阅读说明：本技术 一种单叶双曲面工件成型方法 (Method for forming single-sheet double-curved-surface workpiece ) 是由 高海涛 马建强 沈华 马向宇 王斌 李东锋 郭成龙 于 2020-11-26 设计创作，主要内容包括：本发明涉及一种单叶双曲面工件成型方法,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、多尺寸单叶双曲面零件的弯曲的问题。本发明使用单叶双曲面成型装置实施,步骤包括：步骤S1：装夹平板毛坯零件；步骤S2：根据零件形状摆出单叶双曲面装置的轴的姿态并定位,增加补偿量；步骤S3：伺服电机驱动,完成初步曲面零件的加工,形成进料端曲面；步骤S4：卸载压力载荷,将初步曲面零件的进料端曲面进给送料；步骤S5：重复步骤S2～S4,完成单叶双曲面工件的成型。本发明降低了单叶双曲面类零件的制造成本,提高了成型效率,在不具备压边设备的条件下,能够成型有直纹母线的零件。(The invention relates to a method for forming a single-sheet double-curved-surface workpiece, belongs to the technical field of sheet metal part forming, and solves the problem that a curved surface forming method in the prior art is not suitable for bending small-batch and multi-size single-sheet double-curved-surface parts. The invention is implemented by using a single-sheet double-curved-surface forming device, and comprises the following steps: step S1: clamping a flat plate blank part; step S2: the shaft of the single-sheet double-curved-surface device is put in a posture and positioned according to the shape of the part, and the compensation amount is increased; step S3: the servo motor drives to finish the processing of the primary curved surface part and form a curved surface at the feeding end; step S4: unloading the pressure load, and feeding the curved surface of the feeding end of the preliminary curved surface part; step S5: and repeating the steps S2-S4 to complete the forming of the single-sheet double-curved-surface workpiece. The invention reduces the manufacturing cost of the single-blade double-curved-surface part, improves the forming efficiency, and can form the part with the straight-line bus without edge pressing equipment.)

1. A method of forming a single-ply, double-curved surface workpiece, the method being implemented using a single-ply, double-curved surface forming apparatus, the steps comprising:

step S1: clamping a flat plate blank part;

step S2: the shaft of the single-sheet double-curved-surface device is put in a posture and positioned according to the shape of the part, and the compensation amount is increased;

step S3: the servo motor drives to finish the processing of the primary curved surface part and form a curved surface at the feeding end;

step S4: unloading the pressure load, and feeding the curved surface of the feeding end of the preliminary curved surface part;

step S5: and repeating the steps S2-S4 to complete the forming of the single-sheet double-curved-surface workpiece.

2. The method for forming the single-sheet hyperboloid workpiece according to claim 1, wherein the single-sheet hyperboloid forming device comprises a feeding driving mechanism (1), a feeding driven mechanism (2) and an upper driven mechanism (3), the feeding driven mechanism (2) is positioned on one side of the feeding driving mechanism (1), the upper driven mechanism (3) is positioned above the feeding driving mechanism (1) and the feeding driven mechanism (2), and the 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).

3. The method for forming single-sheet hyperboloid workpieces according to claim 2, wherein the feeding drive mechanism (1) 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), and 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 arranged in a line and are connected with a manipulator.

4. A method for forming a single-sheet hyperboloid workpiece according to claim 3, characterized in that said first lower driving shaft (11) comprises a first servo driving assembly, a first hydraulic driving assembly, a first reinforcing shaft (111) and a first rotating shaft (112), the first rotating shaft (112) is arranged in the first reinforcing shaft (111) and partially exposes the first reinforcing shaft (111), and the first reinforcing shaft (111) can rotate in the first rotating shaft (112).

5. The method for forming the single-sheet hyperboloid workpiece according to claim 4, wherein the first hydraulic driving assembly comprises a first mounting seat (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 on the top of the first mounting seat (116) side by side, the first hydraulic cylinder (117) is hinged with the first reinforcing shaft (111) through a first hydraulic rod, and the second hydraulic cylinder (118) is hinged with the first reinforcing shaft (111) through a second hydraulic rod.

6. A method for forming a single-sheet hyperboloid workpiece according to claim 3, characterized in that the feeding driven 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 line and are connected with a manipulator.

7. The method for forming the single-sheet hyperboloid workpiece according to claim 6, wherein 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, and the third rotating shaft (212) is partially positioned in the third reinforcing shaft (211) and can rotate around the axis of the third rotating shaft.

8. The method for forming a single-sheet hyperboloid workpiece according to claim 7, wherein the third reinforcing shaft (211) comprises two symmetrical half cylinders, and the half cylinders are provided with grooves for arranging the third rotating shaft (212).

9. The method for forming a single-sheet hyperboloid workpiece according to claim 6, characterized in that the upper driven mechanism (3) comprises 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 are connected with a manipulator.

10. A method of forming a single-sheet hyperboloid workpiece according to claim 9 in which the robot controls the positions and deflection angles of the lower drive shaft, the lower driven shaft and the upper driven shaft.

Technical Field

The invention relates to the technical field of sheet metal part forming, in particular to a method for forming a single-sheet double-curved-surface workpiece.

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 are directed to a method for forming a single-sheet double-curved surface workpiece, so as to solve the problem that the existing curved surface forming method is not suitable for bending small-batch and multi-size single-sheet double-curved surface parts.

The invention provides a method for forming a single-sheet double-curved-surface workpiece, which is implemented by using a single-sheet double-curved-surface forming device and comprises the following steps:

step S1: clamping a flat plate blank part;

step S2: the shaft of the single-sheet double-curved-surface device is put in a posture and positioned according to the shape of the part, and the compensation amount is increased;

step S3: the servo motor drives to finish the processing of the primary curved surface part and form a curved surface at the feeding end;

step S4: unloading the pressure load, and feeding the curved surface of the feeding end of the preliminary curved surface part;

step S5: and repeating the steps S2-S4 to complete the forming of the single-sheet double-curved-surface workpiece.

Further, the single-sheet double-curved-surface forming device comprises a feeding driving mechanism, a feeding driven mechanism and an upper driven mechanism, wherein the feeding driven mechanism is located on one side of the feeding driving mechanism, the upper driven mechanism is located above the feeding driving mechanism and the feeding driven mechanism, and the sheet is formed through machining 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, the first reinforcing shaft comprises two symmetrical semi-cylinders, and grooves for arranging the first rotating shafts are formed in the semi-cylinders.

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, 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.

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 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.

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 plate 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 the plate blank can be molded into a non-cylindrical surface (single-blade double-curved surface) part.

(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 a single-sheet double-curved-surface workpiece can be realized.

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

(4) According to the forming method of the single-sheet double-curved-surface workpiece, the directions, the positions and the 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 view of a single-sheet hyperboloid forming apparatus of the present invention;

FIG. 2 is a schematic view of the single-sheet hyperboloid forming process blank part clamping of the present invention;

FIG. 3 is a schematic view of a preliminary curved part forming process of the present invention for a single-sheet hyperboloid forming process;

FIG. 4 is a schematic view of a single-sheet, double-curved surface forming process for final forming of a curved surface part of the present invention;

FIG. 5 is a schematic view of a single-sheet hyperboloid part of the present invention;

FIG. 6 is a schematic illustration of a blank of the present invention;

FIG. 7 is a schematic view of a block spread of the present invention;

FIG. 8 is a schematic view of a near block spread of the present invention;

FIG. 9 is a first lower drive shaft configuration schematic of the single sheet hyperboloid forming apparatus of the present invention;

FIG. 10 is a schematic view of a first lower drive shaft configuration of the single sheet hyperboloid forming apparatus of the present invention;

FIG. 11 is a second lower drive shaft configuration schematic of the single sheet hyperboloid forming apparatus of the present invention;

FIG. 12 is a second lower drive shaft configuration schematic view of the single sheet hyperboloid forming apparatus of the present invention;

FIG. 13 is a schematic view of the lower driven shaft of the single sheet hyperboloid forming apparatus of the present invention;

FIG. 14 is a schematic view of the lower driven shaft of the single-sheet hyperboloid forming apparatus of the present invention;

FIG. 15 is a schematic view of the upper driven shaft of the single sheet hyperboloid forming apparatus of the present invention;

fig. 16 is a schematic view (ii) of the upper driven shaft of the single-sheet double-curved surface forming apparatus of the present invention.

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;

100-blank material; 200-curved surface parts; 300-blank parts; 400-preliminary curved surface parts.

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.

One embodiment of the present invention, as shown in fig. 1-16, discloses a method for forming a single-sheet double-curved-surface workpiece, which is implemented by using a curved surface forming device, and comprises the following steps:

step 1: and clamping the flat blank part 300.

Step 2: 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.

And step 3: the servo motor drives the sheet to feed along with the rolling of the shaft, so that the primary processing of the curved surface part 400 is completed, and a small section of curved surface with the curved surface feeding end of 20 mm-100 mm is formed.

And 4, step 4: and moving the upper driven shaft away from the plate, unloading the pressure load, feeding and feeding the small section of curved surface finished at the starting end of the part forwards, and aligning the middle point of a generatrix segment at the tail part of the section of curved surface with the second lower driving shaft 12 and facing the end surface plane in the direction of the third lower driving shaft 13 and the fourth lower driving shaft 14.

And 5: and (3) moving the upper driven shaft to approach and clamp the plate according to the coordinates in the step (2) to prepare for forming a second section of curved surface. And (3) repeating the step (2-4), adjusting the width of the curved surface formed by one section of the formed part according to the precision requirement of the part, wherein the width of the curved surface formed by the sheet material can be adjusted each time, the precision of the molded surface can be improved by being smaller than 20mm, and the precision of the molded surface can also be reduced by being larger than 100mm, the forming of the curved surface part is completed after iteration is carried out for multiple times, and the expanded material of each section is bent into an approximate hyperboloid in the repeated iteration processing process to form.

It should be noted that according to the characteristics of the hyperbolic curved surface, when the feeding direction of the sheet is basically perpendicular to the linear generatrix of the sheet, all the curved surfaces can be roll-bent at one time. If the feeding direction of the double-curved-surface plate is not perpendicular to the linear generatrix of the plate, the lower driving shaft is rotated to feed and bend the plate, after the plate passes through a stroke of 100mm or when the deviation between the upper driven shaft and the generatrix is more than 5mm, the upper driven shaft is moved to loosen the plate, the position of the generatrix and the shaft are adjusted to be overlapped, the plate is pressed and clamped, and the steps 2-4 are repeated to form the next section of curved surface. And finally, processing the shape of the integral part after multi-section forming. According to the higher the precision requirement of the part, the block size and the forming distance can be reduced as much as possible during the design of the expanded material.

It is noted that between step 1 there is also step 0, where the treatment of the blank is carried out: the blank 100 is formed by splicing partially developed materials into an integrally developed material. The blank 100 may be calculated by designing an approximate finite number of conical or cylindrical surfaces based on the shape of the curved part 200, and then expanding the surface and splicing the surfaces together. The approximate calculation needs to be performed for many times in the calculation process of the spreading material. As shown in fig. 7, the material is spread in blocks, the symmetrical center plane of the hyperboloid is a curved edge after being spread, the spread material is fan-shaped, and fig. 8 shows the material which is spread in approximate blocks, the edge is approximate to a straight line, the whole material is approximate to a parallelogram, in order to avoid the shortage of the length of the material, the length of the material is designed by adopting the perimeter of the outer edge of the hyperboloid, the length direction is in the direction of the connecting line of the vertexes at the midpoint of the material, the bevel edge in the width direction of the material is a bus, and the length of the material is designed according to the length of the.

In this embodiment, table 1 below shows the design of the control parameters of each axis, and the coordinates (x) of the start point of each driving axis or driven axis_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 single-sheet hyperboloid forming device

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 single-sheet hyperboloid forming device each axis control implementation parameter

The curved surface forming device comprises a feeding driving mechanism 1, a feeding driven mechanism 2 and an upper driven mechanism 3, wherein the feeding driven mechanism 2 is located on 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 plate is formed in a machining mode from 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.

The method for forming the single-sheet double-curved-surface workpiece can partially replace the existing method for stamping and manufacturing the curved-surface sheet metal part by using a rigid die, reduces the manufacturing cost of the curved-surface part, improves the forming efficiency, can form the part with the straight-line bus without edge pressing equipment, further greatly improves the flexibility and the intelligence of the forming process, and is beneficial to ensuring the scientific research and production progress.

According to the forming method of the single-sheet double-curved-surface workpiece, the directions, the positions and the rotating speeds of all the shafts during forming are controlled through the limited bending forming shafts, so that 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.