CN108906941A - A kind of three-dimensional complex component formation system and method based on series-parallel robot - Google Patents
A kind of three-dimensional complex component formation system and method based on series-parallel robot Download PDFInfo
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- CN108906941A CN108906941A CN201810984746.9A CN201810984746A CN108906941A CN 108906941 A CN108906941 A CN 108906941A CN 201810984746 A CN201810984746 A CN 201810984746A CN 108906941 A CN108906941 A CN 108906941A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
- B21D11/22—Auxiliary equipment, e.g. positioning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The present invention relates to the advanced forming technique fields of three-dimensional complex component, more particularly to a kind of three-dimensional complex component formation system and method based on series-parallel robot, it is primarily based on Deformation Analysis and constructs accurate radius-offset distance track mathematical model, and by the three-dimensional photomeasured data of target member, it is compiled into the arm geometric locus data of robot；It controls forming machine human arm or single armed forming machine people and feeding robot arm or guide feeding device device people executes arm geometric locus path, and start feature robot arm and blank is heat-treated.The present invention makes the difficult deformation high strength component with complex three-dimensional axis and local feature realize primary quickly accurate monolithic molding；Desired trajectory path is executed by combination coordinated control multiple groups robot, complete gemel carries out on-line machining processing, realizes unmanned intelligent manufacturing of the three-dimensional complex component without mould vector.
Description
Technical field
The present invention relates to three-dimensional complex component advanced forming technique fields more particularly to a kind of based on series-parallel robot
Three-dimensional complex component formation system and method.
Background technique
The three-dimensional complex component of manufacturing process manufacture refers to three-dimensional space axis, complicated local feature, continuous gradation
The hollow bent member of radius of curvature etc., using mainly including military aircraft complex space conduit and profile load-carrying member, greatly push away
Power aero-engine series complex space conduit, space station and satellite complex pipeline part etc..
Above-mentioned conduit class and profile class three-dimensional complex component are for a long time in poles such as high temperature, high stress, deep-etching and complex loads
End ring is on active service under border, proposes very high requirement to performances such as structural strength, the anticorrosive, exhaustion creeps of component.
China is all made of conventional method manufacture for the three-dimensional structure with labyrinth for a long time, and is classified with process
Mode successively shape.In addition, the cold forming processing method of production three-dimensional complex component only relies on mold under the action of the field of force
Constraint is unidirectional to apply load.
Existing manufacturing method and cold forming techniques have the following disadvantages：
(1) unidirectional loading and shaping is used, material is in the heterogeneous deformation state of non-directional flowing always in forming process,
The defects of causing the high stress under unidirectional loading environment, big rebound, distorting greatly, constrains the accurate, high of three-dimensional complex component
Effect, high-performance manufacture；
(2) be limited by the deformation mechanism of single force field, three-dimensional complex component for a long time by the way of process classification according to
Secondary forming, complex procedures and manufacturing cost are expensive, and the manufacturing cycle also accordingly lengthens.
Industrial robot is that a kind of pair of working condition and production environment adaptability and the very strong flexible automation of flexibility are set
It is standby, especially the more demanding of safety is ground using robot participation in the operating environments such as high temperature, high radiation, poisonous and harmful
System production not only has important meaning in terms of improving equipment core component quality, raising production efficiency and reducing
Justice, and can effectively promote the manufacturing capacities such as agile manufactruing or precision manufactureing.
Summary of the invention
The present invention is directed to the drawbacks of existing three-dimensional complex component manufacturing process, proposes a kind of based on series-parallel robot
Three-dimensional complex component formation system and method introduce mechanical loading field, temperature gradient using automation without mould vector forming technique
More field conditions such as field, barometric gradient field integrate the subsystems such as 3 D auto forming, by series-parallel robot system, complete structure
The on-line machining of part is handled, and realizes the high-precision monolithic molding of complex characteristic three-dimensional structure
In order to achieve the object of the present invention, used technical solution is：A kind of three-dimensional based on series-parallel robot is multiple
Miscellaneous component forming system, including serial manipulator system and parallel robot system, serial manipulator system include feeding machine
Human arm, forming machine human arm, feature robot arm and burning optimization on line device, feeding robot arm is for conveying base
Material, feeding robot arm also pass through fixed blank and provide the reaction force of forming, and forming machine human arm passes through clamping blank
End to provide operating force, feature robot arm for load online annealing device to deformation carry out local induction heating and
Quenching treatment after forming；Parallel robot system includes guide feeding device device people, parallel robot and single armed forming machine people,
Blank is delivered to single armed forming machine people, single armed forming machine by parallel robot by feed arrangement by guide feeding device device people
People front end is installed by anti-skidding clamping unit.
As prioritization scheme of the invention, burning optimization on line device includes high-frequency heating transformer, induction coil and Re Chu
Ring is managed, high-frequency heating transformer respectively drives induction coil and heat treatment ring carries out high-frequency heating.
In order to achieve the object of the present invention, used technical solution is：Utilize three based on series-parallel robot
The method for tieing up the forming of complex component formation system, includes the following steps：
1) it is primarily based on Deformation Analysis and constructs accurate radius-offset distance track mathematical model, and by target member
Three-dimensional photomeasured data is compiled into the arm geometric locus data of robot；
2) forming machine human arm or single armed forming machine people and feeding robot arm or guide feeding device device people are controlled
Arm geometric locus path is executed, and starts feature robot arm and blank is heat-treated；
3) in forming process, according to the three-dimensional data of exemplar in the three-dimensional photomeasured data of forming exemplar and software design
Size difference carries out real time correction to arm geometric locus.
As prioritization scheme of the invention, manufacturing process further includes：By completing the whole combination coordination to each robot
Control realizes that orientation Uniform Flow and continuous uniform plasticity of the difficult-to-deformation material under the conditions of multidirectional load and multi- scenarios method become
Shape, and realize the direct field-oriented control of three-dimensional complex component specific shaped segment and local feature region relative space position.
As prioritization scheme of the invention, multidirectional load be difficult-to-deformation material radially, axially, circumferential or multiple angles
Apply load；Multi- scenarios method includes mechanical loading field, temperature gradient field or barometric gradient field.
As prioritization scheme of the invention, radius-offset distance track mathematical model is：
Rn=f1(Uxn,Uyn)
θn=f2(Uxn,Uyn,Wn)
Ln=f3(Wn)
Wherein, RnFormative radius when being n-th section of forming, θnShape angles when being n-th section of forming, LnFor n-th section of forming
Preceding straight section length,Forming direction when being n-th section of forming on X-Y plane, UxnIt is eccentric in X-direction when being n-th section of forming
Away from UynBe forming n-th section when Y-direction on eccentricity, WnThe length of blank feeding when being n-th section of forming.
The present invention has the effect of positive：1) present invention is conducive to difficult-to-deformation material and uniform plastic deformation occurs, and makes three-dimensional
The formed features such as low stress and small distortion are presented in component, can be realized under multidirectional loading environment the Accurate Shaping of difficult-to-deformation material and
High-performance manufacture, improves the deformation uniformity and forming quality of three-dimensional complex component；
2) a series of crucial forming technologies such as integrating three-dimensional free forming of the present invention, burning optimization on line, partial pressure bulging,
The difficult deformation high strength component with complex three-dimensional axis and local feature is set to realize primary quickly accurate monolithic molding；
3) present invention executes desired trajectory path by combination coordinated control multiple groups robot, and the online of complete gemel adds
Work processing, realizes unmanned intelligent manufacturing of the three-dimensional complex component without mould vector；
4) the method for the present invention simple possible can effectively improve production efficiency, in works such as Aeronautics and Astronautics, automobile manufactures
Journey field has important engineering application value and apparent economic benefit.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the flow chart of manufacturing process of the present invention；
Fig. 2 is radius of the present invention-offset distance track Design of Mathematical Model figure；
Fig. 3 is serial manipulator system；
Fig. 4 is the part-structure of formation system of the present invention；
Fig. 5 is parallel robot system.
Wherein：1, serial manipulator, 2, feeding robot arm, 3, forming machine human arm, 4, feature robot arm,
5, burning optimization on line device, 9, blank, 12, guide feeding device device people, 13, parallel robot, 15, single armed forming machine people, 7,
Feed arrangement, 52, induction coil, 53, heat treatment ring, 10, guiding device.
Specific embodiment
As shown in Figs. 1-5, the invention discloses a kind of three-dimensional complex component formation system based on series-parallel robot, packet
Serial manipulator system and parallel robot system are included, serial manipulator system includes feeding robot arm 2, forming machine people
Arm 3, feature robot arm 4 and burning optimization on line device 5, feeding robot arm 2 is for conveying blank 9, feeding machine
Human arm 2 also provides the reaction force of forming by fixed blank 9, and forming machine human arm 3 is by clamping 9 end of blank to mention
For operating force, feature robot arm 4 is for loading after the 5 pairs of deformations of line annealing device carry out local induction heating and forming
Quenching treatment；Parallel robot system includes guide feeding device device people 12, parallel robot 13 and single armed forming machine people 15,
Blank 9 is delivered to single armed forming machine people 15, single armed by parallel robot 13 by feed arrangement 7 by guide feeding device device people 12
15 front end of forming machine people is installed by anti-skidding clamping unit.
Wherein, blank 9 is delivered to forming machine people by feed arrangement 7 by 2 fittable slackening device of feeding robot arm
At arm 3, accuracy of direction of feed is guaranteed by guiding device 10 during this.Feeding robot arm 2 not only acts as conveying
The effect of blank can also act on counter-force by the straight section of fixed blank 9 to provide forming.3 installation folder of forming machine human arm
Device is held, by clamping the end of blank 9 to provide operating force.Forming for difficult deformation three-dimensional complex component, can be by spy
Sign robot arm 4 loads progress local induction heating at the 5 pairs of deformations of online annealing device, carries out at quenching after the completion of forming
Reason.
Blank 9 is delivered to single armed forming machine by parallel robot 13 by feed arrangement 7 by guide feeding device device people 12
At people 15, accuracy of direction of feed is guaranteed by guiding device 10 during this.The installation of 15 front end of single armed forming machine people is anti-skidding
Grasping system is made of anti-skidding clamping device and mechanics induction mechanism, is directed to the tubing of different cross section, can be loaded different anti-
Slide clip holds front end.Pass through the different motion direction of 13 polypody of parallel robot, the synthesis of angle and single armed forming machine people 15
Draw complete three-dimensional complex component multidirectional loading and shaping.
Burning optimization on line device 5 includes high-frequency heating transformer, induction coil 52 and heat treatment ring 53, high-frequency heating transformation
Device respectively drives induction coil 52 and heat treatment ring 53 carries out high-frequency heating.
Using the method for the three-dimensional complex component formation system forming based on series-parallel robot, include the following steps：
1) it is primarily based on Deformation Analysis and constructs accurate radius-offset distance track mathematical model, and by target member
Three-dimensional photomeasured data is compiled into the arm geometric locus data of robot；
2) forming machine human arm 3 or single armed forming machine people 15 and feeding robot arm 2 or guide feeding device are controlled
Device people 12 executes arm geometric locus path, and starts feature robot arm 4 and be heat-treated to blank 9；
3) in forming process, according to the three-dimensional data of exemplar in the three-dimensional photomeasured data of forming exemplar and software design
Size difference carries out real time correction to arm geometric locus.
Wherein, according to the three-dimensional photomeasured data of forming exemplar in forming process, i.e., with the sample of three dimensional optical measuring instrument acquisition
The three-dimensional data and three-dimensional modeling data of part, and design exemplar when design software in exemplar three-dimensional data size difference, it is right
Robot arm trajectory's curve carries out real time correction；Finally, being realized by completing the whole combination coordinated control to each robot
Orientation Uniform Flow and continuous uniform plastic deformation of the difficult-to-deformation material under the conditions of multidirectional load and multi- scenarios method, and realize three
Tie up the direct field-oriented control of complex component specific shaped segment and local feature region relative space position.
Radius-offset distance track mathematical model is：
Rn=f1(Uxn,Uyn)
θn=f2(Uxn,Uyn,Wn)
Ln=f3(Wn)
Wherein, RnFormative radius when being n-th section of forming, θnShape angles when being n-th section of forming, LnFor n-th section of forming
Preceding straight section length,Forming direction when being n-th section of forming on X-Y plane, UxnIt is eccentric in X-direction when being n-th section of forming
Away from UynBe forming n-th section when Y-direction on eccentricity, WnThe length of blank feeding when being n-th section of forming.The geometric dimension of component,
Pass through the offset distance control in formation system motion process between tubing axis.The present invention is based on multidirectional load and multi- scenarios methods
Forming Theory, and the influence degree of the factors such as material parameter, mechanical factor during forming is combined, especially multidirectional
The factors such as deformation characteristic, plastic instability mechanism of material under conditions of load and multi- scenarios method derive and construct accurate radius-partially
Away from track mathematical model.Material is applied in the multiple directions such as the radial-axial circumferential direction of material and different angle simultaneously corresponding
Load makes three-dimensional structure that the formed features such as low stress and small distortion be presented.Manufacturing process is disposable integrally formed for needing
Geometry complexity and the higher three-dimensional structure of required precision, break through the deformation mechanism of single force field, and integrating three-dimensional is free
A series of crucial forming techniques such as forming, burning optimization on line, partial pressure bulging, introduce mechanical loading field, temperature gradient field, gas
More field conditions such as gradient fields are pressed, material resistance of deformation under multi- scenarios method state is greatly reduced.It is more to change three-dimensional complex component
The conventionally manufactured thinking and equipment overall structure shaped under the conditions of constraint or staff cultivation, proposes to be based on formation system three-dimensional motion rail
The three-dimensional of the automation Non-mould shaping method that mark accurately controls, the intelligence degree and formed parts that improve Forming Equipments is compact
Degree.
Below in conjunction with the bending specific embodiment of " u "-shaped pipe three-dimensional complex component, the present invention is described in detail.
Embodiment 1
The first step obtains the geometric data of " u "-shaped pipe three-dimensional complex component：
First straight section length L1=50mm, the first bending section radius of curvature R=87.85mm, bending angle θ=45 °, transition
Straight section length L2=70mm, the second bending section radius of curvature R=87.85mm, bending angle θ=45 °, the second straight section length L3=
50mm, pipe diameter 20mm.In conjunction with the feature of forming process, each section is segmented, and determines the length of each section.Straight section L1
=50mm, changeover portionθ=arcsin (A/R), S1=44.9mm；Bending section
Changeover portion S3=A '=43mm；Straight section L2=70-43=27mm；Changeover portionθ=arcsin (A/R), S4=
44.9mm；Bending sectionChangeover portion S6=A '=43mm；Straight section L3=50-43=7mm.It will be with
Upper data are converted into robot arm trajectory's curve data.
Robot arm trajectory's curve data obtained by the first step is inputted serial manipulator system, feeding machine by second step
Three-dimensional complex component blank 9 is delivered at forming machine human arm 3 by 2 fittable slackening device of human arm by feed arrangement 7,
Accuracy of direction of feed is guaranteed by guiding device 10 during this；3 mounting clamping device of forming machine human arm, passes through clamping
9 end of blank carries out bending forming to blank under the collective effect of two arms to provide operating force.
Third step starts feature robot arm 4 while bending carries out, mobile by controlling feature robot arm 4
Induction coil 52 and heat treatment ring 53 arrive bending position, carry out quick high-frequency heating to crooked position.
4th step, the three-dimensional photomeasured data of comparison forming exemplar and the size difference of three-dimensional modeling data.If data comparison
If as a result consistent, it is considered as the target member for obtaining function admirable；If inconsistent, the arm geometric locus of robot is carried out
Real time correction, until comparing result is consistent.
Embodiment 2
The first step obtains the geometric data of " u "-shaped pipe three-dimensional complex component：First straight section length L1=50mm, the first bending
Section radius of curvature R=87.85mm, bending angle θ=45 °, transition straight section length L2=70mm, the second bending section radius of curvature R=
87.85mm, bending angle θ=45 °, the second straight section length L3=50mm, pipe diameter 20mm.It is right in conjunction with the feature of forming process
Each section segmentation, and determine the length of each section.Straight section L1=50mm, changeover portion
S1=44.9mm；Bending sectionChangeover portion S3=A '=43mm；Straight section L2=70-43=27mm；
Changeover portionθ=arcsin (A/R), S4=44.9mm；Bending sectionChangeover portion S6
=A '=43mm；Straight section L3=50-43=7mm.Robot arm trajectory's curve data is converted by above data.
Robot arm trajectory's curve data obtained by the first step is inputted parallel robot system, is oriented to feeding by second step
Blank 9 is delivered to single armed forming machine people 15 by parallel robot 13 by feed arrangement 7 by robot 12, passes through parallel machine
The draw in the different motion direction of 13 polypody of device people, the synthesis of angle and single armed forming machine people, dummy robot's hand
Arm geometric locus, to complete the bending forming of " u "-shaped pipe.
Third step starts feature robot arm 4 while bending carries out, mobile by controlling feature robot arm 4
Induction coil 52 and heat treatment ring 53 arrive bending position, carry out quick high-frequency heating to crooked position.
4th step, the three-dimensional photomeasured data of comparison forming exemplar and the size difference of three-dimensional modeling data.If data comparison
If as a result consistent, it is considered as the target member for obtaining function admirable；If inconsistent, the arm geometric locus of robot is carried out
Real time correction, until comparing result is consistent.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (6)
1. a kind of three-dimensional complex component formation system based on series-parallel robot, it is characterised in that：Including serial manipulator system
System and parallel robot system, the serial manipulator system include feeding robot arm (2), forming machine human arm
(3), feature robot arm (4) and burning optimization on line device (5), the feeding robot arm (2) is for conveying blank
(9), the feeding robot arm (2) also provides the reaction force of forming, the forming machine by fixed blank (9)
Human arm (3) provides operating force by clamping blank (9) end, and the feature robot arm (4) is online for loading
Annealing device (5) carries out the quenching treatment after local induction heating and forming to deformation；The parallel robot system packet
Include guide feeding device device people (12), parallel robot (13) and single armed forming machine people (15), the guide feeding device device people
(12) blank (9) is delivered to single armed forming machine people (15), the list by parallel robot (13) by feed arrangement (7)
Arm forming machine people (15) front end is installed by anti-skidding clamping unit.
2. a kind of three-dimensional complex component formation system based on series-parallel robot according to claim 1, feature exist
In：The burning optimization on line device (5) includes high-frequency heating transformer, induction coil (52) and is heat-treated ring (53), described
High-frequency heating transformer respectively drive induction coil (52) and heat treatment ring (53) carry out high-frequency heating.
3. special using the method for the three-dimensional complex component formation system forming described in claim 1 based on series-parallel robot
Sign is：Include the following steps：
1) it is primarily based on Deformation Analysis and constructs accurate radius-offset distance track mathematical model, and by the three-dimensional of target member
Photomeasured data is compiled into the arm geometric locus data of robot；
2) forming machine human arm (3) or single armed forming machine people (15) and feeding robot arm (2) or guiding feeding are controlled
Robot (12) executes arm geometric locus path, and starts feature robot arm (4) and be heat-treated to blank (9)；
3) in forming process, according to the size of the three-dimensional data of exemplar in the three-dimensional photomeasured data of forming exemplar and software design
Difference carries out real time correction to arm geometric locus.
4. the method for the three-dimensional complex component formation system forming based on series-parallel robot according to claim 3, special
Sign is：The manufacturing process further includes：By completing the whole combination coordinated control to each robot, difficult deformation material is realized
Expect the orientation Uniform Flow and continuous uniform plastic deformation under the conditions of multidirectional load and multi- scenarios method, and realizes 3 D complex structure
The direct field-oriented control of part specific shaped segment and local feature region relative space position.
5. the method for the three-dimensional complex component formation system forming based on series-parallel robot according to claim 4, special
Sign is：Multidirectional load be difficult-to-deformation material radially, axially, circumferential or multiple angles apply load；More include mechanics
Field of load, temperature gradient field or barometric gradient field.
6. the method for the three-dimensional complex component formation system forming based on series-parallel robot according to claim 3, special
Sign is：The radius-offset distance track mathematical model is：
Rn=f1(Uxn,Uyn)
θn=f2(Uxn,Uyn,Wn)
Ln=f3(Wn)
Wherein, RnFormative radius when being n-th section of forming, θnShape angles when being n-th section of forming, LnBefore n-th section of forming
Straight section length,Forming direction when being n-th section of forming on X-Y plane, UxnBe forming n-th section when X-direction on eccentricity, Uyn
Be forming n-th section when Y-direction on eccentricity, WnThe length of blank feeding when being n-th section of forming.
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| CN201810984746.9A CN108906941A (en) | 2018-08-28 | 2018-08-28 | A kind of three-dimensional complex component formation system and method based on series-parallel robot |
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Application publication date: 20181130 |