Connecting rod die forging machining method and system and intelligent terminal

Abstract

The invention relates to a connecting rod die forging processing method and system and an intelligent terminal, and relates to the field of forging process.The method comprises the steps that a die opening trigger instruction after die opening is responded to collect die image information; when the mold image information is inconsistent with the impurity-free image, marking the mold image information and defining the mold image information as a marking position; calculating an included angle between the mark position and the cleaning point and defining the included angle as a cleaning angle; according to the cleaning angle, a blowing device is controlled to blow air to the marked position at the cleaning point at the blowing power rate, the mold image information is updated, and the updated mold image information is defined as cleaning image information; when the cleaned image information is consistent with a preset impurity-free image, detection is completed; and when the cleaned image information is inconsistent with the impurity-free image, determining a cleaning method according to a positive-negative relationship between the cleaning angle and the cleaning line, and removing the mark position by using the cleaning method. The method has the effect of improving the subsequent production precision.

Description

Technical Field

[0001] The present invention relates to the field of forging processes, and in particular to a forging processing method, system and intelligent terminal for connecting rods. Background Art

[0002] Connecting rod die forging is a manufacturing method for producing connecting rods by die forging technology, and is widely used in the manufacturing of connecting rods in fields such as automobiles, aviation, and power machinery.

[0003] In the prior art, after die forging demolding of the connecting rod, an air gun is manually operated to blow air on the die forging die to complete the cleaning. After cleaning, the cleaned die is judged by the naked eye to complete the overall process.

[0004] For the above technical solution, when manually cleaning the die, judging the die by the naked eye, since the naked eye cannot find fine particles, the cleaning is not thorough; or because of visual fatigue, it is misjudged that the cleaning is clean, and there is still room for improvement. Summary of the Invention

[0005] By detecting the die through image recognition, the cleaning is more thorough and the subsequent production accuracy is improved. The present invention provides a forging processing method, system and intelligent terminal for connecting rods.

[0006] In a first aspect, the present invention provides a forging processing method for connecting rods, adopting the following technical solutions: A forging processing method for connecting rods includes: Step 100: Respond to the mold opening trigger instruction after the mold is opened; Step 101: Receive the mold opening trigger instruction to collect mold image information; Step 102: When the mold image information is inconsistent with the preset impurity-free image, mark the mold image information and define it as the marked position; Step 103: Calculate the included angle between the marked position and the preset cleaning point and define it as the cleaning angle; Step 104: Control the preset air blowing device to blow air on the marked position at the cleaning angle through the preset air blowing power at the cleaning point, and update the mold image information, and define the updated mold image information as the cleaned image information; Step 105: When the cleaned image information is consistent with the preset impurity-free image, complete the detection; Step 106: When the cleaned image information is inconsistent with the preset impurity-free image, determine the cleaning method according to the positive and negative relationship between the cleaning angle and the preset cleaning line, and remove the marked position with the cleaning method.

[0007] By adopting the above technical solution, receiving the mold opening trigger instruction indicates that the die forging product has completed die forging. At this time, it is necessary to clean the production mold. Mark the marked positions on the production mold image and use a blowing device to clean them, so as to make the cleaning more thorough and improve the subsequent production accuracy.

[0008] Optionally, it further includes: Step 200: When the cleaning angle is greater than the preset cleaning line, determine the impurity volume and impurity contour based on the marked positions; Step 201: Sequentially collect distance detection information at the marked positions; Step 202: Define the marked positions where the distance detection information is not less than the preset distance reference value as the fulcrum positions; Step 203: Calculate the spacing distance between the fulcrum positions and the impurity contour; Step 204: Arrange the spacing distances in reverse order to screen out the fulcrum position with the shortest distance, and define it as the target fulcrum position; Step 205: Generate a vibration frequency in response to the target fulcrum position and the impurity volume; Step 206: Determine the insertion path according to the target fulcrum position by a preset insertion method; Step 207: Control a preset vibration needle to insert to the target fulcrum position along the insertion path, control the vibration with the vibration frequency, and update the cleaning image information; Step 208: When the cleaning image information is inconsistent with the preset impurity-free image, give an alarm.

[0009] By adopting the above technical solution, when the cleaning angle is greater than the cleaning line, determine the fulcrum position through the marked positions, take the fulcrum position with the closest distance to the contour as the target fulcrum position, control the vibration needle to insert into the target fulcrum position and vibrate, so as to remove the difficult-to-clean impurities on the production mold by vibration while reducing damage to the production mold.

[0010] Optionally, it further includes: Step 300: Obtain the three-dimensional data of the fulcrums within a preset range based on the target fulcrum position; Step 301: Calculate the tangent plane tangent to the three-dimensional data of the fulcrums with the target fulcrum position as the coincidence point, and define it as the target tangent plane; Step 302: Draw a perpendicular line to the target tangent plane with the target fulcrum position as the position point, and define the perpendicular line as the insertion line; Step 3020: If the outward extension direction of the insertion line does not overlap with the mold, define the insertion line as the insertion path; Step 3021: If the outward extension direction of the insertion line overlaps with the mold, offset it in both directions of the target tangent plane until it does not overlap, and define the offset insertion line as the insertion path; Step 303: Obtain an insertion angle based on the insertion path, match a frequency correction value according to the insertion angle, update the vibration frequency according to the frequency correction value, and control the vibration with the updated vibration frequency.

[0011] By adopting the above technical solution, a tangent plane to the impurity is made at the target fulcrum position, a perpendicular line to the tangent plane is made at the target fulcrum position, and it is judged whether the extension line of the perpendicular line coincides with the mold. If it coincides, the angle is changed, so as to determine the insertion angle of the insertion needle, and then the insertion needle is inserted into the target fulcrum position at the optimal angle.

[0012] Optionally, it further includes: Step 305: When the vibration frequency is greater than the preset maximum frequency value, calculate the quotient of the vibration frequency and the preset maximum frequency, and determine the vibration quantity and the auxiliary interval through the quotient, and subtract one from the vibration quantity to obtain the auxiliary quantity; Step 306: Reverse the order of the spacing distances to screen out the fulcrum position with the shortest distance except the target fulcrum position, and select the auxiliary quantity of the fulcrum position and define it as the target auxiliary position; Step 307: Obtain auxiliary three-dimensional data within a preset range based on the auxiliary target position; Step 308: Calculate a tangent plane to the auxiliary three-dimensional data with the auxiliary target position as the coincidence point, and define it as the auxiliary tangent plane; Step 309: Make a perpendicular line to the auxiliary tangent plane with the auxiliary target position as the position point, and define the perpendicular line as the auxiliary line; Step 3090: If the outward extension direction of the auxiliary line does not overlap with the mold and does not overlap with other auxiliary lines, define the auxiliary line as the auxiliary path; Step 3091: If the outward extension direction of the auxiliary line overlaps with the mold, offset it to both sides of the target tangent plane until it does not overlap, and define the offset auxiliary line as the auxiliary path; Step 3092: If the auxiliary line overlaps with other auxiliary lines, offset it in the opposite direction of the overlapping auxiliary line until it does not overlap, and define the offset auxiliary line as the auxiliary path; Step 310: Match an auxiliary correction value through the auxiliary interval; Step 311: Correct the vibration frequency with the auxiliary correction value and define it as the auxiliary frequency; Step 312: Match the vibration sequence of the vibration needle according to the spacing distance; Step 313: Control the vibration needle to insert into the target auxiliary position according to the auxiliary path and the auxiliary quantity, and control the vibration needle to vibrate different auxiliary target positions according to the vibration sequence according to the auxiliary frequency.

[0013] By adopting the above technical solution, when the vibration frequency is greater than the maximum frequency value, the number of vibration needles required is calculated, the optimal positions of the respective vibration needles are determined according to the required number, and the vibration needle power and vibration sequence are matched, so as to approach the required vibration frequency through the vibration of multiple vibration needles, thereby removing impurities.

[0014] Optionally, it further includes: Step 400: Calculate the spacing distance between the marked position and the impurity contour; Step 401: Arrange the spacing distances in reverse order to screen out the marked position with the shortest distance, and define it as the adhesion position; Step 402: Calculate the angle between the adhesion position and the preset adhesion needle, and define it as the access angle; Step 403: Match the corresponding heating temperature from the preset production material library; Step 404: Control the preset heating device to heat the top of the adhesion needle according to the heating temperature; Step 405: When the temperature at the top of the adhesion needle reaches the heating temperature, control the adhesion needle to access the adhesion position, control the vibration device to vibrate the heating device at a preset removal frequency, and control the adhesion needle to pull out with a preset recovery force.

[0015] By adopting the above technical solution, when there is no insertable position in the impurity, find the marked position closest to the impurity contour, calculate the access angle, heat the adhesion needle according to the production material, so that the adhesion needle can adhere to the impurity through the access angle, and vibrate after adhesion, thereby adhering to the impurity through the adhesion needle, and further removing the impurity when there is no access position.

[0016] Optionally, it further includes: Step 500: When the cleaning angle is less than the preset cleaning line, determine the opening angle of the preset flexible cutting line according to the impurity contour; Step 501: Respond to the impurity contour and the marked position to output the fitting position; Step 502: Control the flexible cutting line to open according to the opening angle and reach the fitting position; Step 503: Control the flexible cutting line to closely adhere to the impurity contour according to the preset moving distance; Step 504: Close the flexible cutting line in sequence at a preset single closing angle according to the opening angle until the flexible cutting line is completely closed; Step 505: After the flexible cutting line is completely closed, control the blowing device to blow air at the fitting position and synchronously update the cleaning image information.

[0017] By adopting the above technical solution, when the cleaning angle is smaller than the cleaning line, the opening angle is determined based on the impurity contour and the marked position, and the flexible cutting line is controlled to fit the impurity contour. After fitting, the flexible cutting line is moved and controlled to move according to the impurity contour and reduce the angle, so that impurities with a cleaning angle smaller than the cleaning line can be cleaned without damaging the mold.

[0018] Optionally, it further includes: Step 600: Collect the line segment pressure when the flexible cutting line is working; Step 601: When the line segment pressure is greater than the preset reference pressure value, control the flexible cutting line to return to the fitting position and determine the reciprocating distance according to the line segment pressure; Step 602: Control the flexible cutting line to reciprocally cut the impurity contour according to the reciprocating distance, and determine the reciprocating times according to the impurity contour, the preset cutting distance, and the preset return distance; Step 603: When the flexible cutting line reciprocally cuts the impurity contour, control the flexible cutting line to move according to the cutting distance and return according to the return distance according to the reciprocating times; Step 604: Match the translation distance from the preset translation database according to the comparison relationship among the cutting distance, the return distance, and the reciprocating times; Step 605: When the translation distance of the flexible cutting line is greater than the maximum distance of the impurity contour edge, control the blowing device to blow air at the fitting position and synchronously update the cleaning image information.

[0019] By adopting the above technical solution, the reciprocating distance is determined based on the line segment pressure of the flexible cutting line, and the flexible cutting line is controlled to reciprocally cut the impurity contour, so that the flexible cutting line moves according to the cutting distance and the return distance each time it reciprocally cuts, so that difficult-to-remove impurities can be removed by reciprocating cutting with less damage to the surface.

[0020] Optionally, it further includes: Step 700: Collect the mold weight value after the mold is die-forged; Step 701: If the mold weight value is greater than the preset mold reference weight value, obtain the die-forging production image; Step 702: Obtain the die-forged product position in response to the die-forging production image; Step 703: If the die-forged product position is located in the preset upper mold, obtain the upper die-forged product contour; Step 704: Determine the upper die difference contour distance according to the upper die-forged product contour and the preset upper die mold contour; Step 705: Define the position of the minimum value of the upper die difference contour distance as the falling vibration position, and determine the falling vibration frequency according to the upper die-forged product contour; Step 706: Control the preset demolding pin to reach the falling vibration position, and control the vibration device to vibrate the demolding pin according to the falling vibration frequency; Step 707: If the position of the die-forged product is in the preset lower mold, obtain the contour of the lower die-forged product; Step 708: Determine the distance of the lower die difference contour according to the contour of the lower die-forged product and the contour of the preset lower die; Step 709: Define the position of the lower die difference contour distance with the minimum distance as the demolding vibration position, and determine the demolding vibration frequency according to the contour of the lower die-forged product; Step 710: Control the demolding pin to reach the demolding vibration position, and control the vibration device to vibrate the demolding pin according to the demolding vibration frequency.

[0021] By adopting the above technical solutions, when the produced product cannot be demolded normally, by using the vibration position where the contour of the demolding pin vibrates the product closest to the contour of the upper die, the production mold can be demolded through the vibration of the demolding pin, so that the demolding can be carried out with less damage to the produced product during the demolding process.

[0022] In a second aspect, the present application provides a forging processing system for connecting rods, adopting the following technical solutions: A forging processing system for connecting rods, comprising: An acquisition module, configured to acquire an open mold trigger instruction, mold image information, distance detection information, three-dimensional data of a fulcrum within a preset range, line segment pressure of a flexible cutting line, weight value of the mold after forging, forging production image, contour of the upper die-forged product, and contour of the lower die-forged product; A memory, configured to store a program of any of the above forging processing methods for connecting rods; A processor, configured to load and execute the program stored in the memory.

[0023] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solutions: An intelligent terminal, comprising a memory and a processor, and a program capable of being loaded and executed by the processor for any of the above forging processing methods for connecting rods is stored on the memory.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. Reduce the situation where the subsequent production accuracy decreases due to insufficient cleaning; 2. Remove the impurities difficult to remove on the mold with less damage to the mold through vibration; 3. Can make the insertion needle insert into the target fulcrum position at the best angle. Description of the Drawings

[0025] Figure 1It is a flowchart of a forging process for connecting rods; Figure 2 It is a flowchart of a method for determining a cleaning method; Figure 3 It is the process of the vibration needle insertion method Figure 1 ; Figure 4 It is the process of the vibration needle insertion method Figure 2 ; Figure 5 It is a flowchart of a method for determining the fulcrum position. Specific embodiments

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] The embodiments of the present application disclose a forging process, system and intelligent terminal for connecting rods. After the mold is preliminarily cleaned by using an air gun, a vibration needle is used to vibrate stubborn impurities, so that the stubborn impurities fall off while reducing damage to the production mold.

[0028] Referring to Figure 1 , a forging process for connecting rods includes the following steps: Step 100: Respond to the mold opening trigger command after the mold is opened.

[0029] The mold opening trigger command refers to the command issued after the mold is opened. The mold opening trigger command can be detected by a position sensor after the mold on the production device is opened. The model of the position sensor is selected by the staff according to the actual situation and will not be elaborated here.

[0030] Step 101: Receive the mold opening trigger command to collect mold image information.

[0031] The mold image information refers to the three-dimensional image of the mold produced after the production device completes production. The mold image information can be collected by scanning with a camera after receiving the mold trigger command. The three-dimensional image is obtained by multi-view photogrammetry and will not be elaborated here.

[0032] Step 102: When the mold image information is inconsistent with the preset impurity-free image, mark the mold image information and define it as the marked position.

[0033] The impurity-free image refers to the three-dimensional image without impurities on the production mold. The impurity-free image can be determined by the staff taking multi-view pictures of the impurity-free image in advance and generating a three-dimensional image. When the mold image information is inconsistent with the impurity-free image, it means that there are forging impurities remaining in the production mold.

[0034] The marked position refers to the position of the die forging impurities. The die image information can be compared with the impurity-free image through image recognition technology. The particle points appearing in the die image information are marked and compared with the impurity-free image. If there are no particle points in the impurity-free image, the marks are retained. If there are particle points in the impurity-free image, the particle points are eliminated. The position marked with the particle points is the marked position. Image recognition technology is common knowledge to those skilled in the art and will not be elaborated here.

[0035] Step 103: Calculate the angle between the marked position and the preset cleaning point and define it as the cleaning angle.

[0036] The reference plane refers to the horizontal reference plane created with the marked position as a reference in the three-dimensional model. By making a horizontal reference plane of the marked position in the three-dimensional image, this horizontal reference plane is the reference plane.

[0037] The blowing device refers to the device used to clean the impurities on the surface of the production die. The blowing device can be selected as a combination of an air pump and an air gun. The air pump inflates the air gun to eject gas. The models of the air gun and the air pump are selected by the staff according to the actual situation and will not be elaborated here. The cleaning angle refers to the angle formed by the movement trajectory of the blowing device and the reference plane of the production die after the blowing device moves from the cleaning point to the marked position. The specific measurement method is as follows: Draw a horizontal reference line through the marked position, connect the marked position and the cleaning point to form a straight line segment and record the length of the straight line segment. Draw a perpendicular line from the cleaning point to the horizontal reference line and record the length of the perpendicular line. The angle between the perpendicular line and the straight line segment of the movement trajectory is the cleaning angle. The formula for angle calculation is: A = arcsin(a / c).

[0038] The cleaning point refers to the point that the blowing device needs to reach. The cleaning point is manually input by the staff and will not be elaborated here.

[0039] Step 104: Control the preset blowing device to blow air at the marked position from the cleaning point at the cleaning angle with the preset blowing power, and update the die image information. Define the updated die image information as the cleaning image information.

[0040] The cleaning image information refers to the image information updated after the blowing device cleans the production die. After the blowing device cleans the marked position in the production die, the die image information is updated. This updated die image information is the cleaning image information.

[0041] The blowing power refers to the power of the blowing device to blow air at the marked position on the production die. The blowing power is manually input by the staff according to the maximum power of the blowing device and will not be elaborated here.

[0042] Step 105: When the cleaning image information is consistent with the preset impurity-free image, the detection is completed.

[0043] When the cleaned image information is consistent with the preset impurity-free image, it indicates that there is no impurity residue in the production mold. At this time, the detection is completed and the die forging production continues.

[0044] Step 106: When the cleaned image information is inconsistent with the preset impurity-free image, determine the cleaning method according to the positive or negative relationship between the cleaning angle and the preset cleaning line, and remove the marked position with the cleaning method.

[0045] When the cleaned image information is inconsistent with the preset impurity-free image, it means that the air gun cannot remove the impurities. At this time, the removal method needs to be changed. The cleaning line refers to a straight line passing through the cleaning point and parallel to the reference plane of the production mold, and the cleaning line and the marked position are in the same plane. The cleaning line is manually input by the staff and will not be elaborated here.

[0046] The cleaning method refers to the cleaning method required to clean stubborn impurities. The cleaning method can be determined by judging the positive or negative relationship between the cleaning angle and the cleaning line. When the cleaning angle is greater than the cleaning line, it is a cleaning method for the upper mold. When the cleaning angle is less than the cleaning line, it is a cleaning method for the lower mold.

[0047] Refer to Figure 2 , the determination method of the cleaning method includes the following steps: Step 200: When the cleaning angle is greater than the preset cleaning line, determine the impurity volume and impurity contour based on the marked position.

[0048] When the cleaning angle is greater than the cleaning line, it means that the upper mold needs to be cleaned. The impurity volume refers to the volume of the impurities at the marked position, and the impurity contour refers to the contour of the impurities at the marked position. The three-dimensional contour of the impurities at the marked position is extracted by image recognition technology as the impurity contour, and the volume of this impurity contour is the impurity volume.

[0049] Step 201: Successively collect distance detection information at the marked position.

[0050] The distance detection information refers to the depth distance information of the notch of the impurities at the marked position. The distance detection information can be collected by using an ultrasonic sensor, and the model of the ultrasonic sensor is selected by the staff according to the actual situation.

[0051] Step 202: Define the marked position where the distance detection information is not less than the preset distance reference value as the fulcrum position.

[0052] The vibrating needle refers to a thin metal needle used to emit vibration to remove impurities. The vibrating needle is selected by the staff according to the actual situation and will not be elaborated here.

[0053] The distance reference value refers to the minimum distance value that can be inserted by the vibrating needle. The distance reference value is manually input by the staff and will not be elaborated here.

[0054] The fulcrum position refers to the position where the vibrating needle can be inserted as a fulcrum. Among them, the marked position where the distance detection information is not less than the distance reference value is the fulcrum position.

[0055] Step 203: Calculate the spacing distance between the fulcrum position and the impurity contour.

[0056] The spacing distance refers to the distance from the fulcrum position to the impurity contour. The spacing distance can determine the shortest distance between each point of the fulcrum position and the impurity contour through image recognition technology, and this distance is the spacing distance. In this embodiment, the straight line of this spacing distance does not intersect with the impurity contour.

[0057] Step 204: Arrange the spacing distances in reverse order to screen out the fulcrum position with the shortest distance, and define it as the target fulcrum position.

[0058] The target fulcrum position refers to the fulcrum position with the shortest spacing distance. By screening the shortest distance from the fulcrum position to the impurity contour, this shortest distance is the target fulcrum position.

[0059] Step 205: Determine the vibration frequency according to the target fulcrum position and the impurity volume.

[0060] The vibration frequency refers to the frequency at which the vibrating needle vibrates. The vibration frequency can be determined by querying from the vibration data table. The vibration data table records the vibration frequencies determined in advance through experiments for different target fulcrum positions and different impurity volumes. When the impurity volume increases, the vibration frequency also increases. The closer the target fulcrum position is to the contour, the smaller the vibration frequency. The vibration data table is set by artificial prior experiments and will not be elaborated here.

[0061] Step 206: Determine the insertion path according to the target fulcrum position by a preset insertion method.

[0062] The insertion path refers to the insertion point path of the vibrating needle. The insertion path can be determined with the target fulcrum as the end point by a preset insertion method.

[0063] The insertion method refers to the method for determining the insertion path of the vibrating needle to the target fulcrum position. The insertion method is disclosed in steps 300 to 314 and will not be elaborated here.

[0064] Step 207: Control the preset vibrating needle to insert along the insertion path to the target fulcrum position, control the vibration with the vibration frequency, and update the cleaning image information.

[0065] Control the vibrating needle to insert to the target fulcrum position according to the insertion path, and insert and vibrate according to the vibration frequency to make the impurities fall off, and update the cleaning image information after vibration.

[0066] Step 208: When the cleaning image information is inconsistent with the preset impurity-free image, give an alarm.

[0067] When the cleaned image information is inconsistent with the preset impurity-free image, it means that the vibration removal cannot remove the impurities, and a warning needs to be issued to the staff. An alarm is triggered through the alarm device, which consists of a speaker module and a light bulb. When the impurities cannot be removed, the alarm device emits an alarm and flashes a red light. The models of the light bulb and the speaker module are selected by the staff according to the actual situation and will not be elaborated here.

[0068] Refer to Figure 3 , the vibration needle insertion method includes the following steps: Step 300: Obtain the three-dimensional data of the fulcrum within a preset range based on the target fulcrum position.

[0069] The three-dimensional data of the fulcrum refers to the three-dimensional data of the impurity image at the target fulcrum position. The impurities are scanned by a camera and output as a three-dimensional image, and the data of this three-dimensional image is the three-dimensional data of the fulcrum.

[0070] The preset range refers to the range with the target fulcrum position as the base point. The preset range is manually input by the staff and will not be elaborated here.

[0071] Step 301: Calculate the tangent plane to the three-dimensional data of the fulcrum with the target fulcrum position as the coincidence point and define it as the target plane.

[0072] The target plane refers to the plane tangent to the three-dimensional data of the fulcrum at the target fulcrum position. Using the target fulcrum position as the coincidence point as the tangent point, a plane based on the three-dimensional data of the fulcrum is made, and this plane is the target plane.

[0073] Step 302: Draw a perpendicular line to the target plane with the target fulcrum position as the position point and define the perpendicular line as the insertion line.

[0074] The insertion line refers to the line segment for the vibration needle to insert. A perpendicular line to the target plane is drawn based on the target fulcrum position, and this perpendicular line is the insertion line.

[0075] Step 3020: If the outward extension direction of the insertion line does not overlap with the mold, define the insertion line as the insertion path.

[0076] When the outward extension direction of the insertion line does not overlap with the mold, it means that inserting the insertion needle into the target fulcrum position along the insertion line will not conflict with the production mold. At this time, the insertion line is the insertion path.

[0077] Step 3021: If the outward extension direction of the insertion line overlaps with the mold, offset it in both directions of the target plane until it does not overlap, and define the offset insertion line as the insertion path.

[0078] When the extending direction of the insertion line overlaps with the mold, it means that the insertion of the insertion needle into the target fulcrum position will conflict with the production mold. At this time, the angle of the insertion line needs to be adjusted. Adjust it according to the overlapping position. If the insertion line overlaps with the upper mold, the angle needs to be adjusted downward; if the insertion line overlaps with the lower mold, the angle needs to be adjusted upward, that is, trim it in the opposite direction of the overlap until there is no overlap, and use the trimmed insertion line as the insertion path.

[0079] Step 303: Obtain the insertion angle based on the insertion path, match the frequency correction value according to the insertion angle, update the vibration frequency according to the frequency correction value, and control the vibration with the updated vibration frequency.

[0080] The insertion angle refers to the angle at which the vibrating needle is inserted. The insertion angle can be determined by checking the included angle between the insertion path and the target section plane.

[0081] The frequency correction value refers to the value used to correct the vibration frequency. The frequency correction value can be queried and determined from the correction data table. The correction data table is the frequency correction values corresponding to different insertion angles determined by humans through experiments in advance. The larger the insertion angle, the lower the correction frequency. This will not be elaborated here.

[0082] The vibration frequency is updated with the frequency correction value. The larger the frequency correction value, the larger the updated vibration frequency.

[0083] Refer to Figure 4 , the method for inserting the vibrating needle further includes the following steps: Step 305: When the vibration frequency is greater than the preset maximum frequency value, calculate the quotient of the vibration frequency and the preset maximum frequency, and determine the vibration quantity and the auxiliary interval through the quotient, and subtract one from the vibration quantity to obtain the auxiliary quantity.

[0084] When the vibration frequency is greater than the preset maximum frequency value, it means that the vibration frequency exceeds the maximum frequency value acceptable by the vibrating needle. The maximum frequency value refers to the maximum frequency that the vibrating needle can withstand. The maximum frequency value can be manually input by the staff. This will not be elaborated here.

[0085] The vibration quantity is the number of vibrating needles. The vibration quantity can be determined by calculating the quotient of the vibration frequency and the maximum frequency. For example: the required vibration frequency is 100, and the maximum vibration frequency of the vibrating needle is 50, then the vibration quantity is 2. If the calculation result contains a decimal, round up to the nearest integer. For example, when the vibration quantity is 2.3, it is rounded up to 3.

[0086] The auxiliary interval refers to the interval time of the vibration of the vibrating needle. The auxiliary interval can be determined by calculating the quotient of the maximum vibration frequency. For example, if the vibration frequency is 10 Hz and the maximum vibration frequency is 5 Hz, the quotient is 2. 5 Hz means vibrating 5 times per second, and 10 Hz means vibrating 10 times per second. The quotient of 2 means that in order to approach 10 Hz, two vibrating needles need to vibrate staggeredly. If 10 Hz is one vibration every 0.1 second, the auxiliary interval is 0.1, which means that the second vibrating needle needs to vibrate 0.1 second after starting to vibrate.

[0087] The auxiliary quantity refers to the number of vibrating needles that need to be assisted. The auxiliary quantity is determined by calculating the number of vibrations minus one. This one refers to the vibrating needle at the target fulcrum position.

[0088] Step 306: Reverse the order of the spacing distances to screen out the fulcrum position with the shortest distance except the target fulcrum position. Select the auxiliary quantity for the fulcrum position and define it as the target auxiliary position.

[0089] The target auxiliary position refers to the position where the vibrating needle is used for auxiliary vibration to clean impurities. After reversing the order of the spacing distances, the fulcrum positions other than the target fulcrum position can be matched according to the auxiliary quantity. The matched fulcrum position is the target auxiliary position.

[0090] Step 307: Obtain the auxiliary three-dimensional data within the preset range based on the auxiliary target position.

[0091] The auxiliary three-dimensional data refers to the three-dimensional data of the impurity image at the auxiliary target position. The impurities are scanned by a camera and output as a three-dimensional image. The data of this three-dimensional image is the auxiliary three-dimensional data.

[0092] Step 308: Calculate the tangent plane that is tangent to the auxiliary three-dimensional data with the auxiliary target position as the coincidence point, and define it as the auxiliary tangent plane.

[0093] The auxiliary tangent plane refers to the plane that is tangent to the auxiliary three-dimensional data at the auxiliary target position. Using the auxiliary target position as the coincidence point as the tangent point, make a tangent plane based on the auxiliary three-dimensional data. This tangent plane is the auxiliary tangent plane.

[0094] Step 309: Draw a perpendicular line to the auxiliary tangent plane with the auxiliary target position as the position point, and define the perpendicular line as the auxiliary line.

[0095] The auxiliary line refers to the line segment for the vibrating needle to insert. Based on the auxiliary target position, draw a perpendicular line to the auxiliary tangent plane. This perpendicular line is the auxiliary line.

[0096] Step 3090: If the outward extension direction of the auxiliary line does not overlap with the mold and does not overlap with other auxiliary lines either, define the auxiliary line as the auxiliary path.

[0097] When the outward extension direction of the auxiliary line does not overlap with the mold, it means that inserting the vibrating needle along the auxiliary line into the auxiliary target position will not conflict with the production mold and will not conflict with other auxiliary lines. At this time, the auxiliary line is the auxiliary path corresponding to the auxiliary target position.

[0098] Step 3091: If the outward extension direction of the auxiliary line overlaps with the mold, offset it in both directions of the target section until there is no overlap, and define the offset auxiliary line as the auxiliary path.

[0099] When the outward extension direction of the auxiliary line overlaps with the mold, it means that inserting the vibrating needle into the auxiliary target position will conflict with the production mold. At this time, the auxiliary line needs to be adjusted. Adjust the angle according to the overlapping position, and adjust the angle in the opposite direction of the overlap until there is no overlap, and use the adjusted auxiliary line as the insertion path.

[0100] Step 3092: If the auxiliary line overlaps with other auxiliary lines, offset it in the opposite direction of the overlapping auxiliary line until there is no overlap, and define the offset auxiliary line as the auxiliary path.

[0101] When the auxiliary line overlaps with other auxiliary lines, it means that inserting the vibrating needle into the auxiliary target position will conflict with other vibrating needles. At this time, the undetermined auxiliary line needs to be adjusted. Adjust the angle according to the overlapping position, and adjust the auxiliary line based on the auxiliary target position so that the overlapping part of the auxiliary line and the overlapping auxiliary line is not in the same plane, and use the adjusted auxiliary line as the insertion path.

[0102] Step 310: Match the auxiliary correction value through the auxiliary interval.

[0103] The auxiliary correction value refers to the value used to correct the vibration frequency. The auxiliary correction value can be queried and determined from the auxiliary data table. The auxiliary data table refers to the frequency correction value corresponding to the auxiliary interval determined in advance through experiments. As the auxiliary interval increases, the correction frequency decreases.

[0104] For example: If the number of vibrating needles required to vibrate is three, the auxiliary interval is 0.3 each time, and it takes 0.1 second for the vibrating needle to vibrate once. Then, after the first vibrating needle finishes vibrating, pause for 0.2 seconds. The second vibrating needle vibrates after the first vibrating needle finishes vibrating once and pauses for 0.2 seconds. The third vibrating needle vibrates after the second vibrating needle finishes vibrating once.

[0105] Step 311: Correct the vibration frequency with the auxiliary correction value and define it as the auxiliary frequency.

[0106] The auxiliary frequency refers to the vibration frequency when multiple vibrating needles vibrate impurities. Update the vibration frequency with the auxiliary correction value, and this vibration frequency is the auxiliary frequency. The larger the auxiliary correction value, the smaller the auxiliary frequency.

[0107] Step 312: Match the vibration sequence of the vibrating needles according to the spacing distance.

[0108] The vibration sequence refers to the sequence in which the vibrating needles vibrate. It can be matched by arranging the spacing distances in reverse order, sorting them in reverse order according to the distance values, and selecting the sorting quantity corresponding to the number of vibrating needles. The sequence of this sorting quantity is the vibration sequence. For example, if three vibrating needles are required, three spacing distances are matched, and the vibrating needle with the shortest spacing distance vibrates first, while the vibrating needle with the longest spacing distance vibrates third.

[0109] Step 313: Control the vibrating needles to insert into the target auxiliary positions according to the auxiliary path and the auxiliary quantity, and control the vibrating needles to vibrate at different auxiliary target positions according to the vibration sequence and the auxiliary frequency.

[0110] After controlling the vibrating needles to insert into the target auxiliary positions and the target fulcrum positions, control the vibrating needles to vibrate at different auxiliary target positions according to the vibration sequence and the auxiliary frequency.

[0111] Refer to Figure 5 , the method for determining the fulcrum position includes the following steps: Step 400: Calculate the spacing distance between the marked position and the impurity contour.

[0112] The spacing distance refers to the distance from the marked position to the impurity contour. The spacing distance can be determined by image recognition technology to find the shortest distance between the marked position and the impurity contour, and the length of this distance is the spacing distance.

[0113] Step 401: Arrange the spacing distances in reverse order to screen out the marked position with the shortest distance, and define it as the adhesion position.

[0114] The adhesion position refers to the fulcrum position with the shortest spacing distance. By screening the shortest distance from the fulcrum position to the impurity contour, this shortest distance is the adhesion position.

[0115] Step 402: Calculate the angle between the adhesion position and the preset adhesion needle, and define it as the access angle.

[0116] The access point refers to the point that the adhesion needle needs to reach. The access point is manually input by the staff and will not be elaborated here.

[0117] The adhesion needle refers to a thin rubber rod that can be heated and is used to adhere impurities. The adhesion needle has an access point when inserted into the adhesion position. The adhesion needle can be selected by the staff according to the actual situation and will not be elaborated here.

[0118] The access angle refers to the angle at which the adhesion needle is inserted into the adhesion position. It can be determined by making a horizontal line at the marked position, making a straight line from the marked position to the access point of the adhesion needle, making a perpendicular line from the access point to the horizontal line, and calculating the angle according to this horizontal line and the perpendicular line. The calculated included angle is the access angle, and the formula for angle calculation is: A = arcsin(a / c).

[0119] Step 403: Match the corresponding heating temperature from a preset production material library.

[0120] The heating temperature refers to the temperature used to heat the adhesion needle. The heating temperature can be obtained by querying the production material library. The production material library records the heating temperatures corresponding to different production materials determined through experiments. By matching the production material, the maximum softening temperature of this material is obtained, and this temperature is the heating temperature.

[0121] The production material refers to the material of the adhesion needle. After the adhesion needle melts, it can adhere to impurities. The material of the adhesion needle is selected by the staff according to the actual situation and will not be elaborated here.

[0122] Step 404: Control a preset heating device to heat the top of the adhesion needle according to the heating temperature.

[0123] The heating device refers to a blowtorch used to heat the adhesion needle. The model of the blowtorch is selected by the staff according to the actual situation and will not be elaborated here.

[0124] Step 405: When the temperature at the top of the adhesion needle reaches the heating temperature, control the adhesion needle to access the adhesion position, control a vibration device to vibrate the heating device at a preset removal frequency, and control the adhesion needle to be pulled out with a preset recovery force.

[0125] The recovery force refers to the force used to retract the adhesion needle. The recovery force can be manually input by the staff and will not be elaborated here. The removal frequency refers to the vibration frequency used to remove impurities. The removal frequency is manually input by the staff and will not be elaborated here. The vibration device refers to a vibrator used to vibrate the adhesion needle. The model of the vibrator is selected by the staff according to the actual situation and will not be elaborated here.

[0126] The determination method of the cleaning method includes the following steps: Step 500: When the cleaning angle is less than a preset cleaning line, determine the opening angle of a preset flexible cutting line according to the impurity contour.

[0127] When the cleaning angle is less than the preset cleaning line, it means that the lower die needs to be cleaned. The opening angle is the angle at which the flexible cutting line opens. The maximum circumscribed circle of the impurity contour can be made through the impurity contour, and an isosceles triangle is made based on this maximum circumscribed circle. The vertex angle of this isosceles triangle is the opening angle.

[0128] The flexible cutting line refers to a movable line segment used to remove impurities. There are two flexible cutting lines placed crosswise. The flexible cutting line is selected by the staff according to the actual situation and will not be elaborated here.

[0129] Step 501: Respond to the impurity contour and the marked position to output the fitting position.

[0130] The fitting position refers to the position where the flexible cutting line fits. The fitting position can be located through image recognition technology. Taking the marked position as the center point, an circumscribed circle of the impurity contour is made, and an isosceles triangle is made with the circumscribed circle. The vertex of the isosceles triangle and the marked position are the fitting positions.

[0131] Step 502: Control the flexible cutting line to open according to the opening angle and reach the fitting position.

[0132] Control the flexible cutting line to open according to the determined opening angle, and after opening, control it to reach the fitting position to facilitate the next cutting step.

[0133] Step 503: Control the flexible cutting line to closely adhere to the impurity contour according to the preset moving distance.

[0134] The moving distance refers to the single distance used to move the flexible cutting line. The moving distance is manually input by the staff and will not be elaborated here.

[0135] Step 504: Close the flexible cutting line in sequence according to the preset single closing angle based on the opening angle until the flexible cutting line is completely closed.

[0136] The single closing angle refers to the maximum single angle at which the flexible cutting line closes. The single closing angle can be manually input by the staff and will not be elaborated here. When the flexible cutting line is completely closed, it means that the impurity contour has been cut and removed. After a single closing, a movement of the moving distance will be performed until the opening angle is completely closed.

[0137] Step 505: After the flexible cutting line is completely closed, control the blowing device to blow air at the fitting position and synchronously update the cleaning image information.

[0138] After the cutting is completed, control the blowing device to blow air, and after the blowing is completed, update the image information. Based on the comparison between the updated image information and the impurity-free image, it is determined whether the cleaning is completed.

[0139] The flexible cutting line cutting method includes the following steps: Step 600: Collect the line segment pressure when the flexible cutting line is working.

[0140] The line segment pressure refers to the pressure exerted on the flexible cutting line during movement. The line segment pressure can be collected by a tensile sensor. The model of the tensile sensor is selected by the staff according to the actual situation and will not be elaborated here.

[0141] Step 601: When the line segment pressure is greater than the preset reference pressure value, control the flexible cutting line to return to the fitting position and determine the reciprocating distance according to the line segment pressure.

[0142] The reference pressure value is the maximum pressure value at which the position of the line segment remains unchanged after the flexible cutting line changes its angle and moves. The reference pressure value can be manually input by the staff and will not be elaborated here. When the line segment pressure is greater than the preset reference pressure value, it means that impurities cannot be removed simply by changing the angle.

[0143] The reciprocating distance refers to the distance that the flexible cutting line reciprocates for cutting. The reciprocating distance can be queried and determined from the reciprocating data table. The reciprocating data table refers to the reciprocating distances corresponding to different line segment pressures determined in advance through experiments. The greater the line segment pressure, the longer the reciprocating distance.

[0144] Step 602: Control the flexible cutting line to reciprocally cut the impurity contour according to the reciprocating distance, and determine the number of reciprocations according to the impurity contour, the preset cutting distance, and the preset return distance.

[0145] The cutting distance refers to the distance that the flexible cutting line moves during one reciprocating cut. The cutting distance can be manually input by the staff and will not be elaborated here. The return distance refers to the distance that the flexible cutting line returns after cutting. The return distance is equal to the cutting distance and can be manually input by the staff and will not be elaborated here.

[0146] Reciprocating cutting means that when the flexible cutting line is under pressure, it makes one cut of the cutting distance and one cut of the return distance, and runs reciprocally in sequence.

[0147] The number of reciprocations refers to the number of times the flexible cutting line needs to reciprocally cut the impurity contour. The removal length can be determined through the impurity contour, and the impurity contour is divided into multiple marked areas through zoning cutting based on the removal length and the impurity contour. The number of reciprocations can be queried and determined from the number data table. The number data table refers to the number of reciprocations corresponding to different cutting distances, return distances, and marked areas determined in advance through experiments. In this embodiment, the regional number of reciprocations refers to the number of times the cutting distance and the return distance need to be cut under the pressure corresponding to the marked area.

[0148] Query the regional number of reciprocations for each region, and add up the regional number of reciprocations for each region to obtain the number of reciprocations for this impurity contour.

[0149] Step 603: When reciprocally cutting the impurity contour based on the flexible cutting line, control the flexible cutting line to move according to the cutting distance and return according to the return distance according to the number of reciprocations.

[0150] When the flexible cutting line reciprocally cuts the impurity contour, it means that the flexible cutting line is cutting the impurity, and control the flexible cutting line to reciprocate back and forth according to the number of reciprocations for cutting.

[0151] Step 604: Match the translation distance from the preset translation database according to the comparison relationship among the cutting distance, the return distance, and the number of reciprocations.

[0152] The translation distance refers to the distance after the flexible cutting line makes reciprocating cuts. The values of the cutting distance, return distance, and number of reciprocations can be input through the translation database to match the translation distance. The translation database refers to the translation distances corresponding to different moving distances, return distances, and numbers of reciprocations determined in advance through experiments. The translation database is set manually and will not be elaborated here.

[0153] For example: when inputting a cutting distance of 10 mm and a return distance of 10 mm, the advancing distance value under a pressure of 1 N is 1 mm, and the number of reciprocations is 10 times, then the translation distance is 1 * 10 = 10 mm.

[0154] Step 605: When the translation distance of the flexible cutting line is greater than the maximum distance of the impurity contour edge, control the blowing device to blow air at the fitting position and synchronously update the cleaning image information.

[0155] When the translation distance of the flexible cutting line is greater than the maximum distance of the impurity contour edge, it means that the flexible cutting line has completed cutting. At this time, control the blowing device to blow air at the fitting position after cutting, and update the image information and compare it with the impurity-free information to determine whether the detection is completed.

[0156] The method for removing the mold from the produced product includes the following steps.

[0157] Step 700: Collect the mold weight value after die forging of the mold.

[0158] The mold weight value refers to the weight value of the production mold. The mold weight value can be collected by a pressure sensor. The model of the pressure sensor is selected by the staff according to the actual situation and will not be elaborated here.

[0159] Step 701: If the mold weight value is greater than the preset mold reference weight value, obtain the die forging production image.

[0160] The mold reference weight value refers to the weight value of the mold. The mold reference weight value is manually input by the staff and will not be elaborated here.

[0161] When the mold weight value is greater than the mold reference weight value, it means that one side of the die forging product is adhered to the mold. The die forging production image refers to the three-dimensional image after opening the mold after die forging. The die forging production image can be obtained by a camera. The signal of the camera is selected by the staff according to the actual situation and will not be elaborated here.

[0162] The die forging product refers to the product that needs to be demolded after die forging.

[0163] Step 702: Respond to the die forging production image to obtain the position of the die forging product.

[0164] The position of the die-forged product refers to the position where the die-forged product is located. The position of the die-forged product can be identified by using image recognition technology to recognize the three-dimensional image of die-forging production and marking and positioning the position where the three-dimensional image is located. The marked and positioned position is the position of the die-forged product.

[0165] Step 703: If the position of the die-forged product is located in the preset upper die, obtain the contour of the upper die-forged product.

[0166] The contour of the upper die-forged product refers to the outer contour of the die-forged product when it is in the upper die. The contour of the upper die-forged product can be obtained by a camera and will not be elaborated here.

[0167] Step 704: Determine the distance of the upper die difference contour based on the contour of the upper die-forged product and the preset contour of the upper die.

[0168] The contour of the upper die refers to the contour of the upper die. The contour of the upper die can be manually input by the staff and will not be elaborated here.

[0169] The distance of the upper die difference contour refers to the difference in the shortest distance from the contour of the upper die-forged product to the contour of the upper die. The difference in each distance can be determined by calculating the vertical distance between the contour of the upper die-forged product and the contour of the upper die. This difference is the distance of the upper die difference contour.

[0170] Step 705: Define the position of the upper die difference contour with the minimum distance as the falling vibration position, and determine the falling vibration frequency based on the contour of the upper die-forged product.

[0171] The falling vibration position refers to the vibration position for dropping the product. It can be obtained by selecting the upper die difference contour with the shortest distance and taking the position of the contour of the upper die-forged product at this distance as the falling vibration position.

[0172] The falling vibration frequency refers to the vibration frequency for dropping the product. The falling vibration frequency can be determined by querying from the falling data table. The falling data table is the falling vibration frequencies corresponding to different contours of the upper die-forged products determined in advance by humans through experiments. The larger the contour of the upper die-forged product, the larger the falling vibration frequency.

[0173] Step 706: Control the preset ejector pin to reach the falling vibration position, and control the vibration device to vibrate the ejector pin according to the falling vibration frequency.

[0174] The ejector pin refers to the metal pin used for ejecting the product. The type of the metal pin is selected by the staff according to the actual situation and will not be elaborated here. Touch the vertex of the ejector pin to the falling vibration position, and control the ejector pin to vibrate at the falling vibration frequency. After vibration, update the die-forging production image to determine whether the ejection is completed.

[0175] Step 707: If the position of the die-forged product is located in the preset lower die, obtain the contour of the lower die-forged product.

[0176] The lower die forging product profile refers to the outer profile of the forging product when it is in the lower die. The lower die forging product profile can be obtained by a camera, which will not be elaborated here.

[0177] Step 708: Determine the distance of the lower die difference profile based on the lower die forging product profile and the preset lower die profile.

[0178] The lower die profile refers to the profile of the lower die, which can be manually input by the staff and will not be elaborated here.

[0179] The lower die difference profile distance refers to the difference in the shortest distance from the lower die forging product profile to the lower die profile. The difference in each distance can be determined by calculating the vertical distance between the lower die forging product profile and the lower die profile, and this difference is the lower die difference profile distance.

[0180] Step 709: Define the position of the lower die difference profile distance with the minimum distance as the demolding vibration position, and determine the demolding vibration frequency based on the lower die forging product profile.

[0181] The demolding vibration position refers to the vibration position for product demolding. It can be obtained by selecting the lower die difference profile distance with the shortest distance, and taking the position of the lower die forging product profile at this distance as the demolding vibration position.

[0182] The demolding vibration frequency refers to the vibration frequency used to control product demolding. The demolding vibration frequency can be queried and determined from the demolding data table. The demolding data table refers to the demolding vibration frequencies corresponding to different lower die forging product profiles determined in advance through experiments. The larger the lower die forging product profile, the larger the demolding vibration frequency.

[0183] Step 710: Control the demolding pin to reach the demolding vibration position, and control the vibration device to vibrate the demolding pin according to the demolding vibration frequency.

[0184] Touch the vertex of the demolding pin to the demolding vibration position, and control the demolding pin to vibrate at the demolding vibration frequency.

[0185] Based on the same inventive concept, an embodiment of the present invention provides a connecting rod die forging processing system, including: An acquisition module, configured to acquire an open die trigger instruction, mold image information, distance detection information, three-dimensional data of a fulcrum within a preset range, line segment pressure of a flexible cutting line, the weight value of the die after forging, a die forging production image, an upper die forging product profile, and a lower die forging product profile; A memory, configured to store any of the above connecting rod die forging processing methods; A processor, configured to load and execute and implement the program stored in the memory.

[0186] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor. A method for connecting rod die forging processing that can be loaded and executed by the processor is stored on the memory.

[0187] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0188] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the inventive concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, several improvements and refinements made without departing from the principle of the present invention should also be regarded as within the protection scope of the present invention.

Claims

1. A forging method for connecting rods, characterized in that, Including: Step 100: Respond to the mold opening trigger instruction after the mold is opened; Step 101: Receive the mold opening trigger instruction to collect mold image information; Step 102: When the mold image information is inconsistent with the preset impurity-free image, mark the mold image information and define it as the marked position; Step 103: Calculate the angle between the marked position and the preset cleaning point and define it as the cleaning angle; Step 104: Control the preset air blowing device to blow air at the marked position through the preset air blowing power at the cleaning angle at the cleaning point, and update the mold image information, and define the updated mold image information as the cleaned image information; Step 105: When the cleaned image information is consistent with the preset impurity-free image, complete the detection; Step 106: When the cleaned image information is inconsistent with the preset impurity-free image, determine the cleaning method according to the positive and negative relationship between the cleaning angle and the preset cleaning line, and remove the marked position by the cleaning method.

2. The method for forging connecting rods according to claim 1, characterized in that The method for determining the cleaning method includes: Step 200: When the cleaning angle is greater than the preset cleaning line, determine the impurity volume and impurity contour based on the marked position; Step 201: Sequentially collect distance detection information at the marked position; Step 202: Define the marked position where the distance detection information is not less than the preset distance reference value as the fulcrum position; Step 203: Calculate the spacing distance between the fulcrum position and the impurity contour; Step 204: Sort the spacing distances in reverse order to screen out the fulcrum position with the shortest distance and define it as the target fulcrum position; Step 205: Respond to the target fulcrum position and the impurity volume to generate a vibration frequency; Step 206: Determine the insertion path according to the target fulcrum position by the preset insertion method; Step 207: Control the preset vibrating needle to insert along the insertion path to the target fulcrum position, control the vibration with the vibration frequency, and update the cleaned image information; Step 208: When the cleaned image information is inconsistent with the preset impurity-free image, give an alarm.

3. A forging method for connecting rods according to claim 2, characterized in that, The insertion method includes: Step 300: Obtain the three-dimensional data of the fulcrum within the preset range based on the target fulcrum position; Step 301: Calculate the tangent plane tangent to the three-dimensional data of the fulcrum with the target fulcrum position as the coincidence point and define it as the target tangent plane; Step 302: Draw a perpendicular line to the target tangent plane with the target fulcrum position as the position point and define the perpendicular line as the insertion line; Step 3020: If the outward extension direction of the insertion line does not overlap with the mold, define the insertion line as the insertion path; Step 3021: If the outward extension direction of the insertion line overlaps with the mold, offset it to both sides of the target tangent plane until it does not overlap, and define the offset insertion line as the insertion path; Step 303: Obtain the insertion angle based on the insertion path, match the frequency correction value according to the insertion angle, update the vibration frequency according to the frequency correction value, and control the vibration with the updated vibration frequency.

4. A forging method for connecting rods according to claim 3, characterized in that, Also including: Step 305: When the vibration frequency is greater than the preset maximum frequency value, calculate the quotient of the vibration frequency and the preset maximum frequency, and determine the vibration quantity and the auxiliary interval through the quotient, and subtract one from the vibration quantity to obtain the auxiliary quantity; Step 306: Reverse the order of the spacing distances to screen out the pivot position with the shortest distance except for the target pivot position, and select the number of auxiliary pivot positions and define them as the target auxiliary positions; Step 307: Obtain the auxiliary three-dimensional data within the preset range based on the auxiliary target position; Step 308: Calculate the tangent plane that is tangent to the auxiliary three-dimensional data with the auxiliary target position as the coincidence point, and define it as the auxiliary tangent plane; Step 309: Draw a perpendicular line to the auxiliary tangent plane with the auxiliary target position as the position point, and define the perpendicular line as the auxiliary line; Step 3090: If the outward extension direction of the auxiliary line does not overlap with the mold and does not overlap with other auxiliary lines, define the auxiliary line as the auxiliary path; Step 3091: If the outward extension direction of the auxiliary line overlaps with the mold, offset it in both directions of the target tangent plane until it does not overlap, and define the offset auxiliary line as the auxiliary path; Step 3092: If the auxiliary line overlaps with other auxiliary lines, offset it in the opposite direction of the overlapping auxiliary line until it does not overlap, and define the offset auxiliary line as the auxiliary path; Step 310: Match the auxiliary correction value through the auxiliary interval; Step 311: Correct the vibration frequency with the auxiliary correction value and define it as the auxiliary frequency; Step 312: Match the vibration sequence of the vibration needle according to the spacing distance; Step 313: Control the vibration needle to insert into the target auxiliary position according to the auxiliary path and the number of auxiliaries, and control the vibration needle to vibrate different auxiliary target positions according to the vibration sequence according to the auxiliary frequency.

5. A forging method for connecting rods according to claim 2, characterized in that, When the distance detection information is less than the preset distance reference value, the method for determining the pivot position includes: Step 400: Calculate the interval distance between the marked position and the impurity contour; Step 401: Reverse the order of the interval distances to screen out the marked position with the shortest distance and define it as the adhesion position; Step 402: Calculate the angle between the adhesion position and the preset adhesion needle and define it as the access angle; Step 403: Match the corresponding heating temperature from the preset production material library; Step 404: Control the top of the adhesion needle to be heated according to the heating temperature by the preset heating device; Step 405: When the temperature of the top of the adhesion needle reaches the heating temperature, control the adhesion needle to access the adhesion position, control the vibration device to vibrate the heating device at the preset removal frequency, and control the adhesion needle to be pulled out with the preset recovery force.

6. A forging method for connecting rods according to claim 1, characterized in that, It also includes: Step 500: When the cleaning angle is less than the preset cleaning line, determine the opening angle of the preset flexible cutting line according to the impurity contour; Step 501: Output the fitting position in response to the impurity contour and the marked position; Step 502: Control the flexible cutting line to open according to the opening angle and reach the fitting position; Step 503: Control the flexible cutting line to be close to the impurity contour according to the preset moving distance; Step 504: Close the flexible cutting line in sequence according to the preset single closing angle according to the opening angle until the flexible cutting line is completely closed; Step 505: After the flexible cutting line is completely closed, control the blowing device to blow the fitting position and synchronously update the cleaning image information.

7. A forging method for connecting rods according to claim 6, characterized in that, It also includes: Step 600: Collect the line segment pressure when the flexible cutting line is working; Step 601: When the line segment pressure is greater than a preset reference pressure value, control the flexible cutting line to return to the fitting position, and determine the reciprocating distance according to the line segment pressure; Step 602: Control the flexible cutting line to reciprocally cut the impurity contour according to the reciprocating distance, and determine the number of reciprocations according to the impurity contour, the preset cutting distance, and the preset return distance; Step 603: When the flexible cutting line reciprocally cuts the impurity contour, control the flexible cutting line to move according to the cutting distance and return according to the return distance according to the number of reciprocations; Step 604: Match the translation distance from a preset translation database according to the comparison relationship among the cutting distance, the return distance, and the number of reciprocations; Step 605: When the translation distance of the flexible cutting line is greater than the maximum distance of the impurity contour edge, control the blowing device to blow air at the fitting position, and synchronously update the cleaning image information.

8. A forging method for connecting rods according to claim 1, characterized in that It further includes: Step 700: Collect the mold weight value after die forging of the mold; Step 701: If the mold weight value is greater than the preset mold reference weight value, obtain the die forging production image; Step 702: Respond to the die forging production image to obtain the die forging product position; Step 703: If the die forging product position is located in the preset upper mold, obtain the upper die forging product contour; Step 704: Determine the upper die difference contour distance according to the upper die forging product contour and the preset upper die mold contour; Step 705: Define the position of the minimum value of the upper die difference contour distance as the falling vibration position, and determine the falling vibration frequency according to the upper die forging product contour; Step 706: Control the preset demoulding needle to reach the falling vibration position, and control the vibration device to vibrate the demoulding needle according to the falling vibration frequency; Step 707: If the die forging product position is located in the preset lower mold, obtain the lower die forging product contour; Step 708: Determine the lower die difference contour distance according to the lower die forging product contour and the preset lower die mold contour; Step 709: Define the position of the minimum value of the lower die difference contour distance as the demoulding vibration position, and determine the demoulding vibration frequency according to the lower die forging product contour; Step 710: Control the demoulding needle to reach the demoulding vibration position, and control the vibration device to vibrate the demoulding needle according to the demoulding vibration frequency.

9. A cleaning system for connecting rods after die forging, characterized in that, It includes: An acquisition module, configured to acquire a mold opening trigger instruction, mold image information, distance detection information, three-dimensional data of a fulcrum within a preset range, the line segment pressure of a flexible cutting line, the mold weight value after die forging, a die forging production image, an upper die forging product contour, and a lower die forging product contour; A memory, configured to store a program of a method for connecting rod die forging processing according to any one of claims 1 to 8; A processor, configured to load and execute the program stored in the memory.

10. An intelligent terminal, characterized in that, It includes a memory and a processor, and a method for connecting rod die forging processing according to any one of claims 1 to 8 is stored on the memory and can be loaded and executed by the processor.

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