CN117019981B - Skin stretch forming device and method - Google Patents
Skin stretch forming device and method Download PDFInfo
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- CN117019981B CN117019981B CN202311233257.7A CN202311233257A CN117019981B CN 117019981 B CN117019981 B CN 117019981B CN 202311233257 A CN202311233257 A CN 202311233257A CN 117019981 B CN117019981 B CN 117019981B
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 239000002344 surface layer Substances 0.000 claims description 15
- 230000003750 conditioning effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 10
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000007493 shaping process Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000001788 irregular Effects 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 229910000861 Mg alloy Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 229910001256 stainless steel alloy Inorganic materials 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
- -1 ultraduralumin Inorganic materials 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
- B21D22/22—Deep-drawing with devices for holding the edge of the blanks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/20—Deep-drawing
- B21D22/201—Work-pieces; preparation of the work-pieces, e.g. lubricating, coating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
Abstract
The invention provides a skin stretch-forming device and a skin stretch-forming method, which relate to the technical field of automation, wherein the skin stretch-forming device comprises: the device comprises a stretch-forming die, a die base, a first telescopic base, a second telescopic base, a first telescopic assembly, a second telescopic assembly, a first jaw assembly, a second jaw assembly, a fixing frame, a controller and a plurality of pressure sensors. The first telescopic base and the second telescopic base are arranged on the fixing frame and used for bearing the first telescopic assembly and the second telescopic assembly, the first jaw assembly and the second jaw assembly clamp the skin to be stretched, and the controller controls the first telescopic assembly and the second telescopic assembly to conduct telescopic movement so as to drive the first jaw assembly and the second jaw assembly to move, so that the skin to be stretched is stretched. The invention can effectively improve the process quality and the yield of the skin.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a skin stretch-forming device and a skin stretch-forming method.
Background
The skin is a stressed member covered outside the framework and is mostly used for forming a streamline outer surface of the aircraft wing. The skin of early low speed aircraft was cloth-like. Textile products are generally wrapped on wooden or metal frames and are coated with a water-impermeable, air-impermeable film. The disadvantages of the cloth skin are apparent as the aircraft speed, altitude and weight increase. Thus, the metal skin begins to gradually replace the cloth skin. Conventional aircraft metal skin materials mainly adopt high-strength aluminum or magnesium alloy, and some special aircraft adopt titanium alloy or composite materials. The skin of modern aircraft has been widely used with metallic materials such as duralumin, ultraduralumin, and stainless steel.
In order to reduce the drag of a wing, it is generally required that the skin be smooth, that the skin be subjected to local aerodynamic loads perpendicular to its surface during flight, and that the skin be generally stressed as part of the wing, that the skin be combined with the spar to form a closed box-like thin-walled structure that is subjected to the torque of the wing. When the skin is thicker, the skin, the stringers and the spar caps form a wallboard together, and the wallboard bears shearing force caused by wing bending moment. The skin structure formed by the aircraft skin and the framework has larger bearing capacity and rigidity, and the main function is to maintain the appearance of the aircraft, so that the aircraft has good aerodynamic characteristics. With the rapid development of modern aircraft, the requirements on the strength, plasticity, corrosion resistance, manufacturing process level and the like of the skin material are high.
The skin stretch forming machine is mainly used for longitudinal stretch forming of aluminum alloy, stainless steel and titanium alloy skin parts on a large aircraft body. The existing skin stretch forming machine and the skin finished product quality bottom obtained by the stretch forming method cannot obtain good aerodynamic characteristics.
Disclosure of Invention
The invention aims to provide a skin stretch forming device and a skin stretch forming method, which can effectively improve the process quality and the yield of skin.
A skin stretching apparatus, comprising: the device comprises a stretch-forming die, a die base, a first telescopic base, a second telescopic base, a first telescopic assembly, a second telescopic assembly, a first jaw assembly, a second jaw assembly, a fixing frame, a controller and a plurality of pressure sensors;
the die base, the first telescopic base and the second telescopic base are fixed on the fixing frame; the stretch-forming die is fixedly arranged on the die base; the stretch-forming die is used for bearing the skin to be stretched;
the first end of the first telescopic component is rotationally connected with the first telescopic base, and the first end of the second telescopic component is rotationally connected with the second telescopic base;
the second end of the first telescopic component is connected with the first jaw component, and the second end of the second telescopic component is connected with the second jaw component;
the first jaw assembly is used for clamping the first end of the skin to be stretched, and the second jaw assembly is used for clamping the second end of the skin to be stretched;
the stretch-forming die comprises a support structure and a surface layer; the support structure is fixedly arranged on the die base, and the surface layer is arranged on the support structure;
the surface layer is provided with a contour line of the skin to be stretched and an equidistant line corresponding to the contour line; a plurality of mounting holes penetrating through the surface layer are formed in the contour line and the equidistant line; the pressure sensor is arranged in the mounting hole through a limiting buckle and a screw, and the mounting hole is filled with fixed gel;
the die base, the first telescopic assembly, the second telescopic assembly and the pressure sensors are all connected with the controller;
the controller is used for controlling the first telescopic assembly and the second telescopic assembly to perform telescopic movement according to skin stretch-forming process parameters so as to drive the first jaw assembly and the second jaw assembly to move, thereby realizing stretch-forming of the skin to be stretched;
the pressure sensors are used for acquiring pressure data in real time in the stretch forming process and sending the pressure data to the controller, the controller judges the pressure data, if the change value of the pressure data is within a set threshold range, stretch forming is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and an alarm signal is sent.
Optionally, the first telescopic assembly comprises a first horizontal telescopic rod, a second horizontal telescopic rod, a first vertical telescopic rod and a second vertical telescopic rod;
the first telescopic base comprises a first horizontal telescopic base, a second horizontal telescopic base, a first vertical telescopic base and a second vertical telescopic base;
the first horizontal telescopic base and the second horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame;
the first vertical telescopic base and the second vertical telescopic base are fixedly arranged above the lower surface of the fixing frame;
the first end of the first horizontal telescopic rod is rotationally connected with the first horizontal telescopic base, and the second end of the first horizontal telescopic rod is connected with the first connecting end of the first jaw assembly;
the first end of the second horizontal telescopic rod is rotationally connected with the second horizontal telescopic base, and the second end of the second horizontal telescopic rod is connected with the second connecting end of the first jaw assembly;
the first end of the first vertical telescopic rod is rotationally connected with the first vertical telescopic base, and the second end of the first vertical telescopic rod is connected with the third connecting end of the first jaw assembly;
the first end of the second vertical telescopic rod is rotationally connected with the second vertical telescopic base, and the second end of the second vertical telescopic rod is connected with the fourth connecting end of the first jaw assembly;
clamping the first end of the skin to be stretched by the clamping end of the first jaw assembly;
the first connecting end and the third connecting end of the first jaw assembly are correspondingly arranged, so that the first horizontal telescopic rod and the first vertical telescopic rod are matched to drive the first end of the first jaw assembly to move;
the second connecting end and the fourth connecting end of the first jaw assembly are correspondingly arranged, so that the second horizontal telescopic rod and the second vertical telescopic rod are matched to drive the second end of the first jaw assembly to move;
the first horizontal telescopic rod, the second horizontal telescopic rod, the first vertical telescopic rod and the second vertical telescopic rod are all connected with the controller.
Optionally, the second telescopic assembly comprises a third horizontal telescopic rod, a fourth horizontal telescopic rod, a third vertical telescopic rod and a fourth vertical telescopic rod;
the second telescopic base comprises a third horizontal telescopic base, a fourth horizontal telescopic base, a third vertical telescopic base and a fourth vertical telescopic base;
the third horizontal telescopic base and the fourth horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame;
the third vertical telescopic base and the fourth vertical telescopic base are fixedly arranged above the lower surface of the fixing frame;
the first end of the third horizontal telescopic rod is rotationally connected with the third horizontal telescopic base, and the second end of the third horizontal telescopic rod is connected with the first connecting end of the second jaw assembly;
the first end of the fourth horizontal telescopic rod is rotationally connected with the fourth horizontal telescopic base, and the second end of the fourth horizontal telescopic rod is connected with the second connecting end of the second jaw assembly;
the first end of the third vertical telescopic rod is rotationally connected with the third vertical telescopic base, and the second end of the third vertical telescopic rod is connected with the third connecting end of the second jaw assembly;
the first end of the fourth vertical telescopic rod is rotationally connected with the fourth vertical telescopic base, and the second end of the fourth vertical telescopic rod is connected with the fourth connecting end of the second jaw assembly;
clamping the second end of the skin to be stretched by the clamping end of the second jaw assembly;
the first connecting end and the third connecting end of the second jaw assembly are correspondingly arranged, so that the third horizontal telescopic rod and the third vertical telescopic rod are matched to drive the first end of the second jaw assembly to move;
the second connecting end and the fourth connecting end of the second jaw assembly are correspondingly arranged, so that the fourth horizontal telescopic rod and the fourth vertical telescopic rod are matched to drive the second end of the second jaw assembly to move;
the third horizontal telescopic rod, the fourth horizontal telescopic rod, the third vertical telescopic rod and the fourth vertical telescopic rod are all connected with the controller.
Optionally, the controller comprises a communication unit, a signal conditioning unit and a main control chip;
each pressure sensor is connected with the signal conditioning unit through the communication unit, and the signal conditioning unit is connected with the main control chip;
the main control chip is connected with the first telescopic component and the second telescopic component through the communication unit;
the signal conditioning unit is used for preprocessing the pressure data to obtain a standard voltage signal and sending the standard voltage signal to the main control chip, the main control chip judges the standard voltage signal, if the change value of the standard voltage signal is within the set threshold range, the stretch forming is continuously executed, and if the change value of the standard voltage signal is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and the alarm signal is sent;
the main control chip is used for controlling the first telescopic assembly and the second telescopic assembly to perform telescopic movement according to the skin stretch-forming process parameters, or controlling the first telescopic assembly and the second telescopic assembly to stop working and sending out the alarm signal when the variation value of the standard voltage signal is not in the set threshold range.
Optionally, the preprocessing includes sequentially filtering, shaping, amplitude modulating and eliminating singular values of the pressure data to obtain the standard voltage signal.
Optionally, the first horizontal telescopic rod, the second horizontal telescopic rod, the first vertical telescopic rod, the second vertical telescopic rod, the third horizontal telescopic rod, the fourth horizontal telescopic rod, the third vertical telescopic rod and the fourth vertical telescopic rod are all hydraulic cylinders.
The invention also provides a skin stretching method based on the skin stretching device, which comprises the following steps:
s1, acquiring an initial position and a theoretical end position of the first jaw assembly, an initial position and a theoretical end position of the second jaw assembly and initial values of the pressure sensors;
s2, according to the initial position and the theoretical end position of the first jaw assembly and the initial position and the theoretical end position of the second jaw assembly, combining the top surface shape of the stretch-forming die, and adopting a least square method to obtain a moving position set of the first jaw assembly and a moving position set of the second jaw assembly;
s3, obtaining skin stretch-forming technological parameters according to the moving position set of the first jaw assembly and the moving position set of the second jaw assembly;
s4, the controller executes a stretch-forming process according to the skin stretch-forming process parameters:
s41, pre-shaping process: the controller controls the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move, so that the skin to be stretched is in a horizontal straightening state, and the skin to be stretched is tangent to the vertex of the stretch-forming die and is a first set length away from the vertex of the stretch-forming die;
s42, a stretch forming process:
s421, pre-bending process: the controller controls the telescopic base to move up and down to drive the stretch-forming die to move up and down so that the skin to be stretched is tangent to the vertex of the stretch-forming die and is a second set length away from the vertex of the stretch-forming die;
s422, bending process: controlling the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move according to the skin stretch-forming technological parameters;
s423, deformation process: the first jaw assembly and the second jaw assembly move to pull the skin to be stretched so that the skin to be stretched is fixed after reaching a set bending stress, and the telescopic base moves upwards to drive the stretch-forming die to move upwards for a third set length, so that the stretch-forming skin is obtained;
in the pre-drawing process and the drawing process, each pressure sensor acquires pressure data in real time and sends the pressure data to the controller, the controller judges the pressure data, if the change value of the pressure data is within the set threshold range, the pre-drawing process or the drawing process is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and the alarm signal is sent;
s5, analyzing the stretch-forming quality of the stretch-forming skin to obtain an analysis result, updating the theoretical end point position of the first jaw assembly and the theoretical end point position of the second jaw assembly according to the analysis result, and executing S1-S4 according to the updated theoretical end point position of the first jaw assembly and the updated theoretical end point position of the second jaw assembly to stretch-form the rest of the skin to be stretched.
The invention has the following effects:
according to the invention, the pressure sensor is arranged, the pressure monitoring is carried out in the whole stretch-forming process, the sudden change of the pressure can cause failure in stretch-forming of the sheet material and serious damage to the sheet material and equipment in the stage of approaching the skin to form, and the safety of the stretch-forming equipment can be effectively ensured by carrying out real-time monitoring on the pressure change.
According to the skin stretch-forming method, the process quality and the yield of sheet stretch-forming can be improved by updating the theoretical final point position.
Drawings
FIG. 1 is a front view of a skin stretching device of the present invention;
FIG. 2 is a top view of the skin stretching device of the present invention;
FIG. 3 is a block diagram of a stretch forming die of the present invention;
FIG. 4 is a schematic view of the pressure sensor and surface layer locations of the present invention;
FIG. 5 is a schematic illustration of the skin stretch forming process of the present invention;
FIG. 6 is a schematic diagram of the distribution of pressure sensors when the skin to be stretched is rectangular;
FIG. 7 is a schematic diagram of the distribution of pressure sensors when the skin to be stretched is irregularly shaped on one side;
FIG. 8 is a schematic diagram of the distribution of pressure sensors when the skin to be stretched is double-sided irregular;
figure 9 is a flow chart of a skin stretch forming method of the present invention.
In the figure: 1. a mold base; 2. drawing a die; 3. a first telescopic base; 4. a second telescopic base; 5. a first telescoping assembly; 6. a second telescoping assembly; 7. a first jaw assembly; 8. a second jaw assembly; 9. a fixing frame; 10. a controller; 11. a pressure sensor; 12. a skin to be stretched; 21. a support structure; 22. a surface layer; 23. equidistant lines; 24. a contour line; 25. a mounting hole; 51. a first horizontal telescopic rod; 52. a second horizontal telescopic rod; 53. a first vertical telescopic rod; 61. a third horizontal telescopic rod; 62. a fourth horizontal telescopic rod; 63. and a third vertical telescopic rod.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Fig. 1 is a front view of the skin stretching device of the present invention, and fig. 2 is a top view of the skin stretching device of the present invention. As shown in fig. 1 and 2, the present invention provides a skin stretching device, which includes: the die comprises a drawing die 2, a die base 1, a first telescopic base 3, a second telescopic base 4, a first telescopic assembly 5, a second telescopic assembly 6, a first jaw assembly 7, a second jaw assembly 8, a fixing frame 9, a controller 10 and a plurality of pressure sensors 11.
The die base 1, the first telescopic base 3 and the second telescopic base 4 are fixed on a fixed frame 9; the stretch-forming die 2 is fixedly arranged on the die base 1; the stretch-forming die 2 is used to carry the skin 12 to be stretch-formed.
The first end of the first telescopic assembly 5 is rotatably connected with the first telescopic base 3, and the first end of the second telescopic assembly 6 is rotatably connected with the second telescopic base 4.
The second end of the first telescopic assembly 5 is connected to a first jaw assembly 7 and the second end of the second telescopic assembly 6 is connected to a second jaw assembly 8.
The first jaw assembly 7 is used for clamping a first end of the skin 12 to be pulled, and the second jaw assembly 8 is used for clamping a second end of the skin 12 to be pulled. The first jaw assembly 7 and the second jaw assembly 8 each have six degrees of freedom.
As shown in fig. 3, the stretch-die 2 comprises a support structure 21 and a surface layer 22; the support structure 21 is fixedly arranged on the mould base 1 and the surface layer 22 is arranged on the support structure 21.
The surface layer 22 is provided with contour lines 24 of the skin 12 to be stretched and with equidistant lines 23 corresponding to the contour lines 24; the contour lines 24 and the equidistant lines 23 are provided with a plurality of mounting holes 25 penetrating the surface layer 22; the pressure sensor 11 is installed in the installation hole 25 through a limiting buckle and a screw, and the installation hole 25 is also filled with fixing gel, as shown in fig. 4. The pressure sensor is a column type strain type pressure sensor and comprises an elastic metal body and a strain gauge attached to the elastic metal body. The pressure sensor firstly converts the measured force into the strain of the strain gauge, and then the strain is measured by utilizing the resistance strain effect, so that the pressure is indirectly measured.
The die base 1, the first telescopic assembly 5, the second telescopic assembly 6 and the plurality of pressure sensors 11 are all connected with the controller 10.
As shown in fig. 5, the controller 10 is configured to control the first telescopic assembly 5 and the second telescopic assembly 6 to perform telescopic movement according to skin stretching process parameters, so as to drive the first jaw assembly 7 and the second jaw assembly 8 to move, thereby realizing stretching of the skin 12 to be stretched.
The plurality of pressure sensors 11 are used for acquiring pressure data in real time in the stretch forming process and sending the pressure data to the controller 10, the controller 10 judges the pressure data, if the change value of the pressure data is within a set threshold range, the stretch forming is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly 5 and the second telescopic assembly 6 are controlled to stop working, and an alarm signal is sent out.
Specifically, the first telescopic assembly 5 includes a first horizontal telescopic rod 51, a second horizontal telescopic rod 52, a first vertical telescopic rod 53 and a second vertical telescopic rod.
The first telescopic base 3 includes a first horizontal telescopic base, a second horizontal telescopic base, a first vertical telescopic base, and a second vertical telescopic base.
The first horizontal telescopic base and the second horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame 9.
The first vertical telescopic base and the second vertical telescopic base are fixedly arranged above the lower surface of the fixing frame 9.
The first end of the first horizontal telescopic rod 51 is rotatably connected with the first horizontal telescopic base, and the second end of the first horizontal telescopic rod 51 is connected with the first connecting end of the first jaw assembly 7.
The first end of the second horizontal telescopic rod 52 is rotatably connected with the second horizontal telescopic base, and the second end of the second horizontal telescopic rod 52 is connected with the second connecting end of the first jaw assembly 7.
The first end of the first vertical telescopic rod 53 is rotatably connected with the first vertical telescopic base, and the second end of the first vertical telescopic rod 53 is connected with the third connecting end of the first jaw assembly 7.
The first end of the second vertical telescopic rod is rotatably connected with the second vertical telescopic base, and the second end of the second vertical telescopic rod is connected with the fourth connecting end of the first jaw assembly 7.
The clamping end of the first jaw assembly 7 clamps the first end of the skin 12 to be stretched.
The first connecting end and the third connecting end of the first jaw assembly 7 are correspondingly arranged, so that the first horizontal telescopic rod 51 and the first vertical telescopic rod 53 are matched to drive the first end of the first jaw assembly 7 to move.
The second connecting end and the fourth connecting end of the first jaw assembly 7 are correspondingly arranged, so that the second horizontal telescopic rod 52 and the second vertical telescopic rod are matched to drive the second end of the first jaw assembly 7 to move.
The first horizontal telescopic link 51, the second horizontal telescopic link 52, the first vertical telescopic link 53 and the second vertical telescopic link are all connected with the controller 10.
Further, the second telescopic assembly 6 comprises a third horizontal telescopic rod 61, a fourth horizontal telescopic rod 62, a third vertical telescopic rod 63 and a fourth vertical telescopic rod.
The second telescopic base 4 includes a third horizontal telescopic base, a fourth horizontal telescopic base, a third vertical telescopic base, and a fourth vertical telescopic base.
The third horizontal telescopic base and the fourth horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame 9.
The third vertical telescopic base and the fourth vertical telescopic base are fixedly arranged above the lower surface of the fixing frame 9.
The first end of the third horizontal telescopic rod 61 is rotatably connected with the third horizontal telescopic base, and the second end of the third horizontal telescopic rod 61 is connected with the first connecting end of the second jaw assembly 8.
The first end of the fourth horizontal telescopic rod 62 is rotatably connected with the fourth horizontal telescopic base, and the second end of the fourth horizontal telescopic rod 62 is connected with the second connecting end of the second jaw assembly 8.
The first end of the third vertical telescopic rod 63 is rotatably connected with the third vertical telescopic base, and the second end of the third vertical telescopic rod 63 is connected with the third connecting end of the second jaw assembly 8.
The first end of the fourth vertical telescopic rod is rotatably connected with the fourth vertical telescopic base, and the second end of the fourth vertical telescopic rod is connected with the fourth connecting end of the second jaw assembly 8.
The clamping end of the second jaw assembly 8 clamps the second end of the skin 12 to be stretched.
The first connecting end and the third connecting end of the second jaw assembly 8 are correspondingly arranged, so that the third horizontal telescopic rod 61 and the third vertical telescopic rod 63 are matched to drive the first end of the second jaw assembly 8 to move.
The second connecting end and the fourth connecting end of the second jaw assembly 8 are correspondingly arranged, so that the fourth horizontal telescopic rod 62 and the fourth vertical telescopic rod cooperate to drive the second end of the second jaw assembly 8 to move.
The third horizontal telescopic link 61, the fourth horizontal telescopic link 62, the third vertical telescopic link 63 and the fourth vertical telescopic link are all connected with the controller 10.
Optionally, the controller 10 includes a communication unit, a signal conditioning unit, and a main control chip;
each pressure sensor 11 is connected with a signal conditioning unit through a communication unit, and the signal conditioning unit is connected with a main control chip. The communication unit is realized based on a CAN communication protocol.
The main control chip is connected with the first telescopic component 5 and the second telescopic component 6 through the communication unit.
The signal conditioning unit is used for preprocessing the pressure data to obtain a standard voltage signal and sending the standard voltage signal to the main control chip, the main control chip judges the standard voltage signal, if the change value of the standard voltage signal is within the set threshold range, the stretch forming is continuously executed, and if the change value of the standard voltage signal is not within the set threshold range, the first telescopic component 5 and the second telescopic component 6 are controlled to stop working, and an alarm signal is sent out. STM32 series single-chip microcomputer is selected as the main control chip.
The main control chip is used for controlling the first telescopic component 5 and the second telescopic component 6 to carry out telescopic movement according to skin stretch-forming technological parameters, or when the variation value of the standard voltage signal is not in the set threshold range, the main control chip controls the first telescopic component 5 and the second telescopic component 6 to stop working and sends out an alarm signal.
The preprocessing is to sequentially filter, reshape, modulate and remove singular values for the pressure data to obtain a standard voltage signal.
Alternatively, the first horizontal telescopic rod 51, the second horizontal telescopic rod 52, the first vertical telescopic rod 53, the second vertical telescopic rod, the third horizontal telescopic rod 61, the fourth horizontal telescopic rod 62, the third vertical telescopic rod 63 and the fourth vertical telescopic rod are all hydraulic cylinders.
The three typical shapes of the skin 12 to be stretched are: rectangular, single sided irregular, and double sided irregular. In actual processing, the contours 24 of the skin 12 to be stretched are marked with black in the surface layer 22. According to the skins 12 to be stretched in different shapes, mounting holes 25 are processed on the contour lines 24, and the setting positions of the mounting holes 25 are selected according to the following principle:
(1) Vertex mounting holes 25: mounting holes 25 are provided at respective vertices of the contour line 24. The mounting holes 25 at the vertices are an optional arrangement.
(2) Intermediate point mounting hole 25: a mounting hole 25 is provided at an intermediate point between two consecutive vertices of the contour line 24. The intermediate point mounting holes 25 are optional and may be selected as appropriate for the specific requirements of the skin to be stretched 12 of different sizes and shapes for skin stretching.
(3) Arc mounting hole 25: for the skin 12 to be stretched having a circular arc profile, the mounting holes 25 are provided at points of maximum slope in the circular arc profile between the two vertices. The arc mounting holes 25 are optional and may be selected as appropriate for the specific requirements of the skin 12 to be stretched for skin stretching for different sizes and shapes.
Taking the skin 12 to be stretched as a rectangle as an example, let the length of the rectangle be L and the width be W. The mounting holes 25 on the contour line 24 are set at the positions: 1. vertex mounting holes 25: (0, 0), (W, L), (0, L); 2. the intermediate point mounting hole 25 is: (0.5W, 0), (W, 0.5L), (0.5W, L), (0,0.5L).
Considering the difference of the stretch-forming plates, and simultaneously, in order to effectively improve the stretch-forming precision of the skin plates, the periphery of the contour line 24 is marked with equidistant lines 23 by black marks, the perpendicular lengths of the equidistant lines 23 and the contour line 24 are equal, and the perpendicular length is set to be one eighth of the longest straight contour line 24. The mounting holes 25 are also machined in the equidistant lines 23, and after the mounting holes 25 are perpendicular to the mounting holes 25 of the contour lines 24, the mounting holes 25 are arranged at the intersection points of the perpendicular lines and the equidistant lines 23. The pressure detection sensor arranged on the equidistant line 23 can effectively detect the pressure change condition of the skin in the later stage of stretching.
Taking the skin 12 to be stretched as a rectangle as an example, let the length of the rectangle be L and the width be W. The mounting holes 25 on the equidistant lines 23 are set in the positions: 1. vertex mounting holes 25: (-L/8 ), (M+L/8,9L/8), -L/8,9L/8); 2. the intermediate point mounting hole 25 is: (M/2, -L/8), (M+L/8, L/2), (M/2,9L/8), (-L/8, L/2).
The positions of the mounting holes 25 on the contour lines 24 and the equidistant lines 23 when the skin 12 to be drawn is rectangular are shown in fig. 6, the positions of the mounting holes 25 on the contour lines 24 and the equidistant lines 23 when the skin 12 to be drawn is a single-sided irregular shape are shown in fig. 7, and the positions of the mounting holes 25 on the contour lines 24 and the equidistant lines 23 when the skin 12 to be drawn is a double-sided irregular shape are shown in fig. 8.
Figure 9 is a flow chart of a skin stretch forming method of the present invention. As shown in fig. 9, the present invention provides a skin stretching method based on the skin stretching device, which includes:
s1, acquiring initial positions and theoretical end positions of the first jaw assembly, initial positions and theoretical end positions of the second jaw assembly and initial values of the pressure sensors.
S2, according to the initial position and the theoretical end position of the first jaw assembly and the initial position and the theoretical end position of the second jaw assembly, combining the top surface shape of the stretch-forming die, and adopting a least square method to obtain a moving position set of the first jaw assembly and a moving position set of the second jaw assembly.
Taking the set of moving positions of the first jaw assembly as an example:
measuring and drawing according to the top surface shape of the drawing die to obtain an ideal line type of a drawing task, and intercepting the ideal line type according to the initial position and the theoretical end position of the first jaw assembly to obtain a target line segment;
setting Y=0, selecting m data points of a target line segment in an XZ plane, wherein X is more than or equal to 0.5c and less than or equal to 0.5c, and Z is more than or equal to 0 and less than or equal to h. And drawing a scatter diagram on the grid XZ coordinate paper.
And selecting a curve type according to the distribution condition of the scattered points in the scattered point diagram. Selecting a function equation as Z=a 0 +a 1 X+a 2 X 2 +…+a m X m Wherein a is 0 ，a 1 ，a 2 ，…，a m Is constant.
And (5) calculating optimal parameter estimation values of the linear equation and the variance analysis function according to the least square method principle. The specific method comprises the following steps:
to find the parameter a of the function Z 0 ，a 1 ，a 2 ，…，a m Calculating a fitting residual e k ＝Z k -(a 0 +a 1 X+a 2 X 2 +…+a m X m ) Where k=1, 2,3, …, m.
Defining a fitness objective function of least squaresWherein w is k And > 0 is a constant weight coefficient.
Solving the set fitness objective function T for the parameter a 0 ，a 1 ，a 2 ，…，a m Can obtain the first partial derivative of the objective function T:
solving the above method to obtain the optimal parameter a 0 ，a 1 ，a 2 ，…，a m 。
Optimal parameter a selected according to least square method 0 ，a 1 ，a 2 ，…，a m When T can be minimized, the obtained equation is a function expression fitted by the discrete points of the outline of the stretch-forming die. By using the function, all discrete points of the reverse extension of the outline of the stretch-forming die in the XZ plane can be calculated.
And reversely extending all discrete points in the XZ plane according to the contour line to obtain a moving position set of the first jaw assembly.
The method of obtaining the set of moving positions of the second jaw assembly is referred to as the set of moving positions of the first jaw assembly.
S3, obtaining skin stretch-forming technological parameters according to the moving position set of the first jaw assembly and the moving position set of the second jaw assembly.
S4, the controller executes a stretch-forming process according to the stretch-forming process parameters of the skin:
s41, pre-shaping process: the controller controls the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move, so that the skin to be stretched is in a horizontal straightening state, and the skin to be stretched is tangent to the vertex of the stretch-forming die and is a first set length away from the vertex of the stretch-forming die. The first set length is 5-10 cm.
S42, a stretch forming process:
s421, pre-bending process: the controller controls the telescopic base to move up and down to drive the stretch-forming die to move up and down, so that the skin to be stretched is tangent to the top point of the stretch-forming die and is a second set length away from the top point of the stretch-forming die. The second set length is 2-7 cm.
S422, bending process: and controlling the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move according to the skin stretch-forming technological parameters.
S423, deformation process: the first jaw assembly and the second jaw assembly move to pull the skin to be stretched so that the skin to be stretched is fixed after reaching a set bending stress, and the telescopic base moves upwards to drive the stretch-forming die to move upwards for a third set length, so that the stretch-forming skin is obtained. The third set length is 1-5 cm.
In the pre-drawing process and the drawing process, each pressure sensor acquires pressure data in real time and sends the pressure data to the controller, the controller judges the pressure data, if the change value of the pressure data is within a set threshold range, the pre-drawing process or the drawing process is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and an alarm signal is sent.
S5, analyzing the stretch-forming quality of the stretch-forming skin to obtain an analysis result, updating the theoretical end point position of the first jaw assembly and the theoretical end point position of the second jaw assembly according to the analysis result, and executing S1-S4 according to the updated theoretical end point position of the first jaw assembly and the updated theoretical end point position of the second jaw assembly to stretch-form the rest of the skin to be stretched.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
1. A skin stretching device, comprising: the device comprises a stretch-forming die, a die base, a first telescopic base, a second telescopic base, a first telescopic assembly, a second telescopic assembly, a first jaw assembly, a second jaw assembly, a fixing frame, a controller and a plurality of pressure sensors;
the die base, the first telescopic base and the second telescopic base are fixed on the fixing frame; the stretch-forming die is fixedly arranged on the die base; the stretch-forming die is used for bearing the skin to be stretched;
the first end of the first telescopic component is rotationally connected with the first telescopic base, and the first end of the second telescopic component is rotationally connected with the second telescopic base;
the second end of the first telescopic component is connected with the first jaw component, and the second end of the second telescopic component is connected with the second jaw component;
the first jaw assembly is used for clamping the first end of the skin to be stretched, and the second jaw assembly is used for clamping the second end of the skin to be stretched;
the stretch-forming die comprises a support structure and a surface layer; the support structure is fixedly arranged on the die base, and the surface layer is arranged on the support structure;
the surface layer is provided with a contour line of the skin to be stretched and an equidistant line corresponding to the contour line; a plurality of mounting holes penetrating through the surface layer are formed in the contour line and the equidistant line; the pressure sensor is arranged in the mounting hole through a limiting buckle and a screw, and the mounting hole is filled with fixed gel;
the die base, the first telescopic assembly, the second telescopic assembly and the pressure sensors are all connected with the controller;
the controller is used for controlling the first telescopic assembly and the second telescopic assembly to perform telescopic movement according to skin stretch-forming process parameters so as to drive the first jaw assembly and the second jaw assembly to move, thereby realizing stretch-forming of the skin to be stretched;
the pressure sensors are used for acquiring pressure data in real time in the stretch forming process and sending the pressure data to the controller, the controller judges the pressure data, if the change value of the pressure data is within a set threshold range, stretch forming is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and an alarm signal is sent.
2. The skin stretching device of claim 1, wherein the first telescoping assembly comprises a first horizontal telescoping rod, a second horizontal telescoping rod, a first vertical telescoping rod, and a second vertical telescoping rod;
the first telescopic base comprises a first horizontal telescopic base, a second horizontal telescopic base, a first vertical telescopic base and a second vertical telescopic base;
the first horizontal telescopic base and the second horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame;
the first vertical telescopic base and the second vertical telescopic base are fixedly arranged above the lower surface of the fixing frame;
the first end of the first horizontal telescopic rod is rotationally connected with the first horizontal telescopic base, and the second end of the first horizontal telescopic rod is connected with the first connecting end of the first jaw assembly;
the first end of the second horizontal telescopic rod is rotationally connected with the second horizontal telescopic base, and the second end of the second horizontal telescopic rod is connected with the second connecting end of the first jaw assembly;
the first end of the first vertical telescopic rod is rotationally connected with the first vertical telescopic base, and the second end of the first vertical telescopic rod is connected with the third connecting end of the first jaw assembly;
the first end of the second vertical telescopic rod is rotationally connected with the second vertical telescopic base, and the second end of the second vertical telescopic rod is connected with the fourth connecting end of the first jaw assembly;
clamping the first end of the skin to be stretched by the clamping end of the first jaw assembly;
the first connecting end and the third connecting end of the first jaw assembly are correspondingly arranged, so that the first horizontal telescopic rod and the first vertical telescopic rod are matched to drive the first end of the first jaw assembly to move;
the second connecting end and the fourth connecting end of the first jaw assembly are correspondingly arranged, so that the second horizontal telescopic rod and the second vertical telescopic rod are matched to drive the second end of the first jaw assembly to move;
the first horizontal telescopic rod, the second horizontal telescopic rod, the first vertical telescopic rod and the second vertical telescopic rod are all connected with the controller.
3. The skin stretching device of claim 2, wherein the second telescoping assembly comprises a third horizontal telescoping rod, a fourth horizontal telescoping rod, a third vertical telescoping rod, and a fourth vertical telescoping rod;
the second telescopic base comprises a third horizontal telescopic base, a fourth horizontal telescopic base, a third vertical telescopic base and a fourth vertical telescopic base;
the third horizontal telescopic base and the fourth horizontal telescopic base are fixedly arranged on the upper surface of the fixing frame;
the third vertical telescopic base and the fourth vertical telescopic base are fixedly arranged above the lower surface of the fixing frame;
the first end of the third horizontal telescopic rod is rotationally connected with the third horizontal telescopic base, and the second end of the third horizontal telescopic rod is connected with the first connecting end of the second jaw assembly;
the first end of the fourth horizontal telescopic rod is rotationally connected with the fourth horizontal telescopic base, and the second end of the fourth horizontal telescopic rod is connected with the second connecting end of the second jaw assembly;
the first end of the third vertical telescopic rod is rotationally connected with the third vertical telescopic base, and the second end of the third vertical telescopic rod is connected with the third connecting end of the second jaw assembly;
the first end of the fourth vertical telescopic rod is rotationally connected with the fourth vertical telescopic base, and the second end of the fourth vertical telescopic rod is connected with the fourth connecting end of the second jaw assembly;
clamping the second end of the skin to be stretched by the clamping end of the second jaw assembly;
the first connecting end and the third connecting end of the second jaw assembly are correspondingly arranged, so that the third horizontal telescopic rod and the third vertical telescopic rod are matched to drive the first end of the second jaw assembly to move;
the second connecting end and the fourth connecting end of the second jaw assembly are correspondingly arranged, so that the fourth horizontal telescopic rod and the fourth vertical telescopic rod are matched to drive the second end of the second jaw assembly to move;
the third horizontal telescopic rod, the fourth horizontal telescopic rod, the third vertical telescopic rod and the fourth vertical telescopic rod are all connected with the controller.
4. The skin stretching device according to claim 1, wherein the controller comprises a communication unit, a signal conditioning unit and a main control chip;
each pressure sensor is connected with the signal conditioning unit through the communication unit, and the signal conditioning unit is connected with the main control chip;
the main control chip is connected with the first telescopic component and the second telescopic component through the communication unit;
the signal conditioning unit is used for preprocessing the pressure data to obtain a standard voltage signal and sending the standard voltage signal to the main control chip, the main control chip judges the standard voltage signal, if the change value of the standard voltage signal is within the set threshold range, the stretch forming is continuously executed, and if the change value of the standard voltage signal is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and the alarm signal is sent;
the main control chip is used for controlling the first telescopic assembly and the second telescopic assembly to perform telescopic movement according to the skin stretch-forming process parameters, or controlling the first telescopic assembly and the second telescopic assembly to stop working and sending out the alarm signal when the variation value of the standard voltage signal is not in the set threshold range.
5. The skin stretching device according to claim 4, wherein the preprocessing is to sequentially filter, shape, modulate and reject singular values on the pressure data, so as to obtain the standard voltage signal.
6. The skin stretching device of claim 3, wherein the first horizontal telescopic rod, the second horizontal telescopic rod, the first vertical telescopic rod, the second vertical telescopic rod, the third horizontal telescopic rod, the fourth horizontal telescopic rod, the third vertical telescopic rod and the fourth vertical telescopic rod are all hydraulic cylinders.
7. Skin stretching method based on the skin stretching apparatus of any one of claims 1-6, characterized in that it comprises:
s1, acquiring an initial position and a theoretical end position of the first jaw assembly, an initial position and a theoretical end position of the second jaw assembly and initial values of the pressure sensors;
s2, according to the initial position and the theoretical end position of the first jaw assembly and the initial position and the theoretical end position of the second jaw assembly, combining the top surface shape of the stretch-forming die, and adopting a least square method to obtain a moving position set of the first jaw assembly and a moving position set of the second jaw assembly;
s3, obtaining skin stretch-forming technological parameters according to the moving position set of the first jaw assembly and the moving position set of the second jaw assembly;
s4, the controller executes a stretch-forming process according to the skin stretch-forming process parameters:
s41, pre-shaping process: the controller controls the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move, so that the skin to be stretched is in a horizontal straightening state, and the skin to be stretched is tangent to the vertex of the stretch-forming die and is a first set length away from the vertex of the stretch-forming die;
s42, a stretch forming process:
s421, pre-bending process: the controller controls the telescopic base to move up and down to drive the stretch-forming die to move up and down so that the skin to be stretched is tangent to the vertex of the stretch-forming die and is a second set length away from the vertex of the stretch-forming die;
s422, bending process: controlling the first telescopic assembly and the second telescopic assembly to move so as to drive the first jaw assembly and the second jaw assembly to move according to the skin stretch-forming technological parameters;
s423, deformation process: the first jaw assembly and the second jaw assembly move to pull the skin to be stretched so that the skin to be stretched is fixed after reaching a set bending stress, and the telescopic base moves upwards to drive the stretch-forming die to move upwards for a third set length, so that the stretch-forming skin is obtained;
in the pre-drawing process and the drawing process, each pressure sensor acquires pressure data in real time and sends the pressure data to the controller, the controller judges the pressure data, if the change value of the pressure data is within the set threshold range, the pre-drawing process or the drawing process is continuously executed, and if the change value of the pressure data is not within the set threshold range, the first telescopic assembly and the second telescopic assembly are controlled to stop working, and the alarm signal is sent;
s5, analyzing the stretch-forming quality of the stretch-forming skin to obtain an analysis result, updating the theoretical end point position of the first jaw assembly and the theoretical end point position of the second jaw assembly according to the analysis result, and executing S1-S4 according to the updated theoretical end point position of the first jaw assembly and the updated theoretical end point position of the second jaw assembly to stretch-form the rest of the skin to be stretched.
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| CN116197294A (en) * | 2023-05-05 | 2023-06-02 | 燕山大学 | Jaw body positioning method based on temperature detection matrix and skin stretching equipment |
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| DE10331939A1 (en) * | 2003-07-15 | 2005-02-10 | Bayerische Motoren Werke Ag | Sheet steel pressing tool esp. for motor vehicle bodies has spacers with sensors to measure local billet clamping force for precise and continuous height adjustment of spacers |
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