CN119549572A - A dynamic online adjustment method for the bending die hole of a reducer tube based on a rotary bending composite process - Google Patents

A dynamic online adjustment method for the bending die hole of a reducer tube based on a rotary bending composite process Download PDF

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Publication number
CN119549572A
CN119549572A CN202411672080.5A CN202411672080A CN119549572A CN 119549572 A CN119549572 A CN 119549572A CN 202411672080 A CN202411672080 A CN 202411672080A CN 119549572 A CN119549572 A CN 119549572A
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China
Prior art keywords
bending
diameter
bending die
pipe
reducer
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CN202411672080.5A
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Inventor
丁潼
郭训忠
肖林林
程诚
宋旭杰
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Nanjing University of Aeronautics and Astronautics
Beijing North Vehicle Group Corp
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Nanjing University of Aeronautics and Astronautics
Beijing North Vehicle Group Corp
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Priority to CN202411672080.5A priority Critical patent/CN119549572A/en
Publication of CN119549572A publication Critical patent/CN119549572A/en
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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
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/14—Spinning
    • B21D22/16—Spinning over shaping mandrels or formers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES, PROFILES OR LIKE SEMI-MANUFACTURED PRODUCTS 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
    • B21D41/00—Application of procedures in order to alter the diameter of tube ends
    • B21D41/04—Reducing; Closing

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

The invention relates to the technical field of a rotary bending composite process of a reducer pipe, and particularly discloses a dynamic online adjustment method of a bending die hole of the reducer pipe based on the rotary bending composite process, which is used for realizing online adjustment and control of the aperture size of the bending die under the prior art. The method is characterized in that the rolling forming of the reducer pipe is realized through a composite technology of pipe rolling-pipe bending forming, track amplitude definition is carried out on a necking and spinning roller through an Archimedes spiral equation, and a laser diameter measuring sensor is adopted to collect the size of the pipe after the rolling forming. And establishing a mapping relation model of the diameter D var of the reducer pipe and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact point of the two rollers, deducing and solving a relation between the radius R of the point on the ellipse and the rotation angle theta according to the mapping relation model of the steps, and rapidly acquiring the rotation angle theta of the elliptical stick. And the rotation angle theta of the bending die is controlled, so that the on-line regulation and control of the aperture size of the bending die is realized. The invention realizes the bending forming of the reducer pipe within a certain pipe diameter range, and the mould does not need to be replaced according to different pipe diameters.

Description

Dynamic online adjustment method for reducer pipe bending die hole based on spin-bending composite process
Technical Field
The invention relates to the field of rotational bending composite forming of variable-diameter pipes of aerospace complex pipelines, in particular to a dynamic online adjustment method for a variable-diameter pipe bending die hole based on a rotational bending composite process.
Background
The pipeline system component is an important component of equipment such as aerospace, ship manufacturing, nuclear engineering and automobiles, and plays key roles of load, transmission, heat exchange and the like. At present, high-end advanced manufacturing equipment is often more demanding on the shape and the size of a pipe, and the light weight and the forming quality level have important influences on the service performance and the service life of the equipment. However, the design of reasonable diameter and bent section distribution of the complex reducing bent pipe fitting enables the light weight level of the structure to be remarkably improved, and the pipe fitting not only belongs to typical light weight and high-efficiency components, but also is a key component for urgent need of high-end equipment development. The spin-bending forming is performed by combining the necking spinning and the flexible bending forming of the pipe, so that the spinning forming process advantage is achieved, the technical advantage of the flexible bending forming of the pipe is combined, and the integral forming efficiency is high at one time. However, when the neck spinning roller is stopped in advance and the pushing mechanism and the bending mechanism are matched to finish the subsequent bending forming process, the forming mode has higher requirements on the precision of the aperture size of the bending die, and the existing domestic and foreign researches and equipment work less for the process. The coupling influence exists between the spinning and bending deformation, so that the forming rule and the regulation difficulty are high, and the application of the spinning and bending progressive forming process is limited;
The invention aims to provide a variable-diameter pipe bending die hole dynamic on-line adjustment method based on a spin-bending composite process, which solves the problem that the bending die hole dynamic adjustment and control are inconvenient in the prior art.
Disclosure of Invention
The invention aims to provide a dynamic on-line adjustment method for a bending die hole of a reducer pipe based on a spin-bending composite process, which solves the problem that the aperture of the bending die is inconvenient to dynamically adjust and control in the prior art;
In order to achieve the above object, the present invention provides the following technical solutions
A dynamic on-line adjustment method for a reducer pipe bending die hole based on a spin-bending composite process comprises the following steps:
and step one, before the reducer pipe is rotationally bent and formed, measuring the initial outer diameter D0 of the pipe to obtain the size information parameters of the pipe.
The reducing pipe spin-bending composite process comprises a pipe spin-bending forming composite process, wherein the pipe spin-forming process carries out multi-pass movement in an Archimedes spiral track form through a spin roller, and the spinning reducing of the pipe is realized.
And thirdly, performing size collection on the pipe by adopting a laser diameter measuring sensor after spinning forming.
And step four, according to the collected diameter D var of the reducer pipe (namely the actual aperture size R 1), a mapping relation model of the diameter D var of the reducer pipe and the radius R 2 of a point on a top/bottom elliptical plane corresponding to the contact point of the two rollers is established, and the aperture size of the bending die is further adjusted based on the mapping relation model.
And fifthly, controlling the rotation of the elliptical bending die through a private motor, and controlling the rotation angle theta of the bending die according to the mapping relation model of the steps to realize the on-line regulation and control of the aperture size of the bending die. The bending method comprises the steps of taking two initial major axis radiuses R a as initial positions to achieve bending D min of the minimum radius of the pipe, and taking two initial minor axis radiuses R b as initial positions to achieve bending D max of the maximum radius of the pipe.
Based on the technical scheme, the invention also provides the following optional technical schemes:
in a preferred scheme, the method comprises the steps of determining a pipe to be formed area, firstly fixing a metal pipe into a pushing mechanism, setting the area between the pushing mechanism and a bending die as the area to be formed, and setting the feeding amount and the feeding speed of the pushing mechanism according to the length of the area to be formed.
In the preferred scheme, the second step is that the pipe is subjected to necking reducing in the rotary bending forming process, and then the rotary bending forming is carried out, wherein a roller is fed in a spinning mode in the reducing process, and the motion track of the roller is defined by an Archimedean spiral equation:
r=d*(1+t)
x=r*cos(t*360)
y=r*sin(t*360)
z=0
where t is time and r is spiral radius.
In a preferred scheme, after the pipe is spun and diameter-changed, a laser diameter measuring sensor is adopted between a spinning mechanism and a bending mechanism to carry out online detection on the diameter Dvar of the diameter-changed pipe, for example, blue sea precision-MILS 150 and an online projection image measuring instrument TM-X5000.
In a preferred scheme, the method comprises the following steps of performing related training through quadratic term fitting or machine learning according to the acquired diameter Dvar (namely the actual aperture size R1) of the reducer pipe:
B=(XTX)-1XTY
wherein, B is an n 1 matrix X is an m n matrix, the input variable/feature Y is an m 1 matrix, the output variable/target variable m is a sample number n is a feature number.
And establishing a mapping relation model of the diameter R var of the reducer pipe and the radius R2 of a point on a top/bottom elliptical plane corresponding to the contact point of the two rollers, and providing data support for the subsequent rapid acquisition of the rotation angle theta of the rotator.
In a preferred scheme, step four is specifically that according to a mapping relation model of the diameter D var of the reducer pipe and the radius R 2 of points on top/bottom elliptical planes corresponding to two roller contact points, a long half shaft a, a short half shaft b and the radius R 2 of points on top/bottom elliptical planes corresponding to the two roller contact points are substituted into an elliptical parameter equation:
The deformation solution can obtain a relation of a radius R 2 (i.e. distance) from a certain point on the elliptical track to the center O (i.e. the axis):
Wherein a is a long half shaft, b is a short half shaft, and R 2 is a radius corresponding to a point on a top/bottom elliptical plane.
According to the method, the rotation angle theta of the elliptical roller can be obtained quickly, then the rotation of the elliptical bending die is controlled through the private motor, the rotation angle theta of the bending die is controlled, and the on-line regulation and control of the aperture size of the bending die are realized.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to a dynamic on-line adjustment method for a reducer pipe bending die hole based on a spin-bending composite process. The book is provided with
The invention realizes the rotary bending forming of the reducer pipe through a composite technology of pipe spinning-pipe bending forming, and adopts a laser diameter measuring sensor to collect the size of the pipe after the rotary bending forming. And establishing a mapping relation model of the diameter D var of the reducer pipe and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact point of the two rollers, and controlling the rotation angle theta of the bending die according to the mapping relation model of the steps so as to realize the online regulation and control of the aperture size of the bending die. The invention has the advantages that the on-line regulation and control of the aperture of the bending die can be realized without stopping the forming process, and the reducing pipe in a certain pipe diameter range can be bent and formed without changing the die according to different pipe diameters.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.
FIG. 1 is a flow chart of the process of the present invention;
FIG. 2a is a side view of a rotary bending forming mechanism for reducing pipes according to the present invention;
FIG. 2b is another side view of the rotary bending forming mechanism for reducing pipe according to the present invention
FIG. 3 is an archimedes spiral path of a neck-spinning forming roller of the bending mechanism of the present invention;
FIG. 4 is a schematic diagram of a geometric quick solution for the rotational angle of an elliptical roller of the bending mechanism of the present invention;
Reference numerals annotate 1-metal tube 2-rotary mechanism 3-roller I4-roller II 5-roller III 6-curved elliptical roller I7-curved elliptical roller II 8-curved mechanism main rotation shaft 9-base 10-laser diameter measuring sensor 11-rectangular frame.
Detailed Description
The technical scheme in the embodiment of the invention will be clear and completed by combining the drawings in the embodiment of the invention
Throughout this description, it will be apparent that the embodiments described are merely some, but not all embodiments of the invention. Based on
Embodiments of the present invention, all other embodiments of the present invention that may be made by one of ordinary skill in the art without undue burden
Examples are all within the scope of the present invention.
Example 1
As shown in fig. 1-4, the embodiment of the invention provides a method for dynamically adjusting a bending die hole of a reducer pipe on line based on a spin-bending composite process, which comprises the following steps:
(1) The pipe and the forming mechanism were assembled, and the initial outer diameter D 0 of the pipe was measured before the tapered pipe was formed by spin bending, as shown in fig. 1, to obtain an initial outer diameter of D 0 =70 mm.
(2) And in the spinning process of the pipe, the spinning roller performs multi-pass motion in the form of Archimedes spiral track, so that the spinning diameter change of the pipe is realized. The initial outside diameter of the pipe measured according to (1) in example 1 of the specific embodiment was D 0 = 70mm, the initial spiral radius r of the archimedes spiral was set, and the specific equation of the archimedes spiral was determined:
x=(35-0.03t)*cos(t)
y=(35-0.03t)*sin(t)
z=0
and setting the movement track of the roller according to an Archimedes spiral equation.
(3) The tube size is collected after spin forming using the laser diameter measurement sensor 10. A laser diameter measuring sensor is adopted between the spinning mechanism and the bending mechanism to carry out online detection on the diameter D var of the variable-diameter pipe, for example, blue sea precision-MILS 150 and an online projection image measuring instrument TM-X5000.
The spinning mechanism comprises a spinning wheel mechanism 2 which is convenient for the metal tube 1 to pass through, a roller I3, a roller II4 and a roller III5 which spin the outer side of the metal tube 1 are arranged on the spinning wheel mechanism 2, and the spinning wheel mechanism 2 drives a plurality of rollers to rotate so as to realize the adjustment of the diameter of the metal tube 1;
the bending mechanism comprises a bending elliptic roller I6 and a bending elliptic roller II7 which are used for bending the metal tube 1, the shaft ends of the bending elliptic roller I6 and the bending elliptic roller II7 are connected with a rectangular frame 11, the rectangular frame 11 is connected with a bending mechanism main rotating shaft 8 which is used for driving the bending mechanism main rotating shaft 8 to rotate, and the bending mechanism main rotating shaft 8 is arranged on a base 9;
(4) Based on the acquired reducer diameter D var (i.e., the actual pore size R1), the correlation training is performed by quadratic term fitting or machine learning:
B=(XTX)-1XTY
wherein, B is an n 1 matrix X is an m n matrix, the input variable/feature Y is an m 1 matrix, the output variable/target variable m is a sample number n is a feature number.
And establishing a mapping relation model of the radius R2 of the points on the top/bottom elliptical planes corresponding to the reducer diameter Rvar and the two roller contact points, and providing data support for the subsequent rapid acquisition of the rotation angle theta of the rotating wheel.
According to a mapping relation model of the diameter D var of the reducer pipe and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact point of the two rollers, substituting a long half shaft a, a short half shaft b and the radius R 2 of the point on the corresponding top/bottom elliptical plane into an elliptical parameter equation:
The deformation solution can obtain a relation of a radius R 2 (i.e. distance) from a certain point on the elliptical track to the center O (i.e. the axis):
Wherein a is a long half shaft, b is a short half shaft, and R 2 is a radius corresponding to a point on a top/bottom elliptical plane.
According to the method, the rotation angle theta of the elliptical roller can be obtained quickly, the rotation angle theta of the elliptical roller is measured to be theta= 37.28 degrees, then the rotation of the elliptical bending die is controlled through a private motor, the rotation angle theta of the bending die is controlled, and the on-line regulation and control of the aperture size of the bending die are realized.

Claims (6)

1.一种基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，包括以下步骤：1. A dynamic online adjustment method for a reducer tube bending die hole based on a rotary bending composite process, characterized in that it comprises the following steps: 步骤一：在变径管旋弯成形前，对管材初始外径D0进行测量，获取其尺寸信息参数；Step 1: Before the reducer is bent, the initial outer diameter D0 of the tube is measured to obtain its size information parameters; 步骤二：变径管旋弯复合工艺由“管材旋压-弯管成形”复合工艺组成，管材旋压过程通过旋压辊子以阿基米德螺线轨迹形式进行多道次运动，实现管材旋压变径；Step 2: The variable diameter pipe spinning and bending composite process consists of a "pipe spinning-pipe bending forming" composite process. During the pipe spinning process, the spinning roller performs multiple movements in the form of an Archimedean spiral trajectory to achieve pipe spinning and variable diameter; 步骤三：在旋压成形后采用激光直径测量传感器对管材进行尺寸采集；Step 3: After spinning, use a laser diameter measurement sensor to collect the dimensions of the tube; 步骤四：根据采集后的变径管直径Dvar，即实际的孔径大小R1，建立变径管直径Dvar与两个辊子接触点所对应顶端/底端椭圆平面上点的半径R2的映射关系模型，进一步基于该映射关系模型调整弯曲模孔径大小；Step 4: According to the collected reducer diameter D var , that is, the actual aperture size R 1 , a mapping relationship model between the reducer diameter D var and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact point of the two rollers is established, and the aperture size of the bending die is further adjusted based on the mapping relationship model; 步骤五：通过私服电机控制椭圆形弯曲模转动，根据上述步骤的映射关系模型，对弯曲模旋转角度θ进行控制，实现弯曲模孔径大小的在线调控；Step 5: The elliptical bending die is controlled to rotate by the private service motor, and the rotation angle θ of the bending die is controlled according to the mapping relationship model of the above steps to realize online regulation of the aperture size of the bending die; 具体调控是：椭圆形弯曲模存在长半轴a和短半轴b，以两个初始长轴半径Ra为初始位置，实现管材最小半径的弯曲Dmin；以两个初始短轴半径Rb为初始位置，实现管材最大半径的弯曲Dmax。The specific control is: the elliptical bending die has a major semi-axis a and a minor semi-axis b, and the two initial major axis radii Ra are used as the initial position to achieve the minimum radius bending Dmin of the tube; the two initial minor axis radii Rb are used as the initial position to achieve the maximum radius bending Dmax of the tube. 2.根据权利要求1所述的基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，步骤一具体为：确定管材待成形区域；首先将金属管材固定至推进机构当中，推进机构与弯曲模之间的区域就是待成形区域；根据待成形区域长度，设定推进机构的进给量与进给速度。2. According to the dynamic online adjustment method of the reducer bending die hole based on the rotary bending composite process described in claim 1, it is characterized in that step one specifically comprises: determining the area to be formed of the tube; first fixing the metal tube to the propulsion mechanism, and the area between the propulsion mechanism and the bending die is the area to be formed; according to the length of the area to be formed, setting the feed amount and feed speed of the propulsion mechanism. 3.根据权利要求1所述的基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，步骤二具体为：管材旋弯成形过程，先经过管材缩颈变径，再进行旋弯成形；其变径过程辊子采用旋压方式进给，通过阿基米德螺线方程进行定义辊子运动轨迹：3. The dynamic online adjustment method for the bending die hole of a variable diameter tube based on a rotary bending composite process according to claim 1 is characterized in that step 2 is specifically as follows: in the rotary bending forming process of the tube, the tube is first necked and reduced in diameter, and then subjected to rotary bending forming; in the diameter reduction process, the roller is fed by a spinning method, and the roller motion trajectory is defined by the Archimedean spiral equation: r＝10*(1+t)r＝10*(1+t) x＝r*cos(t*360)x＝r*cos(t*360) y＝r*sin(t*360)y＝r*sin(t*360) z＝0z＝0 式中，t为时间，r为螺线半径。Where t is time and r is the spiral radius. 4.根据权利要求1所述的基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，步骤三具体为：管材旋压变径后，在旋压机构与弯曲机构之间采用激光直径测量传感器对变径管材直径Dvar进行在线检测。4. According to the method for dynamic online adjustment of the bending die hole of a reducer tube based on a spinning and bending composite process as described in claim 1, it is characterized in that step three specifically comprises: after the tube is spun and reduced in diameter, a laser diameter measurement sensor is used between the spinning mechanism and the bending mechanism to perform online detection of the diameter D var of the reducer tube. 5.根据权利要求1所述的基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，步骤四具体为：根据采集后的变径管直径Dvar，即实际的孔径大小R1，通过二次项拟合或机器学习进行相关训练：5. The method for dynamically adjusting the bending die hole of a reducer tube based on a rotary bending composite process according to claim 1, characterized in that step 4 specifically comprises: performing relevant training by quadratic fitting or machine learning according to the collected reducer diameter D var , that is, the actual aperture size R 1 : B＝(XTX)-1XTYB＝(X T X) -1 X T Y 式中，B:n*1矩阵X:m*n矩阵，输入变量/特征Y:m*1矩阵，输出变量/目标变量m:样本数n:特征个数；In the formula, B: n*1 matrix X: m*n matrix, input variable/feature Y: m*1 matrix, output variable/target variable m: number of samples n: number of features; 建立变径管直径Rvar与两个辊子接触点所对应顶端/底端椭圆平面上点的半径R2的映射关系模型，为后续快速获取旋轮转动角度θ提供数据支撑。A mapping relationship model between the reducer diameter R var and the radius R2 of the point on the top/bottom elliptical plane corresponding to the contact point of the two rollers is established to provide data support for the subsequent rapid acquisition of the rotation angle θ of the rotary wheel. 6.根据权利要求1所述的基于旋弯复合工艺的变径管弯曲模孔动态在线调整方法，其特征在于，步骤五具体为：根据建立变径管直径Dvar与两个辊子接触点所对应顶端/底端椭圆平面上点的半径R2的映射关系模型，随后将长半轴a、短半轴b和对应顶端/底端椭圆平面上点的半径R2代入椭圆参数方程：6. The dynamic online adjustment method for the bending die hole of a reducer based on a rotary bending composite process according to claim 1 is characterized in that step five specifically comprises: establishing a mapping relationship model between the reducer diameter D var and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact points of the two rollers, and then substituting the major semi-axis a, the minor semi-axis b and the radius R 2 of the point on the top/bottom elliptical plane corresponding to the contact points of the two rollers into the elliptical parameter equation: 变形求解可得到椭圆轨迹上某点到圆心O(即轴心)的半径R2(即距离)关系式：The deformation solution can obtain the relationship between the radius R2 (i.e., distance) from a point on the elliptical trajectory to the center O (i.e., the axis): 式中a为长半轴，b为短半轴，R2为对应顶端/底端椭圆平面上点的半径；Where a is the major semi-axis, b is the minor semi-axis, and R 2 is the radius of the point on the corresponding top/bottom elliptical plane; 根据上式可得快速获得椭圆辊子旋转角θ的大小，随后通过私服电机控制椭圆形弯曲模转动，对弯曲模旋转角度θ进行控制，实现弯曲模孔径大小的在线调控。According to the above formula, the size of the rotation angle θ of the elliptical roller can be quickly obtained, and then the rotation of the elliptical bending die is controlled by the private service motor to control the rotation angle θ of the bending die to achieve online regulation of the aperture size of the bending die.
CN202411672080.5A 2024-11-21 2024-11-21 A dynamic online adjustment method for the bending die hole of a reducer tube based on a rotary bending composite process Pending CN119549572A (en)

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