Method for determining roller holding instantaneous flexible force control in rotary rolling process

Abstract

The invention relates to a method for determining instantaneous flexible force control of a holding roller in a rotary rolling process, which comprises the following steps of: firstly, establishing a reference coordinate system of a rotary rolling system so as to determine a relative position relationship among parts of the system, and acquiring an initial coordinate of a holding roller reference point G on one side of the positive direction of a y axis, a coordinate of a circle center A and a distance r between the two; secondly, the radiuses of the earliest contact positions between a main roller and the disc blank in the axial direction, the radius of the lower end face of the main roller and the instantaneous radius of the disc blank at the corresponding contact positions in the rotary rolling process are determined, the distance between the disc blank datum point and the y-axis forward side holding roller datum point is obtained, and the instantaneous coordinates of the disc blank datum point are obtained by combining the stroke of a core roller; then, the instantaneous coordinates of the holding roller datum point are obtained according to the determined relative position relation; and finally, determining instantaneous coordinates of the hinge point of the spring according to known conditions. The device can effectively adjust the magnitude and the direction of the acting force of the holding rollers on the disc blank, reduces the offset of the datum point of the disc blank so as to reduce the shaking of the disc blank, and improves the stability of the rotary rolling process and the roundness of the formed ring disc piece.

Description

Technical Field

[0001] The present invention belongs to the field of rotary rolling forming processing, and particularly relates to a method for determining the instantaneous flexible force control of a holding roll during the rotary rolling process to achieve precise control of the instantaneous flexible force control of the holding roll during the rotary rolling process. Background Art

[0002] During the rotary rolling process, the holding roll has to move as the disk blank grows, always in contact with the disk blank, playing a role in stabilizing the rolling process and centering the disk blank. Therefore, controlling the magnitude and direction of the force exerted by the holding roll on the disk blank is crucial for obtaining high-quality ring parts. For the rotary rolling process, the radii of the disk blank, the main roll, and the core roll are different at different axial positions, and the movement trajectories of the reference points of the disk blank are also different in the spinning bending stage and the profiled ring rolling stage, resulting in difficulty in determining the instantaneous coordinates of the reference point of the disk blank and the distance between the reference point of the disk blank and the reference point of the holding roll. At the same time, the contact area between the holding roll and the disk blank during the rotary rolling process is greatly reduced compared with the ring rolling process, resulting in an excessive force exerted by the holding roll on the disk blank, and the direction of the force cannot always point to the geometric center of the disk blank, ultimately flattening the disk blank, which brings certain difficulties to the control of the force exerted by the holding roll on the disk blank during the rotary rolling process. Zhu Shuai. Deformation and Microstructure Evolution during the Whole Process of TA15 Titanium Alloy Radial-Axial Ring Rolling [D]. Xi'an: Doctoral Thesis of Northwestern Polytechnical University, 2015: 68-71. The problem of determining the instantaneous position of the holding roll in the radial-axial rolling of ring parts is solved by using the method of intersecting two trajectory circles of the holding roll movement during the ring rolling process. Li xuechao et al. (Xuechao Li, Lianggang Guo, Lei Liang, Wenrong Yang. Motion control of guide rolls in intelligent simulation for profiled ring rolling process. Procedia Manufacturing. 2018, 15: 97-104.) established a mathematical model for the motion control of the holding roll during the profiled ring rolling process and gave the selection criteria for the reasonable radii of the main roll, the holding roll, and the ring blank. These studies are all aimed at the motion control of the holding roll during the ring rolling process, while the motion control of the holding roll during the rotary rolling process is much more complex, resulting in the motion control method of the holding roll during the ring rolling process not being applicable to the rotary rolling process. Summary of the Invention

[0003] To overcome the problems existing in the prior art that are not applicable to the rotary rolling process, the present invention proposes a method for determining the instantaneous flexible force control of a holding roll during the rotary rolling process.

[0004] The specific steps of the present invention are as follows:

[0005] Step 1, establish a reference coordinate system for the rotary rolling system.

[0006] By establishing a reference coordinate system for the rotary rolling system to determine the relative positional relationship between the components of the rotary rolling system;

[0007] The reference coordinate system takes the intersection point of the axial symmetry plane of the main roll and the axis of the main roll as the coordinate origin O, and takes the axis of the main roll as the z-axis of the three-dimensional reference coordinate system; starting from the origin O, the direction pointing to the reference point of the disk blank is the x-axis of the three-dimensional reference coordinate system; the direction perpendicular to the xOz plane is the y-axis.

[0008] During the rotary rolling process of the ring disk part, the positions of the two holding rolls and the two spring hinge points are symmetric about the xOz plane, and the x coordinates and z coordinates of the two holding roll reference points and the two spring hinge points are the same, and the y coordinates are opposite.

[0009] The reference point of the main roll and the reference point of the holding roll are both located on the xOy plane during the rotary rolling process of the ring disk part, and the reference point of the core roll and the reference point of the disk blank always move along the x-axis direction; the reference point of the main roll coincides with the origin O of the three-dimensional reference coordinate system, the z coordinate of the holding roll reference point is 0, and the y coordinates of the core roll reference point and the disk blank reference point are both 0.

[0010] In the established reference coordinate system of the rotary rolling system, the initial coordinate of the holding roll reference point on the positive side of the y-axis is G0(x i0 , y i0 ), and the coordinate of the center A on the positive side of the y-axis is (x n , y n ). Let the instantaneous coordinate of the holding roll reference point on the positive side of the y-axis be G(x i , y i ), the radius between the holding roll reference point G and the center A is r, the reference point of the disk blank is R c , the original length of the spring is s, and the stroke of the core roll is u.

[0011] One end of the spring on the positive side of the y-axis is hinged to the spring hinge point B, and the other end is hinged to the center of the holding roll; an angle is formed between the connection line of the holding roll reference point and the center A on the positive side of the y-axis and the x-axis of the three-dimensional reference coordinate system. During the rotary rolling process, when the outer diameter of the disk blank changes, the holding roll on the positive side of the y-axis rotates around the center A, so that the angle between the connection line of the holding roll reference point and the center A and the x-axis of the three-dimensional reference coordinate system changes, and at the same time, the connection line between the holding roll reference point and the spring hinge point always passes through the reference point of the disk blank.

[0012] Step 2, determine the instantaneous coordinate of the reference point of the disk blank and the distance between the reference point of the disk blank and the reference point of the holding roll on the positive side of the y-axis.

[0013] By determining the radius R1 at the earliest contact point between the main roll and the disk blank in the axial direction during the rotary rolling process and the instantaneous radius R t1 of the disk blank at the corresponding R1, the initial abscissa x m0and the instantaneous abscissa x m , the radius R of the lower end face of the main roll 1a and at this R 1a the instantaneous radius R of the disk blank corresponding thereto t3 , the initial abscissa of the reference point of the disk blank is x0 = R t1 + R1, the radius R3 of the holding roll on the positive y-axis side that first contacts the disk blank axially, and the instantaneous radius R of the disk blank at the corresponding position of this R3 t2 , obtaining the distance R3 + R between the reference point of the disk blank and the reference point of the holding roll on the positive y-axis side t2 ; in the spinning bending stage, from the core roll stroke u = x m0 - x m being equal to the displacement d of the reference point of the disk blank in the x direction, it can be known that the instantaneous coordinates of the reference point of the disk blank are R c (x0 - u, 0); in the special-shaped ring rolling stage, from the relative position relationship, it can be known that the instantaneous coordinates of the reference point of the disk blank are R c (R 1a + R t3 , 0).

[0014] The specific process of determining the instantaneous coordinates R of the reference point of the disk blank c and the distance R3 + R between the reference point of the disk blank and the reference point of the holding roll on the positive y-axis side t2 is as follows:

[0015] Ⅰ Determine the main roll radii R1 and R at different stages 1a and the instantaneous radius R of the disk blank at the corresponding contact position t1 and R t3 .

[0016] Take the radius of the earliest axial contact between the main roll and the disk blank during the spinning process as the main roll radius R1, and take the perpendicular distance between the earliest axial contact position of the main roll and the disk blank and the axis of the disk blank as the instantaneous radius R of the disk blank t1 ; take the radius of the lower end face of the main roll as the main roll radius R 1a , and take the perpendicular distance between the axial contact position of the lower end face of the main roll and the disk blank and the axis of the disk blank as the instantaneous radius R of the disk blank t3 .

[0017] Ⅱ Determine the holding roll radius R3 and the instantaneous radius R of the disk blank when the disk blank contacts the holding roll t2 .

[0018] Take the radius of the earliest axial contact between the holding roll and the disk blank during the spinning process as the holding roll radius R3, and take the perpendicular distance between the earliest axial contact position of the holding roll and the disk blank and the axis of the disk blank as the instantaneous radius R of the disk blank t2 .

[0019] Determine that the instantaneous coordinates of the reference point of the disk blank in the spinning bending stage are R c (x0 - u, 0), and the instantaneous coordinates of the reference point of the disk blank in the profiled ring rolling stage are R c (R 1a + R t3 , 0).

[0020] Determine that the distance between the reference point of the disk blank and the reference point G of the holding roll on the positive y-axis side during the spinning rolling process is R3 + R t2 .

[0021] Step 3, calculate the instantaneous position of the holding roll on the positive y-axis side.

[0022] Obtain the instantaneous coordinates of the reference point of the holding roll on the positive y-axis side through formula (5):

[0023]

[0024] Where: x n , y n are the coordinate values of the center A on the positive y-axis side in the reference coordinate system respectively;

[0025] e is a function of x m , R t3 and R t2 ;

[0026]

[0027] Where: when 0 < u < u w为 Spinning bending stage, u w < u is the profiled ring rolling stage;

[0028] f is a function of x m , R t3 ;

[0029]

[0030] Where: x m0 and x m are the initial abscissa and instantaneous abscissa of the reference point of the core roll respectively;

[0031] r is the distance between the reference point G of the holding roll on the positive y-axis side and the center A on the positive y-axis side;

[0032]

[0033] Where: x i0 , y i0 are the initial coordinate values of the reference point of the holding roll on the positive y-axis side in the reference coordinate system respectively;

[0034] Determine the instantaneous position of the holding roll on the positive side of the y-axis according to the obtained instantaneous coordinates of the reference point of the holding roll on the positive side of the y-axis;

[0035] Step 4, determine the instantaneous position of the spring hinge point:

[0036] Determine the instantaneous position of the spring hinge point through Formula (9) and Formula (12):

[0037] Obtain the instantaneous coordinates of the spring hinge point B on the positive side of the y-axis through Formula (9):

[0038]

[0039] Where: α is the angle formed by the line connecting the spring hinge point B on the positive side of the y-axis and the reference point of the disk blank and the negative direction of the x-axis,

[0040] Determine the instantaneous position of the spring hinge point B on the positive side of the y-axis according to the obtained instantaneous coordinates of the spring hinge point B on the positive side of the y-axis;

[0041] Determine the instantaneous coordinates of the spring hinge point on the negative side of the y-axis through Formula (12);

[0042]

[0043] Where: x q , y q are respectively the instantaneous coordinate values of the spring hinge point on the negative side of the y-axis in the reference coordinate system;

[0044] Obtain the instantaneous position of the spring hinge point on the negative side of the y-axis according to the obtained instantaneous coordinates of the spring hinge point on the negative side of the y-axis.

[0045] Determine the instantaneous coordinates of the spring hinge point through Formula (13);

[0046]

[0047] In Formula (13), x p , y p are respectively the instantaneous coordinate values of the spring hinge point on the positive side of the y-axis in the reference coordinate system, x i , y i are the instantaneous coordinate values of the reference point of the holding roll on the positive side of the y-axis in the reference coordinate system, and s is the original length of the spring.

[0048] A method for determining the instantaneous flexible force control of the holding roll during rotary rolling proposed by the present invention first establishes a reference coordinate system for the rotary rolling system to determine the relative position relationship between the components of the entire rotary rolling system, and obtains the initial coordinates G0(x i0 , yi0 ) The center coordinates of the circle are A(x n , y n ), and the radius between the reference point G of the holding roll on the positive y-axis side and the center A is r. Secondly, determine the radii (R1 and R3) at the earliest contact points of the main roll and the holding roll on the positive y-axis side with the disk blank in the axial direction during the rotary rolling process, and the instantaneous radii (R t1 and R t2 ) of the disk blank at the corresponding contact points. Also, determine the radius of the lower end face of the main roll and the instantaneous radii (R 1a and R t3 ) of the disk blank at the corresponding position at this location. Obtain the distance R3 + R t2 between the reference point of the disk blank and the reference point of the holding roll on the positive y-axis side, and combine it with the core roll stroke u to obtain the instantaneous coordinates R c of the reference point of the disk blank. Then, according to the determined relative position relationship, list a system of equations for the instantaneous coordinates of the reference point of the holding roll on the positive y-axis side, and solve to obtain the formula for the instantaneous coordinates of the reference point of the holding roll. Finally, determine the instantaneous coordinates of the spring hinge point from the original length of the spring, the included angle α, and the instantaneous coordinates of the reference point of the holding roll and the reference point of the disk blank. Using the method proposed by the present invention, during the rotary rolling process, the instantaneous coordinates of the reference point of the disk blank and the distance between the reference point of the disk blank and the reference point of the holding roll can be accurately determined, thereby obtaining the formula for the instantaneous coordinates of the reference point of the holding roll. Furthermore, the formula for the instantaneous coordinates of the spring hinge point can be calculated from the included angle α, and then based on the real-time detected instantaneous abscissa x m of the core roll and the instantaneous radii of the disk blank at different axial positions, the instantaneous position of the spring hinge point can be accurately calculated. This method can effectively control the movement of the holding roll during the rotary rolling process, reasonably adjust the magnitude and direction of the force exerted by the holding roll on the disk blank, make the position of the holding roll move as the disk blank grows, and always keep in contact with the outer surface of the disk blank, reduce the offset of the reference point of the disk blank, and always maintain fluctuations near 0, thereby reducing the sway of the disk blank during the rotary rolling process, improving the stability of the rotary rolling process, and also reducing the roundness error of the ring disk part during the rotary rolling process, thereby improving the roundness of the formed ring disk part.

[0049] The present invention lays a foundation for the implementation of the instantaneous flexible force control of the holding roll during the rotary rolling of the ring disk part, the realization of the precise control of the movement of the holding roll, and the development of intelligent ring rolling equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] FIG. 1 is a schematic diagram of the rotary rolling system; among them, Figure 1a is a top view of the rotary rolling system; Figure 1b is a cross-sectional view of the rotary rolling system in the xOz plane.

[0051] Figure 2 is a simplified schematic diagram of the positional relationship between the holding roll and the disk blank during the rotary rolling process;

[0052] Figure 3It is a flowchart for determining the instantaneous flexible force control method of the holding roll during the rotary rolling process.

[0053] In the figure, 1 is the main roll; 2 is the spring hinge point; 3 is the holding roll; 4 is the disk blank; 5 is the core roll; 6 is the taper roll; 7 is the spring. Specific implementation mode

[0054] This embodiment is a method for determining the instantaneous flexible force control of the holding roll during the rotary rolling process. By establishing a reference coordinate system for the rotary rolling system, the relative position relationship between the components of the entire rotary rolling system is determined. Then, the radii (R1 and R3) of the earliest contact positions between the main roll and the holding roll on the positive y-axis side and the disk blank in the axial direction during the rotary rolling process, as well as the instantaneous radii (R t1 and R t2 ) of the disk blank at the corresponding contact points, the radius of the lower end face of the main roll, and the instantaneous radii (R 1a and R t3 ) of the disk blank at the corresponding position at this location are obtained. The distance R3 + R t2 between the reference point of the disk blank and the reference point of the holding roll on the positive y-axis side is obtained, and the instantaneous coordinates R c of the reference point of the disk blank can be known in combination with the core roll stroke u. Furthermore, according to the determined relative position relationship, a system of equations about the instantaneous coordinates of the reference point of the holding roll on the positive y-axis side is listed, and the instantaneous coordinates of the reference point of the holding roll are obtained by solving. Finally, the instantaneous coordinates of the spring hinge point are determined by the original length of the spring, the included angle α, and the instantaneous coordinates of the reference point of the holding roll and the reference point of the disk blank. The reference point refers to the intersection point of the axial symmetry plane of the main roll or the holding roll or the core roll or the disk blank and the axis of the main roll or the holding roll or the core roll or the disk blank.

[0055] The specific process of this embodiment is as follows:

[0056] Step 1, establish a reference coordinate system for the rotary rolling system.

[0057] By establishing a reference coordinate system for the rotary rolling system to determine the relative position relationship between the components of the rotary rolling system:

[0058] Figure 1 is a schematic diagram of the rotary rolling system. The rotary rolling system includes a main roll 1, a holding roll 3, a disk blank 4, a core roll 5, a taper roll 6, a spring 7, and a spring hinge point 2. In order to determine the relative position relationship between the components of the entire rotary rolling system, first establish a three-dimensional reference coordinate system for the rotary rolling system: take the intersection point of the axial symmetry plane of the main roll and the axis of the main roll as the coordinate origin O, and take the axis of the main roll as the z-axis of the three-dimensional reference coordinate system; starting from the origin O, the direction pointing to the reference point of the disk blank is the x-axis of the three-dimensional reference coordinate system; the direction perpendicular to the xOz plane is the y-axis of the three-dimensional reference coordinate system.

[0059] Under the established reference coordinate system, as Figure 1a, during the rotary rolling process of the ring-shaped disk part, the reference points of the main roll and the holding roll are both located on the xOy plane, while the reference points of the core roll and the blank disk always move along the x-axis; the reference point of the main roll coincides with the origin O of the three-dimensional reference coordinate system, the z coordinate of the reference point of the holding roll is 0, and the y coordinates of the reference points of the core roll and the blank disk are both 0. Since the positions of the two holding rolls and the two spring hinge points are symmetric about the xOz plane during the rotary rolling process, the x coordinates and z coordinates of the two reference points of the holding rolls and the two spring hinge points are the same, and the y coordinates are opposite. The included angle between the connection line of the spring hinge point B on the positive side of the y-axis and the blank disk reference point and the negative direction of the x-axis is α. The original length of the spring is s. By determining the position of one of the spring hinge points, the position of the other spring hinge point can be determined according to the symmetry relationship. Therefore, in this embodiment, the spring hinge point B on the positive side of the y-axis is taken as the object. First, the instantaneous coordinates of this spring hinge point are determined, and then according to the symmetry relationship, the instantaneous coordinates of the spring hinge point on the negative side of the y-axis are determined. The initial coordinates of the reference point of the holding roll on the positive side of the y-axis are G0(x i0 ,y i0 ), and the coordinates of the center A are (x n , y n ). Let the instantaneous coordinates of the reference point of the holding roll on the positive side of the y-axis be G(x i ,y i ), the radius between the reference point G of the holding roll and the center A is r, and the reference point of the blank disk is R c . One end of the spring on the positive side of the y-axis is hinged to the spring hinge point B, and the other end is hinged to the center of the holding roll; the included angle is formed between the connection line of the reference point of the holding roll on the positive side of the y-axis and the center A and the x-axis of the three-dimensional reference coordinate system. During the rotary rolling process, when the outer diameter of the blank disk changes, the holding roll on the positive side of the y-axis rotates around the center A, so that the included angle between the connection line of the reference point of the holding roll and the center A and the x-axis of the three-dimensional reference coordinate system changes. At the same time, the connection line between the reference point of the holding roll and the spring hinge point always passes through the reference point of the blank disk.

[0060] Step 2: Determine the instantaneous coordinates of the reference point of the blank disk and the distance between the reference point of the blank disk and the reference point of the holding roll on the positive side of the y-axis.

[0061] By determining the radius R1 at the earliest contact point in the axial direction between the main roll and the blank disk during the rotary rolling process and the instantaneous radius R t1 of the blank disk at this R1, the initial abscissa x m0 and the instantaneous abscissa x m of the reference point of the core roll, the radius R 1a of the lower end face of the main roll and the instantaneous radius R 1a of the blank disk at this R t3 , the initial abscissa of the reference point of the blank disk is x0 = R t1+R1, the radius R3 at the earliest axial contact between the holding roller on the positive y-axis side and the disc blank, and the instantaneous radius R of the disc blank at the corresponding position of this R3 t2 , the distance R3 + R between the reference point of the disc blank and the reference point of the holding roller on the positive y-axis side is obtained t2 ; in the spinning bending stage, from the core roller stroke u = x m0 -x m being equal to the displacement d of the reference point of the disc blank in the x direction, the instantaneous coordinates of the reference point of the disc blank are known as R c (x0 - u, 0); in the special-shaped ring rolling stage, from the relative position relationship, the instantaneous coordinates of the reference point of the disc blank are known as R c (R 1a +R t3 , 0), and the specific process is as follows:

[0062] Ⅰ Determine the main roller radii R1 and R at different stages 1a and the instantaneous radius R of the disc blank at the corresponding contact position t1 and R t3 .

[0063] For example Figure 1b , take the radius at the earliest axial contact between the main roller and the disc blank during the spinning process as the main roller radius R1, and take the vertical distance between the earliest axial contact position of the main roller and the disc blank and the axis of the disc blank as the instantaneous radius R of the disc blank t1 ; take the radius of the lower end face of the main roller as the main roller radius R 1a , and take the vertical distance between the contact position of the lower end face of the main roller and the disc blank in the axial direction and the axis of the disc blank as the instantaneous radius R of the disc blank t3 .

[0064] Ⅱ Determine the holding roller radius R3 and the instantaneous radius R of the disc blank when it contacts the holding roller t2 .

[0065] For example Figure 2 , take the radius at the earliest axial contact between the holding roller and the disc blank during the spinning process as the holding roller radius R3, and take the vertical distance between the earliest axial contact position of the holding roller and the disc blank and the axis of the disc blank as the instantaneous radius R of the disc blank t2 .

[0066] Determine that the instantaneous coordinates of the reference point of the disc blank in the spinning bending stage are R c (x0 - u, 0), and the instantaneous coordinates of the reference point of the disc blank in the special-shaped ring rolling stage are R c (R 1a +R t3 , 0).

[0067] Determine that the distance between the reference point of the disc blank and the reference point G of the holding roller on the positive y-axis side during the spinning process is R3 + R t2 .

[0068] Step 3: Calculate the instantaneous position of the holding roll on the positive y-axis side.

[0069] According to the determined relative position relationship between the components of the rotary rolling system, obtain a system of equations for the instantaneous coordinates of the reference point of the holding roll on the positive y-axis side, and after solving, obtain the instantaneous coordinate formula of the reference point of the holding roll:

[0070] During the rotary rolling process of the ring-shaped workpiece, as the outer diameter of the disk blank grows, the position of the holding roll also changes with the change of the outer diameter of the disk blank and always contacts the outer surface of the disk blank to avoid the yaw vibration of the disk blank during the rotary rolling process, so that the reference point of the disk blank always coincides with the x-axis of the three-dimensional reference coordinate system.

[0071] Ⅰ The reference point G of the holding roll is located on the first circular arc motion trajectory with the center A as the center and the distance r between the reference point G of the holding roll and the center A as the radius, as Figure 1a shown, from which the following can be obtained:

[0072]

[0073] Ⅱ The reference point G of the holding roll is located on the second circular arc motion trajectory with the reference point R of the disk blank C as the center and the distance R3 + R between the reference point G of the holding roll and the instantaneous reference point R of the disk blank C as the radius, as t2 shown, from which the following can be obtained: Figure 1a shown, from which the following can be obtained:

[0074]

[0075] Simplify to get:

[0076]

[0077] Combine equations (1) and (3) to get:

[0078]

[0079] Among them: X C is the instantaneous abscissa of the reference point of the disk blank. When 0 < u < u w , X C = x0 - u = R t1 + R1 - x m0 + x m ; when u w < u, X C = R 1a + R t3 .

[0080] In formula (4), x i , y iis the instantaneous coordinate value of the reference point of the holding roll on the positive y-axis side in the reference coordinate system; x n , y n are the coordinate values of the center A on the positive y-axis side in the reference coordinate system; x0 is the initial abscissa of the reference point of the disk blank; u is the stroke of the core roll; u w is the stroke of the core roll in the spinning bending stage; R1 is the radius at the earliest axial contact point between the main roll and the disk blank; R3 is the radius at the earliest axial contact point between the holding roll and the disk blank; R t1 is the instantaneous radius of the disk blank at the position corresponding to the radius R1 at the earliest axial contact point between the main roll and the disk blank; R t2 is the instantaneous radius of the disk blank at the position corresponding to the radius R3 at the earliest axial contact point between the holding roll on the positive y-axis side and the disk blank; x m0 and x m are respectively the initial abscissa and the instantaneous abscissa of the reference point of the core roll; R 1a is the radius of the lower end face of the main roll, R t3 is the instantaneous radius of the disk blank corresponding to the contact point on the lower end face R 1a of the main roll.

[0081] Solve the system of equations (4) to obtain the instantaneous coordinate formula of the reference point of the holding roll on the positive y-axis side:

[0082]

[0083] where: x n , y n are respectively the coordinate values of the center A on the positive y-axis side in the reference coordinate system;

[0084] e is a function of x m , R t3 and R t2 ;

[0085]

[0086] where: when 0 < u < u w is the spinning bending stage, u w < u is the special-shaped ring rolling stage;

[0087] f is a function of x m , R t3 ;

[0088]

[0089] where: x m0 and x m are respectively the initial abscissa and the instantaneous abscissa of the reference point of the core roll;

[0090] r is the distance between the reference point G of the holding roll on the positive y-axis side and the center A on the positive y-axis side;

[0091]

[0092] where: x i0 and y i0 are respectively the initial coordinate values of the reference point of the holding roll on the positive side of the y-axis in the reference coordinate system;

[0093] Determine the instantaneous position of the holding roll on the positive side of the y-axis according to the obtained instantaneous coordinates of the reference point of the holding roll on the positive side of the y-axis.

[0094] Step Four, determine the instantaneous position of the spring hinge point:

[0095] Determine the instantaneous position of the spring hinge point through Formula (9) and Formula (12):

[0096] Obtain the instantaneous coordinates of the spring hinge point B on the positive side of the y-axis through Formula (9):

[0097]

[0098] where: α is the angle formed by the line connecting the spring hinge point B on the positive side of the y-axis and the reference point of the disk blank and the negative direction of the x-axis,

[0099] Determine the instantaneous position of the spring hinge point B on the positive side of the y-axis according to the obtained instantaneous coordinates of the spring hinge point B on the positive side of the y-axis;

[0100] Determine the instantaneous coordinates of the spring hinge point on the negative side of the y-axis through Formula (12)

[0101]

[0102] where: x q and y q are respectively the instantaneous coordinate values of the spring hinge point on the negative side of the y-axis in the reference coordinate system;

[0103] Obtain the instantaneous position of the spring hinge point on the negative side of the y-axis according to the obtained instantaneous coordinates of the spring hinge point on the negative side of the y-axis.

[0104] During the rotary rolling process of the ring-shaped disk part, the disk blank radii R t3 and R t2 at different axial positions and the instantaneous abscissa x of the core roll mThey are all constantly changing, and their values can be detected in real time during the calculation process. The instantaneous coordinates of the holding roll reference point change with the change of the billet radius at different moments. As long as the billet radius and the core roll coordinates at a certain moment are determined, the instantaneous coordinates of the holding roll reference point at that moment can be obtained. Then, the instantaneous coordinates of the spring hinge point are determined by the original length s of the spring, the included angle α, and the instantaneous coordinates of the holding roll reference point and the billet reference point, so as to determine the instantaneous position of the spring hinge point. This method can effectively control the movement of the holding roll during the rotary rolling process, reasonably adjust the magnitude and direction of the force exerted by the holding roll on the billet, make the position of the holding roll move as the billet grows, and always keep in contact with the outer surface of the billet, reduce the offset of the billet reference point, and always fluctuate near 0, thereby reducing the shaking of the billet during the rotary rolling process, improving the stability of the rotary rolling process, and also reducing the roundness error of the ring disk part during the rotary rolling process, thereby improving the roundness of the formed ring disk part.

Claims

1. A method for determining the instantaneous flexibility force control of the roll during the spinning process, characterized in that: The specific steps are as follows: Step 1: Establish the reference coordinate system of the spinning system: By establishing a reference coordinate system of the spin-rolling system, the relative position relationship between the components of the spin-rolling system is determined; The reference coordinate system takes the intersection of the main roller axial symmetry plane and the main roller axis as the coordinate origin O, and the axis of the main roller as the z-axis of the three-dimensional reference coordinate system; the direction from the origin O to the disk blank reference point is the x-axis of the three-dimensional reference coordinate system; the direction perpendicular to the xOz plane is the y-axis; The intersection of the axial symmetry plane of the main roller, the embrace roller, the core roller or the disk blank and the axis of the main roller, the embrace roller, the core roller or the disk blank is used as the reference point of the main roller, the embrace roller, the core roller or the disk blank; During the spinning process of the ring disc, the positions of the two holding rollers and the two spring hinges are symmetrical about the xOz plane. The x-coordinates and z-coordinates of the two holding roller reference points and the two spring hinges are the same, and the y-coordinates are opposite. The angle between the line connecting the spring hinge point B and the disc blank reference point on the positive side of the y-axis and the negative direction of the x-axis is α. The main roller reference point and the holding roller reference point are both located on the xOy plane during the spinning process of the ring disc, and the core roller reference point and the disc blank reference point always move along the x-axis direction; the main roller reference point coincides with the origin O of the three-dimensional reference coordinate system, the z coordinate of the holding roller reference point is 0, and the y coordinates of the core roller reference point and the disc blank reference point are both 0. Step 2: determine the instantaneous coordinates of the disc base point and the distance between the disc base point and the roller base point on the positive side of the y-axis. By determining the radius R1 of the earliest contact point between the main roller and the disk blank in the axial direction during the spinning process and the instantaneous radius R of the disk blank at the corresponding point of R1 t1 , the initial horizontal coordinate x of the core roller reference point m0 and the instantaneous horizontal coordinate x m , radius R of the lower end surface of the main roller 1a And in this R 1a The instantaneous radius R of the corresponding disk blank t3 , the initial horizontal coordinate of the disk blank reference point is x0 = R t1 +R1, the radius R3 of the earliest axial contact point between the holding roller on the positive side of the y-axis and the disk blank, and the instantaneous radius R of the disk blank at the corresponding position of R3 t2 , get the distance R3+R between the disc base point and the roller base point on the positive side of the y-axis t2 ; In the spinning bending stage, the core roller stroke u = x m0 -x m = ... c (x0-u,0); In the special-shaped ring rolling stage, the instantaneous coordinate R of the disk blank reference point can be known from the relative position relationship c (R 1a +R t3 ,0). Step three, calculate the instantaneous position of the roller on the positive side of the y-axis. The instantaneous coordinate of the roller reference point on the positive side of the y-axis is obtained by formula (5): Where: x n ,y n are the coordinate values ​​of the center A on the positive side of the y-axis in the reference coordinate system; e is about x m , R t3 and R t2 Function Where: when 0 < u < u w为 In the spinning and bending stage, u w <u is the special-shaped ring rolling stage; f is about x m , R t3 Function Where: x m0 and x m are the initial horizontal coordinate and instantaneous horizontal coordinate of the core roller reference point respectively; r is the distance between the roller holding reference point G on the positive side of the y-axis and the center point A on the positive side of the y-axis; Where: x i0 ,y i0 They are respectively the initial coordinate values ​​of the roller holding reference point on the positive side of the y-axis in the reference coordinate system; Determine the instantaneous position of the roller holding on the positive side of the y-axis according to the instantaneous coordinate of the roller holding reference point on the positive side of the y-axis; Step 4: Determine the instantaneous position of the spring hinge: The instantaneous position of the spring hinge is determined by formula (9) and formula (12): The instantaneous coordinate of the spring hinge point B on the positive side of the y-axis is obtained by formula (9): Where: α is the angle between the line connecting the spring hinge point B on the positive side of the y-axis and the disk blank reference point and the negative direction of the x-axis, Determine the instantaneous position of the spring hinge point B on the positive side of the y-axis according to the obtained instantaneous coordinate of the spring hinge point B on the positive side of the y-axis; Determine the instantaneous coordinate of the spring hinge point on the negative side of the y-axis using formula (12): Where: x q ,y q They are the instantaneous coordinate values ​​of the spring hinge point on the negative side of the y-axis in the reference coordinate system; According to the obtained instantaneous coordinate of the spring hinge point on the negative side of the y-axis, the instantaneous position of the spring hinge point on the negative side of the y-axis is obtained.

2. A method for determining instantaneous flexible force control of a roll during spinning as claimed in claim 1, characterized in that: In the reference coordinate system of the rolling system established in step 1, the initial coordinate of the roll holding reference point on the positive side of the y-axis is G0 (x i0 ,y i0 ), the coordinates of the center of the circle A are (x n ,y n ), the instantaneous coordinate of the spring hinge point B on the positive side of the y-axis is (x p ,y p ); let the instantaneous coordinate of the roller reference point on the positive side of the y-axis be G(x i ,y i ), the distance between the roll reference point G and the center A on the positive side of the y-axis is r, and the disc reference point is R c , the original length of the spring is s, and the stroke of the core roller is u.

3. A method for determining instantaneous flexible force control of a roll during spinning as claimed in claim 2, characterized in that: One end of the spring on the positive side of the y-axis is hinged to the spring hinge point B, and the other end is hinged to the center of the holding roller; an angle is formed between the line connecting the holding roller reference point on the positive side of the y-axis and the center A and the x-axis of the three-dimensional reference coordinate system. During the spinning process, when the outer diameter of the disk billet changes, the holding roller on the positive side of the y-axis rotates around the center A, so that the angle between the line connecting the holding roller reference point and the center A and the x-axis of the three-dimensional reference coordinate system changes, and at the same time, the line connecting the holding roller reference point and the spring hinge point always passes through the disk billet reference point.

4. A method for determining instantaneous flexible force control of a roll during spinning as claimed in claim 1, characterized in that: Determine the instantaneous coordinate R of the disk blank reference point c And the distance between the disc base point and the roller base point on the positive side of the y-axis is R3+R t2 The specific process is: Ⅰ Determine the main roller radius R1 and R at different stages 1a And the instantaneous radius R of the disk blank at the corresponding contact point t1 and R t3 . The radius of the first contact point between the main roller and the disc blank in the axial direction during the spinning process is taken as the main roller radius R1, and the vertical distance between the first contact point between the main roller and the disc blank in the axial direction and the axis of the disc blank is taken as the instantaneous radius R of the disc blank. t1 ; The radius of the lower end surface of the main roller is taken as the radius of the main roller R 1a The vertical distance between the contact position between the lower end surface of the main roller and the disk blank in the axial direction and the axis of the disk blank is taken as the instantaneous radius R of the disk blank. t3 . II Determine the radius R3 of the roller and the instantaneous radius R3 of the disc when the disc contacts the roller t2 . The radius of the earliest axial contact point between the roller and the disk billet during the spinning process is taken as the roller radius R3, and the vertical distance between the earliest axial contact point between the roller and the disk billet and the axis of the disk billet is taken as the instantaneous radius R t2 . Determine the instantaneous coordinate of the disk blank reference point during the spinning bending stage as R c (x0-u,0), instantaneous coordinate R of the reference point of the disc during the special-shaped ring rolling stage c (R 1a +R t3 ,0). Determine the distance between the disk base point and the roll base point G on the positive side of the y-axis during the spinning process as R3+R t2 .

5. A method for determining instantaneous flexible force control of a roll during spinning as claimed in claim 1, characterized in that: In step 3, the instantaneous coordinates of the roller reference point are determined by formula (4): Where: X C is the instantaneous abscissa of the reference point of the disk blank, when 0 < u < u w , X C = x0 - u = R t1 + R1 - x m0 + x m ; when u w < u, X C = R 1a + R t3 . In formula (4), x i ,y i x is the instantaneous coordinate value of the roller reference point on the positive side of the y-axis in the reference coordinate system; n ,y n is the coordinate value of the center A on the positive side of the y-axis in the reference coordinate system; x0 is the initial horizontal coordinate of the disk blank reference point; u is the core roller stroke; u w is the stroke of the core roller in the spinning bending stage; R1 is the radius of the earliest contact between the main roller and the disc blank in the axial direction; R3 is the radius of the earliest contact between the holding roller and the disc blank in the axial direction; R t1 R is the instantaneous radius of the disc blank at the position corresponding to the radius R1 where the main roller and the disc blank first contact in the axial direction; t2 x is the instantaneous radius of the disk blank at the position corresponding to the radius R3 where the roller and the disk blank first contact in the axial direction on the positive side of the y-axis; m0 and x m are the initial horizontal coordinate and instantaneous horizontal coordinate of the core roller reference point respectively; R 1a The radius of the lower end of the main roller, R t3 The lower end surface R of the main roller 1a The instantaneous radius of the disk blank corresponding to the contact point.

6. A method for determining instantaneous flexibility force control of a roll during spinning as claimed in claim 1, characterized in that: In step 4, the instantaneous coordinates of the spring hinge are determined by formula (13): In formula (13), x p ,y p are the instantaneous coordinate values ​​of the spring hinge point on the positive side of the y-axis in the reference coordinate system, x i ,y i is the instantaneous coordinate value of the roller reference point on the positive side of the y-axis in the reference coordinate system, and s is the original length of the spring.

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