阅读说明：本技术 重载高柔性六自由度六连杆并联驱动空间包络成形装备 (Heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel driving space envelope forming equipment ) 是由 韩星会 华林 郑方焱 庄武豪 于 2021-07-19 设计创作，主要内容包括：本发明涉及一种重载高柔性六自由度六连杆并联驱动空间包络成形装备,包括凹模系统、凸模系统、驱动系统和运动系统,驱动系统设置有六组,每一组都包括导轨、驱动滑块、滚珠丝杆和伺服电机,驱动滑块安装在导轨上；运动系统包括六个并联的连杆支链和一个动平台,连杆支链包括驱动球座、从动球座和球头连杆；驱动滑块与驱动球座固定连接,驱动球座的内球面与球头连杆的一端球头形成球面间隙配合,球头连杆的另一端与从动球座形成球面间隙配合；六个从动球座固定在动平台上,动平台一端与凹模系统或凸模系统连接,动平台另一端设有背压油缸。本发明可以实现任意空间包络成形运动,进而实现复杂薄壁高筋构件空间包络成形制造。(The invention relates to heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel drive space envelope forming equipment which comprises a female die system, a male die system, a drive system and a motion system, wherein the drive system is provided with six groups, each group comprises a guide rail, a drive sliding block, a ball screw and a servo motor, and the drive sliding block is arranged on the guide rail; the motion system comprises six parallel connecting rod branched chains and a movable platform, wherein each connecting rod branched chain comprises a driving ball seat, a driven ball seat and a ball head connecting rod; the driving slide block is fixedly connected with the driving ball seat, the inner spherical surface of the driving ball seat is in spherical surface clearance fit with the ball head at one end of the ball head connecting rod, and the other end of the ball head connecting rod is in spherical surface clearance fit with the driven ball seat; six driven ball seats are fixed on the movable platform, one end of the movable platform is connected with the female die system or the male die system, and the other end of the movable platform is provided with a back pressure oil cylinder. The invention can realize any space enveloping forming movement, thereby realizing the space enveloping forming manufacture of the complex thin-wall high-rib component.)

1. A heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel drive space envelope forming device is characterized by comprising a female die system, a male die system, a drive system and a motion system, wherein the drive system is provided with six groups, each group comprises a guide rail, a drive sliding block, a ball screw and a servo motor, the drive sliding blocks are in threaded connection with the ball screw, and the drive sliding blocks are arranged on the guide rails; the motion system comprises six parallel connecting rod branched chains and a movable platform, wherein each connecting rod branched chain comprises a driving ball seat, a driven ball seat and a ball head connecting rod; the driving slide block is fixedly connected with the driving ball seat, the inner spherical surface of the driving ball seat is in spherical surface clearance fit with the ball head at one end of the ball head connecting rod, and the other end of the ball head connecting rod is in spherical surface clearance fit with the driven ball seat; six driven ball seats are fixed on a movable platform, one end of the movable platform is connected with the female die system or the male die system, and the other end of the movable platform is provided with a back pressure oil cylinder;

the servo motor drives the ball screw to rotate through the planetary reducer, so that the driving sliding block translates along the direction of the guide rail, the driving sliding block pushes the driving ball seat to move along the axis direction of the driving ball seat, the driving ball seat pushes the ball head connecting rod to move, and the ball head connecting rod pushes the driven ball seat and the movable platform to do space enveloping motion.

2. The heavy-duty high-flexibility six-degree-of-freedom parallel driving space envelope forming equipment is characterized by further comprising a top seat, an upright post, a base and a feeding system, wherein the female die and the male die are installed between the top seat and the base, the upright post is connected with the top seat and the base, the feeding system comprises a workbench, a sliding rail, a guiding structure and a feeding oil cylinder, the workbench is connected with the base or the top seat through the sliding rail and the guiding structure, the feeding oil cylinder is installed between the workbench and the top seat or the base, and the workbench drives the male die system or the driving system to move up and down.

3. The heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment according to claim 1, wherein the female die system comprises a female die holder, a female die outer ring, a female die stress ring, a female die core die and a female die heating device are sequentially mounted on the female die holder, and an ejection oil cylinder and an ejector rod are arranged in the female die holder.

4. The heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment according to claim 1, wherein the male die system comprises a male die outer ring, a male die stress ring, a male die core die, a back pressure oil cylinder and a male die heating device.

5. The heavy-duty high-flexibility six-degree-of-freedom parallel drive space envelope shaping equipment of claim 1, wherein the ball screw is vertically or horizontally disposed.

6. The heavy-duty high-flexibility six-degree-of-freedom parallel drive space envelope shaping apparatus of claim 2, wherein the drive system is disposed on the top mount or the base.

7. The heavy-duty high-flexibility six-degree-of-freedom parallel-drive space envelope shaping equipment according to claim 5, wherein the space envelope motion tensor is formed by rotation angles of six servo motorsControlling, when the ball screw is vertically arranged, formula (1) is satisfied:

in the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle r of the center diagonal of the 6 driven ball seats_AThe radius of the top seat driving ball seat is distributed,the circumferential angle corresponding to the center of the driving slide block is represented by l, the spherical center distance of the ball head connecting rod is represented by g, and the speed ratio of the driving system is represented by g.

8. The heavy-duty high-flexibility six-degree-of-freedom parallel-drive space envelope shaping equipment according to claim 5, wherein the space envelope motion tensor is formed by rotation angles of six servo motorsControlling, when the ball screw is horizontally disposed, to satisfy formula (2):

in the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle of 6 ball seats from center to center, r_AThe spherical radius distributed at the center of the driving ball seat,a circumferential angle corresponding to the center of the driving slide block, i is the ball center distance of the ball head connecting rod, and g is the speed ratio of the driving system;is the direction angle of the horizontal movement of each screw rod.Andthe actual radius and polar angle at each moment of driving the center of the tee.

9. The heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment as claimed in claim 7 or 8, wherein 6 driving ball seats are distributed on a circle with a larger radius, and 6 driven ball seats are distributed on a circle with a smaller radius, namely r_A＞r_B。

10. The heavy-duty high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment as claimed in claim 9, wherein any two adjacent ball-head connecting rods form a space trapezoid, and for any ball-head connecting rod, the shape of the trapezoid on the left side and the shape of the trapezoid on the right side are inverted from top to bottom, that is, if the upper bottom edge of the trapezoid on the left side is long and the lower bottom edge of the trapezoid on the right side is short, the upper bottom edge of the trapezoid on the right side is short and the lower bottom edge of the trapezoid on the right side is long.

Technical Field

The invention relates to the field of forming and manufacturing equipment, in particular to heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment.

Background

In the field of manufacturing of equipment such as aviation, aerospace, navigation, high-speed rail and automobiles, in order to meet urgent requirements for light weight, a large number of thin-wall high-rib components are adopted in the main body structure of the equipment. The thin-wall high-rib component has extremely thin web plate thickness and narrow and high ribs, so that the manufacturing difficulty is extremely high. At present, the thin-wall high-rib component is widely manufactured by two types of processes, namely a welding process and a cutting process. The welding process is that the thin web and the narrow high rib are manufactured separately and then connected into a component by a welding technology, belongs to non-integral manufacturing and is difficult to manufacture the high-performance thin-wall high rib component. Although the cutting machining process can realize the integral manufacture of the thin-wall high-rib component, the process has the defects of low cutting efficiency, low material utilization rate and incapability of obtaining a continuous metal streamline because a large amount of metal needs to be cut, so that the process is difficult to realize the efficient and high-quality manufacture of the thin-wall high-rib component. Compared with the two processes, the near net plasticity forming process has the advantages of high manufacturing efficiency, high material utilization rate, high product quality and the like, is an important way for realizing efficient and high-quality manufacturing of the thin-wall high-rib component, and does not provide an effective near net plasticity forming process of the thin-wall high-rib component at present.

The space envelope forming is a novel metal material forming method, different movement tracks of a male die are realized through complex nutation movement of a movable platform, a workpiece on a female die is extruded to enable metal to flow, and forming of rotary and non-rotary components can be realized. The process has the characteristics of high processing efficiency, good product performance and the like, can realize large-scale difficult-to-form and near-net-shape forming of extreme-size components, and has good application prospects in the fields of aviation, aerospace and the like.

However, this process requires the equipment to perform complex spatial envelope shaping motions under large loads, and ensures structural stability and motion accuracy, placing very high demands on the performance of the equipment.

Disclosure of Invention

The invention aims to solve the technical problem of providing heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment which can realize any space envelope forming motion and further realize space envelope forming manufacturing of complex thin-wall high-rib components.

The technical scheme adopted by the invention for solving the technical problems is as follows: the heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel drive space envelope forming equipment is constructed and comprises a female die system, a male die system, a drive system and a motion system, wherein the drive system is provided with six groups, each group comprises a guide rail, a drive sliding block, a ball screw and a servo motor, the drive sliding blocks are in threaded connection with the ball screw, and the drive sliding blocks are arranged on the guide rails; the motion system comprises six parallel connecting rod branched chains and a movable platform, wherein each connecting rod branched chain comprises a driving ball seat, a driven ball seat and a ball head connecting rod; the driving slide block is fixedly connected with the driving ball seat, the inner spherical surface of the driving ball seat is in spherical surface clearance fit with the ball head at one end of the ball head connecting rod, and the other end of the ball head connecting rod is in spherical surface clearance fit with the driven ball seat; six driven ball seats are fixed on a movable platform, one end of the movable platform is connected with the female die system or the male die system, and the other end of the movable platform is provided with a back pressure oil cylinder;

the servo motor drives the ball screw to rotate through the planetary reducer, so that the driving sliding block translates along the direction of the guide rail, the driving sliding block pushes the driving ball seat to move along the axis direction of the driving ball seat, the driving ball seat pushes the ball head connecting rod to move, and the ball head connecting rod pushes the driven ball seat and the movable platform to do space enveloping motion.

In the above scheme, still include footstock, stand, base and feeding system, die and terrace die are installed between footstock and base, footstock and base are connected to the stand, feeding system includes workstation, slide rail, guide structure and feed cylinder, and the workstation is connected with base or footstock through slide rail and guide structure, and feed cylinder installs between workstation and footstock or base, the workstation drives terrace die system or actuating system and reciprocates.

In the scheme, the female die system comprises a female die base, a female die outer ring, a female die stress ring, a female die core die and a female die heating device are sequentially installed on the female die base, and an ejection oil cylinder and an ejector rod are arranged in the female die base.

In the scheme, the male die system comprises a male die outer ring, a male die stress ring, a male die core die, a back pressure oil cylinder and a male die heating device.

In the scheme, the ball screw is vertically or horizontally arranged.

In the above scheme, the driving system is arranged on the top seat or the base.

In the scheme, the spatial envelope motion tensor is formed by the rotation angles of six servo motorsControlling, when the ball screw is vertically arranged, formula (1) is satisfied:

in the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle r of the center diagonal of the 6 driven ball seats_AThe radius of the top seat driving ball seat is distributed,the circumferential angle corresponding to the center of the driving slide block is represented by l, the spherical center distance of the ball head connecting rod is represented by g, and the speed ratio of the driving system is represented by g.

In the scheme, the spatial envelope motion tensor is formed by the rotation angles of six servo motorsControlling, when the ball screw is horizontally disposed, to satisfy formula (2):

in the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle of 6 ball seats from center to center, r_AThe spherical radius distributed at the center of the driving ball seat,a circumferential angle corresponding to the center of the driving slide block, i is the ball center distance of the ball head connecting rod, and g is the speed ratio of the driving system;is the direction angle of the horizontal movement of each screw rod.Andthe actual radius and polar angle at each moment of driving the center of the tee.

In the above scheme, 6 driving ball seats are distributed on the circumference with larger radius, and 6 driven ball seats are distributed on the circumference with smaller radius, namely r_A＞r_B。

In the above scheme, any two adjacent ball head connecting rods form a spatial trapezoid, and for any ball head connecting rod, the trapezoid on the left side and the trapezoid on the right side are inverted from top to bottom, that is, if the upper bottom edge of the trapezoid on the left side is long and the lower bottom edge of the trapezoid on the left side is short, the upper bottom edge of the trapezoid on the right side is short and the lower bottom edge of the trapezoid on the right side is long.

The implementation of the heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment has the following beneficial effects:

(1) the heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment can realize any space envelope forming movement, and further realize space envelope forming manufacturing of complex thin-wall high-rib components.

(2) The heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment obtains space envelope forming movement through linkage control of the 6 servo motors and the 6 parallel-connection connecting rods, and the equipment is simple in mechanism, good in stability, high in forming precision and high in reliability.

(3) The heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment can realize feeding and withdrawing in any direction, and further realizes space envelope forming manufacturing of a component which cannot be demolded in traditional plastic forming.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1(a) is a schematic structural diagram of a supported horizontal driving scheme heavy-load high-flexibility six-degree-of-freedom six-connecting-rod parallel driving space envelope forming device;

FIG. 1(b) is a schematic structural diagram of a suspended horizontal drive overhead scheme heavy-duty high-flexibility six-degree-of-freedom six-link parallel drive space envelope forming device;

FIG. 1(c) is a schematic structural diagram of a supported vertical drive scheme heavy-duty high-flexibility six-degree-of-freedom six-bar parallel drive space envelope forming equipment;

FIG. 1(d) is a schematic structural diagram of a suspended vertical driving scheme heavy-duty high-flexibility six-degree-of-freedom six-link parallel driving space envelope forming device;

FIG. 2(a) is a schematic structural diagram of a horizontal driving mode driving system;

FIG. 2(b) is a schematic view of a vertical drive mode drive system;

FIG. 3(a) is a schematic view of the installation distribution of a horizontal drive type drive system;

FIG. 3(b) is a schematic view of a vertical drive mode drive system installation profile;

FIG. 4(a) is a schematic diagram of a suspended motion system;

FIG. 4(b) is a schematic structural view of the support motion system;

FIG. 5 is a spatial distribution diagram of a tee of the sports system;

FIG. 6 is a schematic view of the die system;

FIG. 7 is a schematic view of the male die system;

FIG. 8(a) is a schematic structural diagram of a slide type feeding system;

FIG. 8(b) is a schematic diagram of a rolling feed system configuration;

FIG. 9 is a schematic diagram of a spatial envelope curve of 8 bisectors at different positions of a conical surface of a male die in a circular track;

fig. 10 is a physical diagram of the thin-wall high-rib member provided with space envelope forming of the invention.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

As shown in figures 1(a) -8 (b), the heavy-load high-flexibility six-degree-of-freedom parallel-connection driving space envelope forming equipment comprises a base, a vertical column, a top seat, a female die system, a driving system, a motion system, a male die system and a feeding system.

The driving system comprises 6 groups, each group has the same structure and connection, and comprises a guide rail, a driving slide block, a ball screw, a planetary reducer, a servo motor and an encoder; the motion system is composed of 6 connecting rod branched chains connected in parallel and 1 movable platform, and each connecting rod branched chain has the same structure and comprises a driving ball seat, a driven ball seat and a ball head connecting rod; the female die system comprises a female die seat, a female die outer ring, a female die stress ring, a female die core die, a workpiece, an ejection oil cylinder, an ejector rod and a female die heating device; the male die system comprises a male die outer ring, a male die stress ring, a male die core die, a back pressure oil cylinder and a male die heating device; the feeding system comprises a workbench, a guide rail, a guide structure and a feeding oil cylinder.

The concrete connection mode of each part of the equipment is as follows: a plurality of identical upright posts are arranged on the base, and the other ends of the upright posts are fixedly connected with the top seat through threads; the workbench is connected with the base (or the top seat) through a guide rail and a guide structure so as to move along the guide rail, and the feeding oil cylinder is arranged between the workbench and the top seat (or the base) to realize the up-and-down movement of the workbench; one end of the workbench is provided with a female die seat through a bolt, a female die outer ring, a female die stress ring, a female die core mold, a workpiece and a female die heating device are sequentially arranged on the female die seat, and the other end of the workbench is provided with an ejection oil cylinder and an ejector rod; the device comprises 6 groups of driving systems, wherein in each group of driving systems, a guide rail is fixedly arranged on a base (or a top seat), a ball screw is connected with the base (or the top seat) through a bearing, a planetary reducer is fixed with the base (or the top seat), a servo motor is fixed on a shell of the planetary reducer, a coder is arranged at the tail part of the servo motor, an output shaft of the servo motor is connected with an input shaft of the planetary reducer through a key or a coupler, an output shaft of the planetary reducer is connected with the ball screw through a coupler, a driving slide block is arranged on the guide rail through sliding fit, the center of the driving slide block is matched with the ball screw through screw transmission, the driving slide block is connected with a driving ball seat through a pin and a bolt, the inner spherical surface of the driving ball seat is in spherical clearance fit with a ball head at one end of a ball head connecting rod, and the other end of the ball head connecting rod is in spherical clearance fit with a driven ball seat, because the driving system has 6 sets, the driving ball seat, the driven ball seat and the ball head connecting rod which are connected with the driving system also have 6 sets, and finally 6 driven ball seats are connected with the movable platform through the positioning pin and the bolt to form a rigid whole; one end of the movable platform is provided with a male die outer ring, a male die stress ring, a male die core die 1 and a male die heating device through bolts, and the other end of the movable platform is provided with a back pressure oil cylinder.

The motion relation of each part of the equipment is as follows: the servo motor transmits motion and power to the ball screw through the planetary reducer, so that the driving slider translates along the axis direction, the driving slider pushes the driving ball seat to move along the axis direction, the driving ball seat pushes the ball head connecting rod to do complex space motion, and the ball head connecting rod pushes the driven ball seat and the movable platform to do space envelope motion; the spatial envelope tensor is composed of the rotation angles of 6 servo motorsThe control is carried out by controlling the temperature of the air conditioner,

when a vertical driving scheme is adopted, formula (1) is satisfied:

in the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle r of the center diagonal of the 6 driven ball seats_AThe radius of the top seat driving ball seat is distributed,the circumferential angle corresponding to the center of the driving slide block is represented by l, the spherical center distance of the ball head connecting rod is represented by g, and the speed ratio of the driving system is represented by g.

When the horizontal driving scheme is adopted, the formula (2) is satisfied

In the formula T_bThe tensor of spatial envelope motion, r, required for spatial envelope motion_BThe distribution radius of the center of the driven ball seat of the movable platform,a circumferential angle of 6 ball seats from center to center, r_AThe spherical radius distributed at the center of the driving ball seat,a circumferential angle corresponding to the center of the driving slide block, i is the ball center distance of the ball head connecting rod, and g is the speed ratio of the driving system;is the direction angle of the horizontal movement of each screw rod.Andto driveActual radius and polar angle at each moment of the ball seat center.

The equipment can adopt two driving modes of horizontal driving and vertical driving.

The equipment can adopt two mounting modes of a suspension type and a support type: when a suspension type installation mode is adopted, the driving system is installed on the top seat, the moving system is suspended below the top seat, the male die system is installed on the moving platform, the feeding oil cylinder is installed on the base and is connected with the workbench, and the female die system is installed on the workbench; when a supporting type installation mode is adopted, the driving system is installed on the base, the moving system is supported above the base, the female die system is installed on the moving platform, the feeding oil cylinder is installed on the top seat and connected with the workbench, and the male die system is installed on the workbench.

The feeding system of the equipment can adopt two different modes of sliding and rolling: the sliding type feeding mode is adopted, a guide structure is arranged on the workbench, the guide structure is generally cylindrical, the guide rails are arranged on the stand columns, a plurality of groups of guide rails are generally arranged to ensure the stability of movement, and an inner hole of the guide structure and the cylindrical guide rails form a sliding pair, so that the workbench can move up and down along the guide rails; adopt the roll formula mode of feeding, install guide structure on the workstation, guide structure generally is distributing type cylinder gyro wheel, and the guided way is installed on the stand, in order to guarantee motion and stability, generally adopts 8 face guide rails, all installs the guide rail in every inboard of four stands promptly, and guide structure's gyro wheel and square guide rail constitute the rolling pair to the workstation can be followed the guide rail and moved up and down.

When the device is operated, the blank is put into the concave die core die,

1) when a suspension type motion system and a non-feeding system scheme are adopted, the male die system performs space enveloping motion, and simultaneously performs downward feeding motion to perform multi-pass local rolling on the blank, and the female die system is kept fixed.

2) When a suspension type movement system and a feeding system scheme are adopted, the male die system performs space enveloping movement, and the female die system performs upward feeding movement under the driving of the feeding system to perform multi-pass local rolling on the blank;

3) when a supporting type movement system and a non-feeding system scheme are adopted, the female die system performs space enveloping movement, and simultaneously performs upward feeding movement to perform multi-pass local rolling on the blank, and the male die system is kept fixed;

4) when a supporting type movement system and a feeding system scheme are adopted, the female die system performs space enveloping movement, and the male die system performs downward feeding movement under the driving of the feeding system to perform multi-pass local rolling on the blank;

finally, under the combined action of the male die system and the female die system, the blank generates continuous local plastic deformation and is integrally formed; after the forming is finished, the male die system moves upwards and retreats, and the ejector rod ejects the workpiece out of the female die core die.

When the equipment adopts a vertical driving scheme, a feeding system is not required to be configured, and the workbench is directly and fixedly connected with the base (or the item seat) through bolts. At the moment, the feeding and the withdrawing of the male die system are controlled by 6 servo motors, and the rotation angle of the servo motors is calculated according to the formula (2), so that the feeding and the withdrawing of the male die system in any direction can be realized.

In the formula S_fTo describe the motion momentum of the feed or withdrawal motion, ω is the axial direction vector of the feed or withdrawal motion,is the feed or exit tensor expressed by the exponential product.

In order to ensure the flexibility and the uniqueness of the movement of the equipment, 6 driving ball seats are distributed on a circle with a larger radius, and 6 driven ball seats are distributed on a circle with a smaller radius, namely r_A＞r_B(ii) a Any two adjacent ball head connecting rods form a space trapezoid, and for any ball head connecting rod, the shape of the trapezoid on the left side and the shape of the trapezoid on the right side are inverted from top to bottom, namely if the upper bottom edge of the trapezoid on the left side is long and the lower bottom edge of the trapezoid on the right side is short, the upper bottom edge of the trapezoid on the right side is short and the lower bottom edge of the trapezoid on the right side is long.

In order to ensure the motion precision and the service life of the equipment, the ball head connecting rod is formed by one-step processing, and the upper and the driven ball seats are divided into two and a half for processing. In order to ensure that the two half ball seats can be correctly matched with the ball head connecting rod, the two half ball seats are accurately positioned through positioning pins and are connected and locked through bolts; a gasket is arranged between the two half ball seats, and the gap of the spherical hinge pair can be adjusted through the quantity and the thickness of the gasket, so that the mechanism is prevented from being locked; positioning pin holes are formed in the bottom surfaces of the two half ball seats and matched with the movable platform through positioning pins, so that the mounting accuracy of the ball seats is guaranteed; the ball pivot is lubricated by grease, the oil nozzle is arranged at the center of the ball seat, and lubricating grease can be injected into the ball seat through a grease gun, so that the ball head connecting rod is well lubricated.

Example 1

A heavy-load high-flexibility space envelope forming device comprises a base 1, an upright post 2, a top seat 4, a female die system 34, a driving system 36, a moving system 35, a male die system 33 and a feeding system part. The driving system 36 comprises 6 groups, as shown in fig. 2 and 3, each group has the same structure and connection, and comprises a guide rail 5, a driving slide block 6, a ball screw 7, a planetary reducer 8, a servo motor 9 and an encoder 10; as shown in fig. 4 and 5, the motion system 35 is composed of 6 parallel connecting rod branched chains and a movable platform 13, and each branched chain has the same structure and comprises a driving ball seat 12, a driven ball seat 25 and a ball head connecting rod 11; the female die system 34 is shown in fig. 6 and comprises a female die holder 21, a female die outer ring 18, a female die stress ring 19, a female die core die 20, a workpiece 17, an ejection oil cylinder 23, an ejector rod 22 and a female die heating device 26; the punch system 33 is shown in fig. 7 and comprises a punch outer ring 14, a punch stress ring 15, a punch core mold 16, a backpressure cylinder 28 and a punch heating device 27; the feeding system is shown in fig. 8 and comprises a table 3, a guide rail 29, a guide structure 30 and a feeding cylinder 31.

The concrete connection mode of each part of the equipment is as follows: the base 1 is connected with a plurality of identical upright posts 2 through threads, and the other ends of the upright posts 2 are fixedly connected with the top seat 4; the workbench is connected with the base 1 (or the top seat 4) through a guide rail 29 and a guide structure 30 so as to move along the guide rail 29, and a feeding oil cylinder 31 is arranged between the workbench 3 and the top seat 1 (or the base 4) to realize the up-and-down movement of the workbench 3; one end of the workbench 3 is provided with a female die holder 21 through a bolt, the female die holder 21 is sequentially provided with a female die outer ring 18, a female die stress ring 19, a female die core die 20, a workpiece 17 and a female die heating device 26, and the other end of the workbench 3 is provided with an ejection oil cylinder 23 and an ejector rod 22; the device is provided with 6 groups of driving systems 36, in each group of driving systems 36, a guide rail is fixedly arranged on a base 1 (or a top seat 4), a ball screw 7 is connected with the base 1 (or the top seat 4) through a bearing, a planetary reducer 8 is fixed with the base 1 (or the top seat 4), a servo motor 9 is fixed on the shell of the planetary reducer 8, an encoder 10 is arranged at the tail part of the servo motor 9, the output shaft of the servo motor 9 is connected with the input shaft of the planetary reducer 8 through a key or a coupling, the output shaft of the planetary reducer 8 is connected with the ball screw 7 through the coupling, a driving slide block 6 is arranged on the guide rail 29 through sliding fit, the center of the driving slide block 6 is matched with the ball screw 7 through screw transmission, the driving slide block 6 is connected with a driving ball seat 12 through a pin and a bolt, the inner spherical surface of the driving ball seat 12 is in spherical surface clearance fit with the ball head at one end of a ball head connecting rod 11, the other end of the ball head connecting rod 11 and the driven ball seat 25 form spherical surface clearance fit, and as the driving system 36 has 6 sets, the driving ball seat 12, the driven ball seat 25 and the ball head connecting rod 11 connected with the driving system also have 6 sets, and finally 6 driven ball seats 25 are connected with the movable platform 13 through positioning pins and bolts to form a rigid whole; one end of the movable platform 13 is provided with a male die outer ring 14, a male die stress ring 15, a male die core die 16 and a male die heating device 27 through bolts, and the other end of the movable platform 13 is provided with a back pressure oil cylinder 28 through bolts.

The motion relation of each part of the equipment is as follows: the servo motor 9 transmits motion and power to the ball screw 7 through the planetary reducer 8, so that the driving slider 7 translates along the axis direction, the driving slider 7 pushes the driving ball seat 12 to move along the axis direction, the driving ball seat 12 pushes the ball head connecting rod to do complex space motion 11, and the ball head connecting rod 11 pushes the driven ball seat 25 and the movable platform 13 to do space enveloping motion.

The equipment can adopt two driving modes of horizontal driving and vertical driving: the overall structure of the machine tool in the horizontal drive mode is shown in fig. 1(a) and (b), and the overall structure of the machine tool in the vertical drive mode is shown in fig. 1(c) and (d).

The motion system 35 of the equipment can adopt two mounting modes of a suspension type and a support type: in the case of the suspended mounting, the overall structure of the machine tool is shown in fig. 1(b) and (d), and the structure of the motion system 35 is shown in fig. 4 (a). In the case of the support type mounting, the overall structure of the machine tool is as shown in fig. 1(a) and (c), and the structure of the motion system 35 is as shown in fig. 4 (b).

The feeding system of the equipment can adopt two different modes of sliding and rolling: a slide feeding mode is adopted, as shown in fig. 8 (a); a rolling feed system is adopted, as shown in fig. 8 (b).

When the device is operated, the blank 17 is placed into the female die core mould 20,

1) when the scheme of a suspension type movement system 35 and no feeding system is adopted, the male die system 33 performs space enveloping movement, and simultaneously performs downward feeding movement to perform multi-pass local rolling on the blank 17, and the female die system 34 is kept stationary.

2) When a suspension type movement system 35 and a feeding system scheme are adopted, the male die system 33 performs space enveloping movement, and the female die system 34 performs upward feeding movement under the driving of the feeding system to perform multi-pass local rolling on the blank 17.

3) When the scheme of the supporting type movement system 35 and no feeding system is adopted, the female die system 34 performs space enveloping movement, and simultaneously performs feeding movement upwards to perform multi-pass local rolling on the blank 17, and the male die system 33 is kept stationary.

4) When the supporting type movement system 35 is adopted and the feeding system scheme is provided, the female die system 34 performs space enveloping movement, and the male die system 33 performs downward feeding movement under the driving of the feeding system to perform multi-pass local rolling on the blank 17.

Finally, under the combined action of the male die system 33 and the female die system 34, the blank 17 generates continuous local plastic deformation and is integrally formed; after the forming is finished, the male die system 33 moves upwards and is withdrawn, and the ejector rod 22 ejects the workpiece from the female die core die.

Here, the example of envelope shaping of a space circular trajectory with an envelope cone angle of 2.5 degrees is described, in which case the spatial envelope motion tensor of the platform is

Where δ is the envelope cone angle, δ is 2.5 °,is the motion parameter of the platform and is,z_tis the height of the center point of the head, z_t149. At this time, the spatial envelope curve of the 8-fold bisector at different positions on the tapered surface of the mold is shown in fig. 9. By utilizing the track, a high-rib thin-wall part product is obtained by processing as shown in figure 10.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.