
FIG. 8 is a cross-sectional view E-E of FIG. 4;
FIG. 9 is an enlarged view of FIG. 8 at C;
FIG. 10 is an isometric view of a profiling mechanism of the present invention;
FIG. 11 is a schematic view of a bending mechanism according to the present invention;
FIG. 12 is a schematic diagram of a transmission of an elbow die holder of the present invention;
fig. 13 is an isometric view of a bending mechanism in accordance with the present invention.
FIG. 14 is a schematic diagram of the overall principle of the polar coordinate system controlled free bending of the present invention.
In the figure: 1 is a rotary driving mechanism, 101 is a rotary motor, 102 is a rotary driving wheel, 103 is a rotary support, 104 is a rotary bearing, 105 is a rotary disc, 106 is a rotary driven wheel, 107 is a connecting flange a,2 is a radial feeding mechanism, 201 is a radial motor, 202 is a nut seat, 203 is a lead screw, 204 is a radial motor seat, 205 is a radial driven wheel, 206 is a radial sliding guide rail, 207 is a slider, 208 is a driving rod, 209 is a bearing cover, 210 is a bearing seat, 211 is a synchronous pulley I,212 is a connecting flange b,213 is a radial feeding seat, 3 is a profiling mechanism, 301 is a front support, 302 is a longitudinal guide rail support, 303 is a rear support, 304 is a transverse guide rail, 305 is a bent mechanism mounting hole, 306 is a longitudinal guide rail, 4 is a bent mechanism, 401 is a front flange, 402 is a rear flange, 403 is a synchronous pulley II,404 is a synchronous pulley seat, 405 is a catheter seat, 406 is a catheter, 408 is a gear, 409 is a rack, 410 is a pipe die, 411 is a connecting flange c,412 is a die seat, 413 is a rotary support, 414 is a catheter end face support, 303 is a rotary support bearing, 416 is a rotary support shaft, and 416 is a rotary bearing member 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the three-dimensional free bending forming system based on polar coordinate system control provided by the invention comprises a base, a polar coordinate system control mechanism, a profiling mechanism 3, a bending mechanism 4 and an auxiliary mechanism, wherein the polar coordinate system control mechanism, the profiling mechanism 3 and the auxiliary mechanism are arranged on the base, the profiling mechanism 3 is in transmission connection with the polar coordinate system control mechanism, the bending mechanism 4 is arranged at a position, far away from the polar coordinate system control mechanism, on the profiling mechanism 3, and the auxiliary mechanism corresponds to the bending mechanism 4. The polar coordinate system control mechanism realizes the control of the polar coordinate system by generating radial feeding motion and rotary motion; the profiling mechanism 3 is used for transmitting radial feeding motion and rotary motion generated by the polar coordinate system control mechanism to the bending mechanism 4; the bending mechanism 4 completes the bending formation of the component 5 through the motion transmitted by the profiling mechanism 3; the auxiliary mechanism is used for driving the member 5 to be bent accommodated in the bending mechanism 4 to perform feeding motion along the axial direction.
The auxiliary mechanism mainly comprises an auxiliary motor, a guide supporting die and the like, is mainly used for applying axial feeding motion to a workpiece and effectively supporting and limiting the blank pipe at the rear side in the process of forming the bent pipe.
As shown in fig. 4-10, the profiling mechanism 3 comprises a front bracket 301, a longitudinal and transverse guide rail bracket 302 and a rear bracket 303, wherein the rear bracket 303 is connected with a base, a transverse guide rail 304 is arranged on the rear bracket 303, the longitudinal and transverse guide rail bracket 302 is in sliding connection with the transverse guide rail 304, a longitudinal guide rail 306 is arranged on the longitudinal and transverse guide rail bracket 302, and the front bracket 301 is in sliding connection with the longitudinal guide rail 306; the polar coordinate system control mechanism is rotatably connected with the front mount 301.
Further, the transverse rail 304 and the longitudinal rail 306 are both cross roller rails.
The profiling mechanism 3 is provided with a bending mechanism mounting hole 305 at one end far away from the polar coordinate system control mechanism, and the bending mechanism 4 is rotatably mounted in the bending mechanism mounting hole 305.
The polar coordinate system control mechanism comprises a rotary driving mechanism 1 and a radial feeding mechanism 2, wherein the rotary driving mechanism 1 is arranged on a base, and the radial feeding mechanism 2 is arranged on the rotary driving mechanism 1 and is in rotary connection with the front bracket 301.
The rear bracket 303 of the profiling mechanism 3 is fixed relative to the system, the front bracket 301 moves transversely and longitudinally relative to the rear bracket 303, and the movement is transmitted accurately and reliably through the longitudinal and transverse guide rails. The front mount 301 is affected not only by the radial displacement of the drive rod 208 but also by its rotational movement, which automatically breaks down the radial movement and rotational movement of the polar coordinate system control mechanism into translational movements of the front mount 301 in the horizontal and vertical directions. The front bracket 301 converts the rotary motion of the servo motor in the polar coordinate system control mechanism into the translational characteristic of the profiling mechanism 3, and then transmits the translational characteristic to the bending mechanism 4.
As shown in fig. 2 to 3, the swing drive mechanism 1 includes a swing motor 101, a swing support 103, and a swing disk 105, wherein the swing support 103 is accommodated in a center hole of the rear bracket 303 and is connected to a base, the swing motor 101 is connected to the swing support 103, and the swing disk 105 is rotatably mounted on the swing support 103 through a swing bearing 104 and is connected to an output shaft of the swing motor 101 through a transmission I.
The transmission device I comprises a rotary driving wheel 102 and a rotary driven wheel 106, wherein the rotary driving wheel 102 is arranged on an output shaft of the rotary motor 101, the rotary driven wheel 106 is of a hollow structure and is sleeved on a rotary disc 105, and the rotary driving wheel 102 and the rotary driven wheel 106 are in transmission connection through a synchronous belt.
The radial feeding mechanism 2 comprises a radial motor 201, a screw seat 202, a screw 203, a radial sliding guide rail 205, a sliding seat 207 and a driving rod 208, wherein the radial motor 201, the screw 203 and the radial sliding guide rail 206 are arranged on the rotary disc 105, and an output shaft of the radial motor 201 is parallel to the screw 203 and perpendicular to an output shaft of the rotary motor 101. An output shaft of the radial motor 201 is connected with a lead screw 203 through a transmission device II, a screw seat 202 is in threaded connection with the lead screw 203 through a screw, a sliding seat 207 is connected with the screw seat 202 and is in sliding connection with a radial sliding guide rail 206, one end of a driving rod 208 is connected with the sliding seat 207, and the other end of the driving rod 208 is in rotary connection with a front support 301 through a bearing.
Further, the driving rod 208 is in driving connection with the bending mechanism 4.
The transmission device II includes a radial driven wheel 205, a radial driving wheel and a radial synchronous belt, the radial driven wheel 205 is disposed at the end of the lead screw 203, and the radial driving wheel is disposed on the output shaft of the radial motor 201 and is in transmission connection with the radial driven wheel 205 through the radial synchronous belt.
Further, the rotary disc 105 is of a hollow structure, the lead screw 203, the radial sliding guide rail 206 and the sliding seat 207 are accommodated in the hollow cavity of the rotary disc 105, bearings at two ends of the lead screw 203 are positioned through the connecting flange b212, and the connecting flange b212 is connected with the rotary disc 105.
As shown in fig. 11-13, the bending mechanism 4 comprises a conduit seat 405, a conduit 407, a bending die 410, a bending die holder 412 and a rotary support 413, wherein the rotary support 413 is rotatably installed in a bending mechanism installation hole 305 of the front support 301 through an end face bearing 415, the bending die holder 412 is embedded in the rotary support 413, the bending die holder 412 is in clearance non-contact with the spherical surface of the rotary support 413, and the bending die 410 is arranged in the bending die holder 412. The catheter holder 405 is provided on the rear bracket 303, the catheter 407 is inserted into the catheter holder 405, and the axis of the catheter 407 is coaxial with the axis of the slewing bearing 413.
Further, one opposite side of the pipe bending die holder 412 is rotatably connected to the rotary support 413 through a rotary support shaft 416, the axis of the rotary support shaft 416 is perpendicular to the axis of the guide pipe 407, the rotary support shaft 416 is connected to the driving rod 208 of the polar coordinate system control mechanism through a transmission device III, the transmission device III is rotatably connected to the guide pipe holder 405, and the pipe bending die holder 412 is driven by the polar coordinate system control mechanism to rotate along the bending direction of the member 5.
Further, the front and rear sides of the end face bearing 415 are positioned by a front flange 401 and a rear flange 402, respectively, and the front flange 401 and the rear flange 402 are connected to the front mount 301. The pipe bending die 410 is positioned by a connecting flange c411 arranged at the end part of the pipe bending die holder 412, and the connecting flange c411 is connected with the pipe bending die holder 412. The conduit 407 is positioned by a gland 405 disposed at an end of the conduit mount 405, the gland 405 being connected to the conduit mount 405.
The transmission device III comprises a synchronous pulley I211, a synchronous pulley II 403, a synchronous belt, a gear 408 and a rack 409, wherein the synchronous pulley I211 is arranged on the driving rod 208, the synchronous pulley II 403 is arranged on the synchronous pulley base 404, the synchronous pulley base 404 is rotatably arranged on the catheter seat 405 through a catheter slewing bearing 414, the synchronous pulley II 403 is coaxial with the catheter 407, and the synchronous pulley II 403 is connected with the synchronous pulley I211 through the synchronous belt. Two sides of the synchronous pulley II 403 are respectively provided with two racks 409, the two rotary support shafts 415 are respectively provided with a gear 408, and the two gears 408 are respectively meshed with the two racks 409.
Because the profiling mechanism 3 cannot transmit the rotary motion with the radial displacement equal to zero, the transmission device III directly drives the synchronous pulley I211 by the rotary driving mechanism 1 in the forming process, drives the synchronous pulley II 403 arranged on the bending die by the synchronous belt, and directly transmits the rotary motion to the bending mechanism 4 without the profiling mechanism 3, thereby supplementing the transmission blind spot of the profiling mechanism 3. The pipe bending die 410 of the bending mechanism 4 can move in the radial direction under the action of the profiling mechanism 3 and can also perform rotary motion with radial displacement equal to zero along the pipe bending direction under the action of the gear rack, so that the pipe bending range is increased.
The bending mechanism 4 is used for bending and forming the pipe, and controlling two variables of the radius and the direction of the bent pipe to realize the operation of the bent pipe; wherein, the radius of the bent pipe corresponds to radial displacement, the radial displacement is that the radial feeding mechanism 2 drives the front bracket 301 of the profiling mechanism 3 to do radial movement through the driving rod 208, and the front bracket 301 transmits the radial movement to the bending mechanism 4, thereby controlling the radius of the bent pipe of the pipe fitting; the bending direction corresponds to the rotation direction, and the rotation direction is that the rotation driving mechanism 1 drives the synchronous pulley II 403 to perform rotation motion through the synchronous pulley I211, and the synchronous pulley II 403 transmits the rotation motion to the bending mechanism 4 through gear-rack meshing, so that the bending deformation is actively controlled.
The working principle of the invention is as follows:
as shown in fig. 14, the pipe is bent by adopting polar coordinate control, the auxiliary mechanism gives the member 5 to be bent an axial (-Z axis direction) feeding motion, the axial feeding distance is I, the radial feeding distance of the radial feeding mechanism 2 is ρ, the profiling mechanism 3 transmits the radial feeding motion ρ to the bending mechanism 4, and the rotary driving mechanism 1 drives the bending mechanism 4 to perform rotary motion to generate a rotary angle θ; I. the free bending forming of the bent piece is determined by the three parameters of rho and theta, so that the polar coordinate system control of the component 5 is realized; the polar coordinate system control mechanism is arranged at a position far away from the component 5, and the profiling mechanism 3 is used for transmitting the polar coordinate system control to the component 5, so that the process parameter range of the bent piece is enlarged, and meanwhile, a larger space is reserved for forming the bent piece, and the interference between the bent part of the bent piece and the polar coordinate system control mechanism is prevented.
Radial movement
The radial driving motor 201 drives the radial driven wheel 205 connected with the radial driving motor to perform rotary motion through a radial transmission belt, and as two sides of the lead screw 203 (ball screw) are arranged in bearings, the bearings on the two sides are positioned by the connecting flange b212, the lead screw 203 is restrained axially and cannot perform radial motion, and can only perform radial motion relative to the nut seat 202 matched with the lead screw 203; this converts the rotary motion of the radial driven wheel 205 into the radial motion of the radial feed mechanism 2, and the rotary disk 105 fixes the drive rod 208 and the nut seat 202 as one body, so that the drive rod 208 moves radially together with the nut seat 202, and the drive rod 208 is connected to the front bracket 301 of the profiling mechanism 3 via a bearing. This transmits the radial movement to the front support 301 of the profiling mechanism 3. Since the bending mechanism 4 is mounted on the profiling mechanism 3, the bending mechanism 4 is also able to perform radial movements. The radius of curvature of the radial movement control member 5 and the angle of curvature of the hollow members 5 such as pipes and profiles are determined by the axial conveying distance of the auxiliary mechanism.
Rotary motion with zero radial displacement
At the beginning, the rotary motor 101 rotates, and the rotary driven wheel 106 connected with the rotary motor is driven to rotate through the synchronous belt, and the rotary driven wheel 106 is fixed with the rotary disc 105, the connecting flange a107 and the synchronous pulley I211, so that the rotary disc 105 is connected with the rotary support 103 through the rotary bearing 104, and can perform rotary motion relative to the rotary support 103. Therefore, the rotary motion of the rotary motor 101 is synchronously transmitted to the timing pulley I211, and the timing pulley I211 is connected to the timing pulley II 403 on the bending mechanism 4 via the timing belt, and the timing pulley II 403 is mounted on the catheter holder 405 via the catheter rotary support bearing 414, so that the rotary motion can be performed along the catheter 407. The synchronous pulley II 403 in turn interacts with the bent portion of the bending mechanism 4, which includes a bending die 410, a connecting flange c411 and a bending die holder 412. The connecting flange c411 fixes the pipe bending die 410 and the pipe bending die holder 412 as a whole, a rotary support shaft 416 is arranged outside the pipe bending die holder 412, and the rotary support shaft 416 is mounted on the rotary support 413 and can rotate along the pipe bending direction. The rotation support shaft 416 is provided with a gear 408, the gear 408 is meshed with a rack 409, and the rack 409 drives the gear 408 to rotate for action, so that the in-plane rotation motion with zero radial displacement is completed.
In summary, the three-dimensional arbitrary variable curvature bending forming of hollow members such as pipes, profiles and the like can be realized, and the three free bending variables such as the radius of the bent pipe, the direction of the bent pipe and the angle of the bent pipe are accurately controlled by controlling and adjusting the radial displacement, the rotation direction of the rotation mechanism and the feeding amount of the workpiece. The radial driving mechanism is arranged on the rotary driving mechanism to realize a polar coordinate driving mode, and meanwhile, the polar coordinate system control mechanism is arranged at a position far away from a workpiece, and the polar coordinate movement track is accurately transmitted to the bending mechanism by the profiling mechanism. The profiling mechanism drives the bending die holder in the bending mechanism simultaneously, ensures the stability and the stillness of the bending die in the forming process, and prevents the defects of wrinkling of the surface of a deformed piece, poor curvature precision and the like, thereby realizing the control of a polar coordinate system of the free bending forming of an initial blank. Compared with the prior art, the control and operation of the invention are simpler, more accurate and quicker, the direct correspondence of the driving shaft and the technological parameters is realized, the problem that the bent part of the workpiece interferes with the die is solved, and the application range of bending processing is enlarged. The invention fills the technical blank in the field of forming hollow members such as pipes and the like, and has great expected economic value and social value.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (8)
1. A three-dimensional free bending forming system based on polar coordinate system control is characterized by comprising a base, a polar coordinate system control mechanism, a profiling mechanism (3), a bending mechanism (4) and an auxiliary mechanism, wherein,
the polar coordinate system control mechanism is arranged on the base and realizes the polar coordinate system control by generating radial feeding motion and rotary motion;
the profiling mechanism (3) is arranged on the base and is in transmission connection with the polar coordinate system control mechanism, and the profiling mechanism (3) is used for transmitting radial feeding motion and rotary motion generated by the polar coordinate system control mechanism to the bending mechanism (4);
the bending mechanism (4) is arranged at a position, far away from the polar coordinate system control mechanism, on the profiling mechanism (3), and the bending mechanism (4) completes the bending formation of a component (5) through the motion transmitted by the profiling mechanism (3);
the auxiliary mechanism is arranged on the base and corresponds to the bending mechanism (4) and is used for driving a member (5) to be bent accommodated in the bending mechanism (4) to perform feeding motion along the axial direction;
the profiling mechanism (3) comprises a front support (301), a longitudinal and transverse guide rail support (302) and a rear support (303), wherein the rear support (303) is connected with the base, a transverse guide rail (304) is arranged on the rear support (303), the longitudinal and transverse guide rail support (302) is slidably connected with the transverse guide rail (304), a longitudinal guide rail (306) is arranged on the longitudinal and transverse guide rail support (302), and the front support (301) is slidably connected with the longitudinal guide rail (306); the polar coordinate system control mechanism is rotationally connected with the front bracket (301);
and a curved mechanism mounting hole (305) is formed in one end, far away from the polar coordinate system control mechanism, of the profiling mechanism (3), and the curved mechanism (4) is rotatably mounted in the curved mechanism mounting hole (305).
2. The three-dimensional free-bending forming system based on polar coordinate system control according to claim 1, characterized in that the polar coordinate system control mechanism comprises a slewing drive mechanism (1) and a radial feed mechanism (2), wherein the slewing drive mechanism (1) is arranged on the base, and the radial feed mechanism (2) is arranged on the slewing drive mechanism (1) and is in rotational connection with the front bracket (301).
3. The three-dimensional free bending forming system based on polar coordinate system control according to claim 2, wherein the slewing drive mechanism (1) comprises a slewing motor (101), a slewing bearing (103) and a slewing disc (105), wherein the slewing bearing (103) is accommodated in a central hole of the rear bracket (303) and is connected with the base, the slewing disc (105) is rotatably mounted on the slewing bearing (103), the slewing motor (101) is mounted on the slewing bearing (103), and an output shaft is connected with the slewing disc (105) through a transmission device i.
4. A three-dimensional free bending forming system based on polar coordinate system control according to claim 3, characterized in that the radial feeding mechanism (2) comprises a radial motor (201), a screw seat (202), a screw (203), a radial sliding guide rail (206), a slide seat (207) and a driving rod (208), wherein the radial motor (201), the screw (203) and the radial sliding guide rail (206) are arranged on the rotary disc (105), the radial motor (201) is connected with the screw (203) through a transmission device ii, the screw seat (202) is connected with the screw (203) through screw threads, the slide seat (207) is connected with the screw seat (202) and is connected with the radial sliding guide rail (206) in a sliding way, one end of the driving rod (208) is connected with the slide seat (207), and the other end is connected with the front bracket (301) in a rotating way.
5. The three-dimensional free-bending forming system based on polar coordinate system control according to claim 4, wherein the drive rod (208) is in driving connection with the bending mechanism (4).
6. The three-dimensional free bending forming system based on polar coordinate system control of claim 1, wherein the bending mechanism (4) comprises a conduit seat (405), a conduit (407), a bending die (410), a bending die seat (412) and a slewing support (413), wherein the slewing support (413) is rotatably mounted on the front bracket (301), the bending die seat (412) is embedded in the slewing support (413), and the bending die (410) is arranged in the bending die seat (412); the catheter seat (405) is arranged on the rear bracket (303), the catheter (407) is inserted into the catheter seat (405), and the axis of the catheter (407) is coaxial with the axis of the rotary support (413).
7. The three-dimensional free-bending forming system based on polar coordinate system control of claim 6, wherein one opposite side of the pipe bending die holder (412) is rotationally connected to the rotary support (413) by a rotary support shaft (416), an axis of the rotary support shaft (416) is perpendicular to an axis of the conduit (407), the rotary support shaft (416) is connected to the polar coordinate system control mechanism by a transmission device iii, the transmission device iii is rotationally connected to the conduit mount (405), and the pipe bending die holder (412) is rotationally driven by the polar coordinate system control mechanism in a bending direction of the member (5).
8. The three-dimensional free bending forming system based on polar coordinate system control according to claim 7, wherein the transmission device iii comprises a synchronous pulley i (211), a synchronous pulley ii (403), a synchronous belt, a gear (408) and a rack (409), wherein the synchronous pulley i (211) is arranged on the polar coordinate system control mechanism, the synchronous pulley ii (403) is rotatably mounted on the catheter seat (405) and is coaxial with the catheter (407), the synchronous pulley ii (403) is connected with the synchronous pulley i (211) through the synchronous belt, two racks (409) are respectively arranged on two sides of the synchronous pulley ii (403), gears (408) are respectively arranged on the two rotary support shafts (416), and the two gears (408) are respectively meshed with the two racks (409).
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| CN108637054B (en) * | 2018-05-11 | 2019-07-09 | 浙江大学 | A kind of space variable curvature pipe fitting pane bending apparatus |
| CN110000280A (en) * | 2019-04-09 | 2019-07-12 | 褚冯键 | A kind of gradual three-dimensional space pipe bending mechanism of intelligence |
| CN110303078A (en) * | 2019-06-27 | 2019-10-08 | 河北科技大学 | A kind of novel circular tube pane bending apparatus |
| 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 |
| CN111250575B (en) * | 2020-02-17 | 2021-01-05 | 西北工业大学 | Double-ball bowl type die for free bending forming process |
| CN111580464B (en) * | 2020-05-20 | 2021-06-29 | 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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