CN108405679A - 3 D auto bending forming bending machine - Google Patents
3 D auto bending forming bending machine Download PDFInfo
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- CN108405679A CN108405679A CN201810103020.XA CN201810103020A CN108405679A CN 108405679 A CN108405679 A CN 108405679A CN 201810103020 A CN201810103020 A CN 201810103020A CN 108405679 A CN108405679 A CN 108405679A
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a kind of 3 D auto bending forming bending machines, belong to metal complex component advanced manufacturing technology field.The 3 D auto bending forming bending machine fixed frame, propulsive mechanism, stent, elbow mobile mechanism and elbow deflection mechanism, wherein：The propulsive mechanism includes the first ball-screw, and first ball-screw is equipped with clamping device, and the clamping device is equipped with the first tube passage, and the stent is equipped with the second tube passage；The elbow mobile mechanism includes moving platform, and the moving platform is equipped with circular through-hole, and the first movement is equipped between the moving platform and fixed frame and transmits branch；The elbow deflection mechanism includes tilt platform, and third heavy connection of pipe is provided on the tilt platform, and the second movement is equipped between the tilt platform and moving platform and transmits branch.The present invention need not replace bending mould, so that it may realize that complex space bend pipe free bend shapes, production efficiency is high.
Description
Technical field
The present invention relates to metal complex component advanced manufacturing technology fields, and it is curved to particularly relate to a kind of 3 D auto bending forming
Pipe machine.
Background technology
Since fitting structure has preferable strength and stiffness performance, and at the same time with preferable forming performance,
Therefore complex space bool is in many necks such as aerospace, nuclear power, automobile, naval vessel, petrochemical industry, building and other civilian industries
Domain has a wide range of applications.Currently, the steric configuration of metal bending part is also gradually complicated, the axis form of bool is from planar shaped
Formula is gradually evolved into space form, and possessed bending radius number also gradually increases in the same bool, to traditional bending
Forming technique and equipment form huge challenge.
Traditional metal component bending forming technology for example curved pressure stretch bending, goes for a stroll, pushes away curved and derived by above-mentioned basic technology
Bending process out etc. needs constantly to replace bending mould according to bending radius when bending bent the bend pipe of bilge radius, greatly
Reduce production efficiency.In addition, when curved using the above tradition bent tube technique curved space, the curved 3-d modelling in space is by many
Limitation, cannot achieve the high-precision bending forming of complicated metal works, for bent bilge radius, axis as plane or space curve
Complicated metal component, the above tradition bending method cannot achieve disposable high-precision and shapes.
To sum up, the bool configuration that conventional bending forming technique can shape is simple, cannot process complex space bool,
And bending die need to be constantly replaced according to differently curved radius, it is low, of high cost to shape efficiency.
Invention content
The technical problem to be solved in the present invention is to provide a kind of 3 D auto bending forming bending machines, need not replace curved
Bent mold, so that it may realize that complex space bend pipe free bend shapes, production efficiency is high.
In order to solve the above technical problems, present invention offer technical solution is as follows：
A kind of 3 D auto bending forming bending machine, including fixed frame, propulsive mechanism, stent, elbow mobile mechanism and
Elbow deflection mechanism, wherein：
The propulsive mechanism includes the first ball-screw being arranged in the middle part of the fixed frame, first ball-screw
One end is plugged in the fixed frame, and the other end extends the outside of the fixed frame, and the stent is arranged described first
The end of the ball-screw other end is provided with clamping device on first ball-screw, folder is provided on the clamping device
First tube passage of tight pipe fitting is provided with the second tube passage in the stent；
The elbow mobile mechanism includes the moving platform being arranged on the outside of the stent, and circle is provided on the moving platform
Shape open-work, being provided between the moving platform and fixed frame can be such that the moving platform first is moved along what space any direction translated
Transmit branch；
The elbow deflection mechanism is arranged in the outside of the moving platform, and the elbow deflection mechanism includes that pipe fitting can be made real
The tilt platform of existing space any angle bending, is provided with third heavy connection of pipe on the tilt platform, the tilt platform with
Branch is transmitted in the second movement that being provided between moving platform can make the tilt platform deflect；
The axis of first tube passage, the second tube passage, circular through-hole and third tube passage described in when original state
On same straight line, the stent is concordant with the end face outside of moving platform.
Further, it includes 3 groups of PUU movement branched chains in parallel that branch is transmitted in first movement, wherein：
The PUU movement branched chains include the second ball-screw being arranged in the fixed frame side, second ball wire
One end of thick stick is arranged on the fixed frame, and the other end is connect with the stent, be provided on second ball-screw and
The matched mobile sliding block of second ball-screw；
Be provided with connecting-rods with constant lengh between the moving platform and mobile sliding block, one end of the connecting-rods with constant lengh by the first universal joint with
The mobile sliding block connection, the other end of the connecting-rods with constant lengh are connect by the second universal joint with the moving platform.
Further, every group of PUU movement branched chain is provided with 2 second ball-screws, is arranged on the mobile sliding block
There are two with the matched screw hole of the second ball-screw.
Further, it includes 3 groups of RPS movement branched chains in parallel that branch is transmitted in second movement, wherein：
The RPS movement branched chains include the third ball-screw being arranged between the tilt platform and moving platform, described
It is provided with sliding bar on third ball-screw；
One end of the third ball-screw is connect by revolute pair with the moving platform, the third ball-screw it is another
One end is connect by ball pair with the tilt platform, and the ball pair includes the bulb being arranged in the sliding boom end, described inclined
Turn to be provided with the spherical groove for being socketed the bulb on platform.
Further, the clamping device includes and the matched promoting slider of the first ball-screw, the propulsion
Compact heap is provided on sliding block, the promoting slider is bolted to connection with compact heap, the promoting slider and compact heap
On be both provided with groove for installing pipe fitting, it is logical to form first pipe fitting after the promoting slider and the combination on compact heap
Road.
Further, the supporting sleeve alternatively for being socketed pipe fitting, the tilt platform are provided in the stent
It is inside provided with alternatively for being socketed the flex housing of pipe fitting, the end of the supporting sleeve and/or flex housing is set as cambered surface.
Further, it is provided with supporting rack on the fixed frame, is provided on support frame as described above for being slided to the propulsion
The guide rail that block play the guiding role.
Further, the stent uses hexagonal prisms.
The invention has the advantages that：
The 3 D auto bending forming bending machine of the present invention is simple in structure, easy to operate, can change without bending die is needed to change
Bilge radius is bent, the radius bend that buckles, the angle that buckles bending, helically bent, curvature of space can be easily carried out
Etc. the forming of a variety of spatial complex bent members, difference could be realized by avoiding conventional bending forming technique and needing replacing bending die
The defect of radius substantially increases the efficiency of processing bending complex component, in aerospace, nuclear power, automobile, naval vessel, petrochemical industry, builds
It builds and the numerous areas such as other civilian industries has important engineering application value and apparent economic benefit.
Description of the drawings
Fig. 1 is the structural schematic diagram of the 3 D auto bending forming bending machine of the present invention；
Fig. 2 is the structural schematic diagram of the stent of the 3 D auto bending forming bending machine of the present invention；
Fig. 3 is the structural schematic diagram of the elbow deflection mechanism of the 3 D auto bending forming bending machine of the present invention；
Fig. 4 is the structural schematic diagram that embodiment is space S shape bend pipe；
Fig. 5 is the structural schematic diagram of the pipe fitting bending forming principle of the 3 D auto bending forming bending machine of the present invention；
Fig. 6-Fig. 7 is elbow in the every step of processing space S-shaped bend pipe of the 3 D auto bending forming bending machine of the present invention
Mobile mechanism and the corresponding status diagram of elbow deflection mechanism.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of 3 D auto bending forming bending machine, as shown in figs. 1-7, including fixed frame 1, propulsive mechanism
2, stent 3, elbow mobile mechanism 4 and elbow deflection mechanism 5, wherein：
Propulsive mechanism 2 includes the first ball-screw 2-1 being arranged at 1 middle part of fixed frame, one end of the first ball-screw 2-1
It is plugged in fixed frame 1, the other end extends the outside of fixed frame 1, and stent 3 is arranged in the first ball-screw 2-1 other ends
End, be provided with clamping device on the first ball-screw 2-1, be provided on clamping device clamp pipe fitting the first pipe fitting it is logical
Road is provided with the second tube passage 3-1 in stent 3；
Elbow mobile mechanism 4 includes the moving platform 4-1 being arranged in 3 outside of stent, is provided on moving platform 4-1 round saturating
Hole 4-11, being provided between moving platform 4-1 and fixed frame 1 can be such that moving platform 4-1 first is moved along what space any direction translated
Transmit branch；
Elbow deflection mechanism 5 is arranged in the outside of moving platform 4-1, and elbow deflection mechanism 5 includes that pipe fitting can be made to realize space
It is provided with third heavy connection of pipe 5-11, tilt platform 5-1 on the tilt platform 5-1 of any angle bending, tilt platform 5-1 and moves
Branch is transmitted in the second movement that being provided between platform 4-1 can make tilt platform 5-1 deflect；
First tube passage, the second tube passage 3-1, circular through-hole 4-11 and third tube passage 5-11 when original state
Axis on same straight line, stent is concordant with the end face outside of moving platform.
The 3 D auto bending forming bending machine of the present invention includes fixed frame, propulsive mechanism, stent, elbow mobile mechanism
With elbow deflection mechanism, wherein moving platform in elbow mobile mechanism under the action of branch is transmitted in the first movement, can along X-axis,
Y-axis or Z-direction movement, to realize the translation on any direction of space；Tilt platform in elbow deflection mechanism is on the one hand
It can be translated under the action of moving platform, on the other hand can realize space random angle under the action of branch is transmitted in the second movement
The deflection of degree；The arbitrary change of differently curved radius and bending angle can be achieved under the interaction of moving platform and tilt platform
It changes.In use, original state is the axis of the first tube passage, the second tube passage, circular through-hole and third tube passage
On same straight line, stent is concordant (close to the side of tilt platform) with the end face outside of moving platform；It first will be to be added
Work pipe fitting is embedded in the first tube passage of clamping device, and under the first ball-screw conveying effect, pipe fitting to be processed is worn successively
The second tube passage of stent, the circular through-hole of moving platform are crossed, in the third tube passage for finally entering tilt platform；Then
According to processing needs, branch is transmitted by the first movement of driving, adjusts the offset of moving platform, tilt platform is in moving platform at this time
Under the action of translate simultaneously, and then, by driving second movement transmit branch, adjust the amount of deflection of tilt platform so that partially
The deflection angle for turning platform reaches and pre-sets；After tilt platform location determination, elbow mobile mechanism and elbow deflection mechanism are fixed not
Dynamic, propulsive mechanism is with certain speed by pipe fitting forward impelling, you can processes the pipe fitting of required shape.
To sum up, 3 D auto bending forming bending machine of the invention is simple in structure, easy to operate, and nothing needs to change bending die i.e.
Changeable bending radius, can be easily carried out the radius bend that buckles, the angle that buckles bending, helically bent, space
The forming of a variety of spatial complex bent members such as bending, avoiding conventional bending forming technique and needing replacing bending die could realize
The defect of different radii substantially increases the efficiency of processing bending complex component, in aerospace, nuclear power, automobile, naval vessel, stone
The numerous areas such as change, building and other civilian industries have important engineering application value and apparent economic benefit.
Preferably, it includes 3 groups of PUU movement branched chains in parallel that branch is transmitted in the first movement, wherein：PUU movement branched chains include
It is arranged and is arranged on fixed frame 1 in one end of the second ball-screw 4-2, the second ball-screw 4-2 of 1 side of fixed frame, it is another
End is connect with stent 3, is provided on the second ball-screw 4-2 and the matched mobile sliding block 4-3 of the second ball-screw 4-2；
Be provided with connecting-rods with constant lengh 4-4 between moving platform 4-1 and mobile sliding block 4-3, one end of connecting-rods with constant lengh 4-4 by the first universal joint 4-5 with
Mobile sliding block 4-3 connections, the other end of connecting-rods with constant lengh 4-4 are connect by the second universal joint 4-6 with moving platform 4-1.Second ball wire
Thick stick forms prismatic pair P with mobile sliding block, and the first universal joint and the second universal joint are two U pairs, to form PUU movement branched chains；
Second ball-screw rotates under the driving effect of motor, drives mobile sliding block movement, connecting-rods with constant lengh will under the action of the U pairs of both ends
Translation of the mobile conversion moving platform of mobile sliding block on any direction of space.
In order to improve the stability of mobile sliding block action, ensure the load energy of 3 D auto bending forming bending machine of the present invention
Power, every group of PUU movement branched chain are provided with 2 the second ball-screw 4-2, on mobile sliding block 4-3 setting there are two with the second ball
The matched screw holes of leading screw 4-2.
Further, it includes 3 groups of RPS movement branched chains in parallel that branch is transmitted in the second movement, wherein：RPS movement branched chain packets
It includes and is provided with cunning on third the ball-screw 5-2, third ball-screw 5-2 being arranged between tilt platform 5-1 and moving platform 4-1
Lever 5-3；One end of third ball-screw 5-2 is connect by revolute pair 5-4 with moving platform 4-1, and third ball-screw 5-2's is another
One end is connect by ball pair with tilt platform 5-1, and ball pair includes the bulb 5-31 being arranged in the ends sliding bar 5-3, tilt platform
The spherical groove of socket bulb 5-31 is provided on 5-1.Third ball-screw forms prismatic pair P, third ball wire with sliding bar
The bulb of revolute pair R and sliding bar end between bar and moving platform match to form ball pair with the spherical groove on tilt platform
S, forms RPS movement branched chains, and tilt platform can be in different inclined of spatial alternation under the action of 3 groups of RPS movement branched chains in parallel
Gyration.
Further, clamping device includes and the matched promoting slider 2-2 of the first ball-screw 2-1, promoting slider 2-2
On be provided with compact heap 2-3, promoting slider 2-2 is bolted to connection with compact heap 2-3, promoting slider 2-2 and compact heap
The groove for installing pipe fitting is both provided on 2-3, promoting slider 2-2 forms first after being combined with the groove on compact heap 2-3
Tube passage.In use, pipe fitting to be processed is put into the groove of promoting slider first, then compact heap and propulsion are slided
Block matches, and being fixedly connected for compact heap and promoting slider is realized by bolt, to realize that the compression to pipe fitting to be processed is made
With after compressing pipe fitting to be processed, the first ball screw turns of driving, promoting slider is realized under the action of the first ball-screw
Conveying to pipe fitting to be processed.
As an improvement of the present invention, the supporting sleeve 3-2 alternatively for being socketed pipe fitting is provided in stent 3,
It is provided in tilt platform 5-1 alternatively for being socketed the flex housing of pipe fitting, the end of supporting sleeve 3-2 and/or flex housing is set
It is set to cambered surface 3-21.By replacing the supporting sleeve and flex housing of different-diameter, the pipe fitting of different-diameter can be processed, the present invention is expanded
The scope of application；In order to ensure the machining accuracy and processing quality of pipe fitting, it sets the end of supporting sleeve and/or flex housing to arc
Face.
In the present invention, in order to improve the stationarity of promoting slider movement, ensures the machining accuracy of pipe fitting, set on fixed frame 1
It is equipped with supporting rack 1-1, the guide rail for playing the guiding role to promoting slider 2-2 is provided on supporting rack 1-1.In addition, stent 3
Using hexagonal prisms；Prismatic pair in the present invention is all made of ball-screw apparatus, disclosure satisfy that the stress of pipe fitting in process
And rigidity requirement.
The 3 D auto bending forming bending machine of the present invention can process the spatial complex of arbitrary bending radius and bending angle
Bending pipe fitting, below the aluminium-alloy pipe of diameter 15mm, wall thickness 2mm to be processed into space S shape bend pipe (first half as shown in Figure 4
Partial radius of curvature R1For 50mm, the radius of curvature R of latter half2For 80mm, plane of bending angle α is 30 ° twice) for
Introduce the action process of the present invention：
First by taking Fig. 5 as an example, the flexural deformation principle of pipe fitting in the present invention is introduced, v is stent 3 and tilt platform in figure
The distance between 5-1, u are the offset of moving platform 4-1, and θ is the deflection angle of tilt platform 5-1, and Ψ is the bending angle of pipe fitting, R
For the bending radius of pipe fitting.Wherein, the bending angle Ψ of θ and tubing is unrelated, the bending angle Ψ of tubing by tubing forward impelling length
Degree determines that the more big then bending angle Ψ of tubing forward impelling length is bigger.
Step 1：Pipe fitting to be processed is embedded in the first tube passage of clamping device, in the first ball-screw 2-1 conveyings
Under effect, pipe fitting to be processed sequentially passes through the circular through-hole 4-11 of the second tube passage 3-1 of stent 3, moving platform 4-1, most
Enter in the third tube passage 5-11 of tilt platform 5-1 afterwards；
Step 2：As shown in fig. 6, transmitting branch by the first movement of control so that between stent 3 and tilt platform 5-1
Distance v1For 30mm, the offset u of moving platform 4-11For 10mm, branch is transmitted by the second movement of control so that tilt platform 5-
1 in 36.89 ° of (θ of spatial deflection1), after tilt platform 5-1 location determinations, elbow mobile mechanism 4 and elbow deflection mechanism 5 are fixed
Motionless, propulsive mechanism, by pipe fitting forward impelling 300mm, completes the processing of space S shape bend pipe first half with certain speed；
Step 3：As shown in fig. 7, transmitting branch by the first movement of control so that between stent 3 and tilt platform 5-1
Distance v2For 50mm, the offset u of moving platform 4-12For 17.55mm, branch is transmitted by the second movement of control so that deflection is flat
Platform 5-1 is in 38.7 ° of (θ of spatial deflection2) (angle is the angle of a spatial deflection, specifically around X-axis at 30 ° of angles
Axis deflects 38.7 °), after tilt platform 5-1 location determinations, elbow mobile mechanism 4 and elbow deflection mechanism 5 are fixed, promote
Mechanism, by pipe fitting forward impelling 500mm, completes the processing of space S shape bend pipe latter half with certain speed；
Step 4：After processing is completed, elbow mobile mechanism and elbow deflection mechanism reset space S shape bend pipe.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of 3 D auto bending forming bending machine, which is characterized in that moved including fixed frame, propulsive mechanism, stent, elbow
Motivation structure and elbow deflection mechanism, wherein：
The propulsive mechanism includes the first ball-screw being arranged in the middle part of the fixed frame, one end of first ball-screw
It is plugged in the fixed frame, the other end extends the outside of the fixed frame, and the stent is arranged in first ball
The end of the leading screw other end is provided with clamping device on first ball-screw, and clamping pipe is provided on the clamping device
First tube passage of part is provided with the second tube passage in the stent；
The elbow mobile mechanism includes the moving platform being arranged on the outside of the stent, is provided on the moving platform round saturating
Hole, being provided between the moving platform and fixed frame can make the moving platform first move transmission along what space any direction translated
Branch；
The elbow deflection mechanism is arranged in the outside of the moving platform, and the elbow deflection mechanism includes that pipe fitting can be made to realize sky
Between the tilt platform that is bent of any angle, be provided with third heavy connection of pipe on the tilt platform, the tilt platform with it is dynamic flat
Branch is transmitted in the second movement that being provided between platform can make the tilt platform deflect；
The axis of first tube passage, the second tube passage, circular through-hole and third tube passage described in when original state exists
On same straight line, the stent is concordant with the end face outside of moving platform.
2. 3 D auto bending forming bending machine according to claim 1, which is characterized in that branch is transmitted in first movement
Chain includes 3 groups of PUU movement branched chains in parallel, wherein：
The PUU movement branched chains include the second ball-screw being arranged in the fixed frame side, second ball-screw
One end be arranged on the fixed frame, the other end is connect with the stent, be provided on second ball-screw with it is described
The matched mobile sliding block of second ball-screw；
Be provided with connecting-rods with constant lengh between the moving platform and mobile sliding block, one end of the connecting-rods with constant lengh by the first universal joint with it is described
Mobile sliding block connection, the other end of the connecting-rods with constant lengh are connect by the second universal joint with the moving platform.
3. 3 D auto bending forming bending machine according to claim 2, which is characterized in that every group of PUU movement branched chain is set
Be equipped with 2 second ball-screws, on the mobile sliding block setting there are two with the matched spiral shell of the second ball-screw
Hole.
4. 3 D auto bending forming bending machine according to claim 1, which is characterized in that branch is transmitted in second movement
Chain includes 3 groups of RPS movement branched chains in parallel, wherein：
The RPS movement branched chains include the third ball-screw being arranged between the tilt platform and moving platform, the third
Sliding bar is provided on ball-screw；
One end of the third ball-screw is connect by revolute pair with the moving platform, the other end of the third ball-screw
It is connect with the tilt platform by ball pair, the ball pair includes the bulb being arranged in the sliding boom end, and the deflection is flat
The spherical groove for being socketed the bulb is provided on platform.
5. 3 D auto bending forming bending machine according to claim 1, which is characterized in that the clamping device include with
The first ball-screw matched promoting slider is provided with compact heap, the promoting slider and pressure in the promoting slider
Tight block is bolted to connection, and the groove for installing pipe fitting is both provided in the promoting slider and compact heap, described to push away
First tube passage is formed after into the combination on sliding block and compact heap.
6. according to any 3 D auto bending forming bending machine in claim 1-5, which is characterized in that the stent
It is inside provided with the supporting sleeve alternatively for being socketed pipe fitting, is provided in the tilt platform alternatively for being socketed pipe fitting
Flex housing, the end of the supporting sleeve and/or flex housing is set as cambered surface.
7. 3 D auto bending forming bending machine according to claim 6, which is characterized in that be provided on the fixed frame
Supporting rack is provided with the guide rail for playing the guiding role to the promoting slider on support frame as described above.
8. 3 D auto bending forming bending machine according to claim 7, which is characterized in that the stent uses six ribs
Column.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103020.XA CN108405679A (en) | 2018-02-01 | 2018-02-01 | 3 D auto bending forming bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810103020.XA CN108405679A (en) | 2018-02-01 | 2018-02-01 | 3 D auto bending forming bending machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108405679A true CN108405679A (en) | 2018-08-17 |
Family
ID=63127673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810103020.XA Withdrawn CN108405679A (en) | 2018-02-01 | 2018-02-01 | 3 D auto bending forming bending machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN108405679A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110180930A (en) * | 2019-06-13 | 2019-08-30 | 山东大学 | The gradual free bending tube forming mechanism in space |
| CN111014391A (en) * | 2019-12-20 | 2020-04-17 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Automatic section bending device, method for realizing three-dimensional bending by using same and application |
| CN113083970A (en) * | 2021-05-17 | 2021-07-09 | 燕山大学 | Elbow forming device based on parallel mechanism |
-
2018
- 2018-02-01 CN CN201810103020.XA patent/CN108405679A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110180930A (en) * | 2019-06-13 | 2019-08-30 | 山东大学 | The gradual free bending tube forming mechanism in space |
| CN111014391A (en) * | 2019-12-20 | 2020-04-17 | 中国科学院宁波工业技术研究院慈溪生物医学工程研究所 | Automatic section bending device, method for realizing three-dimensional bending by using same and application |
| CN113083970A (en) * | 2021-05-17 | 2021-07-09 | 燕山大学 | Elbow forming device based on parallel mechanism |
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Application publication date: 20180817 |
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| WW01 | Invention patent application withdrawn after publication |