CN112496135B - Force balance control method of three-spinning-wheel numerical control spinning machine - Google Patents
Force balance control method of three-spinning-wheel numerical control spinning machine Download PDFInfo
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- CN112496135B CN112496135B CN202011511603.XA CN202011511603A CN112496135B CN 112496135 B CN112496135 B CN 112496135B CN 202011511603 A CN202011511603 A CN 202011511603A CN 112496135 B CN112496135 B CN 112496135B
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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
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/14—Spinning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
Abstract
The invention provides a force balance control method of a three-spinning-wheel numerical control spinning machine. The force balance control method of the three-spinning-wheel numerical control spinning machine is characterized in that the pressure values of the maximum pressure spinning wheel and the minimum pressure spinning wheel are corrected for the first time according to the collected pressure data of the maximum pressure spinning wheel and the minimum pressure spinning wheel at the initial rolling reduction correction time of the maximum pressure spinning wheel and the minimum pressure spinning wheel, and then the pressure values of the maximum pressure spinning wheel and the minimum pressure spinning wheel are corrected in each pressure value correction sampling period. The invention achieves the aim of controlling the radial force balance of the three rotary wheels step by actively adjusting the pressure values of the maximum pressure rotary wheel and the minimum pressure rotary wheel.
Description
Technical Field
The invention relates to the technical field of metal pipe pressure processing, in particular to a force balance control method of a three-spinning-wheel numerical control spinning machine.
Background
The spinning forming technology is a pressure processing technology which utilizes approximate point contact and unit high pressure of a spinning wheel and a workpiece to enable a processed material to generate plastic deformation locally, and the forming technology has the characteristics of high material utilization rate, obviously improved processing performance, suitability for processing high-strength materials difficult to deform, integral processing of seamless revolving body hollow parts and the like. The spinning method is characterized by large spinning tonnage, automatic centering of the three-spinning wheel, high spinning precision and the like, and is widely applied to spinning and forming of thin-wall cylindrical parts, parts with outer annular reinforcing ribs and small conical angles.
The radial three-spinning wheel force balance technology is always the target pursued by the spinning forming technology, and if the spinning pressure automatic detection and feedback functions can be realized, innovation is brought to the spinning forming technology, the precision of a spinning workpiece can be greatly improved, the service life of the spinning equipment can be greatly prolonged, and the like. At present, the existing three-spinning-wheel power spinning forming technology cannot realize the automatic detection and feedback functions of the spinning force.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide a force balance control method of a three-spinning-wheel numerical control spinning machine, which is suitable for a spinning processing technology of spinning of three spinning wheels.
In order to achieve the above purpose, the invention provides the following technical scheme: the force balance control method of the three-spinning-wheel numerical control spinning machine comprises the following steps:
the rotary wheels are respectively a first rotary wheel, a second rotary wheel and a third rotary wheel;
Determination of the minimum pressure spinning wheel p Small ，p Small ∈min(p 1 ，p 2 ，p 3 )；
step 5, determining the nth pressure correction time of the maximum pressure rotating wheel and the minimum pressure rotating wheel in the three rotating wheels, and recording the nth pressure correction time of the maximum pressure rotating wheel and the minimum pressure rotating wheel in the three rotating wheels as T n ，T n ＝T 1 And (n-1) delta T, and then correcting the pressure of the maximum pressure rotary wheel and the minimum pressure rotary wheel in the three rotary wheels in each pressure correction sampling period until the rotary pressures of the three rotary wheels are the same.
Further, the pressure of the initial maximum pressure rotary wheel and the initial minimum pressure rotary wheel in the three rotary wheels is corrected for the first time, and the first judgment on the pressing-down states of the three rotary wheels is carried out at the same time;
simultaneously, the first judgment of the pressing states of the three spinning wheels comprises the following steps:
calculating the pressure value p of the maximum pressure rotary wheel Big (a) Wherein p is Big (a) ∈max(p 1 ，p 2 ，p 3 )，
Calculating the pressure value p of the minimum pressure rotary wheel Small Wherein p is Small ∈min(p 1 ，p 2 ，p 3 )；
If the three turning wheel forces are the same, i.e. p Big (a) ＝p 1 ＝p 2 ＝p 3 ＝p Small Judging that the first rotating wheel, the second rotating wheel and the third rotating wheel are in a positive pressure state;
if two of the three spinning wheels have the same force,
if p is Small ＝p 1 ＝p 2 ＜p 3 ＝p Big (a) If the first spinning wheel and the second spinning wheel are in an under-pressure state, the third spinning wheel is in an over-pressure state;
if p is Big (a) ＝p 1 ＝p 2 ＞p 3 ＝p Small If so, judging that the first spinning wheel and the second spinning wheel are in an overvoltage state and the third spinning wheel is in an undervoltage state;
if p is Small ＝p 1 ＝p 3 ＜p 2 ＝p Big (a) Then determine the first wheel andthe third spinning wheel is in an under-voltage state, and the second spinning wheel is in an over-voltage state;
if p is Big (a) ＝p 1 ＝p 3 ＞p 2 ＝p Small If so, judging that the first spinning wheel and the third spinning wheel are in an overvoltage state and the second spinning wheel is in an undervoltage state;
if p is Small ＝p 2 ＝p 3 ＜p 1 ＝p Big (a) If so, judging that the second spinning wheel and the third spinning wheel are in an under-pressure state, and judging that the first spinning wheel is in an over-pressure state;
if p is Big (a) ＝p 2 ＝p 3 ＞p 1 ＝p Small If so, judging that the second spinning wheel and the third spinning wheel are in an overvoltage state and the first spinning wheel is in an undervoltage state;
if the forces of the three spinning wheels are different,
then the maximum pressure spinning wheel is judged to be in an overpressure state, and the minimum pressure spinning wheel is judged to be in an underpressure state.
Further, according to the pressing state of the maximum pressure rotary wheel and the minimum pressure rotary wheel, the pressure of the maximum rotary wheel is changed;
when the maximum pressure rotary wheel is in a positive pressure state, the three rotary wheels are in a force balance state, and the pressure change quantity of each rotary wheel is 0;
when the maximum pressure spinning wheel is in an overpressure state, reducing the pressure of the maximum pressure spinning wheel;
changing the pressure of the minimum spinning wheel according to the pressing states of the maximum pressure spinning wheel and the minimum pressure spinning wheel;
when the minimum pressure rotary wheel is in a positive pressure state, the three rotary wheels are in a force balance state, and the pressure change quantity of each rotary wheel is 0;
and when the minimum pressure rotary wheel is in an under-pressure state, the pressure of the minimum pressure rotary wheel is increased.
Further, if an offset spinning process is adopted, the offset amount is not equal to 0, the offset amount between the first spinning wheel and the second spinning wheel is recorded as S1, the offset amount between the second spinning wheel and the third spinning wheel is recorded as S2, the delta t is greater than S/V, and S belongs to max (S ∈ max) 1 ，S 2 )，△T＞(S 1 +S 2 )/V；
If the non-dislocation spinning process is adopted, the dislocation amount is =0, the Δ T is more than or equal to 120ms when the distance is more than or equal to 40ms, and the Δ T is more than or equal to 2s when the distance is more than or equal to 0.5 s.
Further, after the spinning wheel is in place, pressure data of the first spinning wheel, the second spinning wheel and the third spinning wheel are respectively collected, including:
after the first rotating wheel, the second rotating wheel and the third rotating wheel all reach the initial pressing position, carrying out rotating wheel in-place judgment on the actual pressing positions of the first rotating wheel, the second rotating wheel and the third rotating wheel according to the acquired pressure data;
if any spinning wheel does not reach the initial pressing position, the spinning wheel is positioned again; and if the first rotating wheel, the second rotating wheel and the third rotating wheel all reach the initial pressing position, continuously acquiring pressure data of the first rotating wheel, the second rotating wheel and the third rotating wheel.
Furthermore, the first spinning wheel, the second spinning wheel and the third spinning wheel are in contact with the spinning workpiece and respectively reach initial pressing positions, the three spinning wheels start to rotate simultaneously and axially feed along the direction of the spinning workpiece to advance by a stroke L, and the three spinning wheels start to perform initial pressure correction after all the three spinning wheels enter a stable working state.
Further, calculating the initial pressing positions of the three spinning wheels according to the wall thickness requirement of the spinning workpiece blank, the wall thickness requirement of the spinning workpiece product, the limiting reduction rate of the material and the arrangement of the spinning passes.
Further, the longitudinal feeding speeds of the three spinning wheels are calculated according to the wall thickness requirement of the spinning workpiece blank, the wall thickness requirement of the spinning workpiece product, the limiting reduction rate of the material and the arrangement of spinning passes.
Further, determining the trajectory of the third wheel comprises:
and presetting the track of the third spinning wheel through the system according to the wall thickness of the spinning workpiece product.
Compared with the closest prior art, the technical scheme provided by the invention has the following beneficial effects:
1. the force balance control method can realize the automatic detection and feedback function control of the radial spinning force of the three spinning rollers of the three-spinning-roller numerical control spinning machine, and greatly improve the precision of spinning workpieces, particularly the straightness precision and the roundness precision.
2. The force balance control method can realize the stress balance of the main shaft and the spinning roller of the three-spinning-roller numerical control spinning machine in the spinning processing process, and greatly prolongs the service life of the spinning machine.
3. The force balance control method can automatically acquire process data to form a database containing materials and processes, and is beneficial to the application of the spinning process in the field of intelligent manufacturing.
4. The force balance control method can realize the process control of the three-spinning-wheel spinning machine in the spinning process, and particularly aims at the special-shaped cylindrical part with a complex structure, the forming quality is reliable, and the technical benefit and the economic benefit are obvious.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:
FIG. 1 is a schematic diagram of a spinning process of a three-spinning-wheel numerical control spinning machine according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a calibration time period of a maximum pressure spinning roller and a minimum pressure spinning roller of a force balance control method of a three-spinning-roller numerical control spinning machine according to an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view of a radial triple-spinning roller of the force balance control method for a numerically controlled spinning machine with three spinning rollers according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a workpiece forming angle, a spinning roller forming angle and a forming angle between spinning rollers according to a force balance control method for a three-spinning-roller numerical control spinning machine provided in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a spin wheel calibration cycle.
In the figure: 1. a first spinning wheel; 2. a second spinning wheel; 3. a third spinning wheel; 4. and spinning the workpiece.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected" and "connected" used herein should be interpreted broadly, and may include, for example, a fixed connection or a detachable connection; they may be directly connected or indirectly connected through intermediate members, and specific meanings of the above terms will be understood by those skilled in the art as appropriate.
The working principle of the spinning machine of the present application is explained primarily in the following with reference to the drawings of the specification: the rotary wheel is a first rotary wheel, a second rotary wheel and a third rotary wheel. In fig. 3, the spinning roller 1 is referred to as a first spinning roller 1, the spinning roller 2 is referred to as a second spinning roller 2, and the spinning roller 3 is referred to as a third spinning roller 3. As shown in fig. 3, the three transverse spinning rollers of the spinning machine are distributed in an equilateral triangle shape around the spinning workpiece 4.
The embodiment does not consider the problem of the offset of the spinning wheels, and actively adjusts the maximum pressure spinning wheel and the minimum pressure spinning wheel simultaneously. The arrangement of the wheels is shown in fig. 1 and 4 only when there is a gap. In fig. 5, t is the correction duration time of the maximum pressure spinning wheel and the minimum pressure spinning wheel, and Δ t is the interval time between a certain correction of the maximum pressure spinning wheel and the minimum pressure spinning wheel and the previous correction, and the Δ t appears after the first correction; Δ T = T +/Δ T; Δ T is the correction period.
The whole spinning process of the offset spinning method is as follows, a spinning workpiece 4 is arranged on a die, the main shaft drives the die to rotate, the die drives the spinning workpiece 4 to rotate, and after a spinning wheel is contacted with the spinning workpiece 4, the spinning workpiece 4 rotates actively, and the spinning wheel rotates passively. The motion trail of each rotary wheel is as follows: the first spinning roller 1 firstly moves around the spinning workpiece 4 for one circle to form a thread track, the second spinning roller 2 rolls the track left by the first spinning roller 1, and the third spinning roller 3 rolls the track left by the second spinning roller 2, so that the spinning workpiece 4 is regularly thinned gradually, and the forming purpose is achieved.
As shown in fig. 1 to 5, a specific embodiment 1 of the method for controlling the force balance of a three-spinning-wheel numerical control spinning machine according to the present invention includes the following steps:
step S1, determining initial pressing positions H of three rotary wheels 1 、H 2 And H 3 The longitudinal feeding speed V of the spinning wheel advancing along the axial direction of the spinning workpiece 4:
and determining initial pressing positions and longitudinal feeding speeds of the three spinning wheels according to the wall thickness requirement of a blank of the spinning workpiece 4, the wall thickness requirement of a product of the spinning workpiece 4, the limiting reduction rate of the material and the spinning pass arrangement.
Step S2, the first spinning roller 1, the second spinning roller 2 and the third spinning roller 3 are simultaneously contacted with a slope at the spinning starting end of the spinning workpiece 4, the initial positions of the first spinning roller 1, the second spinning roller 2 and the third spinning roller 3 are shown in figure 3, after the first spinning roller 1, the second spinning roller 2 and the third spinning roller 3 reach the initial pressing position, radial pressure data of the three spinning rollers are collected, and the system carries out spinning roller in-place judgment on the actual pressing positions of the three spinning rollers according to collected pressure signals; the process is electrically and automatically adjusted, belongs to an observation process, the system is adjusted in place by 100 percent, and the adjustment time is judged to be related to the transverse feeding speed of the spinning wheel according to the distance between the spinning wheel and the surface of the spinning workpiece 4;
if any spinning wheel does not reach the initial pressing position, the spinning wheel is positioned again; if the first spinning wheel 1, the second spinning wheel 2 and the third spinning wheel 3 all reach the initial pressing-down position, three spinning wheel pressure data are continuously acquired: the three spinning wheels start to rotate simultaneously and feed axially along the direction of the spinning workpiece 4, after the spinning workpiece advances for a stroke L, the three spinning wheels all enter a stable working state, the radial spinning pressure data of the three spinning wheels are collected simultaneously, the maximum pressure spinning wheel and the minimum pressure spinning wheel in the three spinning wheels are judged, and the initial pressure correction time T of the maximum pressure spinning wheel and the minimum pressure spinning wheel is determined 1 And then sampling and correcting according to a period delta T:
the maximum pressure rotary wheel and the minimum pressure rotary wheel start to press for the first timeForce correction, namely, firstly, the duration time t of pressure correction is carried out, and then, the interval time Deltat of pressure correction is carried out; collecting radial spinning pressure data of the three spinning wheels for the second time, judging the maximum pressure spinning wheel and the minimum pressure spinning wheel in the three spinning wheels for the second time, and starting the maximum pressure spinning wheel and the minimum pressure spinning wheel for the second time (time T) 2 ) Pressure correction followed by sampling correction at Δ T periods.
When the spinning wheel has an offset, the offset between the first spinning wheel and the second spinning wheel is recorded as S1, the offset between the second spinning wheel and the third spinning wheel is recorded as S2, the first pressure correction time interval of the maximum pressure spinning wheel and the minimum pressure spinning wheel is required to satisfy delta t > S/V, and S belongs to max (S ∈ max) (S is the offset of the first spinning wheel and the second spinning wheel) 1 ，S 2 )，△T＞(S 1 +S 2 )/V；
When the spinning wheel has no offset distance, the first pressure correction time interval delta T of the maximum pressure spinning wheel and the minimum pressure spinning wheel is generally 10-40 ms, the sampling period delta T is generally 0.5-2 s, and the values of delta T and delta T are adjusted according to the actual use condition under the condition;
step S3, the pressing states of the three rotary wheels are judged for the first time at the same time:
calculating the pressure value p of the maximum pressure rotary wheel Big (a) Wherein p is Big (a) ∈max(p 1 ，p 2 ，p 3 )，
Calculating the pressure value p of the minimum pressure spinning wheel Small Wherein p is Small ∈min(p 1 ，p 2 ，p 3 )；
If the pressure values of the three spinning wheels are the same, i.e. p Big (a) ＝p 1 ＝p 2 ＝p 3 ＝p Small Judging that the first rotating wheel, the second rotating wheel and the third rotating wheel are in a positive pressure state;
if two of the three spinning wheels have the same force,
if p is Small ＝p 1 ＝p 2 ＜p 3 ＝p Big (a) If so, judging that the first spinning wheel and the second spinning wheel are in an under-pressure state, and judging that the third spinning wheel is in an over-pressure state;
if p is Big (a) ＝p 1 ＝p 2 ＞p 3 ＝p Small Then, thenJudging that the first spinning wheel and the second spinning wheel are in an overvoltage state, and the third spinning wheel is in an undervoltage state;
if p is Small ＝p 1 ＝p 3 ＜p 2 ＝p Big (a) If so, judging that the first spinning wheel and the third spinning wheel are in an under-pressure state, and the second spinning wheel is in an over-pressure state;
if p is Big (a) ＝p 1 ＝p 3 ＞p 2 ＝p Small If so, judging that the first spinning wheel and the third spinning wheel are in an overvoltage state and the second spinning wheel is in an undervoltage state;
if p is Small ＝p 2 ＝p 3 ＜p 1 ＝p Big (a) If so, judging that the second spinning wheel and the third spinning wheel are in an under-pressure state, and judging that the first spinning wheel is in an over-pressure state;
if p is Big (a) ＝p 2 ＝p 3 ＞p 1 ＝p Small If so, judging that the second spinning wheel and the third spinning wheel are in an overvoltage state and the first spinning wheel is in an undervoltage state;
if the forces of the three spinning wheels are different,
then the maximum pressure spinning wheel is judged to be in an overpressure state, and the minimum pressure spinning wheel is judged to be in an underpressure state.
Determining the trajectory of the third wheel 3: the third rotating wheel 3 is generally a shaping wheel, and the pressing position is determined according to the wall thickness requirement of the product, and the track is preset by a system program.
S4, simultaneously adjusting the maximum pressure rotary wheel and the minimum pressure rotary wheel:
based on the determination of the track of the third rotary wheel 3, the system presses the maximum pressure rotary wheel and the minimum pressure rotary wheel at the time T 1 Starting the first pressure correction on the maximum pressure rotary wheel and the minimum pressure rotary wheel, wherein the correction duration t and the correction pressure F are adjustable, the correction duration t is generally 10-40 ms, other values can be obtained according to the requirement of working conditions, the correction pressure F is generally 0.5-5 kN, and other values can be obtained according to the requirement of actual working conditions;
after the first pressure correction, if the forces of the three spinning wheels are the same, namely the first spinning wheel, the second spinning wheel and the third spinning wheel are all in a positive pressure state, the pressure of the three spinning wheels does not need to be adjusted again, and a force balance state is achieved;
if two of the three spinning wheels have the same force,
when the first spinning wheel and the second spinning wheel are in an under-pressure state and the third spinning wheel is in an over-pressure state, the pressure of the first spinning wheel and the pressure of the second spinning wheel are increased, and the pressure of the third spinning wheel is reduced;
when the first spinning wheel and the second spinning wheel are in an overpressure state and the third spinning wheel is in an underpressure state, reducing the pressure of the first spinning wheel and the second spinning wheel and increasing the pressure of the third spinning wheel;
when the first spinning wheel and the third spinning wheel are in an under-pressure state and the second spinning wheel is in an over-pressure state, the pressure of the first spinning wheel and the pressure of the third spinning wheel are increased, and the pressure of the second spinning wheel is reduced;
when the first spinning wheel and the third spinning wheel are in an overpressure state and the second spinning wheel is in an underpressure state, reducing the pressure of the first spinning wheel and the third spinning wheel and increasing the pressure of the second spinning wheel;
the second spinning wheel and the third spinning wheel are in an under-pressure state, and when the first spinning wheel is in an over-pressure state, the pressure of the second spinning wheel and the pressure of the third spinning wheel are increased, and the pressure of the first spinning wheel is reduced;
when the first spinning wheel is in an under-pressure state, the pressure of the second spinning wheel and the pressure of the third spinning wheel are reduced, and the pressure of the first spinning wheel is increased;
if the forces of the three spinning wheels are different,
the maximum pressure spinning roller is in an overpressure state, the minimum pressure spinning roller is in an underpressure state, the maximum pressure spinning roller is reduced, and the maximum pressure spinning roller is increased.
Step S5, repeating the steps S2 to S4, at T n The maximum pressure rotary wheel and the minimum pressure rotary wheel are simultaneously subjected to pressure correction at any moment, and T is judged n The pressing state of the maximum pressure rotary wheel and the minimum pressure rotary wheel is detected at the moment when p 1 ＝p 2 ＝p 3 When the pressure of the first rotating wheel, the second rotating wheel and the third rotating wheel is in a positive pressure state, the pressure of the three rotating wheels does not need to be regulated again, and a force balance state is achieved; finally, the trajectories of the first wheel 1 and the second wheel 2 are determined.
When the method is specifically implemented, the following operation processes are adopted:
the first step is as follows: inputting initial parameters:
(1) Determining the initial depressed positions H of the three spinning wheels 1 、H 2 And H 3 Determining the offset S between the first spinning roller 1 and the second spinning roller 2 1 The offset S between the second rotary wheel 2 and the third rotary wheel 3 2 And the longitudinal feeding speed V of the spinning roller advancing along the axial direction of the spinning workpiece 4 (the initial pressing positions of the three spinning rollers, the offset amount between the spinning rollers and the longitudinal feeding speed are calculated according to the wall thickness requirement of a spinning blank, the wall thickness requirement of a spinning product, the limit thinning rate of materials, the spinning channel order and the like.
The second step is that: determining the initial pressure correction time T of the maximum pressure rotary wheel and the minimum pressure rotary wheel in the three rotary wheels 1 Second pressure correction time T 2 Correction duration T, correction interval time Δ T and pressure correction sampling period Δ T. Second pressure correction time T 2 The conditions to be satisfied are as follows: Δ T = T +. DELTA.t, T 2 ＝T 1 And +. DELTA.T. The pressure correction period is related to the offset between the spinning wheels and the longitudinal feed speed: when there is a misalignment, Δ t > S/V,. DELTA.t > S/V, and S ∈ max (S) 1 ，S 2 )，△T＞(S 1 +S 2 ) V; when there is no offset, the time delta T is generally 10-40 ms, and the time delta T is generally 0.5-2 s.
In the whole spinning process, the main shaft drives the die to rotate, the die drives the spinning workpiece 4 to rotate, and after the spinning wheel is contacted with the spinning workpiece 4, the spinning workpiece 4 rotates actively, and the spinning wheel rotates passively. The motion trail of each rotary wheel is as follows: the first spinning wheel 1 firstly moves around the spinning workpiece 4 for one circle to form a thread track, the second spinning wheel 2 rolls the track of the first spinning wheel 1, and the third spinning wheel 3 rolls the thread track of the second spinning wheel 2, so that the spinning workpiece 4 is regularly thinned gradually, and the forming purpose is achieved.
The third step: the first spinning roller 1, the second spinning roller 2 and the third spinning roller 3 are simultaneously contacted with the slope of the spinning end of the spinning workpiece 4, the initial positions of the three spinning rollers are respectively reached as shown in figure 3, the three spinning rollers simultaneously start to rotate and axially feed along the direction of the spinning workpiece 4, and the spinning workpiece advances for one strokeAfter L, the three rotary wheels all enter a stable working state, the radial rotary pressure data of the three rotary wheels are collected at the same time, the maximum pressure rotary wheel and the minimum pressure rotary wheel in the three rotary wheels are judged, and the initial pressure correction time T of the maximum pressure rotary wheel and the initial pressure correction time T of the minimum pressure rotary wheel are determined 1 And then sampled and corrected by a period of deltat.
After the maximum pressure rotary wheel and the minimum pressure rotary wheel start the first pressure correction, the pressure correction duration time T is firstly experienced, then the pressure correction interval time delta T is experienced, the data of the three transverse oil cylinder pressure sensors are acquired and processed for the second time, the maximum pressure rotary wheel and the minimum pressure rotary wheel are judged for the second time, and the maximum pressure rotary wheel and the minimum pressure rotary wheel start the second time (time T) 2 ) Pressure correction followed by sampling correction at Δ T periods.
The spinning wheel is in place, and radial pressure data of three spinning wheels are collected:
a3.1, three rotary wheels reach a designated pressing position H according to a preset program 1 、H 2 And H 3 ；
A3.2, the system carries out spinning wheel in-place judgment on the actual pressing positions of the three spinning wheels according to the acquired pressure signals; the process is electrically and automatically adjusted, belongs to an observation process, the system is adjusted in place by 100 percent, and the adjustment time is judged to be related to the radial feeding speed of a spinning wheel according to the distance between the spinning wheel and the surface of a spinning workpiece 4;
and A3.3, if the three spinning wheels reach the specified positions, judging that the spinning wheels are in place by the system, and continuously acquiring pressure data of the three spinning wheels.
The fourth step: and simultaneously judging the first pressing state of the initial maximum pressure spinning wheel and the initial minimum spinning wheel:
a4.1, calculating the pressure p of the initial maximum pressure rotary wheel Big (a) ，p Big (a) ∈max(p 1 ，p 2 ，p 3 )；
A4.2, calculating the pressure p of the initial minimum pressure rotary wheel Small ，p Small ∈max(p 1 ，p 2 ，p 3 )；
And A4.3, judging the pressing states of the maximum pressure rotary wheel and the minimum pressure rotary wheel according to the following steps:
if the three turning wheel forces are the same, i.e. p Big (a) ＝p 1 ＝p 2 ＝p 3 ＝p Small Judging that the first rotating wheel 1, the second rotating wheel 2 and the third rotating wheel 3 are in a positive pressure state;
if two of the three spinning wheels have the same force,
if p is Small ＝p 1 ＝p 2 ＜p 3 ＝p Big (a) If yes, the first spinning wheel 1 and the second spinning wheel 2 are judged to be in an under-pressure state, and the third spinning wheel 3 is judged to be in an over-pressure state;
if p is Big (a) ＝p 1 ＝p 2 ＞p 3 ＝p Small If yes, the first spinning wheel 1 and the second spinning wheel 2 are judged to be in an overvoltage state, and the third spinning wheel 3 is judged to be in an undervoltage state;
if p is Small ＝p 1 ＝p 3 ＜p 2 ＝p Big (a) If yes, the first spinning wheel 1 and the third spinning wheel 3 are judged to be in an under-pressure state, and the second spinning wheel 2 is judged to be in an over-pressure state;
if p is Big (a) ＝p 1 ＝p 3 ＞p 2 ＝p Small If yes, the first spinning wheel 1 and the third spinning wheel 3 are judged to be in an overvoltage state, and the second spinning wheel 2 is judged to be in an undervoltage state;
if p is Small ＝p 2 ＝p 3 ＜p 1 ＝p Big (a) If yes, the second spinning wheel 2 and the third spinning wheel 3 are judged to be in an under-voltage state, and the first spinning wheel 1 is judged to be in an over-voltage state;
if p is Big (a) ＝p 2 ＝p 3 ＞p 1 ＝p Small If yes, the second spinning wheel 2 and the third spinning wheel 3 are judged to be in an overvoltage state, and the first spinning wheel 1 is judged to be in an undervoltage state;
if the forces of the three spinning wheels are different,
if p is Big (a) ＝p 1 ＞p 2 ＞p 3 ＝p Small If yes, the first spinning wheel 1 is judged to be in an overvoltage state, and the third spinning wheel 3 is judged to be in an undervoltage state;
if p is Big (a) ＝p 1 ＞p 3 ＞p 2 ＝p Small Then, the first spinning wheel 1 is judged to be in an overvoltage state, and the second spinning wheel 2 is in an overvoltage stateAn under-voltage condition;
if p is Big (a) ＝p 2 ＞p 1 ＞p 3 ＝p Small If yes, the second spinning wheel 2 is judged to be in an overvoltage state, and the third spinning wheel 3 is judged to be in an undervoltage state;
if p is Big (a) ＝p 2 ＞p 3 ＞p 1 ＝p Small If yes, the third spinning wheel 3 is judged to be in an overvoltage state, and the first spinning wheel 1 is judged to be in an undervoltage state;
if p is Big (a) ＝p 3 ＞p 1 ＞p 2 ＝p Small If yes, the third spinning wheel 3 is judged to be in an overvoltage state, and the second spinning wheel 2 is judged to be in an undervoltage state;
if p is Big (a) ＝p 3 ＞p 2 ＞p 1 ＝p Small Then, the third spinning wheel 3 is determined to be in an overvoltage state, and the first spinning wheel 1 is determined to be in an undervoltage state.
Determining the trajectory of the third wheel 3:
the third rotating wheel 3 is generally a shaping wheel, and the pressing position is determined according to the wall thickness requirement of the product, and the track is preset by a system program.
Adjusting the maximum pressure spinning wheel and the minimum pressure spinning wheel:
a4.4, on the basis of the determination of the track of the third rotating wheel 3, the system presses down the rotating wheels according to the maximum pressure and the minimum pressure at the time T 1 Starting the first pressure correction on the maximum pressure rotary wheel and the minimum pressure rotary wheel, wherein the correction duration t and the correction pressure F are adjustable, the correction duration t is generally 10-40 ms, the correction pressure F is generally 0.5-5 kN, and other values can be obtained according to the requirements of actual working conditions;
a4.5, after the first pressure correction, the first spinning wheel 1 is driven from the position H 1 Change to position H 1 ', the second impeller 2 from position H 2 Change to position H 2 ’，
Wherein H 1 The pressing position of the first rotating wheel 1 before adjustment;
H 1 ' is the position where the first rotary wheel 1 is pressed down after adjustment;
H 2 for adjusting the front second rotary wheel 2 A depressed position;
H 2 ' is the position where the second rotary wheel 2 is pressed down after adjustment.
If the pressure of the three spinning wheels is the same,
when the first spinning wheel 1, the second spinning wheel 2 and the third spinning wheel 3 are in a positive pressure state, the system does not adjust the pressure of the three spinning wheels and reaches a force balance state;
if two spinning rollers in the three spinning rollers have the same pressure,
when the first spinning wheel 1 and the second spinning wheel 2 are in an under-pressure state and the third spinning wheel 3 is in an over-pressure state, the system automatically increases the pressure of the first spinning wheel 1 and the second spinning wheel 2 and reduces the pressure of the third spinning wheel 3;
when the first spinning wheel 1 and the second spinning wheel 2 are in an overpressure state and the third spinning wheel 3 is in an underpressure state, the system automatically reduces the pressure of the first spinning wheel 1 and the second spinning wheel 2 and increases the pressure of the third spinning wheel 3;
when the first spinning wheel 1 and the third spinning wheel 3 are in an under-pressure state and the second spinning wheel 2 is in an over-pressure state, the system automatically increases the pressure of the first spinning wheel 1 and the third spinning wheel 3 and reduces the pressure of the second spinning wheel 2;
when the first spinning wheel 1 and the third spinning wheel 3 are in an overpressure state and the second spinning wheel 2 is in an underpressure state, the system reduces the pressure of the first spinning wheel 1 and the third spinning wheel 3 and increases the pressure of the second spinning wheel 2;
the second spinning wheel 2 and the third spinning wheel 3 are in an under-pressure state, and when the first spinning wheel 1 is in an over-pressure state, the system increases the pressure of the second spinning wheel 2 and the third spinning wheel 3 and reduces the pressure of the first spinning wheel 1;
when the second spinning wheel 2 and the third spinning wheel 3 are in an overpressure state and the first spinning wheel 1 is in an underpressure state, the system reduces the pressure of the second spinning wheel 2 and the third spinning wheel 3 and increases the pressure of the first spinning wheel 1;
if the pressures of the three spinning wheels are different,
when the first spinning wheel 1 is in an overpressure state and the third spinning wheel 3 is in an underpressure state, the system automatically reduces the pressure of the first spinning wheel 1 and increases the pressure of the third spinning wheel 3;
when the first spinning roller 1 is in an overpressure state and the second spinning roller 2 is in an underpressure state, the system automatically reduces the pressure of the first spinning roller 1 and increases the pressure of the second spinning roller 2;
when the second spinning roller 2 is in an overpressure state and the third spinning roller 3 is in an underpressure state, the system automatically reduces the pressure of the second spinning roller 2 and increases the pressure of the third spinning roller 3;
when the third spinning wheel 3 is in an overpressure state and the first spinning wheel 1 is in an underpressure state, the system automatically reduces the pressure of the third spinning wheel 3 and increases the pressure of the first spinning wheel 1;
when the third spinning wheel 3 is in an overpressure state and the second spinning wheel 2 is in an underpressure state, the system automatically reduces the pressure of the third spinning wheel 3 and increases the pressure of the second spinning wheel 2;
when the third spinning roller 3 is in an overpressure state and the first spinning roller 1 is in an underpressure state, the system automatically reduces the pressure of the third spinning roller 3 and increases the pressure of the first spinning roller 1.
A4.6, maximum pressure wheel and minimum pressure wheel, and then sampling and correcting according to the period delta T.
A4.6, first spinning wheel 1 and second spinning wheel 2 are adjusted for the first time, and then sampled and corrected for the period Δ T.
The fifth step: determining the trajectory of the first wheel 1 and the second wheel 2:
repeating the third step to the fourth step at T n The maximum pressure rotary wheel and the minimum pressure rotary wheel are simultaneously subjected to pressure correction at any moment, and T is judged n The maximum pressure rotary wheel and the minimum pressure rotary wheel are pressed down at the moment until p 1 ＝p 2 ＝p 3 The trajectories of the first wheel 1 and the second wheel 2 are finally determined.
In embodiment 2 of the method for controlling force balance in a three-spinning-roller numerical control spinning machine according to the present invention, the difference between this embodiment and embodiment 1 is: in specific example 1,. DELTA.t > S/V, S ∈ max (S1, S2), and. DELTA.T > (S) 1 +S 2 ) and/V. In this example,. DELTA.t = S/V, and S ∈ max (S) 1 ，S 2 )，△T＝(S 1 +S 2 )/V。
The force balance control method of the three-spinning-wheel numerical control spinning machine of the invention is specifically disclosed in embodiment 3, and the difference between the embodiment and the embodiment 1 is as follows: in specific embodiment 1, the actual pressing positions of the first spinning roller, the second spinning roller, and the third spinning roller are subjected to spinning roller in-place determination.
The force balance control method of the three-spinning-wheel numerical control spinning machine of the invention is specifically shown in embodiment 4, and the difference between the embodiment and embodiment 1 is as follows: in the specific embodiment 1, the operation is advanced by one stroke L, and the initial pressure correction time is started after all three spinning wheels enter the stable working state. In this embodiment, the initial pressure correction timing is started without advancing by one stroke L, and is suitable for spinning workpieces having a high requirement for the shape of the spinning-on end.
In summary, the force balance control method of the three-spinning-wheel numerical control spinning machine adopted by the invention has the following technical effects compared with the prior art:
1. the force balance control method can realize the automatic detection and feedback function control of the radial spinning force of the three spinning rollers of the three-spinning-roller numerical control spinning machine, and greatly improve the precision of spinning workpieces, particularly the straightness precision and the roundness precision;
2. the force balance control method can realize the stress balance of the main shaft and the spinning roller of the three-spinning-roller numerical control spinning machine in the spinning processing process, and greatly prolongs the service life of the spinning machine;
3. the force balance control method can automatically acquire process data to form a database containing materials and processes, and is beneficial to the application of the spinning process in the field of intelligent manufacturing.
4. The force balance control method can realize the process control of the three-spinning-wheel spinning machine in the spinning process, and particularly aims at the special-shaped cylindrical part with a complex structure, the forming quality is reliable, and the technical benefit and the economic benefit are obvious.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The force balance control method of the three-spinning-wheel numerical control spinning machine is characterized by comprising the following steps:
step 1, setting initial pressing positions of a first rotating wheel, a second rotating wheel and a third rotating wheel respectively, and marking the initial pressing positions of the first rotating wheel, the second rotating wheel and the third rotating wheel as H respectively 1 、H 2 And H 3 (ii) a Setting a longitudinal feeding speed V of the spinning wheel for feeding along the axial direction of the spinning workpiece, and determining the track of a third spinning wheel;
the rotary wheels are respectively a first rotary wheel, a second rotary wheel and a third rotary wheel;
step 2, determining the initial pressure correction time as T 1 ，T 1 The radial spinning pressure data of the three spinning wheels are collected at the beginning, and the radial spinning pressure data of the first spinning wheel, the second spinning wheel and the third spinning wheel are respectively recorded as p 1 、p 2 And p 3 ；
Step 3, determining the maximum pressure spinning wheel p Big (a) ，p Big (a) ∈max（p 1 ，p 2 ，p 3 ）；
Determination of the minimum pressure spinning wheel p Small ，p Small ∈min（p 1 ，p 2 ，p 3 ）；
Step 4, determining a pressure correction sampling period, recording the period as delta T, and determining the initial pressure correction time T of the rotary wheel with the maximum pressure and the rotary wheel with the minimum pressure in the three rotary wheels 1 Then, firstly, the correction duration T is carried out, the spinning wheel with the maximum pressure and the spinning wheel with the minimum pressure in the three spinning wheels are corrected for the first time in the time T, and then the correction interval time delta T is carried out, wherein delta T = T +/delta T;
and 5, determining the nth pressure correction time of the maximum pressure rotary wheel and the minimum pressure rotary wheel in the three rotary wheels, and recording the nth pressure correction time of the maximum pressure rotary wheel and the minimum pressure rotary wheel in the three rotary wheels as T n ，T n =T 1 (n-1) delta T, and then correcting the pressure of the maximum pressure rotating wheel and the minimum pressure rotating wheel in the three rotating wheels in each pressure correction sampling period until the rotating pressures of the three rotating wheels are the same;
the pressure of the initial maximum pressure spinning wheel and the initial minimum pressure spinning wheel in the three spinning wheels is corrected for the first time, and the first judgment on the pressing states of the three spinning wheels is carried out simultaneously;
the first judgment of the pressing states of the three spinning wheels simultaneously comprises the following steps:
calculating the pressure value p of the maximum pressure rotary wheel Big (a) Wherein p is Big (a) ∈max（p 1 ，p 2 ，p 3 ），
Calculating the pressure value p of the minimum pressure rotary wheel Small Wherein p is Small ∈min（p 1 ，p 2 ，p 3 ）；
If the three turning wheel forces are the same, i.e. p Big (a) =p 1 =p 2 =p 3 =p Small Judging that the first rotating wheel, the second rotating wheel and the third rotating wheel are in a positive pressure state;
if two of the three spinning wheels have the same force,
if p is Small =p 1 =p 2 ＜p 3 =p Big (a) If so, judging that the first spinning wheel and the second spinning wheel are in an under-pressure state, and judging that the third spinning wheel is in an over-pressure state;
if p is Big (a) =p 1 =p 2 ＞p 3 =p Small If so, judging that the first spinning wheel and the second spinning wheel are in an overvoltage state and the third spinning wheel is in an undervoltage state;
if p is Small =p 1 =p 3 ＜p 2 =p Big (a) If the first spinning wheel and the third spinning wheel are in an under-pressure state, the second spinning wheel is in an over-pressure state;
if p is Big (a) =p 1 =p 3 ＞p 2 =p Small If so, judging that the first spinning wheel and the third spinning wheel are in an overvoltage state and the second spinning wheel is in an undervoltage state;
if p is Small =p 2 =p 3 ＜p 1 =p Big (a) If so, judging that the second spinning wheel and the third spinning wheel are in an under-pressure state, and judging that the first spinning wheel is in an over-pressure state;
if p is Big (a) =p 2 =p 3 ＞p 1 =p Small If so, judging that the second spinning wheel and the third spinning wheel are in an overvoltage state and the first spinning wheel is in an undervoltage state;
if the forces of the three spinning wheels are different,
judging that the maximum pressure spinning wheel is in an overpressure state and the minimum pressure spinning wheel is in an underpressure state;
changing the pressure of the maximum pressure rotary wheel according to the pressing states of the maximum pressure rotary wheel and the minimum pressure rotary wheel;
when the maximum pressure rotary wheel is in a positive pressure state, the three rotary wheels are in a force balance state, and the pressure change quantity of each rotary wheel is 0;
when the maximum pressure spinning wheel is in an overpressure state, reducing the pressure of the maximum pressure spinning wheel;
changing the pressure of the minimum pressure rotary wheel according to the pressing states of the maximum pressure rotary wheel and the minimum pressure rotary wheel;
when the minimum pressure rotary wheel is in a positive pressure state, the three rotary wheels are in a force balance state, and the pressure change quantity of each rotary wheel is 0;
and when the minimum pressure rotary wheel is in an under-pressure state, the pressure of the minimum pressure rotary wheel is increased.
2. The method of claim 1, wherein if the offset spinning process is used, the offset distance is not equal to 0, the offset distance between the first spinning roller and the second spinning roller is denoted as S1, the offset distance between the second spinning roller and the third spinning roller is denoted as S2, and Δ t > S/V, and S e max (S e max) 1 ，S 2 ），△T＞(S 1 +S 2 )/V；
If the non-offset spinning process is adopted, the offset is =0, Δ T is more than or equal to 120ms within 40ms, and Δ T is more than or equal to 2s within 0.5s.
3. The method of force balance control in a three-spinning-wheel, digitally controlled spinning machine of claim 1 or 2, wherein collecting pressure data for the first spinning wheel, the second spinning wheel and the third spinning wheel, respectively, after said spinning wheels are in position, comprises:
after the first rotating wheel, the second rotating wheel and the third rotating wheel all reach the initial pressing position, carrying out rotating wheel in-place judgment on the actual pressing positions of the first rotating wheel, the second rotating wheel and the third rotating wheel according to the acquired pressure data;
if any spinning wheel does not reach the initial pressing position, the spinning wheel is positioned again; and if the first rotating wheel, the second rotating wheel and the third rotating wheel all reach the initial pressing position, continuously acquiring pressure data of the first rotating wheel, the second rotating wheel and the third rotating wheel.
4. The method of controlling force balance in a three-spinning-roller numerical control spinning machine according to claim 1 or 2, wherein the first spinning roller, the second spinning roller and the third spinning roller are brought into contact with the spinning workpiece and reach initial pressing positions, respectively, the three spinning rollers start to rotate simultaneously and feed axially along the spinning workpiece for one stroke L, and after all three spinning rollers enter a stable working state, the initial pressure correction timing is started.
5. The force balance control method of a three-spinning-wheel numerical control spinning machine according to claim 1 or 2, characterized in that the initial pressing positions of the three spinning wheels are calculated according to the wall thickness requirement of the spinning workpiece blank, the wall thickness requirement of the spinning workpiece product, the limit thinning rate of the material and the arrangement of the spinning passes.
6. The force balance control method of a three-spinning-wheel numerical control spinning machine according to claim 1 or 2, characterized in that the longitudinal feeding speeds of the three spinning wheels are calculated according to the wall thickness requirement of the spinning workpiece blank, the wall thickness requirement of the spinning workpiece product, the limiting thinning rate of the material and the arrangement of the spinning passes.
7. The method of force balance control for a three-reel, digitally controlled spinning machine of claim 1 or 2, wherein determining the trajectory of said third reel comprises:
and presetting the track of the third spinning wheel through the system according to the wall thickness of the spinning workpiece product.
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