Development of Metal Forming Robot-Spin forming Robot-

金属成形机器人的开发-旋压成形机器人-

基本信息

批准号：
07555403
负责人：
SHIMA Susumu
金额：
$ 1.73万
依托单位：
KYOTO UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

In this project, a new spin forming method was developed and it was investigated in terms of deformation processes of blanks. A new method, which is named "Flexible spin forming", where a pair of rollers are displaced by a robot so that an arbitary shaped product is formed by controlling the movement of the robot hand. In this project, under spinning was focused and an attempt was made to investigate the optimal conditions for forming. A newly bought multi-hinge robot was used and the pair of rollers were attached to its hand. The revolution speed of the blank was fixed to 333rpm. The following results were obtained.1) When the gripping force F is smaller than 9.8N,forming is impossible because of the occurrence of wrinkling.2) When F is larger than 29.4N,the spin forming (under spinning) is possible.3) Springback, which occurs when unloading, increases with increasing blank thickness, whereas it decreases with increasing F.4) Springback increases slightly with increasing roller feed per revolution of the blank.5) In multi-pass forming, at a condition where springback is smaller, the desired shape is almost obtained at the third path, while it is not obtained when springback is larger.6) To generalize the above results, an attempt is made to correlate the fundamental deformation behavior of the blank, i.c.localized indentation by the roller, with deformation at spin forming. When the roller feed per revolution is smaller, almost the same form can be obtained if the gripping force is so adjusted that compression strains in the both deformation is the same, even if the other condtions are different.7) For future work, we shall find out the optimal condition for forming and to construct an algorithm for controlling the robot hand to obtain arbitrarily desired shapes.

在该项目中，开发了一种新的旋转形成方法，并根据空白的变形过程进行了研究。一种名为“柔性旋转形成”的新方法，其中一对滚筒被机器人置换，因此通过控制机器人手的运动来形成arbitary形的产物。在这个项目中，旋转下的重点是，并尝试研究形成的最佳条件。使用了一个新购买的多铰链机器人，并将一对滚筒固定在手上。空白的革命速度固定为333rpm。 1）当握力f小于9.8n时，不可能形成，因为皱纹的发生是不可能的。2）当F大于29.4N时，旋转形成（在旋转下）可能会出现。3）弹簧返回。在卸载时发生，随着旋转的增加而增加，随着旋转的增加，弹簧的增加，而spryback的增加，而spryback的增加，而spryback的增加量会增加。4多通路的形成在弹回较小的情况下，所需的形状几乎是在第三条路径上获得的，而在弹回较大的情况下则无法获得。6）为了概括上述结果，试图将毛坯的基本变形行为与I.c. i.c. close的基本变形行为相关联，并通过滚筒滚动，并在旋转形式下进行变形。当每次革命的滚轮进料较小时，如果调整了握紧力，几乎可以获得几乎相同的形式，以至于两种变形中的压缩应变都是相同的，即使其他条件不同。