权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

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.

本课题提出了一种新的旋压成形方法，并从毛坯变形过程的角度对其进行了研究。提出了一种新的旋压成形方法--柔性旋压成形法，即由机器人移动一对旋轮，通过控制机器人手的运动来成形任意形状的产品。本课题以欠旋压为研究对象，探讨了欠旋压成形的最佳工艺条件。使用新买的多铰链机器人，并将一对滚轮连接到其手上。毛坯的转速固定为333转/分。结果表明：（1）当夹持力F小于9.8N时，由于产生了毛刺，无法进行旋压成形;（2）当夹持力F大于29.4N时，旋压成形（在旋压下）是可能的。3）卸载时发生的回弹随着坯料厚度的增加而增加，而随着F的增加而减小。4）回弹随着坯料每转滚子进给量的增加而略有增加。5）在多道次成形中，在回弹较小的情况下，在第三路径下几乎可以获得所需的形状，而当回弹较大时则不能获得。6）为了推广上述结果，尝试将坯料的基本变形行为（即由辊产生的局部压痕）与旋压成形时的变形相关联。当每转辊进给量较小时，即使其他条件不同，只要调整夹持力使两种变形中的压缩应变相同，就可以得到几乎相同的形状。7）为了今后的工作，我们将找出成形的最佳条件，并构建一种控制机器人手以获得任意形状的算法。