A stamping die for stamping metal parts and its stamping process

Abstract

The present invention relates to the technical field of metal part stamping, and in particular to a stamping die and a stamping process for stamping metal parts. The degree of vibration change of each monitoring point in each stamping process stage, which characterizes the drastic time-series change of the spatial position, is determined to reflect the position change of the monitoring point caused by vibration during the stamping process. Further, according to the change of the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the change of the center of gravity caused by the change of the shape of the metal part during the stamping process is determined. The degree of vibration aggravation of the metal part obtained by combining the degree of vibration change and the degree of center of gravity change can more accurately characterize the unreasonable situation of the fixed position, so as to adaptively adjust the fixing device in combination with the degree of vibration aggravation of the metal part, thereby improving the stability of the metal part during the stamping process and achieving a better stamping effect of the metal part.

Description

Technical Field

[0001] The invention relates to the technical field of metal part stamping, and in particular to a stamping die for metal part stamping and a stamping process thereof. Background Art

[0002] In the process of stamping metal parts using CNC punching machines, the metal sheet needs to be clamped on the workbench and accurately positioned, and then a suitable punch is selected. The CNC system controls the mold or punch to move up and down according to the instructions to achieve punching, trimming, forming and other operations. At the same time, the waste generated by stamping needs to be processed, and then a quality inspection is carried out to ensure that the stamped metal parts meet the requirements, such as dimensional accuracy, surface quality, etc. Finally, it is decided whether to repeat the stamping process or end the processing according to the needs. According to different metal parts processing requirements, multiple punches are usually used in a complete metal parts processing process to perform corresponding processing on the metal parts positions with different postures of the metal parts posture adjustment. During the stamping process, the mold exerts huge pressure and impact force on the sheet, which will cause the sheet to deform, and this deformation will cause the internal force distribution of the sheet to change, thereby causing the sheet to vibrate, affecting the metal parts posture control so that there is an error in the stamping processing result.

[0003] The existing technology usually uses clamps as fixing devices, such as mechanical clamps, hydraulic clamps, etc., to provide strong fixing force to clamp metal parts. These clamps are generally installed on a workbench. Through precise adjustment and tightening, the plate is firmly clamped to prevent displacement during stamping, so that the metal parts remain stable during the stamping process.

[0004] However, during the stamping process of metal parts, when the shape of the metal parts is complex or has large changes such as irregular protrusions and depressions, the fixing pressure of the fixing device will be difficult to cope with the vibration changes. For example, the irregular shape causes the impact force to produce uneven stress distribution, causing large vibration and deformation trends in the plate; and the uniform fixing pressure of the traditional fixing device is difficult to accurately cope with local changes, such as the shaking of the protruding part or the large elastic deformation of the slender and thin-walled part, and the shape change causes the center of gravity to shift and change the vibration direction and intensity, which will make the originally suitable fixing pressure no longer suitable, thus causing the problem of loose fixation, which indirectly affects the stability of the metal parts during the stamping process, resulting in poor stamping effect of the metal parts. Summary of the invention

[0005] The present application provides a stamping die and a stamping process for stamping metal parts. First, the degree of vibration change of each monitoring point in each stamping process stage, which characterizes the drastic time-series change of the spatial position, is determined to reflect the situation that the position of the monitoring point is changed due to vibration during the stamping process; further, based on the change of the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the change of the center of gravity caused by the change of the shape of the metal part during the stamping process is determined; the degree of aggravation of the vibration of the metal part obtained by combining the degree of vibration change and the degree of center of gravity change can more accurately characterize the unreasonable situation of the fixed position, so as to adaptively adjust the fixing device according to the degree of aggravation of the vibration of the metal part, thereby solving the problem that the uniform fixing pressure of the traditional fixing device is difficult to accurately respond to local changes, resulting in the original appropriate fixing pressure no longer being adapted, thereby causing the problem of loose fixation, thereby improving the stability of the metal part during the stamping process and achieving better stamping effect of the metal part.

[0006] The present application provides a stamping process for stamping a metal part, comprising the following steps:

[0007] Acquire point cloud data of a metal part during a stamping process of the metal part; determine all monitoring points on the metal part according to the point cloud data of the metal part;

[0008] According to the dramatic changes in the spatial position of each monitoring point in each stamping process stage, the degree of vibration change of each monitoring point in each stamping process stage is determined; according to the changes in the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the degree of change in the center of gravity of each monitoring point in each stamping process stage is determined; according to the vibration change degree and the center of gravity change degree, the degree of vibration aggravation of the metal part in each stamping process stage is determined;

[0009] The fixing device is adaptively adjusted according to the degree of vibration intensification of the metal part.

[0010] Furthermore, the process of determining all monitoring points on the metal part according to the metal part point cloud data includes:

[0011] Each point cloud data point in the metal part point cloud data is used as a monitoring point.

[0012] Furthermore, the process of obtaining the vibration change degree includes:

[0013] In each stamping processing stage, the distance between the spatial position of each monitoring point at each sampling moment and the spatial position at the previous sampling moment is taken as the instantaneous position change degree of each monitoring point at each sampling moment;

[0014] The vibration variation degree of each monitoring point in each stamping process stage is determined according to the mean value of the instantaneous position variation degree of each monitoring point at all sampling moments in each stamping process stage.

[0015] Furthermore, the process of obtaining the degree of change of the center of gravity includes:

[0016] After each stamping part processing stage is completed, the distance between the spatial position of each monitoring point and the spatial position of the center of gravity of the metal part is used as the center of gravity distance of each monitoring point in each stamping part processing stage;

[0017] The difference between the center of gravity distance of each monitoring point at each stamping part processing stage and the center of gravity distance at the previous stamping part processing stage is normalized to determine the degree of change of the center of gravity of each monitoring point at each stamping part processing stage.

[0018] Furthermore, the process of obtaining the degree of vibration aggravation of the metal part includes:

[0019] The degree of local vibration aggravation of each monitoring point at each stamping process stage is determined by fusing the degree of vibration change and the degree of center of gravity change of each monitoring point at each stamping process stage in the form of ratio; the degree of vibration change is positively correlated with the degree of local vibration aggravation, and the degree of center of gravity change is negatively correlated with the degree of local vibration aggravation;

[0020] The mean values ​​of the local vibration aggravation levels of all monitoring points at each stamping process stage are normalized to determine the vibration aggravation level of the metal parts at each stamping process stage.

[0021] Furthermore, the process of adaptively adjusting the fixing device according to the degree of vibration aggravation of the metal part includes:

[0022] Taking each stamping process stage as a target stamping process stage in turn;

[0023] When the vibration aggravation degree of the metal part in the previous stamping process stage of the target stamping process stage is less than or equal to the preset adjustment threshold, the position of the fixture in the target stamping process stage is not adjusted;

[0024] When the vibration aggravation degree of the metal part in the previous stamping process stage of the target stamping process stage is greater than the preset adjustment threshold, the position of the fixing device is adjusted according to the local vibration aggravation degree of each monitoring point in the previous stamping process stage of the target stamping process stage.

[0025] Furthermore, the process of adjusting the position of the fixture according to the degree of aggravation of the local vibration of each monitoring point in the previous stamping process stage of the target stamping process stage includes:

[0026] The direction from the centroid of each fixture to each monitoring point is used as the reference direction of each monitoring point under each fixture; the reference vector of each monitoring point under each fixture is determined according to the reference direction and the degree of aggravation of the local vibration of each monitoring point in the previous stamping process stage of the target stamping process stage;

[0027] Adding the reference vectors of all monitoring points under each fixture to determine the adjustment vector of each fixture under the target stamping process stage; using the normalized value of the modulus of the adjustment vector as the movement weight of each fixture;

[0028] Determine the basic moving distance according to the distance from each monitoring point to each fixture after the previous stamping process stage of the target stamping process stage; multiply the basic moving distance by the moving weight as the weighted moving distance of each fixture in the target stamping process stage;

[0029] The position of each fixture is adjusted by moving each fixture in the target stamping process stage by the weighted moving distance along the vector direction of the corresponding adjustment vector.

[0030] Furthermore, the preset adjustment threshold is set to 0.84.

[0031] Furthermore, the process of obtaining the basic moving distance includes:

[0032] The average distance from the centroid of each fixture to all monitoring points after the previous stamping process stage of the target stamping process stage is taken as the basic moving distance.

[0033] A stamping die for stamping metal parts, comprising a control module, a stamping device, a metal part, a feeding base assembly, a feeding base, a posture analysis device, a fixing device base, a fixed threaded rod and a fixing device; the feeding base is fixed with the feeding base assembly, the posture analysis device and the fixing device base; the fixing device base is fixed with a fixed threaded rod and a fixing device; the feeding base assembly and the fixing device fix the metal part up and down; the posture analysis device comprises a laser three-dimensional scanner; the laser three-dimensional scanner signal is connected to the control module, the laser three-dimensional scanner is used to obtain the metal part point cloud data during the metal part stamping process, and the control module determines all monitoring points on the metal part according to the metal part point cloud data;

[0034] According to the dramatic changes in the spatial position of each monitoring point in each stamping process stage, the degree of vibration change of each monitoring point in each stamping process stage is determined; according to the changes in the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the degree of change in the center of gravity of each monitoring point in each stamping process stage is determined; according to the vibration change degree and the center of gravity change degree, the degree of vibration aggravation of the metal part in each stamping process stage is determined;

[0035] The fixing device is adaptively adjusted according to the degree of vibration intensification of the metal part.

[0036] This application has the following beneficial effects:

[0037] During the stamping process, the die applies tremendous pressure and impact force to the sheet material, that is, the metal plate, which will cause the sheet material to deform. This deformation will cause the internal force distribution of the sheet material to change, thereby causing the sheet material to vibrate; and for each monitoring point position on the metal plate, the more drastic the change in its corresponding spatial position in the time sequence, the stronger the impact of the vibration, the more likely it is that the fixation is not firm, and the more it needs to adjust the fixing device; therefore, the degree of vibration change is calculated by characterizing the drastic time-series change of the spatial position at each monitoring point in each stamping process stage, so as to indirectly determine the necessity of adjusting the metal plate according to the degree of vibration change.

[0038] The vibration condition of metal parts during the stamping process is related to the shape of the metal parts, that is, the metal parts may change in shape after the previous stamping process, and the shape change will cause the center of gravity of the metal parts to change. For metal parts, if the center of gravity of the metal parts changes slightly, but the degree of vibration change that characterizes the vibration condition is large, it means that the shape of the metal parts has not changed significantly but has been greatly affected by vibration, that is, the vibration generated by the positions of each monitoring point has little to do with the change in the shape of the metal parts, which indirectly reflects that the vibration at the monitoring point position is more likely to be caused by the unreasonable position setting of the fixing device; therefore, after obtaining the degree of center of gravity change according to the change in the spatial position of each monitoring point relative to the center of gravity position of the metal parts after each stamping process, the degree of vibration change is further combined to obtain the degree of vibration aggravation of the metal parts that characterizes the necessary degree of adjustment, and further according to the degree of vibration aggravation of the metal parts, the fixing device is more accurately adaptively adjusted to improve the stability of the metal parts during the stamping process and achieve better stamping effect of the metal parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A schematic diagram of the structural distribution of main components of a stamping die for stamping a metal part provided by one embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a process flow of adaptive adjustment of a fixture in a stamping process for stamping a metal part provided by an embodiment of the present invention;

[0042] Figure 1 The numbers in the figure are: 1-stamping device; 2-metal part; 3-feeding base assembly; 4-feeding base; 5-posture analysis device; 6-fixing device base; 7-fixing threaded rod; 8-fixing device. DETAILED DESCRIPTION

[0043] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a stamping die and a stamping process for stamping metal parts proposed in accordance with the present invention, its specific implementation method, structure, characteristics and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment, and the specific features, structures or characteristics in one or more embodiments may be combined in any suitable form. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0044] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0045] The specific scheme of a stamping die for stamping a metal part and its stamping process provided by the present invention is described in detail below with reference to the accompanying drawings.

[0046] A stamping die embodiment for stamping metal parts:

[0047] The present application embodiment provides a stamping die for stamping a metal part, including a control module, a stamping device, a metal part, a feeding base assembly, a feeding base, a posture analysis device, a fixing device base, a fixing threaded rod and a fixing device. Figure 1, which shows a schematic diagram of the structural distribution of the main components of a stamping die for stamping a metal part provided by an embodiment of the present invention, wherein the main components of the stamping die for stamping a metal part include: a stamping device 1, a metal part 2, a feeding base assembly 3, a feeding base 4, a posture analysis device 5, a fixing device base 6, a fixed threaded rod 7 and a fixing device 8; the feeding base 4 is fixed with a feeding base assembly 3, a posture analysis device 5 and a fixing device base 6; the feeding base assembly 3 and the fixing device 8 fix the metal part 2 up and down, and jointly control the posture of the metal part 2, and perform stamping operations at different positions by adjusting the contact position between the metal part 2 and the stamping die in the stamping device 1; the fixing device base 6 is fixed with a fixed threaded rod 7 and a fixing device 8, and the fixed threaded rod 7 and the fixing device 8 can slide in the frame to adjust the position of the fixing device 8; the fixing device 8 also includes a fixed block thereunder, and rubber is used at the contact position between the fixed block and the metal part 2 to increase friction.

[0048] The posture analysis device 5 includes a laser three-dimensional scanner; the laser three-dimensional scanner signal is connected to the control module. The laser three-dimensional scanner measures the distance between each position on the metal part and the laser three-dimensional scanner during the stamping process of the metal part, and constructs the three-dimensional point position to determine the point cloud data of the metal part. The control module can be a data processing chip such as a CPU, MCU, or a data processing device such as a computer host. And the output end corresponding to the laser three-dimensional scanner is connected to the input end of the control module, and a wired connection can be achieved through a data transmission line, or a wireless connection can be achieved through wireless communication methods such as Bluetooth and WiFi. In addition, the posture analysis device 5 and the control module can also be integrated to form a device that integrates point cloud data collection and point cloud data processing functions. In another specific implementation of the embodiment of the present invention, a point cloud data collection device such as a laser radar can also be used to replace the laser three-dimensional scanner; a depth camera can also be used to replace the laser three-dimensional scanner, and the depth camera is used to collect the surface image of the metal part while determining the depth data of each pixel point, thereby indirectly determining the position of the three-dimensional point of each pixel point, which will not be further described here. It should be noted that, in the specific implementation environment of the present application, only part of the metal part is located between the punch and the die, and only part of the metal part is in contact with the surface of the upper punch and the lower die, that is, the point cloud data obtained in the present application corresponds to the part of the metal part outside the punch and the die, and does not include the part of the metal part between the punch and the die; scanning is performed by setting a laser 3D scanner at various angles, and the angle setting needs to ensure that the three-dimensional point cloud data of the metal part can be fully obtained; and the method of constructing point cloud data by using a laser 3D scanner is a technical means well known to technicians in this field, and will not be further elaborated here. Furthermore, in an embodiment of the present invention, a loading base assembly is located below the metal part and is evenly distributed on the loading base, and the loading base assembly includes a motor, plastic fibers and a plastic fiber support seat, the plastic fibers are located at the top and are installed on the plastic fiber support seat, and the motor is installed under the rate fiber support seat, and the motor, the plastic fiber support seat and the plastic fiber work together to change the position of the workpiece; and the fixing device includes a hydraulic rod inside, and the fixing device is pressed down by the hydraulic rod to fix the workpiece; for example, when the workpiece needs to be rotated ninety degrees, the metal part is pressed down by the fixing device, and then the loading base assembly is rotated by the motor, thereby driving the workpiece to rotate; and the mold is fixed on the workbench of the punch press to ensure that the mold is aligned, and fixed with bolts or clamps, and the punch is installed on the slider of the punch press, that is, the punch fixing seat, and fixed with bolts or special clamps.

[0049] After acquiring the point cloud data of the metal part during the stamping process of the metal part, the signal is transmitted to the control module, and the control module uses a predetermined data processing process to adaptively adjust the fixing device of the stamping process; a detailed description of the predetermined data processing process is shown in an embodiment of a stamping process for stamping a metal part.

[0050] A stamping process embodiment for stamping a metal part:

[0051] See also Figure 2 , which shows a schematic flow chart of adaptive adjustment of a fixture of a stamping process for stamping a metal part provided by an embodiment of the present invention, comprising the following steps:

[0052] Step S201: acquiring point cloud data of a metal part during a stamping process of the metal part; and determining all monitoring points on the metal part according to the point cloud data of the metal part.

[0053] In a specific implementation of an embodiment of the present invention, the point cloud data at each sampling moment of each stamping process stage in the stamping process of the metal part is obtained by a laser three-dimensional scanner in the posture analysis device, so as to monitor the changes of the point cloud data on the surface of the metal sheet in real time to determine the changes in the spatial position of each subsequent monitoring point; therefore, it is necessary to monitor the changes of the point cloud data in real time to determine the point cloud data of multiple metal parts. In a specific implementation of an embodiment of the present invention, the sampling frequency is set to collect once per second, which can be adjusted according to the specific implementation environment.

[0054] Since the uniform fixing pressure of traditional fixing devices is difficult to accurately respond to local changes, it is necessary to set up multiple monitoring points on the surface of the metal part to monitor the impact of pressure changes at each local position in real time, so as to make more accurate adaptive adjustments to the position of the fixing device.

[0055] Preferably, in some possible implementations of the embodiments of the present invention, the process of determining all monitoring points on the metal part according to the metal part point cloud data includes:

[0056] Each point cloud data point in the metal part point cloud data is used as a monitoring point. Using all point cloud data points as monitoring points can more accurately analyze the changes in surface features of the metal part. It should be noted that the implementer can also select specific point cloud data points as monitoring points for analysis according to the specific implementation environment to reduce the amount of calculation, which will not be further elaborated here.

[0057] In addition, it should be noted that, when the position of the monitoring point can be manually determined or pre-locked, point cloud data points can be randomly selected directly from the metal part point cloud data as monitoring points, which will not be further elaborated here.

[0058] Step S202: Determine the degree of vibration change of each monitoring point at each stamping process stage according to the dramatic time series change of the spatial position of each monitoring point at each stamping process stage; determine the degree of change of the center of gravity of each monitoring point at each stamping process stage according to the change of the spatial position of each monitoring point relative to the center of gravity position of the metal part after each stamping process stage; determine the degree of intensified vibration of the metal part at each stamping process stage according to the degree of vibration change and the degree of center of gravity change.

[0059] During the stamping process, the die applies huge pressure and impact force to the sheet material, that is, the metal plate, which will cause the sheet material to deform, and this deformation will cause the internal force distribution of the sheet material to change, thereby causing the sheet material to vibrate; the same monitoring point will be affected by vibration during the stamping process of the metal part, causing its position to change, but each monitoring point is unique, so the spatial position change of each monitoring point during the stamping process of the metal part can be tracked to monitor the degree of its influence by vibration. And for each monitoring point position on the metal plate, the more drastic the change in its corresponding spatial position in the time sequence, the stronger the influence of vibration, the more likely it is to correspond to the problem of loose fixation, and the more it needs to adjust the fixing device; therefore, the degree of vibration change is calculated by characterizing the drastic change in the spatial position time sequence of each monitoring point in each stamping process stage, so as to indirectly determine the necessity of adjusting the metal plate according to the degree of vibration change.

[0060] In addition, the vibration condition of metal parts during the stamping process is related to the shape of the metal parts, that is, the metal parts may change in shape after the previous stamping process stage, and the shape change will cause the center of gravity of the metal parts to change. For metal parts, if the center of gravity of the metal parts changes slightly, but the degree of vibration change that characterizes the vibration condition is large, it means that the shape of the metal parts has been greatly affected by vibration when there is no significant change, that is, the vibration generated by the positions of each monitoring point has little to do with the change in the shape of the metal parts, which indirectly reflects that the vibration at the monitoring point position is more likely to be caused by the unreasonable position setting of the fixing device; therefore, after obtaining the degree of change in the center of gravity according to the change in the spatial position of each monitoring point relative to the center of gravity position of the metal parts after each stamping process stage, the degree of vibration change is further combined to obtain the degree of vibration aggravation of the metal parts that characterizes the necessary degree of adjustment, and further according to the degree of vibration aggravation of the metal parts, the fixing device is more accurately adaptively adjusted.

[0061] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the vibration change degree includes:

[0062] In each stamping processing stage, the distance between the spatial position of each monitoring point at each sampling moment and the spatial position at the previous sampling moment is taken as the instantaneous position change degree of each monitoring point at each sampling moment; the vibration change degree of each monitoring point at each stamping processing stage is determined according to the mean of the instantaneous position change degree of each monitoring point at all sampling moments in each stamping processing stage. The influence of vibration on each monitoring point is reflected in the spatial position change caused by the vibration of the stamping process at each monitoring point. The farther the spatial position of the same monitoring point at the corresponding sampling moment is compared with the spatial position at the previous sampling moment, the more drastic the position change of the monitoring point at the corresponding sampling moment is, and the greater the influence of vibration is; therefore, the mean is combined with the instantaneous position change degree of each monitoring point at all sampling moments in each stamping processing stage to characterize the overall vibration change degree of the corresponding stamping processing stage, so that when the vibration change degree is greater, the corresponding monitoring point is affected by vibration in the corresponding stamping processing stage, resulting in a greater degree of fluctuation in the spatial position, and the more likely it is that the corresponding fixation is not firm or the fixed position is inaccurate, and the more it is necessary to adjust the fixing device. It should be noted that since the first sampling moment does not exist at the previous sampling moment, in order to obtain the instantaneous position change degree of each monitoring point at the first sampling moment, the instantaneous position change degree of the first sampling moment is set to the instantaneous change degree of the second sampling moment to ensure integrity. It should be noted that the point cloud data at each sampling moment and the point cloud data at the previous sampling moment are aligned through the point cloud alignment algorithm, so that each point cloud data point in the point cloud data at each sampling moment can find the corresponding point cloud data point in the point cloud data at the previous sampling moment, so the distance between the spatial position of each point cloud data point at each sampling moment and the spatial position at the previous sampling moment can be determined.

[0063] In a specific implementation of the embodiment of the present invention, the process of obtaining the vibration change degree is expressed by the formula: ;in, For the The monitoring point is The degree of vibration change during each stamping processing stage; For the The number of sampling moments in each stamping processing stage; For the The monitoring point is The first stage of stamping processing The instantaneous position change degree at the sampling moment, that is, The monitoring point is The first stage of stamping processing The distance between the spatial position at a sampling moment and the spatial position at the previous sampling moment.

[0064] The vibration condition of metal parts during the stamping process is related to the shape of the metal parts, that is, the metal parts may change in shape after the previous stamping process, and the shape change will cause the center of gravity of the metal parts to change. For metal parts, if the center of gravity of the metal parts changes slightly, but the degree of vibration change that characterizes the vibration condition is large, it means that the shape of the metal parts has not changed much but has been greatly affected by vibration. In other words, the vibration generated by the positions of each monitoring point has little to do with the change in the shape of the metal parts, which indirectly reflects that the vibration at the monitoring point position is more likely to be caused by the unreasonable setting of the fixing device. It should be noted that through the point cloud data The spatial position of each point cloud data point can determine the position of the center of gravity in real time, which is a technical means well known to those skilled in the art. Specifically, by constructing a three-dimensional coordinate system, the coordinate point of each point cloud data point in the point cloud data is determined, and the metal part is regarded as an object with uniform mass distribution. The position of the center of gravity can be obtained by taking the average position of the coordinate points of all the point cloud data points; specifically, the horizontal coordinate value of the center of gravity is determined by the mean of the horizontal coordinate values ​​of all the point cloud data points, the vertical coordinate value of the center of gravity is determined by the mean of the vertical coordinate values ​​of all the point cloud data points, and the vertical coordinate value of the center of gravity is determined by the mean of the vertical coordinate values ​​of all the point cloud data points, thereby determining the position of the center of gravity.

[0065] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the degree of change of the center of gravity includes:

[0066] After each stamping processing stage, the distance between the spatial position of each monitoring point and the spatial position of the center of gravity of the metal part is used as the center of gravity distance of each monitoring point in each stamping processing stage; the difference between the center of gravity distance of each monitoring point in each stamping processing stage and the center of gravity distance in the previous stamping processing stage is normalized to determine the degree of change of the center of gravity of each monitoring point in each stamping processing stage. For each monitoring point, the center of gravity distance after two adjacent stamping processing stages can indirectly characterize the change in the local shape of the metal part in the corresponding stamping processing stage; that is, when the corresponding monitoring point is used as a reference, the greater the degree of change in the center of gravity, the greater the change in the local shape of the metal part. Further, the degree of change in the center of gravity that characterizes the change in the shape of the metal part is combined with the degree of change in vibration to more accurately characterize the impact of vibration.

[0067] Taking into account that the first stamping processing stage does not exist in the previous stamping processing stage, in order to obtain the degree of change of the center of gravity of each monitoring point in the first stamping processing stage; the distance between the spatial position of each monitoring point and the spatial position of the center of gravity of the metal part is used as the center of gravity distance of the previous stamping processing stage of the first stamping processing stage of each monitoring point.

[0068] In a specific implementation of the embodiment of the present invention, the process of obtaining the degree of change of the center of gravity is expressed by the formula: ;in, For the The monitoring point is The degree of change of the center of gravity during each stamping processing stage; For the The monitoring point is The distance between the centers of gravity of each stamping part during processing; For the The monitoring point is The distance between the center of gravity of the previous stamping processing stage and the previous stamping processing stage; It is a linear normalization function. The implementer can adjust the normalization method according to the specific implementation environment.

[0069] Preferably, in some possible implementations of the embodiments of the present invention, the process of obtaining the degree of vibration aggravation of the metal part includes:

[0070] When the center of gravity of the metal part changes less, the vibration change degree that represents the vibration condition becomes greater, which means that the vibration condition generated by the corresponding monitoring point position is less related to the shape change of the metal part, which indirectly reflects that the vibration at the monitoring point position is more likely to be caused by the unreasonable setting of the fixing device; therefore, when the unreasonable setting of the fixing device is represented by the intensified vibration degree of the metal part, the greater the corresponding vibration change degree of each monitoring point and the smaller the center of gravity change degree, the greater the corresponding intensified vibration degree of the metal part.

[0071] Therefore, the vibration change degree and the center of gravity change degree of each monitoring point at each stamping process stage are first integrated in the form of ratio to determine the local vibration aggravation degree of each monitoring point at each stamping process stage; the vibration change degree is positively correlated with the local vibration aggravation degree, and the center of gravity change degree is negatively correlated with the local vibration aggravation degree; the mean of the local vibration aggravation degree of all monitoring points at each stamping process stage is normalized to determine the vibration aggravation degree of the metal parts at each stamping process stage. That is, firstly, the vibration change degree and the center of gravity change degree corresponding to each monitoring point are combined through the local vibration aggravation degree, and then the local vibration aggravation degree of all monitoring points are combined to characterize the vibration aggravation degree of the metal parts at each stamping process stage as a whole; the corresponding metal parts vibration change degree acquisition process includes: the greater the aggravation degree, the greater the impact of the vibration on the metal parts caused by the unreasonable setting of the fixture position, that is, the greater the necessity of adjusting the fixture position.

[0072] In a specific implementation of the embodiment of the present invention, the process of obtaining the degree of vibration aggravation of the metal part is expressed by the formula: ;in, For the The degree of vibration intensification of metal parts during each stamping process stage; is the number of monitoring points; For the The monitoring point is The degree of vibration variation during each stamping process stage; For the The monitoring point is The degree of change of the center of gravity during each stamping process stage; For the The monitoring point is The degree of local vibration aggravation during each stamping process stage; It is a preset adjustment function. In the embodiment of the present invention, it is set to 0.1 to prevent the denominator from being 0. The implementer can adjust it according to the specific implementation environment. It is a linear normalization function. The implementer can adjust the normalization method according to the specific implementation environment.

[0073] Step S203: Adaptively adjust the fixing device according to the degree of vibration aggravation of the metal part.

[0074] The greater the degree of vibration of the metal part, the greater the impact of the vibration on the metal part caused by the unreasonable setting of the fixing device position, and the greater the necessity of adjusting the position of the fixing device accordingly; therefore, the fixing device is further adaptively adjusted more accurately according to the degree of vibration of the metal part to improve the stability of the metal part during the stamping process, so as to achieve better stamping effect of the metal part.

[0075] Preferably, in some possible implementations of the embodiments of the present invention, the process of adaptively adjusting the fixing device according to the degree of vibration aggravation of the metal part includes:

[0076] Because the greater the degree of vibration intensification of the metal parts, the greater the necessity of adjusting the position of the fixture; therefore, it is possible to determine whether to adjust the fixture by setting a threshold value, specifically: each stamping process stage is taken as the target stamping process stage in turn; when the degree of vibration intensification of the metal parts in the previous stamping process stage of the target stamping process stage is less than or equal to the preset adjustment threshold, the position of the fixture in the target stamping process stage is not adjusted; when the degree of vibration intensification of the metal parts in the previous stamping process stage of the target stamping process stage is greater than the preset adjustment threshold, the position of the fixture is adjusted according to the degree of local vibration intensification of each monitoring point in the previous stamping process stage of the target stamping process stage.

[0077] In a specific implementation of an embodiment of the present invention, the preset adjustment threshold is set to 0.84, and the implementer can adjust it according to the specific implementation environment; since the degree of metal part vibration intensification calculated by the embodiment of the present invention is a normalized value ranging from 0 to 1, the setting of the preset adjustment threshold needs to be limited to the range of 0 to 1, which is not further elaborated here.

[0078] When the vibration aggravation of the metal part is less than or equal to the preset adjustment threshold, it means that the necessity of adjusting the position of the corresponding fixture is small, that is, the metal part is less affected by the vibration caused by the unreasonable setting of the fixture position, and the position adjustment requirements of the fixture are not met, so the position of the fixture is not adjusted; and when the vibration aggravation of the metal part is greater than the preset adjustment threshold, it means that the necessity of adjusting the position of the corresponding fixture is large, that is, the metal part is more affected by the vibration caused by the unreasonable setting of the fixture position, so the position of the fixture needs to be adjusted. However, it is necessary to consider that the degree of vibration change and the degree of center of gravity change of different monitoring points are different, and the corresponding local vibration aggravation degree that characterizes the vibration influence is also different. The closer the fixture is to the monitoring point, the stronger the ability to limit the vibration influence of the monitoring point. Therefore, it is necessary to combine the local vibration aggravation degree of each monitoring point in the previous stamping process stage to make a more accurate position adjustment of the fixture position.

[0079] Preferably, in some possible implementations of the embodiments of the present invention, the process of adjusting the position of the fixture according to the degree of aggravation of the local vibration of each monitoring point in the previous stamping process stage of the target stamping process stage includes:

[0080] The direction from the centroid of each fixture to each monitoring point is used as the reference direction of each monitoring point under each fixture; the reference vector of each monitoring point under each fixture is determined according to the reference direction and the degree of local vibration aggravation of each monitoring point in the previous stamping process stage of each monitoring point in the target stamping process stage; the reference vectors of all monitoring points under each fixture are added to determine the adjustment vector of each fixture in the target stamping process stage; the normalized value of the modulus of the adjustment vector is used as the movement weight of each fixture. For each monitoring point, the greater the corresponding degree of local vibration aggravation, the greater the vibration influence caused by the unreasonable setting of the fixture position at the monitoring point. Therefore, according to the characteristic that the closer the fixture is to the monitoring point, the stronger the ability to limit the vibration influence of the monitoring point is, the fixture should be closer to the monitoring point with greater local vibration aggravation. Therefore, the direction in which the fixture needs to approach each monitoring point and the degree of adjustment are represented in vector form; further, the reference vectors of all monitoring points are combined to adjust the position of the fixture as a whole according to the obtained adjustment vector, so that the adjustment of the fixture can be combined with all monitoring points; the larger the modulus value of the corresponding adjustment vector, the greater the degree of position adjustment required due to the influence of each monitoring point, and therefore the normalized value of the modulus value of the adjustment vector is used as the movement weight of each fixture.

[0081] The basic moving distance is further determined based on the distance from each monitoring point to each fixture after the previous stamping process stage of the target stamping process stage; the product of the basic moving distance and the moving weight is used as the weighted moving distance of each fixture under the target stamping process stage. The moving weight only represents the size of the weight, and its function represents the magnitude of the moving distance. Therefore, to determine the accurate moving distance, it is necessary to determine the base distance adjusted with the moving weight as the weight. Therefore, in order to avoid the influence of different specific implementation scenarios on the base distance, the embodiment of the present invention determines the basic moving distance based on the distance from each monitoring point to each fixture after the previous stamping process stage of the target stamping process stage.

[0082] Preferably, in some possible implementations of the embodiments of the present invention, the process of acquiring the basic moving distance includes:

[0083] The average distance from the centroid of each fixture to all monitoring points after the previous stamping process stage of the target stamping process stage is used as the basic moving distance; that is, at the first sampling moment after the end of the previous stamping process stage of the target stamping process stage, the basic moving distance obtained by the average distance from the centroid of each fixture to all monitoring points is used as the base distance and adjusted in combination with the moving weight. In other specific implementation methods of the embodiments of the present invention, the prior preset value can also be used as the basic moving distance according to the specific implementation environment, which will not be further elaborated here.

[0084] The basic moving distance is further weighted by the moving weight, so as to determine the specific adjustment distance corresponding to the adjustment device, that is, the weighted moving distance. In a specific implementation of the embodiment of the present invention, the process of obtaining the weighted moving distance is expressed by the formula: ;in, For the The fixing device is The weighted moving distance of each stamping process stage; For the The fixing device is The modulus of the adjustment vector for each stamping process stage; is the number of monitoring points; For the After the previous stamping process stage of the first stamping process stage is completed, The center of mass of the fixture is The distance between the monitoring points; For the The fixing device is Basic moving distance of each stamping process stage; For the The fixing device is The movement weight of each stamping process stage. is a linear normalization function, and the implementer can adjust the normalization method according to the specific implementation environment. It should be noted that since the first stamping process stage does not have a previous stamping process stage, the position of the adjustment device is not adjusted for the first stamping process stage.

[0085] Further, each fixture is moved a weighted distance in the vector direction of the corresponding adjustment vector in the target stamping process stage to adjust the position of the fixture, that is, the position of the fixture is adjusted in combination with the influence of local vibration of the metal part, thereby improving the stability of the metal part during the stamping process and achieving a better stamping effect of the metal part.

[0086] To summarize, the present application determines the degree of vibration change of each monitoring point in each stamping process stage to characterize the drastic time-series change of the spatial position, so as to reflect the situation that the position of the monitoring point is changed due to vibration during the stamping process; further, based on the change of the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the change of the center of gravity caused by the change of the shape of the metal part during the stamping process is determined; the degree of aggravation of the vibration of the metal part obtained by combining the degree of vibration change and the degree of center of gravity change can more accurately characterize the unreasonable situation of the fixed position, thereby adaptively adjusting the fixing device in combination with the degree of aggravation of the vibration of the metal part, thereby improving the stability of the metal part during the stamping process and achieving a better stamping effect of the metal part.

[0087] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0088] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A stamping process for stamping a metal part, characterized in that: The following steps are involved: Acquire point cloud data of a metal part during a stamping process of the metal part; determine all monitoring points on the metal part according to the point cloud data of the metal part; According to the dramatic changes in the spatial position of each monitoring point in each stamping process stage, the degree of vibration change of each monitoring point in each stamping process stage is determined; according to the changes in the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the degree of change in the center of gravity of each monitoring point in each stamping process stage is determined; according to the vibration change degree and the center of gravity change degree, the degree of vibration aggravation of the metal part in each stamping process stage is determined; The fixing device is adaptively adjusted according to the degree of vibration intensification of the metal part.

2. A stamping process for stamping a metal part according to claim 1, characterized in that: The process of determining all monitoring points on the metal part according to the metal part point cloud data comprises: Each point cloud data point in the metal part point cloud data is used as a monitoring point.

3. A stamping process for stamping a metal part according to claim 1, characterized in that: The process of obtaining the vibration variation degree includes: In each stamping processing stage, the distance between the spatial position of each monitoring point at each sampling moment and the spatial position at the previous sampling moment is taken as the instantaneous position change degree of each monitoring point at each sampling moment; The vibration variation degree of each monitoring point in each stamping process stage is determined according to the mean value of the instantaneous position variation degree of each monitoring point at all sampling moments in each stamping process stage.

4. A stamping process for stamping a metal part according to claim 1, characterized in that: The process of obtaining the degree of change of the center of gravity includes: After each stamping part processing stage is completed, the distance between the spatial position of each monitoring point and the spatial position of the center of gravity of the metal part is used as the center of gravity distance of each monitoring point in each stamping part processing stage; The difference between the center of gravity distance of each monitoring point at each stamping part processing stage and the center of gravity distance at the previous stamping part processing stage is normalized to determine the degree of change of the center of gravity of each monitoring point at each stamping part processing stage.

5. A stamping process for stamping a metal part according to claim 1, characterized in that: The process of obtaining the degree of vibration aggravation of the metal part includes: The degree of local vibration aggravation of each monitoring point at each stamping process stage is determined by fusing the degree of vibration change and the degree of center of gravity change of each monitoring point at each stamping process stage in the form of ratio; the degree of vibration change is positively correlated with the degree of local vibration aggravation, and the degree of center of gravity change is negatively correlated with the degree of local vibration aggravation; The mean values ​​of the local vibration aggravation levels of all monitoring points at each stamping process stage are normalized to determine the vibration aggravation level of the metal parts at each stamping process stage.

6. A stamping process for stamping a metal part according to claim 5, characterized in that: The process of adaptively adjusting the fixing device according to the aggravated degree of vibration of the metal part comprises: Taking each stamping process stage as a target stamping process stage in turn; When the vibration aggravation degree of the metal part in the previous stamping process stage of the target stamping process stage is less than or equal to the preset adjustment threshold, the position of the fixture in the target stamping process stage is not adjusted; When the vibration aggravation degree of the metal part in the previous stamping process stage of the target stamping process stage is greater than the preset adjustment threshold, the position of the fixing device is adjusted according to the local vibration aggravation degree of each monitoring point in the previous stamping process stage of the target stamping process stage.

7. A stamping process for stamping a metal part according to claim 6, characterized in that: The process of adjusting the position of the fixture according to the degree of aggravation of the local vibration of each monitoring point in the previous stamping process stage of the target stamping process stage comprises: The direction from the centroid of each fixture to each monitoring point is used as the reference direction of each monitoring point under each fixture; the reference vector of each monitoring point under each fixture is determined according to the reference direction and the degree of aggravation of the local vibration of each monitoring point in the previous stamping process stage of the target stamping process stage; Adding the reference vectors of all monitoring points under each fixture to determine the adjustment vector of each fixture under the target stamping process stage; using the normalized value of the modulus of the adjustment vector as the movement weight of each fixture; Determine the basic moving distance according to the distance from each monitoring point to each fixture after the previous stamping process stage of the target stamping process stage; multiply the basic moving distance by the moving weight as the weighted moving distance of each fixture in the target stamping process stage; The position of each fixture is adjusted by moving each fixture in the target stamping process stage by the weighted moving distance along the vector direction of the corresponding adjustment vector.

8. A stamping process for stamping a metal part according to claim 6, characterized in that: The preset adjustment threshold is set to 0.

84.

9. A stamping process for stamping a metal part according to claim 7, characterized in that: The process of obtaining the basic moving distance includes: The average distance from the centroid of each fixture to all monitoring points after the previous stamping process stage of the target stamping process stage is taken as the basic moving distance.

10. A stamping die for stamping metal parts, characterized in that: It includes a control module, a stamping device, a metal part, a feeding base assembly, a feeding base, a posture analysis device, a fixing device base, a fixed threaded rod and a fixing device; the feeding base is fixed with the feeding base assembly, the posture analysis device and the fixing device base; the fixing device base is fixed with a fixed threaded rod and a fixing device; the feeding base assembly and the fixing device fix the metal part up and down; the posture analysis device includes a laser three-dimensional scanner; the laser three-dimensional scanner signal is connected to the control module, the laser three-dimensional scanner is used to obtain the metal part point cloud data during the metal part stamping process, and the control module determines all monitoring points on the metal part according to the metal part point cloud data; According to the dramatic changes in the spatial position of each monitoring point in each stamping process stage, the degree of vibration change of each monitoring point in each stamping process stage is determined; according to the changes in the spatial position of each monitoring point after each stamping process stage relative to the center of gravity position of the metal part, the degree of change in the center of gravity of each monitoring point in each stamping process stage is determined; according to the vibration change degree and the center of gravity change degree, the degree of vibration aggravation of the metal part in each stamping process stage is determined; The fixing device is adaptively adjusted according to the degree of vibration intensification of the metal part.

Images