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| Research on Digital Tube Bending Technology Based on Industrial Robot |
| LIU Chunmei, ZHENG Shuo, GUO Wenfeng, HUANG Zushu, SUN Zhenbiao, GUO Xunzhong |
| Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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Abstract As a new type of fully automatic tube processing technology, the digital bending forming technology is based on the current popular industrial robot platform and combined with the bending end device to realize the continuous forming of complex bending components. In this paper, according to the forming principle of digital bending technology, the parsing algorithm of forming process trajectory and motion of the tube bending robot was established, and a matching bending end device was designed and built, so that the bending robot can realize the digital bending process of tube. The method of combining finite element simulation and experiment is used to study the stress changes of the tube during the robot bending process, discuss the feeding function provided by the robot motion, and analyze the effect of this function on the forming quality of the bent tube. The results show that the built tube bending robot platform and the forming trajectory can realize continuous bending of tube. The increase of the maximum stress of bent tube is small. The active feeding of robot can effectively ameliorate the wall thickness reduction of bent tube. However, the active feeding also leads to the accumulation of material on the inner side of bent tube, making it more likely that wrinkle will occur during the experiment. Therefore, in the next research work, it is necessary to focus on the optimization of robot motion, bending speed and other bending parameters to reduce wrinkle defects.
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2022, 
