Sheet metal structural member straightening device and sheet metal structural member straightening method

Abstract

The application discloses a sheet metal structural member straightening device and a sheet metal structural member straightening method, wherein the sheet metal structural member straightening device comprises a base, a scanning mechanism and a straightening mechanism; the scanning mechanism is arranged above a placing platform and is used for scanning the surface of a workpiece to be straightened and generating three-dimensional point cloud data; the straightening mechanism comprises a hydraulic cylinder, a pressure head and an electromagnetic pulse generator; the hydraulic cylinder and the electromagnetic pulse generator are both arranged above the placing platform through a sliding module; and the sliding module is used for driving the hydraulic cylinder and / or the electromagnetic pulse generator to move in a first direction and / or a second direction. According to the value range of the deviation value Delta of the three-dimensional point cloud data and a preset workpiece standard model, the sheet metal structural member straightening device can control the straightening mechanism to execute different straightening modes in stages, and the hydraulic pressure and the electromagnetic pulse can be combined to implement differential straightening processing for different deformation degree regions, so that the straightening precision is improved, and material damage is avoided.

Description

Technical Field

[0001] This invention relates to the field of sheet metal processing technology, and more specifically, to a sheet metal structural component straightening device and a sheet metal structural component straightening method. Background Technology

[0002] In related technologies, when sheet metal straightening equipment faces large deformations, directly applying mechanical pressure can easily lead to stress concentration inside the material, which can cause surface cracking of the workpiece to be straightened, seriously affecting the straightening accuracy and finished product quality of the sheet metal. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a sheet metal structural component straightening device, which can control the straightening mechanism to execute different straightening modes in stages according to the range of the deviation value Δ between the three-dimensional point cloud data and the preset workpiece standard model. By combining the synergistic effect of hydraulic pressure and electromagnetic pulse, it can perform differentiated straightening treatment for areas with different degrees of deformation, thereby improving straightening accuracy and avoiding material damage value Δ.

[0004] This application also proposes a method for straightening sheet metal structural parts applied to the aforementioned sheet metal structural part straightening device.

[0005] In a first aspect, embodiments of this application provide a sheet metal structural component straightening device, comprising:

[0006] The base has a placement platform for placing the workpiece to be straightened.

[0007] A scanning mechanism is mounted above the placement platform. The scanning mechanism is used to scan the surface of the workpiece to be straightened and generate three-dimensional point cloud data.

[0008] The straightening mechanism includes a hydraulic cylinder, a pressure head, and an electromagnetic pulse generator. The hydraulic cylinder and the electromagnetic pulse generator are both mounted on the placement platform via a sliding module. A proportional servo control unit is provided on the hydraulic cylinder. The pressure head is connected to the bottom of the hydraulic cylinder. The sliding module is used to drive the hydraulic cylinder and / or the electromagnetic pulse generator to move along a first direction and / or a second direction.

[0009] The straightening mechanism has a first mode, a second mode, and a third mode;

[0010] When the deviation Δ between the three-dimensional point cloud data of the area to be calibrated and the preset workpiece standard model satisfies Δ>0.5mm, the first mode is executed: the sliding module drives the hydraulic cylinder to move above the area to be calibrated, the hydraulic cylinder drives the pressure head to move downward to the preset position and outputs the first pressure and maintains it for the first preset time.

[0011] When the deviation value Δ satisfies 0.3mm < Δ ≤ 0.5mm, the second mode is executed: the sliding module drives the electromagnetic pulse generator to move above the area to be straightened, the electromagnetic pulse generator applies a high-frequency electromagnetic pulse to the surface of the workpiece to be straightened and continues for a second preset duration; the sliding module drives the hydraulic cylinder to move above the area to be straightened, the hydraulic cylinder drives the pressure head to move downward to a preset position and outputs a second pressure, the second pressure being less than the first pressure;

[0012] When the deviation value Δ satisfies 0.1mm≤Δ≤0.3mm, the third mode is executed: the sliding module drives the hydraulic cylinder to move above the area to be straightened, the hydraulic cylinder drives the pressure head to move downward to a preset position and outputs a third pressure, the third pressure being less than the second pressure.

[0013] The sheet metal structural component straightening device according to the present invention has at least the following beneficial effects: by generating three-dimensional point cloud data through a scanning mechanism and controlling the straightening mechanism to execute different straightening modes in a hierarchical manner, and by combining the synergistic effect of hydraulic pressure and electromagnetic pulse, differentiated straightening treatment is carried out for areas with different degrees of deformation, which solves the problems of insufficient straightening accuracy and material damage of traditional equipment, and has the advantages of improving straightening accuracy and finished product quality.

[0014] According to the first aspect, in one possible implementation, the sliding module includes:

[0015] Two columns are spaced apart on the base along a first direction, and the two columns are movable relative to the base along a second direction;

[0016] A crossbeam, the two ends of which are respectively connected to the two columns, and the crossbeam is capable of moving vertically relative to the columns;

[0017] A mounting plate is movably disposed on the crossbeam along a first direction, and both the hydraulic cylinder and the electromagnetic pulse generator are connected to the mounting plate.

[0018] According to the first aspect, in one possible implementation, the mounting plate is provided with a guide rail, the guide rail is located around the hydraulic cylinder, and the upper end of the electromagnetic pulser is connected to the guide rail;

[0019] The mounting plate is also provided with a driving component, the output end of which is connected to the electromagnetic pulse generator. The driving component is used to drive the electromagnetic pulse generator to move along the guide rail.

[0020] Secondly, embodiments of this application also provide a straightening method for sheet metal structural components, applied to the sheet metal structural component straightening setup described in the first aspect, the straightening method for the sheet metal structural component comprising:

[0021] Acquire the three-dimensional point cloud data of the surface of the workpiece to be straightened;

[0022] Calculate the deviation Δ between the 3D point cloud data and the preset workpiece standard model;

[0023] The straightening mechanism is controlled to perform the first mode, the second mode, or the third mode to straighten the area to be straightened according to the range of the deviation value Δ.

[0024] The sheet metal structural component straightening method according to the present invention has at least the following beneficial effects: by generating three-dimensional point cloud data through a scanning mechanism and controlling the straightening mechanism to execute different straightening modes in a hierarchical manner, and by combining the synergistic effect of hydraulic pressure and electromagnetic pulse, differentiated straightening treatment is carried out for areas with different degrees of deformation, which solves the problems of insufficient straightening accuracy and material damage of traditional equipment, and has the advantages of improving straightening accuracy and finished product quality.

[0025] According to the second aspect, in one possible implementation, controlling the straightening mechanism to perform the first mode, the second mode, or the third mode to straighten the area to be straightened based on the range of the deviation value Δ includes:

[0026] If a deviation value Δ satisfies Δ>0.5mm, the portion where the deviation value Δ satisfies Δ>0.5mm is determined as the first region;

[0027] The straightening mechanism is controlled to execute the first mode to straighten the first area.

[0028] According to the second aspect, in one possible implementation, controlling the straightening mechanism to perform the first mode to straighten the first region includes:

[0029] The sliding mode is controlled to drive the pressure head to move outward along a spiral path, starting from the point where the deviation value Δ in the first region is the largest.

[0030] According to the second aspect, in one possible implementation, the control of the straightening mechanism to perform the third mode to straighten the first region further includes:

[0031] Update the three-dimensional point cloud data of the surface of the workpiece to be straightened, and recalculate the deviation value Δ;

[0032] If all deviation values ​​Δ satisfy Δ≤0.5mm, the portion where the deviation value Δ satisfies 0.3mm<Δ≤0.5mm is determined as the second region;

[0033] The straightening mechanism is controlled to execute the second mode to straighten the second region.

[0034] According to the second aspect, in one possible implementation, controlling the straightening mechanism to perform the second mode to straighten the second region includes:

[0035] The sliding mode is controlled to drive the pressure head to move forward along the first direction to the boundary of the second region. After moving a preset distance along the second direction, the sliding mode is controlled again to drive the pressure head to move backward along the first direction to the boundary of the second region.

[0036] According to the second aspect, in one possible implementation, the electromagnetic pulse generator is movable around the outside of the pressure head;

[0037] When the pressure head moves in the positive direction of the first direction, the electromagnetic pulse generator is located on the positive side of the pressure head in the first direction;

[0038] When the pressure head moves in the opposite direction of the first direction, the electromagnetic pulse generator is located on the opposite side of the pressure head along the first direction.

[0039] According to the second aspect, in one possible implementation, the control of the straightening mechanism to perform the first mode to straighten the second region further includes:

[0040] Update the three-dimensional point cloud data of the surface of the workpiece to be straightened, and recalculate the deviation value Δ;

[0041] If all deviation values ​​Δ satisfy Δ≤0.3mm, the portion where the deviation value Δ satisfies 0.1mm≤Δ≤0.3mm is determined as the third region;

[0042] The straightening mechanism is controlled to execute the third mode to straighten the third region.

[0043] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0044] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0045] Figure 1 This is a schematic diagram of the sheet metal structural component straightening device in one embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram showing the positional relationship between the pressure head and the electromagnetic pulse generator on the mounting plate in one embodiment of the present invention;

[0047] Figure 3 This is a flowchart illustrating a method for straightening sheet metal structural components according to an embodiment of the present invention.

[0048] Figure label:

[0049] 100. Base; 110. Placement platform; 200. Scanning mechanism; 300. Straightening mechanism; 310. Hydraulic cylinder; 320. Press head; 330. Electromagnetic pulse generator; 400. Sliding module; 410. Column; 420. Crossbeam; 430. Mounting plate; 431. Guide rail; 500. Workpiece to be straightened. Detailed Implementation

[0050] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0051] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0052] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0053] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0054] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] In related technologies, when sheet metal straightening equipment faces large deformations, directly applying mechanical pressure can easily lead to stress concentration inside the material, which can cause surface cracking of the workpiece to be straightened, seriously affecting the straightening accuracy and finished product quality of the sheet metal.

[0056] To address the aforementioned problems, this application proposes a straightening device for sheet metal structural parts (hereinafter referred to as the straightening device). For example... Figure 1 and Figure 2 As shown, the straightening device includes a base 100, a scanning mechanism 200, and a straightening mechanism 300. The base 100 has a placement platform 110 to support the workpiece 500 to be straightened. The scanning mechanism 200 is mounted above the platform to generate three-dimensional point cloud data. The straightening mechanism 300 includes a hydraulic cylinder 310, a pressure head 320, and an electromagnetic pulse generator 330, and achieves multi-directional movement through a sliding module 400. The hydraulic cylinder 310 is equipped with a proportional servo control unit, and the pressure head 320 is connected to the bottom of the hydraulic cylinder 310. Based on the deviation value Δ between the three-dimensional data and the standard model, the straightening device can automatically select three working modes: when the deviation value Δ exceeds 0.5 mm, the hydraulic cylinder 310 outputs the first pressure and maintains it; when the deviation value Δ is in the range of 0.3 to 0.5 mm, an electromagnetic pulse is applied first, and then the second pressure is output; when the deviation value Δ is in the range of 0.1 to 0.3 mm, only the third pressure is output.

[0057] Among them, the sliding module 400 refers to the moving device that realizes the spatial positioning of the actuator. It can adopt a combination structure of ball screw and linear guide 431, and realize X / Y / Z three-axis linkage through servo motor drive. The scanning mechanism 200 refers to the three-dimensional shape detection device, which can specifically adopt a laser triangulation measurement system to acquire the surface topology data of the workpiece 500 to be straightened through line laser scanning. The electromagnetic pulse generator 330 refers to the device that generates a high-frequency electromagnetic field. Specifically, it can adopt a capacitor energy storage pulse generator, which generates a transient magnetic field through a coil and acts on the surface of the workpiece 500 to be straightened.

[0058] Specifically, when a deviation value Δ in a certain area is detected to exceed 0.5 mm, the sliding module 400 precisely positions the hydraulic cylinder 310 above the target point. The proportional servo control unit drives the pressure head 320 to press down to the preset position at a speed of 0.5 mm per second, maintaining the first pressure for 30 seconds to induce plastic deformation in the material. For deviation areas of 0.3 to 0.5 mm, the electromagnetic pulse generator 330 first moves to the target point and outputs an electromagnetic pulse with a frequency of 5 kHz and a pulse width of 50 microseconds, which is applied for 2 seconds to change the dislocation structure of the material. Subsequently, the hydraulic cylinder 310 applies a second pressure for secondary shaping. When the deviation value Δ is less than 0.3 mm, only a third pressure is needed to complete the micron-level correction. The first pressure can be 30 kN to 100 kN, the second pressure can be 20 kN to 30 kN, and the third pressure can be 5 kN to 20 kN.

[0059] This solution employs a tiered processing strategy, breaking down deformation correction into three stages: coarse correction, fine adjustment, and micro-tuning, to adapt to correction needs of varying deformation levels. The introduction of electromagnetic pulses effectively improves the material stress distribution, and combined with decreasing pressure application, it ensures effective elimination of large deformations while avoiding material overload damage. The integration of 3D scanning data and servo control achieves precise matching between the applied force location and intensity.

[0060] After each of the first, second, and third mode straightening processes in this application, the 3D point cloud data of the surface of the workpiece 500 to be straightened needs to be updated and the deviation value Δ recalculated to confirm the straightening effect. It should be noted that the straightening objective of the first mode in this application is not to directly make the deviation value Δ of the target point less than 0.1 mm, but rather less than 0.5 mm. After the first mode straightening is completed, the surface deviation value Δ of the workpiece 500 to be straightened must be less than 0.5 mm; otherwise, the first mode straightening is performed again on the portion with a deviation value Δ greater than 0.5 mm, until the surface deviation value Δ of the workpiece 500 to be straightened is less than 0.5 mm.

[0061] After completing the first mode of straightening, the portion with a deviation value Δ between 0.3 mm and 0.5 mm is straightened in the second mode. Similarly, the goal of the second mode of straightening is not to directly make the deviation value Δ of the target point less than 0.1 mm, but less than 0.3 mm. After the first mode of straightening is completed, the surface deviation value Δ of the workpiece 500 to be straightened must be less than 0.5 mm. Otherwise, the portion with a deviation value Δ greater than 0.3 mm is straightened in the second mode again, until the surface deviation value Δ of the workpiece 500 to be straightened is less than 0.3 mm.

[0062] After completing the second-mode calibration, the portion with a deviation value Δ between 0.1 mm and 0.3 mm is calibrated in the third mode. The goal of the third calibration is to make the deviation value Δ less than 0.1 mm.

[0063] In some embodiments, the sliding module 400 includes two columns 410, a crossbeam 420, and a mounting plate 430. The two columns 410 are spaced apart on the base 100 along a first direction and are movable relative to the base 100 along a second direction. The two ends of the crossbeam 420 are respectively connected to the two columns 410 and are movable relative to the columns 410 in a vertical direction. The mounting plate 430 is movably disposed on the crossbeam 420 along the first direction, and the hydraulic cylinder 310 and the electromagnetic pulse generator 330 are both connected to the mounting plate 430.

[0064] The two columns 410 are spaced apart on the base 100, allowing them to move independently or synchronously in a second direction. For example, the bidirectional guide rail system 431 on the base 100 expands the horizontal coverage of the straightening mechanism 300. The vertical movement of the crossbeam 420 in conjunction with the columns 410 creates a multi-degree-of-freedom adjustment in three-dimensional space. For example, when straightening workpieces 500 of different thicknesses, the contact distance between the pressure head 320 and the surface of the workpiece 500 can be adjusted. The movement of the mounting plate 430 along the first direction of the crossbeam 420 further refines the horizontal positioning accuracy. For example, when the electromagnetic pulse generator 330 needs to avoid the working area of ​​the hydraulic cylinder 310, the mounting plate 430 can drive the electromagnetic pulse generator 330 to a lateral displacement to a non-interference position. The combined motion of the columns 410, crossbeam 420, and mounting plate 430 allows the straightening mechanism 300 to reduce the mechanical stress caused by repeated adjustments in a single direction through multi-directional coordinated movement.

[0065] Furthermore, the mounting plate 430 is provided with a guide rail 431, which is located around the hydraulic cylinder 310. The upper end of the electromagnetic pulse generator 330 is connected to the guide rail 431. The mounting plate 430 is also provided with a driving component, the output end of which is connected to the electromagnetic pulse generator 330. The driving component is used to drive the electromagnetic pulse generator 330 to move along the guide rail 431. The guide rail 431 forms a circular moving path around the axis of the hydraulic cylinder 310, and the electromagnetic pulse generator 330 is movably connected to the guide rail 431 through a slider assembly. When the hydraulic cylinder 310 performs a straightening operation, the electromagnetic pulse generator 330 is controlled by the driving component to move along the guide rail 431 to different sides of the pressure head 320, so that the electromagnetic pulse generator 330 can be located in front of or behind the pressure head 320 in the direction of movement. When the electromagnetic pulse generator 330 is positioned in front of the indenter 320 in its direction of movement, it can apply high-frequency pulses to the surface of the workpiece 500 to be straightened before the indenter 320 begins straightening. This softens the grain boundaries of the workpiece 500, reduces its yield strength, enhances its plastic deformation capacity, reduces the pressure required for subsequent straightening by the indenter 320, and avoids microcracks caused by forceful straightening. When the electromagnetic pulse generator 330 is positioned behind the indenter 320 in its direction of movement, it can apply high-frequency pulses to the surface of the workpiece 500 after the indenter 320 has begun straightening. The electromagnetic pulses promote grain recombination through high-frequency vibration, eliminate dislocation accumulation, achieve atomic-level stress balance, and suppress the springback effect caused by residual stress.

[0066] The annular layout of the guide rail 431 allows the electromagnetic pulse generator 330 to switch working positions via horizontal circular motion without interfering with the vertical movement of the pressure head 320. This creates spatially separated motion trajectories for the electromagnetic pulse generator 330 and the pressure head 320 in the horizontal plane, effectively eliminating motion interference between the two during collaborative operation.

[0067] The guide rail 431 refers to a ring-shaped track structure arranged around the axis of the hydraulic cylinder 310. Specifically, it can be implemented using a closed guide rail 431 with ball bearings, which provides the electromagnetic pulse generator 330 with a moving plane independent of the working path of the pressure head 320. The drive unit refers to a power device capable of outputting linear displacement. Specifically, it can be implemented using a servo motor in conjunction with a ball screw mechanism, and the electromagnetic pulse generator 330 is precisely positioned on the guide rail 431 through a closed-loop control system.

[0068] This application further proposes a straightening method for sheet metal structural parts (hereinafter referred to as the straightening method), which utilizes the straightening device described above. Figure 3 As shown, the calibration method includes the following steps:

[0069] Step S10: Obtain the three-dimensional point cloud data of the surface of the workpiece to be straightened;

[0070] Three-dimensional point cloud data refers to the set of spatial coordinates of the surface of the workpiece to be straightened, which is obtained through optical scanning equipment. Specifically, it can be achieved by using a laser scanner or a structured light scanner, and is used to accurately quantify the degree of deformation of the surface of the workpiece to be straightened.

[0071] Step S20: Calculate the deviation value Δ between the 3D point cloud data and the preset workpiece standard model;

[0072] The deviation value Δ refers to the distance difference between each measurement point on the surface of the workpiece to be straightened and the corresponding point on the standard model. It can be calculated by the point cloud registration algorithm and is used to determine the deformation area and degree.

[0073] Step S30: Control the straightening mechanism to execute the first mode, the second mode, or the third mode to straighten the area to be straightened according to the range of the deviation value Δ.

[0074] After acquiring the three-dimensional morphological data of the workpiece surface to be straightened, a deviation distribution heatmap is generated using a coordinate comparison algorithm. If the deviation value Δ is greater than 0.5 mm, a first pressure is applied and held for a preset duration to quickly correct macroscopic deformation. If the deviation value Δ is only between 0.3 mm and 0.5 mm, an electromagnetic pulse pretreatment combined with a second pressure is used to eliminate residual stress within the material while avoiding excessive deformation. If the deviation value Δ is only between 0.1 mm and 0.3 mm, surface flatness is optimized through multiple fine-tuning using a third pressure. This process dynamically adjusts the applied force intensity and mode of action, forming a progressive straightening path from macroscopic to microscopic.

[0075] This embodiment automatically matches appropriate straightening parameter combinations for regions with different degrees of deformation, effectively controlling the material's stress state while ensuring straightening efficiency. In particular, the introduction of an electromagnetic pulse pretreatment step can alter the material's microstructure before straightening in medium-deformation regions, reducing the resistance to plastic deformation under subsequent mechanical pressure.

[0076] It should be noted that after each of the first, second, and third mode straightening processes in this application, the three-dimensional point cloud data of the workpiece surface to be straightened needs to be updated and the deviation value Δ recalculated to confirm the straightening effect.

[0077] Specifically, when a deviation value Δ satisfies Δ>0.5mm, the portion where the deviation value Δ satisfies Δ>0.5mm is determined as the first region; the straightening mechanism is controlled to execute the first mode to straighten the first region. In this application, the straightening target of the first mode is not to directly make the deviation value Δ of the target point less than 0.1 mm, but less than 0.5 mm; after the first mode straightening is completed, the surface deviation value Δ of the workpiece to be straightened must be less than 0.5 mm; otherwise, the first mode straightening is performed again on the portion where the deviation value Δ is greater than 0.5 mm, until the surface deviation value Δ of the workpiece to be straightened is less than 0.5 mm.

[0078] After completing the first mode of straightening, the portion with a deviation value Δ between 0.3 mm and 0.5 mm is straightened in the second mode. Similarly, the goal of the second mode of straightening is not to directly make the deviation value Δ of the target point less than 0.1 mm, but less than 0.3 mm. After the first mode of straightening is completed, the surface deviation value Δ of the workpiece to be straightened must be less than 0.5 mm. Otherwise, the portion with a deviation value Δ greater than 0.3 mm is straightened in the second mode again, until the surface deviation value Δ of the workpiece to be straightened is less than 0.3 mm.

[0079] After completing the second-mode calibration, the portion with a deviation value Δ between 0.1 mm and 0.3 mm is calibrated in the third mode. The goal of the third calibration is to make the deviation value Δ less than 0.1 mm.

[0080] In this application, the deviation value Δ>0.5mm is straightened in three gradients in sequence using the first mode, the second mode, and the third mode to avoid material cracking caused by excessive straightening in a single step; and during the second mode straightening, a high-frequency pulse is applied to the surface of the workpiece to be straightened to avoid stress accumulation from multiple straightenings.

[0081] Based on the above embodiments, controlling the straightening mechanism to execute the first mode to straighten the first region includes: controlling the sliding mode to drive the pressure head to move outward along a spiral path with the maximum deviation value Δ of the first region as the starting point of the movement.

[0082] The spiral outward path is a movement method that gradually expands outward from the point of maximum deformation, using a spiral trajectory. Specifically, it can be achieved by combining a preset path algorithm with the motion control module of the sliding module, forming a continuous spiral trajectory through coordinate positioning and step-by-step displacement adjustment. The point of maximum deviation Δ refers to the coordinate point with the largest deformation after comparing the 3D point cloud data with the preset model. This can be determined through a data comparison algorithm after point cloud scanning. Prioritizing the processing of the point with the largest deformation can avoid excessive stress concentration.

[0083] When a large deformation area is detected on the surface of the workpiece to be straightened, the pressure head is first positioned at the coordinate position of the largest deformation within that area, and then gradually moves outward along a spiral trajectory. This path design allows the pressure to diffuse outward from the core area, avoiding material cracking caused by localized stress concentration. The continuous movement of the spiral path can evenly release the internal stress of the material, reducing secondary deformation caused by path jumps or sudden pressure application. By starting processing from the point of maximum deviation, the straightening process can prioritize eliminating the most severely deformed areas, reducing the number of repeated path adjustments and thus improving straightening efficiency.

[0084] In practical applications, when a deformation area with a Δ greater than 0.5 mm is detected on the surface of the workpiece to be straightened, the coordinates of the peak deformation point within this area are first determined using 3D scanning data. The sliding module drives the pressure head to move above this coordinate point. After the hydraulic cylinder presses down to output the first pressure, the pressure head moves outward step by step along a preset spiral trajectory, centered on this point. During the movement, the pressure head continuously applies pressure and covers the annular area centered on the peak point, causing the material deformation to diffuse uniformly from the high-stress area to the periphery. The radius of curvature of the spiral path can increase linearly with the moving distance. For example, a spiral with a radius of 5 mm is used in the initial stage, and the radius increases by 2 mm to 3 mm after each rotation, thus forming a continuous gradient pressure distribution.

[0085] It should be noted that in the first mode, the pressure head is pressed down and held for a first preset time to straighten the surface of the workpiece to be straightened. After that, the pressure head is lifted and moved to the next point for straightening. The movement along the spiral outward path in this application refers to the points where the pressure head is pressed down being connected in sequence to form a spiral outward trajectory, rather than the pressure head being pressed down and kept in contact with the workpiece to be straightened and moving in a spiral shape.

[0086] After completing the first mode of straightening, the three-dimensional point cloud data of the workpiece surface to be straightened is updated and the deviation value Δ is recalculated. When the deviation value Δ satisfies Δ≤0.5mm, the area of ​​0.3mm-Δ≤0.5mm is defined as the second area, and the straightening mechanism is controlled to execute the second mode to straighten the area.

[0087] Updating the 3D point cloud data involves rescanning the surface of the workpiece to be straightened using a scanning mechanism to generate a new 3D model. This can be achieved using a laser scanner or a structured light scanner, ensuring real-time verification of the straightening effect. Recalculating the deviation value Δ involves aligning the new 3D model with the standard model and calculating the distance between points using a point cloud registration algorithm, establishing a quantitative basis for adjusting process parameters. Setting a deviation value Δ ≤ 0.5mm as a trigger condition means setting this threshold as the criterion for entering the medium deformation processing stage, implemented through a comparator module to achieve a gradient transition in straightening intensity. Determining the second region involves defining areas with deformation between 0.3mm and 0.5mm as independent processing objects, using a region segmentation algorithm to avoid mixing regions with different deformation amounts. Executing the second mode involves applying a combined electromagnetic pulse and low-pressure mechanical process to the second region, coordinated by a PLC controller using the electromagnetic pulse generator and hydraulic cylinder.

[0088] After high-strength straightening, updated 3D point cloud data is acquired via a scanning mechanism. This new data is then compared with a standard model to calculate residual deviations. When deviations in all areas decrease to below 0.5 mm, the system automatically identifies medium deformation areas (0.3 mm to 0.5 mm) as target areas for the second processing stage. For these areas, a high-frequency electromagnetic pulse is first applied by an electromagnetic pulse generator to eliminate residual stress within the material, followed by a second pressure (lower than the first pressure) applied by a hydraulic cylinder for fine shaping. This process is implemented through a closed-loop control system, automatically updating data and reassessing the deformation state after each straightening step, forming a progressive processing flow of coarse-medium straightening.

[0089] This application achieves automated continuous processing of multi-level deformation zones, reducing the number of manual interventions. By establishing a precise match between deformation grading standards and straightening modes, material damage caused by excessive pressure is avoided. A closed-loop control strategy ensures that the processing effect of each straightening stage meets preset standards, improving the consistency of straightening accuracy. Through a combination of electromagnetic pulse and mechanical pressure processes, stress concentration within the material is effectively eliminated.

[0090] The step of controlling the straightening mechanism to execute the second mode to straighten the second region includes: controlling the sliding mode to drive the pressure head to move forward along the first direction to the boundary of the second region, moving a preset distance along the second direction, and then controlling the sliding mode again to drive the pressure head to move backward along the first direction to the boundary of the second region.

[0091] As the pressure head moves along a zigzag path, it moves forward to the boundary and then offsets by a preset distance in a second direction, for example, by using a stepper motor to drive a lateral movement mechanism to achieve a lateral displacement of 5 to 10 millimeters. It then moves in the opposite direction back to the boundary. During this process, the electromagnetic pulse generator is always located either in front of or behind the pressure head's direction of travel. For example, when the pressure head moves to the right, the electromagnetic pulse generator moves to the right side via a guide rail and applies a high-frequency pulse to the material before the pressure head applies pressure to reduce localized hardness; when the pressure head moves to the left, the electromagnetic pulse generator switches to the left side to relieve stress in the area after the pressure head applies pressure. By alternately executing mechanical pressure and electromagnetic treatment, the material deformation is gradually restored through multiple fine adjustments, while avoiding stress concentration caused by a single pressure application.

[0092] The pressure head moves along a zigzag path to quickly straighten the second region. When the direction of the pressure head's movement is changed, the position of the electromagnetic pulse device relative to the pressure head is adjusted simultaneously, keeping the electromagnetic pulse device at the front end of the pressure head's movement direction. Thus, before the pressure head straightens, the electromagnetic pulse device applies a high-frequency electromagnetic pulse to the surface of the workpiece to be straightened to eliminate residual stress inside the material, soften the grain boundaries of the workpiece material to be straightened, reduce the yield strength, improve the plastic deformation capacity, reduce the pressure required for subsequent pressure head straightening, and avoid microcracks caused by forceful straightening.

[0093] The movement of the electromagnetic pulse generator outside the pressure head refers to the electromagnetic pulse generator's circumferential displacement around the pressure head as its central axis. This can be achieved using a ring-shaped guide rail or a drive mechanism, allowing the electromagnetic pulse generator to form an adjustable working radius around the pressure head. The "forward side" and "reverse side" refer to the front and rear positions of the pressure head along its first direction of movement trajectory. This can be achieved through the linkage of a position sensor and a direction recognition module, enabling the electromagnetic pulse generator to automatically switch to the corresponding side based on the pressure head's movement direction.

[0094] When the pressure head moves forward, the electromagnetic pulse generator is driven to the front position in the direction of the pressure head's movement. At this time, the electromagnetic pulse generator performs high-frequency pulse pre-processing on the area to be stressed by the pressure head, promoting relaxation of the internal grain structure of the material. When the pressure head moves in the reverse direction, the electromagnetic pulse generator switches to the rear position in the direction of the pressure head's movement, eliminating residual stress in the area where stress has already been applied. This dynamic coordination mechanism ensures that the electromagnetic pulse application area always complements the pressure head's force application path, avoiding localized stress overload caused by overlapping application areas in fixed electromagnetic devices.

[0095] After the straightening mechanism executes the second mode to straighten the second region, the three-dimensional point cloud data of the surface of the workpiece to be straightened is updated, and the deviation value Δ is recalculated. If the deviation value Δ satisfies Δ≤0.3mm, the part where the deviation value Δ satisfies 0.1mm≤Δ≤0.3mm is determined as the third region. The straightening mechanism executes the third mode to straighten the third region.

[0096] The third region refers to the area where the deviation value Δ is between 0.1mm and 0.3mm after comparing the 3D point cloud data with the preset workpiece standard model. Specifically, 3D point cloud data can be acquired using a laser scanner or structured light scanner, and the deviation value Δ can be calculated using a point cloud registration algorithm. The third mode refers to the third pressure applied by the hydraulic cylinder in the straightening mechanism. This pressure value is less than the second pressure. Specifically, the output pressure of the hydraulic cylinder can be adjusted by a proportional servo control unit, and precise pressure can be achieved by combining the movement path planning of the sliding module.

[0097] After the second region straightening is completed, the three-dimensional data of the workpiece surface to be straightened is reacquired by a scanning mechanism to identify the third region with residual minor deformation. For this region, the sliding module drives the hydraulic cylinder to move to the target position, applying a third pressure. This third pressure is dynamically adjusted by a proportional servo control unit to ensure the correspondence between the pressure value and the current deviation value Δ. For example, when Δ is close to 0.1mm, the lower limit pressure value is used; when Δ is close to 0.3mm, the upper limit pressure value is used. During the pressure application process, the sliding module can control the pressure head to move along a preset trajectory, for example, radiating outwards from the deformation center of the third region.

[0098] In the third mode, the drive unit moves the electromagnetic pulse generator to keep it behind the indenter in the direction of movement, thereby eliminating stress after straightening. Specifically, when the electromagnetic pulse generator is behind the indenter in the direction of movement, it can apply high-frequency pulses to the surface of the workpiece to be straightened after the indenter has performed the straightening work. The electromagnetic pulses promote grain recombination through high-frequency vibration, eliminate dislocation accumulation, achieve atomic-level stress balance, and suppress the springback effect caused by residual stress.

[0099] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention. Furthermore, the embodiments of the present invention and the features thereof can be combined with each other unless otherwise specified.

Claims

1. A sheet metal structural component straightening device, characterized in that, include: The base has a placement platform for placing the workpiece to be straightened. A scanning mechanism is mounted above the placement platform. The scanning mechanism is used to scan the surface of the workpiece to be straightened and generate three-dimensional point cloud data. The straightening mechanism includes a hydraulic cylinder, a pressure head, and an electromagnetic pulse generator. The hydraulic cylinder and the electromagnetic pulse generator are both mounted on the placement platform via a sliding module. A proportional servo control unit is provided on the hydraulic cylinder. The pressure head is connected to the bottom of the hydraulic cylinder. The sliding module is used to drive the hydraulic cylinder and / or the electromagnetic pulse generator to move along a first direction and / or a second direction. The straightening mechanism has a first mode, a second mode, and a third mode; When the deviation Δ between the three-dimensional point cloud data of the area to be calibrated and the preset workpiece standard model satisfies Δ>0.5mm, the first mode is executed: the sliding module drives the hydraulic cylinder to move above the area to be calibrated, the hydraulic cylinder drives the pressure head to move downward to the preset position and outputs the first pressure and maintains it for the first preset time. When the deviation value Δ satisfies 0.3mm < Δ ≤ 0.5mm, the second mode is executed: the sliding module drives the electromagnetic pulse generator to move above the area to be straightened, the electromagnetic pulse generator applies a high-frequency electromagnetic pulse to the surface of the workpiece to be straightened and continues for a second preset duration; the sliding module drives the hydraulic cylinder to move above the area to be straightened, the hydraulic cylinder drives the pressure head to move downward to a preset position and outputs a second pressure, the second pressure being less than the first pressure; When the deviation value Δ satisfies 0.1mm≤Δ≤0.3mm, the third mode is executed: the sliding module drives the hydraulic cylinder to move above the area to be straightened, the hydraulic cylinder drives the pressure head to move downward to a preset position and outputs a third pressure, the third pressure being less than the second pressure.

2. The sheet metal structural component straightening device according to claim 1, characterized in that, The sliding module includes: Two columns are spaced apart on the base along a first direction, and the two columns are movable relative to the base along a second direction; A crossbeam, the two ends of which are respectively connected to the two columns, and the crossbeam is capable of moving vertically relative to the columns; A mounting plate is movably disposed on the crossbeam along a first direction, and both the hydraulic cylinder and the electromagnetic pulse generator are connected to the mounting plate.

3. The sheet metal structural component straightening device according to claim 2, characterized in that, The mounting plate is provided with a guide rail, which is located around the hydraulic cylinder, and the upper end of the electromagnetic pulse generator is connected to the guide rail; The mounting plate is also provided with a driving component, the output end of which is connected to the electromagnetic pulse generator. The driving component is used to drive the electromagnetic pulse generator to move along the guide rail.

4. A method for straightening sheet metal structural parts, characterized in that, The method for straightening sheet metal structural parts, as described in any one of claims 1 to 3, comprises: Acquire the three-dimensional point cloud data of the surface of the workpiece to be straightened; Calculate the deviation Δ between the 3D point cloud data and the preset workpiece standard model; The straightening mechanism is controlled to perform the first mode, the second mode, or the third mode to straighten the area to be straightened according to the range of the deviation value Δ.

5. The straightening method for sheet metal structural parts according to claim 4, characterized in that, The step of controlling the straightening mechanism to execute the first mode, the second mode, or the third mode to straighten the area to be straightened according to the range of the deviation value Δ includes: If a deviation value Δ satisfies Δ>0.5mm, the portion where the deviation value Δ satisfies Δ>0.5mm is determined as the first region; The straightening mechanism is controlled to execute the first mode to straighten the first area.

6. The straightening method for sheet metal structural parts according to claim 5, characterized in that, The step of controlling the straightening mechanism to execute the first mode to straighten the first region includes: The sliding mode is controlled to drive the pressure head to move outward along a spiral path, starting from the point where the deviation value Δ in the first region is the largest.

7. The straightening method for sheet metal structural parts according to claim 5, characterized in that, The process of controlling the straightening mechanism to execute the third mode to straighten the first region further includes: Update the three-dimensional point cloud data of the surface of the workpiece to be straightened, and recalculate the deviation value Δ; If all deviation values ​​Δ satisfy Δ≤0.5mm, the portion where the deviation value Δ satisfies 0.3mm<Δ≤0.5mm is determined as the second region; The straightening mechanism is controlled to execute the second mode to straighten the second region.

8. The straightening method for sheet metal structural parts according to claim 7, characterized in that, The step of controlling the straightening mechanism to execute the second mode to straighten the second region includes: The sliding mode is controlled to drive the pressure head to move forward along the first direction to the boundary of the second region. After moving a preset distance along the second direction, the sliding mode is controlled again to drive the pressure head to move backward along the first direction to the boundary of the second region.

9. The straightening method for sheet metal structural parts according to claim 8, characterized in that, The electromagnetic pulse generator is capable of moving around the outside of the pressure head; When the pressure head moves in the positive direction of the first direction, the electromagnetic pulse generator is located on the positive side of the pressure head in the first direction; When the pressure head moves in the opposite direction of the first direction, the electromagnetic pulse generator is located on the opposite side of the pressure head along the first direction.

10. The straightening method for sheet metal structural parts according to claim 7, characterized in that, The process of controlling the straightening mechanism to execute the first mode to straighten the second region further includes: Update the three-dimensional point cloud data of the surface of the workpiece to be straightened, and recalculate the deviation value Δ; If all deviation values ​​Δ satisfy Δ≤0.3mm, the portion where the deviation value Δ satisfies 0.1mm≤Δ≤0.3mm is determined as the third region; The straightening mechanism is controlled to execute the third mode to straighten the third region.

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