Special-shaped hemming method and special-shaped hemming device

Abstract

The invention relates to a special-shaped hemming method and a special-shaped hemming device, a hemming assembly performs hemming on a product along a first path, and the first path comprises rotation taking a first axis as an axis and movement in a first direction which occur at the same time. The hemming assembly moves along the set first path to realize hemming, and due to the fact that the first path comprises the rotation taking the first axis as the axis and the movement along the first direction which occur at the same time, the movement along an irregular track in the space can be realized, and hemming of the special-shaped product is further realized.

Description

Technical Field

[0001] The present application relates to the technical field of curling devices, and in particular to a special-shaped curling method and a special-shaped curling device. Background Art

[0002] With the rapid development of modern industrial production, the demand for various containers, especially tanks, is increasing. The application range of tanks is very wide, covering various fields from food and beverage to chemical medicine. In order to meet the needs of different industries, the appearance and structural design of tanks are becoming more and more diversified.

[0003] In the can production process, the can edge curling process is very important, which can not only enhance the strength and sealing of the can, but also improve the overall aesthetics of the can. However, the existing curling machine technology is mainly focused on the curling of round cylindrical containers, and it is often difficult to meet the requirements for the curling of the edges of special-shaped cans, especially those with special shapes and sizes.

[0004] The existing curling machine technology has the following main shortcomings when processing the edge curling of special-shaped cans:

[0005] 1. The scope of application is limited. Most of the common curling machines on the market can only process the edges of round cylindrical containers and cannot effectively curl the edges of special-shaped cans.

[0006] 2. Complex structure and high cost. There are only a few curling machines that can process the edges of special-shaped cans. They have complex structures, high production costs, and are expensive, making them difficult to popularize and apply in actual production.

[0007] 3. The curling effect is not good. The existing special-shaped curling mechanism often cannot ensure the smoothness, beauty and firmness of the curling effect during the curling process, and it is difficult to meet the needs of high-quality curling.

[0008] Therefore, a new type of special-shaped curling device is urgently needed to meet the curling operation of special-shaped cans. Summary of the invention

[0009] In view of the deficiencies in the prior art, the purpose of the present application is to provide a special-shaped curling method and a special-shaped curling device, which can realize the curling operation on special-shaped cans.

[0010] The above-mentioned purpose of the present application is achieved through the following technical solutions:

[0011] A special-shaped curling method, a curling component curls a product along a first path, wherein the first path includes simultaneous rotation around a first axis and movement along a first direction.

[0012] By adopting the above technical solution, there is an inclination angle between the rotation surface formed by the curling assembly rotating around the first axis and the first direction.

[0013] By adopting the above technical solution, the first direction is parallel to a rotation plane formed by the hemming assembly rotating around the first axis.

[0014] By adopting the above technical solution, the straight line where the first direction is located passes through the first axis.

[0015] By adopting the above technical solution, the product is fixedly arranged, the first path is consistent with the edge of the product, and there is an angle between the curling component and the edge of the product.

[0016] By adopting the above technical solution, the edge of the product is bent in the direction where curling is required before the product is curled.

[0017] A special-shaped curling device, used to implement the above-mentioned special-shaped curling method, comprises a driving device, and the driving device drives the curling assembly to move along the first path.

[0018] According to the above technical solution, the curling assembly includes a curling wheel, a curling groove is formed on the curling wheel, the curling wheel contacts the edge of the product, and the curling groove is arranged in the direction where the edge of the product needs to be curled.

[0019] Using the above technical solution, the driving device includes a shell assembly and a contour wheel, the shell assembly rotates about the first axis, a movable track is provided on the shell assembly along the first direction, the curling assembly is installed in the movable track, the contour wheel is fixedly arranged, and the curling assembly abuts against the outer edge of the contour wheel.

[0020] According to the above technical solution, the crimping assembly further includes a movable bearing and a pressure device, wherein the movable bearing is connected to the crimping wheel, and the movable bearing can roll against the contouring wheel;

[0021] Furthermore, the pressure device is arranged on the housing assembly, and the pressure device drives the movable bearing to press against the contour wheel.

[0022] In summary, the beneficial technical effects of this application are:

[0023] 1. The present application realizes curling by moving the curling assembly along a set first path, and because the first path includes simultaneous rotation about a first axis and movement along a first direction, it can realize movement along an irregular trajectory in space, thereby realizing curling of special-shaped products. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1is a schematic diagram of a crimping device.

[0025] Figure 2 It is a cross-sectional schematic diagram of the crimping device.

[0026] Figure 3 This is a schematic diagram of the product before edge curling

[0027] Figure 4 This is a schematic diagram of the product after edge curling

[0028] Explanation of the accompanying drawings: 1. Shell assembly; 11. Moving track; 12. Flange; 13. Guide seat; 14. Pulley; 15. Bearing; 2. Inner shaft assembly; 3. Contour wheel; 4. Curling assembly; 41. Curling wheel; 411. Curling groove; 42. Moving bearing; 43. Pressure device; 44. Mounting bracket; 45. Cover plate; C. Product. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings.

[0030] A special-shaped curling method, a curling component 4 curls a product C along a first path, and the first path includes simultaneous rotation around a first axis and movement along a first direction.

[0031] A special-shaped curling device is used to implement the above-mentioned special-shaped curling method, comprising a driving device, which drives the curling component 4 to move along a first path.

[0032] In a preferred embodiment, the driving device may adopt a mechanical arm or a six-axis linkage mechanism to achieve simultaneous rotation around the first axis and movement along the first direction.

[0033] Specifically, the first axis is any rotation axis in space, such as a rotation axis perpendicular to a horizontal plane; the first direction may be a radial direction along the first axis, ie, a direction away from or close to the rotation axis.

[0034] More specifically, the robot grasps and operates the hemming assembly 4, and its actions are divided into rotational motion and linear motion, that is, rotation around the first axis and motion along the first direction. The robot uses a rotary joint to rotate the hemming assembly 4 around the first axis and linear motion along the first direction. This enables the hemming assembly 4 to work continuously along the edge of the tank base. The rotation speed needs to be adjusted according to the hemming process and material properties.

[0035] The first path is considered as a continuous motion, and during this motion, the position and posture of the manipulator end effector are constantly changing. Coordinate systems and variables can be introduced.

[0036] The world coordinate system is O-XYZ: the world coordinate system established with the center of the product C base as the origin.

[0037] The coordinate system of the end effector of the manipulator is P-xyz: a coordinate system established with the crimping component 4 at the end of the manipulator as the origin.

[0038] The time variable is t: it represents the time during the hemming process.

[0039] The position vector of the end effector of the manipulator is r(t): it represents the position of the end effector of the manipulator in the world coordinate system and can be represented by the vector (x(t), y(t), z(t)).

[0040] The posture matrix of the end effector of the manipulator is R(t): it represents the posture of the end effector of the manipulator relative to the world coordinate system and can be represented by a 3x3 rotation matrix.

[0041] The contact point coordinate vector of the hemming tool is p(t), which represents the position of the contact point between the hemming tool and the edge of the tank base in the world coordinate system.

[0042] The position vector r(t) of the end effector of the manipulator changes with time. Differentiation can be used to describe the rate of change of its position, that is, the velocity vector v(t):

[0043] v(t)=dr(t) / dt=(dx(t) / dt,dy(t) / dt,dz(t) / dt).

[0044] The velocity vector v(t) represents the movement direction and velocity of the manipulator end effector at each moment.

[0045] The attitude matrix R(t) of the manipulator end effector will also change over time. Differentiation can be used to describe the rate of change of its attitude, that is, the angular velocity vector ω(t):

[0046] ω(t)=dR(t) / dt*R(t)^-1.

[0047] Since dR(t) / dt describes the rate of change of the rotation matrix in the robot end effector coordinate system, and we want to obtain the angular velocity in the world coordinate system, we need to multiply dR(t) / dt by R(t)^-1 to convert it to the world coordinate system.

[0048] In short, ω(t) is the angular velocity of the robot end effector in the world coordinate system, which is expressed by the rate of change of the rotation matrix (dR(t) / dt) in the world coordinate system.

[0049] The angular velocity vector ω(t) represents the rotation speed and axis of the manipulator end effector at each moment.

[0050] The contact point coordinate vector p(t) of the hemming assembly 4 also changes with time as it moves along the edge of the can base. Differentiation can be used to describe the rate of change of its position, i.e., the contact point velocity vector vp(t).

[0051] vp(t)=dp(t) / dt.

[0052] The contact point velocity vector vp(t) represents the moving direction and speed of the hemming tool along the edge of the can at each moment.

[0053] Control of the hemming process: In order to achieve precise hemming operation, the robot needs to accurately control its position, posture and speed according to the shape of the tank base and the hemming process requirements. This can be described by using differential equations. For example, we can use the following equation to describe the position control of the robot end effector:

[0054] d^2r(t) / dt^2=Kp*(r_d(t)-r(t))+Kd*(v_d(t)-v(t)).

[0055] Where r_d(t) and v_d(t) are the desired position and velocity respectively, and Kp and Kd are the control gains.

[0056] The curling component 4 can be a roller or a punching die, and the design of the tool depends on the selected curling method, such as rolling, punching, etc.

[0057] In another preferred embodiment, Figure 1 and 2 As shown, the special-shaped curling device includes an outer shell component 1, an inner shaft component 2, a curling component 4 and a contoured wheel 3. The inner shaft component 2 is fixedly arranged, and the axis of the inner shaft component 2 is the first axis. The outer shell component 1 and the inner shaft component 2 are connected by a bearing 15. The inner ring of the bearing 15 is sleeved on the inner shaft component 2, and the outer ring of the bearing 15 is against the outer shell component 1. The outer shell component 1 rotates with the inner shaft component 2 as the axis. A movable track 11 is provided on the outer shell component 1. The direction in which the movable track 11 moves is the first direction, and the movable track 11 extends outward from the inner shaft component 2.

[0058] Preferably, the movable track 11 extends in a straight line, the curling assembly 4 is installed in the movable track 11, the curling assembly 4 can slide in the movable track 11, the profiling wheel 3 is fixedly installed on the inner shaft assembly 2, the curling assembly 4 is against the outer edge of the profiling wheel 3, and the curling assembly 4 moves along the movable track 11 according to the shape change of the profiling wheel 3.

[0059] In this way, simultaneous rotation about the first axis and movement along the first direction are achieved.

[0060] Further, in a preferred embodiment, the rotation plane formed by the hemming assembly 4 rotating about the first axis has an inclination angle with the first direction. Figure 2 In the process of moving in a direction inclined toward or away from the first axis, that is, Figure 2 During the rotation of the middle curling assembly 4, there is displacement in the direction close to or away from the first axis and in the direction along the first axis. Figure 2 The curling component 4 on the left side of the middle will simultaneously change its displacement along the left-right direction and the up-down direction at the moment during the rotation process, so the first path can be an irregular shaped path in space, and irregular shaped products C can be curled.

[0061] Further, in another preferred embodiment, the first direction is parallel to the rotation plane formed by the hemming assembly 4 rotating about the first axis, that is, Figure 2 The middle curling assembly 4 only moves in the direction close to or away from the first axis. Figure 2 The curling component 4 on the left side of the middle moves in the left and right direction at this moment during the rotation process, so the first path is in a plane, and the first path forms a regular shape. The shape here is for the traditional circle. The regular shape can be a polygon such as a hexagon and a rectangle, or it can be a common shape such as an ellipse and a five-pointed star, or it can be any other arbitrary shape that is in a plane, connected in the first place, and has no intersection.

[0062] Furthermore, the straight line where the first direction is located passes through the first axis; the product C is fixedly arranged, and the first path is consistent with the edge of the product C. Specifically, in the special-shaped curling device, the shape of the outer edge of the profiling wheel 3 is the same as the shape of the edge of the product C to be curled, so that the first path is consistent with the edge of the product C.

[0063] During the curling operation, the shell component 1 rotates to drive the curling component 4 to rotate accordingly. At the same time, the curling component 4 abuts against the outer edge of the profiling wheel 3. As the curve of the outer edge of the profiling wheel 3 changes, the curling component 4 moves in the moving track 11, so that the path traveled by the curling component 4 is the same as the outer edge of the profiling wheel 3, thereby realizing the curling of the edge of the product C.

[0064] The shape of the profiling wheel 3 is the same as the edge shape of the product C to be curled, ensuring that the curling component 4 always closely adheres to the edge of the product C for curling, achieving a precise curling effect. The curling component 4 moves in the moving track 11, following the change of the outer edge curve of the profiling wheel 3, ensuring that the curling path is completely consistent with the edge of the product C, avoiding deviation or unevenness.

[0065] By replacing different profiling wheels 3, the device can adapt to product C edges of various shapes and sizes, such as square, oval, etc., and has high flexibility.

[0066] The curling assembly 4 slides in the moving track 11, and no complicated mechanical transmission structure is required, which improves the curling efficiency. The rotation of the housing assembly 1 drives the curling assembly 4, which can achieve continuous curling and improve production efficiency.

[0067] In the present application, curling is achieved by moving the roller assembly while fixing the product C. When the curling assembly 4 rotates, the curling path can be accurately controlled to ensure the uniformity and consistency of the curling effect.

[0068] If product C rotates and the rolling assembly is fixed, it is difficult to control the rotation of product C. At least product C needs to be stably clamped. Unstable clamping will also affect the curling effect. In addition, product C must rotate at a uniform speed and curl the edge. This process is difficult to achieve. Product C itself may have deviations or jitters, and it is difficult to ensure accurate control of the curling path, resulting in uneven curling effects or defects.

[0069] Furthermore, if product C rotates while the rolling assembly is fixed, product C will be subjected to a clamping force, a force that rotates product C, and a force that curls the edges. Product C is subjected to additional forces and may easily become deformed. It may deform at the fixed position, at the position where the rotational force is applied to product C, at the curling position, or at all of the above positions, affecting the curling effect and even damaging the curling machine.

[0070] The rotation of the curling component 4 of the present application can reduce the deformation of the product C and ensure the perfect curling effect. In addition, since the product C is fixed, it is only necessary to control the rotation of the curling component 4, which makes it easier to achieve precise control.

[0071] Furthermore, since product C is fixed, operators can more easily observe the status of product C and then perform operation and maintenance, thereby improving work efficiency and safety.

[0072] In a preferred embodiment, the curling assembly 4 slides in the moving track 11 in such a manner that the curling assembly 4 includes a mounting bracket 44 and a cover plate 45, a portion of the mounting bracket 44 penetrates the moving track 11, and the portion of the mounting bracket 44 that penetrates the moving track 11 can slide along the moving track 11, and the cover plate 45 is mounted on the mounting bracket 44, and the width of the cover plate 45 is greater than the width of the moving track 11. Figure 2 The cover plate 45 is disposed above the mounting bracket 44, and the cover plate 45 prevents the mounting bracket 44 from sliding off the moving track 11. Preferably, the mounting bracket 44 forms a lower end portion below the moving track 11, and the width of the lower end portion is also greater than the width of the moving track 11. The lower end portion and the cover plate 45 are disposed on the upper and lower sides of the moving track 11, so that the movement of the hemming assembly 4 in the moving track 11 is more stable.

[0073] The width of the cover plate 45 is greater than the width of the moving track 11, and the width of the lower end of the mounting bracket 44 is also greater than the width of the moving track 11, which increases the stability of the curling component 4 in the moving track 11, prevents the component from tilting or rolling during movement, and further improves the curling accuracy.

[0074] The cover plate 45 and the lower end are respectively located on the upper and lower sides of the movable track 11, forming an upper and lower clamping structure, which enhances the lateral force resistance of the curling component 4, prevents displacement due to lateral force during the curling process, and improves the stability and reliability of the curling process.

[0075] Since the curling component 4 slides more stably in the moving track 11, the friction between the component and the track is reduced, the degree of wear is reduced, and the service life of the equipment is extended. At the same time, the friction noise during the sliding process is reduced, and the working environment is improved.

[0076] And this structure is simple in design, easy to process and assemble, and reduces production cost. Because the assembly structure is simple, maintenance is convenient, and only the moving track 11 and the sliding parts need to be cleaned regularly, which reduces maintenance cost.

[0077] Specifically, Figure 2 As shown, the curling assembly 4 includes a curling wheel 41 for curling, and a curling groove 411 is opened on the curling wheel 41. The edge of the product C is formed along the curling groove 411. Before the product C is curled, the edge of the product C is bent in the direction where the curling is required. The curling groove 411 is arc-shaped so that the edge of the product C passes through the curling groove 411. Figure 3 The outward curling state forms Figure 4 The state of being rolled outward into an arc is worth mentioning. Figure 3 and Figure 4 All of them are schematic diagrams of the edge of product C. The left side of the figure is the inside of product C, and the right side of the figure is the outside of product C, that is, the edge of product C is curled outward.

[0078] Adjusting the position of the curling component 4 relative to the product C can also achieve curling of the product C inwards. Of course, the edge of the product C also needs to be slightly curled inwards. The curling groove 411 is facing the inside of the product C to achieve curling of the product C inwards.

[0079] Furthermore, one end of the inner shaft assembly 2 has a guide seat 13, and the guide seat 13 is used to press and fix the product C. At the same time, for the disc-shaped product C, the side edge of the product C is arranged along the side edge of the guide seat 13, and the guide seat 13 provides support for the product C. The bottom of the guide seat 13 is consistent with the bottom shape of the product C, and the side edge of the guide seat 13 corresponds to the side edge of the product C. During the curling process, the side edge of the guide seat 13 provides effective support for the edge of the product C.

[0080] In a preferred embodiment, the shape of the bottom surface of product C is consistent with the shape of the edge, and the side is a smooth plane. At this time, the shapes of product C, the contour wheel 3 and the guide seat 13 are all the same. Preferably, when curling to the outside of product C is required, the curling groove 411 is arranged on the outside of the guide seat 13.

[0081] The curling groove 411 is designed to be arc-shaped, and the curling of the product C to the inside or outside can be achieved by adjusting the position of the curling component 4 relative to the product C, which greatly improves the application range of the curling component 4 and can be used for different types of products C.

[0082] When curling to the outside of the product C is required, the curling groove 411 is set on the outside of the guide seat 13, which can effectively guide the edge of the product C to be curled along the curling groove 411, thereby ensuring the accuracy and consistency of the curling effect.

[0083] The operator of the device only needs to adjust the position of the curling component 4 to easily achieve curling to the inside or outside without replacing parts, and the operation is simple and convenient.

[0084] The guide seat 13 supports the product C, which can effectively fix the position of the product C, prevent the product C from moving or deforming during the curling process, and improve the curling efficiency. The side of the guide seat 13 supports the edge of the product C, which can effectively prevent the product C from twisting or deforming during the curling process, and ensure the quality of the curling effect.

[0085] The arc-shaped design of the curling groove 411 can change the edge of the product C from a slightly curled state to an arc-shaped state after passing through the curling groove 411, thereby improving the quality of the curling effect.

[0086] For the disc-shaped product C, the side edge of the guide seat 13 forms an effective support for the edge of the product C, which can effectively prevent the product C from moving or deforming during the curling process, thereby improving the quality of the curling effect.

[0087] Further, if Figure 2 As shown, the curling wheel 41 is arranged obliquely to the guide seat 13, and the curling groove 411 is arranged obliquely to the bottom of the guide seat 13. The curling wheel 41 is inclined to the guide seat 13, so that the curling process is smoother, and the edge of the product C is easier to bend along the curling groove 411, which reduces the resistance in the curling process and reduces the damage to the product C. In addition, the curling angle can be adjusted according to actual needs to achieve a more precise curling effect and meet the curling requirements of different products C. The inclined curling groove 411 design can make the edge of the product C after curling form a more natural curvature, thereby improving the overall aesthetics of the product C.

[0088] The design of the inclined hemming wheel 41 and the hemming groove 411 can make the hemming process more stable, reduce the deviation or deformation of the product C during the hemming process, and enhance the reliability of the hemming process. The inclined design can effectively disperse the pressure during the hemming process, reduce the wear of the equipment components, and improve the durability of the equipment.

[0089] In a preferred embodiment, there is an angle between the hemming assembly 4 and the edge of the product C, and the hemming wheel 41 has a side end face, which is flush with the upper end face of the guide seat 13 and is arranged above the guide seat 13. The side end face is arranged so that the side end face is flush with the upper end face of the guide seat 13, and when they are flush, it is the best tilt angle of the hemming wheel 41, so as to facilitate the installation and positioning of the user. Preferably, multiple side end faces can be arranged on the hemming wheel 41 to facilitate the confirmation of multiple tilt angles with different hemming degrees.

[0090] In addition, the side end surface of the curling wheel 41 is located above the guide seat 13. During the curling process, when shaking or deformation occurs, the upper end surface of the guide seat 13 can also support the curling wheel 41 to avoid damage to the curling device.

[0091] The side end surface of the hemming wheel 41 is flush with the upper end surface of the guide seat 13, which simplifies the installation steps of the hemming wheel 41, does not require complicated adjustments, and the operator can easily complete the installation, thereby improving work efficiency. The relative position of the hemming wheel 41 and the guide seat 13 is fixed, which simplifies the debugging process of the hemming device, and the operator can quickly adjust the hemming parameters, saving debugging time.

[0092] Furthermore, two curling grooves 411 are symmetrically arranged on both sides of the curling wheel 41, and there is a gap between the two curling grooves 411. After the curling groove 411 on one side of the curling wheel 41 is worn, the direction can be reversed for use. The curling wheel 41 has curling grooves 411 on both sides, and can be used on both sides, which effectively prolongs the service life of the curling wheel 41, reduces the frequency of replacing the curling wheel 41, and reduces the production cost.

[0093] Preferably, the two sides of the hemming wheel 41 itself are asymmetrical, and both sides are provided with hemming grooves 411, which can meet the hemming requirements of products C of different shapes and sizes, and enhance the flexibility of the equipment. Different hemming grooves 411 can be selected according to actual conditions to meet different hemming requirements, thereby improving the adaptability of the equipment.

[0094] like Figure 2 The hemming assembly 4 further comprises a movable bearing 42, the movable bearing 42 and the hemming wheel 41 are fixedly mounted on the mounting bracket 44, and the movable bearing 42 can roll against the contour wheel 3. In this way, when the movable bearing 42 rolls against the outer edge of the contour wheel 3, the hemming wheel 41 is also driven.

[0095] Preferably, the movable bearing 42 adopts a heavy-load bearing 15 .

[0096] Furthermore, the hemming assembly 4 also includes a pressure device 43, which is arranged on the housing assembly 1, and the pressure device 43 drives the movable bearing 42 to press against the contour wheel 3. Preferably, the pressure device 43 adopts a spring, one end of which is mounted on the housing assembly 1, and the other end of which is connected to the movable bearing 42. The spring applies elastic force to the movable bearing 42, so that the movable bearing 42 always fits with the contour wheel 3 during the hemming process, and the spring undergoes elastic deformation when the hemming assembly 4 moves. More preferably, the pressure device 43 adopts a hydraulic lever or a cylinder, and applies pressure to the movable bearing 42 against the contour wheel 3 in a hydraulic or pneumatic manner, and the hydraulic lever or the cylinder follows the piston movement when the hemming assembly 4 moves.

[0097] Furthermore, the housing assembly 1 has a flange 12 protruding outward, and the moving track 11 is arranged on the flange 12 .

[0098] A plurality of crimping assemblies 4 are mounted on the housing assembly 1, and the plurality of crimping assemblies 4 are arranged in a ring-shaped array with the axis of the housing assembly 1 as the axis. The crimping assemblies 4 are arranged in a ring-shaped manner, which can more evenly distribute the force on the housing assembly 1 and prevent the product C from being deformed.

[0099] Preferably, the housing assembly 1 is connected to a motor, and the motor drives the housing assembly 1 to rotate; more preferably, the housing assembly 1 is provided with a pulley 14 for transmission with an external power assembly, and the external power assembly can be a motor.

[0100] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for crimping a special-shaped edge, characterized in that: The curling assembly (4) curls the product (C) along a first path, wherein the first path includes simultaneous rotation about a first axis and movement along a first direction.

2. The method for special-shaped curling according to claim 1, characterized in that: There is an inclination angle between a rotation surface formed by the hemming assembly (4) rotating around the first axis and the first direction.

3. The special-shaped curling method according to claim 1, characterized in that: The first direction is parallel to a rotation plane formed by the hemming assembly (4) rotating around the first axis.

4. The special-shaped curling method according to claim 1, characterized in that: The straight line where the first direction lies passes through the first axis.

5. The special-shaped curling method according to claim 1, characterized in that: The product (C) is fixedly arranged, the first path is consistent with the edge of the product (C), and an angle is formed between the curling component (4) and the edge of the product (C).

6. The special-shaped curling method according to claim 1, characterized in that: Before the product (C) is curled, the edge of the product (C) is bent in the direction in which the curling is required.

7. A special-shaped curling device, characterized in that: A method for implementing the special-shaped curling method according to any one of claims 1 to 6, comprising a driving device, wherein the driving device drives the curling assembly (4) to move along the first path.

8. The special-shaped curling device according to claim 7, characterized in that: The curling assembly (4) comprises a curling wheel (41), the curling wheel (41) is provided with a curling groove (411), the curling wheel (41) is in contact with the edge of the product (C), and the curling groove (411) is arranged in the direction in which the edge of the product (C) needs to be curled.

9. The special-shaped curling device according to claim 8, characterized in that: The driving device comprises a housing component (1) and a contour wheel (3); the housing component (1) rotates about the first axis; a movable track (11) is provided on the housing component (1) along the first direction; the curling component (4) is installed in the movable track (11); the contour wheel (3) is fixedly arranged; and the curling component (4) abuts against the outer edge of the contour wheel (3).

10. The special-shaped curling device according to claim 9, characterized in that: The crimping assembly (4) further comprises a movable bearing (42) and a pressure device (43), wherein the movable bearing (42) is connected to the crimping wheel (41), and the movable bearing (42) can roll against the contour wheel (3); The pressure device (43) is arranged on the housing component (1), and the pressure device (43) drives the movable bearing (42) to press against the contour wheel (3).

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