Thin-walled high-finned ring cylinder multi-degree-of-freedom radial enveloping forming equipment

Abstract

The present application relates to a kind of thin-walled high rib ring cylinder multi-degree-of-freedom radial envelope forming equipment, including head, drive component, movement component, column, workbench, main shaft component, workpiece shaft component and base;Drive component includes servo motor, planetary reducer, reversing gear box, servo cylinder, push rod, pressure sensor, left slider, middle slider, right slider, wear-resistant inclined plate, wear-resistant bottom plate, wear-resistant inclined block, wear-resistant bottom block and grating ruler;Movement component includes outer ball seat, inner ball seat, ball cover, inner ball head connecting rod and outer ball head connecting rod;Main shaft component is suspendedly installed on workbench, and main shaft component includes main shaft motor, main shaft box, core roller, copper sleeve, main shaft support cover, main shaft support seat, main shaft, main shaft key and main shaft encoder;Workpiece shaft component is installed on base, including workpiece shaft mounting plate, workpiece, workpiece shaft, workpiece box, workpiece motor and workpiece magnetic grid.The present application can realize thin-walled high rib ring cylinder high-performance high-efficiency forming manufacturing.

Description

Technical Field

[0001] This invention relates to the field of special metal forming equipment, and more specifically, to a multi-degree-of-freedom radial enveloping forming equipment for thin-walled, high-ribbed ring cylinders. Background Technology

[0002] Thin-walled, high-ribbed ring cylinders possess advantages such as light weight, high strength, and high load-bearing capacity, making them key load-bearing components for aerospace and other equipment. They are widely used in the manufacture of outer shells, cylinders, and compartments for missiles, rockets, and spacecraft. The thin web and high ribs of thin-walled, high-ribbed ring cylinders present significant manufacturing challenges. Currently, milling is the primary machining method for thin-walled, high-ribbed ring cylinders, which is not only inefficient and has low material utilization, but also cuts off metal flow lines and damages surface integrity, failing to meet the requirements for high-performance and high-efficiency manufacturing. To achieve high-performance and high-efficiency forming of thin-walled, high-ribbed ring cylinders, a novel radial enveloping forming process has been pioneered in China. This new process enables continuous localized plastic forming of thin-walled, high-ribbed ring cylinders, achieving high efficiency and material utilization. Furthermore, it refines grains, obtains continuous and dense metal flow lines, and improves surface integrity, thereby significantly enhancing the mechanical properties and load-bearing capacity of thin-walled, high-ribbed ring cylinders. Radial enveloping forming has become an important development direction for advanced high-performance and high-efficiency manufacturing technology of thin-walled, high-ribbed ring cylinders. However, the mold needs to move in multiple degrees of freedom during the radial enveloping forming process, and the force positions of each mold need to be coordinated and matched at all times. Existing plastic forming equipment cannot realize the radial enveloping forming manufacturing of thin-walled high-rib ring cylinders. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom radial enveloping forming equipment for thin-walled high-rib ring cylinders, which can realize high-performance and high-efficiency forming and manufacturing of thin-walled high-rib ring cylinders.

[0004] The technical solution adopted by the present invention to solve its technical problem is: to construct a thin-walled, high-ribbed ring cylinder multi-degree-of-freedom radial enveloping forming equipment, including a machine head, a drive component, a motion component, a column, a worktable, a spindle component, a workpiece shaft component, and a base; the machine head is mounted on the base via the column;

[0005] The driving components include a servo motor, a planetary reducer, a reversing gearbox, a servo electric cylinder, a push rod, a pressure sensor, a left slider, a middle slider, a right slider, a wear-resistant inclined plate, a wear-resistant base plate, a wear-resistant inclined block, a wear-resistant base block, and a grating ruler; the moving components include an outer ball seat, an inner ball seat, a ball cover, an inner ball joint connecting rod, and an outer ball joint connecting rod; the spindle assembly is suspended on the worktable and includes a spindle motor, a spindle box, a core roller, a copper sleeve, a spindle support cover, a spindle support seat, a spindle, a spindle key, and a spindle encoder; the workpiece shaft assembly is mounted on the base and includes a workpiece shaft mounting plate, a workpiece, a workpiece shaft, a workpiece box, a workpiece motor, and a workpiece magnetic grating;

[0006] The machine head has a long slot with positioning steps on both sides along its width. These positioning steps are fixedly connected to wear-resistant inclined plates. Two wear-resistant plate mounting slots are located near the center of the bottom surface of the long slot, and a wear-resistant base plate is installed within these slots. Three servo cylinders are provided, their housings fixed to the machine head. The tail ends of each servo cylinder are sequentially connected to a reversing gearbox, a planetary reducer, and a servo motor via couplings. A push rod is mounted on the ball screw in the middle of each servo cylinder, and the push rod is fixedly connected to a pressure sensor. The three pressure sensors are respectively... Connected to the left, middle, and right sliders, wear-resistant inclined blocks are installed on both sides of the left, middle, and right sliders, and wear-resistant bottom blocks are installed on the upper center of the left, middle, and right sliders; the left, middle, and right sliders slide with the wear-resistant inclined plates through the wear-resistant inclined blocks and the wear-resistant bottom blocks slide with the wear-resistant bottom surface; a grating ruler is installed between the left, right, and middle sliders and the wear-resistant inclined plates, the ruler base is installed on the wear-resistant inclined plates, and the ruler head is installed on the left, right, and middle sliders that are close to the ruler base, respectively;

[0007] The lower ends of the left and right sliders are fitted with outer ball seats, and the lower end of the middle slider is fitted with an inner ball seat. Both the outer and inner ball seats have flange surfaces, and oil grooves are formed on the inner spherical surface. The upper surfaces of both the outer and inner ball seats are fixedly connected to the ball cap. Both the outer and inner ball head connecting rods are connecting rod-type components with spherical ends. The inner ball head connecting rod is slightly longer than the outer ball head connecting rod. The upper ball head of the outer ball head connecting rod is installed in the closed spherical cavity formed by the outer ball seat and the ball cap, allowing for spatial fixed-point rotation along the center point of the outer ball seat. The upper ball head of the inner ball head connecting rod is installed in the closed spherical cavity formed by the inner ball seat and the ball cap. The outer ball joint moves spatially along the center point of the inner ball seat; the lower ends of the outer ball joint and the inner ball joint are also installed with the outer ball seat and the inner ball seat respectively through spherical mating, so that the outer ball joint and the inner ball joint can also rotate spatially along the center point of the outer ball seat and the inner ball seat respectively, and are restricted by the ball cap to not detach from the ball cavity; four sets of outer ball seat-outer ball joint-outer ball seat connection structures are positioned and installed at the four corners of the upper surface of the worktable through the flange under the outer ball seat, and two sets of inner ball seat-inner ball joint-inner ball seat connection structures are positioned and installed in the middle of the worktable through the flange under the inner ball seat;

[0008] A spindle box is mounted on the lower end face of the worktable. A spindle motor is mounted on the input shaft of the spindle box, and a spindle is mounted on the output end of the spindle box. A spindle encoder is mounted on the outer side of the spindle facing the worktable. The rotating body of the spindle encoder mates with the outer cylindrical surface of the spindle and is fixedly connected by bolts. The outer ring of the spindle encoder is fixedly connected to the outer side of the spindle box by bolts. A core roller is fixedly mounted on the spindle. A boss for enveloping the inner wall shape of the workpiece is machined on the outer cylindrical surface of the core roller. The shoulder on the other side of the core roller has no taper and is installed in the inner hole of a cylindrical copper sleeve, forming a sliding friction fit with the inner hole of the copper sleeve. The copper sleeve is positioned and installed through its outer cylindrical surface. The upper end of its outer cylindrical surface mates with the semi-circular inner hole of the spindle support seat, and the lower end of its outer cylindrical surface mates with the semi-circular inner hole of the spindle support cover. The upper end face of the spindle support cover is connected to the lower end face of the spindle support seat, pressing and fixing the copper sleeve in the circular hole formed by the two support seats. The upper end of the spindle support seat is fixedly connected to the workpiece table.

[0009] The workpiece box is fixedly installed between the lower end face of the workpiece shaft mounting plate and the upper end face of the base. The base has a square countersunk hole. The input shaft of the workpiece box is recessed into the square hole. The workpiece shaft motor is installed on the input shaft. The workpiece is installed on the inner circular surface of the workpiece shaft. The workpiece shaft magnetic grating is installed on the outer side of the workpiece shaft. The rotating body of the magnetic grating is connected to the outer circle of the workpiece shaft by a circumferential bolt. The reading head of the magnetic grating is fixedly installed on the workpiece box by bolts.

[0010] According to the above scheme, the machine head is rectangular, and the four corners of the machine head are equipped with columns through flanges and threads. The other end of the column is also connected to the four corners of the base through flanges, thereby forming a closed four-column anti-eccentric load frame system.

[0011] According to the above scheme, the wear-resistant inclined plate and the wear-resistant base plate are provided with oil grooves, which are connected to the lubrication port on the machine head through oil holes. Oil grooves are provided on the sliding mating surfaces of the wear-resistant inclined block and the wear-resistant inclined plate, and the wear-resistant base block and the wear-resistant base plate. The oil grooves are connected to the oil nozzles on the left slider, the right slider and the middle slider through oil holes. The oil nozzles are connected to the lubrication port through soft oil pipes.

[0012] According to the above scheme, the baffles on both sides of the machine head along the length of the long groove are provided with threads and cylindrical positioning surfaces, which are fixedly connected to the housings of the left and right servo cylinders by bolts. The baffle on the upper right side of the long groove of the machine head is also provided with threads and cylindrical positioning surfaces, which are connected to the housing of the middle servo cylinder by bolts.

[0013] According to the above scheme, workpiece covers are installed at both ends of the workpiece, and the workpiece covers are fixed on the workpiece box to restrict the axial movement of the workpiece. A workpiece positioning key is installed on the keyway on the circumference of the workpiece, which restricts the circumferential rotation of the workpiece by cooperating with the keyway on the inner hole of the workpiece shaft.

[0014] According to the above scheme, the left and right sliders have completely identical shapes. The positioning hole and the mounting thread hole of the central push rod of the slider are symmetrical. The upper end of the slider is slotted to avoid interference with the servo electric cylinder on the slider during the movement. At the same time, the protruding solid at the lower end of the slider is connected to the push rod, and the upper end of the protruding solid part of the middle slider is connected to the push rod.

[0015] According to the above scheme, the ball cover is machined with an oil groove, one side of which is connected to the oil groove on the corresponding ball seat, and the other side is connected to the oil nozzle on the side of the ball cover, and is connected to the lubrication port through a hose.

[0016] According to the above scheme, the movement process of the worktable is as follows: The worktable of this equipment can realize any movement in the plane of the workpiece axis, including translation in the X and Y directions of the plane, as well as rotation around any point of the plane. The planar movement of the worktable is composed of the movement of the servo motors on the left slider, the right slider, and the middle slider, which satisfies formula (1).

[0017]

[0018] In the formula, T is the motion tensor of the core roller required for the radial envelope forming motion. This is the initial position of the left slider. This is the initial position of the middle slider. This is the initial position of the right slider; Let be the projection of the distance from the center of the ball joint of the left slider support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. Let be the projection of the distance from the center of the ball joint of the sliding block support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. l1 is the projection of the distance from the center of the ball joint of the right slider chain moving platform to the origin of the core roller coordinate system onto the plane normal to the core roller axis; l2 is the length of the outer ball joint connecting rod; g is the transmission ratio of the ball screw. The left, middle, and right sliders drive the servo motors to rotate at specific angles.

[0019] According to the above scheme, the left and right ball joints on the left slider, right slider, and middle slider must be symmetrical and tilted to the opposite side, that is, the four points of the upper and lower ball centers of the ball joints form an isosceles trapezoid.

[0020] The thin-walled, high-ribbed annular multi-degree-of-freedom radial envelopment forming equipment of the present invention has the following beneficial effects:

[0021] 1. The multi-degree-of-freedom radial envelope forming equipment of the present invention can realize arbitrary movement of the mandrel in the axial plane through three servo-driven sliding reciprocating motions; the radial envelope forming motion of the mandrel and the workpiece is realized through constant transmission ratio control of the mandrel and the workpiece shaft; the swinging motion of the mandrel during the forming process is realized through the coordinated motion of the slider, thereby regulating the metal flow and reducing the forming force, realizing multi-degree-of-freedom radial envelope near-net-shape forming manufacturing of complex thin-walled high-rib ring cylinders.

[0022] 2. The multi-degree-of-freedom radial envelope forming equipment of the present invention adopts a three-degree-of-freedom six-link parallel drive configuration, which has a simple structure, fewer parts, high reliability, and convenient installation and debugging. In addition, the equipment has high structural rigidity and load-bearing capacity, thereby resisting large forming off-center loads and deformations.

[0023] 3. The multi-degree-of-freedom radial envelope forming equipment of the present invention achieves compensation for dynamic deformation error of the equipment by correcting the position of the slider, thereby achieving high precision of the equipment and high precision of thin-walled high-rib ring forming.

[0024] 4. The thin-walled high-ribbed ring formed by the multi-degree-of-freedom radial envelope forming equipment of the present invention has fine grains, continuous and dense metal flow lines, and good surface integrity, thereby greatly improving the mechanical properties and load-bearing capacity of the thin-walled high-ribbed ring. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0026] Figure 1 This is a schematic diagram of the structure of the thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment of the present invention;

[0027] Figure 2 yes Figure 1 Main cross-sectional schematic diagram;

[0028] Figure 3 yes Figure 1 A schematic diagram of the side section;

[0029] Figure 4 This is a structural schematic diagram of the drive component;

[0030] Figure 5 This is a schematic diagram of the slider guide structure;

[0031] Figure 6 This is a schematic diagram of the guide structure for the left or right slider;

[0032] Figure 7 This is a schematic diagram showing the position distribution of the slider and the ball seat.

[0033] Figure 8 This is a structural diagram of the moving parts;

[0034] Figure 9 This is a schematic diagram of a ball seat-ball coupling transmission structure;

[0035] Figure 10 This is a schematic diagram showing the distribution of ball seats on the worktable;

[0036] Figure 11 This is a structural schematic diagram of the spindle assembly;

[0037] Figure 12 This is a schematic diagram of the core roller shaft installation method;

[0038] Figure 13 This is a structural schematic diagram of the workpiece shaft component;

[0039] Figure 14 This is a schematic diagram of the workpiece's installation structure. Detailed Implementation

[0040] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0041] like Figure 1-14 As shown, the thin-walled, high-ribbed ring cylinder multi-degree-of-freedom radial enveloping forming equipment of the present invention includes, from top to bottom, a machine head 1, a drive component, a moving component, a column 2, a worktable 3, a main spindle component, a workpiece shaft component, a base 4, and a lubrication port 40. The drive component is composed of three sets of motor-servo cylinder-slider transmission structures connected in parallel, including a servo motor 4, a planetary reducer 5, a reversing gearbox 6, a servo cylinder 7, a push rod 8, a pressure sensor 9, a left slider 10, a middle slider 11, a right slider 12, a wear-resistant inclined plate 13, a wear-resistant base plate 14, a wear-resistant inclined block 15, a wear-resistant base block 16, and a grating ruler 37. The moving component is composed of six sets of ball joints connected in parallel and a worktable, including an outer ball seat 17, an inner ball seat 34, and a ball cover 18. The spindle assembly includes an inner ball joint 19, an outer ball joint 20, and a spindle motor 21, a spindle box 22, a core roller 23, a copper sleeve 24, a spindle support cover 25, a spindle support seat 26, a spindle 27, a spindle key 28, and a spindle encoder 38. The workpiece shaft assembly is mounted on the base 4 and includes a workpiece shaft mounting plate 29, a workpiece 30, a workpiece cover 31, a workpiece shaft 32, a workpiece box 33, a workpiece motor 35, a workpiece positioning key 36, and a workpiece magnetic grating 39.

[0042] The machine head 1 is rectangular, with columns 2 installed at the four corners via flanges and threads. The other end 4 of the columns 2 is also connected to the four corners of the base 4 via flanges, thus forming a closed four-column anti-eccentric load frame system.

[0043] The machine head 1 has a long slot, and the width of the slot is equal to the positioning steps on both sides. The positioning steps are fixedly connected to the wear-resistant inclined plate 13 by bolts. Near the middle of the bottom surface of the long slot, there are two narrower wear-resistant plate mounting slots on the left and right sides. The wear-resistant base plate 14 is installed by positioning through the perimeter and bottom surface of these slots and by countersunk bolts. Oil grooves 41 are formed on the wear-resistant inclined plate 13 and the wear-resistant base plate 14, which are connected to the lubrication port 40 on the machine head 1 through oil holes. Grease or oil lubrication can be achieved using different lubrication pumps. The side panels of the machine head 1 along the length of the long slot have threads and cylindrical positioning surfaces, which are fixedly connected to the housings of the left and right servo cylinders 7 by bolts. The upper right side panel of the long slot of the machine head 1 also has threads and cylindrical positioning surfaces, which are connected to the housing of the middle servo cylinder 7 by bolts.

[0044] The tails of the three servo electric cylinders 7 are connected sequentially to the reversing gearbox 6, the planetary reducer 5, and the servo motor 4 via couplings. A push rod 8 is installed on the roller screw in the middle of the servo electric cylinder 7, and the push rod 8 is fixedly connected to the pressure sensor 9 by threads. The pressure sensors 9 installed at three different positions on the machine head 1 are respectively connected to the left slider 10, the middle slider 11, and the right slider 12 by bolts. All sliders have square grooves on both sides, and wear-resistant inclined blocks 15 are fixedly installed by countersunk bolts through the four sides and bottom surface of the square grooves. The top center of the slider also has two square grooves, left and right, and wear-resistant bottom blocks 16 are fixedly installed by countersunk bolts through the four sides and bottom surface of the square grooves. Oil grooves 42 are provided on the sliding mating surfaces of the wear-resistant inclined block 15 of the slider and the wear-resistant inclined plate 13 of the machine head, the wear-resistant bottom block 16 of the slider and the wear-resistant bottom plate 14 of the machine head. The oil grooves 42 are connected to the oil nozzles 41 on the left slider 10, the middle slider 11 and the right slider 12 through oil holes, and finally connected to the lubrication port 40 on the machine head 1 through soft oil pipes.

[0045] The left slider 10, middle slider 11, and right slider 12 are mounted on the machine head 1 via a surface sliding fit between the wear-resistant inclined block 15 and the wear-resistant inclined plate 13, and a surface sliding fit between the wear-resistant bottom block 16 and the wear-resistant bottom surface 14. They can reciprocate along the length of the long groove of the machine head 1. The left slider 10 and right slider 12 have identical shapes. The positioning hole and the mounting thread hole of the push rod 8 at the center of the slider are symmetrical. The upper ends of the left slider 10 and right slider 12 are slotted to avoid interference with the servo electric cylinder 7 mounted on the middle slider 11 during movement. At the same time, the protruding solid at the lower end of the left slider 10 and right slider 12 are connected to the push rod 8. The upper end of the protruding solid part of the middle slider 11 is connected to the push rod 8. A grating ruler 37 is installed between the left slider 10, right slider 12, and middle slider 11 and the wear-resistant inclined plate 13. The ruler base of the grating ruler 37 is mounted on the wear-resistant inclined plate 13, and the ruler head is mounted on the left slider 10, right slider 12, and middle slider 11, respectively, which are close to the ruler base. To avoid motion interference, the corresponding grating rulers 37 on the left slider 10 and the right slider 12 are mounted on the wear-resistant inclined plate 13 on the same side, and the corresponding grating ruler 37 on the middle slider 11 is mounted on the wear-resistant inclined plate 13 on the opposite side. Thus, the motion displacement of the left slider 10, the middle slider 11 and the right slider 12 can be measured by the corresponding grating rulers 13.

[0046] The left slider 10, middle slider 11, and right slider 12 each have identical positioning holes on their left and right sides on their lower end faces, along with threaded holes distributed around the circumference of these holes. These are used to mount the outer ball seat 17 and the inner ball seat 34. The outer ball seat 17 is mounted on the lower ends of the left slider 10 and right slider 12, while the inner ball seat 34 is mounted on the lower end of the middle slider 10. Both the outer ball seat 17 and the inner ball seat 34 have flange surfaces with a high-precision inner spherical surface machined in the middle. An oil groove is cut into the inner spherical surface. The upper surface of the ball seat is inclined at a certain angle to the bottom surface to avoid motion interference. The inclination angles of the outer ball seat 17 and the inner ball seat 34 are different, and this inclination angle is perpendicular to the initial installation position of the connecting rod. The upper surfaces of both the outer ball seat 17 and the inner ball seat 34 are fixedly connected to the ball cap 18.

[0047] The ball cover 18 is also machined with an oil groove 41. One side of the oil groove 41 is connected to the oil groove 41 on the corresponding ball seat, and the other side is connected to the oil nozzle 42 on the side of the ball cover 18. It is also connected to the lubrication port 40 on the machine base 1 through a hose to realize the circulation of lubricating oil or grease in the ball seat.

[0048] Both the outer ball joint 19 and the inner ball joint 20 are connecting rod-type components with spherical ends. Their shapes, spherical surfaces, and cross-sectional dimensions are identical, but their lengths differ. To ensure proper movement of the equipment, the inner ball joint 20 is slightly longer than the outer ball joint 19. The upper ball joint of the outer ball joint 19 is installed within the closed spherical cavity formed by the outer ball seat 17 and the ball cap 18, allowing for spatial fixed-point rotation along the center point of the outer ball seat 17. The upper ball joint of the inner ball joint 20 is installed within the closed spherical cavity formed by the inner ball seat 35 and the ball cap 18, allowing for spatial movement along the center point of the inner ball seat 34. The lower ends of the outer ball joint 19 and the inner ball joint 20 are also installed with the outer ball seat 17 and the inner ball seat 34 respectively through spherical mating, thus allowing the outer ball joint 19 and the inner ball joint 20 to rotate spatially along the center points of the outer ball seat 17 and the inner ball seat 34, respectively, while the ball cap 18 prevents them from detaching from the spherical cavity. Therefore, the four sets of outer ball joint-outer ball joint connecting rod 19-outer ball joint 17 connection structures are positioned and installed at the four corners of the upper surface of the worktable 3 through the flange under the outer ball joint 17. The two sets of inner ball joint 34-inner ball joint connecting rod 20-inner ball joint 34 connection structures are positioned and installed in the middle of the worktable 3 through the flange under the inner ball joint 34. Thus, the worktable 3 is constrained by 6 spherical surfaces, and its position and attitude will be determined by the spatial position of the 6 sets of ball joint connecting rods, that is, by the movement position of the left slider 10, the middle slider 11 and the right slider 12.

[0049] A spindle box 22 is mounted on the lower end face of the worktable 3. The input shaft of the spindle box 22 is located on the outside of the worktable 3, and a spindle motor 21 is mounted on the input shaft. The spindle motor 21 is a high-power servo motor that can precisely control the position of the spindle box 22. A spindle 27 is mounted on the output end of the spindle box 22, and the spindle 27 passes through the spindle box 22. A spindle encoder 38 is mounted on the outer side of the spindle 27 facing the worktable. The rotating body of the spindle encoder 38 mates with the outer circular surface of the spindle 27 and is fixedly connected by bolts. The outer ring of the spindle encoder 38 is fixedly connected to the outer side of the spindle box 22 by bolts.

[0050] The spindle 27 has a flange hole on its inner end face facing the worktable, with a tapered hole at the center. One end of the core roller 23 is positioned through this central tapered hole and fixed to the spindle 27 by evenly distributed bolts on its end face. The outer surface of the core roller 23 has a boss machined to accurately enclose the inner wall shape of the workpiece 30. The other side of the core roller 23 has a flat shoulder, which is installed in the inner hole of the cylindrical copper sleeve 24 and forms a sliding friction fit with the inner hole of the copper sleeve 24. The copper sleeve 24 is positioned and installed through its outer surface; its upper end mates with the semi-circular inner hole of the spindle support seat 26, and its lower end mates with the semi-circular inner hole of the spindle support cover 25. The upper end face of the spindle support cover 25 is connected to the lower end face of the spindle support seat 26 by bolts, pressing and fixing the copper sleeve 24 into the circular hole formed by the two supports. The upper end of the spindle support seat 26 is fixedly connected to the workpiece table 3 by bolts.

[0051] The workpiece box 33 is bolted to the lower end face of the workpiece shaft mounting plate 29 and the upper end face of the base 4. The base 4 has a square countersunk hole, into which the input shaft of the workpiece box 33 is recessed. A workpiece shaft motor 35 is mounted on the input shaft. The workpiece shaft motor 35 is a servo motor. A large hole is opened in the center of the workpiece box 33, and the axis of the hole is parallel to the axis of the main shaft 27. A workpiece shaft 32 is mounted on the hole and can rotate along the axis under the drive of the workpiece shaft motor 35. A workpiece 30 is mounted on the inner circular surface of the workpiece shaft 32. Workpiece covers 31 are mounted on both ends of the workpiece 30. The workpiece covers 31 are flange-type shaft covers and are fixed to the workpiece box 33 by circumferential bolts to restrict the axial movement of the workpiece 30. A workpiece positioning key 36 is mounted on the keyway on the circumference of the workpiece 30. By cooperating with the keyway on the inner hole of the workpiece shaft 32, the circumferential rotation of the workpiece 30 is restricted. A workpiece shaft magnetic grating 39 is installed on the outside of the workpiece shaft 32. The rotating body of the workpiece shaft magnetic grating 39 is connected to the outer circle of the workpiece shaft 32 by a circumferential bolt. The reading head of the workpiece shaft magnetic grating 39 is fixedly installed on the workpiece box 33 by bolts.

[0052] The operation process of the thin-walled, high-ribbed annular multi-degree-of-freedom radial enveloping forming equipment of the present invention is as follows:

[0053] Before the equipment is put into operation, the profile of the core roller 23 is designed and processed according to the inner hole shape of the thin-walled high-rib ring cylinder using the principle of secondary envelope. The blank workpiece 30 is placed into the inner hole of the workpiece shaft 32, and circumferentially positioned by the workpiece positioning key 36. The workpiece is fixed in the inner hole of the workpiece shaft 32 by the left and right workpiece covers 31. The coordinated movement of the left slider 11, right slider 13, and middle slider 13 causes the axis of the main shaft 27 to pass through the inner hole of the workpiece 30. The main shaft support cover 25 is then opened, and the core roller 23 is installed on the inner conical surface of the main shaft 27 through the inner hole of the workpiece 30. The copper sleeve 24 is installed on the shoulder of the core roller shaft 23, and the core roller 23 and the main shaft 27 are tightened with circumferential bolts. The main shaft support cover 25 is installed and pressed onto the outer circular surface of the copper sleeve 24, and bolts are tightened to ensure that the core roller 23 is correctly installed on the main shaft, with the copper sleeve 24 providing auxiliary support. The electronic gear function of the machine tool control system is used to make the main shaft 27 and the workpiece shaft 32 rotate at a constant speed according to the designed transmission ratio. Then, through the coordinated movement of the left slider 11, right slider 13, and middle slider 13, the core roller 23 gradually squeezes the lower inner wall of the workpiece 30 while rotating. Since the workpiece 30 and the core roller 23 rotate at a constant transmission ratio, the shape of the inner wall of the workpiece 30 can be formed by the enveloping extrusion of the core roller. During the forming process, the movement of the slider can be changed to make the core roller 23 swing left and right while feeding downwards, thereby reducing the forming force and improving the flow conditions of the metal. This is especially suitable for the forming and manufacturing of thin-walled, high-rib ring cylinders.

[0054] The table movement process of the multi-degree-of-freedom radial enveloping forming equipment for thin-walled high-ribbed ring cylinders is as follows: The table of this equipment can realize arbitrary movement within the plane of the workpiece axis, including translation in the X and Y directions of the plane, as well as rotation around any point in the plane. The planar movement of the table is composed of the combined movements of the servo motors on the left slider, right slider, and middle slider, satisfying formula (1).

[0055]

[0056] In the formula, T is the motion tensor of the core roller required for the radial envelope forming motion. This is the initial position of the left slider. This is the initial position of the middle slider. This is the initial position of the right slider; Let be the projection of the distance from the center of the ball joint of the left slider support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. Let be the projection of the distance from the center of the ball joint of the sliding block support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. l1 is the projection of the distance from the center of the ball joint of the right slider chain moving platform to the origin of the core roller coordinate system onto the plane normal to the core roller axis; l2 is the length of the outer ball joint connecting rod; g is the transmission ratio of the ball screw. The left, middle, and right sliders drive the servo motors to rotate at specific angles.

[0057] The control method for the multi-degree-of-freedom radial enveloping forming equipment for thin-walled, high-ribbed ring cylinders is as follows: This invention employs fully enclosed, multi-motor linkage control technology. An encoder on the main spindle provides real-time position feedback for the main spindle motor; a magnetic grating on the workpiece axis provides real-time position feedback for the workpiece axis motor; and a linear scale on the corresponding slider provides real-time position feedback for the slider. Electronic technology is used to achieve a constant transmission ratio between the working shaft and the core roller. Three-axis servo linkage control technology is used to precisely control the slider positions, thereby controlling the core roller to perform planar motion. The position conversion relationship between the worktable and the core roller is calculated by the control software.

[0058] The lubrication method of the thin-walled, high-ribbed ring cylinder multi-degree-of-freedom radial enveloping forming equipment is as follows: This invention adopts a dispersed-centralized grease lubrication technology. Oil grooves are opened on the wear-resistant blocks of the slider and the wear-resistant plate of the die head. The oil grooves are connected to the lubrication port on the die head via oil holes on the slider and the die head, and finally via soft oil pipes. Oil grooves are also opened on each ball seat and ball cover. The oil nozzles on the ball covers are connected to the lubrication port on the die head via soft hoses. The lubrication port on the die head is connected to an external lubrication pump to realize the circulation of lubricating oil and / or grease, thereby achieving lubrication of the contact surfaces of the wear-resistant blocks of the slider and the wear-resistant plate of the die head, as well as the mating surfaces of the ball seats and the ball head connecting rod. The workstation box and the spindle box adopt a closed self-lubricating system, and the lubricating oil circulates under the agitation of the spindle and the working shaft.

[0059] To achieve planar motion constraints on the worktable and prevent it from undergoing singular spatial movements, the two ball joints on each slider must be symmetrical and tilted to opposite sides, meaning the four points of the upper and lower ball centers of the ball joints form an isosceles trapezoid. Simultaneously, to ensure the spatial rigidity of the equipment, for each slider, the distance between the centers of the two ball joints mounted on it should be greater than the distance between the centers of the other ends of the joints mounted on the worktable.

[0060] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom radial envelopment forming device for thin-walled, high-ribbed annular cylinders, characterized in that, It includes a machine head, a drive component, a moving component, a column, a worktable, a spindle component, a workpiece spindle component, and a base; the machine head is mounted on the base via the column; The driving components include a servo motor, a planetary reducer, a reversing gearbox, a servo electric cylinder, a push rod, a pressure sensor, a left slider, a middle slider, a right slider, a wear-resistant inclined plate, a wear-resistant base plate, a wear-resistant inclined block, a wear-resistant base block, and a grating ruler; the moving components include an outer ball seat, an inner ball seat, a ball cover, an inner ball joint connecting rod, and an outer ball joint connecting rod; the spindle assembly is suspended on the worktable and includes a spindle motor, a spindle box, a core roller, a copper sleeve, a spindle support cover, a spindle support seat, a spindle, a spindle key, and a spindle encoder; the workpiece shaft assembly is mounted on the base and includes a workpiece shaft mounting plate, a workpiece, a workpiece shaft, a workpiece box, a workpiece motor, and a workpiece magnetic grating; The machine head has a long slot with positioning steps on both sides along its width. These positioning steps are fixedly connected to wear-resistant inclined plates. Two wear-resistant plate mounting slots are located near the center of the bottom surface of the long slot, and a wear-resistant base plate is installed within these slots. Three servo cylinders are provided, their housings fixed to the machine head. The tail ends of each servo cylinder are sequentially connected to a reversing gearbox, a planetary reducer, and a servo motor via couplings. A push rod is mounted on the ball screw in the middle of each servo cylinder, and the push rod is fixedly connected to a pressure sensor. The three pressure sensors are respectively... Connected to the left, middle, and right sliders, wear-resistant inclined blocks are installed on both sides of the left, middle, and right sliders, and wear-resistant bottom blocks are installed on the upper center of the left, middle, and right sliders; the left, middle, and right sliders slide with the wear-resistant inclined plates through the wear-resistant inclined blocks and the wear-resistant bottom blocks slide with the wear-resistant bottom surface; a grating ruler is installed between the left, right, and middle sliders and the wear-resistant inclined plates, the ruler base is installed on the wear-resistant inclined plates, and the ruler head is installed on the left, right, and middle sliders that are close to the ruler base, respectively; The lower ends of the left and right sliders are fitted with outer ball seats, and the lower end of the middle slider is fitted with an inner ball seat. Both the outer and inner ball seats have flange surfaces, and oil grooves are formed on the inner spherical surface. The upper surfaces of both the outer and inner ball seats are fixedly connected to the ball cap. Both the outer and inner ball head connecting rods are connecting rod-type components with spherical ends. The inner ball head connecting rod is slightly longer than the outer ball head connecting rod. The upper ball head of the outer ball head connecting rod is installed in the closed spherical cavity formed by the outer ball seat and the ball cap, allowing for spatial fixed-point rotation along the center point of the outer ball seat. The upper ball head of the inner ball head connecting rod is installed in the closed spherical cavity formed by the inner ball seat and the ball cap. The outer ball joint moves spatially along the center point of the inner ball seat; the lower ends of the outer ball joint and the inner ball joint are also installed with the outer ball seat and the inner ball seat respectively through spherical mating, so that the outer ball joint and the inner ball joint can also rotate spatially along the center point of the outer ball seat and the inner ball seat respectively, and are restricted by the ball cap to not detach from the ball cavity; four sets of outer ball seat-outer ball joint-outer ball seat connection structures are positioned and installed at the four corners of the upper surface of the worktable through the flange under the outer ball seat, and two sets of inner ball seat-inner ball joint-inner ball seat connection structures are positioned and installed in the middle of the worktable through the flange under the inner ball seat; A spindle box is mounted on the lower end face of the worktable. A spindle motor is mounted on the input shaft of the spindle box, and a spindle is mounted on the output end of the spindle box. A spindle encoder is mounted on the outer side of the spindle facing the worktable. The rotating body of the spindle encoder mates with the outer cylindrical surface of the spindle and is fixedly connected by bolts. The outer ring of the spindle encoder is fixedly connected to the outer side of the spindle box by bolts. A core roller is fixedly mounted on the spindle. A boss for enveloping the inner wall shape of the workpiece is machined on the outer cylindrical surface of the core roller. The shoulder on the other side of the core roller has no taper and is installed in the inner hole of a cylindrical copper sleeve, forming a sliding friction fit with the inner hole of the copper sleeve. The copper sleeve is positioned and installed through its outer cylindrical surface. The upper end of its outer cylindrical surface mates with the semi-circular inner hole of the spindle support seat, and the lower end of its outer cylindrical surface mates with the semi-circular inner hole of the spindle support cover. The upper end face of the spindle support cover is connected to the lower end face of the spindle support seat, pressing and fixing the copper sleeve in the circular hole formed by the two support seats. The upper end of the spindle support seat is fixedly connected to the workpiece table. The workpiece box is fixedly installed between the lower end face of the workpiece shaft mounting plate and the upper end face of the base. The base has a square countersunk hole. The input shaft of the workpiece box is recessed into the square hole. The workpiece shaft motor is installed on the input shaft. The workpiece is installed on the inner circular surface of the workpiece shaft. The workpiece shaft magnetic grating is installed on the outer side of the workpiece shaft. The rotating body of the magnetic grating is connected to the outer circle of the workpiece shaft by a circumferential bolt. The reading head of the magnetic grating is fixedly installed on the workpiece box by bolts.

2. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, The machine head is rectangular, and columns are installed at the four corners of the machine head through flanges and threads. The other end of the column is also connected to the four corners of the base through flanges, thus forming a closed four-column anti-eccentric load frame system.

3. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, Oil grooves are provided on the wear-resistant inclined plate and the wear-resistant base plate, and are connected to the lubrication port on the machine head through oil holes. Oil grooves are provided on the sliding mating surfaces of the wear-resistant inclined block and the wear-resistant inclined plate, and the wear-resistant base block and the wear-resistant base plate. The oil grooves are connected to the oil nozzles on the left slider, the right slider and the middle slider through oil holes. The oil nozzles are connected to the lubrication port through soft oil pipes.

4. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, The machine head has threaded and cylindrical positioning surfaces on the side baffles along the length of the long groove. These are fixedly connected to the housings of the left and right servo cylinders by bolts. The upper right baffle of the long groove of the machine head also has threaded and cylindrical positioning surfaces, which are connected to the housing of the middle servo cylinder by bolts.

5. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, Workpiece covers are installed at both ends of the workpiece, and the workpiece covers are fixed on the workpiece box to restrict the axial movement of the workpiece. A workpiece positioning key is installed on the keyway on the circumference of the workpiece, which restricts the circumferential rotation of the workpiece by cooperating with the keyway on the inner hole of the workpiece shaft.

6. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, The left and right sliders have the same shape. The positioning hole and the mounting thread hole of the push rod in the center of the slider are symmetrical. The upper end of the slider is slotted to avoid interference with the servo electric cylinder on the slider during the movement. At the same time, the protruding solid at the lower end of the slider is connected to the push rod, and the upper end of the protruding solid part of the middle slider is connected to the push rod.

7. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial envelope forming equipment according to claim 3, characterized in that, The ball cover is machined with an oil groove. One side of the oil groove is connected to the oil groove on the corresponding ball seat, and the other side is connected to the oil nozzle on the side of the ball cover and is connected to the lubrication port through a hose.

8. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, The movement process of the worktable is as follows: The worktable of this equipment can realize any movement in the plane of the workpiece axis, including translation in the X and Y directions of the plane, as well as rotation around any point in the plane. The planar movement of the worktable is composed of the movement of the servo motors on the left slider, the right slider, and the middle slider, which satisfies formula (1). In the formula, T is the motion tensor of the core roller required for the radial envelope forming motion. This is the initial position of the left slider. This is the initial position of the middle slider. This is the initial position of the right slider; Let be the projection of the distance from the center of the ball joint of the left slider support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. Let be the projection of the distance from the center of the ball joint of the sliding block support platform to the origin of the core roller coordinate system onto the normal plane of the core roller axis. l1 is the projection of the distance from the center of the ball joint of the right slider chain moving platform to the origin of the core roller coordinate system onto the plane normal to the core roller axis; l2 is the length of the outer ball joint connecting rod; g is the transmission ratio of the ball screw. The left, middle, and right sliders drive the servo motors to rotate at specific angles.

9. The thin-walled, high-ribbed annular cylinder multi-degree-of-freedom radial enveloping forming equipment according to claim 1, characterized in that, The left and right sliders and the two ball joints on the middle slider must be symmetrical and tilted to the opposite side, that is, the four points of the upper and lower ball centers of the ball joints form an isosceles trapezoid.

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