A shaping system for a dangerous elastic material

Abstract

The present application belongs to the field of material processing technology, and specifically relates to a dangerous elastic material shaping processing system based on a mechanical arm. The system comprises an image acquisition device, an image server, an algorithm server, a control server and a mechanical arm sequentially connected through a signal data transmission cable, and further comprises a data storage hard disk connected to the algorithm server through a signal data transmission cable, a laser tracker connected to the control server through a signal data transmission cable and a cutter fixed at the end of the mechanical arm. The present application integrates technologies such as image acquisition and identification, working operation strategy planning, simulation environment model construction and mechanical arm precise control based on a laser tracker, and can not only perform efficient and precise shaping and working operation, but also complete other working tasks such as carrying, assembling and polishing by modifying the strategy planning model on the basis of the system of the present application. The system of the present application has great versatility and expansibility.

Description

Technical Field

[0001] This invention belongs to the field of materials processing technology, specifically relating to a shaping and processing system for hazardous elastic materials based on a robotic arm. Background Technology

[0002] During the shaping and processing of hazardous materials, changes in force and heat can easily lead to sudden and severe accidents such as explosions and deflagrations due to improper operation. These accidents may also generate toxic gases and liquids, causing chronic and serious harm to workers. Furthermore, the deformation and elastic recovery of elastic materials during processing not only affect processing accuracy but also significantly increase the probability of operational errors, easily leading to hazards. Traditional processing methods for hazardous elastic materials rely heavily on highly skilled workers. On the one hand, the inherent danger of the materials being processed and the potential for errors in the process itself make the processing of hazardous elastic materials extremely difficult and inefficient. On the other hand, the elastic recovery and deformation characteristics of the materials themselves make it difficult to control the precision of the finished product.

[0003] With the development of industrial informatization and the significant improvement in data processing capabilities, it has become a reality to map various entities and actions throughout the entire product manufacturing process into corresponding virtual objects and actions in digital space. A representative technology for this mapping is digital twin technology, which has received considerable research attention in recent years. Based on digital twin technology, the processing of hazardous elastic materials is digitally modeled. By performing virtual processing in digital space, potential hazards can be predicted, and the surface morphology of the workpiece after elastic recovery following virtual cutting can be used to adjust processing strategies and reduce errors during processing. Therefore, digital twin technology can solve the problems of difficulty in controlling precision and low efficiency in the processing of hazardous elastic materials.

[0004] An intelligent robotic arm system for machining hazardous elastic materials integrates several key technologies, including image acquisition and recognition of material surfaces, machining strategy planning, and robotic arm control. With the development of artificial intelligence, deep neural network models based on deep learning have achieved, and in some aspects even surpass, human-level image recognition capabilities in the field of image recognition. In machining strategy planning, extensive research has been conducted on algorithms such as path planning, robot trajectory interpolation, multi-degree-of-freedom robotic arm rigid-flexible coupling models, and dynamic trajectory error compensation algorithms. However, a lack of correlation with the actual robotic arm control and the instantaneous changes in the material processing state prevents online optimization planning for the machining of hazardous elastic materials. Therefore, it is necessary to construct a shaping machining system based on digital twins, using hazardous elastic materials as a real-time measurement and dynamic operation object model, the designed shape as the shaping target, and the safety characteristics of the robot, cutting tools, and propellant charge as constraints, to perform online simulation, plan shaping strategies, and execute operations. Summary of the Invention

[0005] The purpose of this invention is to establish an intelligent shaping and processing system based on a robotic arm for the processing of hazardous elastic materials. This system consists of four parts: a vision module, a decision-making module, a control module, and a processing module. It uses a system control method based on digital twin technology to simulate the shaping process, update the strategy model using learning or optimization algorithms, guide the actual shaping process with the strategy model, check the possibility of dangerous accidents during the shaping process, predict the processing accuracy after shaping, and update the simulation environment parameters by comparing the predicted results with the actual shaping results, thereby completing the precise online shaping and processing of hazardous elastic materials.

[0006] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0007] A shaping and processing system for hazardous elastic materials includes:

[0008] The image acquisition device, image server, algorithm server, control server, and robotic arm are sequentially connected via signal data transmission cables. The system also includes a data storage hard drive connected to the algorithm server via a signal data transmission cable, a laser tracker connected to the control server via a signal data transmission cable, and a cutting tool fixed to the end of the robotic arm.

[0009] The image acquisition device is fixed above the elastic material.

[0010] A shaping process for hazardous elastic materials includes the following steps:

[0011] The point cloud data of the dangerous elastic material workpiece to be shaped is acquired by an image acquisition device, and the point cloud data is reconstructed in 3D to obtain the geometric shape of the object to be processed.

[0012] The geometry of the object being processed is registered and compared with the quantified geometry of the design target to obtain the excess parts on the object being processed, which are used as the current shaping allowance.

[0013] Based on neural networks, the current remaining amount to be shaped is used as input, and the shaped path planning is used as output to construct and train a strategy model.

[0014] Based on the path planning obtained from the strategy model, the processing object is reshaped and processed through offline or online modes.

[0015] During the shaping process, the laser tracker measures the spatial position of the robotic arm's end effector in real time and compares it with the spatial position of the shaping action. By comparing the error feedback, the control commands of the robotic arm are corrected to achieve feedback closed-loop control for precise motion control.

[0016] The offline mode includes the following steps:

[0017] a) Determine whether the current remaining amount to be shaped meets the shaping requirements. If it does, exit the shaping process; otherwise, perform shaping on the object according to the path planning obtained from the strategy model.

[0018] b) The processed workpiece becomes the object to be processed in the next step, and the process returns to step a) until the shaping requirements are met and the processing operation is terminated.

[0019] The online mode includes the following steps:

[0020] A) Determine if the current remaining amount to be reshaped meets the reshaping requirements. If it does, exit the reshaping process; otherwise, proceed to step B).

[0021] B) Based on the path planning obtained from the strategy model, perform virtual shaping simulation to obtain the geometric shape of the processed object after shaping the 3D model;

[0022] C) Determine whether the virtual plastic surgery simulation process meets the safety criteria by checking the safety threshold. If it does not meet the criteria, proceed to step D); otherwise, proceed to step E).

[0023] D) Apply negative rewards as a penalty and update the current policy model. Based on the updated policy model, replan the path and return to step B.

[0024] E) Based on the path planning obtained from the strategy model, the processing object is reshaped;

[0025] F) The processed workpiece becomes the object to be processed in the next moment. The strategy model parameters of the previous round are used, the simulation environment parameters are updated, and the next round of online shaping processing begins.

[0026] The virtual shaping process of the 3D model of the processing object is simulated by using finite element simulation or a proxy shaping simulation model based on finite element simulation, according to the virtual shaping path.

[0027] In step F), updating the simulation environment parameters includes the following steps:

[0028] The workpiece after the previous processing is reconstructed in 3D to obtain the 3D geometry of the workpiece.

[0029] The 3D geometry of the workpiece is compared with the 3D geometry of the machined object after virtual shaping simulation to obtain the simulation prediction error. The simulation environment parameters are then updated by comparing the simulation prediction error with the set standard parameters.

[0030] The updated simulation environment parameters will be used as the simulation environment parameters for the next shaping process round.

[0031] The present invention has the following beneficial effects and advantages:

[0032] 1. The present invention provides a shaping and processing system for hazardous elastic materials, which replaces highly skilled workers in shaping and processing hazardous elastic materials, greatly reducing the occurrence of dangerous accidents caused by misoperation and improving work efficiency.

[0033] 2. This invention provides a shaping and processing system for hazardous elastic materials, which integrates technologies such as image acquisition and recognition, processing operation strategy planning, simulation environment model construction, and precise control of a robotic arm based on a laser tracker. It can not only perform efficient and precise shaping and processing operations, but also, based on the system of this invention, can complete other tasks such as handling, assembly, and grinding by modifying the strategy planning model. The system of this invention has great versatility and scalability. Attached Figure Description

[0034] Figure 1 This is a diagram of the shaping and processing system architecture for hazardous elastic materials according to the present invention;

[0035] Figure 2 This is a flowchart of the digital twin technology for the shaping and processing system of hazardous elastic materials according to the present invention;

[0036] Figure 3 This is a flowchart of the offline shaping process of the shaping system for hazardous elastic materials according to the present invention;

[0037] Figure 4 This is a flowchart of the online shaping process of the shaping system for hazardous elastic materials according to the present invention. Detailed Implementation

[0038] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0039] like Figure 1 As shown, the present invention discloses a shaping and processing system for hazardous elastic materials. The system comprises an image acquisition device fixed above the elastic material, a laser tracker, a robotic arm and a cutting tool fixed at its end, a signal data transmission cable, an image server, an algorithm server, a data storage hard disk, and a control server. The image acquisition device and the image server are electrically connected via the signal data transmission cable. The output end of the image server and the input end of the algorithm server are electrically connected via the signal data transmission cable. The algorithm server is electrically connected to the data storage hard disk and the control server. The laser tracker is electrically connected to the control server. The output end of the control server is electrically connected to the cutting robot.

[0040] like Figure 2As shown, the present invention provides a shaping and processing method for hazardous elastic materials, comprising the following steps:

[0041] Step 1: The workpiece of dangerous elastic material to be shaped is obtained by a 3D scanner to obtain the topographic point cloud data. The point cloud data is reconstructed in 3D to realize the geometric modeling of the processing object on the digital twin digital end.

[0042] Step 2: On the digital twin system's digital end, the image server registers and compares the geometry of the object being processed with the quantized geometry of the design target to obtain the excess parts on the object being processed, which is the current amount to be shaped.

[0043] Step 3: In the algorithm server, the current margin is used as input through the policy model to output an integer path plan;

[0044] Step 4: On the digital end, perform virtual reshaping based on the path planning obtained in Step 3:

[0045] Step 4.1: The algorithm server converts the integer path plan into a virtual integer path;

[0046] Step 4.2: Simulate the shaping process of the 3D model of the workpiece using finite element simulation or a proxy shaping simulation model based on finite element simulation, according to the virtual shaping path;

[0047] Step 4.3: After the virtual shaping path simulation is completed, the workpiece geometry after shaping in 3D model is obtained;

[0048] Step 5: On the physical side, perform real-world shaping based on the path planning obtained in Step 3:

[0049] Step 5.1: The control server translates the plastic surgery path plan into actual plastic surgery actions;

[0050] Step 5.2: The robotic arm control system converts the shaping action into robotic arm control commands, controlling the robotic arm to perform the actual shaping process;

[0051] Step 5.3: During the actual shaping process, the laser tracker measures the spatial position of the end effector of the robotic arm in real time and compares it with the spatial position of the shaping action. The error is compared to correct the control command of the robotic arm, forming a feedback loop for precise motion control.

[0052] Step 5.4: After completing the actual shaping process based on the path planning obtained in Step 3, the processed workpiece is obtained and used as the workpiece to be shaped in the next shaping.

[0053] Step 6: As Figure 3 As shown, the offline mode process for deploying the shaping and processing system for hazardous elastic materials of the present invention is as follows:

[0054] Step 6.1: For the workpiece to be shaped at the current moment, perform the operations according to steps 1 and 2 to obtain the current shaping allowance;

[0055] Step 6.2: Determine if the current remaining amount meets the shaping requirements:

[0056] Step 6.2.1: When the shaping requirements are met, exit the shaping process. The workpiece at this time is the finished workpiece that meets the shaping requirements.

[0057] Step 6.2.2: If the cosmetic surgery requirements are not met, continue with the subsequent steps;

[0058] Step 6.3: Perform steps 3 and 5 sequentially to obtain the processed workpiece.

[0059] Step 6.4: The processed workpiece becomes the workpiece to be shaped in the next step. Repeat the entire process of step 6 until step 6.2.1 is executed, the shaping requirements are met, and the processing operation is exited.

[0060] Step 7: As Figure 4 As shown, the online mode flow for deploying the shaping and processing system for hazardous elastic materials of the present invention is as follows:

[0061] Step 7.1: For the workpiece to be shaped at the current moment, perform the operations according to steps 1 and 2 to obtain the remaining amount of the workpiece to be shaped;

[0062] Step 7.2: Determine if the remaining amount meets the shaping requirements:

[0063] Step 7.2.1: When the shaping requirements are met, exit the shaping process. The workpiece at this time is the finished workpiece that meets the shaping requirements.

[0064] Step 7.2.2: If the cosmetic surgery requirements are not met, continue with the subsequent steps;

[0065] Step 7.3: Follow steps 3 and 4 to obtain the 3D geometric shape of the workpiece after digital virtual simulation shaping, and record the force, heat, deformation and other information during the process on the data storage hard disk 8;

[0066] Step 7.4: The algorithm server compares the force and heat data recorded on the data storage hard drive with the safety threshold to determine whether the virtual simulation processing meets the safety criteria.

[0067] Step 7.4.1: When the safety criterion is not met:

[0068] Step 7.4.1.1: Penalize with negative rewards and update the current policy model;

[0069] Step 7.4.1.2: Based on the updated strategy model, reason about the workpiece margin obtained in Step 7.1 to obtain a new path plan;

[0070] Step 7.4.1.3: Execute steps 7.2 to 7.4 sequentially until the security criteria are met;

[0071] Step 7.4.2: When the safety criterion is met:

[0072] Step 7.4.2.1: On the physical end, follow step 5 to obtain the processed workpiece;

[0073] Step 7.5; The processed workpiece becomes the workpiece to be shaped in the next step, and the next online shaping process begins:

[0074] Step 7.5.1: The strategy model parameters for the next shaping round are the same as those for the previous round;

[0075] Step 7.5.2: The simulation environment parameters for the next shaping round are an update of the simulation environment parameters for the previous round.

[0076] Step 7.5.2.1: The workpiece in the next shaping round is the workpiece processed in the previous round. After step 1, the 3D geometry of the workpiece is obtained.

[0077] Step 7.5.2.2: Compare the 3D geometry of the workpiece with the simulation prediction of the 3D geometry of the workpiece after processing in Step 7.3 to obtain the simulation prediction error, and update the simulation environment parameters based on the prediction error result;

[0078] Step 7.5.2.3: Use the updated simulation environment parameters as the simulation environment parameters for the next shaping process round.

[0079] Example

[0080] like Figure 1 As shown, the present invention discloses a shaping and processing system for hazardous elastic materials. The system comprises an image acquisition device 1 fixed above the elastic material, a laser tracker 2, a shaping robot and a cutting tool 3 fixed thereon, the hazardous elastic material to be shaped 4, a signal data transmission cable 5, a graphics server 6, an algorithm server 7, a data storage hard disk 8, and a control server 9. The image acquisition device 1 and the image server 6 are electrically connected via the signal data transmission cable 5. The output end of the image server 6 is electrically connected to the input end of the algorithm server 7 via the signal data transmission cable. The algorithm server 7 is electrically connected to the data storage hard disk 8 and the control server 9. The laser tracker 2 is electrically connected to the control server 9. The output end of the control server 8 is electrically connected to the cutting robot 3.

[0081] like Figure 2 As shown, the present invention provides a shaping and processing method for hazardous elastic materials, comprising the following steps:

[0082] Step 1: The workpiece of dangerous elastic material to be shaped is obtained by a 3D scanner to obtain the topographic point cloud data. The point cloud data is reconstructed in 3D to realize the geometric modeling of the processing object in the digital twin digital end.

[0083] Step 2: On the digital twin system's digital end, image server 6 registers and compares the geometry of the workpiece with the quantized 3D geometry of the design target. The registration method involves first using image recognition technology to find at least six feature points for coarse registration; then, using the coarse registration result as the initial state, the Iterative Closest Point (ICP) algorithm is used for further registration. After the workpiece and design target 3 are geometrically registered, they are superimposed. If a spatial location point is on both the workpiece and the design target, it is marked as an unformable location. If a spatial location point is only on the workpiece and not on the design target, it is marked as a location for the required shaping allowance. If a spatial location point is neither on the workpiece nor on the design target, it is marked as empty, and the robotic arm and its tool 3 can move freely at these locations. Through the above registration and comparison, the positional status information of the required shaping allowance on the workpiece can be obtained.

[0084] Step 3: In the algorithm server 7, a strategy model is constructed using an expert database, teaching methods, or a deep neural network model; using the strategy model, with the current margin position status information as input, the tool travel path plan is output.

[0085] Step 4: On the digital end, within the algorithm server 7, based on the path planning obtained in Step 3, perform virtual shaping processing in the simulation environment:

[0086] Step 4.1: Algorithm server 7 converts the integer path plan into a virtual integer path;

[0087] Step 4.2: Simulate the workpiece forming process using finite element simulation or a proxy forming simulation model based on finite element simulation, according to the virtual forming path. Simulate the forming process and record information such as force, heat, and deformation during the process on the data storage hard disk 8.

[0088] Step 4.3: After the virtual shaping path simulation is completed, the shaped workpiece geometry is obtained;

[0089] Step 5: On the physical side, perform real-world shaping based on the path planning obtained in Step 3:

[0090] Step 5.1: Control server 9 converts the plastic surgery path planning into actual plastic surgery actions;

[0091] Step 5.2: The robotic arm control system in the control server 9 converts the shaping action into control commands for the angles and angular velocities of each joint of the robotic arm through the inverse kinematics algorithm, and controls the robotic arm to perform the actual shaping process.

[0092] Step 5.3: During the actual shaping process, the laser tracker measures the spatial position of the end of the robotic arm in real time and compares it with the preset target spatial position of the shaping action. The error is compared to correct the control command of the robotic arm, forming a feedback loop for precise motion control.

[0093] Step 5.4: After completing the actual shaping process based on the path planning obtained in Step 3, the processed workpiece is obtained and used as the workpiece to be shaped in the next shaping.

[0094] Step 6: As Figure 3 As shown, the offline mode process for deploying the shaping and processing system for hazardous elastic materials of the present invention is as follows:

[0095] Step 6.1: For the workpiece to be shaped at the current moment, perform the operations according to steps 1 and 2 to obtain the current shaping allowance;

[0096] Step 6.2: Determine if the current remaining amount meets the shaping requirements:

[0097] Step 6.2.1: When the shaping requirements are met, exit the shaping process. The workpiece at this time is the finished workpiece that meets the shaping requirements.

[0098] Step 6.2.2: If the cosmetic surgery requirements are not met, continue with the subsequent steps;

[0099] Step 6.3: Perform steps 3 and 5 sequentially to obtain the processed workpiece.

[0100] Step 6.4: The processed workpiece becomes the workpiece to be shaped in the next step. Repeat the entire process of step 6 until step 6.2.1 is executed, the shaping requirements are met, and the processing operation is exited.

[0101] Step 7: As Figure 4 As shown, the online mode flow for deploying the shaping and processing system for hazardous elastic materials of the present invention is as follows:

[0102] Step 7.1: For the workpiece to be shaped at the current moment, perform the operations according to steps 1 and 2 to obtain the remaining amount of the workpiece to be shaped;

[0103] Step 7.2: Determine if the remaining amount meets the shaping requirements:

[0104] Step 7.2.1: When the shaping requirements are met, exit the shaping process. The workpiece at this time is the finished workpiece that meets the shaping requirements.

[0105] Step 7.2.2: If the cosmetic surgery requirements are not met, continue with the subsequent steps;

[0106] Step 7.3: Follow steps 3 and 4 to obtain the 3D geometric shape of the workpiece after digital virtual simulation shaping, and record the force, heat, deformation and other information during the process on the data storage hard disk 8;

[0107] Step 7.4: The algorithm server 7 compares the force and heat data recorded on the data storage hard disk 8 with the safety threshold to determine whether the virtual simulation processing meets the safety criteria.

[0108] Step 7.4.1: When the safety criterion is not met:

[0109] Step 7.4.1.1: Penalize with negative rewards and update the current policy model;

[0110] Step 7.4.1.2: Based on the updated strategy model, reason about the workpiece margin obtained in Step 7.1 to obtain a new path plan;

[0111] Step 7.4.1.3: Execute steps 7.2 to 7.4 sequentially until the security criteria are met;

[0112] Step 7.4.2: When the safety criterion is met:

[0113] Step 7.4.2.1: On the physical end, follow step 5 to obtain the processed workpiece;

[0114] Step 7.5; The processed workpiece becomes the workpiece to be shaped in the next step, and the next online shaping process begins:

[0115] Step 7.5.1: The strategy model parameters for the next shaping round are the same as those for the previous round;

[0116] Step 7.5.2: The simulation environment parameters for the next shaping round are an update of the simulation environment parameters for the previous round.

[0117] Step 7.5.2.1: The workpiece in the next shaping round is the workpiece processed in the previous round. After step 1, the 3D geometry of the workpiece is obtained.

[0118] Step 7.5.2.2: Compare the 3D geometry of the workpiece with the simulation prediction of the 3D geometry of the workpiece after processing in Step 7.3 to obtain the simulation prediction error, and update the simulation environment parameters based on the prediction error result;

[0119] Step 7.5.2.3: Use the updated simulation environment parameters as the simulation environment parameters for the next shaping process round.

Claims

1. A shaping and processing system for hazardous elastic materials, characterized in that, include: The image acquisition device, image server, algorithm server, control server, and robotic arm are sequentially connected via signal data transmission cables. The system also includes: a data storage hard drive connected to the algorithm server via a signal data transmission cable, a laser tracker connected to the control server via a signal data transmission cable, and a cutting tool fixed to the end of the robotic arm. The shaping system is used to implement a shaping method for hazardous elastic materials, the method comprising the following steps: The point cloud data of the dangerous elastic material workpiece to be shaped is acquired by an image acquisition device, and the point cloud data is reconstructed in 3D to obtain the geometric shape of the object to be processed. The geometry of the object being processed is registered and compared with the quantified geometry of the design target to obtain the excess parts on the object being processed, which are used as the current shaping allowance. Based on neural networks, the current amount to be shaped is used as input and the shaped path planning is used as output to construct and train a strategy model. Based on the path planning obtained from the strategy model, the processing object is reshaped and processed through offline or online modes; The online mode includes the following steps: A) Determine if the current amount of material to be reshaped meets the reshaping requirements. If it does, exit the reshaping process; otherwise, proceed to step B). B) Based on the path planning obtained from the strategy model, perform virtual shaping simulation to obtain the geometric shape of the processed object after shaping the 3D model; C) Determine whether the virtual plastic surgery simulation process meets the safety criteria by checking the safety threshold. If it does not meet the criteria, proceed to step D); otherwise, proceed to step E). D) Apply negative rewards as a penalty and update the current policy model. Based on the updated policy model, replan the path and return to step B. E) Based on the path planning obtained from the strategy model, the processing object is reshaped; F) The processed workpiece becomes the object to be processed in the next moment. The strategy model parameters from the previous round are used, and the simulation environment parameters are updated to start the next round of online shaping processing.

2. The shaping and processing system for hazardous elastic materials according to claim 1, characterized in that, The image acquisition device is fixed above the elastic material.

3. A shaping and processing method for hazardous elastic materials, characterized in that, Includes the following steps: The point cloud data of the dangerous elastic material workpiece to be shaped is acquired by an image acquisition device, and the point cloud data is reconstructed in 3D to obtain the geometric shape of the object to be processed. The geometry of the object being processed is registered and compared with the quantified geometry of the design target to obtain the excess parts on the object being processed, which are used as the current shaping allowance. Based on neural networks, the current amount to be shaped is used as input and the shaped path planning is used as output to construct and train a strategy model. Based on the path planning obtained from the strategy model, the processing object is reshaped and processed in either offline or online mode. The online mode includes the following steps: A) Determine if the current amount of material to be reshaped meets the reshaping requirements. If it does, exit the reshaping process; otherwise, proceed to step B). B) Based on the path planning obtained from the strategy model, perform virtual shaping simulation to obtain the geometric shape of the processed object after shaping the 3D model; C) Determine whether the virtual plastic surgery simulation process meets the safety criteria by checking the safety threshold. If it does not meet the criteria, proceed to step D); otherwise, proceed to step E). D) Apply negative rewards as a penalty and update the current policy model. Based on the updated policy model, replan the path and return to step B. E) Based on the path planning obtained from the strategy model, the processing object is reshaped; F) The processed workpiece becomes the object to be processed in the next moment. The strategy model parameters from the previous round are used, and the simulation environment parameters are updated to start the next round of online shaping processing.

4. The shaping and processing method for hazardous elastic materials according to claim 3, characterized in that, During the shaping process, the laser tracker measures the spatial position of the robotic arm's end effector in real time and compares it with the spatial position of the shaping action. By comparing the error feedback, the control commands of the robotic arm are corrected to achieve feedback closed-loop control for precise motion control.

5. A shaping and processing method for hazardous elastic materials according to claim 3, characterized in that, The offline mode includes the following steps: a) Determine whether the current remaining amount to be shaped meets the shaping requirements. If it does, exit the shaping process; otherwise, perform shaping on the object according to the path planning obtained from the strategy model. b) The processed workpiece becomes the object to be processed in the next step, and the process returns to step a) until the shaping requirements are met and the processing operation is terminated.

6. A shaping and processing method for hazardous elastic materials according to claim 3, characterized in that, The virtual shaping process of the 3D model of the processing object is simulated by using finite element simulation or a proxy shaping simulation model based on finite element simulation, according to the virtual shaping path.

7. A shaping and processing method for hazardous elastic materials according to claim 3, characterized in that, In step F), updating the simulation environment parameters includes the following steps: The workpiece after the previous processing is reconstructed in 3D to obtain the 3D geometry of the workpiece. The 3D geometry of the workpiece is compared with the 3D geometry of the machined object after virtual shaping simulation to obtain the simulation prediction error. The simulation environment parameters are then updated by comparing the simulation prediction error with the set standard parameters. The updated simulation environment parameters will be used as the simulation environment parameters for the next shaping process round.

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