阅读说明：本技术 凸轮驱动重载高速空间包络成形设备 (Cam-driven heavy-load high-speed space envelope forming equipment ) 是由 韩星会 郑方焱 华林 于 2021-07-19 设计创作，主要内容包括：本发明涉及一种凸轮驱动重载高速空间包络成形设备,包括底座、导柱、机头、模架、驱动部件、运动部件、摆头和进给部件；所述驱动部件包括主电机、减速箱、凸轮轴、上凸轮、下凸轮和滑槽；所述运动部件包括六个并联的支链结构和上平台,每个支链的结构完全相同,包括上球铰、球杆、下球铰、滑块和凸轮滚子；所述进给部件包括导套、移动工作台和进给油缸；空间包络成形装备运行时,将坯料放入模架模腔内,摆头做空间包络运动,进给油缸缓慢伸出。本发明通过多个连杆机构协调运动实现模具多自由度运动,能够显著提高金属流动能力,降低成形载荷、改善装备和模具受载状态,从而实现薄壁高筋类构件高效优质连续局部塑性成形制造。(The invention relates to cam-driven heavy-load high-speed space envelope forming equipment which comprises a base, a guide pillar, a machine head, a die carrier, a driving part, a moving part, a swinging head and a feeding part, wherein the guide pillar is arranged on the base; the driving part comprises a main motor, a reduction gearbox, a cam shaft, an upper cam, a lower cam and a sliding groove; the moving part comprises six parallel branched chain structures and an upper platform, and each branched chain has the same structure and comprises an upper spherical hinge, a ball rod, a lower spherical hinge, a sliding block and a cam roller; the feeding part comprises a guide sleeve, a movable workbench and a feeding oil cylinder; when the space envelope forming equipment is operated, a blank is placed into a die cavity of a die frame, the swing head does space envelope motion, and the feeding oil cylinder slowly extends out. The invention realizes the multi-degree-of-freedom movement of the die through the coordinated movement of the plurality of link mechanisms, can obviously improve the metal flow capacity, reduce the forming load and improve the loaded state of equipment and the die, thereby realizing the efficient, high-quality and continuous local plastic forming manufacture of thin-wall and high-rib components.)

1. A cam-driven heavy-load high-speed space envelope forming device is characterized by comprising a base, a guide pillar, a machine head, a die carrier, a driving part, a moving part, a swinging head and a feeding part;

the driving part comprises a main motor, a reduction gearbox, a cam shaft, an upper cam, a lower cam and a sliding groove; the moving part comprises six parallel branched chain structures and an upper platform, and each branched chain has the same structure and comprises an upper spherical hinge, a ball rod, a lower spherical hinge, a sliding block and a cam roller; the feeding part comprises a guide sleeve, a movable workbench and a feeding oil cylinder;

the base is fixedly arranged at the lower end of the guide pillar, and the upper end of the guide pillar is connected with the machine head; a feeding oil cylinder is arranged in the middle of the base, the top end of a cylinder rod of the feeding oil cylinder is fixedly arranged in the middle of the movable workbench, guide sleeves are arranged at four corners of the movable workbench, and the inner circular surface of each guide sleeve is in sliding fit with the guide pillar; the die carrier is arranged at the center of the movable workbench, and a workpiece to be processed is placed in a die cavity of the die carrier; the upper end of the machine head is provided with a reduction box, the reduction box is provided with a main motor, an output shaft of the reduction box is connected with a cam shaft through a coupler, the lower end of the cam shaft is provided with an upper cam and a lower cam, cam grooves are arranged in the upper cam and the lower cam and are respectively in clearance fit with three cam rollers, and the cam rollers are arranged on the inner sides of corresponding sliding blocks and can rotate along the axes of the cam rollers; the lower end of the machine head is fixedly connected with six sliding chutes, the six sliding chutes are centrosymmetric by taking two sliding chutes as a group and dividing the two sliding chutes into three equal parts, a sliding block is arranged in each sliding chute through clearance fit, the sliding block can move in the sliding chute, a cam roller is arranged on the inner side of the sliding block, and an upper spherical hinge is fixedly arranged on the lower side of each sliding block; each upper spherical hinge is in clearance fit with the ball rod through an inner spherical surface, the lower end of each ball rod is provided with a lower spherical hinge through spherical surface fit, and six lower spherical hinges are distributed and fixed on the upper platform in a trisection center mode by taking two lower spherical hinges as a group to form a closed integral motion platform; the center of the upper platform is connected with the swinging head;

the main motor drives the input shaft of the reduction box to rotate, the cam shaft, the upper cam and the lower cam rotate simultaneously under the action of speed reduction and torque increase of the reduction box, the upper cam and the lower cam rotate to force the cam rollers in the cam grooves to rotate, and push the corresponding sliding blocks and the upper spherical hinges below the sliding blocks to do reciprocating motion in sequence along the sliding grooves, so that the ball rods arranged in the ball surfaces of the sliding blocks are forced to do periodic spatial motion, and the upper platform and the swinging head do spatial envelope forming motion under the action of the coordinated motion of the six ball rods.

2. The cam-driven heavy-load high-speed spatial envelope forming device of claim 1, wherein the movable worktable has a step through hole in the center, the lower step of the step through hole is provided with an ejection cylinder by bolts distributed circumferentially, the top end of the cylinder rod of the ejection cylinder is fixedly provided with an ejector rod by threads, the center of the upper end of the movable worktable is provided with a positioning flange, and the mold frame is mounted in the center of the movable worktable by the positioning flange.

3. The cam-driven heavy-load high-speed spatial envelope forming apparatus of claim 1, wherein the driving part and the moving part are mounted on a machine head, the moving part is mounted with a swing head, the swing head moves with the moving part, the feeding part is mounted on a base, the feeding part is mounted with a die carrier, and the die carrier realizes feeding movement with the feeding part.

4. The cam-driven heavy-load high-speed spatial envelope forming apparatus of claim 1, wherein the driving part and the moving part are mounted on a base, the moving part is provided with a die carrier, the die carrier moves along with the moving part, the feeding part is mounted on a machine head, the feeding part is provided with a swinging head, and the swinging head realizes feeding movement along with the feeding part.

5. The cam driven heavy duty high speed spatial envelope forming apparatus of claim 1, wherein said driving member is of a groove cam type in which the upper cam and the lower cam are formed with cam grooves, and rollers mounted on the slider are engaged with the cam grooves to push the slider to move in both directions through curved surfaces on both sides of the cam grooves.

6. The cam-driven heavy-duty high-speed spatial envelope forming apparatus of claim 1, wherein the driving member is of a conjugate cam type, wherein the upper cam and the lower cam in the conjugate cam driving member are respectively provided with two large and small conjugate cam outer contour curved surfaces, and two rollers at different positions of each slide block are matched with the two cam outer contours.

7. The cam-driven heavy-duty high-speed spatial envelope shaping apparatus of claim 1, wherein the attitude of the upper platform movement is through a displacement h of six slidesⁱ(i ═ 1L6), and the constraint relationship is expressed by the following equation (1):

in the formula T_bThe tensor of platform motion required for spatial envelope motion, r_BThe distribution radius of the center of the spherical hinge on the movable platform,is a circumferential angle of 6 spherical hinges center opposite angles, r_AIs the radius of a circle distributed on the moving center of a slide block on the machine base,is the corresponding circumferential angle of the slide block center, and l is the ball center distance of the ball rod.

8. The cam-driven heavy-duty high-speed spatial envelope shaping apparatus of claim 7, wherein the upper spherical hinge is disposed on a circle of larger radius and the lower spherical hinge is disposed on a circle of smaller radius, i.e., r_A＞r_B(ii) a Any two adjacent clubs form a space trapezoid, and for any club, the upper and lower shapes of the trapezoid on the left side and the trapezoid on the right side must be inverted, that is, if the upper bottom edge of the trapezoid on the left side is long and the lower bottom edge is short, the trapezoid on the right side must have the upper bottom edge which is short and the lower bottom edge which is long.

Technical Field

The invention relates to the field of special metal forming equipment, in particular to cam-driven heavy-load high-speed space envelope forming equipment.

Background

International aerospace technology is in the rapid development stage, and the demand for light weight of carrying equipment in the aerospace field is increasingly urgent. The thin-wall high-rib type component has the advantages of light weight, high strength, strong bearing capacity and the like, can obviously improve the light weight level of the carrying equipment, and is more and more widely applied to the carrying equipment. The thin-wall high-rib type component has the extreme geometrical characteristics of large area, thin wall plate, high rib and the like, and the extreme geometrical characteristics obviously increase the manufacturing difficulty of the thin-wall high-rib type component. At present, the components are mainly manufactured by adopting welding and riveting processes, but the welding and riveting processes belong to split manufacturing processes, so that the manufacturing process is complex, the manufacturing efficiency is low, a continuous metal flow line cannot be obtained, and efficient and high-quality manufacturing of thin-wall high-rib components is difficult to realize. Compared with welding and riveting processes, the plastic forming process has the advantages of short manufacturing process and high manufacturing efficiency, can obtain complete metal flow lines and fine structures, and is an important method for realizing efficient and high-quality manufacturing of thin-wall high-rib components. However, in the conventional plastic forming process, a common forging press is adopted to drive a die to move up and down with a single degree of freedom to realize the plastic forming of the complex component, the moving mode of the die with the single degree of freedom not only limits the metal flowing capacity, but also has large forming load, and the service conditions of equipment and the die are severe, so that the thin-wall high-rib component with extreme geometrical characteristics is difficult to form.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a cam-driven heavy-load high-speed space envelope forming device, which realizes multi-degree-of-freedom movement of a die through coordinated movement of a plurality of link mechanisms, can obviously improve the metal flow capacity, reduce the forming load, and improve the loaded state of equipment and the die, thereby realizing efficient, high-quality and continuous local plastic forming manufacturing of thin-wall and high-rib components.

The technical scheme adopted by the invention for solving the technical problems is as follows: a cam-driven heavy-load high-speed space envelope forming device is constructed and comprises a base, a guide pillar, a machine head, a die carrier, a driving part, a moving part, a swinging head and a feeding part;

the driving part comprises a main motor, a reduction gearbox, a cam shaft, an upper cam, a lower cam and a sliding groove; the moving part comprises six parallel branched chain structures and an upper platform, and each branched chain has the same structure and comprises an upper spherical hinge, a ball rod, a lower spherical hinge, a sliding block and a cam roller; the feeding part comprises a guide sleeve, a movable workbench and a feeding oil cylinder;

the base is fixedly arranged at the lower end of the guide pillar, and the upper end of the guide pillar is connected with the machine head; a feeding oil cylinder is arranged in the middle of the base, the top end of a cylinder rod of the feeding oil cylinder is fixedly arranged in the middle of the movable workbench, guide sleeves are arranged at four corners of the movable workbench, and the inner circular surface of each guide sleeve is in sliding fit with the guide pillar; the die carrier is arranged at the center of the movable workbench, and a workpiece to be processed is placed in a die cavity of the die carrier; the upper end of the machine head is provided with a reduction box, the reduction box is provided with a main motor, an output shaft of the reduction box is connected with a cam shaft through a coupler, the lower end of the cam shaft is connected with an upper cam and a lower cam through keys, cam grooves are arranged in the upper cam and the lower cam and are respectively in clearance fit with three cam rollers, and the cam rollers are arranged on the inner sides of corresponding sliding blocks and can rotate along the axes of the cam rollers; the lower end of the machine head is fixedly connected with six sliding chutes, the six sliding chutes are centrosymmetric by taking two sliding chutes as a group and dividing the two sliding chutes into three equal parts, a sliding block is arranged in each sliding chute through clearance fit, the sliding block can move in the sliding chute, a cam roller is arranged on the inner side of the sliding block, and an upper spherical hinge is fixedly arranged on the lower side of each sliding block; each upper spherical hinge is in clearance fit with the ball rod through an inner spherical surface, the lower end of each ball rod is provided with a lower spherical hinge through spherical surface fit, and six lower spherical hinges are distributed and fixed on the upper platform in a trisection center mode by taking two lower spherical hinges as a group to form a closed integral motion platform; the center of the upper platform is connected with the swinging head;

the main motor drives the input shaft of the reduction box to rotate, the cam shaft, the upper cam and the lower cam rotate simultaneously under the action of speed reduction and torque increase of the reduction box, the upper cam and the lower cam rotate to force the cam rollers in the cam grooves to rotate, and push the corresponding sliding blocks and the upper spherical hinges below the sliding blocks to do reciprocating motion in sequence along the sliding grooves, so that the ball rods arranged in the ball surfaces of the sliding blocks are forced to do periodic spatial motion, and the upper platform and the swinging head do spatial envelope forming motion under the action of the coordinated motion of the six ball rods;

when the space envelope forming equipment operates, a blank is placed into a die cavity of a die frame, the swinging head does space envelope motion, the feeding oil cylinder slowly extends out, the moving workbench connected with the feeding oil cylinder and the die frame are pushed to move upwards along the guide post, and the swinging head is gradually close to the die cavity to perform multi-pass local rolling on the blank. Under the combined action of the die cavity and the swinging head, the blank generates continuous local plastic deformation and is integrally formed.

In the scheme, a step through hole is formed in the center of the movable workbench, the lower end step of the step through hole is provided with an ejection oil cylinder through bolts distributed circumferentially, the top end of a cylinder rod of the ejection oil cylinder is fixedly provided with an ejector rod through threads, a positioning flange is machined in the center of the upper end of the movable workbench, and the die carrier is arranged in the center of the movable workbench through the positioning flange.

In the scheme, the driving part and the moving part are arranged on the machine head, the moving part is provided with the swinging head, the swinging head moves along with the moving part, the feeding part is arranged on the base, the feeding part is provided with the die carrier, and the die carrier realizes the feeding motion along with the feeding part.

In the scheme, the driving part and the moving part are installed on the base, the die carrier is installed on the moving part, the die carrier moves along with the moving part, the feeding part is installed on the machine head, the swinging head is installed on the feeding part, and the swinging head achieves feeding movement along with the feeding part.

In the above scheme, the driving part is of a groove cam type, the upper cam and the lower cam in the groove cam type driving part are both provided with cam grooves, rollers mounted on the slider are matched with the cam grooves, and the slider is pushed to move towards two directions through curved surfaces on two sides of the cam grooves.

In the above scheme, the driving part is of a conjugate cam type, the upper cam and the lower cam in the conjugate cam type driving part are both provided with two large and small conjugate cam outer contour curved surfaces, and two rollers at different positions of each slide block are matched with the outer contours of the two cams.

In the scheme, the pose of the upper platform is moved through the displacement h of the six sliding blocksⁱ(i ═ 1L6), and the constraint relationship is expressed by the following equation (1):

in the formula T_bThe tensor of platform motion required for spatial envelope motion, r_BThe distribution radius of the center of the spherical hinge on the movable platform,is a circumferential angle of 6 spherical hinges center opposite angles, r_AIs the radius of a circle distributed on the moving center of a slide block on the machine base,is the corresponding circumferential angle of the slide block center, and l is the ball center distance of the ball rod.

In the scheme, the upper spherical hinges are distributed on the circumference with larger radius, and the lower spherical hinges are distributed on the circumference with smaller radius, namely r_A＞r_B(ii) a Any two adjacent clubs form a space trapezoid, and for any club, the upper and lower shapes of the trapezoid on the left side and the trapezoid on the right side must be inverted, that is, if the upper bottom edge of the trapezoid on the left side is long and the lower bottom edge is short, the trapezoid on the right side must have the upper bottom edge which is short and the lower bottom edge which is long.

The cam-driven heavy-load high-speed space envelope forming equipment has the following beneficial effects:

1. the upper and lower cams are driven by the motor to drive the six connecting rods to move in a coordinated manner, so that any space enveloping movement of the head swinging system of the equipment can be realized, and further space enveloping near-net forming manufacturing of a complex thin-wall high-rib extreme structure is realized;

2. the multi-degree-of-freedom six-connecting-rod parallel driving structure is adopted, the structure is simple and reliable, the rigidity and the bearing capacity of the equipment are greatly improved, and the unbalance loading resistance of the equipment can be improved;

3. the equipment machining and deformation errors are compensated by correcting the cam contour line, so that the high precision of the equipment is realized.

Drawings

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

FIG. 1(a) is a schematic diagram of the present invention using a drive-up scheme;

FIG. 1(b) is a schematic diagram of the present invention using a drive down scheme;

FIG. 2 is a schematic view of a grooved cam driving member according to the present invention;

FIG. 3(a) is a schematic representation of the upper cam profile and its engagement with the roller;

FIG. 3(b) is a schematic view of the lower cam profile and its engagement with the rollers;

FIG. 4 is a schematic view of the moving parts of the present invention;

FIG. 5 is a schematic view of the spatial distribution of the spherical hinge of the present invention;

FIG. 6 is a schematic view of the guide post type feed member of the present invention;

FIG. 7 is a schematic view of a split configuration of the ball joint;

FIG. 8 is a schematic view of a conjugate cam driving part according to the present invention;

FIG. 9(a) is a schematic view of a cam profile on a conjugate cam of the present invention and its engagement with a roller;

FIG. 9(b) is a schematic view of a cam lower lobe profile and its engagement with a roller of the conjugate cam of the present invention;

FIG. 10 is a schematic view of a guide wheel type feeding member according to the present invention;

fig. 11 is a graph showing a theoretical profile of a conjugate cam in a circular locus.

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.

The invention discloses a cam-driven heavy-load high-speed space envelope forming device, which comprises a base 1, a guide post 3, a machine head 2, a die carrier 18, a driving part 28, a moving part 29, a swinging head 25 and a feeding part 30, as shown in figures 1(a) and 1 (b). The driving part 28 is shown in fig. 2, fig. 3(a) and fig. 3(b), and comprises a high-power main motor 4, a reduction box 5, a cam shaft 6, an upper cam 26, a lower cam 27 and a chute 7; as shown in fig. 4 and 5, the moving part 29 is composed of 6 parallel branched chain structures and an upper platform, and the structure of each branched chain is completely the same, including an upper spherical hinge 9, a ball rod 10, a lower spherical hinge 11, a slider 8 and a cam roller 13; as shown in fig. 6, the feeding member 30 includes a guide bush 14, a movable table 15, and a feeding cylinder 16.

The concrete connection mode of each part of the equipment is as follows: four corners of the base 1 are fixedly arranged at the lower end of the guide pillar 3, and the upper end of the guide pillar is fixedly connected with the machine head 2; a high-power feeding oil cylinder 16 is arranged on the center of the upper plane of the base 1 through a bolt, a cylinder rod of the oil cylinder is fixedly connected with the middle part of a movable workbench 15 through a bolt, guide sleeves 14 are arranged at four corners of the movable workbench 15, and the inner circular surface of each guide sleeve 14 is in sliding fit with the guide pillar 3; a step through hole is processed in the center of the movable workbench 15, an ejection oil cylinder 21 is installed on the step at the lower end of the through hole through bolts distributed circumferentially, an ejector rod 22 is fixed at the top end of a cylinder rod of the ejection oil cylinder through threads, and a positioning flange is arranged in the center of the upper plane of the movable workbench 15; the die carrier 18 is installed on the center of the movable worktable 15 through the flange, and a workpiece is placed in a die cavity of the die carrier 18; the upper end of the machine head 2 is provided with a reduction gearbox 5 through a bolt, an input flange on the reduction gearbox 5 is provided with a main motor 4, an output shaft of the reduction gearbox 5 is connected with a camshaft 6 through a coupler, the lower end of the camshaft 6 is provided with two cams through key connection, the two cams are an upper cam 26 and a lower cam 27 in sequence, cam grooves are arranged in the upper cam 26 and the lower cam 27 and are respectively in rolling fit with three cam rollers 13, and the cam rollers 13 are arranged on the inner sides of corresponding slide blocks 8 and can rotate along the axis; the lower end of the machine head 2 is fixedly connected with 6 sliding grooves 7, the 6 sliding grooves 7 are symmetrical by taking two sliding grooves as a group to divide the center into three equal parts, 6 sliding blocks 8 are installed inside the sliding grooves 7 in a clearance fit mode, the sliding blocks 8 can move inside the sliding grooves 7, cam rollers 13 are installed on the inner sides of the sliding blocks 8 to be matched with corresponding cams, and corresponding upper spherical hinges 9 are fixedly installed on the lower sides of the sliding blocks 8; each upper spherical hinge 9 is in clearance fit with a ball rod 10 through an inner spherical surface, a lower spherical hinge 11 is installed at the lower end of each ball rod 10 through spherical surface fit, 6 lower spherical hinges 11 are distributed on an upper platform 12 in a trisection center group of two as a group according to a certain angle, and are fixedly connected with a threaded hole at the bottom through a positioning pin at the bottom of the spherical hinge, so that a closed integral motion platform is finally formed; the center of the upper platform 12 is provided with a positioning flange which is connected with a swinging head 25.

When the equipment is operated, the main motor 4 drives the input shaft of the reduction box 5 to rotate, the cam shaft 6 and the upper cam 26 and the lower cam 27 on the cam shaft rotate simultaneously under the speed reducing and torque increasing effects of the reduction box 5, the upper cam 26 and the lower cam 27 rotate to force the cam rollers 13 in the respective cam grooves to rotate, and push the corresponding slide blocks 8 and the upper spherical hinges 9 below the slide blocks to do reciprocating motion in sequence along the sliding grooves 7, so that the ball rods 10 arranged in the spherical surfaces of the slide blocks are forced to do periodic spatial motion, and finally the upper platform 12 and the swinging heads 25 on the slide blocks are forced to do spatial envelope motion under the synergistic effect of the 6 ball rods 10; when the equipment is fed, the feeding oil cylinder 16 slowly extends out to push the movable workbench 15 connected with the feeding oil cylinder and the die carrier on the movable workbench to move upwards along the guide post 3, so that the swinging head gradually approaches to a workpiece and swings and extrudes, and thus, parts are formed.

The feeding member 30 of the present invention may employ two types of guide rollers and guide wheels: as shown in fig. 8, the guide post 3 of the guide post type feeding component 30 is circular, and four guide sleeves 14 installed on the moving table are in sliding fit with the circular guide post 3 to realize the movement of the moving table; the guide columns 3 of the guide wheel type feeding part 30 are square, the inner sides of the four guide columns are processed with wear-resistant sliding surfaces, and 8 groups of guide wheels 14 arranged on the movable workbench are in rolling fit with the surfaces to realize the upward movement of the movable workbench.

The driving member 28 of the present invention may adopt both a groove cam type and a conjugate cam type: as shown in fig. 2 and 3, the upper cam 26 and the lower cam 27 of the groove cam type driving member 28 are each formed with a cam groove, and the roller 13 mounted on the slider 8 is engaged with the cam groove to push the slider to move in two directions by curved surfaces on both sides of the cam groove; as shown in fig. 10 and 11, the upper cam 26 and the lower cam 27 in the conjugate cam type driving part 28 are each formed with two large and small conjugate cam outer contour curved surfaces, and the two rollers 13 at different positions of each slide block 8 are matched with the two cam outer contours, so that the upper cam 26 and the lower cam 27 can push the corresponding slide block to move in the forward and backward directions due to the constant distance between the two rollers 13 on each slide block 8 and the action of the conjugate cam curved surfaces. Meanwhile, different envelope motion tracks including a circle, a straight line, a spiral line, a parabola, a rose line, a corresponding combination and the like can be realized by replacing the cam, and the different envelope motion tracks can meet the forming requirements of different components.

The main motor drives the input shaft of the reduction box to rotate, the cam shaft, the upper cam and the lower cam rotate simultaneously under the action of speed reduction and torque increase of the reduction box, the upper cam and the lower cam rotate to force the cam rollers in the cam grooves to rotate and push the corresponding sliding blocks and the upper spherical hinges below the sliding blocks to do reciprocating motion along the sliding grooves in sequence, so that the ball bars arranged in the ball surfaces of the sliding blocks are forced to do periodic complex space motion, the upper platform and the swing head do complex space envelope forming motion under the action of the coordinated motion of the 6 ball bars, and the motion track of the upper platform and the swing head is based on the mechanical constraint relationship and the transmission relationship of a machine tool and is ensured by the contour curve of the cams; the pose of the platform motion on the equipment, namely the motion tensor can be formed by the displacement h of 6 sliding blocksⁱ(i ═ 1L6), and the constraint relationship is expressed by the following equation (1):

in the formula T_bThe tensor of platform motion required for spatial envelope motion, r_BThe distribution radius of the center of the spherical hinge on the movable platform,is a circumferential angle of 6 spherical hinges center opposite angles, r_AIs the radius of a circle distributed on the moving center of a slide block on the machine base,is the corresponding circumferential angle of the slide block center, and l is the ball center distance of the ball rod.

The equipment can realize different envelope-forming motions by replacing the upper cam and the lower cam. The curved surface of the grooved cam can be solved according to the following steps:

1. solving the theoretical center track of the cam based on the formula (2)

In the formula, r_t1And r_t2Is the central track of the cam at the upper and lower sides, phi is the rotation angle of the cam, e_hThe distance from the center of the cam slider to the center of the upper spherical hinge.

2. Solving the contour curve of the grooved cam according to the formula (3)

In the formula r_1w,r_1nThe cam is a curved track of an outer cam and an inner cam; r is_2w,r_2nThe outer and inner cam curve tracks of the lower cam are r_zIs the roller radius of the cam.

The curved surface of the conjugate cam may be solved according to the following steps:

1. solving theoretical center trajectory of cam

The theoretical center locus of the outer cam coincides with the center locus of the groove cam, and is also based on equation (2). The theoretical center locus of the inner cam is solved by the following equation (4).

In the formula e_dIs the distance between two cam rollers on the slide block.

2. Solving the contour curve of the conjugate cam according to the formula (5)

In the formula r_1w,r_1nThe cam is a curved track of an outer cam and an inner cam; r is_2w,r_2nThe outer and inner cam curve tracks of the lower cam are r_zIs the roller radius of the cam.

The center height z of the pendulum head in the embodiment_t850 g and 750 g, in the ball joint on the movable platformRadius of distribution of the heart r_B750, the radius r of the circle distributed by the moving center of the sliding block on the machine base_AThe circumference angle of the center diagonal of the 6 spherical hinges is 950Circumferential angle of each point corresponding to center of slide blockThe theoretical profile of the conjugate cam using a circular locus with a cone angle of 2.5 degrees is shown in fig. 11.

When the space envelope forming equipment operates, a blank is placed into a die cavity of a die frame, the swinging head does space envelope motion, the feeding oil cylinder slowly extends out, the moving workbench connected with the feeding oil cylinder and the die frame are pushed to move upwards along the guide post, and the swinging head is gradually close to the die cavity to perform multi-pass local rolling on the blank. Under the combined action of the die cavity and the swinging head, the blank generates continuous local plastic deformation and is integrally formed; after the forming is finished, the die carrier moves downwards to withdraw, and the ejector rod ejects the workpiece out of the die cavity of the die carrier.

In order to ensure that the movement of the equipment does not generate singularity, the upper spherical hinges are distributed on a circle with a larger radius, and the lower spherical hinges are distributed on a circle with a smaller radius, namely r_A＞r_B(ii) a Any two adjacent cue rods form a space trapezoid, the upper and lower shapes of the trapezoid on the left side and the trapezoid on the right side of any cue rod need to be inverted, 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 left side is short, the trapezoid on the right side needs to have a short upper bottom edge and a long lower bottom edge; in order to ensure that the equipment has better bearing conditions, when the upper platform is horizontal, the included angle between the axis of the ball rod and the platform is more than 75 degrees.

In order to ensure the motion precision and the service life of the equipment, the ball rod is processed at one time, and the ball hinge is divided into two parts for processing. In order to ensure that the two half spherical hinges can be correctly matched with the ball rod, the two half spherical hinges are accurately positioned through positioning pins and are connected through bolts; positioning pin holes 31 are formed in the bottom surfaces of the two half spherical hinges, so that the two half spherical hinges are matched with the movable platform in a positioning mode, and the assembling precision and the relative positions and angles of the connecting rods are guaranteed; the ball pivot adopts oil lubrication, and the interior global of ball pivot is interior to open has oil groove 32, and when equipment was moved, lubricating oil can get into the contact surface of ball pair through the oil groove.

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.