CN115870394A - Joint-like freedom degree controllable push-pull mechanism for flexible stretch forming machine - Google Patents
Joint-like freedom degree controllable push-pull mechanism for flexible stretch forming machine Download PDFInfo
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- CN115870394A CN115870394A CN202211710759.XA CN202211710759A CN115870394A CN 115870394 A CN115870394 A CN 115870394A CN 202211710759 A CN202211710759 A CN 202211710759A CN 115870394 A CN115870394 A CN 115870394A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 262
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 101
- 239000000463 material Substances 0.000 claims abstract description 89
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 20
- 230000007704 transition Effects 0.000 claims description 23
- 238000003825 pressing Methods 0.000 claims description 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000009977 dual effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 241000309551 Arthraxon hispidus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The invention discloses a controllable push-pull mechanism of joint-imitating freedom degree for a flexible stretch forming machine, which is formed by sequentially hinging a material pulling part, a joint-imitating connecting part and a material clamping part, wherein the joint-imitating connecting part is formed by detachably and fixedly connecting an elbow joint rod and a wrist joint rod, the elbow joint rod and the material pulling part are hinged through a double spherical surface to form an elbow joint of an upper limb of an imitated human body, and the joint-imitating connecting part swings in one direction relative to the material pulling part; the wrist joint rod and the material clamping part are hinged through a single spherical surface to form a wrist joint simulating an upper limb of a human body, and the joint simulating connecting part rotates or swings in multiple directions relative to the material clamping part. According to the invention, through the motion combination part which simulates the matching of the elbow joint and the wrist joint of the upper limb of the human body, the degree of freedom of the motion of the forceps body is limited on the premise of not influencing the flexibility required by the flexible stretching forming of the forceps body, the flexible and controllable motion of the forceps body is realized, the stretching forming thickness distribution of the plate is more uniform, and the plate thinning rate is reduced.
Description
Technical Field
The invention belongs to the technical field of flexible stretch forming of plates, and particularly relates to a controllable joint-imitating freedom degree push-pull mechanism for a flexible stretch forming machine.
Background
The stretching forming is a relatively common plate forming process, and when the traditional stretching forming equipment works, due to the integral clamp body and the stretching mechanism of the equipment, when a curved plate part with a relatively large transverse curvature is stretched, the phenomena of low film sticking degree, tensile crack, wrinkling and the like of the plate are very easy to occur, and the forming precision is influenced.
Based on the above technical problems, those skilled in the art develop and design a flexible stretch forming process, and design a flexible stretch forming apparatus, for example: ZL200920093938.7 sheet drawing machine; zl200910217701.X high flexibility multi-head stretch-forming machine; a ZL201010266441.8 multi-clamp type stretch forming machine; the universal push-pull mechanism for the ZL201010273822.9 stretch forming machine and the like. In the disclosed patents, the discrete type clamps are arranged, and the universal type push-pull mechanisms are arranged in a one-to-one correspondence manner, so that the high attaching degree of the plate and the die can be realized, the problems of difficulty in film attaching, tensile cracking, wrinkling and the like are effectively solved, and the plate stretch forming precision is greatly improved.
In the practical use process of the disclosed flexible stretch forming equipment, the clamp bodies for stretching the plate realize loading and stretching through the universal push-pull mechanism, but because the freedom degree of the universal push-pull mechanism is too high, the clamp bodies distributed discretely are used for sticking a film to the plate to the maximum extent, so that the displacement amount generated by the clamp bodies in the stretch forming process due to no freedom degree limitation is too large, a large amount of displacement causes too high thinning rate of the curved plate, the formed thickness of the plate is distributed unevenly, and the formed quality of the plate is still influenced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention discloses a joint-imitating freedom degree controllable push-pull mechanism for a flexible stretch forming machine, which limits the freedom degree of movement of a clamp body to a certain extent by simulating a movement combination part matched with an elbow joint and a wrist joint of an upper limb of a human body on the premise of not influencing the flexibility required by the flexible stretch forming of the clamp body, realizes the flexible and controllable movement of the clamp body, ensures that the thickness distribution of the stretch forming of a plate is more uniform, and reduces the thinning rate of the plate.
The technical scheme of the invention is as follows by combining the attached drawings of the specification:
a controllable push-pull institution of imitative joint degree of freedom for flexible stretch forming machine is articulated in proper order by drawing material portion, connecting portion and pressing from both sides material portion and forms, draws material portion and flexible stretch forming machine's tensile loading device to link to each other, presss from both sides material portion and clamp continuous its characterized in that:
the connecting part is an artificial joint connecting part and is formed by detachably and fixedly connecting an elbow joint rod and a wrist joint rod;
the elbow joint rod and the material pulling part are hinged through a double spherical surface to form an elbow joint simulating an upper limb of a human body, and the joint simulating connecting part swings in one direction relative to the material pulling part;
the wrist joint rod and the material clamping part are hinged through a single spherical surface to form a wrist joint simulating an upper limb of a human body, and the joint simulating connecting part rotates or swings in multiple directions relative to the material clamping part.
Further, the elbow joint rod adopts a double-convex spherical elbow joint rod;
the top of the head end of the double-convex spherical elbow joint rod is hinged and matched with the double-convex spherical elbow joint block, the double-convex spherical elbow joint block is fixed in the material pulling part supporting shell, and the root of the head end of the double-convex spherical elbow joint rod is axially fixed in the material pulling part supporting shell through an elbow joint ball tile.
Furthermore, the head end of the elbow joint rod with the double convex spherical surfaces is provided with two elbow joint rod convex spherical surfaces which are axially and symmetrically distributed relative to the elbow joint rod with the double convex spherical surfaces, an elbow joint rod convex spherical transition surface is connected between the two elbow joint rod convex spherical surfaces, the elbow joint rod convex spherical transition surface is inwards concave relative to the two elbow joint rod convex spherical surfaces and is in transition connection with the two elbow joint rod convex spherical surface smooth curved surfaces;
further, the biconvex spherical elbow joint block is an integral biconvex spherical elbow joint block;
the bottom outer edge of the integrated double-convex spherical elbow joint block is fixed in an annular groove at a corresponding position of the material pulling part supporting shell, the top surface of the integrated double-convex spherical elbow joint block is a double-concave spherical surface matched with the head end spherical surface of the double-convex spherical elbow joint rod, and the double-concave spherical surface is matched with the smooth curved surface formed by the convex spherical surfaces of the two elbow joint rods and the bottom of the convex spherical transition surface of the middle elbow joint rod.
Furthermore, the double-convex spherical elbow joint block is a split double-convex spherical elbow joint block;
the split double-convex spherical elbow joint block comprises: the first bottom plate, the first elastic seat and the first spherical support block;
the outer edge of the first bottom plate is fixedly arranged in the annular groove at the corresponding position of the support shell of the material pulling part, the bottom of the first elastic seat is fixed on the inner end surface of the first bottom plate, the top surface of the first elastic seat is provided with two mounting grooves, the first two spherical support blocks are arranged in the mounting grooves on the top surface of the first elastic seat in a matching way, the top surface of the spherical supporting block is provided with a concave spherical surface which is matched with the convex spherical surface of the elbow joint rod corresponding to the bottom of the biconvex spherical elbow joint rod, the bottom parts of the convex spherical surfaces of the two elbow joint rods of the biconvex spherical elbow joint rod are matched and installed in the corresponding spherical supporting block I, and the convex spherical transition surface of the elbow joint rod in the middle of the biconvex spherical elbow joint rod is propped against a boss of an elastic seat between the two spherical supporting blocks I.
Furthermore, the elbow joint rod adopts a double-concave spherical elbow joint rod;
the top of the head end of the double-concave spherical elbow joint rod is hinged and matched with the double-concave spherical elbow joint block, the double-concave spherical elbow joint block is fixed in the material pulling part supporting shell, and the root of the head end of the double-concave spherical elbow joint rod is axially fixed in the material pulling part supporting shell through the elbow joint ball bearing.
Furthermore, the head end of the double-concave spherical elbow joint rod is provided with two elbow joint rod concave spherical surfaces which are axially and symmetrically distributed relative to the double-concave spherical elbow joint rod, and an elbow joint rod concave spherical transition surface is connected between the two elbow joint rod concave spherical surfaces.
Furthermore, the split type double-concave spherical elbow joint block is an integrated double-concave spherical elbow joint block;
the integrated double-concave spherical elbow joint block is fixedly arranged in an annular groove at a corresponding position of the material pulling part supporting shell through the outer edge of the bottom, and the top surface of the integrated double-concave spherical elbow joint block is a V-shaped spherical groove formed by oppositely arranging double convex spherical surfaces matched with the concave spherical surfaces of the elbow joint rod.
Furthermore, the split double-concave spherical elbow joint block is a split double-concave spherical elbow joint block;
the split type biconcave spherical elbow joint block comprises: a second bottom plate, a second elastic seat and a second spherical supporting block;
the second outer edge of the bottom plate is fixedly installed in an annular groove in the corresponding position of the material pulling part supporting shell, the bottom of the second elastic seat is fixed on the inner end face of the second bottom plate, the top face of the second elastic seat is provided with a mounting groove, the second spherical supporting block is installed in the mounting groove in the top face of the second elastic seat in a matching manner, the top face of the second spherical supporting block is provided with a convex spherical face matched with the concave spherical face of the elbow joint rod corresponding to the bottom of the double-concave spherical elbow joint rod, the bottoms of the concave spherical faces of the two elbow joint rods of the double-concave spherical elbow joint rod are installed on the corresponding second spherical supporting block in a matching manner, an embedding groove is formed between the two convex spherical faces of the second spherical supporting block matched with the concave spherical faces of the two elbow joint rods, and a concave spherical transition face 1002 of the elbow joint rod in the middle of the double-concave spherical elbow joint rod 10 is embedded in the embedding groove.
Furthermore, the wrist joint rod is a single convex spherical wrist joint rod;
the end surface of the head end of the single convex spherical wrist joint rod is a lower hemispherical surface of the wrist joint rod which is coaxial with the single convex spherical wrist joint rod and protrudes outwards, the upper hemispherical surface of the wrist joint rod is opposite to the lower hemispherical surface of the wrist joint rod, and the circle centers of the upper hemispherical surface of the wrist joint rod and the lower hemispherical surface of the wrist joint rod are coaxial with the single convex spherical wrist joint rod; the outer diameter of the upper hemispherical surface of the wrist joint rod is larger than that of the lower hemispherical surface of the wrist joint rod.
Compared with the prior art, the invention has the beneficial effects that:
1. the joint-imitated push-pull mechanism with controllable degree of freedom is a split type combined component which simulates an elbow joint and a wrist joint of an upper limb of a human body and is matched with the elbow joint for limiting the degree of freedom through the wrist joint with higher flexibility, so that the degree of freedom of a clamp connected with the wrist joint is controlled intentionally, and the thinning rate of a plate is reduced on the premise of not influencing film sticking in the stretching forming process, so that the thickness distribution of the plate is more uniform.
2. The joint-freedom-degree-imitating controllable push-pull mechanism adopts an elbow joint hinging component which is matched and hinged with a double spherical surface to imitate an elbow joint of an upper limb of a human body, and an adjusting gap is arranged between an elbow joint head and an elbow joint seat of the elbow joint hinging component which is matched with the double spherical surface, so that the elbow joint hinging component can be finely adjusted under the limited rotational freedom degree, and the flexibility and controllability of the freedom degree of the elbow joint hinging component can be realized.
3. The joint-imitated freedom degree controllable push-pull mechanism provided by the invention adopts the wrist joint hinge assembly which is matched and hinged with a single spherical surface to imitate the wrist joint of the upper limb of a human body, so that the wrist joint hinge assembly directly connected with the clamp is ensured to have higher flexibility, and in the wrist joint hinge assembly, the spherical surface diameter of one end which is axially limited is larger than the spherical surface diameter of one end which is matched and hinged with the wrist joint seat in cooperation with the spherical tile, so that the condition that the wrist joint hinge assembly falls under the action of self gravity in the use process is effectively prevented, and the working reliability of equipment is ensured.
Drawings
Fig. 1 is a schematic structural view of a joint-simulated degree-of-freedom controllable push-pull mechanism according to an embodiment of the invention;
FIG. 2 is a schematic three-dimensional view of a bi-convex spherical elbow joint rod according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a dual convex spherical elbow joint rod and a single convex spherical elbow joint block according to one embodiment of the present invention;
FIG. 4 is a schematic view of a dual convex spherical elbow joint rod and a split dual convex spherical elbow joint block according to a first embodiment of the present invention;
FIG. 5 is a schematic three-dimensional structure diagram of a single convex spherical wrist joint rod according to a first embodiment of the present invention;
FIG. 6 is a schematic view of a single-convex spherical wrist joint rod and a single-convex spherical wrist joint block according to a first embodiment of the present invention;
FIG. 7 is a schematic structural view of a joint-simulated degree-of-freedom controllable push-pull mechanism according to a second embodiment of the present invention;
FIG. 8 is a schematic three-dimensional view of a dual concave spherical elbow joint shaft according to a second embodiment of the present invention;
FIG. 9 is a schematic view of the dual concave spherical elbow joint rod and the integrated dual concave spherical elbow joint block according to the second embodiment of the present invention;
FIG. 10 is a schematic view of the dual concave spherical elbow joint rod and the split dual concave spherical elbow joint block according to the second embodiment of the present invention;
in the figure:
a material pulling part, B material clamping part and C joint-imitating connecting part
1 double convex spherical elbow joint rod 2 integrated double convex spherical elbow joint block 3 elbow joint spherical tile 1
4 material pulling part supporting shell 5 single convex spherical wrist joint rod 6 single convex spherical wrist joint block
Connecting sleeve rod of 7 wrist joint ball tile 8 material clamping part supporting shell 9
10 biconcave spherical elbow joint rod 11 integrated biconcave spherical elbow joint block 12 split type biconvex spherical elbow joint block
13 split type double-concave spherical elbow joint block 14 elbow joint spherical tile II
101 elbow joint rod convex spherical surface 102 elbow joint rod convex spherical transition surface 103 elbow joint rod connection end one
501 wrist joint rod lower hemisphere 502 wrist joint rod upper hemisphere 503 wrist joint rod connecting end
1001 elbow joint rod concave spherical surface 1002 elbow joint rod concave spherical transition surface 1003 elbow joint rod connection end two
1201 base plate one 1202 elastic seat one 1203 spherical supporting block one
1301, two bottom plates, 1302, two elastic seats, 1303, two spherical supporting blocks
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the drawings in the specification:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The first embodiment is as follows:
the embodiment discloses a controllable push-pull mechanism with simulated joint freedom degree for a flexible stretch forming machine, which is formed by sequentially hinging a material pulling part A, a simulated joint connecting part C and a material clamping part B as shown in fig. 1, wherein the material pulling part A is connected with a stretch loading device of the flexible stretch forming machine and used for transferring and applying a stretch loading force, one end of the simulated joint connecting part C is hinged with the material pulling part A, and the relative motion freedom degree of the simulated joint connecting part C and the material pulling part A simulates the motion freedom degree of an elbow of a human upper limb, namely the rotational freedom degree in a certain direction is limited, so that one end of the simulated joint connecting part C hinged with the material pulling part A is an elbow joint end; the material clamping part B is connected with a clamp for directly contacting a plate material to realize stretching, the other end of the joint-imitating connecting part C is hinged with the material clamping part B, the relative motion freedom of the joint-imitating connecting part C and the material clamping part B simulates the motion freedom of the wrist of the upper limb of a human body, namely, the freedom is basically free from being clamped, and therefore one end of the joint-imitating connecting part C hinged with the material pulling part B is a wrist joint end.
As shown in fig. 1, the joint simulation portion C includes: the material pulling part comprises a double-convex spherical elbow joint rod 1, an integrated double-convex spherical elbow joint block 2, an elbow joint ball tile I3, a single-convex spherical wrist joint rod 5, a single-convex spherical wrist joint block 6, a wrist joint ball tile 7 and a connecting sleeve rod 9, wherein the integrated double-convex spherical elbow joint block 2 is fixed in a material pulling part supporting shell 4, one end of the double-convex spherical elbow joint rod 1 is hinged and installed in the material pulling part supporting shell 4 in a manner of being matched with the integrated double-convex spherical elbow joint block 2, and axial limiting in the material pulling part supporting shell 4 is realized through the elbow joint ball tile I3; the single convex spherical wrist joint block 6 is fixed in the material clamping part supporting shell 8, one end of the single convex spherical wrist joint rod 5 is hinged and installed in the material clamping part supporting shell 8 in a way of being matched with the single convex spherical wrist joint block 6, and axial limiting in the material clamping part supporting shell 8 is realized through the wrist joint spherical tile 7; the other end of the double convex spherical elbow joint rod 1 is fixedly connected with the other end of the single convex spherical wrist joint rod 5 in a linear shape through a connecting loop bar 9.
Specifically, as shown in fig. 2, the double-convex spherical elbow joint rod 1 has a first elbow joint rod connecting end 103 with an external thread at the tail end, and the double-convex spherical elbow joint rod 1 is fixedly connected with the connecting sleeve rod 9 through the first elbow joint rod connecting end 103; the head end of the double convex spherical elbow joint rod 1 is provided with two elbow joint rod convex spherical surfaces 101 which are symmetrically distributed relative to the axial direction of the double convex spherical elbow joint rod 1, and an elbow joint rod convex spherical transition surface 102 is connected between the two elbow joint rod convex spherical surfaces 101, and the elbow joint rod convex spherical transition surface 102 is inwards concave relative to the two elbow joint rod convex spherical surfaces 101 and is in transition connection with the smooth curved surfaces of the two elbow joint rod convex spherical surfaces 101.
Specifically, as shown in fig. 3, the integral double-convex spherical elbow joint block 2 is fixedly installed in an annular groove at a corresponding position of the material pulling part support shell 4 through the outer edge of the bottom to realize axial fixation, the top surface of the integral double-convex spherical elbow joint block 2 is a double-concave spherical surface matched with the spherical surface at the head end of the double-convex spherical elbow joint rod 1, and the double-concave spherical surface of the integral double-convex spherical elbow joint block 2 is matched with a smooth curved surface jointly formed by the convex spherical surfaces 101 of the two elbow joint rods symmetrically distributed and the bottom of the convex spherical transition surface 102 of the middle elbow joint rod, so that the double-convex spherical elbow joint rod 1 can only realize rotary motion in a single direction relative to the integral double-convex spherical elbow joint block 2, namely, the double-convex spherical elbow joint block is similar to the bending motion of an upper limb "elbow joint" of a human body, and the rotary freedom in other directions is limited; in addition, at the top cambered surface of two elbow joint pole convex spherical surfaces 101 of two biconvex sphere elbow joint pole 1 head ends, match the looks cooperation with the inner anchor ring of elbow joint ball tile 3 and be connected, the spacing top of the outer end anchor ring axial of elbow joint ball tile 3 is leaned on in the annular of drawing material portion supporting shell 4 corresponding position and is followed upward, the head end of biconvex sphere elbow joint pole 1 is installed in drawing material portion supporting shell 4 through 3 axial spacing elbow joint ball tiles promptly.
In the first embodiment, the integral double-convex spherical elbow joint block 2 may also be replaced by a split double-convex spherical elbow joint block 12, specifically, as shown in fig. 4, the split double-convex spherical elbow joint block 12 includes: the material pulling part supporting shell 4 comprises a first bottom plate 1201, a first elastic seat 1202 and a first spherical supporting block 1203, wherein the outer edge of the first bottom plate 1201 is fixedly installed in an annular groove in a corresponding position of the material pulling part supporting shell 4, the bottom of the first elastic seat 1202 is fixedly bonded on the inner end face of the first bottom plate 1201, two installation grooves are formed in the top face of the first elastic seat 1202, and the first elastic seat 1202 is made of elastic materials such as rubber; two first spherical supporting blocks 1203 are installed in the installation grooves on the top surface of the first elastic seat 1202 in a matching mode, concave spherical surfaces matched with the convex spherical surfaces 101 of the elbow joint rods corresponding to the bottoms of the double-convex spherical elbow joint rods 1 are formed on the top surfaces of the first spherical supporting blocks 1203, the bottoms of the convex spherical surfaces 101 of the two elbow joint rods of the double-convex spherical elbow joint rods 1 are installed in the corresponding first spherical supporting blocks 1203 in a matching mode, and the convex spherical transition surface 102 of the elbow joint rod in the middle of the double-convex spherical elbow joint rod 1 abuts against the bosses of the first elastic seat 1202 between the two first spherical supporting blocks 1203. Compare with aforementioned integral type biconvex spherical elbow joint piece 2, biconvex spherical elbow joint piece 1 can realize beyond the ascending rotary motion of single side for split type biconvex spherical elbow joint piece 1, owing to adopted elastic seat 1202, biconvex spherical elbow joint piece 1 has certain displacement space in the axial for split type biconvex spherical elbow joint piece 1, can provide certain space for the axial relative motion of biconvex spherical elbow joint piece 1, increases its elasticity of motion.
Specifically, as shown in fig. 5, the tail end of the single convex spherical wrist joint rod 5 is a wrist joint rod connecting end 503 provided with an external thread, and the single convex spherical wrist joint rod 5 is fixedly connected with the connecting sleeve rod 9 through the wrist joint rod connecting end 503 in a threaded manner; the end part of the head end of the single convex spherical wrist joint rod 5 is a wrist joint rod lower hemispherical surface 501 which is coaxial with the single convex spherical wrist joint rod 5 and protrudes outwards, the upper hemispherical surface 502 of the wrist joint rod is opposite to the wrist joint rod lower hemispherical surface 501, and the circle centers of the upper hemispherical surface 502 of the wrist joint rod and the lower hemispherical surface 501 of the wrist joint rod are coaxially arranged on the single convex spherical wrist joint rod 5; the outer diameter of the upper hemispherical surface 502 of the wrist joint rod is larger than the outer diameter of the lower hemispherical surface 501 of the wrist joint rod.
Specifically, as shown in fig. 6, the single-convex spherical wrist joint block 6 is fixedly mounted in the annular groove at the corresponding position of the material clamping portion supporting shell 8 through the bottom outer edge, so as to realize axial fixation, the top surface of the single-convex spherical wrist joint block 6 is a single-concave spherical surface which is matched with the head end spherical surface of the single-convex spherical wrist joint rod 5, and the single-convex spherical wrist joint rod 5 can realize rotary motion in multiple directions relative to the single-convex spherical wrist joint block 6 due to single-spherical matching, that is, the rotary motion is similar to the twisting and bending motion of the upper limb 'wrist joint' of the human body; in addition, the upper hemispherical surface 502 of the wrist joint rod at the head end of the single-convex spherical wrist joint rod 5 is matched and connected with the inner end ring surface of the wrist joint ball tile 7 in a top matching manner, the outer end ring surface of the wrist joint ball tile 7 is axially limited and propped against the annular inner edge of the corresponding position of the material clamping part supporting shell 8, and the head end of the single-convex spherical wrist joint rod 5 is axially limited and installed in the material clamping part supporting shell 8 through the wrist joint ball tile 7.
Example two:
the second embodiment discloses a joint-simulated freedom degree controllable push-pull mechanism for a flexible stretch forming machine, as shown in fig. 1, the joint-simulated freedom degree controllable push-pull mechanism is formed by sequentially hinging a pulling part a, a joint-simulated connecting part C and a clamping part B, wherein the pulling part a is connected with a stretch loading device of the flexible stretch forming machine to transfer and apply a stretch loading force, one end of the joint-simulated connecting part C is hinged with the pulling part a, and the relative motion freedom degree of the joint-simulated connecting part C and the pulling part a simulates the motion freedom degree of an elbow of a human upper limb, namely the rotational freedom degree in a certain direction is limited, so that one end of the joint-simulated connecting part C hinged with the pulling part a is an elbow joint end; the material clamping part B is connected with a clamp for directly contacting the plate material to realize stretching, the other end of the joint simulating connecting part C is hinged with the material clamping part B, the relative motion freedom degree of the joint simulating connecting part C and the material clamping part B simulates the motion freedom degree of the wrist of the upper limb of a human body, namely the freedom degree is basically not limited, and therefore one end of the joint simulating connecting part C hinged with the material pulling part B is a wrist joint end.
As shown in fig. 7, the joint simulation portion C includes: the material pulling part comprises a double-concave spherical elbow joint rod 10, a split double-concave spherical elbow joint block 13, an elbow joint ball tile II 14, a single-convex spherical wrist joint rod 5, a single-convex spherical wrist joint block 6, a wrist joint ball tile 7 and a connecting sleeve rod 9, wherein the split double-concave spherical elbow joint block 13 is fixed in a material pulling part supporting shell 4, one end of the double-concave spherical elbow joint rod 10 is hinged and installed in the material pulling part supporting shell 4 in a manner of being matched with the split double-concave spherical elbow joint block 13, and axial limiting in the material pulling part supporting shell 4 is realized through the elbow joint ball tile II 14; in addition, the structures, positions, and installation connection relationships of the single-convex spherical wrist joint rod 5, the single-convex spherical wrist joint block 6, the wrist joint ball shoe 7, and the connection sleeve rod 9 are the same as those of the first embodiment, and are not described in detail in the second embodiment.
Next, only the connection structure between the joint-simulated connection portion C and the pulling portion a will be described in detail:
specifically, as shown in fig. 8, the tail end of the double-concave spherical elbow joint rod 10 is an elbow joint rod connecting end two 1003 provided with an external thread, and the double-concave spherical elbow joint rod 10 is fixedly connected with the connecting sleeve rod 9 through the elbow joint rod connecting end two 1003 in a threaded manner; the head end of the double-concave spherical elbow joint rod 10 is provided with two elbow joint rod concave spherical surfaces 1001 which are axially and symmetrically distributed relative to the double-concave spherical elbow joint rod 10, and an elbow joint rod concave spherical transition surface 1002 is connected between the two elbow joint rod concave spherical surfaces 1001.
Specifically, as shown in fig. 10, the split double concave spherical elbow joint block 13 includes: the outer edge of the second bottom plate 1301 is fixedly installed in an annular groove in a corresponding position of the material pulling part supporting shell 4, the bottom of the second elastic seat 1302 is fixedly adhered to the inner end face of the second bottom plate 1301, an installation groove is formed in the top face of the second elastic seat 1302, and the second elastic seat 1302 is made of elastic materials such as rubber; the second spherical supporting block 1303 is mounted in the mounting groove on the top surface of the second elastic seat 1302 in a matching manner, the top surface of the second spherical supporting block 1303 is provided with a convex spherical surface matched with the concave spherical surface 1001 of the elbow joint rod corresponding to the bottom of the double-concave spherical elbow joint rod 10, the bottoms of the concave spherical surfaces 1001 of the two elbow joint rods of the double-concave spherical elbow joint rod 10 are mounted on the corresponding second spherical supporting block 1303 in a matching manner, an embedding groove is formed between the two convex spherical surfaces of the second spherical supporting block 1303 matched with the concave spherical surfaces 1001 of the two elbow joint rods, and a concave spherical transition surface 1002 of the elbow joint rod in the middle of the double-concave spherical elbow joint rod 10 is embedded in the embedding groove. Due to the fact that the double-concave spherical elbow joint rod 10 is matched with the double-concave spherical elbow joint block 11, the double-concave spherical elbow joint rod can only achieve rotation motion in a single direction, namely bending motion similar to an elbow joint of an upper limb of a human body, and rotation freedom degrees in other directions are limited; in addition, the upper cambered surfaces of the two elbow joint rod concave spherical surfaces 1001 at the head ends of the double-concave spherical elbow joint rod 10 are matched with the inner end ring surface of the elbow joint ball tile II 14 to be connected in a matched mode, the outer end ring surface of the elbow joint ball tile II 14 is axially limited and abuts against the annular inner edge of the corresponding position of the material pulling part supporting shell 4, and the head ends of the double-concave spherical elbow joint rod 10 are axially limited and installed in the material pulling part supporting shell 4 through the elbow joint ball tile II 14. Besides, the double-concave spherical elbow joint rod 10 can realize the rotation motion in a single direction relative to the split type double-concave spherical elbow joint block 13, due to the adoption of the second elastic seat 1302, the double-concave spherical elbow joint rod 10 has a certain displacement space in the axial direction relative to the split type double-concave spherical elbow joint block 13, a certain space can be provided for the axial relative motion of the double-concave spherical elbow joint rod 10, and the motion elasticity of the double-concave spherical elbow joint rod is improved.
In this embodiment two, split type biconcave spherical elbow joint piece 13 can also be replaced through integral type biconcave spherical elbow joint piece 11, specifically, as shown in fig. 9, integral type biconcave spherical elbow joint piece 11 is along fixed mounting in the annular groove of material portion support housing 4 corresponding position through the bottom is outer, realizes axial fixity, and the top surface of integral type biconcave spherical elbow joint piece 11 sets up relatively for the biconvex sphere of the head end sphere complex with biconvex spherical elbow joint pole 10 and constitutes "V" shape spherical groove, and the biconvex sphere of integral type biconcave spherical elbow joint piece 11 and two elbow joint pole concave sphere 1001 of symmetric distribution and the smooth curved surface phase-match that constitutes jointly in the bottom of middle elbow joint pole concave sphere transition surface 1002.
As described above, in the first and second embodiments, in the joint-simulated degree-of-freedom controllable push-pull mechanism for a flexible stretch forming machine, the stretch loading device of the flexible stretch forming machine transmits the stretch loading force to one end of the joint-simulated connecting portion C through the material pulling portion a, one end of the joint-simulated connecting portion C hinged to the material pulling portion a simulates an "elbow joint" of an upper limb of a human body, while swinging, the rotational degree of freedom in at least one direction is limited, and a certain movement space is left in the axial direction according to actual needs, the stretch loading force continues to be transmitted to the material clamping portion B through the other end of the joint-simulated connecting portion C hinged to the material clamping portion B, the rotational and flapping degrees of freedom are substantially not limited by simulating a "wrist joint" of the upper limb of the human body, that is, in the first embodiment, the joint-simulated degree-of freedom controllable push mechanism can flexibly apply the stretch loading force through the material clamping portion B, the degree of freedom controllable push-pull clamp at the end of the material clamping portion B is limited, the movement degree of freedom of the single-push-pull clamp is ensured, and the outer diameter of the wrist joint rod 5 is larger than the effective size of a hemispherical joint of a wrist joint, and the wrist joint component 501 is prevented from falling under the effective working condition that the wrist joint occurs in the effective working process of the wrist joint.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A controllable push-pull institution of imitative joint degree of freedom for flexible stretch forming machine is articulated in proper order by drawing material portion, connecting portion and pressing from both sides material portion and forms, draws material portion and flexible stretch forming machine's tensile loading device to link to each other, presss from both sides material portion and clamp continuous its characterized in that:
the connecting part is an artificial joint connecting part and is formed by detachably and fixedly connecting an elbow joint rod and a wrist joint rod;
the elbow joint rod and the material pulling part are hinged through a double spherical surface to form an elbow joint simulating an upper limb of a human body, and the joint simulating connecting part swings in one direction relative to the material pulling part;
the wrist joint rod and the material clamping part are hinged through a single spherical surface to form a wrist joint simulating an upper limb of a human body, and the joint simulating connecting part rotates or swings in multiple directions relative to the material clamping part.
2. The joint-imitating degree-of-freedom controllable push-pull mechanism for a flexible stretch-forming machine as claimed in claim 1, wherein:
the elbow joint rod adopts a biconvex spherical elbow joint rod;
the top of the head end of the biconvex spherical elbow joint rod is hinged and matched with the biconvex spherical elbow joint block, the biconvex spherical elbow joint block is fixed in the material pulling part supporting shell, and the root of the head end of the biconvex spherical elbow joint rod is axially fixed in the material pulling part supporting shell through an elbow joint ball tile.
3. The joint-imitating degree-of-freedom controllable push-pull mechanism for the flexible stretch-forming machine as claimed in claim 2, wherein:
biconvex sphere elbow joint pole head end is equipped with two elbow joint pole protruding sphere for biconvex sphere elbow joint pole axial symmetry distributes, and is connected with the protruding sphere transition surface of elbow joint pole between two elbow joint pole protruding sphere, and the protruding sphere transition surface of elbow joint pole is for two elbow joint pole protruding sphere inwards sunken, and with the smooth curved surface transitional coupling of two elbow joint pole protruding sphere.
4. The joint-imitating degree-of-freedom controllable push-pull mechanism for a flexible stretch-forming machine as claimed in claim 2 or 3, wherein:
the double-convex spherical elbow joint block is an integrated double-convex spherical elbow joint block;
the bottom outer edge of the integrated double-convex spherical elbow joint block is fixed in an annular groove at a corresponding position of the material pulling part supporting shell, the top surface of the integrated double-convex spherical elbow joint block is a double-concave spherical surface matched with the head end spherical surface of the double-convex spherical elbow joint rod, and the double-concave spherical surface is matched with the smooth curved surface formed by the convex spherical surfaces of the two elbow joint rods and the bottom of the convex spherical transition surface of the middle elbow joint rod.
5. The joint-imitating degree-of-freedom controllable push-pull mechanism for a flexible stretch-forming machine as claimed in claim 2 or 3, wherein:
the biconvex spherical elbow joint block is a split type biconvex spherical elbow joint block;
the split double-convex spherical elbow joint block comprises: the first bottom plate, the first elastic seat and the first spherical supporting block;
the outer edge of the first bottom plate is fixedly arranged in the annular groove at the corresponding position of the support shell of the material pulling part, the bottom of the first elastic seat is fixed on the inner end surface of the first bottom plate, the top surface of the first elastic seat is provided with two mounting grooves, the first two spherical support blocks are arranged in the mounting grooves on the top surface of the first elastic seat in a matching way, the top surface of the spherical supporting block is provided with a concave spherical surface which is matched with the convex spherical surface of the elbow joint rod corresponding to the bottom of the biconvex spherical elbow joint rod, the bottom parts of the convex spherical surfaces of the two elbow joint rods of the biconvex spherical elbow joint rod are matched and installed in the corresponding spherical supporting block I, and the convex spherical transition surface of the elbow joint rod in the middle of the biconvex spherical elbow joint rod is propped against a boss of an elastic seat between the two spherical supporting blocks I.
6. The joint-imitating degree-of-freedom controllable push-pull mechanism for the flexible stretch-forming machine as claimed in claim 1, wherein:
the elbow joint rod adopts a biconcave spherical elbow joint rod;
the top of the head end of the biconcave spherical elbow joint rod is hinged and matched with the biconcave spherical elbow joint block, the biconcave spherical elbow joint block is fixed in the material pulling part supporting shell, and the root of the head end of the biconcave spherical elbow joint rod is axially fixed in the material pulling part supporting shell through the elbow joint spherical tile.
7. The joint-imitating degree-of-freedom controllable push-pull mechanism for a flexible stretch-forming machine as claimed in claim 6, wherein:
the head end of the double-concave spherical elbow joint rod is provided with two elbow joint rod concave spherical surfaces which are axially and symmetrically distributed relative to the double-concave spherical elbow joint rod, and an elbow joint rod concave spherical transition surface is connected between the two elbow joint rod concave spherical surfaces.
8. The joint-imitated degree-of-freedom controllable push-pull mechanism for the flexible stretch forming machine according to claim 6 or 7, wherein:
the split type double-concave spherical elbow joint block is an integrated double-concave spherical elbow joint block;
the integrated double-concave spherical elbow joint block is fixedly arranged in an annular groove at a corresponding position of the material pulling part supporting shell through the bottom outer edge, and the top surface of the integrated double-concave spherical elbow joint block is a V-shaped spherical groove formed by oppositely arranging double convex spherical surfaces matched with the concave spherical surfaces of the elbow joint rod.
9. The joint-imitated degree-of-freedom controllable push-pull mechanism for the flexible stretch forming machine according to claim 6 or 7, wherein:
the split double-concave spherical elbow joint block is a split double-concave spherical elbow joint block;
the split double-concave spherical elbow joint block comprises: a second bottom plate, a second elastic seat and a second spherical supporting block;
the second outer edge of the bottom plate is fixedly installed in an annular groove in the corresponding position of the material pulling part supporting shell, the bottom of the second elastic seat is fixed on the inner end face of the second bottom plate, the top face of the second elastic seat is provided with a mounting groove, the second spherical supporting block is installed in the mounting groove in the top face of the second elastic seat in a matching manner, the top face of the second spherical supporting block is provided with a convex spherical face matched with the concave spherical face of the elbow joint rod corresponding to the bottom of the double-concave spherical elbow joint rod, the bottoms of the concave spherical faces of the two elbow joint rods of the double-concave spherical elbow joint rod are installed on the corresponding second spherical supporting block in a matching manner, an embedding groove is formed between the two convex spherical faces of the second spherical supporting block matched with the concave spherical faces of the two elbow joint rods, and a concave spherical transition face 1002 of the elbow joint rod in the middle of the double-concave spherical elbow joint rod 10 is embedded in the embedding groove.
10. The joint-imitating degree-of-freedom controllable push-pull mechanism for the flexible stretch-forming machine as claimed in claim 1, wherein:
the wrist joint rod is a single convex spherical wrist joint rod;
the end surface of the head end of the single convex spherical wrist joint rod is a lower hemispherical surface of the wrist joint rod which is coaxial with the single convex spherical wrist joint rod and protrudes outwards, the upper hemispherical surface of the wrist joint rod is opposite to the lower hemispherical surface of the wrist joint rod, and the circle centers of the upper hemispherical surface of the wrist joint rod and the lower hemispherical surface of the wrist joint rod are coaxial with the single convex spherical wrist joint rod; the outer diameter of the upper hemispherical surface of the wrist joint rod is larger than that of the lower hemispherical surface of the wrist joint rod.
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| CN202211710759.XA CN115870394B (en) | 2022-12-29 | 2022-12-29 | Joint-like degree-of-freedom controllable push-pull mechanism for flexible stretch forming machine |
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| CN115870394B (en) | 2023-10-24 |
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