CN116493461A - Multi-pass flexible flanging forming track optimization method - Google Patents
Multi-pass flexible flanging forming track optimization method Download PDFInfo
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- CN116493461A CN116493461A CN202310656453.9A CN202310656453A CN116493461A CN 116493461 A CN116493461 A CN 116493461A CN 202310656453 A CN202310656453 A CN 202310656453A CN 116493461 A CN116493461 A CN 116493461A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005457 optimization Methods 0.000 title claims description 19
- 230000008569 process Effects 0.000 claims abstract description 16
- 239000000463 material Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000009826 distribution Methods 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 230000000306 recurrent effect Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 14
- 238000005452 bending Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000005482 strain hardening Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000009827 uniform distribution Methods 0.000 description 1
Classifications
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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
- B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
- B21D19/043—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers for flanging edges of plates
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aerodynamic Tests, Hydrodynamic Tests, Wind Tunnels, And Water Tanks (AREA)
- Feedback Control In General (AREA)
Abstract
According to the method, a flanging rebound compensation criterion is set according to a target flanging piece material, and a theoretical flanging forming track and assembly forming time are comprehensively obtained by combining a multipass flexible flanging forming strategy determined according to the characteristics of flanging piece parts; in the actual flanging mechanism forming process, real-time working condition data are collected through a vision system and are imported into a forming track prediction algorithm, the forming track at the next moment is predicted, and closed-loop control of the flanging mechanism is realized until the whole flanging forming process is completed. The method is simple and feasible, can reduce the rebound compensation times after multi-pass flanging, avoid the problems of difficult compensation and the like of rebound after multi-pass flanging, effectively improve the forming efficiency and the forming quality, and has important engineering application value in the engineering fields of aerospace, ship, automobile manufacturing and the like.
Description
Technical Field
The invention relates to a technology in the field of sheet forming, in particular to a multichannel flexible flanging forming track optimization method.
Background
The large-size opening sheet metal flanging parts with various small batches are widely applied in the fields of aerospace, automobiles and the like so as to improve the rigidity of parts or further assemble with other structures. However, the conventional flanging process is to form with a die and a punch on a press, and is produced using only a large number of parts. The robot flanging forming technology based on track control combines the robot control technology with the flanging forming technology, and the robot drives the forming tool to move so as to realize the accurate forming of various flanging, and the flanging forming technology is particularly suitable for flanging forming of various small-batch parts. The existing forming method is improved in technology, and rebound still existing after flanging forming is finished cannot be compensated because the material is seriously hardened, so that in order to further improve forming quality, the flanging forming track needs to be optimized to realize accurate rebound compensation in the forming process. The existing laser bending forming technology for aluminum alloy sheets cannot purposefully adjust the technological parameters immediately, and only the technological parameters can be modified after the forming is finished, and then the laser bending forming is performed again, so that time and labor are wasted.
Disclosure of Invention
Aiming at the problem that rebound compensation is difficult to realize due to severe work hardening of a plate material after the forming is finished by the existing flexible flanging forming technology, and the flanging forming quality is low, the invention provides a multichannel flexible flanging forming track optimization method, which is used for continuously updating the flanging forming track in the flanging forming process to realize real-time rebound optimization, thereby effectively solving the defects of the existing forming technology of sheet metal flanging parts, having simple and feasible method, reducing rebound compensation times after multichannel flanging, avoiding the problem that rebound is difficult to compensate after multichannel flanging, effectively improving the forming efficiency and the forming quality, and having important engineering application value in the engineering fields of aerospace, ship, automobile manufacturing and the like.
The invention is realized by the following technical scheme:
the invention relates to a multi-pass flexible flanging forming track optimization method, which is characterized in that a flanging rebound compensation criterion is set according to a target flanging part material, a multi-pass flexible flanging forming strategy is determined according to the part characteristics of the flanging part, and a theoretical flanging forming track and assembly forming time are comprehensively obtained; in the actual flanging mechanism forming process, real-time working condition data are collected through a vision system and are imported into a forming track prediction algorithm, the forming track at the next moment is predicted, and closed-loop control of the flanging mechanism is realized until the whole flanging forming process is completed.
The multi-pass flexible flanging forming strategy comprises the following steps: a flanging angle distribution strategy, a rotation motion strategy, a revolution flanging forming strategy and a rotation and revolution matching strategy.
The flanging angle distribution strategy refers to that: according to the part characteristics, the flanging angle distribution strategy is performed when the plate is subjected to multi-pass forming, such as uniform distribution of flanging angles of each pass, gradual increase of flanging angles of each pass, gradual decrease of flanging angles of each pass and flanging angle distribution strategy according to multiple functions.
The autorotation strategy refers to: and when each pass of flanging forming is performed, the motion strategy of the flanging forming roller rotating to the flanging angle of the pass comprises, but is not limited to, uniform motion, acceleration motion and deceleration motion.
The revolution flanging forming strategy refers to that: and after each pass of forming roller rotates to the target turning angle of the pass, flanging and forming are carried out on the whole plate, for example, auxiliary tools such as a robot and the like are adopted to drive the forming roller to realize revolution or a platform where the plate is located rotates to form a forming roller fixed strategy.
The rotation and revolution matching strategy refers to that: and each pass of forming roller rotates to the matching relation between the target turnup angle and the whole plate revolution turnup forming, such as rotation and revolution firstly and then, rotation and revolution simultaneously at different speeds.
The vision system refers to a laser vision measurement system:
the real-time working condition data comprises: real-time corner turning, real-time pass and real-time roller position.
The shaping track prediction algorithm is as follows: cyclic neural networks based on processing time series data, including but not limited to RNN, LSTM, and GRU neural networks.
The invention relates to a system for realizing the method, which comprises the following steps: the device comprises a flanging forming decision-making module, a vision module, a flanging forming real-time optimization module and a flanging forming execution module, wherein: the flanging forming decision module determines a multi-pass flexible flanging forming strategy according to the characteristics of the target part, obtains a theoretical flanging forming track, and determines a flanging rebound compensation criterion according to the part material; the vision module collects and records real-time edge turning, real-time pass and real-time roller position in the flanging forming process; the flanging forming real-time optimization module obtains a flanging forming track at the next moment by utilizing a forming track prediction algorithm and a flanging rebound compensation criterion determined by the flanging forming decision module according to the data acquired by the vision module and the theoretical flanging forming track formulated by the flanging forming decision module; the flanging forming execution module is used for carrying out flanging forming according to the theoretical flanging forming track designated by the flanging decision-making module, carrying out flanging forming according to the flanging forming track designated by the flanging forming real-time optimization module at the next moment, and carrying out flanging forming according to the flanging forming track designated by the flanging forming real-time optimization module at the next moment continuously by the flanging forming execution mechanism so as to realize real-time adjustment of flanging forming.
Technical effects
According to the invention, the track is dynamically adjusted through the flanging forming track prediction algorithm according to the flanging angle change in the flanging forming process, so that the flanging rebound real-time compensation is realized. Compared with the prior art, the invention is simple and feasible, changes the existing method of rebound compensation after the flanging forming is finished, reduces or removes rebound compensation pass after the flanging is finished by carrying out real-time rebound compensation in the flanging forming process, reduces the work hardening degree of the plate, and improves the forming quality and the forming efficiency of the flanging piece.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a dimensional view of a target flange member according to an embodiment;
in the figure: a 101 target flanging piece plane part, a 102 target flanging piece transition fillet part and a 103 target flanging piece flanging part;
FIG. 3 is a diagram of the original plate dimensions of an embodiment;
FIG. 4 is a graph comparing the forming track of the present invention with the forming track of the prior art;
FIG. 5 is a graph comparing flanging angles of parts obtained by adopting the forming track of the flanging forming technology according to the present invention and the prior art.
Detailed Description
As shown in fig. 1, this embodiment relates to a multi-pass flexible flanging forming track optimization method, which includes:
step 1) analyzing the material property of a target piece, and setting a rebound compensation criterion: as shown in fig. 2 and 3, the target flanging piece is made of LY12 aluminum alloy, so that the flanging rebound compensation criterion is set to be 1/2 of the compensation criterion, namely half of the rebound angle is reversely compensated;
step 2) determining a multi-pass flexible flanging forming strategy according to the part characteristics of the flanging piece: according to the characteristics of 2mm of thickness of a target flanging piece, 60 degrees of flanging angle, 90 degrees of circular arc opening angle, 1460mm of plate inner diameter, 30mm of flanging length and the like, 6-pass flanging forming is set, the flanging angle distribution strategy selects a strategy of uniformly distributing each pass angle, namely each pass flanging angle is set to be 10 degrees, the rotation motion strategy selects uniform motion, the motion speed is set to be 1 degree/s, the revolution flanging forming strategy selects a strategy that a robot drives a forming roller to move to realize revolution, the motion speed is set to be 3 degrees/s, the rotation revolution matching strategy adopts a strategy that the robot drives the forming roller to rotate to each pass of target flanging angle and then drives the forming roller to revolve to realize the whole plate forming, and the total forming time can be determined to be 240s; after a theoretical flanging forming track is obtained, starting a flanging mechanism to form, and simultaneously utilizing a vision system to collect data, wherein the time s=0 for the vision system to start collecting data is set, so that real-time flanging angles at 0-5 moment are obtained;
step 3) introducing a theoretical forming track and a real-time flanging angle at 0-5 moment into a forming track prediction algorithm based on LSTM, predicting a flanging angle at 6s moment based on historical data at 0-5 moment, obtaining a forming track at 6s moment based on a set 1/2 rebound compensation criterion, and updating a system forming track to carry out flanging forming;
step 4) after finishing forming at the 6 th moment, introducing a theoretical forming track and a real-time flanging angle at the 1-6 th moment into an LSTM-based forming track prediction algorithm, predicting a flanging angle at the 7 th moment based on historical data at the 1-6 th moment, obtaining a forming track at the 7 th moment based on a set 1/2 rebound compensation criterion, and updating a system forming track to carry out flanging forming; repeating the above operation until the whole flanging forming process is completed.
As shown in FIG. 4, compared with the track of the prior flanging forming technology, the flanging forming track considers the anisotropy of materials or the asymmetry of the shapes of parts, and adjusts the forming track according to the difference of flanging rebound, thereby improving the flanging forming quality.
As shown in fig. 5, the part flanging angle obtained by adopting the forming track of the flanging forming technology in the invention is compared with that obtained by adopting the prior flanging forming technology. Compared with the flanging rebound angle of 1.57 degrees on average obtained by the existing flanging forming technology, the average rebound of the flanging piece obtained by the invention is only 0.19 degrees, and the forming quality is obviously improved; the flanging piece formed by the forming track obtained by the method has the maximum flanging rebound of 0.27 degrees, is smooth in surface and has no obvious defects such as collapse and the like.
In summary, the invention adjusts the forming track in real time in the flanging forming process, and does not need to increase the pass after the flanging forming is finished to carry out rebound compensation, thereby greatly improving the forming efficiency.
The foregoing embodiments may be partially modified in numerous ways by those skilled in the art without departing from the principles and spirit of the invention, the scope of which is defined in the claims and not by the foregoing embodiments, and all such implementations are within the scope of the invention.
Claims (5)
1. A multichannel flexible flanging forming track optimization method is characterized in that a flanging rebound compensation criterion is set according to a target flanging piece material, a multichannel flexible flanging forming strategy is determined according to the part characteristics of a flanging piece, and a theoretical flanging forming track and total forming time are comprehensively obtained; in the actual flanging mechanism forming process, acquiring real-time working condition data through a vision system and leading in a forming track prediction algorithm to predict a forming track at the next moment, so as to realize closed-loop control of the flanging mechanism until the whole flanging forming process is completed;
the multi-pass flexible flanging forming strategy comprises the following steps: a flanging angle distribution strategy, a rotation movement strategy, a revolution flanging forming strategy and a rotation and revolution matching strategy;
the flanging angle distribution strategy refers to that: according to the part characteristics, the flanging angle distribution strategy is carried out when the plate is formed in multiple passes,
the autorotation strategy refers to: when flanging forming is performed in each pass, the flanging forming roller rotates to a movement strategy when the flanging angle is formed in the pass,
the revolution flanging forming strategy refers to that: each pass of forming roller rotates to the target flanging angle of each pass, and flanging forming is carried out on the whole plate;
the rotation and revolution matching strategy refers to that: each pass of forming roller rotates to the matching relation between the target turnup angle and the whole plate revolution turnup forming;
the real-time working condition data comprises: real-time corner turning, real-time pass and real-time roller position.
2. The multi-pass flexible flanging forming track optimization method according to claim 1, wherein the flanging angle distribution strategy comprises: the flanging angles of all the passes are uniformly distributed, the flanging angles of all the passes are gradually increased, the flanging angles of all the passes are gradually reduced, and the flanging angle distribution strategy is carried out according to multiple functions.
3. The multi-pass flexible flanging forming track optimization method according to claim 1, wherein the forming track prediction algorithm is as follows: a recurrent neural network based on processing time series data.
4. A multipass flexible flanging forming trace optimizing method according to any one of claims 1 to 3, characterized by comprising:
step 1) analyzing the material property of a target piece, and setting a rebound compensation criterion: the target flanging piece is made of LY12 aluminum alloy, so that a flanging rebound compensation criterion is set to be 1/2 compensation criterion, namely half of a reverse compensation rebound angle;
step 2) determining a multi-pass flexible flanging forming strategy according to the part characteristics of the flanging piece: according to the characteristics of 2mm of thickness of a target flanging piece, 60 degrees of flanging angle, 90 degrees of circular arc opening angle, 1460mm of plate inner diameter, 30mm of flanging length and the like, 6-pass flanging forming is set, the flanging angle distribution strategy selects a strategy of uniformly distributing each pass angle, namely each pass flanging angle is set to be 10 degrees, the rotation motion strategy selects uniform motion, the motion speed is set to be 1 degree/s, the revolution flanging forming strategy selects a strategy that a robot drives a forming roller to move to realize revolution, the motion speed is set to be 3 degrees/s, the rotation revolution matching strategy adopts a strategy that the robot drives the forming roller to rotate to each pass of target flanging angle and then drives the forming roller to revolve to realize the whole plate forming, and the total forming time can be determined to be 240s; after a theoretical flanging forming track is obtained, starting a flanging mechanism to form, and simultaneously utilizing a vision system to collect data, wherein the time s=0 for the vision system to start collecting data is set, so that real-time flanging angles at 0-5 moment are obtained;
step 3) introducing a theoretical forming track and a real-time flanging angle at 0-5 moment into a forming track prediction algorithm based on LSTM, predicting a flanging angle at 6s moment based on historical data at 0-5 moment, obtaining a forming track at 6s moment based on a set 1/2 rebound compensation criterion, and updating a system forming track to carry out flanging forming;
step 4) after finishing forming at the 6 th moment, introducing a theoretical forming track and a real-time flanging angle at the 1-6 th moment into an LSTM-based forming track prediction algorithm, predicting a flanging angle at the 7 th moment based on historical data at the 1-6 th moment, obtaining a forming track at the 7 th moment based on a set 1/2 rebound compensation criterion, and updating a system forming track to carry out flanging forming; repeating the above operation until the whole flanging forming process is completed.
5. A system for implementing the multi-pass flexible flange forming trace optimization method of any of claims 1-4, comprising: the device comprises a flanging forming decision-making module, a vision module, a flanging forming real-time optimization module and a flanging forming execution module, wherein: the flanging forming decision module determines a multi-pass flexible flanging forming strategy according to the characteristics of the target part, obtains a theoretical flanging forming track, and determines a flanging rebound compensation criterion according to the part material; the vision module collects and records real-time edge turning, real-time pass and real-time roller position in the flanging forming process; the flanging forming real-time optimization module obtains a flanging forming track at the next moment by utilizing a forming track prediction algorithm and a flanging rebound compensation criterion determined by the flanging forming decision module according to the data acquired by the vision module and the theoretical flanging forming track formulated by the flanging forming decision module; the flanging forming execution module is used for carrying out flanging forming according to the theoretical flanging forming track designated by the flanging decision-making module, carrying out flanging forming according to the flanging forming track designated by the flanging forming real-time optimization module at the next moment, and carrying out flanging forming according to the flanging forming track designated by the flanging forming real-time optimization module at the next moment continuously by the flanging forming execution mechanism so as to realize real-time adjustment of flanging forming.
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| CN202310656453.9A CN116493461A (en) | 2023-06-05 | 2023-06-05 | Multi-pass flexible flanging forming track optimization method |
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| CN202310656453.9A CN116493461A (en) | 2023-06-05 | 2023-06-05 | Multi-pass flexible flanging forming track optimization method |
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