CN111570579B - Aerospace on-orbit free bending forming system and forming method and remote control method - Google Patents
Aerospace on-orbit free bending forming system and forming method and remote control method Download PDFInfo
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- CN111570579B CN111570579B CN202010256449.XA CN202010256449A CN111570579B CN 111570579 B CN111570579 B CN 111570579B CN 202010256449 A CN202010256449 A CN 202010256449A CN 111570579 B CN111570579 B CN 111570579B
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- 238000005452 bending Methods 0.000 title claims abstract description 76
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 35
- 238000004886 process control Methods 0.000 claims abstract description 27
- 239000000463 material Substances 0.000 claims abstract description 12
- 230000001502 supplementing effect Effects 0.000 claims abstract description 7
- 230000003068 static effect Effects 0.000 claims description 18
- 230000001050 lubricating effect Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 5
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims description 3
- 239000002199 base oil Substances 0.000 claims description 3
- 239000000314 lubricant Substances 0.000 claims description 3
- 239000003921 oil Substances 0.000 claims description 3
- 229910052710 silicon Inorganic materials 0.000 claims description 3
- 239000010703 silicon Substances 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 claims description 2
- 229910001069 Ti alloy Inorganic materials 0.000 claims description 2
- 239000002994 raw material Substances 0.000 claims description 2
- 239000002775 capsule Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000003213 activating effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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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
- B21D7/12—Bending rods, profiles, or tubes with programme control
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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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/021—Control or correction devices in association with moving strips
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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
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
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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
- B21D7/06—Bending rods, profiles, or tubes in press brakes or between rams and anvils or abutments; Pliers with forming dies
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- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses an aerospace on-orbit free bending forming system, a forming method and a remote control method, wherein an on-orbit subsystem and a ground subsystem are provided; the on-orbit subsystem comprises a bending die (1), a bending die control module, an axial feeding and supplementing material module and an on-orbit communication module; the ground subsystem comprises a ground communication module, a process control module and a digital twinning module; the bending die control module comprises a 3-RPSR parallel mechanism, a tail end servo motor (11) and a center servo motor (12), wherein the tail end servo motor (11) and the center servo motor (12) are used for driving the 3-RPSR parallel mechanism to move; ground technicians can simulate the whole in-orbit operation process of the forming system through the digital twin module, realize remote real-time control on the forming system through the process control module, the ground communication module and the in-orbit communication module, and realize in-orbit service of the free bending forming system through real-time coordination and information sharing of the in-orbit subsystem and the ground subsystem.
Description
Technical Field
The invention belongs to the technical field of on-orbit manufacturing, and particularly relates to an aerospace on-orbit free bending forming system, a forming method and a remote control method.
Background
The spacecraft which runs for a long time in the orbit, particularly the space station, the in-orbit service platform and the like, has long running time and complex system, and inevitably generates faults during the running. If the conduit parts of the thermal control pipeline system in a complex space environment have complex two-dimensional planes, three-dimensional space axes and complex sections, and are in service in a special environment for a long time, the bending component manufactured by the prior art can not simultaneously meet key technical indexes such as wall thickness uniformity, section distortion rate, three-dimensional axis precision, forming integrity and the like, and the abrasion and the cross section distortion often occur due to factors such as strong vibration, corrosion or mechanical damage and the like in the actual service process, so that the pipeline medium conveying efficiency and the service life of the conduit are seriously influenced.
At present, once sudden failure or damage of conduit parts occurs in a thermal control pipeline system in service in a space environment, the thermal control pipeline system must be remanufactured, transported, maintained and replaced by a ground manufacturing system, the whole process is time-consuming and long in time consumption, a large amount of manpower and material resources are consumed, emergency response cannot be achieved for parts needing to be rapidly serviced again, the work of related equipment and systems in the space environment is seriously affected, and the problem becomes one of the problems to be solved urgently in the space manufacturing technology.
Disclosure of Invention
The invention provides an aerospace in-orbit free bending forming system, a forming method and a remote control method, aiming at the defects of the manufacturing technology of the conduit parts of the existing thermal control pipeline system in the space environment.
The invention adopts the following technical scheme:
an aerospace in-orbit free bend forming system, comprising: an on-orbit subsystem and a ground subsystem; the on-orbit subsystem comprises a bending die 1, a bending die control module, an axial feeding and supplementing material module and an on-orbit communication module; the bending die control module comprises a 3-RPSR parallel mechanism, a tail end servo motor 11 and a center servo motor 12; the 3-RPSR parallel mechanism comprises a movable platform 2, a driving connecting rod 3, a sliding block 4, a guide rail 5, a screw 6, a supporting seat 7, a static platform 8, an annular guide rail 9 and a central gear 10; the axial feeding and supplementing module comprises a guide mechanism 13, a clamping mechanism 14, a feeding spring 15, a filling spring 16, a magazine type storage mechanism 17, a lubricating groove 18, a Y-direction servo motor 19, a linear guide rod 20 and a propelling mechanism 21; the on-orbit communication module comprises a built-in CCD high-speed camera 22, an external CCD high-speed camera 23 and an on-orbit computer 24; the ground subsystem comprises a ground communication module, a process control module and a digital twinning module.
In the aerospace on-orbit free bending forming system, the distance between the center point of the bending die 1 and the front end of the guide mechanism 13 is reduced to 1D from 1.5D (D is the outer diameter of a tube blank) which is usually arranged in conventional free bending equipment, so that a small bending radius component with the R/D of 3 can be formed by rotating the bending die 1 by a small angle around the X/Z axis and offsetting the bending die by a small eccentricity along the Z/X axis, the structure is compact, and the forming limit of the forming system is improved.
The space flight is in orbit freely bending system, wherein move platform 2 and bending die 1 fixed connection, can drive the bending die motion, move platform 2 and form three closed loop movement chains through three group's drive connecting rod 3, three group's slider 4, three group's guide rail 5, three group's screw rods 6 and three quiet platforms 8 of three groups, every closed loop movement is even the structure is: one end of a driving connecting rod 3 is hinged on the movable platform 2, the other end of the driving connecting rod is hinged on a sliding block 4 through a spherical pair, the sliding block 4 is connected with a supporting seat 7 in a sliding mode through a guide rail 5, and a tail end servo motor 11 drives the sliding block 4 to slide on the supporting seat 7 through a screw 6; the supporting seat 7 is fixed on the static platform 8, one end of the static platform 8 is fixed on the central gear 10, the other end of the static platform is connected with the annular guide rail 9 in a sliding mode through the sliding groove, and the central gear 10 drives the static platform 8 to rotate along the annular guide rail 9 after rotating.
In the aerospace in-orbit free bending forming system, three closed-loop kinematic chains, a supporting seat 7 and a tail end servo motor 11 in a bending die control module are uniformly distributed around a Y axis with a phase difference of 120 degrees, so that the integral structural rigidity and stability of the forming system are improved, and the forming system can play a role in short-time vibration resistance when being used in a space environment.
In the aerospace on-orbit free bending forming system, the magazine type storage mechanism 17 can assist in feeding through an on-orbit mechanical arm and pre-store a plurality of tube blanks, and the tube blanks are pressed into a feeding section of the clamping mechanism 14 through the feeding spring 15 in a compressed state.
In the aerospace on-orbit free bending forming system, the guide mechanism 13 is conical, one end of the conical top is adjacent to the bending die 1 so as to ensure that the bending die 1 does not interfere when rotating around the maximum angle of an X/Z axis, and a lubricating groove 18 is arranged in the guide mechanism 13 and is stored with a lubricant taking silicon oil as base oil, so that a good lubricating effect is kept among the pipe, the bending die 1 and the guide mechanism 13 in a space high-low temperature environment.
The aerospace on-orbit free bending forming system is characterized in that a bending die 1, a movable platform 2, a sliding block 6, a supporting seat 7, a static platform 8, a guide mechanism 13, a clamping mechanism 14 and a propelling mechanism 21 are all made of titanium alloy with high specific strength and specific rigidity for aerospace as raw materials and are manufactured in a 3D printing mode, and the supporting seat 7 is of a hollow structure to ensure that parts have good mechanical properties while reducing weight.
A forming method according to any one of the forming systems, comprising the steps of:
1, starting a power supply, activating a built-in CCD high-speed camera 22, and controlling a forming system by an on-orbit computer 24;
2, a feeding spring 15 in a compressed state presses the tube blank in the magazine type storage mechanism 16 into a feeding section of the clamping mechanism 14;
a 3Y-direction servo motor 19 drives a propelling mechanism 21 to feed along a linear guide rod 20, the material is self-lubricated by a lubricating groove 17 in a guide mechanism 13 and then is conveyed to the central point of the bending die 1 and fixed, and meanwhile, the propelling mechanism 21 drives a filling spring 16 to extend and fill a vacant position of a feeding section of a clamping mechanism 14;
4, the tail end servo motor 11 and the central servo motor 12 drive the 3-RPSR parallel mechanism to generate corresponding movement according to the programming information, the movable platform 2 drives the bending die 1 to generate corresponding movement and rotation, and meanwhile, the Y-direction servo motor 19 drives the propelling mechanism 21 according to the programming information to enable the pipe to continue to move along the feeding direction to form a target pipe fitting;
5 after the pipe fitting is formed, the Y-direction servo motor 19 drives the pushing mechanism 21 to push out the pipe fitting and takes out the pipe fitting from the on-rail mechanical arm, and the Y-direction servo motor 19 drives the pushing mechanism 21 and the filling spring 16 to reset;
6 if the rest pipe fittings are not required to be formed, the power supply is turned off; and if the pipe needs to be formed continuously, repeating the steps 2) to 5).
A method of remote control according to any one of the forming systems, comprising the steps of:
1) before the forming system operates on the rail, a digital twin model of the forming system operating on the rail is constructed;
2) after the forming system operates on the rail, an external CCD high-speed camera 23 in the rail platform rapidly and stably obtains image data of a target pipe fitting to be formed, and after the image data are transmitted to an on-rail computer 24, the image data are transmitted to a ground communication module by the on-rail computer 24;
3) the ground communication module transmits the image data to the process control module, and the process control module analyzes and processes the data image to obtain the geometric information of the target pipe;
4) the process control module automatically programs according to the geometric information, and the programming information is synchronized to the digital twin module to simulate the on-orbit operation process of the forming system in advance;
5) the process control module transmits the programming information to the ground communication module, and the programming information is transmitted to the on-orbit computer 24 by the ground communication module;
6) after the on-track computer 24 receives the programming information, starting a power supply, starting the forming system to operate, and synchronously monitoring the operation process by the built-in CCD high-speed camera 22 and the external CCD high-speed camera 23;
7) and after the forming system is operated, the bent part is taken out from the rail mechanical arm, and the power supply is turned off.
The remote control method, the construction of the digital twin model in the step 1) should include geometric, material and process information of a forming system from design, process, manufacture, assembly and test to a full life cycle of putting into use.
In the remote control method, the operation mode of the forming system in the step 6) is determined by a program according to the geometric characteristics of a target pipe fitting to be formed, and the operation modes of the circular-section plane bending component, the circular-section space bending component and the special-section bending component are different.
The invention has the following beneficial effects:
1) the invention can realize flexible, non-mold and accurate on-track manufacture of the pipe in the pipeline system in a special space environment, obviously improve the geometric accuracy, complexity and forming limit of the integral component and realize one-time accurate integral forming of the target component.
2) According to the invention, by constructing a digital twin model and based on an intelligent sensing technology, the remote intelligent control of an on-orbit miniaturization and lightweight free bending forming system is realized, and the accuracy and the intelligence of the free bending system are greatly improved.
3) The invention enables the free bending equipment to be in service in a special space environment, and emergency response is realized in the face of sudden failure or damage of the bent pipe in the thermal control pipeline system, so that the period for maintaining the system is greatly shortened, and manpower and material resources are saved.
Drawings
FIG. 1 is a general schematic diagram of an aerospace in-orbit miniaturization and lightweight free bending forming system and a forming system working coordinate system;
FIG. 2 is a schematic view of the position of the forming module, guide mechanism and lubricating groove of the present invention, wherein A represents the center point of the bending die;
FIG. 3 is a schematic view of a bend die control module of the present invention;
FIG. 4 is a schematic diagram of the bunk magazine mechanism, the feeding spring, the filling spring and the propelling mechanism of the propelling mechanism in a working state, wherein L in the diagram represents a feeding section of the clamping mechanism;
FIG. 5 is a schematic diagram of a pod type storage mechanism, a feeding spring, a filling spring and a propelling mechanism in a reset state of the propelling mechanism;
FIG. 1-bending die; 2-moving platform, 3-driving connecting rod, 4-sliding block, 5-guide rail, 6-screw, 7-supporting seat, 8-static platform, 9-annular guide rail, 10-central gear, 11-end servo motor, 12-central servo motor, 13-guiding mechanism, 14-clamping mechanism, 15-feeding spring, 16-filling spring, 17-elastic cabin type storage mechanism, 18-lubricating groove, 19-Y direction servo motor, 20-linear guide rod, 21-propelling mechanism, 22-built-in CCD high-speed camera, 23-external CCD high-speed camera and 24-on-orbit computer;
FIG. 6 is a schematic view of a circular cross-section plane bend tube;
FIG. 7 is a schematic view of a space bending tube with a circular cross section;
FIG. 8 is a schematic view of a space bending pipe with a special-shaped section.
Detailed Description
The present invention will be described in detail with reference to specific examples.
As shown in fig. 1, 2, 3, 4, 5, the aerospace in-orbit free bend forming system of the invention comprises an in-orbit subsystem and a ground subsystem. The on-orbit subsystem comprises a bending die 1, a bending die control module, an axial feeding and supplementing material module and an on-orbit communication module; the distance between the bending die 1 and the front end of the guide mechanism 13 is reduced from 1.5D commonly arranged in the conventional free bending equipment to 1D, wherein D is the outer diameter of the tube blank, so that a small bending radius component with the R/D of 3 can be formed by the bending die 1 rotating a small angle around the X/Z axis and offsetting a small eccentricity along the Z/X axis; the bending die control module comprises a 3-RPSR parallel mechanism, a tail end servo motor 11, a center servo motor 12, the 3-RPSR parallel mechanism comprises a movable platform 2, a driving connecting rod 3, a sliding block 4, a guide rail 5, a screw rod 6, a supporting seat 7, a static platform 8, an annular guide rail 9 and a central gear 10, wherein the movable platform 2 is fixedly connected with the bending die 1 and can drive the bending die to move, the movable platform 2 forms three closed-loop movement chains through three groups of driving connecting rods 3, three groups of sliding blocks 4, three groups of guide rails 5, three groups of screw rods 6 and three groups of static platforms 8, and each closed-loop movement chain has a structure as follows: one end of a driving connecting rod 3 is hinged on the movable platform 2, the other end of the driving connecting rod is hinged on a sliding block 4 through a spherical pair, the sliding block 4 is connected with a supporting seat 7 in a sliding mode through a guide rail 5, and a tail end servo motor 11 drives the sliding block 4 to slide on the supporting seat 7 through a screw 6; the supporting seat 7 is fixed on the static platform 8, one end of the static platform 8 is fixed on the central gear 10, the other end of the static platform 8 is connected with the annular guide rail 9 in a sliding mode through the sliding chute, the central gear 10 drives the static platform 8 to rotate along the annular guide rail 9 after rotating, geometric errors generated when the 3-RPSR parallel mechanism moves can be evenly distributed to three moving chains through the three closed-loop moving chains, accumulated errors are avoided, the three closed-loop moving chains, the supporting seat 7 and the tail end servo motor 11 are evenly distributed with the difference of 120 degrees around the Y axis, the tail end servo motor 11 drives the three closed-loop moving chains to move so as to drive the bending die 1 to move along the X/Z axis and rotate around the Z/X axis, and the central servo motor 12 is used for driving the 3-RPSR parallel mechanism to rotate on the annular guide rail 9; the axial feeding and supplementing module comprises a guide mechanism 13, a clamping mechanism 14, a feeding spring 15, a filling spring 16, a cabin type storage mechanism 17, a lubricating groove 18, a Y-direction servo motor 19, a linear guide rod 20 and a propelling mechanism 21, wherein the cabin type storage mechanism 17 can assist in feeding through a rail mechanical arm and prestores a plurality of tube blanks, the feeding spring 15 is installed in the cabin type storage mechanism 17 and used for pressing the tube blanks into a feeding section of the clamping mechanism 14 after the propelling mechanism 21 is reset, one end of the filling spring 16 is connected with the bottom of the propelling mechanism 21, the other end of the filling spring is connected with the bottom surface of the feeding section of the clamping mechanism 14, the propelling mechanism 21 is in a compression state when the propelling mechanism 21 is reset or not in operation, the tube blanks move upwards along the feeding direction when the propelling mechanism 21 is in operation, the initial position of the tube blanks becomes a vacancy to be supplemented, the filling spring 16 is driven by the propelling mechanism 21 to extend along the feeding direction and supplement the vacancy so as to prevent, the Y-direction servo motor 19 is used for driving the propelling mechanism 21 to axially feed and reset, the taper design of the contact part of the propelling mechanism 21 and the tube blank can position the tube blank, the taper design of the contact part of the propelling mechanism 20 and the tube blank can position the tube blank, the lubricating groove 18 is arranged in the guide mechanism 13, and a lubricating agent which has good high and low temperature performance and viscosity-temperature performance and takes silicon oil as base oil is stored; the on-orbit communication module comprises an internal CCD high-speed camera 22, an external CCD high-speed camera 23 and an on-orbit computer 24, wherein the internal CCD high-speed camera 22 is arranged, and image data shot by the external CCD high-speed camera 23 can be transmitted to the ground communication module through the on-orbit computer 24; the ground subsystem includes: a ground communication module; a process control module; a digital twinning module; the ground communication module is used for receiving the image data transmitted by the on-orbit computer 24 and transmitting the image data to the process control module, the process control module can analyze, process and program the image data, and the digital twin module can simulate and restore the whole on-orbit operation process of the forming system in advance and in real time.
The present invention will be described in detail below with reference to specific examples of "a circular-section plane curved member", "a circular-section spatial curved member", and "a modified-section spatial curved member".
Example 1
1) The external CCD high-speed camera 23 in the on-orbit platform rapidly and stably obtains image data of the plane bending pipe fitting with the circular section to be formed, and the image data is transmitted to the on-orbit computer 24 and then transmitted to the ground communication module by the on-orbit computer 24;
2) the ground communication module transmits the image data to the process control module, and the process control module analyzes and processes the data image to obtain the geometric information of the target pipe;
3) the process control module automatically programs according to the geometric information, and the programming information is synchronized to the digital twin module to simulate the on-orbit operation process of the forming system in advance;
4) the process control module transmits the programming information to the ground communication module, and the programming information is transmitted to the on-orbit computer 24 by the ground communication module;
5) after the on-orbit computer 24 receives the programming information, starting a power supply of the forming system, activating the built-in CCD high-speed camera 22, and controlling the forming system by the on-orbit computer 24;
6) the feeding spring 15 in a compressed state presses the circular section tube blank in the magazine type storage mechanism 16 into the feeding section of the clamping mechanism 14;
7) a Y-direction servo motor 19 drives a propelling mechanism 21 to feed along a linear guide rod 20, the materials are self-lubricated by a lubricating groove 18 in a guide mechanism 13 and then are conveyed to the central point of the bending die 1 and fixed, and meanwhile, the propelling mechanism 21 drives a filling spring 16 to extend and fill a vacant position of a feeding section of a clamping mechanism 14;
8) the tail end servo motor 11 drives a closed loop kinematic chain of the 3-RPSR parallel mechanism to generate corresponding motion according to the programming information, namely the slide block 4 drives the driving connecting rod 3 to move along the guide rail 5 and rotate in a fixed plane, so as to drive the bending die 1 to generate rotation around an X axis and movement along a Z axis or rotation around the Z axis and movement along the X axis, the central servo motor 13 does not work, and meanwhile the Y-direction servo motor 19 drives the propelling mechanism 21 according to the programming information to enable the pipe to continue to move along the feeding direction, so as to form a target pipe fitting;
9) after the pipe fitting is formed, the Y-direction servo motor 19 drives the pushing mechanism 21 to push out the pipe fitting and takes out the pipe fitting from the on-rail mechanical arm, and the Y-direction servo motor 19 drives the pushing mechanism 21 and the filling spring 16 to reset;
10) and the power supply is turned off.
Example 2
1) The external CCD high-speed camera 23 in the on-orbit platform rapidly and stably obtains image data of the space bending pipe fitting with the circular cross section to be formed, and the image data is transmitted to the on-orbit computer 24 and then transmitted to the ground communication module by the on-orbit computer 24;
2) the ground communication module transmits the image data to the process control module, and the process control module analyzes and processes the data image to obtain the geometric information of the target pipe;
3) the process control module automatically programs according to the geometric information, and the programming information is synchronized to the digital twin module to simulate the on-orbit operation process of the forming system in advance;
4) the process control module transmits the programming information to the ground communication module, and the programming information is transmitted to the on-orbit computer 24 by the ground communication module;
5) after the on-orbit computer 24 receives the programming information, starting a power supply of the forming system, activating the built-in CCD high-speed camera 21, and controlling the forming system by the on-orbit computer 24;
6) the feeding spring 15 in a compressed state presses the circular section tube blank in the magazine type storage mechanism 16 into the feeding section of the clamping mechanism 14;
7) a Y-direction servo motor 19 drives a propelling mechanism 21 to feed along a linear guide rod 20, the materials are self-lubricated by a lubricating groove 18 in a guide mechanism 13 and then are conveyed to the central point of the bending die 1 and fixed, and meanwhile, the propelling mechanism 21 drives a filling spring 16 to extend and fill a vacant position of a feeding section of a clamping mechanism 14;
8) the tail end servo motor 11 drives a closed loop kinematic chain of the 3-RPSR parallel mechanism to generate corresponding motion according to the programming information, namely the slide block 4 drives the driving connecting rod 3 to move along the guide rail 5 and rotate in planes in different directions, so as to drive the bending die 1 to generate rotation around an X axis and movement along a Z axis or rotation around the Z axis and movement along the X axis, the central servo motor 13 does not work, and meanwhile the Y-direction servo motor 18 drives the propelling mechanism 21 according to the programming information to enable the pipe to continue to move along the feeding direction, so as to form a target pipe fitting;
9) after the pipe fitting is formed, the Y-direction servo motor 20 drives the pushing mechanism 21 to push out the pipe fitting and takes out the pipe fitting from the on-rail mechanical arm, and the Y-direction servo motor 19 drives the pushing mechanism 21 and the filling spring 16 to reset;
10) and the power supply is turned off.
Example 3
1) An external CCD high-speed camera 22 in the on-orbit platform rapidly and stably obtains image data of the special-shaped section space bending pipe fitting to be formed, and the image data is transmitted to an on-orbit computer 23 and then transmitted to a ground communication module by an on-orbit computer 24;
2) the ground communication module transmits the image data to the process control module, and the process control module analyzes and processes the data image to obtain the geometric information of the target pipe;
3) the process control module automatically programs according to the geometric information, and the programming information is synchronized to the digital twin module to simulate the on-orbit operation process of the forming system in advance;
4) the process control module transmits the programming information to the ground communication module, and the programming information is transmitted to the on-orbit computer 24 by the ground communication module;
5) after the on-orbit computer 24 receives the programming information, starting a power supply of the forming system, activating the built-in CCD high-speed camera 21, and controlling the forming system by the on-orbit computer 24;
6) the feeding spring 15 in a compressed state presses the special-shaped section tube blank in the magazine type storage mechanism 16 into the feeding section of the clamping mechanism 14;
7) the Y-direction servo motor 18 drives a propelling mechanism 21 to feed along a linear guide rod 20, the materials are self-lubricated by a lubricating groove 17 in the guide mechanism 13 and then are conveyed to the central point of the bending die 1 and fixed, and meanwhile, the propelling mechanism 21 drives a filling spring 16 to extend and fill a vacant position of a feeding section of the clamping mechanism 14;
8) the tail end servo motor 11 drives a closed loop kinematic chain of the 3-RPSR parallel mechanism to generate corresponding motion according to the programming information, namely the slide block 4 drives the driving connecting rod 3 to move along the guide rail 5 and rotate in planes in different directions, the center servo motor 13 drives the 3-RPSR parallel mechanism to rotate around the Y axis according to the programming information, further drives the bending die 1 to rotate around the X axis and move along the Z axis and rotate around the Z axis and move along the X axis and rotate around the Y axis, and meanwhile, the Y-direction servo motor 19 drives the propulsion mechanism 21 according to the programming information to enable the pipe to continue to move along the feeding direction to form a target pipe fitting;
9) after the pipe fitting is formed, the Y-direction servo motor 19 drives the pushing mechanism 21 to push out the pipe fitting and takes out the pipe fitting from the on-rail mechanical arm, and the Y-direction servo motor 19 drives the pushing mechanism 21 and the filling spring 16 to reset;
10) and the power supply is turned off.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. An aerospace in-orbit free bend forming system, comprising: an on-orbit subsystem and a ground subsystem; the on-orbit subsystem comprises a bending die (1), a bending die control module, an axial feeding and supplementing material module and an on-orbit communication module; the bending die control module comprises a 3-RPSR parallel mechanism, a tail end servo motor (11) and a center servo motor (12); the 3-RPSR parallel mechanism comprises a movable platform (2), a driving connecting rod (3), a sliding block (4), a guide rail (5), a screw (6), a supporting seat (7), a static platform (8), an annular guide rail (9) and a central gear (10); wherein move platform (2) and bending die (1) fixed connection, can drive the bending die motion, move platform (2) and form three closed loop movement chains through three group drive connecting rod (3), three slider (4) of group, three guide rail (5) of group, three screw rods (6) of group and three quiet platforms (8) of group, every closed loop movement structure even is: one end of a driving connecting rod (3) is hinged on the movable platform (2), the other end of the driving connecting rod is hinged on a sliding block (4) through a spherical pair, the sliding block (4) is connected with a supporting seat (7) in a sliding mode through a guide rail (5), and a tail end servo motor (11) drives the sliding block (4) to slide on the supporting seat (7) through a screw rod (6); the supporting seat (7) is fixed on the static platform (8), one end of the static platform (8) is fixed on the central gear (10), the other end of the static platform is connected with the annular guide rail (9) in a sliding mode through the sliding chute, and the central gear (10) drives the static platform (8) to rotate along the annular guide rail (9) after rotating; the axial feeding and supplementing module comprises a guide mechanism (13), a clamping mechanism (14), a feeding spring (15), a filling spring (16), a magazine type storage mechanism (17), a lubricating groove (18), a Y-direction servo motor (19), a linear guide rod (20) and a propelling mechanism (21); the on-orbit communication module comprises a built-in CCD high-speed camera (22), an external CCD high-speed camera (23) and an on-orbit computer (24); the ground subsystem comprises a ground communication module, a process control module and a digital twinning module.
2. The aerospace in-orbit free bend forming system of claim 1, wherein: the distance between the center point of the bending die (1) and the front end of the guide mechanism (13) is 1d, and d is the outer diameter of the tube blank.
3. The aerospace in-orbit free bend forming system of claim 1, wherein: three closed-loop kinematic chains, a supporting seat (7) and a tail end servo motor (11) in the bending die control module are evenly distributed around a Y axis with a phase difference of 120 degrees, so that the rigidity and the stability of the integral structure of the forming system are improved, and the short-time vibration resistance of the forming system can be exerted when the forming system is in service in a space environment.
4. The aerospace in-orbit free bend forming system of claim 1, wherein: the capsule type storage mechanism (17) can assist in feeding through a rail mechanical arm and pre-store a plurality of pipe blanks, and the pipe blanks are pressed into a feeding section of the clamping mechanism (14) through the feeding spring (15) in a compressed state.
5. The aerospace in-orbit free bend forming system of claim 1, wherein: the guide mechanism (13) is conical in shape, one end of the conical top of the guide mechanism is adjacent to the bending die (1) so as to ensure that the bending die (1) does not interfere when rotating around the maximum angle of an X/Z shaft, a lubricating groove (18) is arranged in the guide mechanism (13) and stores a lubricant taking silicon oil as base oil, and a good lubricating effect is kept among the pipe, the bending die (1) and the guide mechanism (13) in a space high-low temperature environment.
6. The aerospace in-orbit free bend forming system of claim 1, wherein: the bending die (1), the movable platform (2), the sliding block (6), the supporting seat (7), the static platform (8), the guide mechanism (13), the clamping mechanism (14) and the propelling mechanism (21) are all made of titanium alloy with high specific strength and specific rigidity for aerospace serving as raw materials and are manufactured in a 3D printing mode, and the supporting seat (7) is of a hollow structure.
7. The forming method of the forming system according to any one of claims 1 to 6, comprising the steps of:
1) the power supply is started, the built-in CCD high-speed camera (22) is activated, and the on-orbit computer (24) controls the forming system;
2) the feeding spring (15) in a compressed state presses the tube blank in the magazine type storage mechanism (16) into the feeding section of the clamping mechanism (14);
3) a Y-direction servo motor (19) drives a propelling mechanism (21) to feed along a linear guide rod (20), the materials are self-lubricated by a lubricating groove (17) in a guide mechanism (13) and then are conveyed to the central point of the bending die (1) and fixed, and meanwhile, the propelling mechanism (21) drives a filling spring (16) to extend and fill a vacant position of a feeding section of a clamping mechanism (14);
4) the tail end servo motor (11) and the center servo motor (12) drive the 3-RPSR parallel mechanism to generate corresponding movement according to the programming information, the bending die (1) is driven by the movable platform (2) to generate corresponding movement and rotation, and meanwhile, the Y-direction servo motor (19) drives the propelling mechanism (21) according to the programming information to enable the pipe to continue to move along the feeding direction to form a target pipe fitting;
5) after the pipe fitting is formed, the Y-direction servo motor (19) drives the pushing mechanism (21) to push out the pipe fitting and takes out the pipe fitting from the on-rail mechanical arm, and the Y-direction servo motor (19) drives the pushing mechanism (21) and the filling spring (16) to reset;
6) if the other pipe fittings are not required to be formed, the power supply is turned off; and if the pipe needs to be formed continuously, repeating the steps 2) to 5).
8. A method for remotely controlling an aerospace in-orbit free bend forming system according to any one of claims 1 to 6, comprising the steps of:
1) before the forming system operates on the rail, a digital twin model of the forming system operating on the rail is constructed;
2) after the forming system operates on the rail, an external CCD high-speed camera (23) in the rail platform quickly and stably obtains image data of a target pipe fitting to be formed, and after the image data are transmitted to an on-rail computer (24), the image data are transmitted to a ground communication module by the on-rail computer (24);
3) the ground communication module transmits the image data to the process control module, and the process control module analyzes and processes the data image to obtain the geometric information of the target pipe;
4) the process control module automatically programs according to the geometric information, and the programming information is synchronized to the digital twin module to simulate the on-orbit operation process of the forming system in advance;
5) the process control module transmits the programming information to the ground communication module, and the programming information is transmitted to the on-orbit computer (24) by the ground communication module;
6) after the on-track computer (24) receives the programming information, a power supply is started, the forming system starts to operate, and the built-in CCD high-speed camera (22) and the external CCD high-speed camera (23) synchronously monitor the operation process;
7) and after the forming system is operated, the bent part is taken out from the rail mechanical arm, and the power supply is turned off.
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