A method for measuring and controlling springback of impact hydraulic bulging branch pipe

Abstract

The application provides a kind of impact hydraulic bulging branch pipe rebound measurement and control method, comprising S1 positioning installation mould, install pipe in mould, and set the best bulging parameter according to the characteristics of pipe and historical experimental data;S2 parameter setting is carried out based on XTDIC system measurement software, monitors the three-dimensional deformation of pipe in the bulging process;S3 marks the three-dimensional coordinates and coordinate displacement of key point position of bulging site;Real-time transmission displacement data to PLC program, obtains rebound displacement and its direction;PID control logic is constructed, and the amount of material supplement of punch is adjusted.The application uses PID control algorithm, according to the calculated error, continuously obtains the actual bulging value in the control cycle, generates control signal, adjusts the amount of material supplement, realizes accurate control rebound, ensures the forming quality of pipe, and the whole process depends on experiment and experience to optimize PID parameter, achieves the best control effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic bulging processing equipment, in particular to a method for measuring and controlling rebound of impact hydraulic bulging branch pipe. BACKGROUND

[0002] With the rapid development of economy, the continuous improvement and development of lightweight technology, the precision of pipe material is required to be higher, and the hydraulic bulging technology has become one of the main technologies to realize lightweight.

[0003] The principle is to make the pipe material deform plastically by using the coordinated action of internal hydraulic pressure and axial thrust of the pipe end, so as to produce high-strength, high-stiffness and light-weight precision (or semi-precision) near-net-shape parts. This technology not only realizes the lightweight of components, saves raw materials, but also through work hardening and integrated forming process, is conducive to improving the strength and stiffness of the parts.

[0004] However, due to the influence of the die in the bulging process, the bulging process of the pipe material cannot be observed, resulting in a series of problems in the forming process, such as rebound, so it is necessary to measure the rebound, obtain the rebound rule of forming, and suppress the rebound.

[0005] In view of this, the existing patent application document CN116618510 A discloses a hydraulic bulging test piece forming quality control method, which sets the bulging information and initial bulging information of the standard test piece, and uses a tempered glass and diamond composite die to obtain a standard-shaped bulging test piece. By measuring the propagation time of light in different media in the die, the bulging height and axial feed amount are obtained in real time, and the control of the forming quality is realized.

[0006] Analyzing the above patent application document, it adopts a rule-based control method, that is, by comparing the actual bulging height with the preset standard bulging height to decide whether to adjust the bulging hydraulic pressure and axial feed distance. This is an open-loop or semi-closed-loop control method, which depends on the pre-set parameters and the experience of the operator.

[0007] If there is an unexpected change in material properties or external interference during the bulging process, the operator needs to manually adjust the bulging parameters again, which leads to slow response speed and reduced control accuracy. For example, if the elastic modulus of the material suddenly changes, the deviation between the actual bulging height and the standard bulging height exceeds the expectation, and the rule-based control method cannot adjust in time, resulting in a decrease in product quality.

[0008] Therefore, it is urgent to propose a technical method for quickly identifying the deviation, adopting a closed-loop control mode, automatically adjusting the punch material supplement amount according to real-time feedback of the system, realizing more accurate control, suppressing springback through instant adjustment of the punch material supplement amount, and maintaining product quality even in the case of material property change. SUMMARY

[0009] In view of the problems in the prior art, the present application aims to provide an impact hydraulic bulging branch pipe springback measurement and control method to solve the problems in the background art.

[0010] To achieve the above-mentioned purpose, the present application is implemented by the following technical scheme: an impact hydraulic bulging branch pipe springback measurement and control method, comprising the steps of:

[0011] S1, comprehensive preparation and basic setting

[0012] Positioning and installing a mold, installing a pipe in the mold, and setting optimal bulging parameters according to the pipe characteristics and historical experimental data;

[0013] S2, high-precision measurement system configuration

[0014] Based on the XT DIC system measurement software, parameters are set, the acquisition mode is adjusted, the three-dimensional deformation of the pipe in the bulging process is monitored, a CCD camera is placed on the side wall and the top of the pipe bulging part, and the mold is adjusted for image, and each change of the pipe during bulging is captured;

[0015] S3, implementation of self-adaptive control strategy

[0016] Marking the key points of the bulging part of the pipe during the bulging process, creating displacement intercept points, and calculating the three-dimensional coordinates and coordinate displacement data of the key points of the bulging part;

[0017] Real-time transmission of the displacement data to the PLC program to obtain the springback displacement and its direction;

[0018] Constructing a PID control logic to adjust the material supplement amount of the punch, which performs the following operations:

[0019] According to the pipe characteristics and control requirements, the proportional gain K p , integral gain K i , and differential gain K d of the PID controller are set in advance during the pipe bulging process.

[0020]

[0021] The actual displacement value of pipe expansion is continuously obtained, a control signal is obtained, the control signal is applied to the system mainboard, and the punch feeding amount is adjusted according to the difference between the calculated actual rebound displacement data and the allowed maximum rebound value data:

[0022] If the rebound displacement exceeds the preset maximum rebound value data value, the PID control triggers the feeding or feeding action, effectively controls the rebound, ensures the forming precision, and vice versa, so that the formed part is considered to be of good quality, and a high-quality formed part with uniform wall thickness is directly formed.

[0023] Compared with the prior art, the beneficial effects of the present application are:

[0024] 1. Compared with the existing open-loop or semi-closed-loop control mode, in the hydraulic expansion process, the displacement change of the pipe in the expansion process is monitored through the high-precision XTDIC system and the CCD camera, and the data is transmitted to the PLC program in real time; secondly, the PLC program automatically sorts and filters the displacement data, calculates the rebound displacement in the expansion process, and compares it with the set maximum allowed rebound value; then, using the PID control algorithm, according to the calculated error, that is, the difference between the actual rebound displacement and the allowed maximum rebound value, the feeding amount of the punch is automatically adjusted; finally, the actual expansion value is continuously obtained in the control cycle, a control signal is generated, and the feeding amount is adjusted, which realizes accurate control of the rebound and ensures the forming quality of the pipe. The whole process relies on experiments and experience to optimize the PID parameters to achieve the best control effect;

[0025] 2. Compared with the existing laser infrared device used in the hydraulic expansion process, the XTDIC device used in the present application can observe the change on a space, which is different from the certain limitation of the laser infrared device, which can only observe the change on a certain point. The XTDIC device proposed in the present application can observe the overall change of the pipe and obtain the dynamic deformation data of the pipe in the whole processing cycle. BRIEF DESCRIPTION OF DRAWINGS

[0026] The disclosure of the present application will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes, and are not intended to limit the scope of protection of the present application. In the drawings, the same reference numerals are used to refer to the same parts. Among them:

[0027] Figure 1 The flowchart of the impact hydraulic expansion branch pipe rebound measurement and control method proposed in an embodiment of the present application is shown in the figure;

[0028] Figure 2 The mold structure diagram proposed in an embodiment of the present application is shown in the figure;

[0029] Figure 3This is a schematic diagram of the impact hydraulic expansion branch springback measurement and control method proposed in one embodiment of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1-Punch, 2-Pipe, 3-Mold, 4-CCD Camera, 5-Computer, 6-Motherboard;

[0032] 7 - Tempered glass, 8 - Diamond. Detailed Implementation

[0033] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0034] The present invention will be further described in detail below with reference to the accompanying drawings, but this is not intended to limit the scope of the invention.

[0035] As an understanding of the technical concept and implementation principle of the present invention, the main purpose of the impact hydraulic expansion branch pipe rebound measurement and control method proposed in this invention is to solve the problem that the rule-based control method cannot be adjusted in time, thus leading to a decline in product quality.

[0036] As one embodiment of the present invention, such as Figure 1 - Figure 2 As shown, a method for measuring and controlling the springback of impact hydraulically bulging branch pipe is proposed, including the following steps:

[0037] S1. Comprehensive Preparation and Basic Setup

[0038] Position and install mold 3, install pipe 2 in mold 3, and set basic bulging parameters based on the characteristics of pipe 2 and historical experimental data. It should be noted that, as... Figure 2 As shown, mold 3 preferably adopts a composite mold structure of tempered glass 7 and diamond 8. The outer layer of this structure is made of diamond to meet the high strength and light transmittance of the mold, while the inner layer is made of tempered glass to meet the positioning requirements of XTDIC. In specific implementation, the process of setting the optimal bulging parameters to adapt to the forming of tube 2 includes: installing tube 2 in the mold and setting basic bulging parameters according to the characteristics of tube 2 and historical experimental data; adjusting the basic bulging parameters in the servo circuit system, including axial feed and hydraulic pressure, to adapt to the forming requirements of tube 2; determining the optimal bulging parameters based on historical experimental and empirical data of tube 2 to ensure that tube 2 can be formed normally; and conducting initial functional tests to verify the installation accuracy of mold 3 and the correctness of the servo circuit system settings.

[0039] S2, high-precision measurement system configuration

[0040] It should be noted that the existing patent document CN116618510 A proposes a hydraulic bulging test piece forming quality control method, which involves using tempered glass and diamond composite mold, and using light propagation time to determine the distance of the bulging part. It can be understood that if the light propagation time measurement inside the mold is affected by any reflection or refraction caused by environmental light conditions, the measurement result will be affected, resulting in substandard quality of the formed pipe material, causing material waste or product returns.

[0041] Therefore, to solve the above problems and ensure accurate and reliable three-dimensional deformation measurement of pipe materials during hydraulic bulging, providing high-quality data support for subsequent control and analysis, therefore, how to accurately capture and measure the complex three-dimensional deformation of pipe materials during bulging, ensure the accuracy, consistency and comparability of the measurement data, and how to handle the influence of environmental changes, such as lighting conditions, on measurement accuracy become key factors in the early stage.

[0042] Based on this, the present application proposes that after the mold 3 is installed and the basic parameters are set, the parameter setting is carried out based on the XTDIC system measurement software, and the collection mode is adjusted to monitor the three-dimensional deformation of the pipe material 2 during the bulging process. The specific implementation process includes:

[0043] First, select an XTDIC system suitable for measuring the three-dimensional deformation of the pipe material 2, which must have sufficient measurement range and accuracy to cover all possible deformations of the pipe material 2;

[0044] Second, according to the expected deformation rate and measurement range of the pipe material 2, set appropriate sampling frequency and resolution to ensure that the sampling frequency can capture the fastest deformation speed, and the resolution is high enough to capture the tiny deformation details;

[0045] Third, after setting the sampling parameters, adjust the CCD camera 4, including focal length, exposure time and white balance, to ensure that the CCD camera 4 can capture images with sufficient clarity and contrast under different environmental lighting conditions, so that the key feature points in the image can be accurately identified and tracked;

[0046] Fourth, use image processing software to preprocess the images captured by the CCD camera 4, which includes eliminating noise and improving image measurement accuracy, and further improve image quality by applying filters or edge enhancement techniques;

[0047] In order to ensure the accuracy and repeatability of the measurement data, the XTDIC system and the CCD camera 4 need to be calibrated in the specific implementation, including correcting or compensating the optical components of the system and accurately configuring the internal parameters of the camera, so as to ensure consistent results for each measurement.

[0048] Finally, in order to ensure the consistency and comparability of the data, the XTDIC system measurement software is required to be synchronized with the acquisition time of the CCD camera 4, and by accurately aligning the time stamps of the two systems, it is ensured that the data collected from different angles and different time points can be accurately compared and combined.

[0049] It can be understood that compared with laser infrared and other devices, the XTDIC device can observe the changes on a space, and the laser infrared has certain limitations and can only observe the changes on a certain point, while the XTDIC device can observe the overall changes of the pipe and has many limitations for laser infrared, ultrasonic and other devices, which need to control the observation distance and precision problems, and the XTDIC does not have these limitations. After setting the parameter precision on the XTDIC system measurement software and adjusting the collection mode, one CCD camera 4 is placed on the side wall and the top of the bulging part of the pipe 2, and the image is adjusted for the mold 3. The purpose is to ensure that the camera is accurately aligned with the pipe 2, laying the foundation for subsequent automatic measurement and real-time control, and capturing every change of the pipe 2.

[0050] As an embodiment of the present application, the sampling frequency of the XTDIC system measurement software in the above steps is adjustable to adapt to the bulging process at different speeds, and the placement position of the CCD camera 4 is adjusted along the periphery of the pipe bulging part of the pipe bulging part to monitor the pipe bulging at different angles. The frame frequency of the CCD camera 4 is preferably 340 FPS, so that the collected data is more precise.

[0051] As shown in Figure 3 the present application also includes steps S3, adaptive control strategy implementation

[0052] which is implemented based on the configuration of the high-precision measurement system, and the specific steps are as follows:

[0053] Firstly, the XTDIC system and the CCD camera 4 are used to synchronously monitor the three-dimensional deformation of the pipe 2 during the bulging process: the key point positions of the pipe 2 during the bulging process are marked, the displacement intercept points are created, and the three-dimensional coordinates and coordinate displacement data of the key point positions of the bulging part are calculated. The specific implementation process includes:

[0054] Start the XTDIC system and the CCD camera 4, perform system self-checking and initialization, adjust the position and angle of the CCD camera 4, and ensure that the side wall and top of the bulging part of the pipe are completely within the shooting range;

[0055] Before the bulging starts, the original state image of the tube 2 is captured by the CCD camera 4, the captured original state image is pre-processed, such as noise reduction or contrast enhancement or edge detection processing, and the pre-processed image is marked with the pre-defined key point positions by using the image processing algorithm;

[0056] The three-dimensional coordinates of each displacement intercept point are calculated by triangulation method using the XTDIC system: In the formula, L represents the distance between the CCD camera 4 and the tube 2, f x ,f y represents the coordinates of the key point positions on the original state image, d x ,d y represents the coordinates of the key point positions after distortion correction, X, Y, Z represents the three-dimensional coordinates of the key point positions;

[0057] For each displacement intercept point, the displacement amount thereof in the bulging process is calculated: ΔX = X t -X0, ΔY = Y t -Y0, ΔZ = Z t -Z0, wherein X0, Y0, Z0 represents the initial three-dimensional coordinates before bulging, X t , Y t , Z t represents the three-dimensional coordinates at a certain time; the three-dimensional coordinates and the displacement amount of each displacement intercept point are recorded and updated in real time.

[0058] Secondly, the measured displacement amount of the system is transmitted to the PLC program of the computer 5 in real time through the measurement software, the obtained displacement amount data is sorted and filtered, and the displacement amount data before and after the unloading pressure is filtered out bulging, so as to determine the actual displacement change of the tube 2 in the hydraulic bulging process; because the bulging and the measurement are synchronous, the time is consistent, so the displacement amount data before and after the unloading pressure is extracted, that is, the displacement amount of the front tube and the displacement amount of the tube after unloading, and the subtraction is performed to obtain the rebound displacement amount, and the positive and negative directions are judged. The specific process is as follows:

[0059] a. The collected displacement amount data is filtered to eliminate noise and abnormal values:

[0060]

[0061] In the formula, D(t) represents the original displacement amount data at time point t, D f (t) represents the displacement amount data at time point t after Gaussian filtering processing, u is the mean value of the time sequence, which represents the center point of the displacement amount data, and σ is the standard deviation of the time sequence, which represents the dispersion degree of the displacement amount data;

[0062] b. Sort the displacement data by timestamp to ensure the time sequence of the data. Based on the time nodes of the bulging process, filter out the displacement data before and after unloading pressure. Perform differential calculation on the displacement data before and after unloading pressure to obtain the rebound displacement ΔD: ΔD=D(t u )-D(t u-σt ), where t u-σt D(t) represents a short period of time before the pressure is unloaded. u This indicates the instant of pressure unloading, i.e., the starting point for measuring the rebound displacement;

[0063] c. Determine the springback trend of the material based on the magnitude and direction of the springback displacement: the springback direction angle θ is determined by the change in the displacement vector. In the formula, D x D Y They are respectively represented as at time t u , t u-σt The displacement at time is calculated using the X and Y axis components; then the direction of the rebound displacement is calculated as follows: In the formula, For time point t u The displacement vector represents the displacement from the initial position to the current position. For time point t u-σt The displacement vector, It is expressed as the change in the displacement vector, that is, the difference in the displacement vector before and after unloading the pressure;

[0064] d. Use the calculated rebound displacement and its direction to the PID controller to adjust the punch feed amount.

[0065] Finally, a PID control logic is constructed, the absolute value of the obtained data is taken, and then it is compared with the maximum rebound value set in the control algorithm. The feeding amount of punch 1 is then adjusted. If the rebound displacement exceeds the preset maximum value, the main board 6 controls punch 1 to trigger feeding or unloading actions, and the feeding amount is adjusted little by little in real time to effectively control the rebound and ensure forming accuracy. Otherwise, the forming part is considered to be of good quality, and a high-quality forming part with uniform wall thickness is directly formed.

[0066] In one embodiment of the present invention, the specific implementation process of constructing PID control logic includes:

[0067] After the system processes the data, it transmits the data to the configured PLC program. First, the data is automatically sorted, then the displacement before and after unloading pressure is extracted and subtracted. Firstly, an allowable error is set for pipe 2, which is the maximum rebound value. Based on the characteristics of pipe 2 and control requirements, the proportional gain K of the PID controller is pre-set during the expansion process of pipe 2. p Integral gain Ki , the differential gain K d :

[0068]

[0069] In the formula, u(t) represents the output of the PID controller, and e(t) represents the error, i.e., the difference between the set value and the actual value.

[0070] Secondly, the actual displacement value of the pipe 2 bulging is continuously obtained to obtain a control signal, the control signal is applied to the mainboard 6 of the system, the measured specific actual value is compared with the maximum value, and whether the material needs to be supplemented or removed is judged according to the difference between the calculated actual rebound displacement data and the allowed maximum rebound value data. It needs to be explained that because the control parameters set in the above formula 2 are the best values, when the actual value is substituted, whether it is too large will be obtained. If it is too large, the amount of material supplement of the punch 1 is controlled to supplement the material forward, so as to achieve the size of the rebound suppression.

[0071] Based on the above technical concept, it can be understood that according to the response of the pipe 2 bulging, the parameters of the PID controller need to be adjusted to obtain better control effect, and the adjustment of the parameters of the PID controller usually needs experiments and experience to determine the best value.

[0072] In an embodiment of the present application, in order to ensure the normal forming of the pipe during the bulging process, in order to ensure that the pipe 2 will not be bulged, in addition to controlling the material supplement of the punch 1, a program for controlling the cavity volume of the pipe 2 during the bulging process can be designed to control the internal pressure. By changing the cavity volume to reduce the internal pressure, it is ensured that the pipe 2 will not be bulged.

[0073] The technical scope of the present application is not limited to the content in the above description, and those skilled in the art can make various modifications and changes to the above embodiments without departing from the technical idea of the present application, and these modifications and changes should all be within the protection scope of the present application.

Claims

1. A method for measuring and controlling the springback of an impact-hydraulic bulging branch pipe, characterized in that: Including the following steps: S1. Comprehensive Preparation and Basic Setup Position and install the mold, install the pipe in the mold, and set the optimal bulging parameters based on the characteristics of the pipe and historical experimental data; S2, High-precision measurement system configuration The parameters were set and the acquisition mode was adjusted using the XTDIC system measurement software to monitor the three-dimensional deformation of the pipe during the bulging process. A CCD camera was placed on the side wall and top of the bulging part of the pipe, and the image was adjusted for the mold to capture every change of the pipe during the bulging process. S3. Implementation of Adaptive Control Strategy Mark the key points of the bulging part of the pipe during the bulging process, create displacement intercept points, and calculate the three-dimensional coordinates and coordinate displacement data of the key points of the bulging part. The displacement data is transmitted to the PLC program in real time to obtain the rebound displacement and determine its positive or negative direction. Construct PID control logic to adjust the feed rate of the punch, which performs the following operations: Based on the pipe characteristics and control requirements, the proportional gain K of the PID controller is pre-set during the pipe bulging process. p Integral gain K i Differential gain K d : In the formula, u(t) represents the output of the PID controller, and e(t) represents the error; The actual displacement value of the tube bulging is continuously acquired to obtain a control signal, which is then applied to the system mainboard. Based on the difference between the calculated actual springback displacement data and the maximum allowable springback value, the punch feed amount is adjusted. If the springback displacement exceeds the preset maximum springback value, the PID control triggers a feeding or unloading action to effectively control the springback and ensure forming accuracy. Otherwise, the formed part is considered to be of good quality, and a high-quality formed part with uniform wall thickness is directly formed. The specific process for obtaining the three-dimensional coordinates and coordinate displacement data of the key points of the bulging part includes: Before the expansion begins, a CCD camera is used to capture an image of the pipe in its original state. The captured image is then preprocessed, and predefined key points are marked on the preprocessed image using an image processing algorithm. Using the XTDIC system, the three-dimensional coordinates of each displacement intercept are calculated using triangulation. In the formula, L represents the distance between the CCD camera and the tube, and f x ,f y The coordinates of key points on the original state image are represented by d. x ,d y These represent the coordinates of the key points after distortion correction, where X, Y, and Z represent the three-dimensional coordinates of the key points. For each displacement intercept, calculate its displacement during the bulging process: ΔX = X t -X0, ΔY=Y t -Y0, ΔZ=Z t -Z0, where X0, Y0, and Z0 represent the initial three-dimensional coordinates before bulging, X... t Y t Z t Represented as three-dimensional coordinates at a certain moment; Record the three-dimensional coordinates and displacement of each displacement intercept point and update them in real time; The specific process of determining positive and negative directions includes: The collected displacement data is filtered to eliminate noise and outliers: In the formula, D(t) represents the original displacement data at time point t. f (t) represents the displacement data at time point t after Gaussian filtering, u is the mean of the time series, representing the center point of the displacement data, and σ is the standard deviation of the time series, representing the dispersion of the displacement data. The displacement data is stacked according to timestamps to ensure the temporal order of the data. Based on the time nodes of the bulging process, the displacement data before and after unloading pressure are selected. The difference between the displacement data before and after unloading pressure is calculated to obtain the rebound displacement ΔD: ΔD=D(t u )-D(t u-σt ), where t u-σt D(t) represents a short period of time before the pressure is unloaded. u This indicates the instant of pressure unloading, i.e., the starting point for measuring the rebound displacement; The springback trend of the material can be determined based on the magnitude and direction of the springback displacement: the springback direction angle θ is determined by the change in the displacement vector. In the formula, D x D Y They are respectively represented as at time t u , t u-σt The displacement at time is calculated using the X and Y axis components; then the direction of the rebound displacement is calculated as follows: In the formula, For time point t u The displacement vector, For time point t u-σt The displacement vector, It is expressed as the change in the displacement vector, that is, the difference in the displacement vector before and after unloading the pressure; The calculated rebound displacement and its direction are used in a PID controller to adjust the punch feed rate.

2. The method for measuring and controlling the springback of an impact hydraulically bulging branch pipe according to claim 1, characterized in that: In step S3, when the displacement data is transmitted to the PLC program in real time, the specific process of obtaining the rebound displacement includes: stacking and filtering the obtained displacement data, filtering out the displacement data before and after unloading pressure, so as to determine the actual displacement change of the pipe during the hydraulic expansion process; extracting the displacement data before and after unloading pressure, and subtracting them to obtain the rebound displacement.

3. The method for measuring and controlling the springback of an impact hydraulically bulging branch pipe according to claim 1, characterized in that: In step S2, the specific process of parameter setting based on the XTDIC system measurement software includes: selecting an XTDIC system suitable for measuring the three-dimensional deformation of the pipe; setting an appropriate sampling frequency and resolution according to the expected deformation rate and measurement range; adjusting the focal length, exposure time, and white balance of the CCD camera to ensure image clarity and contrast; preprocessing the images captured by the CCD camera using image processing software to eliminate noise and improve measurement accuracy; calibrating the XTDIC system and CCD camera to ensure the accuracy and repeatability of the measurement data; and synchronizing the acquisition time of the XTDIC system measurement software and the CCD camera to ensure data consistency and comparability.

4. The method for measuring and controlling the springback of an impact hydraulically bulging branch pipe according to claim 3, characterized in that: The sampling frequency of the XTDIC system measurement software is adjustable to adapt to bulging processes at different speeds, and the placement of the CCD camera is adjusted around the bulging part of the pipe to monitor pipe bulging at different angles. The frame rate of the CCD camera is 340 FPS.

5. The method for measuring and controlling the springback of an impact hydraulically bulging branch pipe according to claim 1, characterized in that: The mold adopts a composite mold structure of tempered glass and diamond; In step S1, the specific process of setting the optimal bulging parameters for forming the pipe includes: installing the pipe in the mold and setting the basic bulging parameters based on the characteristics of the pipe and historical experimental data; adjusting the basic bulging parameters in the servo circuit system, including axial feed and hydraulic pressure, to meet the forming requirements of the pipe; determining the optimal bulging parameters based on historical experimental and empirical data of the pipe to ensure that the pipe can be formed normally; and conducting initial functional tests to verify the accuracy of mold installation and the correctness of servo circuit system settings.

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