A multi-link parallel high-speed envelope forming machine

Abstract

The present application relates to a kind of multi-rod parallel high-speed envelope forming machine, including drive system, motion system, support system, swing mould system, translational mould system and feeding system;The support system includes motor mounting plate, upper support column, upper bottom plate, center ball flange, center support column, center ball cover, guide column and bed;Motion system includes main motor, speed reducer, center gear shaft and circumferential gear shaft;Motion system includes ball rod, ball seat, ball cover and center ball platform;Feeding system includes guide sleeve, feeding workbench and feeding oil cylinder;Swing mould system includes swing mould outer ring and swing mould core mould;Translational mould system includes translational mould outer ring, blank, translational mould core mould, translational mould die holder, ejector rod and item cylinder.The present application can drive multiple rods to move simultaneously and coordinately using a main motor, realize the space envelope movement of swing mould, and has the advantages of simple structure control, high-speed movement can be realized, etc.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of high-performance metal special forming equipment, more particularly to a multi-rod parallel high-speed envelope forming machine. BACKGROUND

[0002] Thin-walled high-gusset plate components have the advantages of light weight, high strength and strong load-carrying capacity, and are the main load-bearing components of aerospace equipment, and are widely used in manufacturing missile, rocket, spacecraft and other equipment shells, cylinder bodies, cabin sections. Thin-walled high-gusset plate components have thin webs and high ribs, and their manufacturing difficulty is extremely great. At present, thin-walled high-gusset plate components are mainly machined by milling, which not only has low efficiency and low material utilization rate, but also cuts off the metal streamline and damages the surface integrity, and cannot meet the requirements of high-performance and high-efficiency manufacturing. SUMMARY

[0003] The technical problem to be solved by the present application is to provide a multi-rod parallel high-speed envelope forming machine, which can drive multiple rods to move coordinately at the same time by using one main motor, realize the space envelope movement of the swing die, and has the advantages of simple structure control and high-speed movement.

[0004] The technical scheme adopted by the present application to solve the technical problem is: a multi-rod parallel high-speed envelope forming machine is constructed, which comprises a driving system, a movement system, a support system, a swing die system, a translational die system and a feeding system.

[0005] The support system comprises a motor mounting plate, an upper support column, an upper bottom plate, a center ball flange, a center support column, a center ball cover, a guide column and a bed body; the movement system comprises a main motor, a speed reducer, a center gear shaft and a circumferential gear shaft; the movement system comprises a ball rod, a ball seat, a ball cover and a center ball platform; the feeding system comprises a guide sleeve, a feeding workbench and a feeding oil cylinder; the swing die system comprises a swing die outer ring and a swing die core mold; the translational die system comprises a translational die outer ring, a blank, a translational die core mold, a translational die mold seat, a top rod and a cylinder;

[0006] The guide column is installed at each corner of the lathe bed, and the other end of the guide column is fixedly connected with the upper bottom plate; the upper surface of the upper bottom plate is provided with a motor mounting plate through a support column; the lower surface of the upper bottom plate is provided with a center ball flange in the middle; the lower surface of the center ball flange is provided with a center ball cover through a center support column; one end of a speed reducer is fixedly installed on the motor mounting plate through a flange; the other end of the speed reducer is connected with a main motor; the motor mounting plate is provided with a center bearing hole and three circumferential bearing holes; the center bearing hole is provided with a center gear shaft through a bearing; the circumferential bearing holes are provided with circumferential gear shafts through bearings; the center gear shaft and the three circumferential gear shafts are engaged with each other through outer end tooth surfaces; the end surface of the circumferential gear shaft is provided with an eccentric hole; the eccentric hole is provided with a ball seat and a ball cover; a ball rod is installed between the ball seat and the ball cover through a spherical surface; the other end of the ball rod is also connected with the ball seat and the ball cover; the ball seat at the other end is installed on a circumferential mounting hole of a center ball platform; the three circumferential mounting holes of the center ball platform are fixedly connected with the ball seat; the center of the center ball platform is provided with a spherical surface at the upper end, which forms a spherical surface dynamic cooperation with the spherical surface at the lower end of the center ball flange; the inner spherical surface of the center ball cover forms a spherical surface cooperation with the outer spherical surface of the center ball platform, so that the spherical surfaces of the center ball platform and the center ball flange are always in contact; the inside of the center ball platform is provided with a swing die outer ring and a swing die core die; the four guide columns are respectively connected with a feeding workbench through four guide sleeves to form a sliding cooperation; the lower end of the feeding workbench is installed on the cylinder rod of a feeding oil cylinder; the cylinder body of the feeding oil cylinder is installed on the lathe bed; the feeding workbench moves up and down under the action of the feeding oil cylinder and the cooperation of the guide column and the guide sleeve; the center flange on the lower end surface of the feeding workbench is provided with a jacking cylinder; the cylinder rod of the jacking cylinder is fixedly connected with a jacking rod; the center flange on the upper end surface of the feeding workbench is provided with a translational die seat; the translational die seat is provided with a translational die outer ring and a translational die core die; the translational die core die is provided with a blank;

[0007] The main motor drives the speed reducer to rotate; the speed reducer drives the center gear shaft connected therewith to rotate; the center gear shaft simultaneously drives the three groups of circumferential gear shafts to rotate; the ball seat and the ball cover installed on the circumferential gear shafts rotate along the center of the circumferential gear; the three groups of ball rods are driven to make a spatial motion; finally, the center ball platform and the swing die outer ring and the swing die core die installed thereon are driven to make a spatial circular trajectory motion.

[0008] In the above scheme, the four corners of the lathe bed are provided with guide columns through bolts.

[0009] In the above scheme, the center ball flange is installed on the lower surface of the upper bottom plate in the middle through bolts and positioning flanges.

[0010] In the above scheme, the other end of the speed reducer is connected with the main motor through a key and a shaft coupling.

[0011] In the above scheme, the swing die outer ring and the swing die core die are installed in the inside of the center ball platform through bolts and positioning flanges.

[0012] In the scheme, the configuration parameter optimization method of the envelope forming machine platform is as follows:

[0013] The coordinate system S0 is established at the distribution center of the three ball seats in the circular gear shaft, and the coordinate system S1 is established at the center of the center ball platform, and the z axes of the two coordinate systems are in the vertical direction; e is the distribution position radius of the ball seat center on the circular gear shaft, and r b is the distance of the circular gear shaft relative to the center gear shaft, and r a is the distribution radius of the ball seat center on the center ball platform, and h t is the installation height of the swing core mold; z0 is the initial height of the coordinate system S1 relative to S0;

[0014] The fixed-point circle trajectory motion tensor of the core mold is established as follows:

[0015]

[0016] Where t represents the motion time, alpha t , beta t , and gamma t , x t , y t , and z t represent the spatial angles and spatial displacements of the core mold in three directions, which can be calculated according to the following formula:

[0017]

[0018] Where omega is the rotational speed of the core mold, h t is the installation height of the core mold, and z0 is the initial height of the coordinate system S1 relative to S0;

[0019] Thus, the link lengths of the three branches of the mechanism are as follows:

[0020]

[0021] Where l1, l2, and l3 are the motion position vectors of the three links, and the following optimization objective function can be obtained based on the principle of constant link length:

[0022]

[0023] Where l g is the desired link length; according to formula (4), the configuration parameter optimization of the envelope forming machine can be carried out, so that the configuration parameters e, z0, h t , r a , and r b with the smallest theoretical motion error are obtained.

[0024] The multi-link parallel high-speed envelope forming machine of the application has the following beneficial effects:

[0025] 1、The patent can realize continuous local plastic forming of thin-walled high-beam plate components, which is not only high in efficiency and material utilization rate, but also can refine grains, obtain continuous dense metal flow lines, improve surface integrity, and greatly improve the mechanical properties and bearing capacity of thin-walled high-beam plate components.

[0026] 2、The application adopts one main motor to simultaneously drive three branch chains to realize the space envelope movement of the swing die, has less transmission chain, simple structure, high transmission efficiency, can realize high-speed envelope forming, and is simple in control and convenient in installation and debugging.

[0027] 3、The application adopts the configuration of three branch chains simultaneously supporting, has the characteristics of good structural rigidity and stable movement, and is particularly suitable for high-speed heavy-load forming conditions of thin-walled high-beam plate components. BRIEF DESCRIPTION OF DRAWINGS

[0028] The application will be further described below in combination with the drawings and embodiments, and the drawings show:

[0029] Figure 1 The overall structure diagram of the multi-link parallel high-speed envelope forming machine;

[0030] Figure 2 The support system structure schematic diagram of the multi-link parallel high-speed envelope forming machine;

[0031] Figure 3 The drive system structure schematic diagram of the multi-link parallel high-speed envelope forming machine;

[0032] Figure 4 The movement system structure schematic diagram of the multi-link parallel high-speed envelope forming machine;

[0033] Figure 5 The feeding system, swing die system and translation die system schematic diagram of the multi-link parallel high-speed envelope forming machine;

[0034] Figure 6 The parameter calculation model schematic diagram of the multi-link parallel high-speed envelope forming machine;

[0035] Figure 7 The swing die core mold angle curve of the multi-link parallel high-speed envelope forming machine;

[0036] Figure 8 The swing die core mold angle error curve of the multi-link parallel high-speed envelope forming machine. DETAILED DESCRIPTION

[0037] In order to have a clearer understanding of the technical features, purposes and effects of the application, the specific embodiments of the application will be described in detail with reference to the drawings.

[0038] The multi-rod parallel high-speed envelope forming machine comprises a driving system, a motion system, a support system, a swing die system, a translation die system and a feeding system. Figures 1-5

[0039] The support system is mainly used for connection and fixation, and comprises a motor mounting plate 1, an upper support column 2, an upper bottom plate 3, a center ball flange 4, a center support column 5, a center ball cover 6, a guide column 7 and a bed 8.The motion system is mainly used for realizing distribution and force transmission of equipment motion, and comprises a main motor 9, a speed reducer 10, a center gear shaft 11, a circumferential gear shaft 12, a ball seat 13 and a ball cover 14. The motion system is mainly used for realizing fixed-point swing of the swing die, and comprises a ball rod 15, the ball seat 13, the ball cover 14 and a center ball platform 16. The feeding system is mainly used for realizing feeding motion of the translation die, and comprises a guide sleeve 18, a feeding workbench 17 and a feeding oil cylinder 19. The swing die system is mainly used for mounting and fixing the swing die, and comprises a swing die outer ring 20 and a swing die core die 21. The translation die system is mainly used for mounting and fixing a workpiece, and comprises a translation die outer ring 22, a blank 23, a translation die core die 24, a translation die die seat 25, a top rod 26 and a pin cylinder 27.

[0040] The bed body 8 is provided with a guide column 7 at each corner and is fixed to the upper bottom plate 3 at the other end of the guide column 7. The upper surface of the upper bottom plate 3 is provided with a motor mounting plate 1 through a support column 2. The lower surface of the upper bottom plate 3 is provided with a center ball flange 4 through a bolt and a positioning flange. The lower surface of the center ball flange 4 is provided with a center ball cover 6 through a center support column 5. One end of a speed reducer 10 is fixed to the motor mounting plate 1 through a flange. The other end of the speed reducer 10 is connected to a main motor 9 through a key and a shaft coupling. The motor mounting plate 1 is provided with a center bearing hole and three circumferential bearing holes. The center bearing hole is provided with a center gear shaft 11 through a bearing. The circumferential bearing holes are provided with circumferential gear shafts 12 through bearings. The center gear shaft 11 and the three circumferential gear shafts 12 are engaged with each other through outer end tooth surfaces. The end surface of the circumferential gear shaft 12 is provided with an eccentric hole. The eccentric hole is provided with a ball seat 13 and a ball cover 14. The ball seat 13 and the ball cover 14 are connected to each other through a spherical surface. The other end of a ball rod 15 is also connected to the ball seat 13 and the ball cover 14. The ball seat 13 is installed in a circumferential mounting hole of a center ball platform 16. The three circumferential mounting holes of the center ball platform 16 are fixed to the ball seat 13. The center of the center ball platform 16 is provided with a spherical surface which is in spherical surface dynamic cooperation with a spherical surface of the lower end of the center ball flange. The inner spherical surface of the center ball cover 6 is in spherical surface cooperation with the outer spherical surface of the center ball platform 16, so that the spherical surface of the center ball platform 16 and the center ball flange 4 is always in contact. The inside of the center ball platform is provided with a swing die outer ring 20 and a swing die core die 21 through a bolt and a positioning flange. The four guide columns 7 are respectively connected to a feeding workbench 17 through four guide sleeves 18. The lower end of the feeding workbench 17 is installed on the cylinder rod of a feeding oil cylinder 19. The cylinder body of the feeding oil cylinder 19 is installed on the bed body 8. Thus, the feeding workbench 17 can move up and down under the cooperation of the feeding oil cylinder 19 and the guide column-guide sleeve. The center flange of the lower end surface of the feeding workbench 17 is provided with a jacking cylinder 27. The cylinder rod of the jacking cylinder 27 is fixed to a jacking rod 26. The center flange of the upper end surface of the feeding workbench 17 is provided with a translational die base 25. The translational die base 25 is provided with a translational die outer ring 22 and a translational die core die 24. The translational die core die 24 is provided with a blank 23.

[0041] The transmission process of the multi-link parallel high-speed envelope forming machine is as follows: the main motor 9 drives the speed reducer 10 to rotate, the speed reducer 10 drives the center gear shaft 11 connected thereto to rotate, the center gear shaft 11 simultaneously drives the three groups of circumferential gear shafts 12 to rotate, and then drives the ball seat 13 and the ball cover 14 installed on the circumferential gear shaft 12 to rotate along the center of the circumferential gear 12, thereby driving the three groups of ball rods 15 to make complex spatial motion, and finally driving the center ball platform 16 and the swing die outer ring 20 and the swing die core die 21 installed thereon to make spatial circular trajectory motion.

[0042] The use of the multi-link parallel high-speed envelope forming machine is as follows: the shapes of the swing mold core die 21 and the translational mold core die 24 are designed according to the shape of the formed workpiece, and are installed on the equipment. During operation, the main motor 9 drives the upper mold core die 21 to move in a spatial circular trajectory, at the same time, the blank 23 is placed in the translational mold core die, the valve of the feeding oil cylinder 19 is opened, the feeding workbench 17 is driven to move upward, the blank 23 gradually contacts the swing mold core die 21, and finally under the action of the circular trajectory spatial motion of the swing mold core die 21 and the translational motion of the feeding workbench 17, the blank is gradually formed.

[0043] The solving and optimization method of the configuration parameters of the multi-link parallel high-speed envelope forming mechanism is as follows:

[0044] According to the above structure, the motion degree of freedom of the envelope forming machine platform is 1, in order to realize the spatial circular trajectory motion curve required, the constraint relationship of the configuration parameters needs to be established, and then the configuration parameter optimization is carried out. It can be carried out as follows, as shown in the following formula: Figure 6

[0045] The coordinate system S0 is established at the distribution center of the three ball seats on the circular gear shaft, and the coordinate system S1 is established at the center of the center ball platform, and the z axes thereof are in the vertical direction. e is the distribution position radius of the ball seat center on the circular gear shaft, which is 60mm, r b is the distance of the circular gear shaft relative to the center gear shaft, which is 270mm, r a is the distribution radius of the ball seat center on the center ball platform, which is 200mm, h t is the installation height of the swing core die, which is 5mm. z0 is the initial height of the coordinate system S1 relative to S0, which is 290mm.

[0046] The fixed point circular trajectory motion tensor of the core die is established as follows:

[0047]

[0048] Where t represents the motion time, α t , β t , γ t , x t , y t , z t represent the spatial angles and the spatial displacements in three directions of the core die, which can be calculated as follows:

[0049]

[0050] Where ω is the rotating speed of the core die, h t is the installation height of the core die, and z0 is the initial height of the coordinate system S1 relative to S0.

[0051] Thus, the lengths of the connecting rods of the three branches of the mechanism are as follows: ​

[0052]

[0053] In the formula, l1, l2, l3 are motion position vectors of the three connecting rods respectively, and the following optimization objective function can be obtained based on the principle of constant connecting rod length:

[0054]

[0055] In the formula, l g is the desired connecting rod length, and is 330 mm.

[0056] Under the optimal configuration parameters, the swing core mold angle curve of the multi-link parallel high-speed envelope forming machine is obtained, as shown in Figure 7 It can be seen from Figure 7 that the multi-link parallel high-speed envelope forming machine of the present application can realize the specific multi-degree-of-freedom motion trajectory of the swing core mold. Figure 8 is the swing core mold angle error curve of the multi-link parallel high-speed envelope forming machine, and it can be seen from Figure 8 that the swing core mold angle error is very small and can be ignored. The above results show that the multi-link parallel high-speed envelope forming machine of the present application is feasible.

[0057] The embodiments of the present application are described above in combination with the drawings, but the present application is not limited to the above specific embodiments, and the above specific embodiments are only illustrative and not restrictive. Those skilled in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and these all belong to the protection of the present application.

Claims

1. A multi-bar parallel high-speed envelope forming machine, characterized by, The driving system, the motion system, the support system, the swing die system, the translation die system and the feeding system are included. The support system includes a motor mounting plate (1), an upper support column (2), an upper bottom plate (3), a center ball flange (4), a center support column (5), a center ball cover (6), a guide column (7) and a bed body (8); the motion system includes a main motor (9), a speed reducer (10), a center gear shaft (11) and a circumferential gear shaft (12); the motion system includes a ball rod (15), a ball seat (13), a ball cover (14) and a center ball platform (16); the feeding system includes a guide sleeve (18), a feeding workbench (17) and a feeding oil cylinder (19); the swing die system includes a swing die outer ring (20) and a swing die core die (21); the translation die system includes a translation die outer ring (22), a blank (23), a translation die core die (24), a translation die die seat (25), a ejector rod (26) and a ejector cylinder (27); The bed body (8) is provided with guide columns (7) at four corners, the other end of the guide column (7) is fixedly connected with the upper bottom plate (3), the upper surface of the upper bottom plate (3) is provided with a motor mounting plate (1) through an upper support column (2), the lower surface of the upper bottom plate (3) is provided with a center ball flange (4) at the middle part, the lower surface of the center ball flange (4) is provided with a center ball cover (6) through a center support column (5), one end of a speed reducer (10) is fixedly installed on the motor mounting plate (1) through a flange, the other end of the speed reducer (10) is connected with a main motor (9), the motor mounting plate (1) is provided with a center bearing hole and three circumferential bearing holes, the center bearing hole is provided with a center gear shaft (11) through a bearing, the circumferential bearing holes are provided with circumferential gear shafts (12) through bearings, the center gear shaft (11) and the three circumferential gear shafts (12) are engaged with each other through outer end tooth surfaces, the end surface of the circumferential gear shaft (12) is provided with an eccentric hole, the eccentric hole is provided with a ball seat (13) and a ball cover (14), the ball seat (13) and the ball cover (14) are connected with each other through a spherical surface, the other end of a ball rod (15) is also connected with the ball seat (13) and the ball cover (14), the ball seat (13) is installed on a circumferential mounting hole of a center ball platform (16), the three circumferential mounting holes of the center ball platform (16) are fixedly connected with the ball seat (13), the center of the center ball platform (16) is provided with a spherical surface, which is in spherical surface dynamic cooperation with the spherical surface of the lower end of the center ball flange, the inner spherical surface of the center ball cover (6) is in spherical surface cooperation with the outer spherical surface of the center ball platform (16), so that the spherical surface of the center ball platform (16) and the center ball flange (4) is always in contact, the inside of the center ball platform (16) is provided with a swing mold outer ring (20) and a swing mold core mold (21), the four guide columns (7) are respectively connected with a feeding workbench (17) through four guide sleeves (18) to form a sliding cooperation, the lower end of the feeding workbench (17) is installed on the cylinder rod of a feeding oil cylinder (19), the cylinder body of the feeding oil cylinder (19) is installed on the bed body (8), the feeding workbench (17) moves up and down under the action of the feeding oil cylinder (19) and the cooperation of the guide column-guide sleeve, the center flange of the lower end surface of the feeding workbench (17) is provided with a jacking cylinder (27), the cylinder rod of the jacking cylinder (27) is fixedly connected with a jacking rod (26), the center flange of the upper end surface of the feeding workbench (17) is provided with a translational mold base (25), the translational mold base (25) is provided with a translational mold outer ring (22) and a translational mold core mold (24), the translational mold core mold (24) is provided with a blank (23); The main motor (9) drives the reduction gear (10) to rotate, the reduction gear (10) drives the center gear shaft (11) connected therewith to rotate, the center gear shaft (11) simultaneously drives the three groups of circumferential gear shafts (12) to rotate, and further makes the ball seat (13) and the ball cover (14) installed on the circumferential gear shaft (12) rotate along the center of the circumferential gear shaft (12), so as to drive the three groups of ball rods (15) to do spatial motion, and finally push the center ball platform (16) and the swing mold outer ring (20) and the swing mold core mold (21) installed thereon to do spatial circular trajectory motion.

2. The multi-bar parallel high-speed envelope forming machine according to claim 1, characterized by, The four corners of the bed body (8) are provided with guide columns (7) through bolts.

3. The multi-bar parallel high-speed envelope forming machine according to claim 1, characterized by, The lower middle part of the upper bottom plate (3) is provided with the center ball flange (4) through bolts and positioning flanges.

4. The multi-bar parallel high-speed envelope forming machine according to claim 1, characterized by, The other end of the reduction gear (10) is connected with the main motor (9) through keys and shaft couplings.

5. The multi-bar parallel high-speed envelope forming machine according to claim 1, characterized by, The inside of the center ball platform (16) is provided with the swing mold outer ring (20) and the swing mold core mold (21) through bolts and positioning flanges.

6. The multi-bar parallel high-speed envelope forming machine according to claim 1, characterized by, The envelope forming machine platform configuration parameter optimization method is as follows: coordinate system established on the distribution center of three ball seats in the peripheral gear shaft, coordinate system established on the center of the central ball platform, and the z-axis of each is in the vertical direction; the radius of the distribution position of the ball seat center on the peripheral gear shaft, the distance of the peripheral gear shaft relative to the central gear shaft, the distribution radius of the ball seat center on the central ball platform, the installation height of the swing mold core mold; the coordinate system relative the initial height; The fixed point circular trajectory motion tensor of the swing mold core mold is established as follows: (1) wherein indicates the motion time, indicates the spatial angle and the spatial displacement of the three directions of the swing mold core, which can be calculated according to the following formula: (2) wherein is the rotational speed of the swing core mold, is the installation height of the swing core mold, is the coordinate system relative the initial height; Thus, the link length of the three branches of the mechanism is as follows: Thus, the link length of the three branches of the mechanism is as follows: (3) In the formula The motion position vectors of the three connecting rods, respectively, the following optimization objective function can be obtained based on the principle of constant connecting rod length: (4) In the formulae L is the desired length of the connecting rod; According to formula (4), the configuration parameter optimization of the envelope shaper can be carried out, so that the configuration parameter with the minimum theoretical motion error is obtained .

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