CN113020389B - Skin stretcher - Google Patents
Skin stretcher Download PDFInfo
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- CN113020389B CN113020389B CN202110172401.5A CN202110172401A CN113020389B CN 113020389 B CN113020389 B CN 113020389B CN 202110172401 A CN202110172401 A CN 202110172401A CN 113020389 B CN113020389 B CN 113020389B
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- stretching unit
- clamp
- revolute pair
- pair
- branches
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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
- B21D22/20—Deep-drawing
- B21D22/22—Deep-drawing with devices for holding the edge of the blanks
Abstract
The invention belongs to the technical field of stretch forming, and particularly provides a skin stretcher which comprises a fixed frame, a left stretching unit and a right stretching unit, wherein the left stretching unit and the right stretching unit are identical in structure and are symmetrically connected to the fixed frame in a bilateral mode, the left stretching unit comprises 2 horizontal driving branches, 2 vertical driving branches, 2 constraint branches and 2 clamps, the number of the horizontal driving branches and the number of the vertical driving branches are 2, the clamps are longitudinally arranged, the left sides of the clamps are connected with the fixed frame through the 2 horizontal driving branches in sequence from front to back, the lower ends of the clamps are connected with the fixed frame through the 2 vertical driving branches and the constraint branches, and the skin stretcher has the characteristics of high positioning precision, high structural rigidity and strong bearing capacity, and can realize the stretch forming of single-curvature parts with small transverse curvature or skin parts with smooth curvature change.
Description
Technical Field
The invention belongs to the technical field of stretch forming, and particularly relates to a skin stretcher.
Background
The skin parts are key parts forming the appearance of the airplane and have the characteristics of multiple varieties, small batch and complex shape. The stretcher is special equipment for stretch forming of skin parts, most of the stretchers used in aircraft manufacturers in China are imported from foreign countries, the stretchers are high in specialization degree, stable and reliable in performance and high in plate forming precision, but a control system is complex, equipment is high in price, and key technologies are monopolized by foreign countries, so that the development of the stretcher with independent intellectual property rights is of great significance.
Disclosure of Invention
The invention aims to provide a skin stretcher with the characteristics of high positioning precision, high structural rigidity and strong bearing capacity, which is mainly used for forming curved surface special-shaped parts with smaller transverse curvature.
Therefore, the invention provides a skin stretcher, which comprises a fixed frame, a left stretching unit and a right stretching unit, wherein the left stretching unit and the right stretching unit are identical in structure, the left stretching unit and the right stretching unit are bilaterally and symmetrically connected to the fixed frame, the left stretching unit comprises 2 horizontal driving branches identical in structure, 2 vertical driving branches identical in structure, a restraining branch and a clamp, the clamp is longitudinally arranged, the left side of the clamp is connected with the fixed frame through the 2 horizontal driving branches in sequence from front to back, and the lower end of the clamp is connected with the fixed frame through the 2 vertical driving branches and the restraining branch.
The 2 vertical driving branches and the restraint branch are longitudinally arranged along the lower end of the clamp, and the restraint branch is located between the 2 vertical driving branches.
The horizontal driving branch comprises a first spherical hinge, a first moving pair and a first universal hinge, one end of the first moving pair is connected with the fixed rack through the first spherical hinge, and the other end of the first moving pair is connected with the clamp through the first universal hinge.
The first universal hinge comprises a first rotating pair and a second rotating pair, and the other end of the first moving pair is connected with the clamp through the second rotating pair and the first rotating pair in sequence.
The axis of the first rotating pair is parallel to the longitudinal axis of the clamp, the axes of the first moving pair, the first rotating pair and the second rotating pair are mutually vertical, and the central connecting line of 2 first spherical hinges of the left stretching unit is parallel to the transverse axis of the fixed rack.
The vertical driving branch comprises a second spherical hinge, a second moving pair and a third spherical hinge, one end of the second moving pair is connected with the fixed rack through the second spherical hinge, and the other end of the second moving pair is connected with the clamp through the third spherical hinge.
The central connecting line of 2 second spherical hinges of the left stretching unit is parallel to the transverse axis of the fixed rack, and the central connecting line of 2 third spherical hinges of the left stretching unit is parallel to the longitudinal axis of the clamp.
The restraint branch includes fourth revolute pair, guide cylinder, guiding axle, fifth revolute pair, and the guide shaft cup joints in the guide cylinder, and the fixed frame is connected through the fourth revolute pair to the lower extreme of guide cylinder, and the clamp is connected through the fifth revolute pair in the upper end of guide axle.
The central connecting line of 2 second spherical hinges of the left stretching unit is parallel to the axis of the fourth revolute pair, the central connecting line of 2 third spherical hinges of the left stretching unit is vertical to the axis of the fifth revolute pair, and the axes of the guide shaft, the fourth revolute pair and the fifth revolute pair are vertical to each other.
The clamp comprises a clamp body, a plunger, an upper clamp strip, a lower clamp strip and a plunger cylinder, wherein the clamp body and the plunger cylinder are of an integrated structure, the quantity of the plunger, the upper clamp strip, the lower clamp strip and the plunger cylinder is multiple, the right side of the clamp body is provided with a groove from front to back, the plunger cylinders are sequentially connected to the upper portion of the groove from front to back at equal intervals, 1 plunger is installed in each plunger cylinder, the lower end of the plunger is connected with the upper clamp strip, and the lower clamp strip is connected with the lower clamp strip through the lower portion of the groove and is oppositely arranged with the upper clamp strip.
The invention has the beneficial effects that: the skin stretcher provided by the invention has the advantages that the left stretching unit and the right stretching unit have the same structure, the left stretching unit and the right stretching unit are bilaterally and symmetrically connected to the fixed frame, two horizontal driving branches and two vertical driving branches on one side (the left stretching unit or the right stretching unit) are both six-degree-of-freedom branches, a constraint branch is a four-degree-of-freedom branch, and the stretching units (the left stretching unit and the right stretching unit) on two sides during stretching respectively enable a clamp clamping plate to cling to a mold along the tangential direction of the mold under the combined action of the four driving branches (the two horizontal driving branches and the two vertical driving branches) and the constraint branch, so that the skin stretcher is mainly used for forming curved surface special-shaped parts with smaller transverse curvature; in addition, because the skin stretcher adopts a parallel structure, the skin stretcher has the advantages of high positioning precision, high rigidity and strong bearing capacity.
Drawings
The present invention will be described in further detail below with reference to the accompanying drawings.
FIG. 1 is a perspective view of a skin stretcher;
FIG. 2 is a front view of the construction of the skin stretcher;
FIG. 3 is a top view of the structure of the skin stretcher;
FIG. 4 is a structural left side view of the skin stretcher;
figure 5 is a transverse cross-sectional view of the clamp.
Description of the reference numerals: 1. fixing the frame; 2. a second spherical hinge; 3. a second moving pair; 4. a third spherical hinge; 5. a first spherical hinge; 6. a first moving pair; 7. a first universal hinge; 8. a second revolute pair; 9. a first revolute pair; 10. a fourth revolute pair; 11. a guide cylinder; 12. a guide shaft; 13. a fifth revolute pair; 14. a plunger; 15. an upper jaw strip; 16. a lower jaw bar; 17. a plunger cylinder; 18. a jaw body; i, horizontally driving a branch; II, vertically driving the branch; III, constraint branching; IV, clamping.
Detailed Description
Example 1:
as shown in fig. 1-4, a skin stretcher, including fixed frame 1, left stretching unit and right stretching unit structure are the same, and left stretching unit and right stretching unit bilateral symmetry connect on fixed frame 1, left stretching unit includes 2 the same horizontal drive branch I of structure, 2 the same vertical drive branch II of structure, restraint branch III and clamp IV, and clamp IV vertically sets up and clamp IV's left side loops through 2 horizontal drive branches I behind the preceding looks and connects fixed frame 1, and clamp IV's lower extreme passes through 2 vertical drive branches II and restraint branch III and connects fixed frame 1.
The skin stretcher provided by the invention has the advantages that the left stretching unit and the right stretching unit have the same structure, the left stretching unit and the right stretching unit are bilaterally and symmetrically connected to the fixed frame 1, two horizontal driving branches and two vertical driving branches of a single side (the left stretching unit or the right stretching unit) are both six-degree-of-freedom branches, a constraint branch is a four-degree-of-freedom branch, and the stretching units (the left stretching unit and the right stretching unit) on the two sides during stretching respectively enable a clamp clamping plate to cling to a mold along the tangential direction of the mold through the combined action of the four driving branches (the two horizontal driving branches and the two vertical driving branches) and the constraint branch, so that the skin stretcher is mainly used for forming curved surface special-shaped parts with smaller transverse curvature; in addition, because the skin stretcher adopts a parallel structure, the skin stretcher has the advantages of high positioning precision, high rigidity and strong bearing capacity.
Example 2:
on the basis of the embodiment 1, the 2 vertical driving branches II and the restraint branch III are longitudinally arranged along the lower end of the clamp IV, and the restraint branch III is positioned between the 2 vertical driving branches II. On the premise of ensuring the flexible rotation of the clamp IV, the structure has good stability of the whole structure, high rigidity and strong bearing capacity.
Furthermore, the horizontal driving branch I comprises a first spherical hinge 5, a first moving pair 6 and a first universal hinge 7, one end of the first moving pair 6 is connected with the fixed rack 1 through the first spherical hinge 5, and the other end of the first moving pair is connected with the clamp IV through the first universal hinge 7.
Furthermore, the first universal hinge 7 comprises a first rotating pair 9 and a second rotating pair 8, and the other end of the first moving pair 6 is connected with the clamp IV through the second rotating pair 8 and the first rotating pair 9 in sequence. The first rotating pair 9 and the second rotating pair 8 are matched and rotatably connected to drive the clamp IV to flexibly rotate.
Furthermore, the axis of the first rotating pair 9 is parallel to the longitudinal axis of the clamp IV, the axes of the first moving pair 6, the first rotating pair 9 and the second rotating pair 8 are perpendicular to each other, and the central connecting line of the 2 first spherical hinges 5 of the left stretching unit is parallel to the transverse axis of the fixed rack 1. The arrangement mode ensures that the two horizontal driving branches are both six-degree-of-freedom branches and cannot restrict the movement of the clamp along all directions.
Example 3:
on the basis of embodiment 2, the vertical driving branch ii includes a second spherical hinge 2, a second moving pair 3 and a third spherical hinge 4, one end of the second moving pair 3 is connected to the fixed frame 1 through the second spherical hinge 2, and the other end is connected to the clamp iv through the third spherical hinge 4.
Furthermore, the central connecting line of the 2 second spherical hinges 2 of the left stretching unit is parallel to the transverse axis of the fixed rack 1, and the central connecting line of the 2 third spherical hinges 4 of the left stretching unit is parallel to the longitudinal axis of the clamp IV. By the arrangement mode, the two vertical driving branches II are all six-degree-of-freedom branches, and the movement of the clamp along all directions cannot be restrained.
Example 4:
on the basis of embodiment 3, the restraint branch iii includes a fourth revolute pair 10, a guide cylinder 11, a guide shaft 12, and a fifth revolute pair 13, the guide shaft 12 is sleeved in the guide cylinder 11, the lower end of the guide cylinder 11 is connected to the fixed frame 1 through the fourth revolute pair 10, and the upper end of the guide shaft 12 is connected to the clamp iv through the fifth revolute pair 13. The fourth revolute pair 10, the guide cylinder 11, the guide shaft 12 and the fifth revolute pair 13 are combined to enable the constraint branch III to have four degrees of freedom, and further constrain the moving degrees of freedom of the clamp along the transverse direction and the longitudinal direction of the fixed rack 1.
Furthermore, the central connecting line of the second spherical hinges 2 of the second 2 spherical hinges of the left stretching unit is parallel to the axis of the fourth revolute pair 10, the central connecting line of the third spherical hinges 4 of the left stretching unit is perpendicular to the axis of the fifth revolute pair 13, and the axes of the guide shaft 12, the fourth revolute pair 10 and the fifth revolute pair 13 are perpendicular to each other.
Further, as shown in fig. 5, the clamp iv includes a clamp body 18, a plurality of plungers 14, an upper clamp strip 15, a lower clamp strip 16, and plunger cylinders 17, the number of the plungers 14, the number of the upper clamp strip 15, the number of the lower clamp strip 16, and the number of the plunger cylinders 17 are all plural, a groove is formed on the right side of the clamp body 18 from front to back, the plural plunger cylinders 17 are sequentially connected to the upper portion of the groove at equal intervals from front to back, 1 plunger 14 is installed in each plunger cylinder 17, the lower end of the plunger 14 is connected to the upper clamp strip 15, the lower portion of the groove is connected to the lower clamp strip 16, and the upper clamp strip 15 and the lower clamp strip 16 are arranged oppositely, so that the distance between the upper clamp strip 15 and the lower clamp strip 16 is adjusted, and the material can be clamped conveniently as required, and the clamp is strong in adaptability, simple in structure, and stable in clamping.
Further, the upper jaw strip 15 is fixedly connected with the upper jaw strip 15 through a bolt, and the lower jaw strip 16 is fixedly connected with the jaw body 18 through a bolt; the bolt is detachably connected, so that the installation and the disassembly are convenient.
Further, the jaw body 18 and the plunger cylinder 17 are of an integrated structure. The integrated structure has compact structure and large clamping force.
Furthermore, the first moving pair 6 and the second moving pair 3 are driven by hydraulic cylinders. The hydraulic cylinder can conveniently realize stepless speed regulation, the speed regulation range is wide, the movement of the clamp IV can be uniform and stable, no reversing impact can be caused when a moving part is reversed, and the device has the advantages of small volume, light weight, compact structure, simple operation and convenient adjustment and control under the condition of the same power.
The working principle of the skin stretcher is as follows: firstly, a sheet is placed right above a die, a stretcher clamps two sides of the sheet through two clamps (a left stretching unit and a right stretching unit), and performs pre-stretching according to needs, and then eight driving hydraulic cylinders (2 of a first moving pair 6 and a second moving pair 3 in the left stretching unit and the right stretching unit) are controlled to perform coordinated actions so that the clamps follow the curved surface shape of the die to perform corresponding swinging and rotation until the sheet is completely attached to the stretching die.
In the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "left", "right", etc., based on the orientation or positional relationship shown in the drawings, it is not intended to indicate or imply that the device or element referred to must have a particular orientation, configuration and operation in a particular orientation, and therefore the terms describing the positional relationship in the drawings are for illustrative purposes only and should not be construed as limiting the present invention.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention.
Claims (5)
1. A skin stretcher is characterized in that: the clamp comprises a fixed rack (1), a left stretching unit and a right stretching unit, wherein the left stretching unit and the right stretching unit are identical in structure, the left stretching unit and the right stretching unit are bilaterally and symmetrically connected to the fixed rack (1), the left stretching unit comprises 2 horizontal driving branches (I) identical in structure, 2 vertical driving branches (II) identical in structure, a restraint branch (III) and a clamp (IV), the clamp (IV) is longitudinally arranged, the left side of the clamp (IV) sequentially passes through the 2 horizontal driving branches (I) from front to back to be connected with the fixed rack (1), the lower end of the clamp (IV) is connected with the fixed rack (1) through the 2 vertical driving branches (II) and the restraint branch (III), the horizontal driving branch (I) comprises a first spherical hinge (5), a first moving pair (6) and a first universal hinge (7), one end of the first moving pair (6) is connected with the fixed rack (1) through the first spherical hinge (5), and the other end of the first moving pair (IV) is connected with the clamp (IV) through the first universal hinge (7); the 2 vertical driving branches (II) and the restraint branch (III) are longitudinally arranged along the lower end of the clamp (IV), and the restraint branch (III) is positioned between the 2 vertical driving branches (II); the vertical driving branch (II) comprises a second spherical hinge (2), a second moving pair (3) and a third spherical hinge (4), one end of the second moving pair (3) is connected with the fixed rack (1) through the second spherical hinge (2), and the other end of the second moving pair (3) is connected with the clamp (IV) through the third spherical hinge (4); the restraint branch (III) comprises a fourth revolute pair (10), a guide cylinder (11), a guide shaft (12) and a fifth revolute pair (13), the guide shaft (12) is sleeved in the guide cylinder (11), the lower end of the guide cylinder (11) is connected with the fixed rack (1) through the fourth revolute pair (10), and the upper end of the guide shaft (12) is connected with the clamp (IV) through the fifth revolute pair (13).
2. The skin stretcher of claim 1 wherein: the first universal hinge (7) comprises a first revolute pair (9) and a second revolute pair (8), and the other end of the first revolute pair (6) is connected with the clamp (IV) sequentially through the second revolute pair (8) and the first revolute pair (9).
3. The skin stretcher of claim 2 wherein: the axis of the first revolute pair (9) is parallel to the longitudinal axis of the clamp (IV), the axes of the first moving pair (6), the first revolute pair (9) and the second revolute pair (8) are perpendicular to each other, and the central connecting line of the 2 first spherical hinges (5) of the left stretching unit is parallel to the transverse axis of the fixed rack (1).
4. The skin stretcher of claim 1 wherein: the central connecting line of 2 second spherical hinges (2) of the left stretching unit is parallel to the transverse axis of the fixed rack (1), and the central connecting line of 2 third spherical hinges (4) of the left stretching unit is parallel to the longitudinal axis of the clamp (IV).
5. The skin stretcher of claim 1 wherein: the center connecting line of 2 second spherical hinges (2) of the left stretching unit is parallel to the axis of a fourth revolute pair (10), the center connecting line of 2 third spherical hinges of the left stretching unit is perpendicular to the axis of a fifth revolute pair (13), and the axes of the guide shaft (12), the fourth revolute pair (10) and the fifth revolute pair (13) are perpendicular to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110172401.5A CN113020389B (en) | 2021-02-08 | 2021-02-08 | Skin stretcher |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110172401.5A CN113020389B (en) | 2021-02-08 | 2021-02-08 | Skin stretcher |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113020389A CN113020389A (en) | 2021-06-25 |
| CN113020389B true CN113020389B (en) | 2022-10-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110172401.5A Active CN113020389B (en) | 2021-02-08 | 2021-02-08 | Skin stretcher |
Country Status (1)
| Country | Link |
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| CN (1) | CN113020389B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116197294B (en) * | 2023-05-05 | 2023-07-04 | 燕山大学 | Jaw body positioning method based on temperature detection matrix and skin stretching equipment |
| CN117225968A (en) * | 2023-11-13 | 2023-12-15 | 中国重型机械研究院股份公司 | Swing angle adjusting device and method for skin stretching machine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947593A (en) * | 2010-08-28 | 2011-01-19 | 吉林大学 | Multiclamp type stretch forming machine |
| CN103302162A (en) * | 2013-06-14 | 2013-09-18 | 北京航空航天大学 | Mould positioning method based on feature distance |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2476556A (en) * | 1945-04-14 | 1949-07-19 | Briggs Mfg Co | Stretch-bending machine |
| US2759513A (en) * | 1952-08-20 | 1956-08-21 | Lee B Green | Method and apparatus for stretch bending metal members |
| FR2650205B1 (en) * | 1989-07-27 | 1994-12-09 | Acb | STRETCHING MACHINE |
| FR2821771B1 (en) * | 2001-03-09 | 2003-08-29 | Acb Pressure Systems | MACHINE FOR FORMING PARTS FROM SHEET BY STRETCHING ON A TOOL, OR "SHAPE" |
| CN101690960B (en) * | 2009-10-09 | 2011-06-08 | 吉林大学 | High-flexibility multi-head stretching machine |
| CN106345882B (en) * | 2016-11-22 | 2018-11-06 | 合肥工业大学 | It is a kind of to vibrate the Aircraft Skin Stretch Forming Process assisted and inhibit resilient mounting and technique |
| CN106825182B (en) * | 2017-01-17 | 2018-08-17 | 吉林大学 | Servo-actuated protective voltage type soft stretch forming machine based on Vertical loading |
| CN109877199B (en) * | 2019-04-11 | 2023-08-18 | 长春工业大学 | Multi-point three-dimensional electrothermal drawing-pressing composite bending forming device based on independent heat preservation mode |
| CN211761963U (en) * | 2019-11-15 | 2020-10-27 | 青阳县泰鑫新材料有限公司 | Large-diameter non-metal skin turning device |
-
2021
- 2021-02-08 CN CN202110172401.5A patent/CN113020389B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101947593A (en) * | 2010-08-28 | 2011-01-19 | 吉林大学 | Multiclamp type stretch forming machine |
| CN103302162A (en) * | 2013-06-14 | 2013-09-18 | 北京航空航天大学 | Mould positioning method based on feature distance |
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| Publication number | Publication date |
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| CN113020389A (en) | 2021-06-25 |
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