CN113714359B - Multi-pass robot flexible flanging full-mold forming method - Google Patents

Abstract

A flexible flanging full-mold forming method of a multi-pass robot is characterized in that in a process planning stage, a three-dimensional rectangular coordinate system is established by taking the lower plane of a plate to be formed as a reference surface and the center of a circle of the plate as an origin, a roller is arranged to move to a movement starting point along an X axis, and then multi-pass flanging forming is arranged around a Y axis according to a flanging open angle of a target flanging part; according to the inner diameter, the arc opening angle and the thickness of an original plate, the flanging opening angle and the transition fillet radius of a target flanging piece, the length of a pressing part of a plate to be formed, the length of a flanging part, the radius of a roller and the distance from the bottom surface of the roller to a theoretical tangent point when the roller and the plate are formed; calculating the Y-axis coordinate of the mold plane to obtain the initial coordinate of the roller in each pass; in the execution stage, the rollers are controlled by an industrial six-axis robot to reach the initial coordinates of the rollers of each pass and apply forming force to the part to be flanged of the sheet material so as to realize flexible flanging forming.

Description

Multi-pass robot flexible flanging full-mold forming method

technical field

The invention relates to a technology in the field of sheet metal parts manufacturing, in particular to a multi-pass robot flexible flanging full-mold forming method.

Background technique

Sheet metal flanging components have a wide range of applications in the aerospace field. However, due to the large variety and small batches, at present, most of these sheet metal flanging parts are formed by manual hammering, which is noisy, low in forming efficiency, and difficult to guarantee the quality stability and consistency of the flanging parts. As the sheet metal flanging structural parts become more and more abundant, the product development cycle is getting shorter and shorter, and the existing manual hammer flanging forming process and manufacturing quality are difficult to meet the changing product demand and the constantly accelerating production cycle. Therefore, it is urgent to develop a new sheet metal flanging process to solve the current manufacturing problems of sheet metal flanging structural parts.

SUMMARY OF THE INVENTION

Aiming at the low forming efficiency of the existing flanging forming technology, the quality stability and consistency of the flanging parts are difficult to guarantee, the flanging part is prone to dents, and can only be used for flanging with small arc radius and small arc opening angle. Due to the shortage of accurate forming of parts, a multi-pass robot flexible flanging full-mold forming method is proposed, which can effectively improve the forming performance and forming quality of sheet metal flanging parts. The method is simple and feasible, and has high production efficiency. Manufacturing and other engineering fields have important engineering application value and obvious economic benefits.

The present invention is achieved through the following technical solutions:

The invention relates to a multi-pass robot flexible flanging full-mold forming method. In the process planning stage, the lower plane of the sheet to be formed is taken as the reference plane, the center of the sheet is the origin, a three-dimensional Cartesian coordinate system is established, and the roller is first set along the X The axis moves to the starting point of the movement, and then around the Y axis in the range of (β/2, -β/2), according to the flanging opening angle α of the target flanging piece, set n-pass flanging forming; according to the inner diameter R of the original sheet ₀ , arc opening angle β and thickness d, flanging opening angle α of the target flanging piece, transition fillet radius r, length L ₁ of the pressing part of the sheet to be formed, length L ₂ of the flanging part, roller radius r _w , the theoretical tangent distance h _w from the bottom of the roller to the roller and the sheet metal forming; and the Y-axis coordinate of the die plane is y ₀ to calculate the initial coordinates of the roller for each pass; in the execution stage, the roller is controlled by an industrial six-axis robot Reach the initial coordinates of the rollers in each pass and apply a forming force to the to-be-flanged part of the sheet to achieve flexible flanging forming.

The pressing module includes: a triangular spacer and a straight-tooth pressing plate respectively contacting the side surface and the top surface of the sheet material to be formed.

The full-mold flanging workbench is a workbench with an inclined surface, and the inclined surface and the plane part are smoothly transitioned through the transition fillet. side height.

technical effect

The invention as a whole solves the problem that the existing flanging forming technology has low forming efficiency, it is difficult to guarantee the quality stability and consistency of flanging parts, and the flanging part is prone to depression, and can only be used for small arc radius and small arc opening angle. Problems such as accurate forming of flanging parts;

Compared with the prior art, the present invention only needs to control the robot to drive the tool head during the flanging forming process, so that the sheet can be formed by progressive flanging in multiple passes; at the same time, by adjusting the rotation angle and initial coordinates of each pass of the roller , you can realize real-time compensation and adjust the rebound amount. The invention is simple and feasible, and after completing the process planning, it takes only ten minutes to form a qualified part, which greatly improves the forming efficiency.

Description of drawings

1 is a diagram of a full-mold forming device for flexible flanging of a multi-pass robot according to an embodiment;

Fig. 2 is the original sheet size drawing of the embodiment;

Fig. 3 is the dimension drawing of embodiment target flanging piece;

4 is a schematic diagram of the relative position of the roller and the mold in the flanging forming process of the embodiment;

In the picture: 1 full-mold flanging worktable, 2 triangular spacers, 3 screws, 4 nuts, 5 washers, 6 straight tooth pressing plates, 7 sheets, 701 target flanging parts pressing part, 702 target flanging parts flanging Part, 8 industrial six-axis robots control the rollers of the pose.

Detailed ways

As shown in FIG. 1 , this embodiment relates to a multi-pass robot flexible flanging full-mold forming device, including: a full-mold flanging worktable 1 , a pressing module arranged thereon, and a roller 8 for forming , wherein: the sheet material 7 to be formed is placed under the pressing module on the full-die flanging workbench 1 .

The pressing module includes: a triangular spacer 2 and a straight-toothed pressing plate 6 respectively in contact with the side and top surfaces of the sheet material 7 to be formed, wherein: the straight-toothed pressing plate 6 is fixedly arranged on the full-mold turn through the screw 3 and the nut 4. side table 1.

The full-mold flanging workbench 1 is a workbench with an inclined surface, and the inclined surface and the plane part are smoothly transitioned through the transition fillet, and the transition fillet radius is set to 3mm; the inclined surface angle is the same as the flanging angle of the target flanging piece, Set to 108°, the length of the bevel is greater than the flanging height of the target flanging piece, set to 36mm.

The sheet material 7 to be formed is made of 5A06 aluminum alloy.

The present embodiment relates to a multi-pass robot flexible flanging full-mold forming method, which includes the following steps:

The first step is to divide the sheet 7 into a pressing part 701 and a flanging part 702 based on the part features of the target flanging piece;

In the second step, the inner diameter R ₀ of the original sheet is measured to be 1200mm, the arc opening angle β is 90° and the thickness d is 2mm, the flanging opening angle α of the target flanging piece is 120°, and the transition fillet radius r is 10mm. , the length L ₁ of the pressing part 701 is 100mm and the length L ₂ of the flanging part 702 is 32mm; then according to the length L ₂ of the flanging part 702, determine the roller radius r _w is 24mm and the roller bottom surface to the roller and the sheet metal forming theory The tangent distance h _w is 30mm;

The third step is to take the lower plane of sheet 7 as the reference plane and the center of sheet 7 as the origin to establish a three-dimensional rectangular coordinate system, then the Y-axis coordinate of the mold plane is y ₀ is 0, and the roller 8 first moves along the X-axis until the movement starts starting point, and then flanging is formed around the Y axis within the range of (45°, -45°);

The fourth step, according to the flanging opening angle α of the target flanging piece is 120°, set 6 times of flanging forming;

The fifth step, using R ₀ , d, α, β, r, L ₁ , L ₂ , h _w , y ₀ to calculate the initial coordinates of the rollers for each pass, specifically including:

Y坐标为

Z坐标为

The X coordinate of the first pass is:

The Y coordinate is

The Z coordinate is

Y坐标为

Z坐标为：

The X coordinate of the second pass is:

The Y coordinate is

The Z coordinate is:

Y坐标为

Z坐标为：

The X coordinate of the third pass is:

The Y coordinate is

The Z coordinate is:

Y坐标为：

Z坐标为：

The X coordinate of the fourth pass is:

The Y coordinate is:

The Z coordinate is:

Y坐标为：

Z坐标为：

The X coordinate of the fifth pass is:

The Y coordinate is:

The Z coordinate is:

Y坐标为：

Z坐标为：

The X coordinate of the sixth pass is:

The Y coordinate is:

The Z coordinate is:

According to the above process analysis method, the calculated initial coordinates of the roller position are the initial coordinates of the bottom center of the roller. Import the original coordinate data into the robot control program, and start the program to realize the rapid and accurate forming of the flanging parts.

After specific experiments, the deviation between the actual profile and the theoretical profile of the flanging part obtained by this method is ≤ 0.5mm/m, the surface is smooth, and there are no obvious defects such as embossing and waves; The flanging parts with arc opening angle greater than 100° are accurately formed, as shown in the following table:

Compared with the existing manual knocking and flanging to form a part, it takes 5 hours of man-hours. After the process planning is completed, the time required to form a part is only 0.5 hours, which greatly improves the forming efficiency; In comparison, the invention can improve the forming quality of the surface of the part, the surface of the part is smooth, and there is no obvious defects such as embossing and waves.

The above-mentioned specific implementation can be partially adjusted by those skilled in the art in different ways without departing from the principle and purpose of the present invention. The protection scope of the present invention is based on the claims and is not limited by the above-mentioned specific implementation. Each implementation within the scope is bound by the present invention.

Claims (3)

1. A flexible flanging full-mold forming method of a multi-pass robot is characterized in that in a process planning stage, a lower plane of a plate to be formed is taken as a baseThe method comprises the following steps of (1) aligning a plane, taking the center of a plate as an origin, establishing a three-dimensional rectangular coordinate system, setting a roller to move to a movement initial point along an X axis, and then setting n-pass flanging formation according to a flanging opening angle alpha of a target flanging piece in a (beta/2, -beta/2) range around a Y axis; according to the inner diameter R of the original plate₀Arc opening angle beta and thickness d, flanging opening angle alpha of target flanging piece, transition fillet radius r, and length L of compression part of plate to be formed₁Length L of the turnup portion₂Radius of the roller r_wDistance h from bottom surface of roller to theoretical tangent point of roller and plate when forming_w(ii) a And the Y-axis coordinate of the mold plane is Y₀Calculating to obtain the initial coordinates of the rollers in each pass; in the execution stage, the roller is controlled by an industrial six-axis robot to reach the initial coordinate of the roller in each pass and apply forming force to the part of the plate to be flanged so as to realize flexible flanging and forming, and the method specifically comprises the following steps:

i) measuring to obtain the inner diameter R of the original plate₀1200mm, an arc opening angle beta of 90 degrees and a thickness d of 2mm, a flanging opening angle alpha of 120 degrees, a transition fillet radius r of 10mm and a length L of a compression part of the target flanging piece₁Is 100mm and the length L of the turned-up portion₂Is 32 mm; then according to the length L of the turned-up portion₂Determining the roller radius r_wIs 24mm and the distance h from the bottom surface of the roller to the theoretical tangent point when the roller and the plate are formed_wIs 30 mm;

ii) establishing a three-dimensional rectangular coordinate system by taking the lower plane of the plate as a reference surface and the circle center of the plate as an origin, wherein the Y-axis coordinate of the plane of the die is Y₀The number of the rollers is 0, the rollers firstly move along the X axis to the movement starting point, and then flanging forming is carried out in the range of (45 degrees, -45 degrees) around the Y axis;

iii) setting 6-pass flanging forming according to the flanging opening angle alpha of the target flanging piece being 120 degrees;

iv) by means of R₀、d、α、β、r、L₁、L₂、h_w、y₀Calculating to obtain the initial coordinates of the roller in each pass, and specifically comprising the following steps:

the first pass X coordinate is:

y coordinate is

Z coordinate is

The second pass X coordinate is:

y coordinate is

The Z coordinate is:

the X coordinate of the third pass is as follows:

y coordinate is

The Z coordinate is:

the fourth pass X coordinate is:

the Y coordinate is:

the Z coordinate is:

the X coordinate of the fifth pass is as follows:

the Y coordinate is:

the Z coordinate is:

the X coordinate of the sixth pass is as follows:

the Y coordinate is:

the Z coordinate is:

2. the multi-pass robot flexible flanging full-mold forming method of claim 1, wherein the forming is realized by a forming device, the forming device comprises a full-mold flanging workbench, a pressing module arranged on the full-mold flanging workbench and rollers for forming, wherein: the plate to be formed is arranged below the pressing module on the full-mold flanging workbench;

the compression module comprises: the triangular cushion block and the straight tooth pressing plate are respectively contacted with the side surface and the top surface of the plate to be formed.

3. The multi-pass robot flexible flanging whole-die forming method of claim 2, wherein the whole-die flanging workbench is a workbench with an inclined surface, the inclined surface and the plane part are in smooth transition through a transition fillet, the inclined angle of the inclined surface is the same as the flanging angle of the target flanging piece, and the length of the inclined surface is larger than the flanging height of the target flanging piece.

Images