CN112052553A - Hemming indentation model-based hemming track compensation method, system and device - Google Patents
Hemming indentation model-based hemming track compensation method, system and device Download PDFInfo
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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
- B21D19/00—Flanging or other edge treatment, e.g. of tubes
- B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
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Abstract
The application relates to a binding track compensation method, a binding track compensation system and a binding track compensation device based on a binding indentation model. The method comprises the following steps: acquiring parameters of the edge covering radius, the edge rolling pressing angle, the distance between a roller bus and the edge line of the edge rolling tire mold and the distance between the side line of the tire mold and the outline of the outer plate; establishing a hemming mathematical model of mathematical relations between the hemming retraction amount and the hemming radius, the hemming press-in angle, the distance between the roller bus and the hemming tire mold edge line and the distance between the tire mold edge line and the outer plate outline; and adjusting the edge covering process of the opening piece according to the edge covering mathematical model. According to the edge covering track compensation method provided by the invention, by establishing the mathematical model of the edge covering retraction amount, the model reflects the accurate relation between the edge covering parameters and the edge covering retraction amount, the influence of characteristic parameters is conveniently and quickly analyzed, parameters such as the retraction amount of the opening piece, the pressing angle of a roller of a robot, the distance between the edge of a tire membrane and the roller and the like can be quickly generated in the debugging process, the method is simple and quick, the practicability is high, and the edge covering debugging period and the cost are greatly shortened.
Description
Technical Field
The application relates to the technical field of automobile opening part machining, in particular to a hemming track compensation method, system and device based on a hemming indentation model.
Background
The matching of the gap and the surface difference of the opening part area of the car is important content of car body quality control, which not only influences the perception of customers, but also influences the whole car performance problems of sealing, wind noise and the like of the car. The gap uniformity of the matching area of the opening piece is related to the precision of the stamping piece, the welding quality of parts and the edge covering process of the inner plate and the outer plate.
In the prior art, two methods of robot edge rolling and traditional die edge wrapping are mainly adopted. Compared with the traditional mould edge covering process, the robot edge covering technology has the advantages of low equipment investment cost, good production flexibility, easy maintenance and the like, thereby being widely applied. However, in the process of robot edge rolling, due to different process parameter settings, the sheet material is easy to indent or bulge, which causes deviation between the profile of the sheet material and the design definition.
The traditional method for improving the edge covering quality mainly depends on the experience of engineers, and the edge covering parameters are adjusted repeatedly. In addition, a method of finite element analysis and proxy model is used for optimizing edge covering parameters, but in the actual debugging process, due to the influences of part tolerance, equipment deviation and the like, the deviation between a theoretical model and the actual situation is large, and the establishment of the finite element model needs a large amount of time and calculation amount, so that the field debugging cannot be guided quickly and efficiently.
Disclosure of Invention
The embodiment of the application provides a hemming track compensation method, system and device based on a hemming shrinkage model, and aims to solve the problems that in the related technology, due to the influences of part tolerance, equipment deviation and the like, a theoretical model has large deviation from an actual situation, a finite element model needs to spend a large amount of time and calculation amount for establishing a finite element model, and field debugging cannot be guided quickly and efficiently.
In a first aspect, a hemming track compensation method based on a hemming shrinkage model is provided, which includes the following steps:
obtaining the edge radius R and bindingPressing angle theta and distance D between roller generatrix and edge line of binding tire membraneTCP-RTPDistance D between the edge line of the tyre membrane and the outline of the outer platexThe parameters of (1);
establishing the contraction amount of the edge covering, the radius R of the edge covering, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire filmTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship (c);
and adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
According to the first aspect, in a first possible implementation manner of the first aspect, the "establishing of the hemming retraction amount" is related to a hemming radius R, a hemming press-in angle θ, a distance D of a roller generatrix from a hemming tire film edge lineTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship comprises the following steps:
assuming that the distance D between the roller bus and the edge line of the binding tire filmTCP-RTPIs 0;
according to the edge radius R and the distance D between the edge line of the tyre film and the outline of the outer platexAnd the mathematical relation of the edge covering retraction amount, and establishing a formula I:
and (3) converting parameters according to the formula I to obtain a formula II, and obtaining an ideal mathematical model of the edge covering indentation amount:
＝R×[cot(0.25π-0.5θ)-1]-Dxformula II
According to the binding press-in angle theta and the distance D between the roller generatrix and the binding moulding bed edge lineTCP-RTPAnd establishing a mathematical relation with the distance between the roller bus and the edge line of the tire membrane as the virtual tire membrane length L according to a formula III:
L＝DTCP-RTPcos theta type III
And correcting the formula two according to the formula three to obtain a formula four, namely a mathematical model of the hemming retraction amount:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPcos theta formula IV
According to the first aspect, in a second possible implementation manner of the first aspect, the "correcting the equation two according to the equation three to obtain an equation four, which is a mathematical model of the hemming advance:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
and (3) solving the partial derivatives of the formula IV to establish a mathematical model of the rolling edge shrinkage and the roller press-in angle theta:
According to the first aspect, in a third possible implementation manner of the first aspect, the "correction is performed according to the third equation and the second equation to obtain a fourth equation, which is a mathematical model of the hemming advance:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
calculating the partial derivatives of the formula four, and establishing the shrinkage of the edge rolling and the distance D between the roller bus and the edge line of the edge rolling tire moldTCP-RTPThe mathematical model of (2):
According to the first aspect, in a fourth possible implementation manner of the first aspect, the step of "obtaining the hemming radius R" includes the following steps:
obtaining the thickness E1 of an outer plate of the opening piece and the thickness E2 of an inner plate of the opening piece;
and (3) carrying out parameter transformation on the thickness E1 of the outer plate of the opening piece and the thickness E2 of the inner plate of the opening piece according to the formula five to obtain the edge covering radius R of the outer plate of the opening piece:
r ═ 2E1+ E2)/2 formula V
According to the first aspect, in a fifth possible implementation manner of the first aspect, before the step of "adjusting the edge covering process of the opening member according to the edge covering mathematical model", the method includes the following steps:
detect the distance D between the roller bus and the edge line of the binding filmTCP-RTP；
When the distance D between the roller bus and the edge line of the binding tire membrane is detectedTCP-RTPAnd when the pressure is 0, controlling the roller to stop applying pressure to the outer plate edge covering.
In a second aspect, the invention provides a hemming track compensation system based on a hemming indentation model, which comprises a parameter acquisition module, a hemming indentation modeling module and a hemming process control module, wherein the parameter acquisition module is used for acquiring a hemming radius R, a hemming press-in angle theta and a distance D between a roller bus and a hemming tire mold film edge lineTCP-RTPDistance D between the edge line of the tyre membrane and the outline of the outer platexThe parameters of (1); the edge covering retraction modeling module is used for establishing edge covering retraction and the edge covering radius R, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire moldTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship (c); and the edge covering process control module is used for adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when being executed by a processor, the computer program implements all or part of the method steps of the hemming trace compensation method based on the hemming indentation model.
In a fourth aspect, an embodiment of the present invention provides an opening part processing apparatus, including a frame, a blank film and a roller, wherein the blank film is arranged on the frame and used for placing an opening part plate to be processed; and the roller is arranged on the frame, is correspondingly matched with the tire membrane and is used for processing the opening piece plate placed on the tire membrane according to the hemming track compensation method based on the hemming indentation model to obtain the opening piece.
According to a fourth aspect, in a first possible implementation manner of the fourth aspect, the tire membrane is provided in a rectangular parallelepiped structure, and an edge of the rectangular parallelepiped structure is chamfered.
The invention has the beneficial technical effects that:
according to the hemming track compensation method based on the hemming shrinkage model, the mathematical model of the hemming shrinkage is generated by establishing a geometric relation between big data of an existing vehicle type opening part and the hemming parameters according to the process mode of roller hemming, the mathematical model reflects the accurate relation between the hemming parameters and the hemming shrinkage, and the influence of characteristic parameters can be analyzed quickly;
the method is simple, fast and practical, can adjust the parameters in real time according to the measured data of the opening piece after edge covering, and greatly shortens the edge covering debugging period and the cost;
by applying the edging shrinkage and the calculation method based on big data, edging engineering debugging personnel can quickly and efficiently set edging parameters to improve the edging quality based on actual measurement data after the edging of the opening part in the debugging process, and the batch quality problem and the influence on the project cycle caused by repeatedly adjusting the parameters through the experience of the debugging personnel are avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method provided by an embodiment of the present application;
FIG. 2 is a schematic diagram of an apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of an apparatus according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an apparatus according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an apparatus according to an embodiment of the present disclosure;
fig. 6 is a functional system block diagram according to an embodiment of the present application.
In the figure: 1. molding a tire mold; 2. an outer plate; 3. an inner plate; 4. a roller; 100. a parameter acquisition module; 200. a wrapping shrinkage modeling module; 300. and a hemming process control module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
The embodiment of the application provides a hemming track compensation method, system and device based on a hemming shrinkage model, and aims to solve the problems that in the related technology, due to the influences of part tolerance, equipment deviation and the like, a theoretical model has large deviation from an actual situation, a finite element model needs to spend a large amount of time and calculation amount for establishing a finite element model, and field debugging cannot be guided quickly and efficiently.
In one aspect, referring to fig. 1, an embodiment of the present application provides a hemming track compensation method based on a hemming shrinkage model, including the following steps:
obtaining the edge covering radius R, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire mold 1TCP-RTPAnd the distance D between the sideline of the tyre film 1 and the outline of the outer plate 2xThe parameters of (1);
establishing the edge covering shrinkage, the edge covering radius R, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire membrane 1TCP-RTPAnd the distance D between the side line of the tyre film 1 and the outline of the outer plate 2xThe edge covering mathematical model of the mathematical relationship (c);
and adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
The invention has the beneficial technical effects that:
according to the hemming track compensation method based on the hemming shrinkage model, provided by the embodiment of the invention, according to the process mode of roller 4 hemming, a mathematical model of the hemming shrinkage is generated by establishing a geometric relationship between big data of an opening part of an existing vehicle type and hemming parameters, and the mathematical model reflects the accurate relationship between the hemming parameters and the hemming shrinkage, so that the influence of characteristic parameters can be conveniently and quickly analyzed;
in the actual debugging process, the measured data of the opening part is substituted into the mathematical model, so that parameters such as the retraction amount of the opening part, the pressing angle of a roller 4 of the robot, the distance between the edge of a tire mould 1 and the roller 4 and the like can be quickly generated, the method is simple, quick and practical, the parameters can be adjusted in real time according to the measured data of the opening part after edge covering, and the edge covering debugging period and the cost are greatly shortened;
by applying the edging shrinkage and the calculation method based on big data, edging engineering debugging personnel can quickly and efficiently set edging parameters to improve the edging quality based on actual measurement data after the edging of the opening part in the debugging process, and the batch quality problem and the influence on the project cycle caused by repeatedly adjusting the parameters through the experience of the debugging personnel are avoided.
As described above, according to the present application, referring to fig. 2-3, the center point of the binding tool is defined at the generatrix of the roller 4, the robot target point is defined on the edge line of the tire mold 1, and the TCP-RTP distance refers to the distance from the generatrix of the roller 4 to the edge line of the binding tire mold 1. During pre-edging, the roller 4 needs to be tightly attached to the outer plate 2, the outer plate 2 needs to be tightly attached to the moulding bed 1 after edging, namely, the bending point of the pre-edging part is overlapped with the roller 4, the part round corner of the outer plate 2 is overlapped with the moulding bed 1 after edging, the point A is a TCP and part bending point, the point B is a TCP-RTP overlapping point, and the point C is a TCP-RTP virtual overlapping point.
In a preferred embodiment, the "set hemming run-in" is defined as the hemming radius R, the hemming run-in angle θ, and the distance D between the roller generatrix and the edge line of the hemming molding bed 1TCP-RTPAnd the distance D between the side line of the tyre film 1 and the outline of the outer plate 2xThe edge covering mathematical model of the mathematical relationship comprises the following steps:
assuming that the distance D between the generatrix of the roller and the edge line of the binding tire membrane 1TCP-RTPIs 0;
according to the edge-covering radius R and the distance D between the sideline of the tyre film 1 and the outline of the outer plate 2xAnd the mathematical relation of the edge covering retraction amount, and establishing a formula I:
and (3) converting parameters according to the formula I to obtain a formula II, and obtaining an ideal mathematical model of the edge covering indentation amount:
＝R×[cot(0.25π-0.5θ)-1]-Dxformula II
Referring to FIG. 5, the distance D between the roller generatrix and the edge line of the binding film 1 is determined according to the binding penetration angle θTCP-RTPAnd establishing a mathematical relation that the distance between the roller bus and the edge line of the tire membrane 1 is the length L of the virtual tire membrane 1 according to a formula III:
L＝DTCP-RTPcos theta type III
And correcting the formula two according to the formula three to obtain a formula four, namely a mathematical model of the hemming retraction amount:
＝R[cot(0.25π-0.5θ)-1[-Dx-DTCP-RTPcos theta formula IV
In a preferred embodiment, the "correction is performed according to the formula three to the formula two, and the formula four is obtained, which is a mathematical model of the hemming advance:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
and (3) solving the partial derivatives of the formula IV to establish a mathematical model of the rolling edge shrinkage and the roller press-in angle theta:
In a preferred embodiment of the present application, the "correction is performed according to the formula three to the formula two, so as to obtain the formula four, which is a mathematical model of the hemming advance:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
calculating the partial derivatives of the formula four, and establishing the shrinkage of the edge rolling and the distance D between the roller bus and the edge line of the edge rolling tire mold 1TCP-RTPThe mathematical model of (2):
In a specific embodiment, the step of "obtaining the wrapping radius R" includes the following steps:
obtaining the thickness E1 of the outer plate 2 of the opener and the thickness E2 of the inner plate 3 of the opener;
converting the parameters of the thickness E1 of the outer plate 2 of the opener and the thickness E2 of the inner plate 3 of the opener according to the formula five to obtain the edge covering radius R of the outer plate 2 of the opener:
r ═ 2E1+ E2)/2 formula V
According to the first aspect, in a fifth possible implementation manner of the first aspect, before the step of "adjusting the edge covering process of the opening member according to the edge covering mathematical model", the method includes the following steps:
detect the distance D between the roller bus and the edge line of the binding tire membrane 1TCP-RTP；
When the distance D between the roller bus and the edge line of the binding tire membrane 1 is detectedTCP-RTPWhen the value is 0, the roller is controlled to stop pressing the outer plate 2 for edge covering.
In a second aspect, referring to fig. 6, the present invention provides a hemming trajectory compensation system based on a hemming indentation model, which includes a parameter obtaining module 100, a hemming indentation modeling module 200, and a hemming process control module 300, wherein the parameter obtaining module 100 is configured to obtain a hemming radius R, a hemming press-in angle θ, and a distance D between a roller bus and a hemming mold liner 1 edge lineTCP-RTPAnd the distance D between the sideline of the tyre film 1 and the outline of the outer plate 2xThe parameters of (1); the binding shrinkage modeling module 200 is used for establishing binding shrinkage, binding radius R, binding press-in angle theta and distance D between a roller bus and a binding tire membrane 1 edge lineTCP-RTPAnd the distance D between the side line of the tyre film 1 and the outline of the outer plate 2xThe edge covering mathematical model of the mathematical relationship (c); the edge covering process control module 300 is used for adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
In some embodiments, the welt indentation angle θ is measured at 30 °, 45 °, 60 °; corresponding TCP-RTP distance DTCP-RTP0.5mm, 1mm, 1.25mm, 1.75mm, 2 mm; the thickness E1 of the corresponding rolled outer plate 2 is 0.8mm, E2 is 1.4mm, and the thickness R of the rolled outer plate 2 is (2E1+ E2)/2 is 1.5 mm; the design distance Dx between the forming die 1 and the plate profile is 0.2 mm; different binding indentation angles and TCP-RTP distance binding indentation values.
Table 1 shows the calculation of the amount of the binding shrinkage corresponding to each set of data of the above embodiment based on the mathematical model of the amount of the binding shrinkage.
TABLE 1 different binding penetration angles θ, TCP-RTP distances DTCP-RTPAnd the corresponding edge rolling indentation value under the edge rolling thickness
As can be seen from the above table, the amount of the roll indentation increases with increasing penetration angle at the same DCP-RTP distance, and changes from swelling to indentation.
At the same press-in angle, the amount of binding setback decreases as TCP-RTP increases.
The hemming press-in angle is an angle at which the roller 4 turns the outer panel 2 during the hemming operation, and for example, when the hemming angle of the outer panel 2 is 90 °, if the roller 4 press-in angle is 30 °, the hemming-deployment angle after the outer panel 2 is hemmed becomes 60 °.
TCP-RTP distance: distance of the tool center point (tool center point) from the robot target point (robot target point).
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when being executed by a processor, the computer program implements all or part of the method steps of the hemming trace compensation method based on the hemming indentation model.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
In a fourth aspect, the embodiment of the invention provides an opening part processing device, which comprises a rack, a tire membrane 1 and a roller, wherein the tire membrane 1 is arranged on the rack and used for placing an opening part plate to be processed; and the roller is arranged on the frame, is correspondingly matched with the tire membrane 1, and is used for processing the opening piece plate placed on the tire membrane 1 according to the hemming track compensation method based on the hemming indentation model to obtain the opening piece.
In a specific embodiment, the tire mold 1 is a rectangular parallelepiped structure, and an edge chamfer of the rectangular parallelepiped structure is provided. The inclination angle of the edge chamfer plane is the same as the target pressing angle of the roller 4, so that the bottom surface of the roller 4 is attached to the chamfer plane of the tire mould 1, the mathematical modeling is accurately established on the premise of accurately setting the pressing angle of the roller 4, and the reliability of the mathematical modeling is judged according to the retraction amount of the outer plate 2 during modeling.
Based on the same inventive concept, the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, all or part of the method steps of the hemming trace compensation method based on the hemming indentation model are implemented.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
In some embodiments, the device further comprises a display unit, wherein the display unit is in communication connection with the calculation unit and is used for displaying parameter values required by the edge covering design of the opening piece, so that a designer can conveniently and directly read the parameter values required by the design
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (cpu), or may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a flash memory Card (F lash Card), at least one magnetic disk storage device, a flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A hemming track compensation method based on a hemming indentation amount model is characterized by comprising the following steps:
obtaining the edge covering radius R, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire moldTCP-RTPDistance D between the edge line of the tyre membrane and the outline of the outer platexThe parameters of (1);
establishing the contraction amount of the edge covering, the radius R of the edge covering, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire filmTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship (c);
and adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
2. The base of claim 1The hemming track compensation method in the hemming indentation model is characterized in that the hemming indentation and hemming radius R, the hemming press-in angle theta and the distance D between the roller bus and the hemming tire mold edge line are establishedTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship comprises the following steps:
assuming that the distance D between the roller bus and the edge line of the binding tire filmTCP-RTPIs 0;
according to the edge radius R and the distance D between the edge line of the tyre film and the outline of the outer platexAnd the mathematical relation of the edge covering retraction amount, and establishing a formula I:
and (3) converting parameters according to the formula I to obtain a formula II, and obtaining an ideal mathematical model of the edge covering indentation amount:
＝R×[cot(0.25π-0.5θ)-1]-Dxformula II
Establishing a formula III according to a mathematical relation that a binding press-in angle theta, a distance DTCP-RTP between a roller bus and a binding tire membrane edge line and a distance between the roller bus and the tire membrane edge line are virtual tire membrane length L:
L＝DTCP-RTPcos theta type III
And correcting the formula two according to the formula three to obtain a formula four, namely a mathematical model of the hemming retraction amount:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPcos theta formula IV
3. The hemming trace compensation method based on the hemming indentation amount model according to claim 2, wherein the "correction is performed according to a third pair of equations two to obtain an equation four, which is a mathematical model of hemming indentation amount:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
and (3) solving the partial derivatives of the formula IV to establish a mathematical model of the rolling edge shrinkage and the roller press-in angle theta:
4. the hemming trace compensation method based on the hemming indentation amount model according to claim 2, wherein the "correction is performed according to a third pair of equations two to obtain an equation four, which is a mathematical model of hemming indentation amount:
＝R[cot(0.25π-0.5θ)-1]-Dx-DTCP-RTPafter the cos θ formula four step, the following steps are included:
calculating the partial derivatives of the formula four, and establishing the shrinkage of the edge rolling and the distance D between the roller bus and the edge line of the edge rolling tire moldTCP-RTPThe mathematical model of (2):
5. The hemming indentation amount model based hemming track compensation method according to claim 1 wherein the step of obtaining a hemming radius R comprises the steps of:
obtaining the thickness E1 of an outer plate of the opening piece and the thickness E2 of an inner plate of the opening piece;
and (3) carrying out parameter transformation on the thickness E1 of the outer plate of the opening piece and the thickness E2 of the inner plate of the opening piece according to the formula five to obtain the edge covering radius R of the outer plate of the opening piece:
r ═ 2E1+ E2)/2 formula V
6. The hemming trace compensation method based on the bind indentation model according to claim 1, wherein the step of adjusting the hemming process of the opener according to the hemming mathematical model comprises the following steps:
detect the distance D between the roller bus and the edge line of the binding filmTCP-RTP；
When the distance D between the roller bus and the edge line of the binding tire membrane is detectedTCP-RTPAnd when the pressure is 0, controlling the roller to stop applying pressure to the outer plate edge covering.
7. A hemming indentation amount model-based hemming track compensation system is characterized by comprising:
a parameter acquisition module for acquiring the edge covering radius R, the edge rolling pressing angle theta and the distance D between the roller bus and the edge line of the edge rolling tire moldTCP-RTPDistance D between the edge line of the tyre membrane and the outline of the outer platexThe parameters of (1);
a binding shrinkage modeling module for establishing binding shrinkage, binding radius R, binding press-in angle theta and distance D between the roller bus and binding tire membrane edge lineTCP-RTPAnd the distance D between the edge line of the tyre membrane and the outline of the outer platexThe edge covering mathematical model of the mathematical relationship (c); and the number of the first and second groups,
and the edge covering process control module is used for adjusting the edge covering process of the opening piece according to the edge covering mathematical model.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out all or part of the method steps of the binding trajectory compensation method based on a binding indentation model according to claims 1 to 6.
9. An opener processing apparatus, comprising:
a frame;
the bed film is arranged on the frame and used for placing an opening piece plate to be processed; and the number of the first and second groups,
the roller is arranged on the frame, is correspondingly matched with the tire membrane, and is used for processing the opening piece plate placed on the tire membrane according to the hemming track compensation method based on the hemming indentation amount model as claimed in any one of claims 1 to 6 so as to obtain the opening piece.
10. The opener processing apparatus of claim 9, wherein the green sheet is provided in a rectangular parallelepiped structure, and an edge of the rectangular parallelepiped structure is chamfered.
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