EP1976651B1 - Active reconfigurable stretch forming - Google Patents

Active reconfigurable stretch forming Download PDF

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Publication number
EP1976651B1
EP1976651B1 EP07700085A EP07700085A EP1976651B1 EP 1976651 B1 EP1976651 B1 EP 1976651B1 EP 07700085 A EP07700085 A EP 07700085A EP 07700085 A EP07700085 A EP 07700085A EP 1976651 B1 EP1976651 B1 EP 1976651B1
Authority
EP
European Patent Office
Prior art keywords
workpiece
shape
forming
array
stretch forming
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP07700085A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1976651A4 (en
EP1976651A1 (en
Inventor
Ross Forsyth
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commonwealth Scientific and Industrial Research Organization CSIRO
Original Assignee
Commonwealth Scientific and Industrial Research Organization CSIRO
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from AU2006900369A external-priority patent/AU2006900369A0/en
Application filed by Commonwealth Scientific and Industrial Research Organization CSIRO filed Critical Commonwealth Scientific and Industrial Research Organization CSIRO
Publication of EP1976651A1 publication Critical patent/EP1976651A1/en
Publication of EP1976651A4 publication Critical patent/EP1976651A4/en
Application granted granted Critical
Publication of EP1976651B1 publication Critical patent/EP1976651B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B21D25/00—Working sheet metal of limited length by stretching, e.g. for straightening
    • 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
    • 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
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/08—Bending by altering the thickness of part of the cross-section of the work
    • B21D11/085—Bending by altering the thickness of part of the cross-section of the work by locally stretching or upsetting
    • 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
    • B21D22/26—Deep-drawing for making peculiarly, e.g. irregularly, shaped articles
    • 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
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • 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
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • 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
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • B21D24/14—Devices controlling or operating blank holders independently, or in conjunction with dies pneumatically or hydraulically
    • 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
    • B21D25/00—Working sheet metal of limited length by stretching, e.g. for straightening
    • B21D25/02—Working sheet metal of limited length by stretching, e.g. for straightening by pulling over a die
    • 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
    • B21D31/04—Expanding other than provided for in groups B21D1/00 - B21D28/00, e.g. for making expanded metal
    • 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
    • B21D37/02—Die constructions enabling assembly of the die parts in different ways
    • 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
    • B21D37/04—Movable or exchangeable mountings for tools
    • 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
    • B21D53/00—Making other particular articles
    • 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
    • B21D53/00—Making other particular articles
    • B21D53/88—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards
    • B21D53/883—Making other particular articles other parts for vehicles, e.g. cowlings, mudguards reflectors

Definitions

  • the invention is an active reconfigurable stretch forming tool, and in another aspect the invention is a method of stretch forming.
  • the tool and method are useful in the forming of three dimensional shapes in solid sheet metal or mesh, to produce panels for reflector antennas.
  • the "bed of bolts” methods involves laying sheetmetal strips over an array of adjustable bolts attached to a large flat table. The bolts are adjusted in height to represent the curvature required.
  • Strips of sheetmetal sufficiently narrow to take the required curvature with only elastic deformation are laid across the tops of the bolts and are then pulled down by vacuum bagging. Whilst the strips are held in shape by a modest vacuum, a rigid backing structure is bonded to the open side, to hold the strips permanently in the formed shape.
  • Press forming involves compressing a sheet of material between shaped dies.
  • the material is deformed plastically so that it permanently retains the pressed shape.
  • the material may be either plastically stretched or compressed, or both, during forming. Some spring back or "recovery” occurs after the pressing forces are removed, so the shape of the forming dies is not necessarily the same as the shape of the completed panel.
  • Forming an accurate shape free from wrinkles and buckles is complex and may involve a large number of iterations to the shape and details of the forming dies.
  • the dies are typically made from hardened tool steel, are large and expensive, and may only produce one shape each. Large presses up to many hundreds of tonnes in capacity are required to operate the dies. However, once the dies have been proven, production of repetition parts is extremely fast.
  • Hydroforming involves stretching a flat panel into a shaped die under hydraulic pressure. The material then retains the shape of the die. Like press forming, the material will recover to some degree after forming.
  • the hydroforming process for manufacture of antenna dishes has been put to commercial use by Anderson Manufacturing Inc. in the United States.
  • Hydroforming dies are large, but simple in comparison to press form dies, and may be made from soft materials or backed with polymer filling compounds to simplify shaping. No large press is required. Extremely large panels may be produced, but the die, once corrected and proven, will only produce parts of one shape, and variations in the properties of the workpiece material may affect the repeatability of the recovery after forming.
  • Stretch Forming covers a number of areas of metal forming, from the shaping of curved beams to the shaping of panels for aircraft and automotive bodies. Like press forming and hydroforming, a shaped die or stretch form tool is required.
  • Fig. 1 In the case of stretch forming of sheet material, the sheet is strongly gripped along two opposing edges and supported above a shaped form block. The form block is then driven up underneath the tightly stretched sheet (or the grippers move downwards), until the shape of the form tool is reproduced in the material, in a manner similar to stretching a sheet of thin rubber over, say, a football.
  • Fig. 1(a) a sheet of material is shown gripped above a form block for stretching.
  • Fig. 1(b) stretching load is applied by the grippers and the form block is moved relative to the sheet to the point of contact.
  • Fig. 1(c) forming is complete.
  • a piece of material has been deformed by application of a bending load. Tensile and compressive stresses are generated within the material as it is bent. These stresses increase in magnitude towards the outside faces of the material and there is a neutral axis in the centre where no tensile or compressive stresses exist.
  • Fig. 2b the material has been both bent and stretched along its own axis. If the stretching load is sufficient to cause yielding or slight plastic deformation in this direction, the stresses within the material will change to an even distribution of tensile stress. Later, when the stretching load is removed, the elastic recovery occurs along the centreline of the material, with little or no change in overall shape.
  • An hydraulically powered machine called a stretch former, is used to carry out this process. It consists of a base or table on which the stretch form tool is mounted, and an array of grippers on two sides that hold the edges of the workpiece while it is being stretched over the form block. The grippers simultaneously apply a sufficiently large stretching load to cause the workpiece material to yield across its full width. Stretch formers are relatively common in industrial use.
  • Stretch forming has traditionally been performed over solid form blocks, made from metal, hard plastics and occasionally wood where shapes are modest and accuracy is not critical.
  • Stretch forming is a fairly fast process, but the need for manufactured form tools and the limitations imposed by form blocks with fixed shapes, have prompted development of reconfigurable tools consisting of an array of adjustable elements that can be set to form an approximation to a continuous curved surface, in a manner similar to the Bed of Bolts described above.
  • An example of such a stretch forming tool and its corresponding method for forming a three-dimensional shape is described on WO 96/17697 .
  • FIG. 3 A representation of a reconfigurable stretch form tool with a 6 x 6 array of adjustable elements is shown in Fig. 3 .
  • the elements are typically domed on their working faces, rather than flat-ended as shown.
  • the surface of the reconfigurable form block is composed of individual facets rather than a continuous surface
  • a layer of conformable material such as a sheet of polymer rubber is laid over the top of the form tool to prevent dimpling of the workpiece.
  • This layer is known as an interpolator.
  • a first aspect of the invention is an active reconfigurable stretch forming tool for forming a three dimensional shape in a solid sheet metal or mesh workpiece, to produce a panel for a reflector antenna.
  • the tool comprises:
  • the array of limit switches defines the shape to be imparted to the workpiece.
  • the active reconfigurable tool achieves shape control of the workpiece by directly measuring the workpiece during shaping.
  • the tool also permits variation of the shape produced, and facilitates correction of systematic shape-forming errors, such as deformation of the tool structure or compression of an interpolator. Further, the tool may incorporate shape-control feedback or error correction as shaping proceeds.
  • the tool may be used in a conventional industrial stretch forming machine, with no significant modifications to the machine's usual set-up or operation.
  • the conventional opposing sets of workpiece grippers may be used.
  • the shape forming elements may comprise hydraulic cylinders and rams each of which is powered from a single hydraulic power supply. Since the hydraulically powered elements are connected via hydraulic lines to a single power supply, the hydraulic pressure in the cylinders will be equalised. This prevents any one cylinder causing localised excessive deformation of the workpiece.
  • Each ram may be surmounted by a tilting pad and each tilting pad may be interlocked with its adjacent pads to form a continuous articulated surface.
  • the array of elements may be sparse compared to a conventional reconfigurable stretch forming tool.
  • the tilting pads may be provided with a spherical seat to fit spherical ends on the hydraulic cylinder rams.
  • An interpolator may be located on the articulated surface to receive the workpiece.
  • the rams will generally be arranged below the workpiece to produce concave workpieces.
  • An extension of the invention is to place an array of rams both above and below the workpiece. This will allow the production of panels with both concave and convex curvature.
  • the limit switches may be aligned vertically over respective tilting pads. Other locations for the limit switches may be used, provided they can be actuated by the movement of the workpiece, interpolator, or ram, as the formation of the workpiece shape proceeds.
  • Each switch may be connected to a simple solenoid valve in the hydraulic line leading to its respective cylinder. As the workpiece is shaped it will contact one or more of the limit switches, and as soon as this occurs the switch operates to close the solenoid valve and prevent further movement of the respective tilting pad.
  • the switches themselves may be simple On-Off mechanical switches.
  • the switches may be constant-contact analogue devices, and they may be programmed or set to trigger at the appropriate height.
  • multi-staged forming where a panel is formed to initial,-intermediate-final, or roughing-finishing stages. This graduated approach may be beneficial where deep shapes or high accuracy, or both, are required, by avoiding excessive stretching or the possibility of buckling in any one stage.
  • the shaping surfaces of the tilting pads may be formed with a spherical radius approximating the curvature of the required panel.
  • a number of sets of tilting pads with a range of spherical radii may be provided for the tool.
  • the top of each tilting pad could be made flat, with provision for clipping inserts of varying spherical radius into place.
  • Another aspect of the invention is a method for forming three dimensional shapes in a solid sheet metal or mesh workpiece, to produce a panel for a large reflector antenna.
  • the method comprises:
  • the shape forming elements may comprise hydraulic rams, and the method may produce panels of any curvature within the travel available in the hydraulic rams.
  • Variations between measured and theoretical panel shapes may be accommodated in the settings of the limit switch array. If the limit switch array is also used for shape measurement, it may be possible to implement an automatic process with closed-loop shape control.
  • large sections of panel may be formed from one piece of material, eliminating the time and labour involved in laying up the numerous individual strips required by the bed of bolts method.
  • one-piece panels rigidly formed to an accurate shape eliminates the need for multiple pre-formed backing ribs to hold the panel's shape, and the need for the ribs to be aligned with the joints between individual strips. This will allow the backing structure to be designed for stiffness and economy without constraints imposed by the layout or curvature of the panel.
  • the method makes use of existing metal forming machinery and techniques, off the shelf parts, and a simple control system.
  • the method proposed offers significant improvements in terms of cost and versatility while maintaining equivalent surface accuracy to the best methods currently available.
  • reconfigurable stretch forming tool 10 involves a sparsely populated array of elements 12.
  • Each element 12 comprises an hydraulic cylinder 14 all of which are powered from a single hydraulic power supply 16.
  • An hydraulic ram 18 may be driven upwards by each cylinder 14.
  • the tool may be used in a conventional industrial stretch forming machine, with no significant modifications to the machine's usual set-up or operation.
  • each ram 18 is surmounted by a tilting pad 20.
  • Each tilting pad 20 is interlocked with its adjacent pads to form a continuous articulated surface indicated generally at 22.
  • a polymer interpolator 24 is placed between the pads 20 and the workpiece 26 which is held by grippers 28 and 30.
  • the material 26 is held stretched in the flat state while the rams 18 of the reconfigurable tool are driven upwards, so forming a three dimensional shape in the panel.
  • the hydraulically powered elements 12 are not individually controlled. As they are connected via hydraulic lines to a single power supply 16, the hydraulic pressure in the cylinders will be equalised. This prevents any one cylinder causing localised excessive deformation of the workpiece 26.
  • limit switches 32 Above the workpiece 26 is suspended an array of limit switches 32, aligned vertically over each active element 12. Each switch 32 is connected to a simple solenoid valve 34 in the hydraulic line leading to its relevant cylinder 14.
  • the switches 32 themselves may be simple On-Off mechanical limit switches of the types often used in industrial machinery, where switching occurs on contact. Alternatively, the switches may be constant-contact analogue devices like linear voltage differential transducers (LVDTs), programmed or set to trigger at the appropriate height.
  • LVDTs linear voltage differential transducers
  • the positions of the array of limit switches defines the shape of the workpiece that will be produced. It is anticipated that the setting of the limit switch array will be performed according to the method described in [1].
  • the interpolator sits on the relatively continuous surface 22, and the combined effect is to prevent localised high-spots that could dimple the workpiece 26 between points measured by the limit switch array.
  • the tilting pads 20 are provided with a spherical seat 36 on one side to fit spherical ends 38 on the hydraulic cylinder rams 18.
  • a simple wire circlip can be used to retain the pads on the rams after forming, when the hydraulic cylinders retract to their rest position.
  • the upper surfaces of the tilting pads 20 are formed with a spherical radius approximating the curvature of the required panel.
  • each tilting pad could be made flat, with provision for clipping inserts of varying spherical radius into place.
  • Fig. 5 shows a possible design of tilting pad 20, and illustrates the features 38 and 40 that interlock with adjacent pads to form an articulated surface, and the socket for mounting the pad on the hydraulic ram.
  • Fig. 6 illustrates the interlocking of a number of pads 20.
  • Fig. 7(a) illustrates a model of an array of rams and tilting pads 42 below an array of stops 44.
  • Fig. 7(b) shows how the array of pads 42 tilt and orient to form the curve defined by the stops 44 when they are brought into contact with each other.
  • an antenna of 15m diameter with an f/d of 0.4 gives a focal length of 6m.
  • the minimum instantaneous radius of a parabola equals twice the focal length, it is necessary to stretch form of a section of a spherical surface with a radius of 12m, from aluminium sheet with a thickness of 1.2mm.
  • the material considered is grade 5005-H34, which has a yield stress of 138 MPa [9].
  • This stretch forming process is analogous to hydroforming, where hydraulic pressure is used to deform a flat sheet. If allowed to proceed unrestrained, both processes will tend to produce a spherical radius. As the tensile stresses in the wall of a spherical vessel subject to internal hydraulic pressure are equal in all directions, and the tensile stresses are proportional to the pressure, treatment of stretch forming as a hydraulic pressure problem is sufficiently valid to check the viability of the proposed stretch forming process.
  • the yield stresses generated in the workpiece by the stretch forming grippers are equivalent to the tensile stresses in the walls of a pressure vessel. Therefore the contact pressure on any of the tilting pads is equivalent to the internal pressure in a vessel of the same radius with the same tensile wall stress.
  • the equivalent internal pressure is therefore 0.276 MPa. This is the nominal surface pressure that would be present on a tilting pad to stretch form a panel to a radius of 12m.
  • the load carried by the tilting pad will also be supported by the hydraulic cylinder. If a cylinder with a piston diameter of 75mm is assumed, the hydraulic pressure required can be found.
  • the hydraulic pressure necessary to produce this load on a 75 mm piston is 1.19 MPa. When allowances for losses are considered, a minimum system pressure of approximately 2.5 MPa is required.
  • Industrial hydraulic systems built from off-the-shelf parts typically operate at system pressures ranging from 20 MPa to 60 MPa, so the hydraulic pressure requirements are very modest.
  • the invention has been described with reference to a particular example, it will be understood that it may be extended to place an array of rams is both above and below the workpiece. This will allow the production of panels with both concave and convex curvature. Alternatively, the invention may also be used with designs that locate panel joints along lines of inflection between concave and convex areas.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Aerials With Secondary Devices (AREA)
  • Optical Elements Other Than Lenses (AREA)
EP07700085A 2006-01-25 2007-01-23 Active reconfigurable stretch forming Expired - Fee Related EP1976651B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AU2006900369A AU2006900369A0 (en) 2006-01-25 Method for stretch forming of panels for reflector antennas using active reconfigurable tooling
PCT/AU2007/000059 WO2007085041A1 (en) 2006-01-25 2007-01-23 Active reconfigurable stretch forming

Publications (3)

Publication Number Publication Date
EP1976651A1 EP1976651A1 (en) 2008-10-08
EP1976651A4 EP1976651A4 (en) 2010-05-12
EP1976651B1 true EP1976651B1 (en) 2011-08-31

Family

ID=38308774

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07700085A Expired - Fee Related EP1976651B1 (en) 2006-01-25 2007-01-23 Active reconfigurable stretch forming

Country Status (10)

Country Link
US (2) US20100043511A1 (xx)
EP (1) EP1976651B1 (xx)
CN (2) CN102554008B (xx)
AU (1) AU2007209756B2 (xx)
DE (1) DE112007000212T9 (xx)
ES (1) ES2373749T3 (xx)
GB (1) GB2447204B (xx)
HK (1) HK1173106A1 (xx)
WO (1) WO2007085041A1 (xx)
ZA (1) ZA200806368B (xx)

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GB2442793A (en) * 2006-10-10 2008-04-16 Apogee Antennas Ltd Forming curved panels
JP5781748B2 (ja) * 2010-10-13 2015-09-24 シロキ工業株式会社 長尺部材の曲げ加工方法及び装置
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GB201401474D0 (en) 2014-01-29 2014-03-12 Univ Ulster Reconfiguarble metal forming apparatus
KR101501224B1 (ko) * 2014-02-12 2015-03-13 주식회사 스틸플라워 개별 클램핑이 가능한 곡판 성형용 다점 스트레칭 포밍장비
CN106564203A (zh) * 2015-10-12 2017-04-19 上海交通大学 用于表面成形的组成物及其成形方法
CN105965779B (zh) * 2016-05-27 2018-11-23 泉州市小新智能科技有限公司 一种快速模具
JP6642489B2 (ja) * 2017-03-07 2020-02-05 トヨタ自動車株式会社 打刻装置
CN107052156B (zh) * 2017-04-14 2019-05-31 泰东汽车部件(苏州)有限公司 弧形边/角边成型模具、控制方法及冲压机
US11090706B2 (en) 2017-07-26 2021-08-17 Ford Global Technologies, Llc Method to reduce tool marks in incremental forming
CN113042617B (zh) * 2019-12-26 2022-04-26 上海交通大学 基于插值变换算法的渐进成形混合轨迹的加工方法
CN114375974B (zh) * 2022-01-24 2022-07-12 中国农业大学 一种模具可变的饼干定制加工设备及加工方法
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GB0812950D0 (en) 2008-08-20
DE112007000212T5 (de) 2009-02-05
GB2447204B (en) 2011-03-09
EP1976651A4 (en) 2010-05-12
US20100043511A1 (en) 2010-02-25
CN102554008A (zh) 2012-07-11
CN101389420A (zh) 2009-03-18
CN102554008B (zh) 2015-02-25
WO2007085041A1 (en) 2007-08-02
GB2447204A (en) 2008-09-03
HK1173106A1 (en) 2013-05-10
EP1976651A1 (en) 2008-10-08
ES2373749T3 (es) 2012-02-08
ZA200806368B (en) 2009-12-30
AU2007209756A1 (en) 2007-08-02
AU2007209756B2 (en) 2011-05-26
DE112007000212T9 (de) 2009-06-04
US20150068261A1 (en) 2015-03-12

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