Electromagnetic coil accurate pose discharge forming system and forming method

Abstract

The invention discloses an electromagnetic coil accurate pose discharge forming system and a forming method, belongs to the technical field of electromagnetic forming, and aims to solve the problems that in the skin electromagnetic forming process in the prior art, the pose of an electromagnetic coil relative to a skin cannot be correspondingly adjusted according to the real-time contour of the skin, and the cost is low. And proper electromagnetic force cannot be applied to the skin through an electromagnetic coil. By detecting the skin profile in real time, the position and posture parameters of the electromagnetic coil relative to the skin profile can be adjusted in real time according to the change of the skin profile in the moving process of the electromagnetic coil, it is guaranteed that the electromagnetic coil can apply appropriate and reasonable electromagnetic force to the skin at the most appropriate position and posture, and finally the forming precision of the skin profile is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of electromagnetic forming, and in particular relates to an electromagnetic coil precise posture discharge forming system and forming method. Background Art

[0002] Electromagnetic forming technology is one of the common technologies used in skin forming. It uses electromagnetic coils to apply a corresponding electromagnetic force to the skin along a predetermined path, thereby forming the skin through the electromagnetic force. In existing electromagnetic forming technologies, the position of the electromagnetic coil is relatively fixed, and the electromagnetic coil is only driven along the predetermined path by the moving end of the CNC machine tool. However, in the actual skin forming process, due to the actual clamping and positioning of the skin, the actual contour of the skin surface is not completely consistent with the theoretical contour. As a result, the electromagnetic force applied to the skin according to the existing fixed path and the fixed position of the electromagnetic coil cannot form the skin to the predetermined contour shape. In other words, in the existing skin electromagnetic forming process, the position of the electromagnetic coil relative to the skin is not adjusted according to the real-time contour of the skin, and thus the electromagnetic coil cannot apply the appropriate electromagnetic force to the skin.

[0003] Therefore, in order to solve the problem that the position of the existing electromagnetic coil relative to the skin cannot be adjusted during movement, the present invention discloses an electromagnetic coil precise position discharge forming system and forming method. Summary of the Invention

[0004] The present invention discloses an electromagnetic coil precise posture discharge forming system and forming method, which can adaptively adjust the posture state of the electromagnetic coil relative to the skin according to the real-time changes in the skin contour during the movement of the electromagnetic coil, ensuring that the electromagnetic coil can exert a more appropriate electromagnetic force on the skin, thereby ensuring the accuracy of the final skin forming.

[0005] The present invention is achieved through the following technical solutions: A precise posture discharge forming system for an electromagnetic coil includes a posture adjustment machine tool, wherein the posture adjustment machine tool includes a mobile end, which can translate on the horizontal X-axis and Y-axis, can be raised and lowered on the vertical Z-axis, can perform an A-swing rotation around the X-axis, and can perform a C-swing rotation around the Z-axis; an electromagnetic coil is provided on the mobile end, and a skin surface measuring device is provided on one side of the mobile end, the skin surface measuring device is used to measure and establish a surface model of the skin, and the mobile end drives the electromagnetic coil to move to the optimal processing posture based on the surface model to perform electromagnetic forming on the skin.

[0006] In order to better realize the present invention, further, a skin support form is provided under the movable end of the attitude adjustment machine tool, and the top of the skin support form is provided with a supporting surface for supporting the shaped skin; flexible clamps for clamping and fixing the skin are provided on both sides of the skin support form.

[0007] A method for forming an electromagnetic coil by precise posture discharge is implemented based on an electromagnetic coil precise posture discharge forming system, comprising the following steps: Step 1: Establish a skin surface model using a skin surface measurement device, and set feature points on the surface model; Step 2: Fitting the surface parameter equation of the skin based on the feature points; Step 3: Solve the optimal processing position of the electromagnetic coil according to the surface parameter equation, and move the electromagnetic coil to the optimal processing position; Step 4: Based on the optimal processing position, the optimal processing parameters of the electromagnetic coil are solved, and the skin is electromagnetically formed based on the optimal processing parameters.

[0008] In order to better implement the present invention, further, the step 3 specifically includes: Step 3.1, according to the surface parameter equation, solve the highest feature point in the machining normal direction in the current machining area as the reference point; Step 3.2, establish a tangent reference plane passing through the reference point; Step 3.3: Set the optimal offset distance to establish an optimal position plane parallel to the correct reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance. Step 3.4: Move the electromagnetic coil by the movable end of the attitude adjustment machine tool so that the machining end surface of the electromagnetic coil is parallel to the optimal position plane, and the center point of the machining end surface of the electromagnetic coil is located on the optimal position plane.

[0009] In order to better implement the present invention, further, the step 4 specifically includes: Step 4.1. Use the center point of the machined end surface of the electromagnetic coil as the first reference point and the rotation center of the pendulum A at the mobile end as the second reference point, and establish a reference vector from the first reference point to the second reference point. Step 4.2, select the feature points on the skin surface and establish the normal vector of the feature points as the target vector; Step 4.3: Calculate the optimal processing parameters, wherein the optimal processing parameters make the reference vector parallel to the target vector and make the processed end surface of the electromagnetic coil coincide with the normal plane of the feature point.

[0010] In order to better realize the present invention, further, the optimal processing parameters include the A-pendulum rotation angle, the C-pendulum rotation angle, and the Z-axis feed amount. The reference vector can be parallel to the target vector after being rotated by the A-pendulum rotation angle and the C-pendulum rotation angle; the processing end surface of the electromagnetic coil can coincide with the normal plane of the feature point after being moved by the Z-axis feed amount.

[0011] In order to better implement the present invention, further, the optimal offset distance in step 3.3 is greater than or equal to 2 mm.

[0012] In order to better implement the present invention, further, during the electromagnetic forming process of each step, the parameters of the electromagnetic coil driven by the moving end to move along the X-axis and the Y-axis are fixed values.

[0013] Compared with the prior art, the present invention has the following advantages and beneficial effects: The present invention can detect the skin profile in real time during the process of electromagnetic forming of the skin, and adjust the posture parameters of the electromagnetic coil relative to the skin profile in real time according to the skin profile, so as to ensure that the electromagnetic coil can apply appropriate and reasonable electromagnetic force to the skin in the most suitable posture, thereby ultimately improving the forming accuracy of the skin profile. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the electromagnetic coil precise posture discharge forming system; Figure 2 Schematic diagram of the optimal processing position; Figure 3 Schematic diagram of the rotation angle of pendulum A and pendulum C; Figure 4 Schematic diagram of Z-axis feed amount.

[0015] Among them: 1-posture adjustment machine tool; 2-electromagnetic coil; 3-skin surface measuring device; 4-skin support formwork; 5-flexible fixture. DETAILED DESCRIPTION

[0016] Example 1: This embodiment of the electromagnetic coil precise posture discharge forming system, such as Figure 1 As shown, it includes an attitude adjustment machine tool 1, which includes a mobile end. The mobile end can translate on the horizontal X-axis and Y-axis, can be raised and lowered on the vertical Z-axis, can perform A-swing rotation around the X-axis, and can perform C-swing rotation around the Z-axis; an electromagnetic coil 2 is provided on the mobile end, and a skin surface measuring device 3 is provided on one side of the mobile end. The skin surface measuring device 3 is used to measure and establish a surface model of the skin, and the mobile end drives the electromagnetic coil 2 to move to the optimal processing posture based on the surface model to perform electromagnetic forming on the skin.

[0017] Furthermore, a skin support formwork 4 is provided below the movable end of the attitude adjustment machine tool 1, and a support profile for supporting the shaped skin is provided on the top of the skin support formwork 4; flexible clamps 5 for clamping and fixing the skin are provided on both sides of the skin support formwork 4.

[0018] A method for forming an electromagnetic coil by precise posture discharge is implemented based on an electromagnetic coil precise posture discharge forming system, comprising the following steps: Step 1: Establish a skin surface model using the skin surface measurement device 3 and set feature points on the surface model; Step 2: Fitting the surface parameter equation of the skin based on the feature points; Step 3: Solve the optimal processing position of the electromagnetic coil 2 according to the surface parameter equation, and move the electromagnetic coil 2 to the optimal processing position; Step 4: Based on the optimal processing position, the optimal processing parameters of the electromagnetic coil 2 are solved, and the skin is electromagnetically formed based on the optimal processing parameters.

[0019] Further, such as Figure 2 As shown, the step 3 specifically includes: Step 3.1, according to the surface parameter equation, solve the highest feature point in the machining normal direction in the current machining area as the reference point; Step 3.2, establish a tangent reference plane passing through the reference point; Step 3.3: Set the optimal offset distance to establish an optimal position plane parallel to the correct reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance. Step 3.4: Move the electromagnetic coil 2 by the movable end of the attitude adjustment machine tool 1 so that the machining end surface of the electromagnetic coil 2 is parallel to the optimal position plane, and the center point of the machining end surface of the electromagnetic coil 2 is located on the optimal position plane.

[0020] Furthermore, the step 4 specifically includes: Step 4.1: Use the center point of the machined end surface of the electromagnetic coil 2 as the first reference point and the rotation center of the pendulum A at the mobile end as the second reference point, and establish a reference vector from the first reference point to the second reference point; Step 4.2, select the feature points on the skin surface and establish the normal vector of the feature points as the target vector; Step 4.3: Calculate the optimal processing parameters, wherein the optimal processing parameters make the reference vector parallel to the target vector and make the processed end surface of the electromagnetic coil 2 coincide with the normal plane of the feature point.

[0021] Furthermore, the optimal processing parameters include the A-pendulum rotation angle, the C-pendulum rotation angle, and the Z-axis feed rate. The reference vector can be parallel to the target vector after being rotated by the A-pendulum rotation angle and the C-pendulum rotation angle; the processing end surface of the electromagnetic coil 2 can coincide with the normal plane of the feature point after being moved by the Z-axis feed rate.

[0022] Furthermore, the optimal offset distance in step 3.3 is greater than or equal to 2 mm.

[0023] Furthermore, during the electromagnetic forming process of each step, the parameters of the electromagnetic coil 2 driven by the movable end to move along the X-axis and the Y-axis are constant.

[0024] Example 2: This embodiment discloses a method for accurately positioning and forming an electromagnetic coil by discharge. Based on the first embodiment, further optimization is made to solve the optimal processing parameters of the electromagnetic coil 2, which specifically includes the following steps: Step 4.1, such as Figure 3 As shown in the figure, a three-dimensional coordinate system G-XYZ is established. The center point of the machined end surface of the electromagnetic coil 2 is used as the first reference point in the entire calculation process, which is recorded as the first reference point O (X0, Y0, Z0). X0, Y0, Z0 represent the three-dimensional coordinates of the first reference point O. The rotation center of the pendulum A at the mobile end is used as the second reference point, which is recorded as the second reference point P (X0, Y0, Z0). p ), X0, Y0, Z p Represents the three-dimensional coordinates of the second reference point P. A reference vector is established based on the first reference point O and the second reference point P. .

[0025] Step 4.2, select the feature point D (X D , Y D , Z D ), based on the intersection of the normal vector of feature point D and the optimal position plane at point E (X E , Y E , Z E ), establish the target vector . Base vector Rotate the pendulum A around the X axis by an angle Then get the intermediate vector , the middle vector Rotate the C pendulum around the Z axis by an angle of rotation The final vector is obtained , the final vector With the target vector parallel.

[0026] Step 4.3, Definition 、 、 、 are the projection points of points O, P, D, and E in the XY plane, respectively, and are defined 、 、 、 are the projection points of points O, P, D, and E in the YZ plane respectively.

[0027] in, 、 、 、 The coordinates are: ; in, 、 、 、 The coordinates are: ; Then looking along the negative direction of the X axis toward the YZ plane, the reference vector The projection vector on the YZ plane is , the target vector The projection vector on the YZ plane is , measuring the projection vector With the projection vector The angle between , you can get the rotation angle of pendulum A , the base vector Rotate the pendulum A around the X axis by an angle You can get the intermediate vector Looking along the negative Z axis toward the XY plane, the middle vector The projection vector on the XY plane is , the target vector The projection vector on the XY plane is , measuring the projection vector With the projection vector The angle between , you can get the C pendulum rotation angle , the middle vector Rotate the C pendulum around the Z axis by an angle of rotation The final vector .

[0028] The coordinates of each point are calculated: Projection vector ; Projection vector ; Projection vector .

[0029] definition , where y = (0, 1, 0), we can solve it to get: like ,but is positive; if ,but is negative.

[0030] Then the intermediate vector is obtained by solving midpoint The coordinates of , , ), then: .

[0031] Define S2= ×x, where x=(1, 0, 0), we can solve it to get: ; like ,but is positive; if ,but is negative.

[0032] like Figure 4 As shown, then solve the Z-axis feed h: According to the above calculation, the rotation angle of pendulum A 、C pendulum rotation angle , you can solve the final vector , based on the final vector The target normal plane Q of the final vector can be solved. Then the feature point D is projected along the Z axis to the target normal plane Q to obtain the Z-direction projection point , then the feature point D and the Z-direction projection point The distance between them is the Z-axis feed h.

[0033] According to the above solution, the rotation angle of pendulum A is obtained 、C pendulum rotation angle , you can solve and get the final vector midpoint The coordinates of , , ), you can get the final vector =( , , ), and then the expression of the target normal plane Q is obtained as follows: ; Then we can find the projection point The Z-axis coordinate is: ; Finally, the Z-axis feed h is obtained: .

[0034] The rest of this embodiment is the same as that of embodiment 1, so it will not be described again.

[0035] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An electromagnetic coil precise posture discharge forming system, comprising a posture adjustment machine tool (1), characterized in that: The posture adjustment machine tool (1) includes a moving end, which can translate on the horizontal X-axis and Y-axis, can be raised and lowered on the vertical Z-axis, can perform A-swing rotation around the X-axis, and can perform C-swing rotation around the Z-axis; an electromagnetic coil (2) is provided on the moving end, and a skin profile measuring device (3) is provided on one side of the moving end, the skin profile measuring device (3) is used to measure and establish a skin profile model, and the moving end drives the electromagnetic coil (2) to move to an optimal processing posture based on the profile model to perform electromagnetic forming on the skin.

2. The electromagnetic coil precise posture discharge forming system according to claim 1, characterized in that: A skin support formwork (4) is provided below the movable end of the attitude adjustment machine tool (1); a support profile for supporting the shaped skin is provided on the top of the skin support formwork (4); and flexible clamps (5) for clamping and fixing the skin are provided on both sides of the skin support formwork (4).

3. A method for accurately positioning and discharging an electromagnetic coil, implemented based on the system for accurately positioning and discharging an electromagnetic coil according to claim 1 or 2, characterized in that: The following steps are involved: Step 1: Establish a skin surface model using a skin surface measuring device (3), and set feature points on the surface model; Step 2: Fitting the surface parameter equation of the skin based on the feature points; Step 3, solving the optimal processing position of the electromagnetic coil (2) according to the surface parameter equation, and moving the electromagnetic coil (2) to the optimal processing position; Step 4: Based on the optimal processing position, the optimal processing parameters of the electromagnetic coil (2) are solved, and the skin is electromagnetically formed based on the optimal processing parameters.

4. The electromagnetic coil precise posture discharge forming method according to claim 3, characterized in that: The step 3 specifically includes: Step 3.1, according to the surface parameter equation, solve the highest feature point in the machining normal direction in the current machining area as the reference point; Step 3.2, establish a tangent reference plane passing through the reference point; Step 3.3: Set the optimal offset distance to establish an optimal position plane parallel to the correct reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance. Step 3.4: The electromagnetic coil (2) is driven to move by the movable end of the attitude adjustment machine tool (1), so that the processing end surface of the electromagnetic coil (2) is parallel to the optimal position plane, and the center point of the processing end surface of the electromagnetic coil (2) is located on the optimal position plane.

5. The electromagnetic coil precise posture discharge forming method according to claim 4, characterized in that: The step 4 specifically includes: Step 4.1, using the center point of the machined end surface of the electromagnetic coil (2) as the first reference point and the rotation center of the A pendulum at the mobile end as the second reference point, establish a reference vector from the first reference point to the second reference point; Step 4.2, select the feature points on the skin surface and establish the normal vector of the feature points as the target vector; Step 4.3, calculating the optimal processing parameters, wherein the optimal processing parameters make the reference vector parallel to the target vector and make the processing end surface of the electromagnetic coil (2) coincide with the normal plane of the feature point.

6. The electromagnetic coil precise posture discharge forming method according to claim 5, characterized in that: The optimal processing parameters include an A-pendulum rotation angle, a C-pendulum rotation angle, and a Z-axis feed rate. The reference vector can be parallel to the target vector after being rotated by the A-pendulum rotation angle and the C-pendulum rotation angle. The processing end surface of the electromagnetic coil (2) can coincide with the normal plane of the feature point after being moved by the Z-axis feed rate.

7. The electromagnetic coil precise posture discharge forming method according to claim 6, characterized in that: The optimal offset distance in step 3.3 is greater than or equal to 2 mm.

8. The electromagnetic coil precise posture discharge forming method according to claim 7, characterized in that: During the electromagnetic forming process of each step, the parameters of the electromagnetic coil (2) driven by the moving end to move along the X-axis and the Y-axis are constant.

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