CN115647235A - Multi-degree-of-freedom radial envelope forming equipment for thin-wall high-rib ring cylinder - Google Patents
Multi-degree-of-freedom radial envelope forming equipment for thin-wall high-rib ring cylinder Download PDFInfo
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Abstract
The invention relates to thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment which comprises a machine head, a driving part, a moving part, an upright post, a workbench, a main shaft part, a workpiece shaft part and a base, wherein the machine head is connected with the driving part through a connecting rod; the driving part comprises a servo motor, a planetary reducer, a reversing gear box, a servo electric cylinder, a push rod, a pressure sensor, a left slide block, a middle slide block, a right slide block, a wear-resistant inclined plate, a wear-resistant bottom plate, a wear-resistant inclined block, a wear-resistant bottom block and a grating ruler; the moving part comprises an outer ball seat, an inner ball seat, a ball cover, an inner ball head connecting rod and an outer ball head connecting rod; the main shaft component is hung on the workbench and comprises a main shaft motor, a main shaft box, a core roller, a copper sleeve, a main shaft supporting cover, a main shaft supporting seat, a main shaft key and a main shaft encoder; the workpiece shaft component is arranged on the base and comprises a workpiece shaft mounting plate, a workpiece shaft, a workpiece box, a workpiece motor and a workpiece magnetic grid. The invention can realize the high-performance and high-efficiency forming and manufacturing of the thin-wall high-rib ring cylinder.
Description
Technical Field
The invention relates to the field of special metal forming equipment, in particular to thin-wall high-rib annular cylinder multi-degree-of-freedom radial enveloping forming equipment.
Background
The thin-wall high-reinforcement ring barrel has the advantages of light weight, high strength, strong bearing capacity and the like, is a main bearing component of equipment such as aerospace and the like, and is widely used for manufacturing shells, barrels and cabin sections of equipment such as missiles, rockets, spacecrafts and the like. The thin-wall high-rib ring cylinder web is thin and high in rib, and the manufacturing difficulty is very high. At present, the thin-wall high-rib ring barrel is mainly milled, so that the efficiency is low, the material utilization rate is low, a metal streamline is cut off, the surface integrity is damaged, and the high-performance high-efficiency manufacturing requirement cannot be met. In order to realize the high-performance and high-efficiency forming manufacturing of the thin-wall high-rib ring cylinder, a new radial enveloping forming process is initiated in China, the new process can realize the continuous local plastic forming of the thin-wall high-rib ring cylinder, the efficiency is high, the material utilization rate is high, crystal grains can be refined, a continuous compact metal streamline is obtained, and the surface integrity is improved, so that the mechanical property and the bearing capacity of the thin-wall high-rib ring cylinder are greatly improved, and the radial enveloping forming becomes an important development direction of the high-performance and high-efficiency advanced manufacturing technology of the thin-wall high-rib ring cylinder. However, in the radial enveloping forming process, the dies need to move in multiple degrees of freedom, force positions and time are required to be coordinated and matched with each other, and the existing plastic forming equipment cannot realize radial enveloping forming manufacturing of the thin-wall high-rib annular cylinder.
Disclosure of Invention
The invention aims to solve the technical problem of providing a multi-degree-of-freedom radial enveloping forming device for a thin-wall high-rib ring cylinder, which can realize high-performance and high-efficiency forming and manufacturing of the thin-wall high-rib ring cylinder.
The technical scheme adopted by the invention for solving the technical problems is as follows: the multi-degree-of-freedom radial envelope forming equipment for the thin-wall high-rib ring cylinder comprises a machine head, a driving part, a moving part, an upright post, a workbench, a main shaft part, a workpiece shaft part and a base; the machine head is arranged on the base through the upright post;
the driving part comprises a servo motor, a planetary reducer, a reversing gear box, a servo electric cylinder, a push rod, a pressure sensor, a left slide block, a middle slide block, a right slide block, a wear-resistant inclined plate, a wear-resistant bottom plate, a wear-resistant inclined block, a wear-resistant bottom block and a grating ruler; the moving part comprises an outer ball seat, an inner ball seat, a ball cover, an inner ball head connecting rod and an outer ball head connecting rod; the spindle part is arranged on the workbench in a hanging manner and comprises a spindle motor, a spindle box, a core roller, a copper sleeve, a spindle supporting cover, a spindle supporting seat, a spindle key and a spindle encoder; the workpiece shaft component is arranged on the base and comprises a workpiece shaft mounting plate, a workpiece shaft, a workpiece box, a workpiece motor and a workpiece magnetic grid;
the machine head is provided with an elongated slot, two side surfaces in the width direction of the elongated slot are provided with positioning steps, the positioning steps are fixedly connected with the wear-resistant inclined plate, two wear-resistant plate mounting grooves are formed in the middle of the bottom surface of the elongated slot, and the wear-resistant base plate is mounted in the wear-resistant plate mounting grooves; the three servo electric cylinders are provided, the shells of the three servo electric cylinders are fixed on the machine head, the tail parts of the three servo electric cylinders are sequentially connected with the reversing gear box, the planetary reducer and the servo motor through the shaft coupling, a push rod is arranged on a roller screw rod in the middle of each servo electric cylinder, and the push rod is fixedly connected with the pressure sensor; the three pressure sensors are respectively connected with the left sliding block, the middle sliding block and the right sliding block, wear-resistant inclined blocks are arranged on two sides of the left sliding block, the middle sliding block and the right sliding block, and wear-resistant bottom blocks are arranged in the middle of the upper surfaces of the left sliding block, the middle sliding block and the right sliding block; the left slide block, the middle slide block and the right slide block are in sliding fit with the surface of the wear-resistant inclined plate through the wear-resistant inclined block and the wear-resistant bottom block is in sliding fit with the surface of the wear-resistant bottom surface; grating rulers are arranged among the left sliding block, the right sliding block, the middle sliding block and the wear-resistant inclined plate, a ruler seat of each grating ruler is arranged on the wear-resistant inclined plate, and ruler heads of each grating ruler are respectively arranged on the left sliding block, the right sliding block and the middle sliding block which are close to the ruler seat;
the lower ends of the left sliding block and the right sliding block are provided with outer ball seats, the lower end of the middle sliding block is provided with an inner ball seat, the outer ball seats and the inner ball seats are flange surfaces, oil grooves are formed in inner spherical surfaces, and the upper surfaces of the outer ball seats and the inner ball seats are fixedly connected with a ball cover; the outer ball head connecting rod and the inner ball head connecting rod are both connecting rod type components with spherical ends, the inner ball head connecting rod is slightly longer than the outer ball head connecting rod, the upper end ball head of the outer ball head connecting rod is arranged in a closed ball cavity formed by the outer ball seat and the ball cover and can perform space fixed-point transfer along the central point of the outer ball seat, and the upper end ball head of the inner ball head connecting rod is arranged in the closed ball cavity formed by the inner ball seat and the ball cover and can perform space movement along the central point of the inner ball seat; the lower ends of the outer ball head connecting rod and the inner ball head connecting rod are respectively matched and installed with the outer ball seat and the inner ball seat through spherical surfaces, so that the outer ball head connecting rod and the inner ball head connecting rod can respectively rotate along the central point space of the outer ball seat and the central point space of the inner ball seat, and the ball cover limits the outer ball head connecting rod and the inner ball head connecting rod not to be separated from the ball cavity; the four groups of outer ball seat-outer ball head connecting rod-outer ball seat connecting structures are positioned and installed at four corners of the upper end surface of the workbench through flanges below the outer ball seats, and the two groups of inner ball seat-inner ball head connecting rod-inner ball seat connecting structures are positioned and installed in the middle of the workbench through flanges below the inner ball seats;
a main shaft box is arranged on the lower end face of the workbench, a main shaft motor is arranged on an input shaft of the main shaft box, a main shaft is arranged at the output end of the main shaft box, a main shaft encoder is arranged on the outer side of the main shaft facing the workbench, a rotor of the main shaft encoder is matched with the outer circular face of the main shaft and fixedly connected with the outer circular face of the main shaft through a bolt, and the outer ring of the main shaft encoder is fixedly connected with the outer side face of the main shaft box through a bolt; the core roller is fixedly arranged on the main shaft; a boss for enveloping the shape of the inner wall of the workpiece is processed on the outer circular surface of the core roller, a shaft shoulder on the other side of the core roller has no taper, and the shaft shoulder is arranged in the inner hole of the cylindrical copper sleeve and forms sliding friction fit with the inner hole of the copper sleeve; the copper sleeve is positioned and installed through the outer circular surface, the upper end of the outer circular surface of the copper sleeve is matched with the semicircular inner hole of the main shaft supporting seat, and the lower end of the outer circular surface of the copper sleeve is matched with the semicircular inner hole of the main shaft supporting cover; the upper end surface of the main shaft supporting cover is connected with the lower end surface of the main shaft supporting seat, and the copper sleeve is tightly pressed and fixed in a round hole formed by the two supporting seats; the upper end of the main shaft supporting seat is fixedly connected with the workpiece table;
the workpiece box is fixedly arranged between the lower end face of the workpiece shaft mounting plate and the upper end face of the base, a square counter bore is formed in the base, an input shaft of the workpiece box sinks into the square bore, a workpiece shaft motor is arranged on the input shaft, and a workpiece is arranged on the surface of the inner circle of the workpiece shaft; the outer side of the workpiece shaft is provided with a workpiece shaft magnetic grid, a rotating body of the magnetic grid is matched and connected with the outer circle of the workpiece shaft through a circumferential bolt, and a reading head of the magnetic grid is fixedly arranged on the workpiece box through a bolt.
According to the scheme, the machine head is a cuboid, the stand columns are installed at the four corners of the machine head through flanges and threads, and the other ends of the stand columns are installed and connected with the four corners of the base through the flanges, so that a closed four-stand-column unbalance loading resisting rack system is formed.
According to the scheme, the wear-resistant inclined plate and the wear-resistant bottom plate are provided with oil grooves which are communicated with a lubricating port on the machine head through oil holes, the wear-resistant inclined block and the wear-resistant inclined plate are provided with oil grooves on the sliding fit surface of the wear-resistant bottom block and the wear-resistant bottom plate, the oil grooves are communicated with the oil nozzles on the left sliding block, the right sliding block and the middle sliding block through the oil holes, and the oil nozzles are communicated with the lubricating port through the soft oil pipe.
According to the scheme, the baffles on the two side surfaces of the machine head along the length direction of the long groove are provided with threads and cylindrical positioning surfaces, the baffles are fixedly connected with the shells of the left servo electric cylinder and the right servo electric cylinder through bolts, and the baffle on the upper right of the long groove of the machine head is also provided with threads and a cylindrical positioning surface and is connected with the shell of the middle servo electric cylinder through bolts.
According to the scheme, the workpiece covers are respectively installed at the two ends of the workpiece and fixed on the workpiece box and used for limiting axial movement of the workpiece, the workpiece positioning keys are installed on the key grooves of the circumference of the workpiece, and circumferential rotation of the workpiece is limited through cooperation with the key grooves in the inner hole of the workpiece shaft.
According to the scheme, the shapes of the left sliding block and the right sliding block are completely consistent, the positioning hole of the push rod at the center of the sliding block is symmetrical to the position of the mounting threaded hole, the upper end of the sliding block is provided with a groove so as to avoid interference with a servo electric cylinder on the installed sliding block in the movement process, meanwhile, the lower end of the sliding block protrudes out of the entity and is connected with the push rod, and the upper end of the protruding entity part of the middle sliding block is connected with the push rod.
According to the scheme, the ball cover is provided with the oil groove, one side of the oil groove is communicated with the oil groove on the corresponding ball seat, and the other side of the oil groove is connected with the oil nozzle on the side surface of the ball cover and is communicated with the lubricating port through the hose.
According to the scheme, the movement process of the workbench is as follows: the equipment workbench can realize the random movement in the plane of the axis method of the workpiece, including the translation in the X and Y directions of the plane and the rotation around any point of the plane, the plane movement of the workbench is formed by the combination of the movement of the left slide block, the right slide block and the servo motor on the middle slide block, and the formula (1) is satisfied
Wherein T is the tensor of motion of the core roller required for the radial envelope forming motion,
is the initial position of the left slide block,
is the initial position of the middle slide block,
the initial position of the right sliding block;
is the projection of the distance from the center of the spherical hinge of the left sliding block branch chain moving platform to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the middle slide block branch chain moving platform to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the supporting and moving platform of the right sliding block to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller; l. the 1 The rod length of the outer ball head connecting rod, /) 2 The rod length of the inner ball head connecting rod; g is the transmission ratio of the ball screw;
the rotating angles of the left sliding block, the middle sliding block and the right sliding block driving servo motors are respectively.
According to the scheme, the left and right ball head connecting rods on the left sliding block, the right sliding block and the middle sliding block are symmetrical and inclined towards opposite sides, namely, the upper and lower ball centers of the ball head connecting rods form an isosceles trapezoid.
The thin-wall high-rib ring cylinder multi-degree-of-freedom radial envelope forming equipment has the following beneficial effects:
1. the multi-degree-of-freedom radial envelope forming equipment can realize any motion of the core roller in an axis plane through three servo-driven sliding reciprocating motions; the radial enveloping forming movement of the core roller and the workpiece is realized through the constant transmission ratio control of the core roller and the workpiece shaft; the core roller swings through the coordination movement of the sliding blocks in the forming process, so that the metal flow is regulated and controlled, the forming force is reduced, and the multi-freedom-degree radial enveloping near-net forming manufacturing of the complex thin-wall high-rib ring cylinder is realized.
2. The multi-degree-of-freedom radial envelope forming equipment adopts a three-degree-of-freedom 6-connecting rod parallel driving configuration, has the advantages of simple structure, fewer parts, high reliability and convenience in installation and debugging, and has higher mechanism rigidity and bearing performance, thereby resisting larger forming unbalance load and deformation.
3. The multi-degree-of-freedom radial envelope forming equipment realizes the compensation of the dynamic deformation error of the equipment through the position correction of the sliding block, thereby realizing the high precision of the equipment and the high precision of the thin-wall high-rib annular cylinder forming.
4. The thin-wall high-reinforcement annular cylinder formed by the multi-degree-of-freedom radial enveloping forming equipment has fine crystal grains, continuous and compact metal flow lines and good surface integrity, thereby greatly improving the mechanical property and the bearing capacity of the thin-wall high-reinforcement annular cylinder.
Drawings
The invention will be further described with reference to the following drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming device according to the present invention;
FIG. 2 is a schematic main section view of FIG. 1;
FIG. 3 is a side sectional schematic view of FIG. 1;
FIG. 4 is a schematic view of the structure of the driving part;
FIG. 5 is a schematic view of a middle slide guide structure;
FIG. 6 is a schematic view of a left or right slider guide structure;
FIG. 7 is a schematic view of the slider and the ball seat position distribution;
FIG. 8 is a schematic view of the structure of the moving part;
FIG. 9 is a schematic view of a ball and socket arrangement;
FIG. 10 is a schematic view of the tee position distribution on the work bench;
FIG. 11 is a schematic view of the construction of the spindle unit;
FIG. 12 is a schematic view of a core roll mounting arrangement;
FIG. 13 is a schematic view of the construction of the workpiece shaft component;
fig. 14 is a schematic view of the mounting structure of the workpiece.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1-14, the thin-wall high-rib annular cylinder multi-degree-of-freedom radial enveloping forming equipment of the invention comprises a machine head 1, a driving part, a moving part, an upright post 2, a workbench 3, a main shaft part, a workpiece shaft part, a base 4 and a lubricating port 40 in sequence from top to bottom. The driving part is formed by connecting three groups of motor-servo electric cylinder-sliding block transmission structures in parallel, and comprises a servo motor 4, a planetary reducer 5, a reversing gear box 6, a servo electric cylinder 7, a push rod 8, a pressure sensor 9, a left sliding block 10, a middle sliding block 11, a right sliding block 12, a wear-resistant inclined plate 13, a wear-resistant bottom plate 14, a wear-resistant inclined block 15, a wear-resistant bottom block 16 and a grating ruler 37; the moving part consists of 6 groups of ball head connecting rod parallel structures and a workbench, and comprises an outer ball seat 17, an inner ball seat 34, a ball cover 18, an inner ball head connecting rod 19 and an outer ball head connecting rod 20; the main shaft component is suspended on the workbench and comprises a main shaft motor 21, a main shaft box 22, a core roller 23, a copper sleeve 24, a main shaft support cover 25, a main shaft support seat 26, a main shaft 27, a main shaft key 28 and a main shaft encoder 38; the workpiece shaft component is arranged on the base 4 and comprises a workpiece shaft mounting plate 29, a workpiece 30, a workpiece cover 31, a workpiece shaft 32, a workpiece box 33, a workpiece motor 35, a workpiece positioning key 36 and a workpiece magnetic grid 39.
The aircraft nose 1 is the cuboid, and flange and screw thread installation stand 2 are passed through to the four corners, and stand 2 other end 4 also passes through the flange and is connected with the four corners erection joint of base 4 to form a confined four-column anti unbalance loading rack system.
The machine head 1 is provided with an elongated slot, two side faces of the slot width method are provided with positioning steps, and the positioning steps are fixedly connected with the wear-resistant inclined plate 13 through bolts. The bottom surface of the long groove is provided with a left wear-resisting plate mounting groove and a right wear-resisting plate mounting groove which are narrow in width and are arranged in the middle, and the wear-resisting bottom plate 14 is positioned through the periphery and the bottom surface of the grooves and is mounted through countersunk bolts. The wear-resistant sloping plate 13 and the wear-resistant bottom plate 14 are provided with oil grooves 41 which are communicated with a lubricating port 40 on the machine head 1 through oil holes, and grease or oil lubrication can be realized by adopting different lubricating pumps. The baffles on the two side surfaces of the long groove of the machine head 1 along the length direction of the long groove are provided with threads and cylindrical positioning surfaces which are fixedly connected with the shells of the left servo electric cylinder 7 and the right servo electric cylinder 7 through bolts, and the baffle on the upper right of the long groove of the machine head 1 is also provided with threads and a cylindrical positioning surface which are connected with the shell of the middle servo electric cylinder 7 through bolts.
The tail parts of the three servo electric cylinders 7 are sequentially connected with the reversing gear box 6, the planetary reducer 5 and the servo motor 4 through couplings, a push rod 8 is arranged on a roller screw rod in the middle of each servo electric cylinder 7, and the push rod 8 is fixedly connected with a pressure sensor 9 through threads. The pressure sensor 9 of 1 three different position installation of aircraft nose passes through bolted connection with left slider 10, well slider 11 and right slider 12 respectively, and the both sides of all sliders all have the square groove, through square groove four sides and bottom surface location, through countersunk head bolt fixed mounting have wear-resisting sloping block 15, and the middle part also has left and right sides square groove above the slider, through square groove four sides and bottom surface location, through countersunk head bolt fixed mounting have wear-resisting bottom block 16. The sliding block wear-resistant sloping block 15 and the machine head wear-resistant sloping plate 13 are arranged on the sliding matching surface of the sliding block wear-resistant bottom block 16 and the machine head wear-resistant bottom plate 14, oil grooves 42 are formed in the sliding matching surface, the oil grooves 42 are communicated with oil nozzles 41 on the left sliding block 10, the middle sliding block 11 and the right sliding block 12 through oil holes, and finally communicated with a lubricating port 40 on the machine head 1 through a soft oil pipe.
The left slider 10, the middle slider 11 and the right slider 12 are arranged on the machine head 1 through the sliding fit of the wear-resistant sloping block 15 and the surface of the wear-resistant sloping plate 13 and the sliding fit of the wear-resistant bottom block 16 and the surface of the wear-resistant bottom surface 14, and can slide back and forth along the length direction of the long groove of the machine head 1. The shapes of the left slide block 10 and the right slide block 12 are completely consistent, the positions of a positioning hole and a mounting threaded hole of the push rod 8 at the center of the slide block are symmetrical, the upper ends of the left slide block 10 and the right slide block 12 are provided with grooves to avoid interference with a servo electric cylinder 7 on a slide block 11 in mounting in the movement process, and meanwhile, the lower ends of the left slide block 10 and the right slide block 12 are protruded to be connected with the push rod 8. The upper end of the projecting solid portion of the middle slider 11 is coupled to the push rod 8. Grating rulers 37 are arranged between the left sliding block 10, the right sliding block 12 and the middle sliding block 11 and the wear-resistant sloping plate 13, a ruler base of each grating ruler 37 is arranged on the wear-resistant sloping plate 13, and ruler heads are respectively arranged on the left sliding block 10, the right sliding block 12 and the middle sliding block 11 which are close to the ruler base. In order to avoid motion interference, the corresponding grating rulers 37 on the left slide block 10 and the right slide block 12 are arranged on the wear-resistant inclined plate 13 on the same side, and the corresponding grating rulers 37 on the middle slide block 11 are arranged on the wear-resistant inclined plate 13 on the opposite side, so that the motion displacement of the left slide block 10, the middle slide block 11 and the right slide block 12 can be measured by the corresponding grating rulers 13.
The left side and the right side on the lower end surface of the left slider 10, the middle slider 11 and the right slider 12 are respectively provided with the same positioning holes and threaded holes distributed along the circumference of the holes, so that an outer ball seat 17 and an inner ball seat 34 are installed, wherein the outer ball seat 17 is installed at the lower end of the left slider 10 and the lower end of the right slider 12, and the inner ball seat 34 is installed at the lower end of the middle slider 10. The outer ball seat 17 and the inner ball seat 34 are flange surfaces, a high-precision inner spherical surface is machined in the middle of the outer ball seat 17, an oil groove is formed in the inner spherical surface, the upper surface of the ball seat and the bottom surface of the inner ball seat incline to a certain angle so as to avoid movement interference, the inclination angles of the outer ball seat 17 and the inner ball seat 34 are different, and the inclination angle is perpendicular to the initial installation position of the connecting rod. The upper surfaces of the outer ball seat 17 and the inner ball seat 34 are fixedly connected with the ball cover 18.
An oil groove 41 is also processed on the ball cover 18, one side of the oil groove 41 is communicated with the oil groove 41 on the corresponding ball seat, and the other side of the oil groove 41 is connected with an oil nozzle 42 on the side surface of the ball cover 18 and is communicated with a lubricating port 40 on the machine table 1 through a hose, so that the circulation of lubricating oil or grease in the ball seat is realized.
The outer ball head connecting rod 19 and the inner ball head connecting rod 20 are both connecting rod type members with spherical ends, the shapes, the spherical surfaces and the cross-sectional dimensions of the connecting rod type members are all the same, but the lengths of the connecting rods are different, and in order to enable equipment to move correctly, the inner ball head connecting rod 20 is slightly longer than the outer ball head connecting rod 19. The upper end ball head of the outer ball head connecting rod 19 is arranged in a closed ball cavity formed by the outer ball seat 17 and the ball cover 18 and can move along the central point of the outer ball seat 17 at a fixed space point, and the upper end ball head of the inner ball head connecting rod 20 is arranged in the closed ball cavity formed by the inner ball seat 35 and the ball cover 18 and can move along the central point of the inner ball seat 34 in a space mode. The lower ends of the outer ball head connecting rod 19 and the inner ball head connecting rod 20 are respectively matched with the outer ball seat 17 and the inner ball seat 34 through spherical surfaces, so that the outer ball head connecting rod 19 and the inner ball head connecting rod 20 can respectively rotate along the central point space of the outer ball seat 17 and the inner ball seat 34 and are limited by the ball cover 18 not to be separated from the ball cavity. Therefore, 4 sets of connection structures of the outer ball seat, the outer ball head connecting rod 19 and the outer ball seat 17 are positioned and installed at four corners of the upper end face of the workbench 3 through a flange below the outer ball seat 17, and 2 sets of connection structures of the inner ball seat 34, the inner ball head connecting rod 20 and the inner ball seat 34 are positioned and installed at the middle part of the workbench 3 through a flange below the inner ball seat 34, so that the workbench 3 is restrained by a 6-point spherical surface, and the posture of the workbench are determined by the spatial positions of the 6 sets of ball head connecting rods, namely the movement positions of the left slider 10, the middle slider 11 and the right slider 12.
The lower end surface of the workbench 3 is provided with a main spindle box 22, an input shaft of the main spindle box 22 is arranged outside the workbench 3, the input shaft is provided with a main spindle motor 21, and the main spindle motor 21 is a high-power servo motor and can accurately control the position of the main spindle box 22. The output end of the headstock 22 is provided with a main shaft 27, and the main shaft 27 penetrates through the headstock 22. A main shaft encoder 38 is mounted on the outer side of the main shaft 27 facing the workbench, a rotor of the main shaft encoder 38 is matched with the outer circular surface of the main shaft 27 and fixedly connected with the outer circular surface through a bolt, and an outer ring of the main shaft encoder 38 is fixedly connected with the outer side surface of the main spindle box 22 through a bolt.
The inner side end face of the main shaft 27 facing the workbench is provided with a flange hole, and the center of the flange hole is a taper hole. One end of the core roller 23 is positioned by the central taper hole and is fixedly arranged on the main shaft 27 by evenly distributed bolts on the end surface. The outer circular surface of the core roller 23 is provided with a boss which can be used for correctly enveloping the shape of the inner wall of the workpiece 30, the shaft shoulder at the other side of the core roller 23 has no taper, and the shaft shoulder is arranged in the inner hole of the cylindrical copper sleeve 24 and forms sliding friction fit with the inner hole of the copper sleeve 24. The copper sleeve 24 is positioned and installed through the outer circular surface, the upper end of the outer circular surface is matched with the semicircular inner hole of the main shaft supporting seat 26, and the lower end of the outer circular surface is matched with the semicircular inner hole of the main shaft supporting cover 25. The upper end face of the main shaft support cover 25 is connected with the lower end face of the main shaft support seat 26 through a bolt, and the copper bush 24 is tightly pressed and fixed in a round hole formed by the two support seats. The upper end of the main shaft supporting seat 26 is fixedly connected with the workpiece table 3 through a bolt.
The workpiece box 33 is fixedly arranged in front of the lower end face of the workpiece shaft mounting plate 29 and the upper end face of the base 4 through bolts, a square counter bore is formed in the base 4, an input shaft of the workpiece box 33 sinks into the square bore, and a workpiece shaft motor 35 is arranged on the input shaft. The workpiece shaft motor 35 is a servo motor. The center of the workpiece box 33 is provided with a large hole, the axis of the large hole is parallel to the axis of the main shaft 27, and a workpiece shaft 32 is arranged on the large hole and can rotate along the axis under the driving of a workpiece shaft motor 35. The workpiece 30 is mounted on the inner circumferential surface of the workpiece shaft 32, the workpiece caps 31 are mounted on both ends of the workpiece 30, respectively, and the workpiece caps 31 are flange-type shaft caps fixed to the workpiece case 33 by circumferential bolts to restrict axial movement of the workpiece 30. The key slot on the circumference of the workpiece 30 is fitted with a workpiece positioning key 36 which, by engaging with the key slot on the inner bore of the workpiece shaft 32, restricts circumferential rotation of the workpiece 30. The outer side of the workpiece shaft 32 is provided with a workpiece shaft magnetic grid 39, a rotating body of the workpiece shaft magnetic grid 39 is matched and connected with the outer circle of the workpiece shaft 32 through a circumferential bolt, and a reading head of the workpiece shaft magnetic grid 39 is fixedly arranged on the workpiece box 33 through a bolt.
The operation process of the thin-wall high-rib ring cylinder multi-degree-of-freedom radial envelope forming equipment is as follows:
before the equipment works, the molded surface of the core roller 23 is designed and processed according to the shape of an inner hole of the thin-wall high-rib ring cylinder by adopting a secondary enveloping principle. The blank workpiece 30 is placed in the inner hole of the workpiece shaft 32, circumferentially positioned by the workpiece positioning key 36, and fixed in the inner hole of the workpiece shaft 32 by the left and right workpiece covers 31. The axis of the main shaft 27 passes through the inner hole of the workpiece 30 through the coordinated motion of the left slide block 11, the right slide block 13 and the middle slide block 13, the main shaft bearing cover 25 is opened, then the core roller 23 passes through the inner hole of the workpiece 30 and is installed on the inner conical surface of the main shaft 27, the copper sleeve 24 is installed on the shaft shoulder of the core roller shaft 23, the circumferential bolt is adopted to press the core roller 23 and the main shaft 27, the main shaft bearing cover 25 is installed and pressed on the outer circular surface of the copper sleeve 24, meanwhile, the bolt pressing is adopted, the core roller 23 is correctly installed on the main shaft, and the copper sleeve 24 provides auxiliary support; the main shaft 27 and the workpiece shaft 32 rotate at a constant speed according to a designed transmission ratio by adopting an electronic gear function of a machine tool control system, then the core roller 23 gradually extrudes the inner wall of the lower end of the workpiece 30 while rotating through the coordinated motion of the left slide block 11, the right slide block 13 and the middle slide block 13, and the shape of the inner wall of the workpiece 30 can be formed by enveloping and extruding the core roller because the workpiece 30 and the core roller 23 rotate at the constant transmission ratio. In the forming process, the movement of the slide block can be changed to enable the core roller 23 to swing left and right while feeding downwards, so that the forming force is reduced, the flowing condition of metal is improved, and the forming die is particularly suitable for forming and manufacturing thin-wall high-rib annular cylinders.
The working table of the thin-wall high-rib ring cylinder multi-degree-of-freedom radial envelope forming equipment moves as follows: the equipment workbench can realize any motion in a plane normal to the axis of the workpiece, including translation in the X and Y directions of the plane and rotation around any point of the plane. The plane motion of the workbench is formed by combining the motions of the left slide block, the right slide block and the servo motor on the middle slide block, and the formula (1) is satisfied
Wherein T is the tensor of motion of the core roller required for the radial envelope forming motion,
is the initial position of the left slide block,
in order to be the initial position of the middle slide block,
the initial position of the right sliding block;
for the chain movement of the left sliderProjection of the distance from the center of the platform spherical hinge to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the middle slide block branch chain moving platform to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the supporting and moving platform of the right sliding block to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller; l 1 Is the rod length of the outer ball head connecting rod 2 The rod length of the inner ball head connecting rod; g is the transmission ratio of the ball screw;
the rotating angles of the left sliding block, the middle sliding block and the right sliding block driving servo motors are respectively.
The control method of the thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment comprises the following steps: the invention adopts a full-closed multi-motor linkage control technology. The real-time position feedback of a spindle motor is realized by adopting an encoder on a spindle, the real-time position feedback of the workpiece shaft motor is realized by adopting a workpiece shaft magnetic grid, and the real-time position feedback of a sliding block is realized by adopting a grating ruler on a corresponding sliding block; the working shaft and the core roller adopt an electronic technology to realize a constant transmission ratio; the three sliding blocks adopt a three-axis servo linkage control technology to realize the accurate control of the positions of the sliding blocks, so that the core roller is controlled to do planar motion, and the position conversion relation between the workbench and the core roller is calculated by control software.
The lubrication mode of the thin-wall high-rib ring cylinder multi-degree-of-freedom radial envelope forming equipment is as follows: the invention adopts the dispersed centralized grease lubrication technology, oil grooves are respectively arranged on the slide block wear-resisting block and the machine head wear-resisting plate, and the oil grooves are finally communicated with a lubricating port on the machine head through the slide block and an oil hole on the machine head through a flexible oil pipe; oil grooves are formed in the ball seats and the ball cover and are communicated with a lubricating port in the machine head through an oil nozzle on the ball cover finally through a hose; and a lubricating port on the machine head is connected with an external lubricating pump, so that the circulation of lubricating oil and/or lubricating grease is realized, and the lubrication of the contact surface of the wear-resistant block of the sliding block and the wear-resistant plate of the machine head and the matching surface of the ball seat and the ball head connecting rod is realized. The station box and the main shaft box adopt closed self-lubrication, and lubricating oil is circulated under the stirring of the main shaft and the working shaft.
In order to realize the plane motion constraint of the workbench and avoid the workbench from doing space singular motion, the left and right ball head connecting rods on each sliding block are required to be symmetrical and inclined towards opposite sides, namely, the upper and lower ball centers of the ball head connecting rods form an isosceles trapezoid. Meanwhile, in order to ensure the space rigidity of the equipment, for each sliding block, the distance between the spherical centers of the two connecting rods arranged on the sliding block is larger than the distance between the spherical centers of the other ends of the connecting rods arranged on the workbench.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming device is characterized by comprising a machine head, a driving part, a moving part, an upright post, a workbench, a main shaft part, a workpiece shaft part and a base; the machine head is arranged on the base through the upright post;
the driving part comprises a servo motor, a planetary reducer, a reversing gear box, a servo electric cylinder, a push rod, a pressure sensor, a left slide block, a middle slide block, a right slide block, a wear-resistant inclined plate, a wear-resistant bottom plate, a wear-resistant inclined block, a wear-resistant bottom block and a grating ruler; the moving part comprises an outer ball seat, an inner ball seat, a ball cover, an inner ball head connecting rod and an outer ball head connecting rod; the spindle part is arranged on the workbench in a hanging manner and comprises a spindle motor, a spindle box, a core roller, a copper sleeve, a spindle supporting cover, a spindle supporting seat, a spindle key and a spindle encoder; the workpiece shaft component is arranged on the base and comprises a workpiece shaft mounting plate, a workpiece shaft, a workpiece box, a workpiece motor and a workpiece magnetic grid;
the machine head is provided with an elongated slot, two side surfaces in the width direction of the elongated slot are provided with positioning steps, the positioning steps are fixedly connected with the wear-resistant inclined plate, two wear-resistant plate mounting grooves are formed in the middle of the bottom surface of the elongated slot, and the wear-resistant base plate is mounted in the wear-resistant plate mounting grooves; the three servo electric cylinders are provided, the shells of the three servo electric cylinders are fixed on the machine head, the tail parts of the three servo electric cylinders are sequentially connected with the reversing gear box, the planetary reducer and the servo motor through the shaft coupling, a push rod is arranged on a roller screw rod in the middle of each servo electric cylinder, and the push rod is fixedly connected with the pressure sensor; the three pressure sensors are respectively connected with the left sliding block, the middle sliding block and the right sliding block, wear-resistant inclined blocks are arranged on two sides of the left sliding block, the middle sliding block and the right sliding block, and wear-resistant bottom blocks are arranged in the middle of the upper surfaces of the left sliding block, the middle sliding block and the right sliding block; the left slide block, the middle slide block and the right slide block are in sliding fit with the surface of the wear-resistant inclined plate through the wear-resistant inclined block and the wear-resistant bottom block is in sliding fit with the surface of the wear-resistant bottom surface; grating rulers are arranged among the left sliding block, the right sliding block, the middle sliding block and the wear-resistant inclined plate, a ruler seat of each grating ruler is arranged on the wear-resistant inclined plate, and ruler heads of each grating ruler are respectively arranged on the left sliding block, the right sliding block and the middle sliding block which are close to the ruler seat;
the lower ends of the left sliding block and the right sliding block are provided with outer ball seats, the lower end of the middle sliding block is provided with an inner ball seat, the outer ball seats and the inner ball seats are flange surfaces, oil grooves are formed in inner spherical surfaces, and the upper surfaces of the outer ball seats and the inner ball seats are fixedly connected with a ball cover; the outer ball head connecting rod and the inner ball head connecting rod are both connecting rod type components with spherical ends, the inner ball head connecting rod is slightly longer than the outer ball head connecting rod, the upper end ball head of the outer ball head connecting rod is arranged in a closed ball cavity formed by the outer ball seat and the ball cover and can perform space fixed-point transfer along the central point of the outer ball seat, and the upper end ball head of the inner ball head connecting rod is arranged in the closed ball cavity formed by the inner ball seat and the ball cover and can perform space movement along the central point of the inner ball seat; the lower ends of the outer ball head connecting rod and the inner ball head connecting rod are respectively matched and installed with the outer ball seat and the inner ball seat through spherical surfaces, so that the outer ball head connecting rod and the inner ball head connecting rod can respectively rotate along the central point space of the outer ball seat and the central point space of the inner ball seat, and the ball cover limits the outer ball head connecting rod and the inner ball head connecting rod not to be separated from the ball cavity; the four groups of outer ball seat-outer ball head connecting rod-outer ball seat connecting structures are positioned and installed at four corners of the upper end face of the workbench through flanges below the outer ball seats, and the two groups of inner ball seat-inner ball head connecting rod-inner ball seat connecting structures are positioned and installed at the middle part of the workbench through flanges below the inner ball seats;
a main shaft box is arranged on the lower end face of the workbench, a main shaft motor is arranged on an input shaft of the main shaft box, a main shaft is arranged at the output end of the main shaft box, a main shaft encoder is arranged on the outer side of the main shaft facing the workbench, a rotor of the main shaft encoder is matched with the outer circular face of the main shaft and fixedly connected with the outer circular face of the main shaft through a bolt, and the outer ring of the main shaft encoder is fixedly connected with the outer side face of the main shaft box through a bolt; the core roller is fixedly arranged on the main shaft; a boss for enveloping the shape of the inner wall of the workpiece is processed on the outer circular surface of the core roller, a shaft shoulder on the other side of the core roller has no taper, and the shaft shoulder is arranged in the inner hole of the cylindrical copper sleeve and forms sliding friction fit with the inner hole of the copper sleeve; the copper sleeve is positioned and installed through the outer circular surface, the upper end of the outer circular surface of the copper sleeve is matched with the semicircular inner hole of the main shaft supporting seat, and the lower end of the outer circular surface of the copper sleeve is matched with the semicircular inner hole of the main shaft supporting cover; the upper end surface of the main shaft supporting cover is connected with the lower end surface of the main shaft supporting seat, and the copper bush is tightly pressed and fixed in a round hole formed by the two supporting seats; the upper end of the main shaft supporting seat is fixedly connected with the workpiece table;
the workpiece box is fixedly arranged between the lower end face of the workpiece shaft mounting plate and the upper end face of the base, a square counter bore is formed in the base, an input shaft of the workpiece box sinks into the square bore, a workpiece shaft motor is arranged on the input shaft, and a workpiece is arranged on the surface of the inner circle of the workpiece shaft; the outer side of the workpiece shaft is provided with a workpiece shaft magnetic grid, a rotating body of the magnetic grid is matched and connected with the outer circle of the workpiece shaft through a circumferential bolt, and a reading head of the magnetic grid is fixedly arranged on the workpiece box through a bolt.
2. The thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment as claimed in claim 1, wherein the machine head is a cuboid, stand columns are installed at four corners of the machine head through flanges and threads, and the other ends of the stand columns are also installed and connected with four corners of the base through the flanges, so that a closed four-stand-column unbalance loading resisting rack system is formed.
3. The thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment according to claim 1, wherein oil grooves are formed in the wear-resistant inclined plate and the wear-resistant bottom plate and communicated with a lubricating port in a machine head through oil holes, the wear-resistant inclined block and the wear-resistant inclined plate are respectively provided with an oil groove on a sliding matching surface of the wear-resistant bottom block and the wear-resistant bottom plate, the oil grooves are communicated with oil nipples on the left sliding block, the right sliding block and the middle sliding block through the oil holes, and the oil nipples are communicated with the lubricating port through a hose.
4. The multi-degree-of-freedom radial envelope forming equipment for the thin-wall high-rib ring cylinder as claimed in claim 1, wherein baffles on two side faces of the machine head along the length direction of the long groove are provided with threads and cylindrical positioning surfaces, the baffles are fixedly connected with the shells of the left servo electric cylinder and the right servo electric cylinder through bolts, and the baffle on the upper right of the long groove of the machine head is also provided with threads and a cylindrical positioning surface, and is connected with the shell of the middle servo electric cylinder through bolts.
5. The thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment as claimed in claim 1, wherein workpiece covers are respectively mounted at two ends of the workpiece and fixed on the workpiece box to limit axial movement of the workpiece, and workpiece positioning keys are mounted on key grooves on the circumference of the workpiece and matched with key grooves on inner holes of the workpiece shafts to limit circumferential rotation of the workpiece.
6. The multiple-degree-of-freedom radial envelope forming equipment for the thin-wall high-rib ring cylinder as claimed in claim 1, wherein the shapes of the left sliding block and the right sliding block are completely consistent, the positions of a positioning hole of a push rod at the center of the sliding block and a mounting threaded hole are symmetrical, a groove is formed in the upper end of the sliding block to avoid interference with a servo electric cylinder on the sliding block during movement, meanwhile, a protruding entity at the lower end of the sliding block is connected with the push rod, and the upper end of a protruding entity part of the middle sliding block is connected with the push rod.
7. The thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment as claimed in claim 3, wherein an oil groove is formed in the spherical cover, one side of the oil groove is communicated with the oil groove in the corresponding ball seat, and the other side of the oil groove is connected with an oil nozzle on the side face of the spherical cover and is communicated with the lubricating port through a hose.
8. The thin-wall high-rib annular cylinder multi-degree-of-freedom radial envelope forming equipment is characterized in that the working table moves as follows: the equipment workbench can realize arbitrary motion in a plane of a workpiece axis method, including translation in X and Y directions of the plane and rotation around any point of the plane, the plane motion of the workbench is formed by combining the motion of the servo motors on the left slide block, the right slide block and the middle slide block, and the formula (1) is satisfied
Wherein T is the tensor of motion of the core roller required for the radial envelope forming motion,
is the initial position of the left slide block,
is the initial position of the middle slide block,
the initial position of the right sliding block;
is the projection of the distance from the center of the spherical hinge of the left sliding block branch chain moving platform to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the middle slide block branch chain moving platform to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller,
the projection of the distance from the center of the spherical hinge of the supporting and moving platform of the right sliding block to the origin of the coordinate system of the core roller on the normal plane of the axis of the core roller; l. the 1 Is the rod length of the outer ball head connecting rod 2 The rod length of the inner ball head connecting rod; g is the transmission ratio of the ball screw;
the rotating angles of the left sliding block, the middle sliding block and the right sliding block driving servo motors are respectively.
9. The radial envelope forming device of multi freedom of the thin-wall high-rib ring cylinder as claimed in claim 1, wherein the left and right ball-head connecting rods on the left and right sliding blocks and the middle sliding block must be symmetrical and inclined to opposite sides, i.e. four points of the upper and lower ball centers of the ball-head connecting rods form an isosceles trapezoid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211133923.5A CN115647235A (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom radial envelope forming equipment for thin-wall high-rib ring cylinder |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211133923.5A CN115647235A (en) | 2022-09-19 | 2022-09-19 | Multi-degree-of-freedom radial envelope forming equipment for thin-wall high-rib ring cylinder |
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| CN115647235A true CN115647235A (en) | 2023-01-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117225986A (en) * | 2023-11-10 | 2023-12-15 | 山东龙光天旭太阳能有限公司 | Solar condensing plate forming equipment for photo-thermal power generation |
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2022
- 2022-09-19 CN CN202211133923.5A patent/CN115647235A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117225986A (en) * | 2023-11-10 | 2023-12-15 | 山东龙光天旭太阳能有限公司 | Solar condensing plate forming equipment for photo-thermal power generation |
| CN117225986B (en) * | 2023-11-10 | 2024-03-26 | 潍坊市经济学校 | Solar condensing plate forming equipment for photo-thermal power generation |
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