Spatial bending method and apparatus for metal plate, and electronic device and readable medium

Abstract

A spatial bending method for a metal plate (300). The method comprises: acquiring a preset surface group, unfolding the preset surface group into a plane (500), and marking the position of a common boundary of adjacent curved surfaces, an included angle between the adjacent curved surfaces, and an edge contour of the plane; constructing a two-dimensional mesh surface (600); on the basis of the two-dimensional mesh surface, constructing a dynamic simulation, and performing three-dimensional shape prediction, so as to obtain a three-dimensional shape prediction result; on the basis of correspondences between motion paths of a mechanical arm and morphological changes of a metal plate during a bending process, the included angle, and the three-dimensional shape prediction result, obtaining a motion path of the mechanical arm; and on the basis of the motion path, performing spatial bending on the metal plate. A spatial bending apparatus for a metal plate. The apparatus comprises: an acquisition module, which is used for acquiring a preset surface group; a dynamic simulation module, which is used for constructing a dynamic simulation on the basis of a two-dimensional mesh surface; a calculation module, which is used for acquiring correspondences between motion paths of a mechanical arm and morphological changes of a metal plate during a bending process; and a control module, which is used for performing, on the basis of the motion path, spatial bending on the metal plate. An electronic device, comprising one or more processors, wherein the one or more processors implement a spatial bending method for a metal plate. A readable storage medium, wherein a spatial bending program for a metal plate is stored in the readable storage medium. By using the spatial bending method for a metal plate, the current technical routes where the bending of a metal plate must depend on a mold is abandoned, and whether the bending form of a metal plate meets requirements can be quickly inspected at the design stage.

Description

A method, device, electronic device and readable medium for spatial bending of metal sheet Technical Field

[0001] The present invention relates to the technical field of metal sheet processing, and in particular to a method, device, electronic equipment and readable medium for spatial bending of a metal sheet. Background Art

[0002] Sheet metal bending is a simple and rapid process for converting 2D sheet metal into a 3D shell. Currently, sheet metal bending has penetrated numerous industries within industrial manufacturing, including construction, equipment, automotive, home appliances, and consumer goods. Due to the diverse product requirements and high volume across various industries, replacing manual labor with robots is becoming an inevitable trend. Currently, sheet metal bending technology primarily relies on automated sheet metal processing units consisting of CNC bending machines and robotic arms, with improvements being made to accommodate different types of formed parts.

[0003] Currently, sheet metal bending technology mainly relies on sheet metal automated processing units consisting of CNC bending machines and robotic arms. However, this integrated equipment is too expensive, has limited processing space, and can only process sheet metal parts with simple shapes (straight creases), but cannot process complex curved surfaces.

[0004] Therefore, how to design a method for spatial bending of metal sheets has become a technical problem that urgently needs to be solved.

[0005] Summary of the Invention

[0006] The present invention discloses a spatial bending method, device, electronic equipment and readable medium for a metal sheet, aiming to solve a series of problems existing in the prior art.

[0007] The present invention adopts the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a method for spatial bending of a metal sheet, the method comprising:

[0009] Obtaining a preset face group, unfolding the preset face group into a plane, and marking the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces, and the edge contour of the plane according to the preset face group;

[0010] Generate a two-dimensional mesh surface based on a preset mesh accuracy, the position of the common boundary, the angle between the adjacent curved surfaces, and the edge profile of the plane, wherein the common boundary includes at least one curve;

[0011] Constructing a dynamic simulation based on the two-dimensional mesh surface, performing three-dimensional shape prediction, and obtaining a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes;

[0012] Obtaining a correspondence between a motion path of the robotic arm and a morphological change during the bending process of the metal sheet, and obtaining the motion path of the robotic arm based on the correspondence, the angle, and the three-dimensional shape prediction result;

[0013] The metal sheet is subjected to spatial bending based on the motion path. In a second aspect, an embodiment of the present invention provides a device for spatially bending a metal sheet, comprising:

[0014] an acquisition module, configured to acquire a preset face group, unfold the preset face group into a plane, and mark the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces, and the edge contour of the plane according to the preset face group;

[0015] A generating module, configured to generate a two-dimensional mesh surface based on a preset mesh accuracy, a position of the common boundary, an angle between the adjacent curved surfaces, and an edge profile of the plane, wherein the common boundary includes at least one curve;

[0016] a dynamics simulation module, configured to construct a dynamics simulation based on the two-dimensional mesh surface, perform three-dimensional shape prediction, and obtain a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes;

[0017] a calculation module, configured to obtain a correspondence between a motion path of the robot arm and a morphological change during the bending process of the metal sheet, and to obtain the motion path of the robot arm based on the correspondence, the angle, and the three-dimensional shape prediction result;

[0018] A control module is used to perform spatial bending on the metal sheet based on the motion path.

[0019] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0020] one or more processors;

[0021] a memory for storing one or more programs;

[0022] When the one or more programs are executed by the one or more processors, the one or more processors implement the spatial bending method of the metal sheet as described in any one of the above items.

[0023] In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a spatial bending program for a metal sheet is stored. When the spatial bending program for a metal sheet is executed by a processor, the spatial bending method for a metal sheet as described in any one of the above items can be implemented.

[0024] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0025] The present invention mainly provides a method for spatial bending of metal sheets, which can perform dynamic simulation of flat metal sheets in the early stage of production and manufacturing, and determine the three-dimensional shape after spatial bending. Based on the bending process of the flat metal sheets, the motion path of the robot arm tool head is calculated, and the instructions of the motion path are sent to the robot arm, so that the flat metal sheets can be directly bent by the robot arm.

[0026] This method abandons the existing method of using upper and lower molds for sheet metal processing. By converting the experience of manual origami into the operation program of an industrial robotic arm, the origami method is simulated to use the robotic arm to perform spatial bending of metal sheets, forming a complex streamlined curved shell. It has the characteristics of large working space, flexible layout, and various forming methods. It is suitable for the research and development of new products and the production of small batch customized products. It can shorten the product development cycle and reduce manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments, which constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0028] FIG1 is a schematic structural diagram of an apparatus for performing spatial bending on a metal sheet in a preferred embodiment disclosed in the present invention;

[0029] FIG2 is a schematic diagram of a preferred embodiment of the present invention for performing spatial bending on a metal sheet.

[0030] FIG3 is a flow chart of a method for spatial bending of a metal sheet in a preferred embodiment disclosed in the present invention;

[0031] FIG4 is a schematic diagram of a preset face group unfolded into a plane in a preferred embodiment disclosed in the present invention;

[0032] FIG5 is a schematic diagram of a two-dimensional grid surface in a preferred embodiment disclosed in the present invention;

[0033] FIG6 and FIG7 are schematic diagrams of dynamic simulation of a plane in a preferred embodiment disclosed in the present invention.

[0034] Reference numerals: six-axis industrial robot 100 , suction cup 110 , robot arm tool head 120 , bracket 200 , metal plate 300 , plane 500 , two-dimensional grid surface 600 , three-dimensional time-sequential grid surface 700 . DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. In the description of the present invention, it should be noted that the term "or" is generally used in the sense of including "and / or" unless the content clearly indicates otherwise.

[0036] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0037] In existing technology, in order to increase production capacity and shorten production time for complex sheet metal bending parts produced in large quantities, mold bending is required. The basic principle of bending with a press brake is to use the bending blade (upper die) and V-groove (lower die) of the press brake to bend and shape the sheet metal parts. However, existing press brakes can only process sheet metal parts with simple shapes and are unable to process complex curved surfaces. Moreover, the equipment layout is rigid and the processing space is limited, which cannot meet the production needs of various types of molded parts.

[0038] To solve the above problems, in this embodiment, a spatial bending method for metal sheets is provided. The method uses at least two robotic arm robots to bend the metal sheets, and realizes the spatial bending of the metal sheets by simulating origami to form a complex streamlined curved shell.

[0039] In one embodiment of the present invention, the equipment for bending the metal sheet 300 includes at least two six-axis industrial robots 100; preferably, it also includes a bracket 200 equipped with a suction cup 110 for fixing the metal sheet 300, as shown in Figure 1.

[0040] The six-axis industrial robot 100 has six built-in servo motors that directly drive the rotation of its six joint axes through a reducer, synchronous pulleys, and other mechanisms. Specifically, the six-axis industrial robot 100 has six degrees of freedom: rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist rotation (T-axis). These six joints combine to achieve the six degrees of freedom of the end-arm, making the tool head at the end of the arm equivalent to a turntable that can rotate 360° horizontally.

[0041] In one embodiment of the present invention, a suction cup 110 is provided on a robotic arm tool head 120. Suction cup 110 is used to secure and bend a metal sheet 300, as shown in Figure 2. Alternatively, suction cup 110 may be a vacuum cup, a hydraulic cup, or an electromagnetic cup. Preferably, an electromagnetic cup is selected to balance size and ease of operation.

[0042] In one embodiment of the present invention, the tool heads 120 of two six-axis industrial robots 100 lift a metal sheet 300 into mid-air using suction cups 110 and perform spatial motion according to a toolpath to collaboratively bend the metal sheet 300. In one embodiment of the present invention, creases are milled into the metal sheet 300 according to a CAD score line before bending, facilitating bending and accurately locating the creases.

[0043] In one embodiment of the present invention, a bracket 200 equipped with a suction cup 110 is arranged on one side between two six-axis industrial robots 100, and multiple suction cups 110 can be provided thereon to fix the metal sheet 300; those skilled in the art will understand that when the metal sheet 300 is small in size, or the angle of spatial bending thereof is small / the shape is relatively simple, the bracket 200 may not be provided or used.

[0044] 3 , an embodiment of the present invention provides a method for spatially bending a metal sheet using two six-axis industrial robots 100 . The method includes steps S410 to S450 as follows:

[0045] Step S410: Obtain a preset face group, unfold the preset face group into a plane, and mark the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces, and the edge contour of the plane according to the preset face group.

[0046] In one embodiment of the present invention, the preset face group represents the ideal shape of the metal sheet 300 after bending in space, and includes a three-dimensional curved surface model. Optionally, the file format of the three-dimensional curved surface model is selected to be a format that can be recognized and processed by 3D software (such as Rhino). Those skilled in the art will appreciate that, since there are currently dozens of 3D model formats that can be recognized by 3D software, the specific file format is not specifically limited in this embodiment, and those skilled in the art may select an appropriate file format based on actual needs.

[0047] In one embodiment of the present invention, the preset face group includes at least two curved surfaces, and the common boundary of the two curved surfaces includes at least one curve; in some possible embodiments, the preset face group includes at least one curved surface and one plane, and regardless of whether the preset face group contains a plane, the common boundary between the two surfaces contains at least one curve.

[0048] Specifically, the preset face group may include multiple curved surfaces, and the common boundaries between adjacent curved surfaces are all curves; or, the preset face group may include a plane and multiple curved surfaces, the common boundaries between the plane and the curved surface are curves, and the common boundaries between adjacent curved surfaces are also curves; or, the preset face group may include multiple planes and at least two curved surfaces, the common boundaries between adjacent planes are straight lines, but the common boundaries between planes and curved surfaces, and between adjacent curved surfaces are curves.

[0049] In one embodiment of the present invention, the value of the angle includes the size and direction of the angle between adjacent surfaces in a preset face group; since the preset face group can be regarded as a combination of surfaces bent from a plane, the directions of the adjacent surfaces include convex and concave; specifically, since the angle is the angle between adjacent surfaces, the size of the angle may be different everywhere. In an optional implementation, the angle data can be determined separately at a specific distance on the common boundary of adjacent surfaces and recorded.

[0050] In one possible implementation, after determining the common boundary of adjacent surfaces in a preset face group, a vertical plane is found at the midpoint of the common boundary, and the intersection line between the vertical plane and the corresponding two adjacent surfaces is found. The midpoints of the intersection lines between the plane and the adjacent surfaces are respectively taken, and a vector is found from the origin of the vertical plane to the two midpoints. The angle between the two vectors is the angle between the two surfaces.

[0051] In one embodiment of the present invention, the preset face group is a three-dimensional curved surface model, and the preset face group of the curved surface is unfolded into a plane 500 using 3D software (such as Rhino); specifically, before unfolding the preset face group, a reference point must be created first, and a corner of the preset face group can be used as the reference point for unfolding. The edge contour of the unfolded plane 500 is a regular rectangle to correspond to the rectangular metal plate 300.

[0052] In another embodiment of the present invention, the formability of a pre-defined face group is first analyzed in 3D software. A plane to which the pre-defined face group (including its edge contours and the common boundaries of adjacent curved surfaces) will be attached is then selected. The constraint type and demolding direction are then selected, and the mesh is calculated to flatten the pre-defined face group. In this embodiment, the edge contours of the unfolded plane 500 are also regular rectangles, corresponding to the rectangular metal sheet 300.

[0053] 4 , in one embodiment of the present invention, after the preset face group is flattened, different marks are set to mark the directions of the angles between adjacent curved surfaces, the shapes of the common boundaries of adjacent curved surfaces, and the edge contours of the plane 500 .

[0054] Since the directions of the angles between adjacent surfaces in a preset face group are divided into convex and concave, in one embodiment of the present invention, the concave and convex directions are marked with dots and lines and line segments, respectively. For example, dots and lines are used to mark the positions where the common boundary is concave, and line segments are used to mark the positions where the common boundary is convex.

[0055] In one embodiment of the present invention, since the edge contour of the plane 500 after the preset face group is unfolded is a regular rectangle, the edge contour of the plane 500 can be directly marked using a rectangular frame.

[0056] Step S420: Generate a two-dimensional mesh surface based on the preset mesh accuracy, the position of the common boundary, the angle between the adjacent curved surfaces and the edge contour of the plane.

[0057] In one embodiment of the present invention, a two-dimensional mesh surface (mesh) suitable for dynamics calculations is generated based on the data in step S410. The number of mesh subdivisions in the two-dimensional mesh surface 600 is set according to a preset mesh precision. The vertex position and sequence number of each mesh in the two-dimensional mesh surface 600 are determined based on the edge contour of the plane 500, the marked common boundary, and the number of mesh subdivisions, and a quadrilateral mesh surface is constructed. Specifically, each mesh is configured as a quadrilateral mesh.

[0058] In one embodiment of the present invention, the greater the accuracy, the smaller the subdivided grid size, and the longer the time consumed in performing dynamic calculations. In order to strike a balance between accuracy and calculation time, the specific design of the grid size can be freely adjusted according to actual conditions. In a possible preferred embodiment, the size of the grid in the two-dimensional grid surface 600 is 50mm*80mm.

[0059] Specifically, after the flattened plane 500 in step S410 is set as a two-dimensional grid surface 600, the two-dimensional grid surface 600 can be mapped onto the metal sheet 300 to be spatially bent. By adjusting the angles between adjacent grids, the metal sheet 300 can be bent in sections and ultimately approach a smooth surface.

[0060] In one embodiment of the present invention, the grid lines in the grid surface include transverse lines and longitudinal lines, wherein the longitudinal lines are multiple common boundaries and two longitudinal edge contour lines. The transverse lines are arranged in parallel and evenly. The vertices of the grid are the intersections of the transverse lines and the longitudinal lines. As reflected in FIG5 , the grid vertices are respectively arranged at the intersections of the transverse lines and the boundary contour / common boundary, and the sequence numbers of the grid vertices are regularly sorted from one corner of the edge contour of the two-dimensional grid surface 600 to the opposite corner, that is, numbered 0-79.

[0061] Those skilled in the art should understand that, as the precision of the two-dimensional grid surface 600 increases, the size of the subdivided grid becomes smaller, the density increases, and the number of subdivided grids increases, and the number of horizontal and / or vertical lines also increases, the number and serial number of grid vertices also increases accordingly.

[0062] In some possible implementations, the vertex numbers of the mesh do not need to be sorted from one corner of the edge contour to the opposite corner. Other feasible sorting rules may also be applied, which are not listed here one by one.

[0063] Step S430: A dynamic simulation is constructed based on the two-dimensional mesh surface, and a three-dimensional shape prediction is performed to obtain a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes multiple intermediate three-dimensional predicted shapes. In one embodiment of the present invention, a dynamic simulation is constructed based on the two-dimensional mesh surface 600 and the angle / direction of the included angle to predict the three-dimensional shape of the two-dimensional mesh surface 600 after bending. Based on the predicted structure, a determination is made to determine whether the shape meets the design requirements.

[0064] In one embodiment of the present invention, during a dynamics simulation, a two-dimensional mesh surface 600 is discretized into a number of simulation units, each corresponding to a mesh. Angle constraints are established between adjacent simulation units, and based on dynamics calculations, these angles are gradually approximated to the included angles of adjacent curved surfaces in a predefined face group. Specifically, adjacent simulation units are defined as those on the left and right sides of a common boundary.

[0065] Referring to Figures 6 and 7, two adjacent simulation units in the two-dimensional grid surface 600 are taken as an example. Point cd is used as the crease (that is, the common boundary), and an angle constraint is established between point ab and point ef. Through dynamic calculation, the angle between points ab and ef is continuously approached to the angle between the two surfaces in the preset face group. Then, the rule is attached to the entire grid surface, and the shape of the metal sheet 300 after spatial bending is simulated through dynamic settlement.

[0066] In one embodiment of the present invention, the dynamics solver plug-in Kangaroo in Rhino can be used to establish a dynamics model. The input is: a two-dimensional mesh surface 600, a common boundary marked with the direction of convexity and concavity, and the angle between adjacent surfaces in a preset face group. The output is: a series of three-dimensional sequential mesh surfaces 700 (gradually transitioning from the initial two-dimensional mesh surface 600 to the three-dimensional mesh surface after bending). This series of three-dimensional sequential mesh surfaces 700 is the aforementioned intermediate three-dimensional predicted shape, and the multiple intermediate three-dimensional predicted shapes are continuous and sequential.

[0067] In one embodiment of the present invention, the three-dimensional shape prediction result further includes a final shape, and the final shape is the same as the shape of the preset face group.

[0068] Specifically, as a four-dimensional spatiotemporal model, the three-dimensional temporal grid surface 700 not only has the geometric information of a single frame in the process of the two-dimensional grid surface 600 gradually transitioning to the bent three-dimensional grid surface, but also has the changes in geometric information between frames, including the degree of change in the length and folding angle of each edge in the two-dimensional grid surface 600 between consecutive frames. At the same time, a merging cost is set and a certain weight coefficient is assigned to it to retain the detailed information of more important motion features of the two-dimensional grid surface 600 when it is bent into a three-dimensional grid surface.

[0069] Step S440: Obtain the correspondence between the motion path of the robot arm and the shape change of the metal sheet during the bending process, and obtain the motion path of the robot arm based on the correspondence, the angle and the three-dimensional shape prediction result.

[0070] In one embodiment of the present invention, step S440 is a simulated bending process of the metal plate 300 , which is used to convert the spatial bending process of the metal plate 300 into a motion path of the robot arm tool head 120 .

[0071] In one embodiment of the present invention, the motion direction of the robot tool head 120 is always centered around the geometric center (bonding box) of the bent plane 500 (Force Direction). The motion path of the robot tool head 120 is calculated based on the predicted three-dimensional shape and the morphological changes of the two-dimensional mesh surface 600 in step S430. Finally, the robot's x, y, z, a, b, c motion control is constructed based on the direction key points (a, b, c) and the path key points (x, y, z), and the control code is generated and deployed.

[0072] In one embodiment of the present invention, the correspondence between the movement path of the robotic arm tool head 120 and the morphological change of the metal sheet 300 during the bending process is known. After obtaining the morphological change path of the metal sheet 300 during the bending process, the movement path of the robotic arm tool head 129 can be obtained based on the known correspondence.

[0073] Specifically, the direction key points and the path key points each form a continuous sequence of path points. After the control code for this continuous sequence is transferred to the six-axis industrial robot 100, the robot tool head 120 can form its motion path based on the path points. The starting point and target point in the control code serve as the starting point and end point of the motion path of the robot tool head 120, respectively. Since the suction cup 110 on the robot tool head 120 can absorb and fix the metal sheet 300, the metal sheet 300 can be bent in space as the robot tool head 120 moves, and ultimately approach the shape of a preset face group. In one embodiment of the present invention, the dynamics solver plug-in Kangaroo in Rhino can be used to establish a dynamic model. The input is: a two-dimensional mesh surface 600, a common boundary marked with a concave and convex direction, and the angle between adjacent curved surfaces in a preset face group. The output is: a series of three-dimensional time-sequential mesh surfaces 700 (gradually transitioning from the initial two-dimensional mesh surface 600 to the three-dimensional mesh surface after bending). The positions of the suction cups 110 on all output grid surfaces (corresponding to the center positions 1-4 of the adsorption surface in FIG. 7 ) constitute the motion path of the robot tool head 120 .

[0074] Those skilled in the art should understand that since the dynamic calculation only considers the qualitative analysis of the bending deformation, it is not necessary to consider the material parameters of the metal sheet 300 .

[0075] Step S450: Perform spatial bending on the metal sheet based on the motion path.

[0076] In one embodiment of the present invention, the metal sheet 300 is a 6-series aluminum alloy (e.g., aluminum alloy 6061) with a thickness of 1 mm. Before bending, it is pre-processed. A crease is milled on a CNC machine tool to create the edge contour of the two-dimensional grid surface 600 (the rectangular frame in step S410). The resulting formed piece is then cut along the edge contour. Specifically, the crease serves as the common boundary of the markings, and the crease depth is half the thickness of the metal sheet 300.

[0077] In one embodiment of the present invention, the pre-treated metal sheet 300 is adsorbed on the bracket 200 , and the metal sheet 300 is fixed and bent by the robot arm tool heads 120 of two six-axis industrial robots 100 .

[0078] In the above embodiment, a method is constructed to predict the three-dimensional bending shape of a two-dimensional metal sheet based on its creases and contours. Without physical testing, it is possible to quickly check whether the bending shape meets the requirements during the design stage. Furthermore, this method connects the design end and the manufacturing end, and converts the simulated metal sheet bending process into a motion program of a robotic arm. In addition, this method completely abandons the technical route of the existing technology that must rely on upper and lower molds to bend metal sheets (and it is not easy to manufacture curved metal shells), and directly bends metal sheets based on a six-axis industrial robot, with a large working space and flexible layout.

[0079] In one embodiment of the present invention, a spatial bending device for metal sheets is also provided. The device includes an acquisition module, a generation module, a dynamic simulation module, a calculation module and a control module. Through the device, the method described in steps S410 to S450 above can be implemented.

[0080] In one embodiment of the present invention, the acquisition module is configured to acquire a preset face group, unfold the preset face group into a plane, and annotate the positions of the common boundaries of adjacent curved surfaces, the angles between adjacent curved surfaces, and the edge contours of the plane based on the preset face group. Specifically, the functions implemented by the acquisition module are described in detail in step S410 above and are not further described here.

[0081] In one embodiment of the present invention, the generation module is configured to generate a two-dimensional mesh surface based on a preset mesh accuracy, the location of the common boundary, the angle between the adjacent curved surfaces, and the edge profile of the plane. Specifically, the functions that the generation module can implement are described in detail in step S420 above and are not further described here.

[0082] In one embodiment of the present invention, the dynamics simulation module is configured to perform a dynamics simulation based on the two-dimensional mesh surface, perform three-dimensional shape prediction, and obtain a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes multiple intermediate three-dimensional predicted shapes. Specifically, the functions implemented by the dynamics simulation module are described in detail in step S430 above and are not further described here.

[0083] In one embodiment of the present invention, the calculation module is configured to obtain a correspondence between the robot arm's motion path and the morphological changes during the metal sheet bending process, and to determine the robot arm's motion path based on the correspondence, the angle, and the three-dimensional shape prediction result. Specifically, the functions implemented by the calculation module refer to step S440 described above and are not further described here.

[0084] In one embodiment of the present invention, the control module is used to perform spatial bending on the metal sheet based on the motion path. Specifically, the functions that the control module can implement are as described in the above step S450 and will not be described in detail here.

[0085] In one embodiment of the present invention, an electronic device is also provided, which includes at least one processor and a memory, wherein the memory is used to store one or more programs. When the one or more programs are executed by the processor, the processor can implement the spatial bending method of metal sheets as described above.

[0086] In one embodiment of the present invention, a readable storage medium is also provided, on which a spatial bending program for a metal sheet is stored. When the spatial bending program for a metal sheet is executed by a processor, the functions that can be achieved by steps S410 to S450 can be achieved.

[0087] It should be noted that the spatial bending method of the metal sheet provided in the above embodiment and the embodiment of the spatial bending device of the metal sheet belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0088] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0089] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A method for spatial bending of a metal sheet, characterized in that: The method comprises: Obtain a preset face group, unfold the preset face group into a plane, and mark the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces, and the edge contour of the plane according to the preset face group; Generate a two-dimensional mesh surface based on a preset mesh accuracy, the position of the common boundary, the angle between the adjacent curved surfaces and the edge profile of the plane, wherein the common boundary includes at least one curve; Constructing a dynamic simulation based on the two-dimensional mesh surface, performing three-dimensional shape prediction, and obtaining a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes; Obtaining a correspondence between a motion path of the robot arm and a shape change during the bending process of the metal sheet, and obtaining a motion path of the robot arm according to the correspondence, the angle and the three-dimensional shape prediction result; The metal sheet is bent in space based on the movement path.

2. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of marking the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces and the edge contour of the plane according to the preset face group: The preset face group is configured as a three-dimensional curved surface model of a metal sheet after being spatially bent; the preset face group includes at least two curved surfaces; the angle data includes the size and direction of the angle between adjacent curved surfaces in the preset face group.

3. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of generating a two-dimensional mesh surface based on the preset mesh accuracy, the position of the common boundary, the angle between the adjacent curved surfaces and the edge contour of the plane: Setting the number of grids in the two-dimensional grid surface according to the preset grid precision; The vertex position and serial number of each mesh in the two-dimensional mesh surface are determined, and each mesh is configured as a quadrilateral mesh.

4. The method for spatial bending of a metal sheet according to claim 3, characterized in that: In the step of determining the vertex position and serial number of each mesh in the two-dimensional mesh surface: The mesh vertices in the two-dimensional mesh surface are respectively arranged on the common boundary and the edge contour of the plane; The serial numbers of the mesh vertices in the two-dimensional mesh surface are ordered from one corner of the edge contour of the plane to the opposite corner.

5. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of constructing a dynamic simulation based on the two-dimensional mesh surface and performing three-dimensional shape prediction: Discretize the two-dimensional grid surface into a plurality of simulation units, each of the simulation units corresponds to a grid; An angle constraint is established between adjacent simulation units, and based on dynamic calculation, the angle is gradually approached to the included angle of adjacent curved surfaces in the preset face group.

6. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of obtaining a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes, the step further includes: Whether the shape meets the design requirements is determined based on the prediction result of the three-dimensional shape.

7. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of obtaining a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes: The plurality of intermediate three-dimensional predicted shapes are continuous and sequential.

8. The method for spatial bending of a metal sheet according to claim 7, characterized in that: The three-dimensional shape prediction result also includes a final shape, and the final shape is the same as the shape of the preset face group.

9. The method for spatial bending of a metal sheet according to claim 1, characterized in that: In the step of performing spatial bending on the metal sheet based on the motion path, the method further includes: The common boundary is milled on the metal sheet, and cutting is performed along the edge contour. The robot arm tool head fixes and bends the cut metal sheet.

10. A space bending device for a metal sheet, characterized in that: include: An acquisition module is used to acquire a preset face group, expand the preset face group into a plane, and mark the position of the common boundary of adjacent curved surfaces, the angle between adjacent curved surfaces, and the edge contour of the plane according to the preset face group; a generation module is used to generate a two-dimensional mesh surface based on a preset mesh accuracy, the position of the common boundary, the angle between adjacent curved surfaces, and the edge contour of the plane, wherein the common boundary includes at least one curve; A dynamics simulation module, used for constructing a dynamics simulation based on the two-dimensional mesh surface, performing three-dimensional shape prediction, and obtaining a three-dimensional shape prediction result, wherein the three-dimensional shape prediction result includes a plurality of intermediate three-dimensional predicted shapes; A calculation module, used to obtain the corresponding relationship between the motion path of the robot arm and the shape change of the metal sheet during the bending process, and obtain the motion path of the robot arm according to the corresponding relationship, the angle and the three-dimensional shape prediction result; A control module is used to perform spatial bending on the metal sheet based on the motion path.

11. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the spatial bending method of the metal sheet as described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that: The readable storage medium stores a spatial bending program for a metal sheet. When the spatial bending program for a metal sheet is executed by a processor, the spatial bending method for a metal sheet as described in any one of claims 1 to 9 can be implemented.

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