CN117583466A - Single motor driving-six rod parallel bearing enveloping shaping machine - Google Patents
Single motor driving-six rod parallel bearing enveloping shaping machine Download PDFInfo
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- CN117583466A CN117583466A CN202311561809.7A CN202311561809A CN117583466A CN 117583466 A CN117583466 A CN 117583466A CN 202311561809 A CN202311561809 A CN 202311561809A CN 117583466 A CN117583466 A CN 117583466A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D31/00—Other methods for working sheet metal, metal tubes, metal profiles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
- B21D37/10—Die sets; Pillar guides
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Abstract
The invention relates to a single-motor drive-six-rod parallel bearing envelope forming machine, which sequentially comprises a transmission system, a support system, an actuating system, a nutation die system and a feeding system from top to bottom; the transmission system comprises a main motor, a speed reducer, a coupler, a central gear shaft, a circumferential gear shaft and a ball bearing fixing frame; the support system comprises a motor mounting plate, an upper support column and an upper bottom plate; the actuating system comprises a connecting rod, a ball bearing, a movable platform, a rotating shaft seat, a rotating shaft, an eccentric shaft and a ball bearing seat; the nutation die system comprises a nutation die hole seat and a nutation die core die; the sliding die system comprises a sliding die outer ring, a sliding die core die and a sliding die base; the feeding system is used for realizing the feeding movement of the sliding die. The invention can improve the bearing capacity of the envelope forming machine, can realize the high-speed operation of the envelope forming machine, and meets the requirements of heavy load and high-speed operation working conditions of the envelope forming machine.
Description
Technical Field
The invention relates to the field of special metal forming equipment, in particular to a single motor driving-six-rod parallel bearing enveloping forming machine.
Background
The multi-degree-of-freedom enveloping forming technology is a new continuous local plastic forming technology, and improves the metal flow property by continuously and locally loading blanks, thereby realizing the integral forming of large complex extreme components. The process has high efficiency and high material utilization rate, and can refine grains, obtain continuous compact metal streamline and improve surface integrity, thereby greatly improving mechanical property and bearing capacity of the component. The multi-degree-of-freedom envelope forming technology has become an important development direction of high-performance high-efficiency advanced manufacturing technology of large complex extreme components. In order to realize the multi-degree-of-freedom envelope forming process, development of a multi-degree-of-freedom envelope forming machine is urgently needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a single motor driving-six-rod parallel bearing envelope forming machine, which can improve the bearing capacity of the envelope forming machine, realize the high-speed operation of the envelope forming machine and meet the heavy-load and high-speed operation working condition requirements of the envelope forming machine.
The technical scheme adopted for solving the technical problems is as follows: constructing a single-motor-driven six-rod parallel bearing envelope forming machine, which sequentially comprises a transmission system, a supporting system, an actuating system, a nutation die system and a feeding system from top to bottom;
the transmission system comprises a main motor, a speed reducer, a coupler, a central gear shaft, a circumferential gear shaft and a ball bearing fixing frame; the support system comprises a motor mounting plate, an upper support column and an upper bottom plate; the actuating system comprises a connecting rod, a ball bearing, a movable platform, a rotating shaft seat, a rotating shaft, an eccentric shaft and a ball bearing seat; the nutation die system comprises a nutation die hole seat and a nutation die core die; the sliding die system comprises a sliding die outer ring, a sliding die core die and a sliding die base; the feeding system is used for realizing the feeding movement of the sliding die;
the motor mounting plate is connected with the upper bottom plate through an upper support column, the speed reducer is fixedly arranged on the motor mounting plate, one end of the speed reducer is connected with the main motor, and the other end of the speed reducer is connected with the coupler; the upper bottom plate is provided with a central bearing hole and three circumference bearing holes, the central bearing hole is provided with a central gear shaft, the circumference bearing holes are provided with circumference gear shafts, the central gear shaft is connected with a coupler, the central gear shaft and the three circumference gear shafts are meshed with each other in pairs through the tooth surfaces at the outer ends, the end surfaces of the circumference gear shafts are provided with eccentric holes, the eccentric holes are provided with ball bearing fixing frames, the ball bearing fixing frames limit a connecting rod through ball bearings, the other ends of the connecting rod are connected with the ball bearing fixing frames through ball bearings, and the ball bearing fixing frames are arranged on circumference mounting holes at the outer sides of the movable platform; the upper bottom plate is provided with three rotating shaft seats, the rotating shaft seats are connected with a rotating shaft, the rotating shaft is connected with an eccentric shaft, the other end of the eccentric shaft is limited to form a spherical pair through a ball bearing, a ball bearing fixing frame and a ball bearing seat, and the three ball bearing seats are respectively fixed with three circumference mounting holes of an inner ring of the movable platform; a nutation die hole seat is arranged in the middle of the moving platform, and a nutation die core die is arranged in the nutation die hole seat;
the sliding die seat is provided with a sliding die outer ring and a sliding die core die, and a blank is placed on the sliding die core die; the main motor drives the speed reducer to rotate, the speed reducer drives the central gear shaft through the coupler, the central gear shaft drives three groups of circumference gear shafts simultaneously, and then the ball bearing fixing frame and the ball bearing arranged on the circumference gear shafts rotate along the central shaft of the circumference gear shafts, the three groups of connecting rods are driven to do complex space movement, and the three groups of passive branched chains are arranged on the three groups of connecting rods: under the limitation of the rotating shaft seat, the rotating shaft, the eccentric shaft and the ball bearing seat, the driving platform and the nutating die core die arranged on the driving platform are driven to do space fixed-point nutating motion.
In the scheme, the supporting system further comprises guide posts and a lathe bed, wherein the guide posts are arranged at four corners of the lathe bed, and the other sides of the guide posts are fixedly connected with the upper bottom plate.
In the scheme, the feeding system comprises the guide sleeve, the feeding workbench and the feeding oil cylinder, four guide posts at four corners of the lathe bed are respectively in sliding fit with the feeding workbench through the four guide sleeves, and a cylinder body of the feeding oil cylinder is arranged on the lathe bed.
In the above scheme, the sliding die system further comprises a push rod and a push cylinder, the lower end of the feeding workbench is arranged on a cylinder rod flange of the feeding oil cylinder, the push cylinder is arranged on the lower end face of the feeding workbench, the cylinder rod of the push cylinder is fixedly connected with the push rod, and the sliding die holder is arranged on a center flange of the upper end face of the feeding workbench.
In the above scheme, the nutation die core die performs space fixed-point nutation motion, and the motion relationship is expressed as:
wherein delta represents the nutation angle of the nutation die, h represents the height of the nutation die, phi and theta represent the rotation angle and revolution angle of the nutation die, e w And e n Respectively representing the center offset and the nodding offset of the workpiece, s f Feeding the workpiece by a distance;
according to the spin theory, the motion spin of the fixed point nutation motion is:
wherein S is mp1 Motion spin representing nutation motion; omega θ And omega φ Respectively representing revolution and rotation angular velocity of nutation motion S mp1 And S is mp2 Respectively representing revolution of nutating motion and rotation quantity of rotation,is S mpi Unit screw of (r) or Is the focal point coordinates;
nutation motion of the workbench is driven by a main motor, and branched chains are actively connected in parallel in three groups: circumferential gear shaft-ball bearing mount-connecting rod and three groups of passive parallel branches: under the constraint of the rotating shaft seat, the rotating shaft, the eccentric shaft and the ball bearing seat, nutating motion is formed by compounding, and formulas (3) and (4) are satisfied;
wherein T represents the movement of the movable platform required by the rotary forging forming movement, B 1 、B 2 、B 3 Initial angle positions of eccentric holes on the end faces of three groups of circumferential gear shafts respectively; c (C) 1 、C 2 、C 3 Respectively the center of the spherical hinge of the movable platform is on-machinePosition coordinates on the bed coordinate system; l (L) 1 、l 2 、l 3 The length of the connecting rod is the length of the connecting rod; beta 1 、β 2 、β 3 The rotation angle of the circumferential gear shaft;
wherein B is 4 、B 5 、B 6 The initial positions of the three groups of eccentric shafts are respectively; c (C) 4 、C 5 、C 6 The position coordinates of the center of the spherical hinge of the movable platform connected with the rotating shaft on a machine tool coordinate system are respectively; gamma ray 1 、γ 2 、γ 3 Is the central angle corresponding to the length of the eccentric shaft lever; alpha 1 、α 2 、α 3 Is the rotation angle of the rotating shaft.
In the scheme, the eccentric distance of the eccentric holes on each circumferential gear shaft is consistent, the length of the connecting rod connected with the ball bearing fixing frame through the ball bearings is kept consistent, and the motion constraint conditions are met among the circumferential bearing hole position of the upper base plate, the eccentric distance of the eccentric holes on the circumferential gear shafts and the circumferential bearing hole position of the movable platform:
wherein ω is the rotation speed of the sun gear shaft, r a 、r b 、r c The eccentric distance of the eccentric hole at the end face of the circumferential gear shaft and the radial distance of the circumferential bearing hole at the movable platform are respectively the radial distance, p, of the circumferential shaft hole at the upper bottom plate z For the moving platform height, Δz is the vertical height distance between the center of rotation of the ball bearing on the moving platform circumferential bearing hole and the center of nutation of the moving platform.
The single motor driving-six-rod parallel bearing envelope forming machine has the following beneficial effects:
1. according to the single motor drive-six-rod parallel bearing enveloping forming machine, the gear shaft is driven by one motor to continuously and unidirectionally move, so that nutation movement of a moving platform can be realized; the feeding cylinder drives the feeding workbench to move upwards, so that the blank is gradually contacted with the nutation mold core mold, and the enveloping forming movement of the core mold and the workpiece is realized; the nutation movement of the core mold in the forming process is realized through the coordinated movement of the gear shaft, so that the metal flow is regulated and controlled, the forming force is reduced, and the multi-degree-of-freedom enveloping forming manufacturing of the complex thin-wall high-strength member is realized.
2. The single-motor driving-six-rod parallel bearing enveloping forming machine has the advantages of simple structure, less parts, high reliability, convenient installation and debugging, and higher mechanism rigidity and bearing performance, thereby resisting larger forming unbalanced load and deformation.
3. The single motor driving-six-rod parallel bearing enveloping forming machine adopts the single driving six-rod nutation forming mechanism, and a single main motor can drive six connecting rods to simultaneously coordinate and restrict the six connecting rods to move, so that the multi-degree-of-freedom enveloping movement of the nutation die is realized, multi-axis linkage does not exist, the structure control is simple, and the high-speed movement can be realized.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of the motion and coordinate system of the envelope forming machine mechanism of the present invention;
FIG. 2a is a schematic view of an envelope molding machine according to the present invention;
FIG. 2b is a cross-sectional view of the envelope forming machine of the present invention;
FIG. 3 is a schematic view of the support system of the envelope forming machine of the present invention;
FIG. 4 is a schematic diagram of the actuation system of the envelope forming machine of the present invention;
FIG. 5a is a schematic diagram of the actuation system of the envelope forming machine of the present invention;
FIG. 5b is a schematic view of the active moving parts of the envelope forming machine of the present invention;
FIG. 5c is a schematic view of the passive moving parts of the envelope forming machine of the present invention;
FIG. 5d is a schematic view of the distribution of tee positions on a table;
FIG. 6 is a schematic view of the feed member of the envelope forming machine of the present invention;
FIG. 7 is a schematic diagram of the nutating die motion relationship and coordinate system of the envelope forming machine of the present invention;
FIG. 8 is a graph of the output angle of the nutating die core of the envelope forming machine of the present invention;
fig. 9 is a graph of the angular error of the output of the nutating die core of the envelope forming machine of the present invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 2a and 2B, the single motor drive-six bar parallel load-bearing envelope forming machine and configuration design of the present invention comprises a transmission system a, an actuating system B, a support system C, a nutating die system D, a sliding die system E, and a feed system F.
The support system C comprises a mounting plate 1, an upper support column 2, an upper bottom plate 3, a guide column 4 and a lathe bed 5. The transmission system A is used for realizing distribution and force transmission of equipment movement and is formed by connecting a group of motor-servo electric cylinder-gear system transmission structures in parallel, and comprises a main motor 6, a speed reducer 7, a coupler 8, a central gear shaft 9, a circumferential gear shaft 10 and a ball bearing fixing frame 11. The actuating system B is used for realizing fixed-point nutation of an equipment nutation die and consists of three groups of ball bearing-connecting rod-ball bearing parallel structures, three groups of eccentric shafts-rotating shafts-ball bearing parallel structures and a moving platform, and comprises a connecting rod 12, a ball bearing 13, a moving platform 14, a rotating shaft seat 15, a rotating shaft 16, an eccentric shaft 17 and a ball bearing seat 18. The nutating die system D includes a nutating die orifice mount 22 and a nutating die core 23. The feeding system F is used for realizing the feeding movement of the sliding die and comprises a guide sleeve 19, a feeding workbench 20 and a feeding oil cylinder 21. The sliding die system E includes a sliding die outer ring 24, a blank 25, a sliding die core 26, a sliding die holder 27, a ram 28, and a ram cylinder 29.
As shown in fig. 3, four corners of the lathe bed 5 are provided with guide posts 4 through bolts, the other ends of the guide posts 4 are fixedly connected with an upper bottom plate 3, and a motor mounting plate 1 is arranged on the upper surface of the upper bottom plate 3 through support posts 2.
As shown in fig. 4, four corners of the main motor 6 are connected with the speed reducer 7 through bolts, four corners of the other end of the speed reducer 7 are fixed on the motor mounting plate 1 through bolts, and the middle is connected with one end of the coupler 8 through a key; the upper bottom plate 3 is provided with a central bearing hole and 3 circumference bearing holes, the central bearing hole is provided with a central gear shaft 9 through a bearing, the circumference bearing hole is provided with a circumference gear shaft 10 through a bearing, the central gear shaft 9 is connected with a coupler 8 through a key, the central gear shaft 9 and the 3 circumference gear shafts 10 are meshed with each other through the tooth surfaces of the outer ends, the end surface of the circumference gear shaft 10 is provided with an eccentric hole, and the eccentric hole is provided with a ball bearing fixing frame 11 through a bolt.
As shown in fig. 5b, a set of ball bearing fixing frames 11 of the active moving part are fixed in eccentric holes of the circumferential gear shaft 10 through bolts, a set of ball bearings are respectively arranged in the upper and lower parts of the inner part, and the other set of ball bearing fixing frames are also fixed in mounting holes of three outer ring circumferential holes of the moving platform 14 through bolts, and a set of ball bearings are respectively arranged in the upper and lower parts of the inner part of the ball bearing fixing frames; the two groups of ball bearing holders 11 are connected by a connecting rod 12.
As shown in fig. 5c, one end of a rotating shaft seat 15 of the passive moving component is mounted on the upper bottom plate 3 through a bolt, the other end of the rotating shaft seat is connected with a rotating shaft 16 through a bearing to form a revolute pair, an eccentric hole is formed in the rotating shaft 16, the eccentric hole is connected with one end of an eccentric shaft 17 through a bearing to form a second group of revolute pairs, the other end of the eccentric shaft 17 is limited by a ball bearing 13 to form a spherical pair with a ball bearing seat 18, and the inner ring of the moving platform 14 is also provided with three circumference mounting holes and is fixed with the ball bearing seat 18 through bolts respectively.
As shown in fig. 6, the inside of the moving platform 14 is provided with a nutating die hole seat 22, and a nutating die core die 23 is installed through bolts and a positioning flange; the 4 guide posts 4 are in sliding fit with the feeding workbench 20 through the 4 guide sleeves 19 respectively, the lower end of the feeding workbench 20 is arranged on a cylinder rod of the feeding oil cylinder 21, and the cylinder body of the feeding oil cylinder 21 is arranged on the lathe bed 5, so that the feeding workbench 20 can move up and down under the action of the feeding oil cylinder 21 and the cooperation of the guide posts and the guide sleeves; a top cylinder 29 is arranged on the central flange of the lower end surface of the feeding workbench 20, a cylinder rod of the top cylinder 29 is fixedly connected with a push rod 28, a sliding die holder 27 is arranged on the central flange of the upper end surface of the feeding workbench 20, a sliding die outer ring 24 and a sliding die core die 26 are arranged on the sliding die holder 27, and a blank 25 is placed on the sliding die core die 26.
The operation process of the single motor drive-six-rod parallel bearing envelope forming machine is as follows: the equipment workbench can realize space fixed-point nutation, the nutation die core mold 23 and the sliding die core mold 26 are designed according to the shape of a formed workpiece, the equipment is installed on equipment, the main motor 6 drives the upper die core mold 23 to nutate around an intersection point during processing, meanwhile, a blank 25 is placed in the sliding die core mold 26, a valve of the feed oil cylinder 21 is opened, the feed workbench 20 is driven to move upwards, the blank 25 is gradually contacted with the nutation die core mold 23, and finally, the blank is gradually formed under the space nutation motion of the nutation die core mold 23 and the translational motion of the feed workbench 20.
The nutation die core mould on the workbench of the envelope forming machine which is driven by a single motor and carried by six rods in parallel performs space fixed point nutation movement, as shown in figure 1, and the movement relation can be expressed as formula (1)
Wherein delta represents the nutation angle of the nutation die, h represents the height of the nutation die, phi and theta represent the rotation angle and revolution angle of the nutation die, e w And e n Respectively representing the center offset and the nodding offset of the workpiece, s f A workpiece feed distance.
According to the theory of rotation, the motion rotation of the fixed point nutation motion is
Wherein S is mp1 Motion spin representing nutation motion; omega θ And omega φ Respectively representing revolution and rotation angular velocity of nutation motion S mp1 And S is mp2 Respectively representing revolution of nutating motion and rotation quantity of rotation,is S mpi Unit screw of (r) or Is the focal coordinates.
Nutation motion of the workbench is driven by a main motor, and branched chains are actively connected in parallel in three groups: circumferential gear shaft-ball bearing mount-connecting rod and three groups of passive parallel branches: under the constraint of the rotating shaft seat, the rotating shaft, the eccentric shaft and the ball bearing seat, nutating motion is formed by compounding, and formulas (3) and (4) are satisfied
Wherein T represents the movement of the movable platform required by the rotary forging forming movement, B 1 、B 2 、B 3 Initial angle positions of eccentric holes on the end faces of three groups of circumferential gear shafts respectively; c (C) 1 、C 2 、C 3 The position coordinates of the center of the spherical hinge of the movable platform on a machine tool coordinate system are respectively; l (L) 1 、l 2 、l 3 The length of the connecting rod is the length of the connecting rod; beta 1 、β 2 、β 3 Is the rotation angle of the circumferential gear shaft.
Wherein B is 4 、B 5 、B 6 The initial positions of the three groups of eccentric shafts are respectively; c (C) 4 、C 5 、C 6 The position coordinates of the center of the spherical hinge of the movable platform connected with the rotating shaft on a machine tool coordinate system are respectively; gamma ray 4 、γ 5 、γ 6 Is the central angle corresponding to the length of the eccentric shaft lever; alpha 4 、α 5 、α 6 Is the rotation angle of the rotating shaft.
S4, a configuration optimization process of the envelope forming machine with single motor driving and six-rod parallel bearing and a configuration design method is as follows:
under a single driver drive layout, the motion trail of the motion platform is completely dependent on the structure and installation dimensions, and the selected combination of structural parameters will directly affect the motion platform's ability to achieve a given motion. Accurate implementation of a given motion is a general goal of optimal design. And taking the output motion error of the mechanism as an optimization target, taking the value range of the parameters as a constraint condition, and obtaining the optimal parameter combination through a searching method. Assuming F as the primary objective function, the objective function may be configured to find an optimal set of structural parameters with the minimum maximum error between the motion of the moving platform of the single drive parallel mechanism and a given motion as an optimization objective.
Wherein ω is the rotation speed of the sun gear shaft, r a 、r b 、r c The eccentric distance of the eccentric hole at the end face of the circumferential gear shaft and the radial distance of the circumferential bearing hole on the moving platform are respectively the radial distance of the circumferential shaft hole of the upper bottom plate, the radial distance of the eccentric hole at the end face of the circumferential gear shaft, h is the height of the moving platform, and deltaz is the vertical height distance between the rotation center of the ball bearing on the circumferential bearing hole of the moving platform and the nutation center of the moving platform.
The geometric parameters and the optimized parameter intervals of the single-motor drive-six-rod parallel load-bearing envelope forming machine with the 3-RSS 3-RRS configuration are shown in table 1 by comprehensively considering the design parameter conditions.
Table 1 design parameter interval for single motor drive-six bar parallel load-bearing envelope shaper
| Length of connecting rod l | 200mm |
| Focal point vertical offset distance deltaz | 0mm |
| Initial distribution angle alpha of lower spherical hinge 1 | 0deg |
| Initial rotation angle beta of lower spherical hinge 1 | 180deg |
| Target nutation angle f aim | 1.5deg |
| Radial r of circumferential shaft hole of upper bottom plate a | 100～200 |
| Eccentricity r of eccentric hole on end face of circumferential gear shaft b | 0～60 |
| Radial r of circumferential bearing hole on movable platform c | 100～200 |
TABLE 2 optimization results
| r a | r b | r c | γ 1 | h | θ |
| 150mm | 25mm | 160mm | 11.56deg | 195.68mm | 1.52deg |
According to the optimization algorithm, a set of parameters for the 3-RSS 3-RRS configuration is obtained, as shown in Table 2. According to the optimized configuration parameters, the output angle of the nutation mold core mold is calculated as shown in fig. 8, and the error chart of the output angle of the nutation mold core mold is shown in fig. 9.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (6)
1. A single motor driving-six-rod parallel bearing envelope forming machine is characterized by comprising a transmission system, a supporting system, an actuating system, a nutation die system and a feeding system from top to bottom in sequence;
the transmission system comprises a main motor, a speed reducer, a coupler, a central gear shaft, a circumferential gear shaft and a ball bearing fixing frame; the support system comprises a motor mounting plate, an upper support column and an upper bottom plate; the actuating system comprises a connecting rod, a ball bearing, a movable platform, a rotating shaft seat, a rotating shaft, an eccentric shaft and a ball bearing seat; the nutation die system comprises a nutation die hole seat and a nutation die core die; the sliding die system comprises a sliding die outer ring, a sliding die core die and a sliding die base; the feeding system is used for realizing the feeding movement of the sliding die;
the motor mounting plate is connected with the upper bottom plate through an upper support column, the speed reducer is fixedly arranged on the motor mounting plate, one end of the speed reducer is connected with the main motor, and the other end of the speed reducer is connected with the coupler; the upper bottom plate is provided with a central bearing hole and three circumference bearing holes, the central bearing hole is provided with a central gear shaft, the circumference bearing holes are provided with circumference gear shafts, the central gear shaft is connected with a coupler, the central gear shaft and the three circumference gear shafts are meshed with each other in pairs through the tooth surfaces at the outer ends, the end surfaces of the circumference gear shafts are provided with eccentric holes, the eccentric holes are provided with ball bearing fixing frames, the ball bearing fixing frames limit a connecting rod through ball bearings, the other ends of the connecting rod are connected with the ball bearing fixing frames through ball bearings, and the ball bearing fixing frames are arranged on circumference mounting holes at the outer sides of the movable platform; the upper bottom plate is provided with three rotating shaft seats, the rotating shaft seats are connected with a rotating shaft, the rotating shaft is connected with an eccentric shaft, the other end of the eccentric shaft is limited to form a spherical pair through a ball bearing, a ball bearing fixing frame and a ball bearing seat, and the three ball bearing seats are respectively fixed with three circumference mounting holes of an inner ring of the movable platform; a nutation die hole seat is arranged in the middle of the moving platform, and a nutation die core die is arranged in the nutation die hole seat;
the sliding die seat is provided with a sliding die outer ring and a sliding die core die, and a blank is placed on the sliding die core die; the main motor drives the speed reducer to rotate, the speed reducer drives the central gear shaft through the coupler, the central gear shaft drives three groups of circumference gear shafts simultaneously, and then the ball bearing fixing frame and the ball bearing arranged on the circumference gear shafts rotate along the central shaft of the circumference gear shafts, the three groups of connecting rods are driven to do complex space movement, and the three groups of passive branched chains are arranged on the three groups of connecting rods: under the limitation of the rotating shaft seat, the rotating shaft, the eccentric shaft and the ball bearing seat, the driving platform and the nutating die core die arranged on the driving platform are driven to do space fixed-point nutating motion.
2. The single motor drive-six bar parallel load-bearing envelope shaper of claim 1, wherein the support system further comprises a guide post and a lathe bed, the four corners of the lathe bed are respectively provided with the guide post, and the other side of the guide post is fixedly connected with the upper bottom plate.
3. The single motor drive-six bar parallel load-bearing enveloping machine according to claim 2, wherein the feeding system comprises a guide sleeve, a feeding workbench and a feeding oil cylinder, four guide posts at four corners of the machine body are respectively in sliding fit with the feeding workbench through the four guide sleeves, and a cylinder body of the feeding oil cylinder is arranged on the machine body.
4. The single motor drive-six bar parallel load-bearing envelope forming machine of claim 3, wherein the sliding die system further comprises a top rod and a top cylinder, the lower end of the feeding workbench is mounted on a cylinder rod flange of the feeding cylinder, the top cylinder is mounted on the lower end face of the feeding workbench, the cylinder rod of the top cylinder is fixedly connected with the top rod, and the sliding die holder is mounted on a central flange of the upper end face of the feeding workbench.
5. The single motor drive-six bar parallel load envelope machine of claim 1, wherein the nutating die mandrel performs a spatially fixed point nutating motion in a relationship expressed as:
wherein delta represents the nutation angle of the nutation die, h represents the nutation die height,and θ respectively represent the rotation angle and revolution angle of the nutation mold, e w And e n Respectively representing the center offset and the nodding offset of the workpiece, s f Feeding the workpiece by a distance;
according to the spin theory, the motion spin of the fixed point nutation motion is:
wherein S is mp1 Motion spin representing nutation motion; omega θ Andrespectively representing revolution and rotation angular velocity of nutation motion S mp1 And S is mp2 Revolution and rotation respectively representing nutationRotation amount of->Is S mpi Unit screw of (r) or Is the focal point coordinates;
nutation motion of the workbench is driven by a main motor, and branched chains are actively connected in parallel in three groups: circumferential gear shaft-ball bearing mount-connecting rod and three groups of passive parallel branches: under the constraint of the rotating shaft seat, the rotating shaft, the eccentric shaft and the ball bearing seat, nutating motion is formed by compounding, and formulas (3) and (4) are satisfied;
wherein T represents the movement of the movable platform required by the rotary forging forming movement, B 1 、B 2 、B 3 Initial angle positions of eccentric holes on the end faces of three groups of circumferential gear shafts respectively; c (C) 1 、C 2 、C 3 The position coordinates of the center of the spherical hinge of the movable platform on a machine tool coordinate system are respectively; l (L) 1 、l 2 、l 3 The length of the connecting rod is the length of the connecting rod; beta 1 、β 2 、β 3 The rotation angle of the circumferential gear shaft;
wherein B is 4 、B 5 、B 6 The initial positions of the three groups of eccentric shafts are respectively; c (C) 4 、C 5 、C 6 The position coordinates of the center of the spherical hinge of the movable platform connected with the rotating shaft on a machine tool coordinate system are respectively; gamma ray 1 、γ 2 、γ 3 Is the central angle corresponding to the length of the eccentric shaft lever; alpha 1 、α 2 、α 3 Is the rotation angle of the rotating shaft.
6. The single motor drive-six bar parallel load-bearing envelope molding machine of claim 5, wherein the eccentric distance of the eccentric holes on each circumferential gear shaft is identical, and the length of the connecting rod connected with the ball bearing fixing frame through the ball bearing is identical, and the circumferential bearing hole position of the upper base plate, the eccentric distance of the eccentric holes on the circumferential gear shaft and the circumferential bearing hole position on the moving platform satisfy the motion constraint condition:
wherein ω is the rotation speed of the sun gear shaft, r a 、r b 、r c The eccentric distance of the eccentric hole at the end face of the circumferential gear shaft and the radial distance of the circumferential bearing hole at the movable platform are respectively the radial distance, p, of the circumferential shaft hole at the upper bottom plate z For the moving platform height, Δz is the vertical height distance between the center of rotation of the ball bearing on the moving platform circumferential bearing hole and the center of nutation of the moving platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311561809.7A CN117583466A (en) | 2023-11-20 | 2023-11-20 | Single motor driving-six rod parallel bearing enveloping shaping machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311561809.7A CN117583466A (en) | 2023-11-20 | 2023-11-20 | Single motor driving-six rod parallel bearing enveloping shaping machine |
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| CN117583466A true CN117583466A (en) | 2024-02-23 |
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| CN202311561809.7A Pending CN117583466A (en) | 2023-11-20 | 2023-11-20 | Single motor driving-six rod parallel bearing enveloping shaping machine |
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| CN (1) | CN117583466A (en) |
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