Intelligent robot incremental forming device and processing method thereof

Abstract

The application relates to the technical field of workpiece processing, in particular to an intelligent robot incremental forming device and a processing method thereof, which comprises a robot base, a robot body, a positioning system, a multi-dimensional force sensor, a self-adaptive force compensation system, an auxiliary floating device and a forming tool head; a control system obtains simulation coordinates of a workpiece; the positioning system measures actual coordinates of the workpiece; a normal direction of the actual coordinates is used to obtain a positioning coordinate by translational distance; the control system controls the robot body to move to the positioning coordinate; the control system controls the positioning system to position a mark point of the workpiece to obtain an actual point group; a coordinate offset rotation matrix and a translation vector are obtained; the coordinate offset rotation matrix and the translation vector are added to the control system, so that position deviation compensation during workpiece processing is realized. The application improves the processing and forming quality of the workpiece.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of workpiece processing, and in particular to an intelligent robot incremental forming device and a processing method thereof. BACKGROUND

[0002] Incremental forming technology can be divided into two main ways of machine tool operation and industrial robot operation. The incremental forming technology of machine tool operation is known for its high processing precision and strong stability, but it lacks flexibility and has high cost, making it difficult to meet the needs of complex shape and multi-variety, small-batch production. In contrast, the incremental forming technology of industrial robot operation shows higher flexibility and scalability.

[0003] Industrial robots have multiple degrees of freedom and can flexibly adjust the processing path and posture to adapt to the needs of complex shape and multi-variety, small-batch production. However, the incremental forming technology of industrial robot operation still faces many challenges, which limit the development of this process, mainly including: efficiency problem, workpiece positioning depends on manual measurement, process is time-consuming and operation is complicated, resulting in low efficiency and insufficient precision; poor forming quality: in the incremental forming process, due to uneven stress and uneven forming force distribution, the geometric precision and surface quality of the formed parts are often unsatisfactory; low automation level: due to positioning complexity and programming difficulty, a large amount of manual intervention is required, and the technical requirements for the operating personnel are extremely high, which further affects the production efficiency; insufficient equipment rigidity: in the forming process, the industrial robot is prone to rack deformation and vibration, which not only affects the forming quality, but also may shorten the service life of the equipment. SUMMARY

[0004] The present application aims to at least solve one of the technical problems existing in the related art. To this end, the present application provides an intelligent robot incremental forming device and a processing method thereof, which solves the problems of low precision and easy deformation of the robot due to uneven stress during existing incremental forming, improves the incremental forming processing efficiency of the workpiece, and improves the stability of the robot structure.

[0005] The present application provides an intelligent robot incremental forming device, which comprises a robot base, a robot body mounted on the top of the robot base, and a positioning system mounted on the robot body. The robot body is provided with a multi-dimensional force sensor, an auxiliary floating device, a self-adaptive force compensation system and a forming tool head. A control system is connected to the robot body and the positioning system. The self-adaptive force compensation system is connected to the multi-dimensional force sensor. The robot body has a control system.

[0006] The control system obtains the simulation coordinates of the workpiece The positioning system measures the actual coordinates of the workpiece Translate the distance in the normal direction of the actual coordinates Obtain positioning coordinates ;

[0007] The control system controls the robot body to move to the positioning coordinates. ;

[0008] The control system controls the positioning system to locate the marked points on the workpiece to obtain the actual point set. ;

[0009] Processing actual point groups With theoretical model point group in simulation environment Obtain the coordinate offset rotation matrix Translation vector Rotate the coordinate offset matrix Translation vector Added to the control system, it enables positional deviation compensation during workpiece processing, thereby allowing the control system to control the forming tool head of the robot body to process the workpiece;

[0010] During workpiece processing, multi-dimensional force sensors monitor the force data of the robot body in real time during the forming process and transmit the force data to the adaptive force compensation system. The adaptive force compensation system automatically adjusts the running trajectory of the robot body according to the force data, and assists the floating device to provide constant pressure support during the forming process, reducing the impact on the robot body and compensating for deformation.

[0011] A further improvement of the intelligent robot progressive forming device of the present invention is that the positioning system includes a laser positioning component disposed on the side of the robot base and a visual positioning component disposed on the robot body.

[0012] The laser positioning component performs fuzzy positioning of the workpiece, and then the control system controls the robot's vision positioning component to fuzzily align with the workpiece based on the fuzzy positioning. The vision positioning component then precisely positions the workpiece, and the control system precisely aligns the robot with the workpiece based on the precise positioning, causing the control system to move the robot to the positioning coordinates. .

[0013] A further improvement of the intelligent robot progressive forming device of the present invention lies in obtaining positioning coordinates. At that time, including:

[0014] Visual positioning component acquires simulation coordinates The visual positioning component obtains the actual coordinates. ;

[0015] With actual coordinates Translate by distance in the normal direction actual coordinates The rotation angle in the formula is , by

[0016] The normal vector is calculated as , and the positioning coordinates are The calculation formula of the positioning coordinates is: .

[0017] The further improvement of the intelligent robot incremental forming device is that the coordinate offset rotation matrix and the translation vector are obtained, and the method comprises the following steps:

[0018] The actual point group Each actual coordinate point in the actual point group is The theoretical model point group Each theoretical coordinate point in the theoretical model point group is ;

[0019] The centroid of the actual point group is calculated as , ,

[0020] The centroid of the theoretical model point group is calculated as , ,

[0021] The covariance matrix is calculated as The calculation formula is ,

[0022] The covariance matrix is decomposed by SVD as , ,

[0023] Wherein, is a left singular vector matrix, is a right singular vector matrix, indicates that the data is in the orthogonal basis of the theoretical model point group ;

[0024] The rotation matrix is calculated as , ;

[0025] The translation vector is calculated as .

[0026] The further improvement of the intelligent robot incremental forming device is that it further comprises:

[0027] The multi-dimensional force sensor is used for monitoring the force data of the robot body in the forming process of the workpiece in real time, and filtering the collected force data,

[0028]

[0029] wherein, indicates the filtered force data at the moment, indicates the force data collected by the multi-bit force sensor at the moment, and alpha indicates a first parameter and has a value range of [0, 1].

[0030] Further improvement of the intelligent robot incremental forming device is that the device further comprises:

[0031] The number of degrees of freedom of the robot body is determined to be 6 to determine the stiffness matrix is a 6*6 matrix, and the robot body has n working postures when processing a workpiece, so that the stiffness matrix has n stiffness matrices, and the stiffness matrix collection is formed by a plurality of stiffness matrices .

[0032] Further improvement of the intelligent robot incremental forming device is that the adaptive force compensation system automatically adjusts the running track of the robot body according to the force data monitored by the multi-dimensional force sensor in real time, and ensures the consistency of the actual track of the robot body and the preset track,

[0033] The adaptive force compensation system uses the filtered force sensor data to calculate the compensation amount , and the calculation formula is:

[0034]

[0035] The adaptive force compensation system adds the compensation amount to the original track of the robot body to obtain the adjusted track , and the calculation formula is:

[0036]

[0037] The adaptive force compensation system sends the adjusted track as a target track to the robot body, and adjusts the movement track of the robot body in real time.

[0038] Further improvement of the intelligent robot incremental forming device is that the auxiliary floating device is arranged at the end of the robot body, the auxiliary floating device adopts a gas pressure or hydraulic system to realize a constant pressure function, the pressure of the gas pressure or hydraulic system is adjusted to keep the constant pressure of the auxiliary floating device on the surface of the workpiece, and the pressure calculation formula is:

[0039]

[0040] wherein, is the output pressure, is the floating force, is the effective action area of the auxiliary floating device;

[0041] The floating force is determined according to the stress condition of the workpiece and the forming process requirement, and the floating force is calculated by the following formula:

[0042]

[0043] wherein, is the elastic characteristic of the auxiliary floating device, is the displacement of the robot body relative to the workpiece, is the damping characteristic of the auxiliary floating device, is the speed of the robot body relative to the workpiece.

[0044] The application also provides a processing method of the intelligent robot incremental forming device, and the processing method is executed by using the incremental forming device as described above, and the processing method comprises the following steps:

[0045] Workpiece clamping, the workpiece is placed on the mold, and the workpiece is fixed by the workpiece clamping device;

[0046] Workpiece automatic positioning, the robot body positions the workpiece through the positioning system;

[0047] Incremental forming processing, the robot body is started to perform the incremental forming processing, in the processing process, the multi-dimensional force sensor monitors the stress data of the robot body in the forming process of the workpiece in real time, and transmits the stress data to the adaptive force compensation system, the adaptive force compensation system provides corresponding compensation according to the stress data, so as to compensate the deformation of the forming tool head, ensure the stability and forming precision of the processing process, and the auxiliary floating device provides constant pressure support in the forming process, reduces the impact and compensates the deformation;

[0048] Processing is completed, after the processing is completed, the workpiece is unloaded, and the whole processing process is completed.

[0049] The application ensures that the forming tool head of the robot body can accurately reach the specified machining position of the workpiece through the positioning system, realizes efficient and accurate control of the machining position of the workpiece, and significantly improves the machining precision and efficiency of the intelligent robot incremental forming device; the control system can timely discover abnormal conditions in the forming process, such as excessive force or uneven force, through real-time monitoring of the stress data by the multi-dimensional force sensor, thereby effectively avoiding the risk of damage to the workpiece or the robot body, filtering the stress data to remove noise interference, improving the accuracy and reliability of the data, providing strong support for subsequent forming control, and improving production efficiency and product quality; the constant pressure function of the auxiliary floating device ensures that the pressure on the surface of the workpiece remains constant during the entire machining process, thereby improving the surface quality and precision of the machined part; the self-adaptive force compensation system automatically adjusts the trajectory, significantly improves the trajectory precision of the robot body during the machining process, ensures that the actual trajectory is highly consistent with the preset trajectory, and thereby improves the quality and consistency of the machined part.

[0050] Additional aspects and advantages of the application will be described in the following description, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0052] Figure 1 It is a schematic diagram of the intelligent robot incremental forming device provided by the application.

[0053] Reference signs:

[0054] 1, robot base; 2, robot body; 3, laser positioning assembly; 4, visual positioning assembly; 5, multi-dimensional force sensor; 6, auxiliary floating device; 7, forming tool head. DETAILED DESCRIPTION

[0055] In order to make the objects, technical solutions and advantages of the application clearer, the technical solutions in the application will be described clearly and completely in the following combined with the drawings in the application. Obviously, the described embodiments are some embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application. The following embodiments are used to illustrate the application, but cannot be used to limit the scope of the application.

[0056] The application is described below Figure 1 An intelligent robot incremental forming device, comprising a robot base 1, a robot body 2 installed on the top of the robot base, and a positioning system installed on the robot body 2, wherein the robot body is provided with a multi-dimensional force sensor 5, an auxiliary floating device 6, an adaptive force compensation system, and a forming tool head 7, a control system is connected to the robot body and the positioning system, the adaptive force compensation system is connected to the multi-dimensional force sensor, and the robot body has the control system;

[0057] The control system obtains the simulation coordinates of the workpiece The positioning system measures the actual coordinates of the workpiece The actual coordinates are translated in the normal direction by a distance The positioning coordinates are obtained ;

[0058] The control system controls the robot body to move to the positioning coordinates ;

[0059] The control system controls the positioning system to position the mark points of the workpiece to obtain the actual point group ;

[0060] The actual point group is processed and the theoretical model point group in the simulation environment , a coordinate offset rotation matrix and a translation vector are obtained and the translation vector are added to the control system, so as to realize the position deviation compensation when the workpiece is processed, and the control system controls the forming tool head of the robot body to process the workpiece

[0061] When the workpiece is processed, the multi-dimensional force sensor monitors the force data of the robot body in the forming process of the workpiece in real time, and transmits the force data to the adaptive force compensation system, the adaptive force compensation system automatically adjusts the running track of the robot body according to the force data, the auxiliary floating device provides constant pressure support in the forming process, reduces the impact of the robot body and compensates for the deformation.

[0062] In a preferred embodiment of the intelligent robot incremental forming device, the positioning system comprises a laser positioning assembly 3 arranged on the side of the robot base and a visual positioning assembly 4 arranged on the robot body

[0063] The workpiece is fuzzy positioned by the laser positioning assembly 3, and then the control system controls the visual positioning assembly 4 of the robot body to fuzzy correspond to the workpiece according to the fuzzy positioning, and then the visual positioning assembly precisely positions the workpiece, and the control system controls the robot body to accurately correspond to the workpiece according to the precise positioning, so that the control system controls the robot body to move to the positioning coordinate .

[0064] In this process, the laser positioning assembly projects a laser beam onto the surface of the workpiece, and preliminarily determines the approximate position of the workpiece by measuring the reflection time and angle of the laser beam. Subsequently, the control system receives the fuzzy positioning information provided by the laser positioning assembly, drives the visual positioning assembly of the robot body, such as a high-definition camera or a three-dimensional visual sensor, to quickly move to the vicinity of the workpiece, and performs more accurate visual recognition. The visual positioning assembly captures the image or three-dimensional profile of the surface of the workpiece, accurately calculates the actual position and attitude of the workpiece by using image processing technology and algorithm, and the control system receives the accurate data of the visual positioning assembly again, adjusts the motion trajectory of the robot body, and ensures that the forming tool head of the robot body can accurately reach the specified machining position of the workpiece, thereby realizing efficient and accurate control of the machining position of the workpiece, and significantly improving the machining precision and efficiency of the intelligent robot progressive forming device.

[0065] Further, the positioning coordinate is obtained when the simulation coordinate is obtained by the visual positioning assembly, the actual coordinate

[0066] is obtained by the visual positioning assembly, and the simulation coordinate is translated in the normal direction of the actual coordinate by a distance , the rotation angle in the actual coordinate

[0067] is , and the normal vector is calculated by . , the calculation formula of the positioning coordinate is: .

[0068] . .

[0069] In actual operation, the visual positioning component first captures the simulation coordinates of the workpiece through high-precision image recognition technology, which is usually the position calibrated on the preset digital model or drawing; then the visual positioning component works again to obtain the actual coordinates of the workpiece in the actual working environment; after obtaining the actual coordinates, the control system determines the translation distance and rotation angle according to the preset machining requirement; the translation distance refers to the distance moved along the normal direction from the actual coordinates, and this step aims to accurately align the robot end tool to the target machining position; the rotation angle is used to adjust the direction of the tool to ensure the angle accuracy in the machining process.

[0070] Specifically, the coordinate offset rotation matrix and the translation vector are obtained, including the following steps:

[0071] The actual point group , each actual coordinate point in the actual point group is , the theoretical model point group , each theoretical coordinate point in the theoretical model point group is ;

[0072] The centroid of the actual point group is calculated, ,

[0073] The centroid of the theoretical model point group is calculated, ,

[0074] The centered coordinates,

[0075] The covariance matrix is calculated, and the calculation formula is ,

[0076] The covariance matrix is decomposed by SVD to be ,

[0077] wherein is the left singular vector matrix, representing the orthogonal basis (target space main direction) of the actual point group , is the right singular vector matrix, representing the orthogonal basis (source space main direction) of the theoretical model point group , represents the orthogonal basis of the data in the theoretical model point group , and represents the variance of the data in each main direction;

[0078] The rotation matrix is calculated, ;

[0079] Calculate the translation vector as follows .

[0080] Furthermore, it also includes: multi-dimensional force sensors used to monitor the force data of the robot body during the forming process of the workpiece in real time, and to filter the collected force data.

[0081]

[0082] in, Indicates after filtering Force data at any given moment express Force data collected by multiple force sensors at various times, where α represents the first parameter and its value ranges from [0,1].

[0083] By monitoring stress data in real time, the control system can promptly detect abnormalities during the forming process, such as excessive or uneven stress, thereby effectively avoiding the risk of workpiece damage or robot damage. Filtering the stress data removes noise interference, improving data accuracy and reliability, providing strong support for subsequent forming control, and ultimately enhancing production efficiency and product quality.

[0084] Furthermore, it also includes: determining that the number of degrees of freedom of the robot body is 6, in order to determine the stiffness matrix. Given a 6×6 matrix, and considering that the robot body has n working postures when machining a workpiece, then the stiffness matrix is... There are n stiffness matrices, and a set of stiffness matrices is formed. .

[0085] For each stiffness matrix Finite element analysis tests need to be performed under the corresponding postures, for example, to obtain the stiffness matrix corresponding to the first working posture. The specific method is as follows:

[0086] Apply unit displacement or angular displacement to the end effector of the robot body, respectively.

[0087] Linear static analysis is used to calculate the deformation and stress distribution of a robot under external forces, simulating the static response of the robot when subjected to forces.

[0088] Extract force and displacement data. Extract the force and displacement data of the end effector in each degree of freedom from the analysis results. For each applied unit displacement or angular displacement, record the corresponding force and torque.

[0089] Constructing the stiffness matrix stiffness matrix Each element Indicates the first When a unit displacement or angular displacement is applied to one degree of freedom, the first degree of freedom is... The forces or torques generated in each degree of freedom are then: .

[0090] Specifically, the adaptive force compensation system automatically adjusts the robot's trajectory based on real-time force data monitored by multi-dimensional force sensors, ensuring consistency between the robot's actual trajectory and the preset trajectory. The adaptive force compensation system uses filtered force sensor data to calculate the compensation amount. The calculation formula is:

[0091] The adaptive force compensation system will compensate the amount Added to the robot's original trajectory In the middle, the adjusted trajectory is obtained. The calculation formula is:

[0092] The adaptive force compensation system will adjust the trajectory The target trajectory is sent to the robot body, and the robot body's motion trajectory is adjusted in real time.

[0093] The adaptive force compensation system automatically adjusts the trajectory, significantly improving the trajectory accuracy of the robot body during processing and ensuring a high degree of consistency between the actual trajectory and the preset trajectory, thereby enhancing the quality and consistency of the processed parts. Through real-time monitoring and adjustment, the system can effectively avoid trajectory deviations caused by uneven force or external interference, enhancing the stability and reliability of the robot body.

[0094] Specifically, the auxiliary floating device is located at the end of the robot body. The auxiliary floating device uses a pneumatic or hydraulic system to achieve constant pressure. By adjusting the pressure of the pneumatic or hydraulic system, a constant pressure is maintained on the workpiece surface by the auxiliary floating device. The pressure calculation formula is as follows:

[0095]

[0096] in, It is the output pressure. It is buoyancy. It is the effective working area of ​​the auxiliary floating device;

[0097] The value of the buoyancy force is determined based on the stress conditions of the workpiece and the requirements of the forming process. Calculated using the following formula:

[0098]

[0099] wherein, is the elastic property of the auxiliary floating device, is the displacement of the robot body relative to the workpiece, is the damping property of the auxiliary floating device, is the speed of the robot body relative to the workpiece.

[0100] The constant pressure function of the auxiliary floating device ensures that the pressure on the surface of the workpiece remains constant throughout the machining process, thereby improving the surface quality and precision of the machined parts. By precisely controlling the pressure of the pneumatic or hydraulic system, the auxiliary floating device can flexibly adjust the output pressure according to the material, thickness of the workpiece and different requirements of the forming process, achieving precise pressure on the surface of the workpiece. The reasonable setting of the stiffness coefficient and the damping property makes the auxiliary floating device effectively absorb and alleviate the impact and vibration between the robot body and the workpiece during the machining process, further improving the stability and controllability of the machining process. At the same time, according to the displacement and speed of the robot body relative to the workpiece, the floating force is adjusted in real time to ensure the continuity and consistency of the machining process. The auxiliary floating device not only improves the machining precision and surface quality of the intelligent robot incremental forming device, but also enhances the stability and controllability of the machining process, providing a strong guarantee for high-quality and efficient machining.

[0101] The present application also provides a machining method of an intelligent robot incremental forming device, comprising the following steps:

[0102] Workpiece clamping, placing the workpiece on the mold, and fixing the workpiece through the workpiece clamping device;

[0103] Workpiece automatic positioning, the robot body positions the workpiece through the positioning system;

[0104] Incremental forming machining, starting the robot body to perform incremental forming machining, during the machining process, the multi-dimensional force sensor monitors the force data of the robot body in the forming process in real time, and transmits the force data to the adaptive force compensation system, the adaptive force compensation system provides corresponding compensation according to the force data to compensate the deformation of the forming tool head, ensuring the stability and forming precision of the machining process, and the auxiliary floating device provides constant pressure support during the forming process, reducing impact and compensating deformation;

[0105] Machining is completed, after the machining is completed, the workpiece is unloaded, and the whole machining process is completed.

[0106] The application ensures that the forming tool head of the robot body can accurately reach the specified machining position of the workpiece through the positioning system, realizes efficient and accurate control of the machining position of the workpiece, and significantly improves the machining precision and efficiency of the intelligent robot incremental forming device; the multi-dimensional force sensor is used to monitor the stress data in real time, the control system can timely find abnormal conditions in the forming process, such as excessive stress or uneven stress, thereby effectively avoiding the risk of damage to the workpiece or the robot body, filtering the stress data can remove noise interference, improve the accuracy and reliability of the data, provide strong support for subsequent forming control, and improve production efficiency and product quality; the constant pressure function of the auxiliary floating device ensures that the pressure on the surface of the workpiece remains constant during the entire machining process, thereby improving the surface quality and precision of the machined part; the adaptive force compensation system automatically adjusts the trajectory, significantly improves the trajectory precision of the robot body during the machining process, ensures that the actual trajectory is highly consistent with the preset trajectory, and thereby improves the quality and consistency of the machined part.

[0107] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A progressive forming device for an intelligent robot, characterized in that, The system includes a robot base, a robot body mounted on top of the robot base, and a positioning system mounted on the robot body. The robot body is equipped with a multi-dimensional force sensor, an auxiliary floating device, an adaptive force compensation system, and a forming tool head. The control system is connected to the robot body and the positioning system. The adaptive force compensation system is connected to the multi-dimensional force sensor. The robot body has a control system. The control system acquires the simulation coordinates of the workpiece. The positioning system measures the actual coordinates of the workpiece. Translate by the normal direction of the actual coordinates. Obtain positioning coordinates ; The control system controls the robot body to move to the positioning coordinates. ; The control system controls the positioning system to locate the marked points on the workpiece to obtain the actual point set. ; Processing actual point groups With theoretical model point group in simulation environment Obtain the coordinate offset rotation matrix Translation vector Rotate the coordinate offset matrix Translation vector Added to the control system, it enables positional deviation compensation during workpiece processing, thereby allowing the control system to control the forming tool head of the robot body to process the workpiece; During workpiece processing, multi-dimensional force sensors monitor the force data of the robot body in real time during the forming process and transmit the force data to the adaptive force compensation system. The adaptive force compensation system automatically adjusts the running trajectory of the robot body according to the force data, and assists the floating device to provide constant pressure support during the forming process, reducing the impact on the robot body and compensating for deformation. The positioning system includes a laser positioning component disposed on the side of the robot base and a visual positioning component disposed on the robot body; The laser positioning component performs fuzzy positioning of the workpiece, and then the control system controls the robot's vision positioning component to fuzzily align with the workpiece based on the fuzzy positioning. The vision positioning component then precisely positions the workpiece, and the control system controls the robot to precisely align with the workpiece based on the precise positioning, thus enabling the control system to move the robot to the positioning coordinates. .

2. The intelligent robot progressive forming device according to claim 1, characterized in that, Obtain positioning coordinates At that time, including: Visual positioning component acquires simulation coordinates The visual positioning component obtains the actual coordinates. ; With actual coordinates Translate by distance in the normal direction actual coordinates The rotation angle in is ,pass The calculated normal vector is Then locate the coordinates The calculation formula is: .

3. The intelligent robot progressive forming device according to claim 1, characterized in that, Obtain the rotation matrix of coordinate offset Translation vector It includes the following steps: Actual point group Each actual coordinate point in the actual point group is Theoretical model point group Each theoretical coordinate point in the theoretical model point group is ; Calculate the actual point set center of mass , , Computational theoretical model point group center of mass , , Calculate the covariance matrix The calculation formula is: , The covariance matrix Perform SVD decomposition for , in, It is a left singular vector matrix. It is a right singular vector matrix. For data in the theoretical model point set orthogonal basis; Calculate the rotation matrix , ; Calculate the translation vector as follows .

4. The intelligent robot progressive forming device according to claim 1, characterized in that, Also includes: Multidimensional force sensors are used to monitor the force data of the robot body during the forming process of the workpiece in real time, and to filter the collected force data. in, Indicates after filtering Force data at any given moment express Force data collected by multiple force sensors at various times, where α represents the first parameter and its value ranges from [0,1].

5. The intelligent robot progressive forming device according to claim 4, characterized in that, Also includes: The robot body has 6 degrees of freedom, which is then used to determine the stiffness matrix. Given a 6×6 matrix, and considering that the robot body has n working postures when machining a workpiece, then the stiffness matrix is... There are n stiffness matrices, and a set of stiffness matrices is formed. .

6. The intelligent robot progressive forming device according to claim 5, characterized in that, The adaptive force compensation system automatically adjusts the robot's trajectory based on real-time force data monitored by multi-dimensional force sensors, ensuring consistency between the robot's actual trajectory and the preset trajectory. The adaptive force compensation system uses filtered force sensor data to calculate the compensation amount. The calculation formula is: The adaptive force compensation system will compensate the amount Added to the robot's original trajectory In the middle, the adjusted trajectory is obtained. The calculation formula is: The adaptive force compensation system will adjust the trajectory The target trajectory is sent to the robot body, and the robot body's motion trajectory is adjusted in real time.

7. The intelligent robot progressive forming device according to claim 6, characterized in that, The auxiliary floating device is located at the end of the robot body. The auxiliary floating device uses a pneumatic or hydraulic system to achieve constant pressure. By adjusting the pressure of the pneumatic or hydraulic system, a constant pressure is maintained on the workpiece surface by the auxiliary floating device. The pressure calculation formula is as follows: in, It is the output pressure. It is buoyancy. It is the effective working area of ​​the auxiliary floating device; The value of the buoyancy force is determined based on the stress conditions of the workpiece and the requirements of the forming process. Calculated using the following formula: in, To enhance the elastic properties of the auxiliary floating device, It is the displacement of the robot body relative to the workpiece. It is the damping characteristic of the auxiliary floating device. It is the speed of the robot body relative to the workpiece.

8. A processing method for an intelligent robot progressive forming device, characterized in that, Performing the processing method using an intelligent robot progressive forming apparatus as described in any one of claims 1 to 7 includes the following steps: Workpiece clamping involves placing the workpiece on the mold and fixing it in place using a workpiece clamping device. Automatic workpiece positioning: The robot body positions the workpiece using a positioning system. Incremental forming processing: The robot body is started to perform incremental forming processing. During the processing, multi-dimensional force sensors monitor the force data of the robot body on the workpiece in real time and transmit the force data to the adaptive force compensation system. The adaptive force compensation system provides corresponding compensation based on the force data to compensate for the deformation of the forming tool head, ensuring the stability of the processing process and the forming accuracy. The auxiliary floating device provides constant pressure support during the forming process to reduce impact and compensate for deformation. Once the processing is complete, the workpiece is unloaded, thus completing the entire processing procedure.

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