An I-beam cold-bending forming apparatus and a method of using the same

Abstract

The application discloses a kind of I-shaped stringer cold bending forming equipment and its using method, forming equipment includes stamping assembly, feeding mechanism, discharging mechanism, feeding assembly and discharging assembly, the feeding mechanism is located in one side of stamping assembly, the discharging mechanism is located in the other side of stamping assembly, the feeding assembly is located in the outside of feeding mechanism, and the discharging assembly is located in the outside of discharging mechanism;The stamping assembly includes base and the base that slides on the top of base, the top of base is equipped with rack on both sides, and the first assembly seat is arranged on one side between the rack on both sides.The forming method of the application is simple, using horizontal three-point bending technology, avoiding the complex support mechanism of vertical three-point discharging end, through the automatic reset capability of feeding assembly, to improve the feeding efficiency, compared with manual feeding, more suitable for automatic, large-batch processing application requirements, convenient to use, high processing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of long string cold bending forming technology in the field of aircraft manufacturing, in particular to a long string cold bending forming equipment and its using method. BACKGROUND

[0002] The long string is an important load-bearing part in the aircraft structure, which can be divided into fuselage long string and wing long string according to its position, and the object discussed in the case is the wing long string. The aircraft long string is usually made of high-toughness 5055 aluminum alloy material, which has the characteristics of small deflection variable cross-section "work" type. Its traditional manufacturing method has two kinds. One is to mill the small deflection long string part directly on the blank by numerical control machining. This method needs to consume a large size blank, the cost is high, but it does not need subsequent bending processing, and the mechanical properties of the part are good. The other manufacturing method is to first mill the straight long string part on the blank by numerical control, and then adopt three-point bending processing method. Through two side pads and middle pressure block, the straight long string is pressed and bent to the required shape by the press by manual operation.

[0003] The long string part is a small deflection elastic thin beam. Because its length is relatively long (up to about 10 meters), and the cross-sectional size is relatively small compared with its length, its stiffness is insufficient, and the long string itself has a certain flexibility.

[0004] At present, the bending processing of the long string is mainly carried out by skilled workers using vertical press machine to press and bend gradually. With the completion of the technology and verification of the domestic C919 large aircraft, mass production has been put on the agenda. The traditional long string processing and testing cannot meet the needs of large-scale production, and it is urgent to use automatic and digital processing equipment to replace manual operation for automatic bending forming processing.

[0005] Therefore, the present application proposes a "work" type straight long string cold bending forming method for the "work" type straight long string part, and designs and develops a set of long string automatic bending processing equipment. SUMMARY

[0006] In order to solve the problem that the traditional long string processing and testing cannot meet the needs of large-scale production, the present application provides a "work" type long string cold bending forming equipment and its using method to solve the above problems.

[0007] In order to achieve the above purpose, the present application provides the following technical scheme:

[0008] A "work" type long string cold bending forming equipment, comprising a stamping assembly, a feeding mechanism, a discharging mechanism, a feeding assembly and a discharging assembly, the feeding mechanism is arranged on one side of the stamping assembly, the discharging mechanism is arranged on the other side of the stamping assembly, the feeding assembly is arranged on the outside of the feeding mechanism, and the discharging assembly is arranged on the outside of the discharging mechanism.

[0009] The stamping assembly comprises a base and a base plate slidingly arranged on the top of the base, the top of the base plate is provided with racks on both sides, one side between the two racks is provided with a first assembly seat, a ball screw is rotatably arranged in the middle of the first assembly seat, a second motor is arranged below the first assembly seat, the driving end of the second motor is connected with one end of the ball screw, a screw nut is adapted to the outside of the ball screw, a sleeve is arranged on one end of the screw nut outside the ball screw, a punch is arranged on one end of the sleeve, a second assembly seat is arranged in the middle between the two racks, a sliding plate is slidingly arranged on the top of the second assembly seat, and the top of the sliding plate is arranged on the bottom of the sleeve;

[0010] The other side between the two racks is provided with a third assembly seat, sliding seats are slidingly arranged on both sides of one side of the third assembly seat, pad blocks are arranged on one side of the sliding seats, clamping grooves are arranged on the upper and lower sides of one side of the pad blocks, screws are threadedly connected in the sliding seats, the tops of the screws are rotatably connected with the two sides of the top of the third assembly seat, respectively, third motors are arranged on both sides of the other side of the third assembly seat, and the driving ends of the third motors are connected with the top ends of the two screws, respectively.

[0011] The feeding mechanism comprises a first side plate arranged on one side of the base, a chute strip is arranged on the top of one side of the first side plate, a first sliding block is slidingly arranged on the bottom of the chute strip, a first shaft seat is arranged on one side of the first sliding block, a first upper clamping roller is rotatably arranged in the middle of one side of the first shaft seat, a fourth motor is connected with one end of the first upper clamping roller, a second sliding block is slidingly arranged below the first shaft seat, a first lower clamping roller is rotatably arranged in the middle of the second sliding block, a second air cylinder is arranged on one side of the first shaft seat, and the telescopic end of the second air cylinder is connected with one side of the second sliding block; a first air cylinder is arranged on the other side of the first sliding block, and the cylinder body of the first air cylinder is arranged above one side of the first side plate.

[0012] The discharging mechanism comprises a second side plate arranged on the other side of the base, a second shaft seat is arranged above one side of the second side plate, a second upper clamping roller is rotatably arranged in the middle of one side of the second shaft seat, a fifth motor is connected with one end of the second upper clamping roller, a third sliding block is slidingly arranged below the second shaft seat, a second lower clamping roller is rotatably arranged in the middle of the third sliding block, and a third air cylinder is arranged on one side of the second shaft seat, and the telescopic end of the third air cylinder is connected with one side of the third sliding block.

[0013] The feeding assembly comprises a first frame arranged outside the first side plate, a movable frame is hingedly connected to one side of the top of the first frame, a fourth cylinder is rotatably arranged at the middle of the other side of the first frame, the telescopic end of the fourth cylinder is rotatably connected to the middle of one side of the movable frame, sliding rails are mounted on the top of both sides of the movable frame, fourth sliding blocks are slidably arranged on the top of the sliding rails, first fork-shaped supports are rotatably arranged on the top of the middle of the fourth sliding blocks, first rollers are rotatably arranged on the top of the middle of the first fork-shaped supports, first blocking columns are rotatably arranged on the top of both sides of the first fork-shaped supports, extension rods are mounted below one side of the first fork-shaped supports, counterweights are sleeved on the outer portions of the extension rods, limit blocks are mounted on one end of the sliding rails on both sides of the top of the movable frame, and magnetic strips are mounted on the top of the limit blocks, which can magnetically attract the fourth sliding blocks and the counterweights.

[0014] The feeding assembly further comprises a conveying belt and a mechanical arm gripper, the conveying belt is arranged on one side of the first frame, and the mechanical arm gripper is arranged on one side between the conveying belt and the first frame.

[0015] The discharging assembly comprises a second frame arranged outside the second side plate and a plurality of universal trays arranged on the top of the second frame, a second fork-shaped support is rotatably arranged on the top of the middle of each universal tray, a second roller is rotatably arranged on the top of the middle of the second fork-shaped support, and a second blocking column is rotatably arranged on the top of both sides of the second fork-shaped support.

[0016] As a preferred scheme of the present application, a rack is mounted on one side of the top of the base, a first motor is mounted on one side of the top of the base, a gear is mounted on the driving end of the first motor and penetrates through the base, and the side surface of the gear is meshingly connected to the side surface of the rack.

[0017] As a preferred scheme of the present application, a first driving pulley is mounted on the driving end of the second motor, a first driven pulley is mounted on one end of the ball screw, and the first driven pulley and the first driving pulley are connected by a synchronous belt.

[0018] As a preferred scheme of the present application, a second driven pulley is mounted on the top end of each screw rod, a second driving pulley is mounted on the driving end of each third motor, and the second driving pulley and the second driven pulley on the same side are connected by a synchronous belt.

[0019] As a preferred scheme of the present application, the feeding mechanism further comprises a first outer shell, and the first outer shell is mounted on the outer side of the side surface of the first side plate.

[0020] As a preferred scheme of the present application, the discharging mechanism further comprises a second outer shell, and the second outer shell is mounted on the outer side of the side surface of the second side plate.

[0021] The method for using the profiled stringer cold bending forming equipment comprises the following steps:

[0022] Step one, place the stringer profile on the conveying belt in sequence and convey to the first frame;

[0023] Step two, deflect the side of the movable frame upward by a certain angle, under the action of gravity, the fourth sliding block automatically slides to the limiting block and is magnetically attracted by the magnetic strip, at the same time, under the action of gravity of the counterweight block, the fourth sliding blocks on both sides automatically rotate to the same body position angle, the counterweight block is also magnetically attracted by the magnetic strip, and then the movable frame is reset, and the stringer profile is transferred from the conveying belt to the first roller by the mechanical arm gripper, then the feeding mechanism extends laterally and clamps one end of the stringer profile, and then the feeding mechanism is reset and the stringer profile is conveyed to the inside of the stamping assembly, until the end of the stringer profile is clamped by the discharging mechanism;

[0024] Step three, after the stringer profile is conveyed to the bending point position by the feeding mechanism and the discharging mechanism, the stamping assembly works to make the punch press the stringer profile to make it bend and deform;

[0025] Step four, after the pressing is completed, the punch is reset, and the stringer profile starts to rebound after unloading, and after the rebounding is completed, the bending point of the stringer profile is bent and formed;

[0026] Step five, the feeding mechanism and the discharging mechanism continue to convey the stringer profile to the next pressing point position, and then the stringer profile is formed again by pressing;

[0027] Step six, repeat the previous step until all pressing points are processed.

[0028] As a preferred scheme of the present application, the specific placement of the stringer profile on the conveying belt in step one is that the stringer bottom plate contacts the conveying belt from below, the stringer web plate is above, and the stringer web plate is kept facing the side of the first frame, and after being transferred, the stringer web plate is away from the side of the first roller.

[0029] Compared with the prior art, the present application has the following advantages:

[0030] 1. The forming method of the present application is simple, uses horizontal three-point bending technology, avoids the complex support mechanism of the vertical three-point discharging end, and achieves the purpose of cold bending forming of the stringer.

[0031] 2. The use of the counterweight block, limiting block and magnetic strip in the feeding assembly enables the feeding end structure to automatically reset, thereby improving the feeding efficiency and being more suitable for the automation and large-batch application requirements of the present application than manual feeding.

[0032] 3. The present application adopts digital control technology in the processing process, has high automation degree, high feeding and bending precision, uses formula file control, is convenient for modifying control parameters, and has strong practicality.

[0033] 4. The control system of this invention can refer to manual processing data to extract and compile long string processing parameter files (i.e., formula files). Each long string has a corresponding processing formula file, including the length of each bending point, the bending amount, and the corresponding pad block position. A formula file can set up to 60 bending points.

[0034] 5. When the material of the stringer changes, the present invention can adapt to the springback compensation of the new material by modifying the bending amount in the formula file. After the inspection is qualified, the new formula can be fixed as the processing formula of the stringer. It is convenient to use and has high processing efficiency. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0036] Figure 2 This is a schematic diagram of the stamping assembly structure of the present invention;

[0037] Figure 3 for Figure 2 Another perspective diagram of the structure;

[0038] Figure 4 This is a schematic diagram of the internal structure of the stamping assembly of the present invention;

[0039] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0040] Figure 6 for Figure 4 Another perspective diagram of the structure;

[0041] Figure 7 This is a schematic diagram of the feeding mechanism and discharging mechanism of the present invention;

[0042] Figure 8 This is an exploded view of part of the feeding mechanism structure of the present invention;

[0043] Figure 9 This is an exploded view of part of the material discharge mechanism structure of the present invention;

[0044] Figure 10 This is a schematic diagram of part of the feeding component structure of the present invention;

[0045] Figure 11 for Figure 10 Enlarged view of point B in the middle;

[0046] Figure 12 This is a schematic diagram of the feeding assembly structure of the present invention.

[0047] Numbering in the diagram: 1. Stamping assembly; 101. Base; 102. Rack; 103. Base; 104. First motor; 105. Gear; 106. Frame; 107. First assembly seat; 108. Ball screw; 109. Screw nut; 110. Sleeve; 111. Punch; 112. Second assembly seat; 113. Slide plate; 114. First driven pulley; 115. Second motor; 116. First driving pulley; 11 7. Third assembly seat; 118. Screw; 119. Second driven pulley; 120. Sliding seat; 121. Pad; 122. Third motor; 123. Second driving pulley; 2. Feeding mechanism; 201. First side plate; 202. Slide bar; 203. First slider; 204. First cylinder; 205. First shaft seat; 206. First upper clamping roller; 207. Fourth motor; 208. Second slider; 209. First lower clamping roller 210. Roller; 211. Second cylinder; 212. First outer cover; 3. Discharge mechanism; 301. Second side plate; 302. Second shaft seat; 303. Second upper clamping roller; 304. Fifth motor; 305. Third slider; 306. Second lower clamping roller; 307. Third cylinder; 308. Second outer cover; 4. Feeding assembly; 401. First frame; 402. Movable frame; 403. Fourth cylinder; 404. Slide rail; 405. 406. First fork-shaped support; 407. First roller; 408. First stop post; 409. Extension rod; 410. Counterweight; 411. Limiting block; 412. Magnetic strip; 413. Conveyor belt; 414. Robotic arm gripper; 5. Unloading assembly; 501. Second frame; 502. Universal pallet; 503. Second fork-shaped support; 504. Second roller; 505. Second stop post; 6. Long stringer bottom plate; 7. Long stringer web plate. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example:

[0050] like Figure 1 As shown, this embodiment of the invention provides a cold bending forming equipment for I-beams and its usage method, including a stamping assembly 1, a feeding mechanism 2, a discharging mechanism 3, a loading assembly 4, and a unloading assembly 5. The feeding mechanism 2 is located on one side of the stamping assembly 1, the discharging mechanism 3 is located on the other side of the stamping assembly 1, the loading assembly 4 is located outside the feeding mechanism 2, and the unloading assembly 5 is located outside the discharging mechanism 3.

[0051] In this embodiment, referring to Figures 2-4 , the stamping assembly 1 comprises a base 101 and a base 103 slidingly arranged on the top of the base 101, the top of the base 103 is provided with racks 106 on both sides, one side between the two racks 106 is provided with a first assembly seat 107, the middle of the first assembly seat 107 is rotatably provided with a ball screw 108, the lower part of the first assembly seat 107 is provided with a second motor 115, the driving end of the second motor 115 is connected with one end of the ball screw 108, the outside of the ball screw 108 is adapted with a screw nut 109, one end of the screw nut 109 is located outside the ball screw 108 and is provided with a sleeve 110, one end of the sleeve 110 is provided with a punch 111, the middle between the two racks 106 is provided with a second assembly seat 112, the top of the second assembly seat 112 is slidingly provided with a sliding plate 113, the top of the sliding plate 113 is installed on the bottom of the sleeve 110.

[0052] In this embodiment, referring to Figures 4-6 , the other side between the two racks 106 is provided with a third assembly seat 117, the two sides of one side of the third assembly seat 117 are slidingly provided with sliding seats 120, the two sides of one side of the sliding seat 120 are provided with cushion blocks 121, the two sides of one side of the cushion block 121 are respectively provided with clamping grooves, the clamping grooves are U-shaped or T-shaped, the interiors of the sliding seats 120 are respectively threadedly connected with screw rods 118, the exteriors of the screw rods 118 are respectively correspondingly rotatably connected with the top of the two sides of the third assembly seat 117, the other two sides of the third assembly seat 117 are respectively provided with third motors 122, the driving ends of the third motors 122 are respectively connected with the top of the two sides of the screw rods 118.

[0053] In this embodiment, referring to Figures 7-8 , the feeding mechanism 2 comprises a first side plate 201 installed on one side of the base 101, the top of one side of the first side plate 201 is provided with a chute strip 202, the bottom of the chute strip 202 is slidingly provided with a first sliding block 203, one side of the first sliding block 203 is provided with a first shaft seat 205, the middle of one side of the first shaft seat 205 is rotatably provided with a first upper clamping roller 206, one end of the first upper clamping roller 206 is connected with a fourth motor 207, the lower part of the first shaft seat 205 is slidingly provided with a second sliding block 208, the middle of the second sliding block 208 is rotatably provided with a first lower clamping roller 209, one side of the first shaft seat 205 is provided with a second air cylinder 210, the telescopic end of the second air cylinder 210 is connected with one side of the second sliding block 208, the other side of the first sliding block 203 is provided with a first air cylinder 204, the cylinder body of the first air cylinder 204 is installed on the upper part of one side of the first side plate 201.

[0054] In this embodiment, referring to Figure 7 and Figure 9The discharge mechanism 3 includes a second side plate 301 installed on the other side of the base 101. A second bearing 302 is installed on the upper side of one side of the second side plate 301. A second upper clamping roller 303 is rotatably provided in the middle of one side of the second bearing 302. One end of the second upper clamping roller 303 is connected to a fifth motor 304. A third slider 305 is slidably provided below the second bearing 302. A second lower clamping roller 306 is rotatably provided in the middle of the third slider 305. A third cylinder 307 is installed on one side of the second bearing 302. The telescopic end of the third cylinder 307 is connected to one side of the third slider 305.

[0055] In this embodiment, reference Figures 10-11 The feeding assembly 4 includes a first frame 401 located outside the first side plate 201. A movable frame 402 is hinged to the top of one side of the first frame 401. A fourth cylinder 403 is rotatably mounted in the middle of the other side of the first frame 401. The telescopic end of the fourth cylinder 403 is rotatably connected to the middle of one side of the movable frame 402. Slide rails 404 are installed on both sides of the top of the movable frame 402. A fourth slider 405 is slidably mounted on the top of each slide rail 404. A first fork-shaped bracket 406 is rotatably mounted in the middle of the top of each fourth slider 405. A first roller 407 is rotatably mounted in the middle of the top of each first fork-shaped bracket 406. A first stop post 408 is rotatably mounted on both sides of the top of each first fork-shaped bracket 406. In this embodiment, the first stop post 408 can prevent the stringer profile from tipping over. When the stringer profile bends, the stringer profile will drive the fourth slider 405 to move laterally along the slide rail 404, so that the bending can proceed freely without hindrance.

[0056] An extension rod 409 is installed on the lower side of one side of the first fork-shaped bracket 406. A counterweight 410 is fitted on the outside of each extension rod 409. A limit block 411 is installed on the top of the movable frame 402 at one end of each of the two slide rails 404. A magnetic strip 412 is installed on the top of each limit block 411. The magnetic strip 412 can magnetically attract the fourth slider 405 and the counterweight 410.

[0057] Further, refer to again Figure 1 The feeding assembly 4 also includes a conveyor belt 413 and a robotic arm gripper 414. The conveyor belt 413 is located on one side of the first frame 401, and the robotic arm gripper 414 is located on one side between the conveyor belt 413 and the first frame 401.

[0058] In this embodiment, reference Figure 12 The unloading assembly 5 includes a second frame 501 located on the outside of the second side plate 301, and a plurality of universal trays 502 located on the top of the second frame 501. Each universal tray 502 has a second fork-shaped bracket 503 rotatably mounted on the top center, a second roller 504 rotatably mounted on the top center of each second fork-shaped bracket 503, and second stop posts 505 rotatably mounted on both sides of the top of the second fork-shaped bracket 503.

[0059] Referring again to Figures 3-4 , the top side of the base 101 is provided with a rack 102, and the top side of the base 103 is provided with a first motor 104, the driving end of the first motor 104 penetrates the base 103 and is provided with a gear 105, and the side surface of the gear 105 is engaged with the side surface of the rack 102.

[0060] Referring again to Figure 4 , the driving end of the second motor 115 is provided with a first driving pulley 116, one end of the ball screw 108 is provided with a first driven pulley 114, and the first driven pulley 114 and the first driving pulley 116 are connected through a synchronous belt.

[0061] Referring again to Figure 4 , the top end of the screw rod 118 is provided with a second driven pulley 119, and the driving end of the third motor 122 is provided with a second driving pulley 123, and the second driving pulley 123 and the second driven pulley 119 on the same side are connected through a synchronous belt.

[0062] Referring again to Figure 7 , the feeding mechanism 2 further comprises a first outer shell 211, and the first outer shell 211 is installed outside the side surface of the first side plate 201.

[0063] Referring again to Figure 7 , the discharging mechanism 3 further comprises a second outer shell 308, and the second outer shell 308 is installed outside the side surface of the second side plate 301.

[0064] Further, the scheme embodiment based on the above device structure further provides a use method of the I-shaped longeron cold bending forming equipment.

[0065] Meanwhile, by using existing mature technologies, in this embodiment, the scheme should also include a control cabinet, a manual operation table, and a control computer.

[0066] Among them, the control cabinet is placed with control system hardware, including PLC, air switch, voltage stabilizing power supply, frequency converter, servo motor driver, etc., the manual operation table provides a basic function of using button to control the equipment, and through manual and numerical control button switching, manual control includes feeding and discharging clamp rod clamping, clamping loosening, feeding, discharging, bending, and emergency stop basic operations, the control computer is installed with equipment control program, including three main function interfaces, namely, a control parameter setting interface, a jog interface, and a numerical control interface.

[0067] Among them, the parameter setting interface is used to set main parameters, including:

[0068] The jog interface sets a jog button on the computer to realize jog control of the equipment;

[0069] The numerical control interface establishes communication between the control computer and the PLC in the control cabinet, realizes collection of position information, reads the formula file according to the control program, executes control of the servo motor driver, realizes precise control of the shifting action of the feed, the bending, and the pad, the control program uses a C# upper computer development mode instead of a traditional Kingview development mode, the communication protocol is used to establish the connection between the control computer and the PLC and the servo driver, the structure is simple, the idea is clear, the formula file uses a general excel format file, and the excel in the office can be used to establish and edit in advance.

[0070] The scheme in operation specifically includes the following steps:

[0071] Step one, place the stringer profile to be cold-bent on the conveying belt 413 in sequence and at intervals and convey it to the first frame 401, wherein the specific placement of the stringer profile on the conveying belt 413 is that the stringer bottom plate 6 contacts the conveying belt 413 from below, and the stringer web 7 is above, and the side of the stringer web 7 facing the first frame 401 is kept away from the side of the first roller 407 after being transferred.

[0072] Step two, the fourth cylinder 403 is elongated to deflect the side of the movable frame 402 upward by a certain angle, under the action of gravity, the fourth sliding block 405 automatically slides to the limiting block 411 and is magnetically attracted by the magnetic strip 412, and at the same time, under the action of gravity of the counterweight block 410, because the center of gravity of the fourth sliding block 405 is unstable when it is tilted, the two fourth sliding blocks 405 will automatically rotate to the same body position angle in order to keep the center of gravity stable, and the counterweight block 410 is also magnetically attracted by the magnetic strip 412, at this time, the two fourth sliding blocks 405 are on the same straight line and keep stable due to the magnetic attraction, which is convenient for the subsequent feeding process, and then the movable frame 402 is reset, and the stringer profile is transferred from the conveying belt 413 to the first roller 407 by the mechanical arm gripper 414, and the specific placement is that the stringer web 7 is placed on the top of the first roller 407, and the stringer bottom plate 6 and the stringer web 7 are kept stable by the clamping of the first stop column 408.

[0073] Then the feeding mechanism 2 extends laterally and clamps one end of the stringer profile, and then the feeding mechanism 2 resets and conveys the stringer profile to the inside of the stamping assembly 1 until the end of the stringer profile is clamped by the discharging mechanism 3, and then conveyed again until the zero position baffle at the discharging position is encountered, and the zero position setting of the stringer profile processing is completed by pressing the "zero position setting" button at the computer control end, that is, the zero position is set, and then the zero position baffle is removed to prepare for processing. Specifically, the first cylinder 204 is elongated, and at the same time, the second cylinder 210 is elongated. Under the guidance of the sliding groove strip 202 and the first sliding block 203, the first upper clamping roller 206 and the first lower clamping roller 209 move towards one end of the stringer profile. Then the second cylinder 210 is retracted to clamp one end of the stringer profile. Then the first cylinder 204 resets, and at the same time, the fourth motor 207 drives the first upper clamping roller 206 to rotate, so that the stringer profile is conveyed to the inside of the stamping assembly 1. At the same time, the third cylinder 307 is elongated. When the stringer profile extends into the second upper clamping roller 303 and the second lower clamping roller 306, the third cylinder 307 is retracted to clamp one end of the stringer profile. Similarly, the second upper clamping roller 303 can be driven to convey the stringer profile by the fifth motor 304.

[0074] In this embodiment, the upper and lower clamping rollers are wrapped with spiked rubber, which can increase the friction between the clamping rollers and the stringer profile, and prevent slipping during feeding and discharging.

[0075] Step three, in the above state, start the automatic processing program, first, call the formula file prepared in advance, that is, the excel format file, including the number of processing points i, the position of processing points xi, the bending amount yi, and the gear of the two side pads 121. For example, the pad 121 on one side is driven to move up and down by the third motor 122 and the screw rod 118, so that the U-shaped notch is aligned with the stringer profile. The other side pad 121 moves up and down so that the T-shaped notch is aligned with the stringer profile. The control program determines whether the two side punches 111 need to change gears according to the parameters in the formula file and the current position of the punch 111. If so, the base 103 and the rack 106 move the punch 111 a distance, so that the stringer profile is separated from the punch 111. Then adjust the height of the punch 111 according to the above-mentioned servo mechanism to adjust the punch 111 to the indicated gear. The base 103 and the rack 106 reset, so that the stringer profile is clamped in the corresponding gear slot of the punch 111. In the future, before feeding each time, it will automatically determine whether it needs to change gears. If not, it means that there is no need to change gears, and it can enter the feeding step.

[0076] The control system automatically controls the feeding or discharging of the stringer profile according to the formula file, and then drives the stringer profile to the first machining position x1 to complete the feeding step under the action of the feeding mechanism 2 and the discharging mechanism 3. After the stringer profile is conveyed to the bending point position by the feeding mechanism 2 and the discharging mechanism 3, the stamping assembly 1 works to make the punch 111 press the stringer profile to make it bend and deform. Specifically, the second motor 115 drives the ball screw 108 to rotate, and under the cooperation of the second assembly seat 112 and the sliding plate 113, the screw nut 109 and the sleeve 110 move, thereby converting the rotary motion into linear motion and driving the punch 111 to move towards the stringer profile. When the punch 111 approaches the stringer profile, the advancing speed is reduced to apply a bending load to the stringer profile, and the stringer profile slowly bends and deforms to achieve the purpose of stamping forming.

[0077] Step four, when the punch 111 reaches the preset bending position yi, the punch 111 no longer advances, and after pressure maintaining for 2-3 seconds, the pressure is released, the punch 111 is reset, and after the pressure is unloaded, the stringer profile starts to gradually rebound due to the elastic effect. After the rebound is completed, the plastic deformation is retained, and the bending point of the stringer profile is bent and formed.

[0078] Step five, use the visual measurement system to collect the formed shape and compare it with the shape in the three-dimensional model to test the forming accuracy of the point. After passing the test, go to the next machining point, that is, the feeding mechanism 2 and the discharging mechanism 3 continue to convey the stringer profile to the next pressure point position, and then perform stamping forming again.

[0079] Step six, repeat the previous step until all pressure points are machined.

[0080] Meanwhile, during the above forming process, the formed end will enter the second roller 504 after being conveyed by the discharging mechanism 3. Since the second roller 504 can freely move on the top of the second frame 501 through the second fork-shaped support 503, the stringer profile can freely move without any restrictions, which facilitates bending forming operation. The above purpose is to ensure that the stringer profile in the discharging direction can move in any direction without any obstacles to feeding and bending actions. This is one of the main reasons why the horizontal pressure mechanism is used instead of the vertical press in the present scheme.

[0081] The processing process of the scheme adopts digital control technology, has high automation degree, high feeding and bending precision, adopts formula file control, is convenient for modifying control parameters, has strong practicability, the control system can refer to artificial processing data, extracts and compiles a stringer processing parameter file (i.e. formula file), each stringer has a corresponding processing formula file, including the length of each bending point, the bending amount, the corresponding pad gear, a formula file can set 60 bending points at most, when the stringer material changes, the bending amount in the formula file can be modified, the rebound compensation of the new material is adapted, after inspection, the new formula can be fixed as the processing formula of the stringer, convenient to use, high processing efficiency.

[0082] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely divergences, modifications, replacements and variations of the embodiments of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A cold bending forming equipment for I-shaped stringers, comprising a stamping assembly (1), a feeding mechanism (2), a discharging mechanism (3), a feeding assembly (4) and a discharging assembly (5), characterized in that: The feeding mechanism (2) is arranged on one side of the stamping assembly (1), the discharging mechanism (3) is arranged on the other side of the stamping assembly (1), the feeding assembly (4) is arranged outside the feeding mechanism (2), and the discharging assembly (5) is arranged outside the discharging mechanism (3); the stamping assembly (1) comprises a base (101) and a base plate (103) slidingly arranged on the top of the base (101), both sides of the top of the base plate (103) are provided with racks (106), one side between the two racks (106) is provided with a first assembly seat (107), a ball screw (108) is rotatably arranged in the middle of the first assembly seat (107), a second motor (115) is arranged below the first assembly seat (107), the driving end of the second motor (115) is connected with one end of the ball screw (108), a screw nut (109) is matched with the outer portion of the ball screw (108), a sleeve (110) is arranged at one end of the screw nut (109) outside the ball screw (108), a punch (111) is arranged at one end of the sleeve (110), a second assembly seat (112) is arranged in the middle between the two racks (106), a sliding plate (113) is slidingly arranged on the top of the second assembly seat (112), and the top of the sliding plate (113) is arranged on the bottom of the sleeve (110); a third assembly seat (117) is arranged on the other side between the two racks (106), sliding seats (120) are slidingly arranged on both sides of one side of the third assembly seat (117), pad blocks (121) are arranged on one side of the sliding seats (120), clamping grooves are arranged on the upper and lower sides of one side of the pad blocks (121), screw rods (118) are threadedly connected in the sliding seats (120), the outer portions of the screw rods (118) are rotatably connected with the top portions of both sides of the third assembly seat (117) in correspondence, third motors (122) are arranged on both sides of the other side of the third assembly seat (117), and the driving ends of the third motors (122) are connected with the top ends of the screw rods (118) in correspondence.The feeding mechanism (2) includes a first side plate (201) installed on one side of the base (101), one side top of the first side plate (201) is installed with a chute strip (202), the bottom of the chute strip (202) is slidably provided with a first sliding block (203), one side of the first sliding block (203) is installed with a first shaft seat (205), one side of the first shaft seat (205) is rotatably provided with a first upper clamping roller (206), one end of the first upper clamping roller (206) is connected with a fourth motor (207), the lower of the first shaft seat (205) is slidably provided with a second sliding block (208), the middle of the second sliding block (208) is rotatably provided with a first lower clamping roller (209), one side of the first shaft seat (205) is installed with a second air cylinder (210), the telescopic end of the second air cylinder (210) is connected to one side of the second sliding block (208), the other side of the first sliding block (203) is installed with a first air cylinder (204), the cylinder body of the first air cylinder (204) is installed on the upper side of the first side plate (201); the discharging mechanism (3) includes a second side plate (301) installed on the other side of the base (101), the upper side of one side of the second side plate (301) is installed with a second shaft seat (302), one side of the second shaft seat (302) is rotatably provided with a second upper clamping roller (303), one end of the second upper clamping roller (303) is connected with a fifth motor (304), the lower of the second shaft seat (302) is slidably provided with a third sliding block (305), the middle of the third sliding block (305) is rotatably provided with a second lower clamping roller (306), one side of the second shaft seat (302) is installed with a third air cylinder (307), the telescopic end of the third air cylinder (307) is connected to one side of the third sliding block (305).The feeding assembly (4) comprises a first frame (401) arranged outside the first side plate (201), one side top of the first frame (401) is hingedly connected with a movable frame (402), the other side middle of the first frame (401) is rotationally provided with a fourth cylinder (403), the telescopic end of the fourth cylinder (403) is rotationally connected to the middle of one side of the movable frame (402), the top of the movable frame (402) is provided with sliding rails (404) on both sides, the top of the sliding rails (404) is slidingly provided with fourth sliding blocks (405), the middle of the top of the fourth sliding blocks (405) is rotationally provided with first fork-shaped supports (406), the middle of the top of the first fork-shaped supports (406) is rotationally provided with first rollers (407), the top of the first fork-shaped supports (406) is rotationally provided with first blocking columns (408) on both sides, the lower side of one side of the first fork-shaped supports (406) is mounted with extension rods (409), the outer part of the extension rods (409) is sleeved with counterweights (410), the top of the movable frame (402) is mounted with limiting blocks (411) at one end of the sliding rails (404) on both sides, the top of the limiting blocks (411) is mounted with magnetic strips (412), the magnetic strips (412) can magnetically attract the fourth sliding blocks (405) and the counterweights (410); the feeding assembly (4) further comprises a conveying belt (413) and a mechanical arm gripper (414), the conveying belt (413) is arranged on one side of the first frame (401), and the mechanical arm gripper (414) is arranged on one side between the conveying belt (413) and the first frame (401); the discharging assembly (5) comprises a second frame (501) arranged outside the second side plate (301) and a plurality of universal trays (502) arranged on the top of the second frame (501), the middle of the top of the universal trays (502) is rotationally provided with second fork-shaped supports (503), the middle of the top of the second fork-shaped supports (503) is rotationally provided with second rollers (504), and the top of the second fork-shaped supports (503) is rotationally provided with second blocking columns (505) on both sides.

2. The cold forming equipment for I-beam stringer according to claim 1, characterized in that: The top side of the base (101) is provided with a rack (102), and the top side of the base (103) is provided with a first motor (104), the driving end of the first motor (104) penetrates through the base (103) and is provided with a gear (105), and the side surface of the gear (105) is engaged with the side surface of the rack (102).

3. The cold forming equipment for I-beam according to claim 1, characterized in that: The driving end of the second motor (115) is provided with a first driving pulley (116), one end of the ball screw (108) is provided with a first driven pulley (114), and the first driven pulley (114) and the first driving pulley (116) are connected through a synchronous belt.

4. The cold forming equipment for I-beam according to claim 1, characterized in that: The top end of the screw rod (118) is provided with a second driven pulley (119), and the driving end of the third motor (122) is provided with a second driving pulley (123), and the second driving pulley (123) is connected with the same side second driven pulley (119) through a synchronous belt.

5. The cold forming equipment for I-beam according to claim 1, characterized in that: The feeding mechanism (2) further comprises a first outer cover (211) mounted on the side surface outside the first side plate (201).

6. The cold forming equipment for I-beam according to claim 1, characterized in that: The discharging mechanism (3) further comprises a second outer cover (308) mounted on the side surface outside the second side plate (301).

7. The method of using a cold-bending forming apparatus for a T-shaped stringer according to any one of claims 1 to 6, wherein: The method comprises the following steps: Step one, sequentially and interval place the stringer profile on the conveying belt (413) and convey to the first frame (401); Step two, the side of the movable frame (402) is deflected upward by a certain angle, under the action of gravity, the fourth sliding block (405) automatically slides to the limiting block (411) and is magnetically attracted by the magnetic strip (412), at the same time, under the action of gravity of the counterweight block (410), the fourth sliding blocks (405) on both sides automatically rotate to the same body position angle, and the counterweight block (410) is also magnetically attracted by the magnetic strip (412), and then the movable frame (402) is reset, and then the long stringer profile is transferred from the conveying belt (413) to the first roller (407) through the mechanical arm gripper (414), and then the feeding mechanism (2) extends laterally and clamps one end of the long stringer profile, and then the feeding mechanism (2) is reset and the long stringer profile is conveyed to the inside of the stamping assembly (1), until the end of the long stringer profile is clamped by the discharging mechanism (3); Step three, after the long stringer profile is conveyed to the bending point position by the feeding mechanism (2) and the discharging mechanism (3), the stamping assembly (1) works to make the punch (111) press the long stringer profile to make it bend and deform; Step four, after the pressing is completed, the punch (111) is reset, and the long stringer profile starts to rebound after unloading, and after the rebounding is completed, the bending point of the long stringer profile is bent and formed; Step five, the feeding mechanism (2) and the discharging mechanism (3) continue to convey the long stringer profile to the next pressing point position, and then the long stringer profile is formed again; Step six, repeat the previous step until all pressing points are processed.

8. The method of claim 7, wherein the method further comprises: providing a plurality of work rolls; and providing a plurality of work roll chocks, each of the plurality of work roll chocks being configured to receive one of the plurality of work rolls. The long string section in step one is placed on the conveying belt (413) in a specific manner, the long string bottom plate (6) is in contact with the lower conveying belt (413), and the long string web plate (7) is on the upper side, while the long string web plate (7) is kept facing the side of the first frame (401) which is away from the first roller (407) after being transferred.

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