FIELD: sheet metal forming.
SUBSTANCE: invention relates to incremental forming of sheets using a robot. Sheet deformation is performed by heated tool with hemispherical tip installed on robot arm, which is moved along programmed trajectory. Sheet material is calibrated to obtain values of sheet material yield point and corresponding deformation and tension-deformation curve. Behavior of sheet material in plastic region is determined, in which deformation is constant after removal of applied stress. Then, contact zone of sheet clamped along edges and tool, in which the tool is placed at the first coordinate point of the programmed tool path along the spiral forming the surface of the truncated cone, and at other points. Said points are determined by three amplitudes, each of which is determined taking into account the time step of the trajectory and the corresponding coordinate in one of three directions X, Y, Z.
EFFECT: optimized control over working tool motion.
1 cl, 8 dwg
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