CN108213132A - Prevent the device and method of interference in 3 D auto bending - Google Patents
Prevent the device and method of interference in 3 D auto bending Download PDFInfo
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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
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Abstract
Description
技术领域technical field
本发明涉及金属复杂构件制造技术领域，具体是一种三维自由弯曲中防止发生干涉的装置及方法，适用于成形各种复杂形状的管材，特别是在三维自由弯曲成形过程中易发生与其它部件干涉的弯曲成形零件。The invention relates to the technical field of metal complex component manufacturing, in particular to a device and method for preventing interference in three-dimensional free bending, which is suitable for forming various complex shapes of pipes, especially in the three-dimensional free bending forming process that is prone to interference with other parts Interfering curved formed parts.
背景技术Background technique
金属管材复杂构件在航空航天、核电、汽车、舰船、建筑以及其它民用工业等诸多领域具有广泛的应用，对于降低产品的生产成本以及减重方面发挥着重要的作用。传统的金属构件弯曲技术如压弯、拉弯、绕弯、推弯以及由上述基本工艺衍生出的弯曲工艺等在弯曲变弯曲半径的弯管时需要根据弯曲半径不断更换弯曲模具，极大降低了生产效率。复杂构件的三维自由弯曲方法能实现管材各种弯曲半径条件下的高精度无模成形。如果成形后的材料形状复杂，在三维自由弯曲过程中就会发生管材和其它部件产生干涉的行为。Metal tube complex components are widely used in many fields such as aerospace, nuclear power, automobiles, ships, construction and other civil industries, and play an important role in reducing the production cost and weight of products. Traditional metal component bending technologies such as press bending, stretch bending, winding bending, push bending, and bending processes derived from the above basic processes need to continuously replace the bending dies according to the bending radius when bending pipes with variable bending radii, which greatly reduces the Productivity. The three-dimensional free bending method of complex components can realize high-precision die-free forming of pipes under various bending radii conditions. If the shape of the formed material is complex, interference between the pipe and other parts will occur during the three-dimensional free bending process.
发明内容Contents of the invention
本发明为了解决现有技术的问题，提供了一种三维自由弯曲中防止发生干涉的装置及方法，限定自由度防止管材与三维自由弯曲设备中的其他部件发生干涉行为，简单可行，生产效率高。In order to solve the problems of the prior art, the present invention provides a device and method for preventing interference in three-dimensional free bending, and limits the degree of freedom to prevent interference between the pipe material and other parts in the three-dimensional free bending equipment, which is simple and feasible, and has high production efficiency .
本发明提供了一种三维自由弯曲中防止发生干涉的装置，包括与三维自由弯曲装置固定的固定板，伺服电机通过固定装置固定在固定板上，伺服电机依次通过传动装置和传递装置连接有旋转装置，旋转装置套在三维自由弯曲装置机头的外缘上，伺服电机通过旋转装置带动机头整体旋转，转角度为顺时针0-180°。The invention provides a device for preventing interference in three-dimensional free bending, which includes a fixed plate fixed to the three-dimensional free bending device, a servo motor is fixed on the fixed plate through the fixing device, and the servo motor is connected with a rotating The device, the rotating device is set on the outer edge of the head of the three-dimensional free bending device, and the servo motor drives the overall rotation of the head through the rotating device, and the rotation angle is 0-180° clockwise.
本发明还提供了一种三维自由弯曲中防止发生干涉的方法，包括以下步骤：The present invention also provides a method for preventing interference in three-dimensional free bending, comprising the following steps:
1）在三维自由弯曲装置的机头上增加一个自由度，使机头实现顺时针0-180°旋转；1) Add a degree of freedom to the head of the three-dimensional free bending device, so that the head can rotate clockwise 0-180°;
2）确定需要弯曲成形的形状参数，包括弯曲半径、弯曲角度、弯曲弧长、弯曲方向以及成形管材的整体的尺寸；2) Determine the shape parameters that need to be bent and formed, including bending radius, bending angle, bending arc length, bending direction and the overall size of the formed pipe;
3）根据弯曲方向及弯曲半径来确定所成形的管材是否会与三维自由弯曲系统的其它部分发生干涉行为；3) According to the bending direction and bending radius, determine whether the formed pipe will interfere with other parts of the three-dimensional free bending system;
4）若判断存在干涉行为，确定干涉位置，控制机头旋转避免干涉。4) If it is judged that there is an interference behavior, determine the interference position, and control the rotation of the machine head to avoid interference.
为了实现在三维自由弯曲中避免管材和其它部件产生干涉行为，本发明通过增加伺服电机，在原有的五轴三维自由弯曲系统的基础上增加一个自由度，使原有的三维自由弯曲多了一个可以旋转的自由度，可以实现三维自由弯曲系统的机头部分做任意角度的旋转，以此来改变已经成形的管材的出料方向，避免成形后的管材与机头其它部分或者地面等发生干涉行为以致影响后续的成形工作。通过增加伺服电机来带动传动装置的运动，传动装置又可以带动旋转装置使其发生旋转的运动，从而使三维自由弯曲系统的机头部分发生转动避免干涉问题的发生。In order to avoid interference between pipes and other components during three-dimensional free bending, the present invention adds a degree of freedom to the original five-axis three-dimensional free bending system by adding a servo motor, so that the original three-dimensional free bending has one more degree of freedom. The degree of freedom of rotation can realize the rotation of the head part of the three-dimensional free bending system at any angle, so as to change the discharge direction of the formed pipe and avoid interference between the formed pipe and other parts of the head or the ground. Behavior so as to affect the subsequent shaping work. By adding a servo motor to drive the movement of the transmission device, the transmission device can drive the rotating device to rotate, so that the head part of the three-dimensional free bending system can rotate to avoid the occurrence of interference problems.
本发明有益效果在于：The beneficial effects of the present invention are:
1、本发明通过自由度防止管材与三维自由弯曲设备中的其他部件发生干涉行为。1. The invention prevents interference between the pipe material and other components in the three-dimensional free bending equipment through the degree of freedom.
2、本发明方法简单可行，生产效率高，在航空航天、核电、汽车等工程领域具有重要的工程应用价值和明显的经济效益。2. The method of the present invention is simple and feasible, has high production efficiency, and has important engineering application value and obvious economic benefits in engineering fields such as aerospace, nuclear power, and automobiles.
附图说明Description of drawings
图1、三维自由弯曲中防止发生干涉的装置投影示意图。Figure 1. Schematic diagram of the projection of the device to prevent interference in three-dimensional free bending.
图2、三维自由弯曲变形装置的前端机头部分设备投影示意图。Fig. 2. Schematic diagram of projection of the front-end head part of the three-dimensional free bending deformation device.
图3、三维自由弯曲变形中管材发生干涉行为的示意图。Fig. 3. Schematic diagram of the interference behavior of the pipe in the three-dimensional free bending deformation.
图4、三维自由弯曲变形中与机头底座发生干涉管材示意图。Fig. 4. Schematic diagram of the pipe interfering with the base of the machine head in the three-dimensional free bending deformation.
图5、三维自由弯曲变形中与地面发生干涉管材示意图。Fig. 5. Schematic diagram of the pipe interfering with the ground during the three-dimensional free bending deformation.
图6、三维自由弯曲变形中与伺服电机发生干涉管材示意图。Fig. 6. Schematic diagram of the pipe interfering with the servo motor in the three-dimensional free bending deformation.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
三维自由弯曲中防止发生干涉的装置如图1所示，包括与三维自由弯曲装置固定的固定板6，伺服电机1通过固定装置2固定在固定板6上，伺服电机1依次通过传动装置3和传递装置4连接有旋转装置5，旋转装置5套在三维自由弯曲装置机头的外缘上，伺服电机1通过旋转装置5带动机头整体旋转，转角度为顺时针0-180°。The device for preventing interference in three-dimensional free bending is shown in Figure 1, including a fixed plate 6 fixed to the three-dimensional free bending device, the servo motor 1 is fixed on the fixed plate 6 through the fixing device 2, and the servo motor 1 passes through the transmission device 3 and The transmission device 4 is connected with a rotating device 5, which is set on the outer edge of the three-dimensional free bending device head, and the servo motor 1 drives the overall rotation of the head through the rotating device 5, and the rotation angle is 0-180° clockwise.
三维自由弯曲变形装置的前端机头部分设备投影示意图如图2所示，三维自由弯曲成形过程中，通过控制弯曲模左右转动伺服电机10、控制机头左右运动伺服电机11、控制机头上下运动伺服电机12、控制弯曲模上下转动伺服电机13的运动来控制在基座9上的保护罩壳7中的弯曲模8的运动，加上管材的送进，此时的三维自由弯曲设备具有五个自由度。The schematic diagram of the projection of the front end of the three-dimensional free bending deformation device is shown in Figure 2. During the three-dimensional free bending forming process, the servo motor 10 is controlled to rotate the bending die left and right, the servo motor 11 is controlled to move the machine head left and right, and the up and down movement of the machine head is controlled. Servo motor 12, control the motion of bending die to rotate up and down servo motor 13 to control the motion of bending die 8 in the protective cover 7 on the base 9, plus the feeding of the pipe material, the three-dimensional free bending equipment now has five degrees of freedom.
三维自由弯曲变形过程中具体干涉行为及防止干涉方法通过以下实施例进行说明。The specific interference behavior and the method for preventing interference during the three-dimensional free bending deformation process are illustrated by the following examples.
实施例1Example 1
图3为基于三维自由弯曲变形管材发生干涉行为的示意图，图4为三维自由弯曲变形中与机头底座发生干涉管材示意图。在三维自由弯曲变形中需要成形管材14所示的几何形状，如果定义管材14弯曲的起始方向是向下方，弯曲的半径为125mm，成形的管材将与机头的基座9发生干涉行为，影响后续的成形过程。Fig. 3 is a schematic diagram of the interference behavior of the pipe based on the three-dimensional free bending deformation, and Fig. 4 is a schematic diagram of the interference pipe with the head base in the three-dimensional free bending deformation. In the three-dimensional free bending deformation, it is necessary to form the geometric shape shown in the pipe material 14. If the starting direction of the pipe material 14 bending is defined as downward, and the bending radius is 125 mm, the formed pipe material will interfere with the base 9 of the machine head. affect the subsequent forming process.
在这一实例中，防止干涉的具体步骤为：第一对于管材14，首先要确定需要弯曲成形的形状包括弯曲半径、弯曲角度、弯曲弧长、弯曲方向以及成形管材的整体的尺寸；第二根据弯曲方向及弯曲半径来确定所成形的管材是否会与三维自由弯曲系统的其它部分发生干涉行为，当弯曲的起始方向是向下，弯曲的半径为125mm时，成形的管材将与机头的基座9发生干涉行为；第三进行防止干涉行为设定，图1中伺服电机1的转动通过传动装置4传递到旋转装置5上，从而带动机头部分作整体的旋转运动，对于管材14，可以使机头部分顺时针旋转180°，从而防止干涉行为的发生并且成形后的管材也不会与三维自由弯曲系统的整体机箱盖15发生干涉行为。In this example, the specific steps for preventing interference are: first, for the pipe material 14, first determine the shape that needs to be bent and formed including the bending radius, bending angle, bending arc length, bending direction and the overall size of the formed pipe material; Determine whether the formed pipe will interfere with other parts of the three-dimensional free bending system according to the bending direction and bending radius. When the starting direction of bending is downward and the bending radius is 125mm, the formed pipe will be in contact with the machine head The interference behavior of the base 9 occurs; the third is to set the anti-interference behavior. The rotation of the servo motor 1 in Fig. 1 is transmitted to the rotation device 5 through the transmission device 4, thereby driving the machine head part to perform an overall rotary motion. For the pipe material 14 , the head part can be rotated 180° clockwise, so as to prevent the occurrence of interference behavior and the formed pipe will not interfere with the overall chassis cover 15 of the three-dimensional free bending system.
实施例2Example 2
图5为三维自由弯曲变形中与地面发生干涉管材示意图。在三维自由弯曲变形中图5所示的弯曲管材，其弯曲半径为1200mm包括直段16和弯曲段17。当弯曲的起始方向是向下，成形的管材与地面将发生干涉行为，影响后续的成形过程。Fig. 5 is a schematic diagram of a pipe that interferes with the ground in three-dimensional free bending deformation. In the three-dimensional free bending deformation, the curved pipe shown in FIG. 5 has a bending radius of 1200 mm and includes a straight section 16 and a curved section 17 . When the initial direction of bending is downward, the formed pipe will interfere with the ground, which will affect the subsequent forming process.
在这一实例中，防止干涉的具体步骤为：第一对于图5所示的弯曲管材，首先要确定需要弯曲成形的形状包括弯曲半径、弯曲角度、弯曲弧长、弯曲方向以及成形管材的整体的尺寸；第二根据弯曲方向及弯曲半径来确定所成形的管材是否会与三维自由弯曲系统的其它部分发生干涉行为，当弯曲的起始方向是向下，弯曲的半径为1200mm时，成形的管材将与地面发生干涉行为；第三进行防止干涉行为设定，图1中伺服电机1的转动通过传动装置4传递到旋转装置5上，从而带动机头部分作整体的旋转运动，对于图5所示的弯曲管材，可以使机头部分顺时针旋转90°，从而防止干涉行为的发生并且成形后的管材也不会与三维自由弯曲系统的整体机箱盖15发生干涉行为。In this example, the specific steps to prevent interference are as follows: First, for the curved pipe shown in Figure 5, firstly, determine the shape to be bent and formed, including the bending radius, bending angle, bending arc length, bending direction and the overall shape of the formed pipe The second is to determine whether the formed pipe will interfere with other parts of the three-dimensional free bending system according to the bending direction and bending radius. When the starting direction of bending is downward and the bending radius is 1200mm, the formed pipe The pipe material will interfere with the ground; the third is to set the anti-interference behavior. In Figure 1, the rotation of the servo motor 1 is transmitted to the rotating device 5 through the transmission device 4, thereby driving the head part to perform an overall rotational movement. For Figure 5 As shown in the bending pipe, the head part can be rotated 90° clockwise to prevent interference and the formed pipe will not interfere with the overall chassis cover 15 of the three-dimensional free bending system.
实施例3Example 3
图6为三维自由弯曲变形中与伺服电机发生干涉管材示意图。在三维自由弯曲变形中需要成形管材如图6所示的几何形状，如果定义管材弯曲的起始方向是向下方，弯曲的半径为250mm，成形的管材将与伺服电机发生干涉行为，影响后续的成形过程。Fig. 6 is a schematic diagram of a pipe interfering with a servo motor in three-dimensional free bending deformation. In the three-dimensional free bending deformation, it is necessary to form the geometric shape of the pipe as shown in Figure 6. If the starting direction of the pipe bending is defined as downward, and the bending radius is 250mm, the formed pipe will interfere with the servo motor, which will affect the subsequent forming process.
在这一实例中，防止干涉的具体步骤为：第一对于管材，首先要确定需要弯曲成形的形状包括弯曲半径、弯曲角度、弯曲弧长、弯曲方向以及成形管材的整体的尺寸；第二根据弯曲方向及弯曲半径来确定所成形的管材是否会与三维自由弯曲系统的其它部分发生干涉行为，当弯曲的起始方向是向下，弯曲的半径为250mm时，成形的管材将与伺服电机发生干涉行为；第三进行防止干涉行为设定，图1中伺服电机1的转动通过传动装置4传递到旋转装置5上，从而带动机头部分作整体的旋转运动，对于管材，可以使机头部分顺时针旋转180°，从而防止干涉行为的发生并且成形后的管材也不会与三维自由弯曲系统的整体机箱盖15发生干涉行为。In this example, the specific steps to prevent interference are: first, for the pipe, first determine the shape that needs to be bent, including the bending radius, bending angle, bending arc length, bending direction, and the overall size of the formed pipe; second, according to The bending direction and bending radius are used to determine whether the formed pipe will interfere with other parts of the three-dimensional free bending system. When the starting direction of bending is downward and the bending radius is 250mm, the formed pipe will interact with the servo motor. Interference behavior; the third is to set the anti-interference behavior. The rotation of the servo motor 1 in Figure 1 is transmitted to the rotation device 5 through the transmission device 4, so as to drive the head part to perform an overall rotational movement. For the pipe, the head part can be made Rotate 180° clockwise, so as to prevent the occurrence of interference behavior and the formed pipe will not interfere with the overall chassis cover 15 of the three-dimensional free bending system.
本发明具体应用途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进，这些改进也应视为本发明的保护范围。There are many specific application approaches of the present invention, and the above description is only a preferred embodiment of the present invention. It should be pointed out that for those of ordinary skill in the art, some improvements can also be made without departing from the principles of the present invention. Improvements should also be regarded as the protection scope of the present invention.
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| CN108941281A (en) * | 2018-07-12 | 2018-12-07 | 中铁磁浮科技（成都）有限公司 | The classification method and processing method of interference problem during numerical controlled bending of pipe |
| CN113059039A (en) * | 2021-05-19 | 2021-07-02 | 南京航空航天大学 | A method of avoiding interference in three-dimensional free bending forming by bending die deflection |
| CN113235599A (en) * | 2021-05-21 | 2021-08-10 | 北京中岩智泊科技有限公司 | Rotary moving pressurizing device for open caisson construction |
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| CN203725558U (en) * | 2014-01-07 | 2014-07-23 | 深圳市万方自动控制技术有限公司 | Rotating machine head mechanism |
| CN204122532U (en) * | 2014-09-15 | 2015-01-28 | 杭州和良机电设备有限公司 | A kind of five axle bending machines |
| CN106862330A (en) * | 2017-03-14 | 2017-06-20 | 南京航空航天大学 | The axle free bend Forming Equipments of special-shaped cross section metal hollow unit six and analytic process method |
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| CN108941281A (en) * | 2018-07-12 | 2018-12-07 | 中铁磁浮科技（成都）有限公司 | The classification method and processing method of interference problem during numerical controlled bending of pipe |
| CN113059039A (en) * | 2021-05-19 | 2021-07-02 | 南京航空航天大学 | A method of avoiding interference in three-dimensional free bending forming by bending die deflection |
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