CN113059039A - Method for avoiding interference by realizing three-dimensional free bending forming through bending die deflection - Google Patents
Method for avoiding interference by realizing three-dimensional free bending forming through bending die deflection Download PDFInfo
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- CN113059039A CN113059039A CN202110544435.2A CN202110544435A CN113059039A CN 113059039 A CN113059039 A CN 113059039A CN 202110544435 A CN202110544435 A CN 202110544435A CN 113059039 A CN113059039 A CN 113059039A
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- bending die
- bending
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/08—Bending rods, profiles, or tubes by passing between rollers or through a curved die
- B21D7/085—Bending rods, profiles, or tubes by passing between rollers or through a curved die by passing through a curved die
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- 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
-
- 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
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
Abstract
The invention discloses a method for avoiding interference in three-dimensional free bending forming by deflection of a bending die, wherein a formed pipe section moves to a position where the formed pipe section interferes with equipment in space, the axial propelling movement of the pipe is stopped, the bending die stops moving, the current position is taken as a starting point, the pipe section is driven by a spherical bearing to do circular motion along an arc track which takes the eccentricity U of the bending die at the current position as a radius and the original position of the bending die as the circle center, and a force arm with the length of U is applied to the pipe sectionMAnd a torque M directed tangentially to the circular arc trajectory, under which the formed tube section will rotate about the push shaft under the action of the torque exerted by the bending die, thereby causing the formed tube section to bypass the position of interference with the forming apparatus. After bypassing the interference position, the bending die stops rotating and the pipe can continue to be rotatedThe bending of (2).
Description
Technical Field
The invention relates to a method for avoiding interference in three-dimensional free bending forming through bending die deflection, and belongs to the technical field of free bending forming.
Background
Free bending is a fast bending and forming technology suitable for space configuration complex pipes. The technology utilizes a bending die to make the metal pipe generate continuous bending deformation in a three-dimensional space by means of an automatic multi-axis control system. The complex configuration of the pipe is realized by changing the position and the posture of the bending die in a three-dimensional space in real time and matching with axial feed motion, so that the bending die does not need to be continuously replaced in order to adapt to the change of the bending radius of the pipe, and the pipe is a typical die-free flexible precise forming technology. At present, pipe components used in the fields of new energy automobiles, aerospace, ships, nuclear power and the like are often complex in spatial configuration, the spatial orientation of a formed pipe section can change along with the real-time change of the position and the posture of a bending die in the free bending forming process, so that the pipe section is easy to interfere with equipment, and the interference possibility is increased along with the continuous lengthening of the formed pipe section, so that the technology cannot be used for forming certain pipes with complex spatial configuration, the forming capability and the forming efficiency of three-dimensional free bending forming equipment are limited, and the expansion of the application range of the three-dimensional free bending forming technology is hindered.
Disclosure of Invention
Aiming at the defects of the existing three-dimensional free bending forming technology, the invention provides a method for avoiding interference in three-dimensional free bending forming through bending die deflection. The invention is mainly used for solving the problem that when some complex parts are bent and formed, the formed part is easy to interfere with bending equipment, so that the free bending forming capability and forming efficiency are limited, and meanwhile, the invention can be used as an auxiliary means for assisting other bending forming modes to form under proper conditions.
The invention adopts the following technical scheme:
a method for avoiding interference in three-dimensional free bending forming through bending die deflection is characterized in that a formed pipe section 1 stops axial propelling movement of a pipe when moving to a position where interference with equipment occurs in space, a bending die 8 stops moving, circular movement is carried out along an arc track with the eccentricity U of the bending die 8 at the current position as a radius and the original position of the bending die 8 as a circle center by taking the current position as a starting point and driving a spherical bearing 3, and a force arm length U is applied to the pipeMA torque M directed tangentially to the circular arc trajectory, under which the formed tube segment 1 will rotate about the push axis under the action of the torque exerted by the bending die 8, thereby causing the formed tube segment 1 to pass around the position of interference with the forming apparatus. After bypassing the interference position, the bending die 8 stops rotating and the bending of the tube can then be continued.
The method comprises the following steps:
1) judging whether the formed pipe section interferes or not by a finite element method, and if so, determining the axial position of the pipe needing bending die deflection operation; obtaining the bending radius R of the pipe at the deflection position and the deflection angle theta required for avoiding interference with equipment;
2) determining the eccentricity U and the deflection angle theta of the bending die at the position according to the equipment configuration and the shape of the formed pipe section;
3) resolving a motion track of the bending die during deflection according to the eccentricity U and the deflection angle theta;
4) inputting the decomposed deflection track data including position coordinates, displacement increment and time increment of a bending die into three-dimensional free bending forming equipment, operating the bending equipment, bending and forming to a set pipe deflection position, stopping the propulsion of the pipe, and loosening a pressing device;
5) executing a bending die deflection control program at a corresponding position, applying torque on the formed pipe section by the bending die, and driving the formed pipe section to deflect around the propulsion shaft to achieve the purpose of avoiding interference;
6) after the bending die finishes the interference-avoiding deflection action, the three-dimensional free bending forming equipment continues to perform bending forming on subsequent pipe sections, and if the formed pipe sections are interfered with the equipment continuously, the deflection interference-avoiding operation is performed again from the step 2) until all the pipe sections are formed.
The method uses finite element simulation to determine the position of the deflection axis of the bending die when the formed pipe section interferes with the forming equipment.
Said method, said step 2), by the formula of the U-R relationship, i.e.
And calculating the distance of the center of the bending die deviating from the propulsion shaft, namely the eccentricity U.
In the method, the step 3) and the step 4), an arc is drawn by taking the eccentricity U as a radius, the deflection angle theta as a central angle and the origin position of the bending die as a circle center, and the arc is a deflection motion track for avoiding interference in deflection of the bending die; establishing a coordinate system by taking the center of the circular arc as an origin, and calculating the coordinate system by a formula
Calculating the position coordinates of each equal division node through a formula
Calculating the position increment between adjacent equally divided points; and inputting the obtained position coordinates, the position increment and the time increment corresponding to the displacement into the free bending forming equipment.
The method determines the deflection angle theta according to the configuration of equipment and a simulation result, and is according to the following formula:
determining the eccentricity U of a bending die, wherein R is the bending radius of the pipe; s is the arc length of the pipe; a is the horizontal distance between the center of the bending die and the front end of the guide die; k is a correction coefficient.
The method takes the original position of the bending die as the center of a circle, the position of the bending die when the bending die deflects as the starting point and the deflection angle theta as the central angle, and analyzes the motion track of the bending die when the bending die deflects.
In the method, the trajectory data in the step (4) is analyzed by equally dividing the motion trajectory into n segments.
Advantageous effects
The technical scheme provided by the invention can solve the problem of interference between a formed pipe section and forming equipment when a complex pipe is formed by free bending through a bending die active deflection mode on the premise of not increasing the motion freedom degree of the free bending forming equipment, improves the adaptability of the three-dimensional free bending forming equipment to the shape of the pipe, and further develops the potential of the existing three-dimensional free bending forming equipment, thereby improving the forming capability and forming efficiency of the equipment to a certain extent and further expanding the application range of the three-dimensional free bending forming equipment.
Drawings
FIG. 1 is a schematic diagram of interference avoidance working principle of three-dimensional free bending forming deflected by a bending die;
FIG. 2 is a flow chart of an interference avoidance implementation of three-dimensional free bend forming by bending die deflection;
FIG. 3 is a schematic view of a propulsion device;
FIG. 4 is a schematic view of a formed pipe section rotating about a propulsion axis under torque;
FIG. 5 is a schematic view of the pipe parameters and deflection parameters of example 1;
FIG. 6 is an exploded view of the deflection motion trajectory of the bending die in accordance with embodiment 1;
FIG. 7 is a schematic view of the parameters of the pipe of example 2;
FIG. 8 is an exploded view of the deflection locus of the bending die in accordance with embodiment 2;
Detailed Description
The present invention will be described in detail with reference to specific examples.
As shown in fig. 1, the free bend forming apparatus includes: the device comprises a spherical bearing shaft 2, a spherical bearing 3, a guide die 4, a propelling device 5, a pressing device 7, a bending die 8 and an X-Y panel 9.
Example 1
(1) As shown in fig. 5, when forming a curved section with a bending angle greater than 90 ° as shown in fig. 5-a, according to the finite element simulation result, the formed pipe segment 1 interferes with the X-Y axis panel 9, so that the formed pipe segment is deflected by 60 ° around the thrust axis before the bending angle exceeds 90 ° (fig. 5-B), thereby avoiding the formed curved section from interfering with the forming equipment, and the specific implementation steps are as follows:
(2) as shown in fig. 4, the bending radius R of the pipe at the position where the pipe needs to be deflected to avoid interference is 150mm, according to the forming principle of the three-dimensional free bending equipment,
wherein U is the distance of the bending die from the equilibrium position; r is the bending radius of the pipe; s is the arc length of the pipe; a is the horizontal distance between the center of the bending die and the front end of the guide die; k is a correction coefficient, and the eccentricity U of the bending die 8 at the position is solved to be 7.887 mm;
(3) drawing an arc with radius 7.887mm and central angle of 60 degrees by taking the original position of the bending die 8 as the center of a circle, the eccentricity U obtained by the step (2) as the radius and the central angle theta as the center of the arc according to the deflection angle theta determined in the step (1) of 60 degrees, as shown in fig. 6;
(4) as shown in fig. 6, taking point a (bending die position when forming is stopped) as a starting point, equally dividing the arc into 3 small arcs, sequentially connecting each node with a straight line, and replacing the small arc segments with straight segments one by one, wherein a central angle α corresponding to each small arc segment of the pipe is 20 ° through calculation;
(5) establishing a coordinate system shown in figure 6 by taking the center of the circular arc as an origin through a formula
Solving the position coordinates of each equal division node;
(6) by the formula
Solving the coordinate increment of each node relative to the previous node, wherein n is the node serial number;
(7) inputting the bending die position coordinates, position increment, time increment for the displacement and other deflection track data solved in the steps (5) and (6) into a three-dimensional free bending forming device, and controlling the execution speed of the deflection interference avoidance action by setting and changing the size of the time increment;
(8) starting the three-dimensional free bending forming equipment, when the three-dimensional free bending forming equipment is formed to a deflection position, the pushing device 5 stops pushing the pipe, but the front end of the pushing device still stays in the pipe (as indicated by an arrow in figure 3), so that the tail of the pipe is prevented from jumping during deflection, and the deflection precision and quality are prevented from being influenced; at the same time, the pressing force applied by the pressing device 7 is unloaded, and the deflection control program is started to be executed;
(9) the bending die 8 applies a force F along the tangential direction of the motion track to the formed pipe section 1, and the force F is deviated from the center O of the bending die 8 by a distance U of the original position to form a force arm length UMA torque M equal to U, and M equal to F × UMUnder the action of the torque M exerted by the bending die, the formed pipe section 1 can be rotated about the propulsion axis by the bending die, as shown in fig. 4. Meanwhile, under the action of the guide die 4, the bending die 8 continuously adjusts the posture of the bending die 8 while changing the spatial position of the bending die to continuously adapt to the posture change of the bending deformation area, so that the pipe is prevented from being damaged due to the fact that the posture of the bending die 8 is not coordinated with the posture of the bending deformation area in the deflection process, and the deflection interference avoiding action is finished;
(10) after deflection and interference avoidance are finished, the pressing device 7 clamps the pipe again, the propelling device 5 is started, the forming process of the pipe can be continued, and the forming of the residual pipe section 6 is finished.
Example 2
As shown in fig. 7, the tube is formed by using a three-dimensional free bending forming technology, and when forming each two connected bending sections, the formed tube section can interfere with an X-Y panel 9 of the equipment, so that the active deflection of the bending die 8 can be avoided, and the method comprises the following steps:
(1) determining that active deflection interference avoiding operation is carried out at the middle position of the 2 nd bending section and the 4 th bending section through finite element simulation, wherein the deflection angle theta of each time is 180 degrees and is most suitable;
(2) the bending radius R of the formed bending section 1 of the known pipe is 150mm according to the formula
The calculated eccentricity U of the bending die 8 is 11.252mm, where the correction factor K takes 1.1875.
(3) As shown in fig. 7, with point a (the position of the bending die when the forming is stopped) as a starting point, the circular arc is equally divided into 12 small circular arcs, each equal division node is connected with each straight line in sequence, and the small circular arc segments are replaced by the straight segments one by one, and the central angle α corresponding to each small circular arc segment of the pipe is 15 °;
(4) establishing a coordinate system shown in figure 8 by taking the center of the circular arc as an origin through a formula
Solving the position coordinates of each equal division node;
(5) by the formula
Solving the coordinate increment of each node relative to the previous node, wherein n is the node serial number;
(6) inputting deflection trajectory data such as the position coordinates, the position increment and the time increment for completing corresponding displacement of the bending die 8 solved in the steps (5) and (6) into a three-dimensional free bending forming device, and controlling the execution speed of deflection action by adjusting the size of the time increment;
(7) starting the three-dimensional free bending forming equipment, when the three-dimensional free bending forming equipment is formed to a deflection position, the pushing device 5 stops pushing the pipe, but the front end of the pushing device still stays in the pipe (as shown in figure 3), so that the tail of the pipe is prevented from jumping when the pipe deflects, and the deflection precision and quality are prevented from being influenced; at the same time, the pressing force applied by the pressing device 7 is unloaded, and the deflection control program is started to be executed;
(8) the bending die 8 applies a force F along the tangential direction of the motion track to the formed pipe section 8, and the force F is deviated from the center O of the bending die 8 by a distance U of the original position to form a force arm length UMA torque M equal to U, and M equal to F × UMUnder the action of the torque M exerted by the bending die, the formed pipe section 1 can be rotated about the propulsion axis by the bending die 8, as shown in fig. 4. Meanwhile, under the action of the guide die 4, the bending die 8 continuously adjusts the posture of the bending die 8 while changing the spatial position of the bending die to continuously adapt to the posture change of the bending deformation area, so that the pipe is prevented from being damaged due to the fact that the posture of the bending die 8 is not coordinated with the posture of the bending deformation area in the deflection process, and the deflection interference avoiding action is finished;
(9) after the interference avoiding action is finished, the pressing device 7 presses the pipe again, the pipe propelling device 5 is started, and the residual pipe 6 is formed continuously;
(10) and (3) when the part is formed to the 4 th bending section, repeating the deflection interference avoiding step from the step (2), and finishing the free bending forming of the part without interruption. The method is also applicable to free bending forming of other pipes with complex configurations.
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. A method for realizing three-dimensional free bending forming interference avoidance through bending die deflection is characterized in that a formed pipe section (1) moves to a position where interference with equipment occurs in space, axial propelling movement of a pipe is stopped, a bending die (8) stops moving, the current position is taken as a starting point, circular motion is carried out along an arc track with the eccentricity U of the bending die (8) at the current position as a radius and the original position of the bending die (8) as a circle center under the driving of a spherical bearing (3), and a force arm length U is applied to the pipeMUnder the action of the torque M, the formed pipe section (1) rotates around a push shaft under the action of the torque exerted by the bending die (8), so that the formed pipe section (1) bypasses the position of interference with forming equipment; after bypassing the interference position, the bending die (8) stops rotating and the bending of the tube can be continued.
2. The method of claim 1, comprising the steps of:
1) judging whether the formed pipe section interferes or not by a finite element method, and if so, determining the axial position of the pipe needing bending die deflection operation; obtaining the bending radius R of the pipe at the deflection position and the deflection angle theta required for avoiding interference with equipment;
2) determining the eccentricity U and the deflection angle theta of the bending die at the position according to the equipment configuration and the shape of the formed pipe section;
3) resolving a motion track of the bending die during deflection according to the eccentricity U and the deflection angle theta;
4) inputting the decomposed deflection track data including position coordinates, displacement increment and time increment of a bending die into three-dimensional free bending forming equipment, operating the bending equipment, bending and forming to a set pipe deflection position, stopping the propulsion of the pipe, and loosening a pressing device;
5) executing a bending die deflection control program at a corresponding position, applying torque on the formed pipe section by the bending die, and driving the formed pipe section to deflect around the propulsion shaft to achieve the purpose of avoiding interference;
6) after the bending die finishes the interference-avoiding deflection action, the three-dimensional free bending forming equipment continues to perform bending forming on subsequent pipe sections, and if the formed pipe sections are interfered with the equipment continuously, the deflection interference-avoiding operation is performed again from the step 2) until all the pipe sections are formed.
3. The method of claim 1 wherein the position of the axis of deflection of the bending die is determined using finite element modeling when the formed pipe section interferes with the forming equipment.
4. The method according to claim 2, wherein said step 2) is performed by a formula of U-R relationship, i.e.
And calculating the distance of the center of the bending die deviating from the propulsion shaft, namely the eccentricity U.
5. The method according to claim 2, wherein, in the steps 3) and 4), an arc is drawn by taking the eccentricity U as a radius, the deflection angle theta as a central angle and the origin position of the bending die as a circle center, and the arc is a deflection motion track of the bending die for avoiding interference in deflection; establishing a coordinate system by taking the center of the circular arc as an origin, and calculating the coordinate system by a formula
Calculating the position coordinates of each equal division node through a formula
Calculating the position increment between adjacent equally divided points; and inputting the obtained position coordinates, the position increment and the time increment corresponding to the displacement into the free bending forming equipment.
6. Method according to claim 2, characterized in that the deflection angle θ is determined from the device configuration, simulation results, according to the following formula:
determining the eccentricity U of a bending die, wherein R is the bending radius of the pipe; s is the arc length of the pipe; a is the horizontal distance between the center of the bending die and the front end of the guide die; k is a correction coefficient.
7. The method according to any of claims 1-6, characterized in that: and analyzing the motion track of the bending die during deflection by taking the original position of the bending die as the center of a circle, the position of the bending die during deflection as a starting point and the deflection angle theta as a central angle.
8. The method of any of claims 2-6, wherein: and (4) analyzing the trajectory data in the step (4), wherein the trajectory data is obtained by equally dividing the motion trajectory into n segments.
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| CN202110544435.2A CN113059039A (en) | 2021-05-19 | 2021-05-19 | Method for avoiding interference by realizing three-dimensional free bending forming through bending die deflection |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113579022A (en) * | 2021-07-30 | 2021-11-02 | 南京航空航天大学 | Parallel-track type intelligent robot composite bending forming processing method and device |
| CN114406058A (en) * | 2022-01-22 | 2022-04-29 | 南京航空航天大学 | Device and method for preventing abnormal rotation of pipe in free bending forming process |
| CN114472588A (en) * | 2022-01-19 | 2022-05-13 | 南京工业大学 | Novel collision interference detection method in pipe bending process |
| CN114570807A (en) * | 2022-01-25 | 2022-06-03 | 南京航空航天大学 | Six-axis bending device and method based on mandrel rotation |
| CN115365348A (en) * | 2022-10-24 | 2022-11-22 | 佛山高谱机械科技有限公司 | Pipe bending method for constructing oil locking microstructure array based on laser effect |
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| CN114570807A (en) * | 2022-01-25 | 2022-06-03 | 南京航空航天大学 | Six-axis bending device and method based on mandrel rotation |
| CN115365348A (en) * | 2022-10-24 | 2022-11-22 | 佛山高谱机械科技有限公司 | Pipe bending method for constructing oil locking microstructure array based on laser effect |
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