Bidirectional variable-curvature special-shaped barrel roll bending forming method and system and electronic equipment

Abstract

The invention provides a bidirectional variable-curvature special-shaped barrel roll bending forming method and system and electronic equipment, and belongs to the technical field of roll bending forming. The method comprises the steps that a working roll displacement expression of roll bending equipment is determined based on shape parameters of the roll bending equipment and material performance parameters of a plate; the roll bending equipment comprises a working roll and a servo motor; the working roll comprises a convex upper roll, a concave lower roll and a concave side roll which are meshed to form a variable-curvature forming surface; determining a displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression; the displacement parameters are input into the trained network model to obtain servo motor control parameters, the servo motor control parameters are input into a PI controller, a servo motor is controlled, and a working roller is driven to move to conduct roller bending forming on the plate; the network model is obtained based on WNN neural network training. According to the method, the problems of low machining efficiency and low forming precision of a bidirectional variable-curvature special-shaped barrel roll bending forming method can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of roll bending, and in particular to a bidirectional variable curvature special-shaped cylinder roll bending method, system and electronic equipment. Background Art

[0002] Bidirectional variable curvature profiled cylinders not only optimize their cross-sectional shape based on specific application scenarios, thereby increasing structural strength and rigidity and enabling them to withstand greater loads, but also optimize the flow path of the medium and improve fluid performance. Furthermore, they offer numerous advantages, including high space utilization, excellent roll resistance, and aesthetic appeal. Consequently, they are widely used in industries such as energy storage equipment, aerospace, specialized vehicles, and shipbuilding.

[0003] Bidirectional variable curvature profiled cylinders are primarily manufactured using roll bending. However, due to the variable curvature in both the transverse and longitudinal directions, the forming difficulty increases significantly, making it difficult to achieve precise forming using traditional processing methods. Existing roll bending equipment started relatively late in development, with low levels of automation and intelligence. In particular, during the forming process of bidirectional variable curvature profiled cross-section cylinders, separate forming operations are typically required for the transverse and longitudinal directions, and the displacement adjustment of the side bending mechanism relies heavily on manual trial and error. This results in low processing efficiency and difficulty in ensuring forming accuracy, making it impossible to meet the demands of modern high-precision manufacturing. Summary of the Invention

[0004] In view of this, it is necessary to provide a bidirectional variable curvature special-shaped cylinder roll bending forming method, system and electronic equipment to solve the technical problems of low processing efficiency and low forming accuracy in the existing bidirectional variable curvature special-shaped cylinder roll bending forming method.

[0005] In order to solve the above problems, in a first aspect, the present invention provides a bidirectional variable curvature special-shaped cylinder roll bending method, comprising: Determining a working roll displacement expression of the roll bending equipment based on shape parameters of the roll bending equipment and material property parameters of the plate; the roll bending equipment includes a working roll and a servo motor for driving the working roll to move; the working roll includes: a convex upper roll, a concave lower roll, and concave side rolls that mesh to form a variable curvature forming surface; Determining the displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression; The displacement parameters are input into a trained network model to obtain servo motor control parameters, and the servo motor control parameters are input into a PI controller. The servo motor is controlled by the PI controller to drive the working roll to move and perform roll bending on the plate; The network model is obtained by training the WNN neural network using the preset displacement parameters of the working roll as samples and the corresponding servo motor control parameters as sample labels.

[0006] In a possible implementation, driving the working roll to move and roll-bending the plate includes: After driving the convex upper roller and the concave lower roller to move and drive the plate to feed, the concave side roller is driven to move to the corresponding position of the first half of the first arc of the plate to perform roll bending, and then the arcs after the first section are roll bent in turn, and finally the second half of the first arc is roll bent; wherein, the forming radius of the first half and the second half of the first arc are the same.

[0007] In a possible implementation, the concave side rollers include: a concave left roller and a concave right roller; The convex upper roller is fixed, and the displacement expression of the concave lower roller is determined based on the center distance between the concave lower roller and the convex upper roller, the minimum radius of the concave lower roller, the maximum radius of the convex upper roller, and the thickness of the plate; The displacement expression of the concave left roller is based on the distance and angle between the concave lower roller and the intersection point O. , the distance between the concave left roller and the intersection F, and the distance between the intersection O and the intersection F; wherein the intersection O is the intersection of the moving path of the concave left roller and the moving path of the concave right roller, the angle The angle between the moving path of the concave lower roller and the moving path of the concave left roller is the intersection point between the force direction of the concave lower roller and the plate and the moving path of the concave left roller; The displacement expression of the concave right roller is based on the distance between the concave right roller and the intersection O, the distance between the convex upper roller and the intersection O, and the angle , the maximum radius of the convex upper roller, the minimum radius of the concave left roller, and the thickness of the plate.

[0008] In one possible implementation, the displacement expression of the concave lower roller is:

[0009] Among them, L2 is the displacement of the concave lower roller, O1O 21 is the center distance between the concave lower roller and the convex upper roller, r 2min is the minimum radius of the concave lower roller, r 1max is the maximum radius of the convex upper roller, and t is the thickness of the plate.

[0010] In one possible implementation, the displacement expression of the concave left roller is:

[0011] Where L3 is the displacement of the concave left roller, OO 21 is the distance between the concave lower roller and the intersection O, FO 32is the distance between the concave left roller and the intersection F, and FO is the distance between the intersection O and the intersection F.

[0012] In one possible implementation, the displacement expression of the concave right roller is:

[0013] Where L4 is the displacement of the concave right roller, OO 41 is the distance between the concave right roller and the intersection O, OO1 is the distance between the convex upper roller and the intersection O, r 1max is the maximum radius of the convex upper roller, r 3min is the minimum radius of the concave left roller, and t is the thickness of the plate.

[0014] In a second aspect, the present invention further provides an electronic device comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature special-shaped cylinder roll bending method as described in any one of the above.

[0015] In a possible implementation, the electronic device is an industrial computer provided with a multi-axis motion control card, and the electronic device is communicatively connected to the servo motor via a PCIE serial port.

[0016] In a third aspect, the present invention also provides a bidirectional variable curvature special-shaped cylinder roll bending forming system, comprising the above-mentioned electronic equipment and roll bending equipment; the roll bending equipment comprises a working roll and a servo motor for driving the working roll to move, the working roll comprising: a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic equipment.

[0017] In a possible implementation, each working roll corresponds to a pair of servo motors, and the pair of servo motors respectively control the head and tail ends of the working roll to drive the working roll to move.

[0018] The beneficial effects of adopting the above-mentioned implementation method are as follows: the bidirectional variable curvature special-shaped cylinder roll bending forming method, system and electronic equipment provided by the present invention determine the displacement parameters of the working roller through the plate thickness parameters and the working roller displacement expression, and input the displacement parameters into the network model obtained by WNN neural network training to obtain servo motor control parameters, and input the servo motor control parameters into the PI controller to control the servo motor to drive the working roller to move and roll-bend the plate; the present invention combines the WNN neural network with the PI controller to realize online optimization of the control parameters of the servo motor, and the motor control parameters can be quickly determined by the WNN neural network, and then the motor control parameters are adjusted by feedback according to the PI controller, which can improve the dynamic response speed of the working roller and improve the positioning accuracy, thereby solving the technical problems of low processing efficiency and low forming accuracy in the existing bidirectional variable curvature special-shaped cylinder roll bending forming method. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A flow chart of an embodiment of the bidirectional variable curvature special-shaped cylinder roll bending method provided by the present invention; Figure 2 The force analysis diagram of the cylinder roll bending provided by the present invention; Figure 3 This is a schematic diagram of the finite element simulation results of the bidirectional special-shaped cylinder provided by the present invention; Figure 4 A comparison diagram of the first arc longitudinal forming curve provided by the present invention; Figure 5 A comparison diagram of the second arc longitudinal forming curve provided by the present invention; Figure 6 A comparison diagram of the third arc longitudinal forming curve provided by the present invention; Figure 7 A comparison diagram of the first arc longitudinal forming curve provided by the present invention; Figure 8 A schematic diagram of the structure of the dual servo motors synchronously driving the working rolls provided by the present invention; Figure 9 The sinusoidal signal position response diagram provided by the present invention; Figure 10 The motor position angle response curve diagram provided by the present invention; Figure 11A structural diagram of an embodiment of a bidirectional variable curvature special-shaped cylinder roll bending system provided by the present invention; Figure 12 This is a schematic structural diagram of an embodiment of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0021] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0022] In the description of the embodiments of the present application, unless otherwise specified, “a plurality of” means two or more.

[0023] The terms "including" and "having" and any variations thereof in the embodiments of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product or device comprising a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products or devices.

[0024] The naming or numbering of the steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0025] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] The present invention provides a bidirectional variable curvature special-shaped cylinder roll bending forming method, system and electronic equipment, which are described below respectively.

[0027] like Figure 1 As shown, the present invention provides a bidirectional variable curvature special-shaped cylinder roll bending method, comprising: S101. Determine a working roll displacement expression for the roll bending equipment based on shape parameters of the roll bending equipment and material performance parameters of the plate; the roll bending equipment includes a working roll and a servo motor for driving the working roll to move, such as Figure 2 As shown, the working rolls include: a convex upper roll 201, a concave lower roll 202 and concave side rolls that mesh to form a variable curvature forming surface, and the concave side rolls include a concave left roll 203 and a concave right roll 204.

[0028] As you can understand, the roll bending equipment features a variable curvature matching structure, comprising a convex upper roll 201, a concave lower roll 202, and concave side rolls. These mesh together to form a variable curvature forming surface. When the lower roll rises to clamp the sheet 205, the precise fit of the meshing surfaces allows for precise forming across the width of the sheet 205, adapting to the complex curvature requirements of bidirectional, variable-curvature, and irregularly shaped cylinders, ensuring forming stability and accuracy. Figure 2 Medium O 21 to O 22 Indicates the moving path of the concave lower roller 202, O 31 to O 32 Indicates the moving path of the concave left roller 203, O 41 to O 42 The moving path of the concave right roller 204 is shown.

[0029] The shape parameters may include parameters such as the maximum radius and the minimum radius of each working roller, and the material performance parameters may include the thickness parameters of the plate.

[0030] S102. Determine the displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression.

[0031] It can be understood that by inputting the thickness parameter of the plate to be processed into the working roller displacement expression, the displacement parameter that each working roller needs to move can be obtained, so as to control the corresponding working roller to move according to the displacement parameter.

[0032] S103, inputting the displacement parameters into the trained network model to obtain servo motor control parameters, and inputting the servo motor control parameters into a PI controller (proportional-integral feedback controller), and controlling the servo motor through the PI controller to drive the working roll to move and perform roll bending on the plate; The network model is obtained by training a WNN neural network (i.e., a wavelet neural network) using the preset displacement parameters of the working roll as samples and the corresponding servo motor control parameters as sample labels.

[0033] As can be understood, the present invention utilizes a dual-servo motor cross-coupling control strategy to synchronously drive the lateral bending mechanism. Combined with a WNN neural network, the PI controller automatically adjusts control parameters based on operating conditions, improving the dynamic tracking accuracy of the motor position angle. This drive strategy eliminates instabilities such as mechanical backlash and transmission errors associated with traditional intermediate shaft transmission structures.

[0034] The purpose of the present invention is to address the problems existing in the production and manufacturing of bidirectional variable curvature special-shaped cylinders, and to propose a special-shaped cylinder servo roll bending equipment and forming method based on bidirectional rebound compensation to solve the problems of low forming efficiency and poor precision of bidirectional special-shaped cross-section cylinders.

[0035] The present invention provides a bidirectional variable-curvature special-shaped cylindrical roll bending method, comprising: establishing a bidirectional springback compensation mathematical model to accurately calculate the lateral bending displacement; eliminating the traditional intermediate drive shaft and adopting dual servo motors to synchronously drive the lateral bending mechanism; correcting synchronization errors in real time through a cross-coupling synchronization control strategy; and utilizing a WNN neural network to online optimize controller parameters to improve dynamic response and positioning accuracy; and constructing a "computer + motion control card" joint control system to achieve synergy between human-machine interaction and real-time motion control, thereby ensuring automated operation of the equipment and high-precision forming.

[0036] The present invention has the following beneficial effects: 1. This invention establishes a mathematical model for bidirectional variable curvature special-shaped cylinder roll bending and combines it with the variable curvature matching structural design of the work roll group to achieve synchronous precision forming of the plate in both the horizontal and vertical directions. Compared with traditional processing technology, this invention greatly improves processing accuracy and production efficiency; 2. The present invention synchronously drives the side bending mechanism through a dual servo motor cross-coupling control strategy, eliminating unstable factors such as mechanical clearance and transmission error caused by elastic deformation of the intermediate shaft transmission structure during load transmission.

[0037] In some embodiments, driving the work rolls to roll-bend the sheet material includes: After driving the convex upper roller 201 and the concave lower roller 202 to move and drive the plate to feed, the concave side roller is driven to move to the corresponding position of the first half of the first arc of the plate to perform roll bending, and then the arcs after the first section are roll bent in turn, and finally the second half of the first arc is roll bent; wherein, the forming radius of the first half and the second half of the first arc are the same.

[0038] As you can see, the sheet metal is roll-formed in sections along its length. The first arc segment is split into two halves at its midpoint, with the first half formed first. The remaining segments are then formed sequentially, and finally the second half of the first segment is formed. This method ensures consistent forming radii at both ends, achieving precise seams and high-precision forming along its length.

[0039] In some embodiments, the concave side rollers include: a concave left roller 203 and a concave right roller 204; The convex upper roller 201 is fixed, and the displacement expression of the concave lower roller 202 is determined based on the center distance between the concave lower roller 202 and the convex upper roller 201, the minimum radius of the concave lower roller 202, the maximum radius of the convex upper roller 201, and the thickness of the plate; The displacement expression of the concave left roller 203 is based on the distance and angle between the concave lower roller 202 and the intersection point O. , the distance between the concave left roller 203 and the intersection F, and the distance between the intersection O and the intersection F; wherein the intersection O is the intersection of the moving path of the concave left roller 203 and the moving path of the concave right roller 204, the angle The angle between the moving path of the concave lower roller 202 and the moving path of the concave left roller 203, that is, the inclination angle of the concave left roller 203, is the intersection between the force direction of the concave lower roller 202 and the plate and the moving path of the concave left roller 203; The displacement expression of the concave right roller 204 is based on the distance between the concave right roller 204 and the intersection O, the distance between the convex upper roller 201 and the intersection O, and the angle , the maximum radius of the convex upper roller 201, the minimum radius of the concave left roller 203, and the thickness of the plate.

[0040] As you can see, the upper work roll features a convex variable curvature structure, while the lower work roll meshes with it and features a concave variable curvature structure. The side work rolls also feature a concave variable curvature structure and mesh with the upper work roll. When the lower work roll rises and engages the upper work roll to clamp the sheet, the precise alignment of the variable curvature meshing surfaces enables precise forming across the sheet's width. This structural design effectively accommodates the complex curvature variations of bidirectional variable curvature profiled cylinders, ensuring stability and precision during the forming process.

[0041] In some embodiments, the displacement expression of the concave lower roller 202 is:

[0042] Among them, L2 is the displacement of the concave lower roller 202, O1O 21 is the center distance between the concave lower roller 202 and the convex upper roller 201, r 2min is the minimum radius of the concave lower roller 202, r 1max is the maximum radius of the convex upper roller 201, and t is the thickness of the plate.

[0043] The displacement expression of the concave left roller 203 is:

[0044] Wherein, L3 is the displacement of the concave left roller 203, OO 21 is the distance between the concave lower roller 202 and the intersection O, FO 32 is the distance between the concave left roller 203 and the intersection F, and FO is the distance between the intersection O and the intersection F.

[0045] The displacement expression of the concave right roller 204 is:

[0046] Wherein, L4 is the displacement of the concave right roller 204, OO 41 is the distance between the concave right roller 204 and the intersection O, OO1 is the distance between the convex upper roller 201 and the intersection O, r 1max is the maximum radius of the convex upper roller 201, r 3min is the minimum radius of the concave left roller 203, and t is the thickness of the plate.

[0047] It can be understood that the mathematical model of bidirectional variable curvature special-shaped cylinder roll bending is established: 1) Technical parameters of roll bending equipment: Maximum diameter of upper roll D 1max , minimum diameter of upper roller D 1min , maximum diameter of lower roller D 2max , minimum diameter of lower roller D 2min , maximum diameter of lower roller D 2max , minimum diameter of lower roller D 2min , side roller inclination angle , maximum roll thickness t max , minimum roll thickness t min , minimum forming radius R of the plate min .

[0048] 2) Material parameters: elastic modulus E, yield stress σs, relative strengthening coefficient K0, shape coefficient K1.

[0049] 3) Based on the shape characteristics of the bidirectional variable curvature special-shaped cylinder and the known material performance parameters, the relationship expression of the plate radius before and after springback is obtained through analytical method:

[0050] Then the displacement expressions of the above-mentioned working rolls are obtained.

[0051] The present invention also provides an electronic device, comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature special-shaped cylinder roll bending method as described in any one of the above.

[0052] In some embodiments, the electronic device is an industrial computer equipped with a multi-axis motion control card, and the electronic device and the servo motor are communicatively connected via a PCIE serial port.

[0053] It is understandable that the present invention adopts a joint control architecture of computer + motion control card. Hardware layer: using a computer as the upper main control unit, configuring a motion control card to achieve high-precision real-time control, and establishing upper and lower computer data channels through a high-speed communication bus. Software layer: The upper computer develops a human-computer interaction interface including functions such as process parameter setting, motion trajectory planning, and real-time status monitoring, and the lower computer implements real-time control algorithms including position closed-loop control and speed planning. The bidirectional variable curvature special-shaped cylinder roll bending forming method provided by the present invention is applicable to cylinders of any cross-sectional shape. In some embodiments, a bidirectional variable curvature special-shaped cylinder with four arc sections and a nearly elliptical cross-section is taken as an example for illustration, and the specific steps are as follows: 1. Obtain the technical parameters of the roll bending equipment and sheet material parameters Technical parameters of roll bending equipment: Maximum diameter D of upper working roll (i.e. convex upper roll 201) 1max =440mm; minimum diameter of upper working roll D 1min =260mm; Maximum diameter D of lower working roll (i.e. concave lower roll 202) 2max =440mm; minimum diameter of lower working roll D 2min =260mm; Maximum diameter of side working roll (i.e. concave side roll) D 3max =360mm; minimum diameter of side working roll D 3min =180mm; side working roll inclination angle =15°.

[0054] The selected material is 5083-O aluminum alloy: elastic modulus E = 70300Mpa; yield stress σ s =145Mpa; plate thickness t=6mm; plate relative strengthening coefficient K0=3.3, plate cross-sectional shape coefficient K1=1.5.

[0055] 2. Bidirectional variable curvature special-shaped cylinder roll bending process (1) The work roll group adopts a variable curvature matching structure design, specifically including: the upper work roll is a convex variable curvature structure, the lower work roll is a concave variable curvature structure that meshes with it, and the side work rolls also adopt a concave variable curvature structure and mesh with the upper work roll. When the lower work roll rises and cooperates with the upper work roll to clamp the plate, the precise matching of the variable curvature meshing surface achieves precise forming in the width direction of the plate. This structural design can effectively adapt to the complex curvature change requirements of bidirectional variable curvature special-shaped cylinders, ensuring the stability and accuracy of the forming process.

[0056] (2) The upper and lower working rollers work together to drive the plate to feed. The side working roller moves to the forming position corresponding to the first 1 / 2 of the first arc (i.e., the first half of the first arc) to perform roll bending. Through the continuous displacement adjustment of the side working roller, the roll bending of each subsequent arc is completed in sequence. Finally, the forming operation is performed on the last 1 / 2 of the first arc (i.e., the second half of the first arc). Ensure that the forming radius of the initial section and the end section remain strictly consistent, thereby achieving accurate matching of the plate joint and finally completing high-precision roll bending of the plate in the longitudinal direction.

[0057] 3. Mathematical model of bidirectional variable curvature special-shaped cylinder roll bending like Figure 2 middle, The angle between the force direction of the upper working roll and the plate and the force direction of the lower working roll and the plate, It is the angle between the force direction of the lower working roll and the line connecting the center points of the upper and lower working rolls. is the deflection angle of the plate relative to the center line, It is the angle between the force direction of the left working roll and the plate and the movement direction of the right working roll. and Determined by the roll bending equipment structure. Analytical method yields: Lower working roll moving distance :

[0058] Left working roll moving distance :

[0059] Right working roll moving distance :

[0060] According to the forming radius of each processed arc segment, a plurality of side roller displacements can be obtained.

[0061] 4. Finite element verification of roll bending process (1) The example is a bidirectional variable curvature special-shaped cylinder with four arc sections. The first arc forming radius R1 = 760mm, the second arc radius R2 = 644.4mm, the third arc forming radius R3 = 760mm, and the fourth arc radius R4 = 644.4mm. The finite element simulation of segmented roll bending is carried out for the above example. Figure 3 shown.

[0062] (2) For the simulation results, three groups of coordinate points of each arc segment are obtained along the length direction of the plate, and the forming radius of each arc segment is obtained, as shown in Tables 1 to 4.

[0063] Table 1: The first arc of the bidirectional variable curvature special-shaped cylinder

[0064] Table 2: The second arc of the bidirectional variable curvature special-shaped cylinder

[0065] Table 3: The third arc of the bidirectional variable curvature special-shaped cylinder

[0066] Table 4: The fourth arc of the bidirectional variable curvature special-shaped cylinder

[0067] The forming error of each arc segment is less than 1.52%. Four sets of coordinate values ​​(a total of 21 node coordinates) are extracted along the width direction of the plate, and the following are obtained: Figure 4-7 The comparison diagram of the forming curve in the longitudinal section direction of the bidirectional special-shaped cylinder and the arc line of the upper working roll shown in the figure shows that the forming error of each section is less than 4.84%, and the overall forming quality is high, which verifies the effectiveness of the roll bending mathematical model and the meshing structure of the upper and lower working rolls can realize the roll bending forming of bidirectional variable curvature special-shaped cylinders.

[0068] 5. Synchronous drive control strategy of lateral bending mechanism (1) Both ends of the side working roll are driven by separate motors, such as Figure 8 As shown in the figure, the drive motor uses the WNN neural network to optimize the controller parameters online to improve the dynamic response and positioning accuracy, and the simulation results of the permanent magnet synchronous motor position control model with the traditional PI controller are compared. Figure 9 As shown in the figure, the tracking accuracy of the PI controller optimized based on the WNN neural network is improved by 67% compared with the traditional PI controller.

[0069] (2) The servo motors on both sides adopt a cross-coupling synchronous control strategy to eliminate the unstable factors such as mechanical clearance and transmission error caused by elastic deformation when the traditional intermediate shaft transmits loads. Different loads are applied to the motors on both sides to obtain the following results: Figure 10 The motor position angle response curve shown in the figure has a maximum synchronization error of 1.4°, which converges to 0 in 0.07s, achieving high-precision positioning and dynamic response of the side bending mechanism.

[0070] 6. Roll bending equipment control system The present invention adopts Figure 11 The intelligent collaborative control architecture of "computer + motion control card" shown in the figure realizes the automated and precise control of roll bending equipment.

[0071] (1) Hardware architecture: An industrial-grade computer is used as the upper main control unit, a multi-axis motion control card is configured to achieve high-precision real-time control, and a point-to-point data transmission channel is established through the PCIe high-speed serial interface.

[0072] (2) Software system: The upper computer develops a human-computer interaction interface with functions such as process parameter setting, motion trajectory planning, and real-time status monitoring. The lower computer implements real-time control algorithms including position closed-loop control, speed planning, and I / O processing, and establishes a real-time communication protocol based on EtherCAT industrial Ethernet to ensure the timeliness of control instructions.

[0073] (3) Control function: It can realize the visual setting and storage of process parameters, online planning of the motion trajectory of the side working roll, have the function of self-diagnosis and alarm of faults, and support the collection and analysis of production data.

[0074] The present invention also provides a bidirectional variable curvature special-shaped cylinder roll bending forming system, comprising the above-mentioned electronic equipment and roll bending equipment; the roll bending equipment comprises a working roll and a servo motor for driving the working roll to move, the working roll comprising: a convex upper roll 201, a concave lower roll 202 and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic equipment.

[0075] In some embodiments, each working roll corresponds to a pair of servo motors, and the pair of servo motors respectively control the head and tail ends of the working roll to drive the working roll to move.

[0076] like Figure 12 As shown, the electronic device 1200 includes a processor 1201 , a memory 1202 and a display 1203 . Figure 12 Only some of the components of the electronic device 1200 are shown, but it should be understood that it is not required to implement all of the shown components, and more or fewer components may be implemented instead.

[0077] In some embodiments, the memory 1202 may be an internal storage unit of the electronic device 1200, such as a hard disk or memory of the electronic device 1200. In other embodiments, the memory 1202 may also be an external storage device of the electronic device 1200, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 1200.

[0078] Furthermore, the memory 1202 may include both an internal storage unit of the electronic device 1200 and an external storage device. The memory 1202 is used to store application software installed on the electronic device 1200 and various data.

[0079] In some embodiments, the processor 1201 can be a central processing unit (CPU), a microprocessor or other data processing chip, which is used to run the program code or process data stored in the memory 1202, such as the bidirectional variable curvature special-shaped cylinder roll bending method of the present invention.

[0080] In some embodiments, display 1203 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 1203 is used to display information on electronic device 1200 and to display a visual user interface. Components 1201-1203 of electronic device 1200 communicate with each other via a system bus.

[0081] In some embodiments of the present invention, when the processor 1201 executes the bidirectional variable curvature special-shaped cylinder roll bending forming program in the memory 1202, the following steps may be implemented: Based on the shape parameters of the roll bending equipment and the material property parameters of the plate, a working roll displacement expression of the roll bending equipment is determined; the roll bending equipment includes a working roll and a servo motor for driving the working roll to move, and the working roll includes: a convex upper roll 201, a concave lower roll 202, and concave side rolls that mesh to form a variable curvature forming surface; Determining the displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression; The displacement parameters are input into a trained network model to obtain servo motor control parameters, and the servo motor control parameters are input into a PI controller. The servo motor is controlled by the PI controller to drive the working roll to move and perform roll bending on the plate; The network model is obtained by training the WNN neural network using the preset displacement parameters of the working roll as samples and the corresponding servo motor control parameters as sample labels.

[0082] It should be understood that: when the processor 1201 executes the bidirectional variable curvature special-shaped cylinder roll bending forming program in the memory 1202, in addition to the above functions, it can also realize other functions. For details, please refer to the description of the corresponding method embodiment above.

[0083] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 1200 mentioned. Electronic device 1200 may be a portable electronic device such as a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, or laptop computer. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The portable electronic devices mentioned above may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 1200 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0084] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the bidirectional variable curvature special-shaped cylindrical roll bending method provided by the above methods, the method comprising: Based on the shape parameters of the roll bending equipment and the material property parameters of the plate, a working roll displacement expression of the roll bending equipment is determined; the roll bending equipment includes a working roll and a servo motor for driving the working roll to move, and the working roll includes: a convex upper roll 201, a concave lower roll 202, and concave side rolls that mesh to form a variable curvature forming surface; Determining the displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression; The displacement parameters are input into a trained network model to obtain servo motor control parameters, and the servo motor control parameters are input into a PI controller. The servo motor is controlled by the PI controller to drive the working roll to move and perform roll bending on the plate; The network model is obtained by training the WNN neural network using the preset displacement parameters of the working roll as samples and the corresponding servo motor control parameters as sample labels.

[0085] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0086] The above is a detailed introduction to the bidirectional variable curvature special-shaped cylinder roll bending forming method, system and electronic equipment provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A bidirectional variable curvature special-shaped cylinder roll bending method, characterized in that: include: Based on the shape parameters of the roll bending equipment and the material properties of the plate, the displacement expression of the working roll of the roll bending equipment is determined; The roll bending equipment includes a working roll and a servo motor for driving the working roll to move, wherein the working roll includes: a convex upper roll, a concave lower roll and concave side rolls that mesh to form a variable curvature forming surface; Determining the displacement parameter of the working roll based on the plate thickness parameter and the working roll displacement expression; The displacement parameters are input into a trained network model to obtain servo motor control parameters, and the servo motor control parameters are input into a PI controller. The servo motor is controlled by the PI controller to drive the working roll to move and perform roll bending on the plate; The network model is obtained by training the WNN neural network using the preset displacement parameters of the working roll as samples and the corresponding servo motor control parameters as sample labels.

2. The bidirectional variable curvature special-shaped cylinder roll bending method according to claim 1, characterized in that: Drive the working roll to roll bend the plate, including: After driving the convex upper roller and the concave lower roller to move and drive the plate to feed, the concave side roller is driven to move to the corresponding position of the first half of the first arc of the plate to perform roll bending, and then the arcs after the first section are roll bent in turn, and finally the second half of the first arc is roll bent; wherein, the forming radius of the first half and the second half of the first arc are the same.

3. The bidirectional variable curvature special-shaped cylinder roll bending method according to claim 1, characterized in that: The concave side rollers include: a concave left roller and a concave right roller; The convex upper roller is fixed, and the displacement expression of the concave lower roller is determined based on the center distance between the concave lower roller and the convex upper roller, the minimum radius of the concave lower roller, the maximum radius of the convex upper roller, and the thickness of the plate; The displacement expression of the concave left roller is based on the distance and angle between the concave lower roller and the intersection point O. , the distance between the concave left roller and the intersection F, and the distance between the intersection O and the intersection F; wherein the intersection O is the intersection of the moving path of the concave left roller and the moving path of the concave right roller, the angle The angle between the moving path of the concave lower roller and the moving path of the concave left roller is the intersection point between the force direction of the concave lower roller and the plate and the moving path of the concave left roller; The displacement expression of the concave right roller is based on the distance between the concave right roller and the intersection O, the distance between the convex upper roller and the intersection O, and the angle , the maximum radius of the convex upper roller, the minimum radius of the concave left roller, and the thickness of the plate.

4. The bidirectional variable curvature special-shaped cylinder roll bending method according to claim 3, characterized in that: The displacement expression of the concave lower roller is: Among them, L2 is the displacement of the concave lower roller, O1O 21 is the center distance between the concave lower roller and the convex upper roller, r 2min is the minimum radius of the concave lower roller, r 1max is the maximum radius of the convex upper roller, and t is the thickness of the plate.

5. The bidirectional variable curvature special-shaped cylinder roll bending method according to claim 3, characterized in that: The displacement expression of the concave left roller is: Where L3 is the displacement of the concave left roller, OO 21 is the distance between the concave lower roller and the intersection O, FO 32 is the distance between the concave left roller and the intersection F, and FO is the distance between the intersection O and the intersection F.

6. The bidirectional variable curvature special-shaped cylinder roll bending method according to claim 3, characterized in that: The displacement expression of the concave right roller is: Where L4 is the displacement of the concave right roller, OO 41 is the distance between the concave right roller and the intersection O, OO1 is the distance between the convex upper roller and the intersection O, r 1max is the maximum radius of the convex upper roller, r 3min is the minimum radius of the concave left roller, and t is the thickness of the plate.

7. An electronic device, characterized in that: comprising a memory and a processor, wherein, The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature special-shaped cylinder roll bending method as described in any one of claims 1 to 6.

8. The electronic device according to claim 7, wherein: The electronic device is an industrial computer equipped with a multi-axis motion control card, and the electronic device is communicatively connected to the servo motor via a PCIE serial port.

9. A bidirectional variable curvature special-shaped cylinder roll bending forming system, characterized in that: The invention comprises the electronic device according to claim 7 or 8, and roll bending equipment; the roll bending equipment comprises a working roll and a servo motor for driving the working roll to move, the working roll comprises: a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic device.

10. The bidirectional variable curvature special-shaped cylinder roll bending forming system according to claim 9, characterized in that: Each working roll corresponds to a pair of servo motors, and the pair of servo motors respectively control the head and tail ends of the working roll to drive the working roll to move.

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