CN109909346A - Can revolving worktable flexible flanging forming device - Google Patents

Can revolving worktable flexible flanging forming device Download PDF

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Publication number
CN109909346A
CN109909346A CN201910260464.9A CN201910260464A CN109909346A CN 109909346 A CN109909346 A CN 109909346A CN 201910260464 A CN201910260464 A CN 201910260464A CN 109909346 A CN109909346 A CN 109909346A
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CN
China
Prior art keywords
loose tool
forming device
flexible
robot
flanging forming
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910260464.9A
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Chinese (zh)
Inventor
赵亦希
陈根良
于忠奇
胡逸辉
吴海宇
尤舒曼
郑高媛
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Shanghai Jiaotong University
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Shanghai Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN201910260464.9A priority Critical patent/CN109909346A/en
Publication of CN109909346A publication Critical patent/CN109909346A/en
Pending legal-status Critical Current

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Abstract

It is a kind of can revolving worktable flexible flanging forming device; it include: robot rolling mechanism and the movable loose tool mechanism being oppositely arranged; wherein: thin plate to be formed is fixedly installed in movable loose tool mechanism, carries out rolling flange by robot rolling mechanism with preset path.The present apparatus locally carries out multi-pass rolling by Robotic Manipulator pair of rollers plate, and gradually deformation obtains final flange part, is capable of providing the problem of enough power improves flange part mold, and noise of the present invention is small, and part forming quality is stablized.

Description

Can revolving worktable flexible flanging forming device
Technical field
It is specifically a kind of to be suitable for multi-varieties and small-batch feature the present invention relates to a kind of technology in Aerospace manufacturing field Sheet metal component can revolving worktable flexible flanging forming device.
Background technique
Sheet Metal Part has a wide range of applications in Aerospace manufacturing, and according to statistics, the sheet metal part of carrier rocket accounts for about entirely The 60%~70% of arrow part sum.Numerous in variety since batch is small, flange class part is mostly completed by artificial hammering, efficiency Low, labor intensity of workers is big, and environmental noise is big.Robot flange is expected to substitution manual operation and realizes this technical process.For Large-sized sheet metal component needs biggish space in robot turn-up process, due to its pose difference, the flange exported Power is not identical, thus blank discontinuity, leads to flanging forming unstable quality.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, propose it is a kind of can revolving worktable flexible flanging forming dress It sets, by work table rotation, ensures that robot is acted on blank with same pose, robot only needs local directed complete set idler wheel Angle is realized and locally carries out multi-pass rolling to plate, and blank, which gradually deforms, obtains final flange part, and makes part forming Quality is stablized.
The present invention is achieved by the following technical solutions:
The present invention includes: robot rolling mechanism and the movable loose tool mechanism being oppositely arranged, in which: thin plate to be formed is solid Surely it is set in movable loose tool mechanism, rolling flange is carried out with preset path by robot rolling mechanism.
The movable loose tool mechanism includes: the core assembly and driving assembly being set on bottom plate, in which: loose tool group Part is slideably positioned on bottom plate and is connected with driving assembly, drives core assembly to move in bottom plate upper feeding by driving assembly.
The sliding setting, is realized, in which: guide rail is fixedly installed on by the guide rail slide block mechanism being set on bottom plate On floor, sliding block is fixedly connected with core assembly and is movably set on guide rail.
It is realized by the shape of guide rail the track of the feed motion.
The core assembly includes: loose tool and flexible fixture, in which: loose tool respectively with flexible fixture and guide rail slide block machine Structure is fixedly connected, and thin plate to be formed is fixed on loose tool and is clamped by flexible fixture.
The loose tool requires to design according to flange part size, there is three classes screw hole thereon, is respectively used to turn with described Sliding block connection in platform guide assembly move loose tool can on guide rail, obtain power drive for connecting drive mechanism, be used for The connection flexible fixture.
The driving assembly includes: power mechanism and transmission mechanism, in which: power mechanism is set on bottom plate and exports To transmission mechanism, transmission mechanism is connected with core assembly to realize that it is moved in bottom plate upper feeding torque.
The transmission mechanism includes: the rack gear being set on loose tool and the gear that is connected with driving assembly.
The robot rolling mechanism are as follows: the idler wheel driven by six-joint robot, the idler wheel can there are many design shape Shape specification.
The idler wheel is set on six-joint robot by ring flange, is connected by ring flange with robot rolling mechanism Robot may remain in optimal position and posture, to provide stable power as big as possible.
Technical effect
Compared with prior art, the present invention can greatly simplify the movement of robot, and adjustment machine is only needed in turn-up process The angle of device people's J6 axis, so that idler wheel carries out flange to part with different rolling angles.Simultaneously as the pose phase of robot To fixation, there is the normal pressure of stable and uniform to act on thin plate to be formed always during flanging forming, can effectively improve and turn over The mold problem of edge pieces.For different part sizes, multistage guide rail can be spliced to increase stroke, there is certain adapt to Property.Wherein most accessories are that finished parts can be matched according to part situation, realize quick-replaceable, are convenient for scene adjustment operation, It is a kind of ideal robot flexibility flanging forming device.
Detailed description of the invention
Fig. 1 is the top view of apparatus of the present invention;
Fig. 2 is the front view that power drive assem is connect with gear;
Fig. 3 is the schematic diagram of robot rolling mechanism and core assembly relative position;
In figure: 1 guide supporting bottom plate, 2 guide rails and bottom plate connecting screw hole, 3 guide rails, 4 sliding blocks and loose tool connecting screw hole, 5 loose tools, 6 flexible fixtures and loose tool connecting screw hole, 7 flexible fixtures, 8 rack gears and loose tool connecting screw hole, 9 rack gears, 10 gears, 11 gear carriers and rack connecting screw hole, 12 gear carriers, 13 racks, 14 thrust bearings, 15 shaft couplings, 16 speed reducers, 17 Motor, 18 idler wheels, 19 idler wheel ring flanges, 20 six-joint robot J6 axis, 21 sliding blocks, 22 thin plates to be formed.
Specific embodiment
As shown in Figure 1,
There is screw hole 2 to fixed guide rail 3 on the guide supporting bottom plate 1 of robot flexibility flanging forming device.
The fan angle of guide supporting bottom plate is 120 ° in the present embodiment, therefore two sections 60 ° of guide rail is selected to be spliced, this It is 60 ° that Shi Youxiao, which turns round stroke, and the flange part circular arc angle of release in the present embodiment is 45 °, therefore effective revolution stroke is enough.
It is core assembly on the guide rail 3, in which: loose tool 5 carries out spiral shell by screw hole 4 and the sliding block 21 of lower section 6 Silk connection, it is ensured that loose tool can smoothly do rotary motion on guides 3.Thin plate 22 to be formed can pass through spacer pin or positioning pin It is positioned, keeps position of the thin plate 22 to be formed every time on loose tool 5 all the same.
After thin plate 22 to be formed is regulated in the position on loose tool 5, it can be carried out by 4 flexible fixtures 7 on loose tool 5 It clamps.Flexible fixture 7 is mounted on loose tool 8 by its flange pedestal by designed screw hole 4.Each flexible fixture 7 is The positive pressure of 5000N can be provided, to guarantee that thin plate 22 to be formed will not generate the offset of position in forming process.About soft Property fixture setting, since there may be the plates of different-thickness for the space flight sheet metal component that is related to, therefore front end can be pressed from both sides to flexible elbow Bolt sliding adjusts its length, so that the plate to different-thickness can provide enough positive pressures.
The transmission component includes: rack gear 9, gear 10 and gear carrier 12, in which: rack gear 9 is by a row along arc The circumferentially distributed screw hole 8 of line is connect with loose tool 5, and the torque that power drive assem is provided is transmitted to can on loose tool 5 Rotary motion is done in guide rail 3.In the present embodiment, the gear 10 and rack gear 9 of identical modulus are selected, modulus is 10.Gear bracket 4 screw holes 11 and 13 screw connection of rack that frame 11 passes through the four corners of pedestal.
As shown in Fig. 2, for the front view that power drive assem is connect with gear, the gear 10 passes through thrust bearing 14 It is limited in 12 top of gear carrier.
The thrust bearing 14 is formed by being divided into axis piece and several thrust washers of seat piece.It is driven for bearing other power The axial load that dynamic component generates.
The shaft coupling 15 is used to securely connect upper and lower master and slave moving axis, rotates together with it, reach passing movement and The effect of torque.Can also be used as safety device simultaneously prevents from bearing excessive load, plays the role of overload protection.
The speed reducer 16 between motor 17 and loose tool 5 for matching revolving speed and transmitting torque.
The motor 17 provides sufficiently large torque for the rotary motion of loose tool 5, is the source for driving power, load It is determined according to the torque that loose tool 5 generates in revolution stroke.
Motivation package driving assembly is transmitted torque on loose tool 5 by gear 10, rack gear 8, guarantees loose tool 5 in guide rail 3 On at the uniform velocity smoothly do feed motion as far as possible.Enough flange pressures are provided to guarantee that robot is in best position and posture Power, can preferably mold when ensuring final part flanging forming.
As shown in figure 3, being the schematic diagram of robot rolling mechanism and core assembly relative position, the idler wheel 18 passes through Idler wheel flange pedestal 19 and six-joint robot screw connection.Each mechanical arm of robot should be at opposite best pose, and by Divide multi-pass to carry out in turn-up process, therefore should constantly adjust the angle of robot J6 axis 20 during flanging forming, Keep idler wheel suitable with respect to the indentation angle of loose tool 5.Each indentation angle can carry out adjustment teaching in advance according to process requirements.The present embodiment In, flanging forming process is divided into eight forming passages and shaping passage, and the idler wheel indentation angle for shaping passage is respectively 10°/20°/30°/40°/50°/60°/72°/74°。
In the present embodiment, the idler wheel being relatively large in diameter is can be selected in the flanging forming of each passage before, to guarantee thin plate to be formed 22 uniform stressed, it is not wrinkled;The lesser idler wheel of diameter can be selected in shaping passage in whole flange passage and later, with true It protects enough flange pressure and makes plate mold.It is different according to the shape of flange part, pair of rollers zero of different shapes also can be selected Part carries out shaping, and it is with rounded corners that idler wheel such as is designed as T-type, can make flange part preferably mold while, guarantee flange Part knuckle and flange angle of release.
Present apparatus workflow is as follows, and first thin plate 22 to be formed is fixed on loose tool 5, and is carried out by flexible fixture 7 It clamps.The indentation angle of idler wheel 18 is adjusted by predetermined process by six-joint robot J6 axis 20.After scroll wheel positions determine, it can open Dynamic motor 17 drives loose tool 5 to do rotary motion on guides 3 by gear 10, rack gear 8, and each rotary motion stroke angles are 45 °, the feed motion as each passage flange.After having fed per pass, the indentation angle of idler wheel 18 need to be adjusted, then is carried out down The turn-up process of a time is to realize robot flexibility flanging forming.
In the present apparatus can revolving worktable have a maximum contribution to flanging forming process: on the one hand, can revolving worktable can protect Card robot provides the quality stability that enough constant pressure guarantees flanging forming part always;On the other hand, pass through work Make platform itself revolution, reduces the part error generated when robot debugging.Flanging forming is carried out to part according to the present apparatus, by upper Stating the mold data that detailed process 3 repeated experiments obtain in embodiment is respectively 0.59mm, 0.57mm, 0.59mm.Thus may be used See, the part quality stability of present apparatus flanging forming is high, and mold works well.The method for flanging manually hammered with current worker Comparison, the present apparatus can greatly improve part quality stability in the case where guaranteeing mold quality, reduce production noise, drop Low labor intensity of workers.
Further, for straight flange flange class part, it can equally design slidable workbench and guarantee robot energy It is enough that same pose is kept to carry out flanging forming to part to guarantee the mold quality of flange part in turn-up process.In the present embodiment Arc-shaped rail is changed to straight guide, feed motion per pass becomes translation gliding from the rotary motion of workbench, remaining reality It is same as the previously described embodiments to apply mode.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute Limit, each implementation within its scope is by the constraint of the present invention.

Claims (8)

1. one kind can revolving worktable flexible flanging forming device characterized by comprising robot rolling mechanism and opposite The movable loose tool mechanism of setting, in which: thin plate to be formed is fixedly installed in movable loose tool mechanism, passes through robot rolling mechanism Rolling flange is carried out with preset path;
The movable loose tool mechanism includes: the core assembly and driving assembly being set on bottom plate, in which: core assembly is sliding It is dynamic to be set on bottom plate and be connected with driving assembly, drive core assembly to move in bottom plate upper feeding by driving assembly.
2. it is according to claim 1 can revolving worktable flexible flanging forming device, characterized in that the sliding is set It sets, is realized by the guide rail slide block mechanism being set on bottom plate, in which: guide rail is fixedly installed on floor, sliding block and loose tool group Part is fixedly connected and is movably set on guide rail, and the track of the feed motion is realized by the shape of guide rail.
3. it is according to claim 1 or 2 can revolving worktable flexible flanging forming device, characterized in that the loose tool Component includes: loose tool and flexible fixture, in which: loose tool is fixedly connected with flexible fixture and guide rail slide block mechanism respectively, to be formed Thin plate is fixed on loose tool and is clamped by flexible fixture.
4. it is according to claim 3 can revolving worktable flexible flanging forming device, characterized in that the loose tool according to Flange part size requires design, has three classes screw hole thereon, is respectively used to connect with the sliding block in the turntable guide assembly It move loose tool can on guide rail, obtain power drive, for connecting the flexible fixture for connecting drive mechanism.
5. it is according to claim 1 can revolving worktable flexible flanging forming device, characterized in that the driving assembly It include: power mechanism and transmission mechanism, in which: power mechanism is set on bottom plate output torque to transmission mechanism, driver Structure is connected to realize that it is moved in bottom plate upper feeding with core assembly.
6. it is according to claim 1 can revolving worktable flexible flanging forming device, characterized in that the transmission mechanism The gear for including: the rack gear being set on loose tool and being connected with driving assembly.
7. it is according to claim 1 can revolving worktable flexible flanging forming device, characterized in that the described robot rolling Press mechanism are as follows: the idler wheel driven by six-joint robot.
8. it is according to claim 7 can revolving worktable flexible flanging forming device, characterized in that the idler wheel passes through Ring flange is set on six-joint robot, by robot that ring flange is connected with robot rolling mechanism to be maintained at optimal Position and posture, to provide stable power as big as possible.
CN201910260464.9A 2019-04-02 2019-04-02 Can revolving worktable flexible flanging forming device Pending CN109909346A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110814132A (en) * 2019-11-11 2020-02-21 上海交通大学 Adjustable flexible flanging forming mechanism
CN112588889A (en) * 2020-12-23 2021-04-02 同济大学 Industrial robot double-point roll forming processing method and system
CN113714359A (en) * 2021-09-02 2021-11-30 上海交通大学 Multi-pass robot flexible flanging full-mold forming method
CN116532528A (en) * 2023-07-07 2023-08-04 山东卓益数控设备有限公司 Forming machine tool for machining metal parts

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Publication number Priority date Publication date Assignee Title
CN1669694A (en) * 2005-03-31 2005-09-21 上海交通大学 Parallel robot edge-coating system with a rotary table
KR100792563B1 (en) * 2006-06-20 2008-01-09 현대자동차주식회사 Panel hemming apparatus for car
CN102699592A (en) * 2012-06-21 2012-10-03 无锡华联精工机械有限公司 Plasma cutting linear groove swinging device
CN102744309A (en) * 2012-07-12 2012-10-24 宁波森富机电制造有限公司 Guided elliptical tracking curling machine
CN203197072U (en) * 2013-03-29 2013-09-18 江苏新创雄铝制品有限公司 Hub stainless steel covering machine
CN104741425A (en) * 2015-04-13 2015-07-01 安徽鲲鹏装备模具制造有限公司 Extra-long plate flanging machine
CN108747467A (en) * 2018-06-12 2018-11-06 安徽方程式工业设计服务有限公司 A kind of processing unit (plant) that the arc panel of arbitrary radian can be positioned

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1669694A (en) * 2005-03-31 2005-09-21 上海交通大学 Parallel robot edge-coating system with a rotary table
KR100792563B1 (en) * 2006-06-20 2008-01-09 현대자동차주식회사 Panel hemming apparatus for car
CN102699592A (en) * 2012-06-21 2012-10-03 无锡华联精工机械有限公司 Plasma cutting linear groove swinging device
CN102744309A (en) * 2012-07-12 2012-10-24 宁波森富机电制造有限公司 Guided elliptical tracking curling machine
CN203197072U (en) * 2013-03-29 2013-09-18 江苏新创雄铝制品有限公司 Hub stainless steel covering machine
CN104741425A (en) * 2015-04-13 2015-07-01 安徽鲲鹏装备模具制造有限公司 Extra-long plate flanging machine
CN108747467A (en) * 2018-06-12 2018-11-06 安徽方程式工业设计服务有限公司 A kind of processing unit (plant) that the arc panel of arbitrary radian can be positioned

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110814132A (en) * 2019-11-11 2020-02-21 上海交通大学 Adjustable flexible flanging forming mechanism
CN112588889A (en) * 2020-12-23 2021-04-02 同济大学 Industrial robot double-point roll forming processing method and system
CN113714359A (en) * 2021-09-02 2021-11-30 上海交通大学 Multi-pass robot flexible flanging full-mold forming method
CN116532528A (en) * 2023-07-07 2023-08-04 山东卓益数控设备有限公司 Forming machine tool for machining metal parts
CN116532528B (en) * 2023-07-07 2023-09-08 山东卓益数控设备有限公司 Forming machine tool for machining metal parts

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Application publication date: 20190621