阅读说明：本技术 一种曲面成型装置及曲面工件成型方法 (Curved surface forming device and curved surface workpiece forming method ) 是由 高海涛 沈华 马建强 马向宇 王斌 李升� 郭成龙 于 2020-11-26 设计创作，主要内容包括：本发明涉及一种曲面成型装置及曲面工件成型方法,属于钣金零件成型技术领域,解决了现有技术中曲面成型方法不适用小批量、多尺寸曲面零件的弯曲的问题。本发明包括送料驱动机构、送料从动机构和上从动机构,送料从动机构位于送料驱动机构的一侧,上从动机构位于送料驱动机构和送料从动机构的上方,板料从送料驱动机构、送料从动机构和上从动机构形成的间隙内经过加工成型。本发明通过有限个弯曲成型轴,控制成型时各轴的方向、位置和转动速度,实现平板毛坯成型为非柱面曲面零件,具备柔性、可控的特点,并降低生产成本。(The invention relates to a curved surface forming device and a curved surface workpiece forming method, belongs to the technical field of sheet metal part forming, and solves the problem that the curved surface forming method in the prior art is not suitable for bending small-batch and multi-size curved surface parts. The sheet metal feeding and discharging device comprises a feeding driving mechanism, a feeding driven mechanism and an upper driven mechanism, wherein the feeding driven mechanism is positioned on one side of the feeding driving mechanism, the upper driven mechanism is positioned above the feeding driving mechanism and the feeding driven mechanism, and a sheet metal is processed and formed in a gap formed by the feeding driving mechanism, the feeding driven mechanism and the upper driven mechanism. The invention controls the direction, position and rotation speed of each shaft during forming by a limited number of bending forming shafts, realizes the forming of the flat plate blank into the non-cylindrical surface curved part, has the characteristics of flexibility and controllability, and reduces the production cost.)

1. The utility model provides a curved surface forming device, its characterized in that includes pay-off actuating mechanism (1), pay-off follower (2) and last follower (3), and pay-off follower (2) are located one side of pay-off actuating mechanism (1), go up follower (3) and are located the top of pay-off actuating mechanism (1) and pay-off follower (2), and the sheet material is through the machine-shaping in the clearance that pay-off actuating mechanism (1), pay-off follower (2) and last follower (3) formed.

2. Curved surface forming apparatus according to claim 1, characterized in that the feeding drive mechanism comprises a first lower drive shaft (11), a second lower drive shaft (12), a third lower drive shaft (13) and a fourth lower drive shaft (14), the first lower drive shaft (11), the second lower drive shaft (12), the third lower drive shaft (13) and the fourth lower drive shaft (14) being arranged in a row and each being connected to a robot.

3. Curved surface forming apparatus according to claim 2, characterized in that the first lower drive shaft (11) comprises a first servo drive assembly, a first hydraulic drive assembly, a first reinforcing shaft (111) and a first rotation shaft (112), the first rotation shaft (112) is arranged in the first reinforcing shaft (111) and partially exposes the first reinforcing shaft (111), the first reinforcing shaft (111) can rotate in the first rotation shaft (112).

4. Curved surface forming apparatus according to claim 3, characterized in that the first servo driving assembly is used to drive the first rotation shaft (112) in rotation, and the first hydraulic driving assembly is capable of driving the first reinforcing shaft (111) to tilt and provide pressure to the slab.

5. The curved surface forming device as claimed in claim 3, wherein the first reinforcing shaft (111) comprises two symmetrical semi-cylinders, and the semi-cylinders are provided with grooves for disposing the first rotating shaft (112).

6. Curved surface forming apparatus according to claim 2, characterized in that the first lower drive shaft (11), the second lower drive shaft (12), the third lower drive shaft (13) and the fourth lower drive shaft (14) are identical in structure.

7. The curved surface forming apparatus according to claim 2, wherein the feeding follower mechanism (2) comprises a first lower driven shaft (21), a second lower driven shaft (22), a third lower driven shaft (23) and a fourth lower driven shaft (24), and the first lower driven shaft (21), the second lower driven shaft (22), the third lower driven shaft (23) and the fourth lower driven shaft (24) are arranged in a row and are connected with a manipulator.

8. The curved surface forming apparatus according to claim 7, wherein the upper driven mechanism (3) includes a first upper driven shaft (31), a second upper driven shaft (32), a third upper driven shaft (33) and a fourth upper driven shaft (34), and the first upper driven shaft (31), the second upper driven shaft (32), the third upper driven shaft (33) and the fourth upper driven shaft (34) are arranged in a row and each connected to a robot.

9. The curve forming apparatus of claim 8, wherein the robot controls the positions and deflection angles of the lower driving shaft, the lower driven shaft and the upper driven shaft.

10. A method of forming a curved surface workpiece using the curved surface forming apparatus of claims 1-9, comprising the steps of:

step 1: clamping a flat plate blank part;

step 2: putting the postures of all the shafts according to the shapes of the parts, positioning and increasing the compensation amount;

and step 3: the servo motor drives, so that the plate material is fed along with the rolling of the shaft, and the curved surface forming of the workpiece is completed.

Technical Field

The invention relates to the technical field of sheet metal part forming, in particular to a curved surface forming device and a curved surface workpiece forming method.

Background

In the field of sheet metal bending forming, roll bending forming is usually limited to processing cylindrical surface and conical surface parts, but forming of non-cylindrical surface curved surface parts is mostly performed by adopting rigid die pressure forming, the manufacturing cost and the technical requirements of the die are higher, a large number of dies are required, and even equipment with a blank pressing function is required. When the small-batch multi-variety molding is carried out, a flexible and controllable low-cost molding method is needed.

Therefore, how to develop a flexible and accurate bending forming method suitable for processing curved surface parts, particularly straight-line curved surface parts, and the method is very necessary for bending small-batch and multi-size curved surface parts.

Disclosure of Invention

In view of the foregoing analysis, embodiments of the present invention provide a curved surface forming apparatus and a curved surface forming method, so as to solve the problem that the existing curved surface forming method is not suitable for bending small-batch and multi-size curved surface parts.

In one aspect, the invention provides a curved surface forming device, which comprises a feeding driving mechanism, a feeding driven mechanism and an upper driven mechanism, wherein the feeding driven mechanism is positioned on one side of the feeding driving mechanism, the upper driven mechanism is positioned above the feeding driving mechanism and the feeding driven mechanism, and a plate is formed in a gap formed by the feeding driving mechanism, the feeding driven mechanism and the upper driven mechanism.

Further, the feeding driving mechanism comprises a first lower driving shaft, a second lower driving shaft, a third lower driving shaft and a fourth lower driving shaft, and the first lower driving shaft, the second lower driving shaft, the third lower driving shaft and the fourth lower driving shaft are arranged in a row and are connected with a manipulator.

Further, first lower drive shaft includes first servo drive subassembly, first hydraulic drive subassembly, first reinforcing shaft and first rotation axis, and first rotation axis is established in first reinforcing shaft, and the part exposes first reinforcing shaft, and first reinforcing shaft can be at first rotation axis internal rotation.

Further, a first servo driving assembly is used for driving the first rotating shaft to rotate, and a first hydraulic driving assembly can drive the first reinforcing shaft to incline and provide pressure for the plate materials.

Furthermore, first hydraulic drive subassembly includes first mount pad, first pneumatic cylinder and second pneumatic cylinder, and first pneumatic cylinder and second pneumatic cylinder are established side by side at the top of first mount pad, first pneumatic cylinder through first hydraulic stem with first strengthening shaft is articulated, and the second pneumatic cylinder passes through the second hydraulic stem and articulates with first strengthening shaft.

Further, first servo drive assembly includes first servo motor, first belt pulley and first belt, and first servo motor establishes the bottom at first mount pad, and first belt pulley and first servo motor's output shaft, the one end and the first belt pulley of first belt are connected, the other end and the end connection of first rotation axis.

Further, the first reinforcing shaft comprises two symmetrical semi-cylinders, and grooves for arranging the first rotating shafts are formed in the semi-cylinders.

Further, the first lower drive shaft, the second lower drive shaft, the third lower drive shaft and the fourth lower drive shaft are identical in structure.

Further, the feeding driven mechanism comprises a first lower driven shaft, a second lower driven shaft, a third lower driven shaft and a fourth lower driven shaft, wherein the first lower driven shaft, the second lower driven shaft, the third lower driven shaft and the fourth lower driven shaft are arranged in a row and are connected with a manipulator.

Further, first from the axle include third hydraulic drive subassembly, third reinforcing shaft, third rotation axis and third mount pad down, and the third hydraulic drive subassembly is established at the top of third mount pad, and the lower extreme and the third hydraulic drive subassembly of third reinforcing shaft are connected, and the third rotation axis is located the third reinforcing shaft and can rotates around self axis partially.

Furthermore, the third hydraulic driving assembly comprises a fifth hydraulic cylinder and a sixth hydraulic cylinder, the fifth hydraulic cylinder and the sixth hydraulic cylinder are arranged at the top of the third mounting seat side by side, the fifth hydraulic cylinder is hinged to the third reinforcing shaft, and the sixth hydraulic cylinder is hinged to the third reinforcing shaft.

Further, the third reinforcing shaft comprises two symmetrical semi-cylinders, and grooves for arranging the third rotating shaft are formed in the semi-cylinders.

Further, the second lower driven shaft, the third lower driven shaft and the fourth lower driven shaft have the same structure as the first lower driven shaft.

Further, the upper driven mechanism comprises a first upper driven shaft, a second upper driven shaft, a third upper driven shaft and a fourth upper driven shaft, wherein the first upper driven shaft, the second upper driven shaft, the third upper driven shaft and the fourth upper driven shaft are arranged in a row and are connected with a manipulator.

Further, the first upper driven shaft comprises a fourth hydraulic driving assembly, a fourth reinforcing shaft, a fourth rotating shaft and a fourth mounting seat, the fourth hydraulic driving assembly is arranged at the top of the fourth mounting seat, the lower end of the fourth reinforcing shaft is connected with the fourth hydraulic driving assembly, and the portion of the fourth rotating shaft is located in the fourth reinforcing shaft and can rotate around the axis of the fourth rotating shaft.

Further, the fourth hydraulic drive assembly comprises a seventh hydraulic cylinder and an eighth hydraulic cylinder, the seventh hydraulic cylinder and the eighth hydraulic cylinder are arranged at the top of the fourth mounting seat side by side, and the seventh hydraulic cylinder and the eighth hydraulic cylinder are both hinged to the fourth reinforcing shaft.

Further, the fourth reinforcing shaft comprises two symmetrical semi-cylinders, and grooves for arranging the fourth rotating shaft are formed in the semi-cylinders.

Further, the second upper driven shaft, the third upper driven shaft and the fourth upper driven shaft have the same structure as the first upper driven shaft.

Further, the robot controls the positions and deflection angles of the lower driving shaft, the lower driven shaft, and the upper driven shaft.

In another aspect, the present invention provides a method for forming a curved surface workpiece, using the curved surface forming apparatus, comprising:

step 1: clamping a flat plate blank part;

step 2: putting the postures of all the shafts according to the shapes of the parts, positioning and increasing the compensation amount;

and step 3: the servo motor drives, so that the plate material is fed along with the rolling of the shaft, and the curved surface forming of the workpiece is completed.

Compared with the prior art, the invention can realize at least one of the following beneficial effects:

(1) the feeding driving mechanism comprises four lower driving shafts which are arranged in parallel, the feeding driven mechanism comprises four lower driven shafts which are arranged in parallel, the upper driven mechanism comprises four upper driven shafts which are arranged in parallel, each shaft is connected with a manipulator, the postures of the shafts are controlled by the manipulators, and when a sheet passes through the feeding driving mechanism, the feeding driven mechanism and the upper driven mechanism, the postures of the shafts are changed by the manipulators, so that a flat plate blank can be formed into a non-cylindrical surface curved workpiece.

(2) The hydraulic cylinders of the lower driving shaft, the lower driven shaft and the upper driven shaft are hinged with the reinforcing shaft, the contact angle between the rotating shaft and the plate can be changed by controlling the elongation of the hydraulic rod, the rotating speed of the rotating shaft is controlled by the servo motor, and the forming of the curved surface workpiece can be realized.

(3) The curved surface forming device and the curved surface workpiece forming method provided by the invention can partially replace the existing rigid die stamping to manufacture curved surface sheet metal parts, reduce the manufacturing cost of curved surface parts, improve the forming efficiency, and can form parts with straight-line buses under the condition without edge pressing equipment, thereby greatly improving the flexibility and the intelligence of the forming process and being beneficial to ensuring the scientific research and production progress.

(4) According to the curved surface forming device and the curved surface workpiece forming method, the directions, positions and rotating speeds of all the shafts during forming are controlled through the limited bending forming shafts, and the flat plate blank is formed into the non-cylindrical surface curved surface part.

In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.

FIG. 1 is a schematic structural view of a curved surface forming apparatus according to the present invention;

FIG. 2 is a schematic view of the curved surface forming apparatus according to the present invention in a use state;

FIG. 3 is a schematic structural diagram (I) of a first lower driving shaft of the curved surface forming apparatus according to the present invention;

FIG. 4 is a schematic structural view of a first lower driving shaft of the curved surface forming apparatus of the present invention;

FIG. 5 is a schematic structural view (I) of a second lower driving shaft of the curved surface forming apparatus according to the present invention;

FIG. 6 is a second lower driving shaft of the curved surface forming apparatus according to the present invention;

FIG. 7 is a schematic view (one) of the lower shaft of the curved surface forming apparatus of the present invention;

FIG. 8 is a schematic structural view of a lower driven shaft of the curved surface forming apparatus of the present invention;

FIG. 9 is a schematic structural view (one) of the upper shaft of the curved surface forming apparatus of the present invention;

fig. 10 is a schematic structural view of the upper driven shaft of the curved surface forming apparatus of the present invention (ii).

Reference numerals:

1-a feeding driving mechanism; 11-a first lower drive shaft; 111-a first reinforcing shaft; 112-a first rotation axis; 113-a first servomotor; 114-a first pulley; 115-a first belt; 116-a first mount; 117-first hydraulic cylinder; 118-a second hydraulic cylinder; 119-a first locator pin; 12-a second lower drive shaft; 121-a second reinforcing shaft; 122-a second axis of rotation; 123-a second servo motor; 124-a second pulley; 125-a second belt; 126-a second mount; 127-a third hydraulic cylinder; 128-a fourth hydraulic cylinder; 129-a second locating pin; 13-a third lower drive shaft; 14-a fourth lower drive shaft; 2-a feeding driven mechanism; 21-a first lower driven shaft; 211-a third reinforcing shaft; 212-a third axis of rotation; 213-third mount; 214-fifth hydraulic cylinder; 215-sixth hydraulic cylinder; 216-a third locating pin; 22-a second lower driven shaft; 23-third lower driven shaft; 24-fourth lower driven shaft; 3-an upper driven mechanism; 31-first upper driven shaft; 311-a fourth reinforcing shaft; 312-a fourth rotation axis; 313-a fourth mount; 314-a seventh hydraulic cylinder; 315-eighth hydraulic cylinder; 316-fourth locating pin; 32-second upper driven shaft; 33-third upper driven shaft; 34-fourth upper driven shaft.

Detailed Description

The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and which together with the embodiments of the invention serve to explain the principles of the invention and not to limit its scope.

In the description of the embodiments of the present invention, it should be noted that the term "connected" is to be understood broadly, and may be, for example, fixed, detachable, or integrally connected, and may be mechanically or electrically connected, and may be directly or indirectly connected through an intermediate medium, unless otherwise specifically stated or limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "top," "bottom," "above … …," "below," and "on … …" as used throughout the description are relative positions with respect to components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are multifunctional, regardless of their orientation in space.

Example 1

A specific embodiment of the present invention, as shown in fig. 1-10, discloses a curved surface forming device, which includes a feeding driving mechanism 1, a feeding driven mechanism 2 and an upper driven mechanism 3, wherein the feeding driven mechanism 2 is located at one side of the feeding driving mechanism 1, the upper driven mechanism 3 is located above the feeding driving mechanism 1 and the feeding driven mechanism 2, and a sheet is formed through machining in a gap formed by the feeding driving mechanism 1, the feeding driven mechanism 2 and the upper driven mechanism 3.

The feeding driving mechanism comprises a first lower driving shaft 11, a second lower driving shaft 12, a third lower driving shaft 13 and a fourth lower driving shaft 14, wherein the first lower driving shaft 11, the second lower driving shaft 12, the third lower driving shaft 13 and the fourth lower driving shaft 14 are arranged in a row, each lower driving shaft is correspondingly connected with a manipulator (not shown in the figure), and the position and the rotation angle of each lower driving shaft are controlled by the manipulators.

The first lower driving shaft 11 includes a first servo driving assembly, a first hydraulic driving assembly, a first reinforcing shaft 111 and a first rotating shaft 112, the first servo driving assembly is configured to drive the first rotating shaft 112 to rotate, the first hydraulic driving assembly is configured to drive the first reinforcing shaft 111 to incline, so that two ends of the first reinforcing shaft 111 may not be located on the same horizontal plane, the first rotating shaft 112 is disposed inside the first reinforcing shaft 111 and partially exposes the first reinforcing shaft 111, and the first reinforcing shaft 111 may rotate in the first rotating shaft 112. Specifically, the first rotating shaft 112 is provided at a top middle position of the first reinforcing shaft 111.

The first servo driving assembly comprises a first servo motor 113, a first belt pulley 114 and a first belt 115, the first servo motor 113 is arranged at the bottom of the first mounting seat 116, the first belt pulley 114 is arranged at two ends of the first servo motor 113 and connected with an output shaft of the first servo motor 113, one end of the first belt 115 is connected with the first belt pulley 114, the other end of the first belt 115 is connected with the end of the first rotating shaft 112, and the power of the first servo motor 113 is transmitted to the first rotating shaft 112 through the first belt pulley 114 and the first belt 115, so that the first rotating shaft 112 rotates in the first reinforcing shaft 111.

Note that the first rotating shaft 112 is mounted on the first reinforcing shaft 111 through a bearing, and both ends of the first rotating shaft 112 are exposed at the end of the first reinforcing shaft 111 so as to be connected to the first belt 115.

The first hydraulic driving assembly comprises a first mounting base 116, a first hydraulic cylinder 117 and a second hydraulic cylinder 118, the first hydraulic cylinder 117 and the second hydraulic cylinder 118 are arranged at the top of the first mounting base 116 side by side, the first hydraulic cylinder 117 is hinged to the first reinforcing shaft 111 through a first hydraulic rod, the second hydraulic cylinder 118 is hinged to the first reinforcing shaft 111 through a second hydraulic rod, and the structure is arranged to enable enough pressure to be provided for a plate material through the hydraulic cylinders and the first rotating shaft 112, and to control the inclination angle of the first reinforcing shaft 111 through controlling the extension amount of the hydraulic rods on two sides, so that the inclination angle of the first rotating shaft 112 is controlled.

It should be noted that the axes of the first reinforcing shaft 111 and the first rotating shaft 112 are parallel, the lifting directions of the first hydraulic cylinder 117 and the second hydraulic cylinder 118 are perpendicular to the first rotating shaft 112, and when the inclination angle of the rotating shaft is controlled by using the hydraulic cylinders, the first belt 115 with different lengths is required to be arranged at the two ends of the first rotating shaft 112 according to the inclination condition of the first rotating shaft 112.

In order to facilitate the installation of the first rotating shaft 112, the first reinforcing shaft 111 is formed by two symmetrical semicylinders, a groove for arranging the first rotating shaft 112 and a ball groove for arranging the first hydraulic rod and the second hydraulic rod are formed on the semicylinders, and the end parts of the first hydraulic rod and the second hydraulic rod are arranged in a ball head shape so as to form a ball hinge with the first reinforcing shaft 111.

In order to avoid the first reinforcing shaft 111 rotating around its own axial direction and facilitate the connection of the two semicylinders of the first reinforcing shaft 111, through holes are arranged on the outer circular surface of the first reinforcing shaft 111 and the ball ends of the first hydraulic rod and the second hydraulic rod, and the first positioning pin 119 is connected with the two semicylinders of the first reinforcing shaft 111 and the first hydraulic rod and the second hydraulic rod.

The second lower driving shaft 12 includes a second servo driving assembly, a second hydraulic driving assembly, a second reinforcing shaft 121 and a second rotating shaft 122, the second servo driving assembly is configured to drive the second rotating shaft 122 to rotate, the second hydraulic driving assembly is configured to drive the second reinforcing shaft 121 to incline, so that two ends of the second reinforcing shaft 121 may not be located on the same horizontal plane, the second rotating shaft 122 is disposed in the second reinforcing shaft 121, and partially exposes the second reinforcing shaft 121, and the second reinforcing shaft 121 may rotate in the second rotating shaft 122. Specifically, the second rotating shaft 122 is provided at a top middle position of the second reinforcing shaft 121.

The second servo driving assembly includes a second servo motor 123, a second pulley 124 and a second belt 125, the second servo motor 123 is disposed at the bottom of the second mounting seat 126, the second pulley 124 is disposed at two ends of the second servo motor 123 and connected to an output shaft of the second servo motor 123, one end of the second belt 125 is connected to the second pulley 124, the other end is connected to an end of the second rotating shaft 122, and power of the second servo motor 123 is transmitted to the second rotating shaft 122 through the second pulley 124 and the second belt 125, so that the second rotating shaft 122 rotates in the second reinforcing shaft 121.

It should be noted that the second rotating shaft 122 is mounted on the second reinforcing shaft 121 through a bearing, and both ends of the second rotating shaft 122 are exposed out of the end of the second reinforcing shaft 121 so as to be connected to the second belt 125.

The second hydraulic driving assembly comprises a second mounting base 126, a third hydraulic cylinder 127 and a fourth hydraulic cylinder 128, the third hydraulic cylinder 127 and the fourth hydraulic cylinder 128 are arranged at the top of the second mounting base 126 side by side, the third hydraulic cylinder 127 is hinged to the second reinforcing shaft 121 through a third hydraulic rod, and the fourth hydraulic cylinder 128 is hinged to the second reinforcing shaft 121 through a fourth hydraulic rod.

It is noted that the axes of the second reinforcing shaft 121 and the second rotating shaft 122 are parallel, the lifting directions of the third hydraulic cylinder 127 and the fourth hydraulic cylinder 128 are perpendicular to the second rotating shaft 122, and when the inclination angle of the rotating shaft is controlled by using the hydraulic cylinders, the two ends of the second rotating shaft 122 need to be provided with the second belts 125 with different lengths according to the inclination condition of the second rotating shaft 122.

In order to facilitate the installation of the second rotating shaft 122, the second reinforcing shaft 121 is formed by two symmetrical semicylinders, a groove for arranging the second rotating shaft 122 and a ball groove for arranging the third hydraulic rod and the fourth hydraulic rod are formed on the semicylinders, and the ends of the third hydraulic rod and the fourth hydraulic rod are arranged in a ball head shape so as to form a ball hinge with the second reinforcing shaft 121.

In order to avoid the axial rotation of the second reinforcing shaft 121 around itself and facilitate the connection of the two semicylinders of the second reinforcing shaft 121, through holes are formed in the outer circumferential surface of the second reinforcing shaft 121 and the ball ends of the third hydraulic rod and the fourth hydraulic rod, and the second positioning pin 129 is connected with the two semicylinders of the second reinforcing shaft 121 and the third hydraulic rod and the fourth hydraulic rod.

It should be noted that the structural arrangement and beneficial effects of the third lower driving shaft 13 and the fourth lower driving shaft 14 are the same as those of the first lower driving shaft 11, and are not described in detail herein.

The feeding follower 2 includes a first lower slave shaft 21, a second lower slave shaft 22, a third lower slave shaft 23 and a fourth lower slave shaft 24, the first lower slave shaft 21, the second lower slave shaft 22, the third lower slave shaft 23 and the fourth lower slave shaft 24 are arranged in a row, each lower slave shaft is correspondingly connected with a manipulator (not shown in the figure), and the position and the deflection angle of each lower slave shaft are controlled by the manipulators.

The first lower driven shaft 21 comprises a third hydraulic driving assembly, a third reinforcing shaft 211, a third rotating shaft 212 and a third mounting seat 213, the third hydraulic driving assembly is arranged at the top of the third mounting seat 213, the lower end of the third reinforcing shaft 211 is connected with the third hydraulic driving assembly, the third hydraulic driving assembly can be used for driving the third reinforcing shaft 211 to incline, two ends of the third rotating shaft 212 are not located on the same horizontal plane, the third rotating shaft 212 is arranged in the middle of the top of the third reinforcing shaft 211, part of the third rotating shaft is located in the third reinforcing shaft 211, and the third reinforcing shaft 211 can rotate around the axis of the third reinforcing shaft 211.

The third hydraulic driving assembly comprises a fifth hydraulic cylinder 214 and a sixth hydraulic cylinder 215, the fifth hydraulic cylinder 214 and the sixth hydraulic cylinder 215 are arranged at the top of the third mounting seat 213 side by side, the fifth hydraulic cylinder 214 is hinged to the third reinforcing shaft 211 through a fifth hydraulic rod, and the sixth hydraulic cylinder 215 is hinged to the third reinforcing shaft 211 through a sixth hydraulic rod.

It should be noted that the axes of the third reinforcing shaft 211 and the third rotating shaft 212 are parallel, and the lifting directions of the fifth hydraulic cylinder 214 and the sixth hydraulic cylinder 215 are perpendicular to the third rotating shaft 212.

In order to facilitate the installation of the third rotating shaft 212, the third reinforcing shaft 211 is formed by two symmetrical semicylinders, a groove for arranging the third rotating shaft 212 and a ball groove for arranging the fifth hydraulic rod and the sixth hydraulic rod are formed on the semicylinders, and the ends of the fifth hydraulic rod and the sixth hydraulic rod are arranged in a ball head shape so as to form a ball hinge with the third reinforcing shaft 211.

In order to avoid the third reinforcing shaft 211 rotating around its own axis and facilitate the connection of the two semicylinders of the third reinforcing shaft 211, through holes are provided on the outer circumferential surface of the third reinforcing shaft 211 and the ball ends of the fifth hydraulic rod and the sixth hydraulic rod, and the third positioning pin 216 is connected to the two semicylinders of the third reinforcing shaft 211 and the fifth hydraulic rod and the sixth hydraulic rod.

It should be noted that the structural arrangement and beneficial effects of the second lower driven shaft 22, the third lower driven shaft 23 and the fourth lower driven shaft 24 are the same as those of the first lower driven shaft 21, and are not described in detail herein.

The upper driven mechanism 3 includes a first upper driven shaft 31, a second upper driven shaft 32, a third upper driven shaft 33 and a fourth upper driven shaft 34, the first upper driven shaft 31, the second upper driven shaft 32, the third upper driven shaft 33 and the fourth upper driven shaft 34 are arranged in a row, each upper driven shaft is correspondingly connected with a manipulator (not shown in the figure), and the position and the deflection angle of each lower driven shaft are controlled by the manipulators.

The first upper driven shaft 31 comprises a fourth hydraulic driving assembly, a fourth reinforcing shaft 311, a fourth rotating shaft 312 and a fourth mounting seat 313, the fourth hydraulic driving assembly is arranged at the top of the fourth mounting seat 313, the lower end of the fourth reinforcing shaft 311 is connected with the fourth hydraulic driving assembly, the fourth hydraulic driving assembly can be used for driving the fourth reinforcing shaft 311 to incline, two ends of the fourth rotating shaft 312 are not located on the same horizontal plane, the fourth rotating shaft 312 is arranged in the middle of the top of the fourth reinforcing shaft 311, the part of the fourth rotating shaft is located in the fourth reinforcing shaft 311, and the fourth reinforcing shaft 311 can rotate around the axis of the fourth rotating shaft 311.

The fourth hydraulic driving assembly comprises a seventh hydraulic cylinder 314 and an eighth hydraulic cylinder 315, the seventh hydraulic cylinder 314 and the eighth hydraulic cylinder 315 are arranged at the top of the fourth mounting seat 313 side by side, the seventh hydraulic cylinder 314 is hinged to the fourth reinforcing shaft 311 through a seventh hydraulic rod, and the eighth hydraulic cylinder 315 is hinged to the fourth reinforcing shaft 311 through an eighth hydraulic rod.

It should be noted that the axes of the fourth reinforcing shaft 311 and the fourth rotating shaft 312 are parallel, and the lifting directions of the seventh hydraulic cylinder 314 and the eighth hydraulic cylinder 315 are perpendicular to the fourth rotating shaft 312.

In order to facilitate the installation of the fourth rotating shaft 312, the fourth reinforcing shaft 311 is formed by two symmetrical half cylinders, a groove for arranging the fourth rotating shaft 312 and a ball groove for arranging the seventh hydraulic rod and the eighth hydraulic rod are formed on the half cylinders, and the ends of the seventh hydraulic rod and the eighth hydraulic rod are arranged in a ball head shape so as to form a ball hinge with the fourth reinforcing shaft 311.

In order to avoid the rotation of the fourth reinforcing shaft 311 around its own axial direction and facilitate the connection of the two semicylinders of the fourth reinforcing shaft 311, through holes are provided at the outer circumferential surface of the fourth reinforcing shaft 311, the ball ends of the seventh hydraulic rod and the eighth hydraulic rod, and the fourth positioning pin 316 is connected to the two semicylinders of the fourth reinforcing shaft 311, the seventh hydraulic rod and the eighth hydraulic rod.

It should be noted that the structural arrangement and beneficial effects of the second upper driven shaft 32, the third upper driven shaft 33 and the fourth upper driven shaft 34 are the same as those of the first upper driven shaft 31, and are not described again.

In the embodiment, the lower driving shafts (the first lower driving shaft 11, the second lower driving shaft 12, the third lower driving shaft 13 and the fourth lower driving shaft 14), the lower driven shafts (the first lower driven shaft 21, the second lower driven shaft 22, the third lower driven shaft 23 and the fourth lower driven shaft 24) and the upper driven shafts (the first upper driven shaft 31, the second upper driven shaft 32, the third upper driven shaft 33 and the fourth upper driven shaft 34) are all arranged on a manipulator to position the rotating shaft, the hydraulic assembly controls the pressure during forming, the base is positioned and controlled by depending on the external manipulator to determine the position, the base is positioned and controlled by using the center point coordinates of two ends of the rotating shaft, the pressure of the hydraulic cylinder and the hydraulic rod controls the forming pressure, and the rotating speed of the servo motor controls the feeding speed of forming. Each axis can realize local straight-line curved surface bending at different positions.

It should be noted that the hydraulic cylinder in this embodiment is an electric hydraulic cylinder, and the pressure of the hydraulic cylinder is controlled by switching on and off the electric hydraulic cylinder.

Example 2

Another embodiment of the present invention, as shown in fig. 1-2, discloses a method for forming a curved surface workpiece, which is implemented by using the curved surface forming apparatus of embodiment 1, and is suitable for roll-bending cylindrical surface, conical surface and single-sheet hyperboloid part, and comprises the following steps:

step 1: and clamping the flat blank part.

Step 2: and (5) putting the postures of the shafts according to the shapes of the parts, positioning and increasing the compensation amount.

Specifically, when the single-sheet hyperboloid part is molded, first, starting points of the first lower drive shaft 11, the second lower drive shaft 12, the third lower drive shaft 13, the fourth lower drive shaft 14, the first lower driven shaft 21, the second lower driven shaft 22, the third lower driven shaft 23, the fourth lower driven shaft 24, the first upper driven shaft 31, the second upper driven shaft 32, the third upper driven shaft 33 and the fourth upper driven shaft 34 are unchanged, and a difference value between an end point coordinate and a starting point coordinate of each shaft is set as a coordinate difference value of a starting point and an end point of a control parameter (see coordinate values in table 1), so that a running posture of each shaft is formed; then, the theta parameter is firstly set to be 0.5 time of the control parameter (see the angle value in the table 1), whether the plate material is in contact with the rotating shaft or not is observed, if the plate material is separated from the rotating shaft to cause the contact between the plate material and the reinforcing shaft, the theta parameter is set to be 0.25 time of the control parameter (see the angle value in the table 1), and a bisection method is adopted when the theta parameter is selected every time until the plate material is in contact with the rotating shaft; and finally, the starting point and the end point of the axis gradually approach the theoretical coordinates at the same speed, the position of each axis is adjusted through the manipulator, finally, the control parameters (see coordinate values and angle values in the table 1) are reached, and the manipulator positions the axes.

When a cylindrical surface part and a conical surface part are formed, firstly, a first lower driving shaft 11, a second lower driving shaft 12, a third lower driving shaft 13 and a fourth lower driving shaft 14 are used as a first group of shafts, a first lower driven shaft 21, a second lower driven shaft 22, a third lower driven shaft 23 and a fourth lower driven shaft 24 are used as symmetrical center lines of a rotating shaft of a second group of shafts to be adjusted, so that an included angle between the rotating shaft and an original position reaches an included angle between a generatrix of the part and a rotating axis of the part (the generatrix angle of the cylindrical surface is 0 degrees), and a theta parameter is firstly set to be a first group of 10 degrees and a second group of-10 degrees (the anticlockwise direction is positive when facing the first driving; the coordinates of the first upper driven shaft 31, the second upper driven shaft 32, the third upper driven shaft 33 and the fourth upper driven shaft 34 are unchanged, the parameter theta of the upper driven shaft is firstly set to be 0 DEG, the trend postures of the shafts are formed, the subsequent steps are the same as those in the molding process of the single-sheet hyperboloid parts, and the description is omitted.

In this embodiment, the compensation amount in step 2 is an adjustable parameter, and is optimized according to the result of multiple forming, and the compensation amount is adjusted as follows:

and adjusting the pressure and the position of the shaft to gradually compensate for springback according to the deviation of the formed part, and finally forming in place. The adjustment process is as follows: if the radius of the part is larger, the distance between the contacted shafts is reduced, for example, if the radius of the end point position of the second lower driving shaft 12 is larger, the coordinate distances of the end points of the lower driving shaft, the lower driven shaft and the upper driven shaft are reduced, the specific implementation can compensate the coordinate z of the upper driven shaft to the directions of the lower driving shaft and the lower driven shaft, and can also adjust the coordinate of the end point of the three shafts to the center of a triangle formed by the three points by several millimeters, so that the pressure is synchronously increased; otherwise, the adjustment direction is opposite.

When a cylindrical component or a conical component is formed by roll bending, the axes of the rotating shafts of the upper driven shaft, the lower driving shaft, and the lower driven shaft are aligned with each other, and the angular orientations of the shafts are not separately provided on a straight line.

And step 3: the servo motor drives the sheet to feed along with the rolling of the shaft, and the curved surface forming of the final workpiece is completed.

In this embodiment, the following table is a design method of control parameters of each axisTable, start point coordinates (x) of each driving or driven shaft_n，y_n，z_n) End point coordinate (X)_n，Y_n，Z_n) The angle between the side surface of the base and the vertical plane is theta_nThe rotation speed of the rotary shaft controlled by the servo motor of the drive shaft is omega_n。

TABLE 1 control parameters of each axis of a curved surface forming device

In a specific embodiment of this embodiment, a curved surface forming device is used to form a single-sheet double curved surface, and step 2 specifically includes: and extracting coordinates of each axis in three-dimensional software according to the shape of the part, swinging the posture of each axis to gradually approach the theoretical coordinates, adjusting the position of each axis by using a manipulator, positioning each axis and increasing the compensation amount.

Specifically, first, the starting points of the first lower drive shaft 11, the second lower drive shaft 12, the third lower drive shaft 13, the fourth lower drive shaft 14, the first lower driven shaft 21, the second lower driven shaft 22, the third lower driven shaft 23, the fourth lower driven shaft 24, the first upper driven shaft 31, the second upper driven shaft 32, the third upper driven shaft 33, and the fourth upper driven shaft 34 are unchanged, and the difference between the coordinates of the end point and the coordinates of the starting point of each shaft is set as the coordinate difference of the starting point and the end point of the control parameter (see the coordinate values of table 2), so as to form the running posture of each shaft; then, the theta parameter is firstly set to be 0.5 time of the control parameter (see the angle value in the table 2), whether the plate material is in contact with the rotating shaft or not is observed, if the plate material is separated from the rotating shaft to cause the contact between the plate material and the reinforcing shaft, the theta parameter is set to be 0.25 time of the control parameter (see the angle value in the table 2), and a bisection method is adopted when the theta parameter is selected every time until the plate material is in contact with the rotating shaft; and finally, the starting point and the end point of the axis gradually approach the theoretical coordinates at the same speed, the position of each axis is adjusted through the manipulator, finally, the control parameters (see coordinate values and angle values in the table 2) are achieved, and the manipulator positions the axes.

In this embodiment, the compensation amount in step 2 is an adjustable parameter, and is optimized according to the result of multiple forming, and the compensation amount is adjusted as follows:

and adjusting the pressure and the position of the shaft to gradually compensate for springback according to the deviation of the formed part, and finally forming in place. The adjustment process is as follows: if the radius of the part is larger, the distance between the contacted shafts is reduced, for example, if the radius of the end point position of the second lower driving shaft 12 is larger, the coordinate distances of the end points of the lower driving shaft, the lower driven shaft and the upper driven shaft are reduced, the specific implementation can compensate the coordinate z of the upper driven shaft to the direction of the lower driving shaft and the lower driven shaft, and can also adjust the coordinate of the end point of the three shafts to the center of a triangle formed by the three points by 2-9 mm, so that the pressure is synchronously increased; otherwise, the adjustment direction is opposite.

The coordinates of the respective axes used in the single-sheet hyperboloid forming process of the present embodiment are shown in table 2 below.

TABLE 2 control implementation parameters of each axis in the process of forming single-sheet hyperboloid

The curved surface forming device and the curved surface workpiece forming method provided by the invention can partially replace the existing rigid die stamping to manufacture curved surface sheet metal parts, reduce the manufacturing cost of curved surface parts, improve the forming efficiency, and can form parts with straight line buses under the condition without edge pressing equipment, thereby greatly improving the flexibility and the intelligence of the forming process and being beneficial to ensuring the scientific research and production progress.

According to the curved surface forming device and the curved surface workpiece forming method, the directions, positions and rotating speeds of all shafts during forming are controlled through the limited bending forming shafts, and the flat plate blank is formed into the non-cylindrical surface curved surface part.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.