An electromagnetic coil precise pose discharge forming system and forming method

Abstract

The application discloses an electromagnetic coil precise pose discharging forming system and a forming method, and belongs to the technical field of electromagnetic forming. In the prior art, the position and posture of the electromagnetic coil relative to the skin cannot be adjusted according to the real-time profile of the skin in the process of skin electromagnetic forming, and thus the skin cannot be subjected to suitable electromagnetic force through the electromagnetic coil. The application can adjust the position and posture of the electromagnetic coil relative to the skin profile in real time according to the change of the skin profile during the movement of the electromagnetic coil through real-time detection of the skin profile, ensure that the electromagnetic coil can exert suitable and reasonable electromagnetic force on the skin in the most suitable position and posture, and finally improve the forming precision of the skin profile.

Description

Technical Field

[0001] This invention belongs to the technical field of electromagnetic forming, specifically relating to an electromagnetic coil precise positional discharge forming system and forming method. Background Technology

[0002] Electromagnetic forming technology is a common technique used in skin forming. It involves applying electromagnetic force to the skin via an electromagnetic coil along a predetermined path, thus shaping the skin. In existing electromagnetic forming technologies, the electromagnetic coil's position is relatively fixed, and it is moved along the predetermined path by the moving end of a CNC machine tool. However, in actual skin forming processes, due to issues with the actual clamping and positioning of the skin, the actual contour of the skin surface does not perfectly match the theoretical contour. This means that the electromagnetic force applied to the skin along the fixed path with the fixed electromagnetic coil position cannot shape the skin to the predetermined contour. In other words, existing electromagnetic forming processes do not adjust the electromagnetic coil's position relative to the skin according to the real-time contour, thus failing to apply appropriate electromagnetic force to the skin.

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

[0004] This invention discloses an electromagnetic coil precision positional discharge forming system and forming method, which can adaptively adjust the positional state of the electromagnetic coil relative to the skin according to the real-time changes in the skin contour during the movement of the electromagnetic coil, so as to ensure that the electromagnetic coil can apply a more suitable electromagnetic force to the skin, thereby ensuring the accuracy of the final skin forming.

[0005] This invention is achieved through the following technical solution:

[0006] An electromagnetic coil precision posture discharge forming system includes an attitude adjustment machine tool. The attitude adjustment machine tool includes a moving end, which is capable of translating horizontally along the X and Y axes, lifting vertically along the Z axis, rotating around the X axis in an A-swing motion, and rotating around the Z axis in a C-swing motion. An electromagnetic coil is provided on the moving end, and a skin profile measuring device is provided on one side of the moving end. The skin profile measuring device is used to measure and establish a profile model of the skin. Based on the profile model, the moving end drives the electromagnetic coil to move to the optimal processing posture to perform electromagnetic forming on the skin.

[0007] To better realize the present invention, further, a skin support mold is provided below the moving end of the attitude adjustment machine tool, and a support surface for supporting and shaping the skin is provided on the top of the skin support mold; flexible clamps for clamping and fixing the skin are provided on both sides of the skin support mold.

[0008] A method for precise orientation discharge forming of an electromagnetic coil, implemented based on a precise orientation discharge forming system for an electromagnetic coil, includes the following steps:

[0009] Step 1: Establish a surface model of the skin using a skin surface measurement device, and set feature points on the surface model;

[0010] Step 2: Fit the surface parametric equations of the skin based on feature points;

[0011] Step 3: Solve for the optimal machining position of the electromagnetic coil based on the surface parametric equation, and move the electromagnetic coil to the optimal machining position;

[0012] Step 4: Based on the optimal processing position, solve for the optimal processing parameters of the electromagnetic coil, and perform electromagnetic forming on the skin based on the optimal processing parameters.

[0013] To better realize the present invention, step 3 further includes:

[0014] Step 3.1: Based on the surface parametric equation, find the highest feature point in the machining normal direction within the current machining area and use it as the reference point;

[0015] Step 3.2: Establish a tangent reference plane passing through the reference point;

[0016] Step 3.3: Set the optimal offset distance and establish the optimal position plane parallel to the tangent reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance.

[0017] Step 3.4: Move the electromagnetic coil by moving the moving end of the attitude adjustment machine tool so that the machining end face of the electromagnetic coil is parallel to the optimal position plane, and the center point of the machining end face of the electromagnetic coil is located on the optimal position plane.

[0018] To better realize the present invention, step 4 further includes:

[0019] Step 4.1: Using the center point of the machining end face of the electromagnetic coil as the first reference point and the rotation center of the A pendulum at the moving end as the second reference point, establish a reference vector pointing from the first reference point to the second reference point.

[0020] Step 4.2: Select feature points on the skinned surface and establish the normal vector of the feature points as the target vector;

[0021] Step 4.3: Calculate the optimal processing parameters, which make the reference vector parallel to the target vector and make the processing end face of the electromagnetic coil coincide with the normal plane of the feature point.

[0022] To better realize the present invention, the optimal processing parameters further include the rotation angle of the A-pendulum, the rotation angle of the C-pendulum, and the Z-axis feed. The reference vector can be parallel to the target vector after being rotated by the rotation angles of the A-pendulum and the C-pendulum. The processing end face of the electromagnetic coil can be coincident with the normal plane of the feature point after being moved by the Z-axis feed.

[0023] To better realize the present invention, the optimal offset distance in step 3.3 is greater than or equal to 2mm.

[0024] To better realize the present invention, further, in each step of the electromagnetic forming process, the parameters by which the moving end drives the electromagnetic coil to move along the X-axis and Y-axis are constant values.

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] This invention can detect the skin surface in real time during the electromagnetic forming process and adjust the position and orientation parameters of the electromagnetic coil relative to the skin surface in real time according to the skin surface, so as to ensure that the electromagnetic coil can apply appropriate and reasonable electromagnetic force to the skin in the most suitable position and orientation, and ultimately improve the forming accuracy of the skin surface. Attached Figure Description

[0027] Figure 1 A schematic diagram of an electromagnetic coil precision position discharge shaping system;

[0028] Figure 2 This is a schematic diagram of the optimal processing position;

[0029] Figure 3 This is a schematic diagram showing the rotation angles of pendulum A and pendulum C.

[0030] Figure 4 This is a schematic diagram of the Z-axis feed rate.

[0031] Among them: 1-Attitude adjustment machine tool; 2-Electromagnetic coil; 3-Skin profile measuring device; 4-Skin support; 5-Flexible fixture. Detailed Implementation Example 1:

[0032] This embodiment provides a precise electromagnetic coil orientation discharge shaping system, such as... Figure 1As shown, the machine includes an attitude adjustment machine tool 1, which includes a moving end. The moving end can translate horizontally along the X and Y axes, can move vertically along the Z axis, can rotate around the X axis (A-axis), and can rotate around the Z axis (C-axis). An electromagnetic coil 2 is provided on the moving end, and a skin profile measuring device 3 is provided on one side of the moving end. The skin profile measuring device 3 is used to measure and establish a profile model of the skin. The moving end drives the electromagnetic coil 2 to move to the optimal processing posture based on the profile model to perform electromagnetic forming on the skin.

[0033] Furthermore, a skin support mold 4 is provided below the moving end of the attitude adjustment machine tool 1, and a support surface for supporting and shaping the skin is provided on the top of the skin support mold 4; flexible clamps 5 for clamping and fixing the skin are provided on both sides of the skin support mold 4.

[0034] A method for precise orientation discharge forming of an electromagnetic coil, implemented based on a precise orientation discharge forming system for an electromagnetic coil, includes the following steps:

[0035] Step 1: Establish a surface model of the skin using the skin surface measurement device 3, and set feature points on the surface model;

[0036] Step 2: Fit the surface parametric equations of the skin based on feature points;

[0037] Step 3: Solve for the optimal machining position of electromagnetic coil 2 based on the surface parametric equation, and move electromagnetic coil 2 to the optimal machining position;

[0038] Step 4: Based on the optimal processing position, solve for the optimal processing parameters of electromagnetic coil 2, and perform electromagnetic forming on the skin based on the optimal processing parameters.

[0039] Furthermore, such as Figure 2 As shown, step 3 specifically includes:

[0040] Step 3.1: Based on the surface parametric equation, find the highest feature point in the machining normal direction within the current machining area and use it as the reference point;

[0041] Step 3.2: Establish a tangent reference plane passing through the reference point;

[0042] Step 3.3: Set the optimal offset distance and establish the optimal position plane parallel to the tangent reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance.

[0043] Step 3.4: Move the electromagnetic coil 2 by moving the moving end of the attitude adjustment machine tool 1 so that the processing end face of the electromagnetic coil 2 is parallel to the optimal position plane, and the center point of the processing end face of the electromagnetic coil 2 is located on the optimal position plane.

[0044] Furthermore, step 4 specifically includes:

[0045] Step 4.1: Using the center point of the machining end face of electromagnetic coil 2 as the first reference point and the rotation center of the A pendulum at the moving end as the second reference point, establish a reference vector pointing from the first reference point to the second reference point.

[0046] Step 4.2: Select feature points on the skinned surface and establish the normal vector of the feature points as the target vector;

[0047] Step 4.3: Calculate the optimal processing parameters, which make the reference vector parallel to the target vector and make the processing end face of the electromagnetic coil 2 coincide with the normal plane of the feature point.

[0048] Furthermore, the optimal machining parameters include the rotation angle of the A-pendulum, the rotation angle of the C-pendulum, and the Z-axis feed. The reference vector can be parallel to the target vector after being rotated by the rotation angles of the A-pendulum and the C-pendulum. The machining end face of the electromagnetic coil 2 can be coincident with the normal plane of the feature point after being moved by the Z-axis feed.

[0049] Furthermore, the optimal offset distance in step 3.3 is greater than or equal to 2mm.

[0050] Furthermore, during each step of the electromagnetic forming process, the parameters by which the moving end drives the electromagnetic coil 2 to move along the X-axis and Y-axis are constant values.

[0051] Example 2:

[0052] This embodiment discloses a method for precise orientation discharge forming of an electromagnetic coil, which is further optimized based on Embodiment 1. The specific steps for solving the optimal processing parameters of the electromagnetic coil 2 include the following:

[0053] Step 4.1, as follows Figure 3 As shown, a three-dimensional coordinate system G-XYZ is established for solving the problem. The entire calculation process uses the center point of the machined end face of electromagnetic coil 2 as the first reference point, denoted as the first reference point O(X0, Y0, Z0), where X0, Y0, and Z0 represent the three-dimensional coordinates of the first reference point O. The rotation center of the A-pendulum at the moving end is used as the second reference point, denoted as the second reference point P(X0, Y0, Z0). p X0, Y0, Z p This represents the three-dimensional coordinates of the second reference point P. A reference vector is established based on the first reference point O and the second reference point P. .

[0054] Step 4.2: Select feature point D(X) on the skin. D Y D Z D The normal vector of feature point D intersects the optimal position plane at point E (X).E Y E Z E Establish the target vector Reference vector Rotation angle of pendulum A around the X-axis The intermediate vector was then obtained. intermediate vector Rotation angle of C-pendulum around Z-axis The final vector is then obtained. final vector With the target vector parallel.

[0055] Step 4.3, Definition , , , Let O, P, D, and E be the projection points of points O, P, D, and E in the XY plane, and define them as follows: , , , These are the projections of points O, P, D, and E onto the YZ plane.

[0056] in, , , , The coordinates are as follows:

[0057] ;

[0058] in, , , , The coordinates are as follows:

[0059] ;

[0060] Then, looking along the negative X-axis towards the YZ plane, the reference vector is... The projection vector in the YZ plane is Target vector The projection vector in the YZ plane is Measure the projection vector With projection vector The included angle between them is The rotation angle of pendulum A can then be obtained. , reference vector Rotation angle of pendulum A around the X-axis The intermediate vector can then be obtained. Looking at the XY plane along the negative Z-axis, the intermediate vector... The projection vector in the XY plane is Target vector The projection vector in the XY plane is Measure the projection vector With projection vector The included angle between them is The rotation angle of pendulum C can then be obtained. intermediate vector Rotation angle of C-pendulum around Z-axis The final vector can then be obtained. .

[0061] The following can be obtained by calculating the coordinates of each point:

[0062] Projection vector Projection vector Projection vector .

[0063] Define S1 = ( The solution can be obtained by multiplying y by y, where y = (0, 1, 0). ;

[0064] like ,but If it is positive; ,but It is negative.

[0065] The intermediate vector is then obtained by solving the problem. midpoint The coordinates are ( , , Then we have:

[0066] .

[0067] Define S2 = ( The solution can be obtained by multiplying x by x, where x = (1, 0, 0).

[0068] ;

[0069] like ,but If it is positive; ,but It is negative.

[0070] like Figure 4 As shown, then solve for the Z-axis feed rate h:

[0071] Based on the above calculation of the rotation angle of pendulum A C-pendulum rotation angle The final vector can then be calculated. Based on the final vector The target normal plane Q of the final vector can then be solved. Then, the feature point D is projected along the Z-axis onto the target normal plane Q to obtain the Z-direction projection point. Then the feature point D and the Z-direction projection point The distance between them is the Z-axis feed amount h.

[0072] Based on the above solution, the rotation angle of pendulum A is obtained. C-pendulum rotation angle The final vector can then be obtained by solving the problem. midpoint The coordinates are ( The final vector can then be obtained. The expression for the target plane Q is then obtained as follows:

[0073] ;

[0074] Then the projection point can be obtained. The Z-axis coordinate is:

[0075] ;

[0076] Finally, the Z-axis feed rate h is obtained:

[0077] .

[0078] The other parts of this embodiment are the same as those in Embodiment 1, so they will not be described again.

[0079] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A method for precise electromagnetic coil position discharge forming, based on a precise electromagnetic coil position discharge forming system, the precise electromagnetic coil position discharge forming system including an attitude adjustment machine tool (1), the attitude adjustment machine tool (1) including a moving end, the moving end being able to translate on the horizontal X-axis and Y-axis, be able to rise and fall on the vertical Z-axis, be able to rotate around the X-axis in an A-swing rotation, and be able to rotate around the Z-axis in a C-swing rotation; an electromagnetic coil (2) is provided on the moving end, a skin surface measuring device (3) is provided on one side of the moving end, the skin surface measuring device (3) is used to measure and establish the surface model of the skin, the moving end drives the electromagnetic coil (2) to move to the optimal processing posture based on the surface model to perform electromagnetic forming on the skin; a skin support mold (4) is provided below the moving end of the attitude adjustment machine tool (1), the top of the skin support mold (4) is provided with a support surface for supporting the shaped skin; flexible clamps (5) for clamping and fixing the skin are provided on both sides of the skin support mold (4); characterized in that, Includes the following steps: Step 1: Establish the surface model of the skin using the skin surface measurement device (3), and set feature points on the surface model; Step 2: Fit the surface parametric equations of the skin based on feature points; Step 3: Solve for the optimal machining position of the electromagnetic coil (2) according to the surface parametric equation, and move the electromagnetic coil (2) to the optimal machining position; Step 4: Based on the optimal processing position, solve for the optimal processing parameters of the electromagnetic coil (2), and perform electromagnetic forming on the skin based on the optimal processing parameters; Step 3 specifically includes: Step 3.1: Based on the surface parametric equation, find the highest feature point in the machining normal direction within the current machining area and use it as the reference point; Step 3.2: Establish a tangent reference plane passing through the reference point; Step 3.3: Set the optimal offset distance and establish the optimal position plane parallel to the tangent reference plane. The distance between the optimal position plane and the tangent reference plane is equal to the optimal offset distance. Step 3.4: Move the electromagnetic coil (2) by moving the moving end of the attitude adjustment machine tool (1) so that the processing end face of the electromagnetic coil (2) is parallel to the optimal position plane and the center point of the processing end face of the electromagnetic coil (2) is located on the optimal position plane. Step 4 specifically includes: Step 4.1: Take the center point of the machining end face of the electromagnetic coil (2) as the first reference point and the rotation center of the A pendulum of the moving end as the second reference point, and establish a reference vector pointing from the first reference point to the second reference point. Step 4.2: Select feature points on the skinned surface and establish the normal vector of the feature points as the target vector; Step 4.3: Solve for the optimal processing parameters, which make the reference vector parallel to the target vector and make the processing end face of the electromagnetic coil (2) coincide with the normal plane of the feature point; During each step of the electromagnetic forming process, the parameters by which the moving end drives the electromagnetic coil (2) to move along the X-axis and Y-axis are constants; the optimal processing parameters include the rotation angle of the A-pendulum, the rotation angle of the C-pendulum, and the feed amount of the Z-axis; the reference vector can be parallel to the target vector after being rotated by the rotation angle of the A-pendulum and the rotation angle of the C-pendulum; the processing end face of the electromagnetic coil (2) can coincide with the normal plane of the feature point after being moved by the feed amount of the Z-axis.

2. The method for precise orientation discharge shaping of an electromagnetic coil according to claim 1, characterized in that, The optimal offset distance in step 3.3 is greater than or equal to 2mm.

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