Two-way variable curvature special-shaped cylinder roll forming method and system and electronic equipment

Abstract

The application provides a bidirectional variable-curvature special-shaped cylinder roll forming method and system and electronic equipment, and belongs to the technical field of roll forming. The method comprises the following steps: determining a working roll displacement expression of a roll forming equipment based on shape parameters of the roll forming equipment and material performance parameters of a plate; the roll forming equipment comprises a working roll and a servo motor, and the working roll comprises a convex upper roll, a concave lower roll and a concave side roll which mesh to form a variable-curvature forming surface; determining displacement parameters of the working roll based on a plate thickness parameter and the working roll displacement expression; inputting the displacement parameters into a trained network model to obtain servo motor control parameters, inputting the servo motor control parameters into a PI controller, controlling the servo motor, driving the working roll to move and roll forming the plate; and the network model is trained based on a WNN neural network. The application can solve the problems of low processing efficiency and low forming precision in the bidirectional variable-curvature special-shaped cylinder roll forming method.

Description

Technical Field

[0001] This invention relates to the field of roll forming technology, specifically to a method, system, and electronic equipment for roll forming of bidirectional variable curvature irregular cylindrical bodies. Background Technology

[0002] Bidirectional variable curvature irregular-shaped cylindrical bodies not only optimize the cross-sectional shape according to specific application scenarios, thereby improving the structural strength and stiffness to withstand greater loads, but also optimize the flow path of the medium fluid, improving flow performance. Furthermore, bidirectional variable curvature irregular-shaped cylindrical bodies offer numerous advantages such as high space utilization, good anti-tilting performance, and aesthetic appeal. Therefore, bidirectional variable curvature irregular-shaped cylindrical bodies are widely used in industrial fields such as energy storage equipment, aerospace, special vehicles, and shipbuilding.

[0003] Bidirectional variable curvature irregular-shaped cylinders are mainly manufactured using roll bending forming technology. However, due to the variable curvature characteristics in both the transverse and longitudinal directions, the forming difficulty is significantly increased, and traditional processing methods are unable to achieve precise forming. The development of existing roll bending equipment started relatively late, and the level of automation and intelligence is low. Especially in the forming process of bidirectional variable curvature irregular-section cylinders, it is usually necessary to form the transverse and longitudinal directions independently, and the displacement adjustment of the side bending mechanism relies heavily on manual trial and error, resulting in low processing efficiency and difficulty in guaranteeing forming accuracy, which cannot meet the requirements of modern high-precision manufacturing. Summary of the Invention

[0004] In view of this, it is necessary to provide a method, system and electronic equipment for forming bidirectional variable curvature irregular cylindrical bodies by roll bending, so as to solve the technical problems of low processing efficiency and low forming accuracy of existing bidirectional variable curvature irregular cylindrical body roll bending methods.

[0005] To address the aforementioned problems, in a first aspect, the present invention provides a method for forming a bidirectional variable curvature irregular cylindrical body by roll bending, comprising: Based on the shape parameters of the roll bending equipment and the material properties of the sheet metal, the displacement expression of the working roll of the roll bending equipment is determined; the roll bending equipment includes a working roll and a servo motor for driving the working roll to move, and the working roll includes: a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface; Based on the plate thickness parameters and the work roll displacement expression, the displacement parameters of the work roll are determined; The displacement parameters are input into the trained network model to obtain the servo motor control parameters, and the servo motor control parameters are input into the PI controller. The PI controller controls the servo motor to drive the work roll to move and roll bend the sheet material. The network model is obtained by training a WNN neural network using preset displacement parameters of the working roller as samples and corresponding servo motor control parameters as sample labels.

[0006] In one possible implementation, driving the work roll to move and roll-bend the sheet metal includes: After the convex upper roller and concave lower roller are moved to feed the sheet material, the concave side roller is moved to the corresponding position of the first half of the first arc of the sheet material for roll bending. Then, the arcs after the first arc are rolled in sequence, and finally the second half of the first arc is rolled. The forming radius of the first half and the second half of the first arc are the same.

[0007] In one possible implementation, the concave side roller includes: a concave left side roller and a concave right side roller; Among them, the convex upper roller is fixedly set, and the displacement expression of the concave lower roller is determined based on the center distance between the concave lower roller and the convex upper roller, the minimum radius of the concave lower roller, the maximum radius of the convex upper roller, and the thickness of the plate. The displacement expression for the concave left roller is based on the distance and angle between the concave lower roller and the intersection point O. The distances between the concave left roller and intersection point F, and the distances between intersection point O and intersection point F are determined; where intersection point O is the intersection of the movement paths of the concave left roller and the concave right roller, with an included angle... The angle between the moving path of the concave lower roller and the moving path of the concave left roller; the intersection of the concave lower roller with the force direction of the plate and the moving path of the concave left roller. The displacement expression for the concave right-side roller is based on the distance between the concave right-side roller and the intersection point O, the distance between the convex upper roller and the intersection point O, and the included angle. The maximum radius of the convex upper roller, the minimum radius of the concave left roller, and the thickness of the plate are determined.

[0008] In one possible implementation, the expression for the displacement of the concave lower roller is:

[0009] Where L2 is the displacement of the concave lower roller, O1O 21 r is the center distance between the concave lower roller and the convex upper roller. 2min r is the minimum radius of the concave lower roller. 1max t is the maximum radius of the convex upper roller, and t is the thickness of the plate.

[0010] In one possible implementation, the displacement expression for the concave left roller is:

[0011] Where L3 is the displacement of the concave left roller, OO 21 FO is the distance between the concave lower roller and the intersection point O. 32FO is the distance between the concave left roller and the intersection point F, and FO is the distance between the intersection point O and the intersection point F.

[0012] In one possible implementation, the displacement expression for the concave right-side roller is:

[0013] Where L4 is the displacement of the concave right roller, OO 41 Let be the distance between the concave right roller and the intersection point O, and let OO1 be the distance between the convex upper roller and the intersection point O. 1max r is the maximum radius of the convex upper roller. 3min t is the minimum radius of the concave left roller, and t is the thickness of the plate.

[0014] In a second aspect, the present invention also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature irregular cylindrical roll bending forming method as described in any of the preceding claims.

[0015] In one possible implementation, the electronic device is an industrial computer equipped with a multi-axis motion control card, and the electronic device communicates with the servo motor via a PCIe serial port.

[0016] Thirdly, the present invention also provides a bidirectional variable curvature irregular cylindrical body roll bending forming system, including the above-mentioned electronic equipment and roll bending equipment; the roll bending equipment includes a work roll and a servo motor for driving the work roll to move, the work roll includes: a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic equipment.

[0017] In one possible implementation, each work roll corresponds to a pair of servo motors, which control the beginning and end of the work roll respectively to drive the work roll to move.

[0018] The beneficial effects of the above implementation are as follows: The bidirectional variable curvature irregular cylindrical roll bending forming method, system, and electronic equipment provided by the present invention determine the displacement parameters of the work roll through the plate thickness parameters and the displacement expression of the work roll, and input the displacement parameters into the network model trained based on the WNN neural network to obtain the servo motor control parameters. The servo motor control parameters are then input into the PI controller to control the servo motor, thereby driving the work roll to move and roll bend the plate. The present invention combines the WNN neural network with the PI controller to achieve online optimization of the servo motor control parameters. The WNN neural network can quickly determine the motor control parameters, and the PI controller can then adjust the motor control parameters based on feedback. This can improve the dynamic response speed of the work roll and improve the positioning accuracy, thereby solving the technical problems of low processing efficiency and low forming accuracy in the existing bidirectional variable curvature irregular cylindrical roll bending forming method. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of an embodiment of the bidirectional variable curvature irregular cylindrical body roll bending forming method provided by the present invention; Figure 2 The stress analysis diagram for the cylindrical roll bending forming provided by this invention; Figure 3 A schematic diagram of the finite element simulation results of the bidirectional irregular cylindrical body provided by the present invention; Figure 4 A comparison diagram of the first segment of the longitudinal forming curve of the circular arc provided for this invention; Figure 5 Comparison diagram of the second segment of the longitudinal forming curve of the circular arc provided for this invention; Figure 6 A comparison diagram of the third segment of the longitudinal forming curve of the circular arc provided for this invention; Figure 7 A comparison diagram of the first segment of the longitudinal forming curve of the circular arc provided for this invention; Figure 8 This is a schematic diagram of the structure of the dual servo motor synchronously driven work roller provided by the present invention; Figure 9 The sinusoidal signal position response diagram provided by this invention; Figure 10 The motor position angle response curve provided by the present invention; Figure 11A structural diagram of an embodiment of the bidirectional variable curvature irregular cylindrical roll bending forming system provided by the present invention; Figure 12 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] In the description of the embodiments of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] In this embodiment of the invention, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device that includes a series of steps or modules is not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such process, method, product or device.

[0024] The naming or numbering of steps in the embodiments of the present invention does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] This invention provides a method, system, and electronic equipment for forming bidirectional variable curvature irregular cylindrical bodies by roll bending, which will be described below.

[0027] like Figure 1 As shown, the present invention provides a method for forming a bidirectional variable curvature irregular cylindrical body by roll bending, comprising: S101. Based on the shape parameters of the bending equipment and the material property parameters of the sheet metal, determine the expression for the displacement of the working roll of the bending equipment; the bending equipment includes a working roll and a servo motor for driving the movement of the working roll, such as... Figure 2 As shown, the working roller includes: a convex upper roller 201, a concave lower roller 202, and a concave side roller that mesh to form a variable curvature forming surface. The concave side roller includes a concave left side roller 203 and a concave right side roller 204.

[0028] Understandably, the roller assembly of the bending equipment is a variable curvature matching structure, including a convex upper roller 201, a concave lower roller 202, and a concave side roller, which mesh to form a variable curvature forming surface. When the lower roller rises and clamps the sheet 205, the precise fit of the meshing surfaces achieves precise forming of the sheet 205 in the width direction, adapting to the complex curvature requirements of bidirectional variable curvature irregular cylindrical bodies and ensuring forming stability and accuracy. Figure 2 China O 21 To O 22 Indicates the moving path of the concave lower roller 202, O 31 To O 32 Indicates the movement path of the concave left roller 203, O 41 To O 42 This indicates the movement path of the concave right roller 204.

[0029] Shape parameters may include parameters such as the maximum and minimum radius of each working roller, and material performance parameters may include the thickness of the plate.

[0030] S102. Based on the plate thickness parameters and the work roll displacement expression, determine the displacement parameters of the work roll.

[0031] It is understandable that by inputting the thickness parameter of the material to be processed into the displacement expression of the work roll, the displacement parameters that each work roll needs to move can be obtained, so as to control the corresponding work roll to move according to the displacement parameters.

[0032] S103. Input the displacement parameters into the trained network model to obtain servo motor control parameters, and input the servo motor control parameters into the PI controller (proportional-integral feedback controller). Control the servo motor through the PI controller to drive the work roll to move and roll bend the sheet material. The network model is obtained by training a WNN neural network (i.e., a wavelet neural network) using the preset displacement parameters of the working roller as samples and the corresponding servo motor control parameters as sample labels.

[0033] It is understood that this invention synchronously drives the side bending mechanism through a dual servo motor cross-coupling control strategy. Combined with a WNN neural network, the PI controller can automatically adjust control parameters according to changes in operating conditions, improving the dynamic tracking accuracy of the motor position angle. This drive strategy eliminates the instability factors such as mechanical backlash and transmission errors inherent in traditional intermediate shaft transmission structures.

[0034] The purpose of this invention is to address the problems existing in the production and manufacturing of bidirectional variable curvature irregular cylindrical bodies by proposing a servo roller bending equipment and forming method for irregular cylindrical bodies based on bidirectional springback compensation, thereby solving the problems of low forming efficiency and poor precision of bidirectional irregular cross-section cylindrical bodies.

[0035] The bidirectional variable curvature irregular cylindrical roll bending forming method provided by the present invention includes: establishing a bidirectional springback compensation mathematical model to accurately calculate the lateral bending displacement; eliminating the traditional intermediate drive shaft, adopting dual servo motors to synchronously drive the lateral bending mechanism, correcting the synchronization error in real time through a cross-coupling synchronous control strategy, and using a WNN neural network to optimize the controller parameters online to improve dynamic response and positioning accuracy; and constructing a "computer + motion control card" joint control system to achieve the synergy of human-computer interaction and real-time motion control, ensuring automated operation and high-precision forming of the equipment.

[0036] The present invention has the following beneficial effects: 1. This invention establishes a mathematical model for bidirectional variable curvature irregular cylindrical body roll bending forming, and combines it with the variable curvature matching structure design of the working roll group to achieve synchronous precision forming of sheet metal in both the horizontal and vertical directions. Compared with traditional processing technology, this invention greatly improves processing accuracy and production efficiency. 2. This invention synchronously drives the side bending mechanism through a dual servo motor cross-coupling control strategy, eliminating unstable factors such as mechanical backlash and transmission error caused by elastic deformation during load transmission of the intermediate shaft transmission structure.

[0037] In some embodiments, driving the work roll to move and roll-bend the sheet metal includes: After the convex upper roller 201 and concave lower roller 202 are moved to feed the plate, the concave side roller is moved to the corresponding position of the first half of the first arc of the plate for roll bending. Then, the arcs after the first arc are rolled in sequence, and finally the second half of the first arc is rolled. The forming radius of the first half and the second half of the first arc are the same.

[0038] Understandably, the sheet metal is formed using a segmented roll bending process along its length. The first segment's arc is divided into two halves at its midpoint, with the first half formed first. The remaining segments are then formed sequentially, and finally, the second half of the first segment is formed. This method ensures consistent forming radii at both ends, achieving precise jointing and high-precision forming along the length.

[0039] In some embodiments, the concave side roller includes: a concave left side roller 203 and a concave right side roller 204; The convex upper roller 201 is fixedly installed, and the displacement expression of the concave lower roller 202 is determined based on the center distance between the concave lower roller 202 and the convex upper roller 201, the minimum radius of the concave lower roller 202, the maximum radius of the convex upper roller 201, and the thickness of the plate. The displacement expression of the concave left roller 203 is based on the distance and angle between the concave lower roller 202 and the intersection point O. The distances between the concave left roller 203 and intersection point F, and the distances between intersection point O and intersection point F are determined; where intersection point O is the intersection of the moving path of the concave left roller 203 and the moving path of the concave right roller 204, and the included angle is... The angle between the moving path of the concave lower roller 202 and the moving path of the concave left roller 203, i.e. the tilt angle of the concave left roller 203, is the intersection point between the concave lower roller 202 and the force direction of the plate and the moving path of the concave left roller 203. The displacement expression of the concave right side roller 204 is based on the distance between the concave right side roller 204 and the intersection point O, the distance between the convex upper roller 201 and the intersection point O, and the included angle. The maximum radius of the convex upper roller 201, the minimum radius of the concave left roller 203, and the thickness of the plate are determined.

[0040] It is understood that the upper working roll is a convex variable curvature structure, and the lower working roll is a concave variable curvature structure that meshes with it. The side working rolls also adopt a concave variable curvature structure and mesh with the upper working roll. When the lower working roll rises and engages with the upper working roll to clamp the sheet metal, the precise fit of the variable curvature meshing surfaces achieves accurate forming of the sheet metal in the width direction. This structural design can effectively adapt to the complex curvature changes required for bidirectional variable curvature irregular-shaped cylinders, ensuring the stability and accuracy of the forming process.

[0041] In some embodiments, the displacement expression of the concave lower roller 202 is:

[0042] Where L2 is the displacement of the concave lower roller 202, and O1O 21 r is the center distance between the concave lower roller 202 and the convex upper roller 201. 2min r is the minimum radius of the concave lower roller 202. 1max t is the maximum radius of the convex upper roller 201, and t is the thickness of the plate.

[0043] The displacement expression for the concave left roller 203 is:

[0044] Where L3 is the displacement of the concave left roller 203, OO 21 FO is the distance between the concave lower roller 202 and the intersection point O. 32 FO is the distance between the concave left roller 203 and the intersection point F, and FO is the distance between the intersection point O and the intersection point F.

[0045] The displacement expression for the concave right-side roller 204 is:

[0046] Where L4 is the displacement of the concave right roller 204, OO 41 OO1 is the distance between the concave right roller 204 and the intersection point O, and OO1 is the distance between the convex upper roller 201 and the intersection point O. 1max r is the maximum radius of the convex upper roller 201. 3min t is the minimum radius of the concave left roller 203, and t is the thickness of the plate.

[0047] Understandably, the mathematical model for bidirectional variable curvature irregular cylindrical roll bending is established as follows: 1) Technical parameters of the roll bending equipment: Maximum diameter D of the upper roll 1max Minimum diameter D of the upper roller 1min The maximum diameter D of the lower roller 2max The minimum diameter D of the lower roller 2min The maximum diameter D of the lower roller 2max The minimum diameter D of the lower roller 2min Side roller tilt angle Maximum coil thickness t max Minimum coil thickness t min Minimum forming radius R of sheet metal min .

[0048] 2) Material parameters: elastic modulus E, yield stress σs, relative hardening factor K0, shape factor K1.

[0049] 3) Based on the shape characteristics of the bidirectional variable curvature irregular cylinder and the known material properties, the relationship between the radii of the plate before and after springback is derived analytically:

[0050] This leads to the displacement expressions for each of the aforementioned working rollers.

[0051] The present invention also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature irregular cylindrical roll bending forming method as described in any of the preceding claims.

[0052] In some embodiments, the electronic device is an industrial computer equipped with a multi-axis motion control card, and the electronic device communicates with the servo motor via a PCIe serial port.

[0053] It is understood that this invention adopts a combined control architecture of computer and motion control card. Hardware layer: The computer serves as the upper-level main control unit, and a motion control card is configured to achieve high-precision real-time control. A data channel between the upper and lower-level computers is established through a high-speed communication bus. Software layer: The upper-level computer develops a human-machine interface that includes functions such as process parameter setting, motion trajectory planning, and real-time status monitoring. The lower-level computer implements real-time control algorithms including position closed-loop control and speed planning. The bidirectional variable curvature irregular cylindrical body roll bending forming method provided by this invention is applicable to cylindrical bodies of any cross-sectional shape. In some embodiments, a bidirectional variable curvature irregular cylindrical body with a four-segment near-elliptical cross-section is used as an example for illustration. The specific steps are as follows: 1. Obtain the technical parameters of the roll bending equipment and the parameters of the sheet metal. Technical parameters of the roll bending equipment: Maximum diameter D of the upper work roll (i.e., convex upper roll 201) 1max =440mm; Minimum diameter D of upper working roller 1min =260mm; Maximum diameter D of the lower work roll (i.e., concave lower roll 202) 2max =440mm; Minimum diameter D of the lower work roll 2min =260mm; Maximum diameter D of the side work roller (i.e., concave side roller) 3max =360mm; Minimum diameter D of the side work roller 3min =180mm; Side work roller tilt angle =15°.

[0054] The selected material is 5083-O aluminum alloy: elastic modulus E = 70300 MPa; yield stress σ s =145Mpa; plate thickness t=6mm; plate relative strengthening coefficient K0=3.3, plate cross-sectional shape coefficient K1=1.5.

[0055] 2. Two-way variable curvature irregular cylindrical body roll bending process (1) The working roll assembly adopts a variable curvature matching structure design, specifically including: the upper working roll is a convex variable curvature structure, the lower working roll is a concave variable curvature structure that meshes with it, and the side working rolls also adopt a concave variable curvature structure and mesh with the upper working roll. When the lower working roll rises and cooperates with the upper working roll to clamp the plate, the precise fit of the variable curvature meshing surfaces achieves precise forming of the plate in the width direction. This structural design can effectively adapt to the complex curvature change requirements of bidirectional variable curvature irregular cylindrical bodies, ensuring the stability and accuracy of the forming process.

[0056] (2) The upper and lower working rollers work together to feed the sheet metal. The side working roller moves to the forming position corresponding to the first half of the first arc (i.e., the first half of the first arc) for roll bending. Through continuous displacement adjustment of the side working roller, the roll bending of each subsequent arc is completed in sequence. Finally, the forming operation is performed on the last half of the first arc (i.e., the last half of the first arc). Ensure that the forming radius of the initial segment and the end segment remains strictly consistent, thereby achieving precise matching of the sheet metal joint and finally completing the high-precision roll bending of the sheet metal in the length direction.

[0057] 3. Mathematical Model for Bidirectional Variable Curvature Irregular Cylindrical Roll Bending like Figure 2 middle, The angle between the direction of force applied by the upper work roll and the direction of force applied by the lower work roll and the same direction of force applied by the material. The angle between the direction of force applied to the lower work roll and the material and the line connecting the center points of the upper and lower work rolls. The angle of deflection of the board relative to the centerline. The angle between the direction of force applied to the material by the left working roller and the direction of movement of the right working roller. and The structure is determined by the roller bending equipment. It is obtained through analytical methods: Lower working roll travel distance :

[0058] Left working roller travel distance :

[0059] Right side working roller travel distance :

[0060] Based on the forming radius of each processed arc segment, the displacement of multiple side rollers can be obtained.

[0061] 4. Finite element verification of roll bending process (1) An example is a bidirectional variable curvature irregular cylindrical body with four arc sections. The first arc section has a forming radius of R1 = 760 mm, the second arc section has a forming radius of R2 = 644.4 mm, the third arc section has a forming radius of R3 = 760 mm, and the fourth arc section has a forming radius of R4 = 644.4 mm. Finite element simulation of segmented roll bending forming is performed on the above example, such as... Figure 3 As shown.

[0062] (2) The simulation results were used to obtain three sets of coordinate points for each arc segment along the length of the plate, and the forming radius of each arc segment was obtained, as shown in Tables 1 to 4.

[0063] Table 1: First Arc Segment of Bidirectional Variable Curvature Irregular Cylindrical Body

[0064] Table 2: Second Arc Segment of Bidirectional Variable Curvature Irregular Cylindrical Body

[0065] Table 3: Third segment arc of bidirectional variable curvature irregular cylindrical body

[0066] Table 4: The fourth arc segment of the bidirectional variable curvature irregular cylindrical body

[0067] The forming error of each arc segment is less than 1.52%. Four sets of coordinate values ​​(a total of 21 node coordinates) are extracted along the width direction of the sheet material, resulting in the following: Figure 4-7 The comparison diagram of the forming curve in the longitudinal section of the bidirectional irregular cylindrical body and the arc of the upper working roll shown shows that the forming error of each segment is less than 4.84%, and the overall forming quality is high. This verifies the effectiveness of the roll bending mathematical model and that the meshing structure of the upper and lower working rolls can realize the roll bending forming of bidirectional variable curvature irregular cylindrical bodies.

[0068] 5. Synchronous drive control strategy for side bending mechanism (1) The two ends of the side working roller are driven by separate motors, such as Figure 8 As shown, the drive motor uses a WNN neural network to optimize controller parameters online to improve dynamic response and positioning accuracy. The simulation results are compared with those of a traditional PI controller permanent magnet synchronous motor position control model. Figure 9 As shown, the PI controller optimized based on the WNN neural network improves the tracking accuracy by 67% compared to the traditional PI controller.

[0069] (2) The servo motors on both sides adopt a cross-coupling synchronous control strategy, thereby eliminating unstable factors such as mechanical backlash and transmission error caused by elastic deformation when the load is transmitted by the traditional intermediate shaft. Different loads are applied to the motors on both sides to obtain the following results: Figure 10 The motor position angle response curve shown has a maximum synchronization error of 1.4° and converges to 0 in 0.07s, which can achieve high-precision positioning and dynamic response of the side bending mechanism.

[0070] 6. Roll bending equipment control system This invention employs, as follows Figure 11 The intelligent collaborative control architecture of "computer + motion control card" shown enables automated and precise control of the roller bending equipment.

[0071] (1) Hardware architecture: an industrial-grade computer is used as the host control unit, and a multi-axis motion control card is configured to achieve high-precision real-time control. A point-to-point data transmission channel is established through the PCIe high-speed serial interface.

[0072] (2) Software system: The host computer develops a human-machine interface that includes functions such as process parameter setting, motion trajectory planning, and real-time status monitoring. The slave computer implements real-time control algorithms including position closed-loop control, speed planning, and I / O processing, and establishes a real-time communication protocol based on EtherCAT industrial Ethernet to ensure the timeliness of control commands.

[0073] (3) Control functions: realize the visualization setting and storage of process parameters, online planning of the movement trajectory of the side working roller, have fault self-diagnosis and alarm functions, and support the collection and analysis of production data.

[0074] The present invention also provides a bidirectional variable curvature irregular cylindrical body roll bending forming system, including the above-mentioned electronic equipment and roll bending equipment; the roll bending equipment includes a work roll and a servo motor for driving the work roll to move, the work roll includes: a convex upper roll 201, a concave lower roll 202 and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic equipment.

[0075] In some embodiments, each working roller corresponds to a pair of servo motors, which control the beginning and end of the working roller respectively to drive the working roller to move.

[0076] like Figure 12 As shown, the above-mentioned electronic device 1200 includes a processor 1201, a memory 1202, and a display 1203. Figure 12 Only some components of the electronic device 1200 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0077] In some embodiments, memory 1202 may be an internal storage unit of electronic device 1200, such as a hard disk or memory of electronic device 1200. In other embodiments, memory 1202 may also be an external storage device of electronic device 1200, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 1200.

[0078] Furthermore, the memory 1202 may include both internal storage units of the electronic device 1200 and external storage devices. The memory 1202 is used to store application software and various types of data installed on the electronic device 1200.

[0079] In some embodiments, processor 1201 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 1202 or process data, such as the bidirectional variable curvature irregular cylindrical body roll bending forming method of the present invention.

[0080] In some embodiments, display 1203 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 1203 is used to display information from electronic device 1200 and to display a visual user interface. Components 1201-1203 of electronic device 1200 communicate with each other via a system bus.

[0081] In some embodiments of the present invention, when the processor 1201 executes the bidirectional variable curvature irregular cylindrical body roll bending forming program in the memory 1202, the following steps can be implemented: Based on the shape parameters of the roller bending equipment and the material property parameters of the sheet metal, the displacement expression of the working roller of the roller bending equipment is determined; the roller bending equipment includes a working roller and a servo motor for driving the working roller to move, the working roller includes: a convex upper roller 201, a concave lower roller 202 and a concave side roller that mesh to form a variable curvature forming surface; Based on the plate thickness parameters and the work roll displacement expression, the displacement parameters of the work roll are determined; The displacement parameters are input into the trained network model to obtain the servo motor control parameters, and the servo motor control parameters are input into the PI controller. The PI controller controls the servo motor to drive the work roll to move and roll bend the sheet material. The network model is obtained by training a WNN neural network using preset displacement parameters of the working roller as samples and corresponding servo motor control parameters as sample labels.

[0082] It should be understood that when the processor 1201 executes the bidirectional variable curvature irregular cylindrical body roll bending forming program in the memory 1202, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0083] Furthermore, the embodiments of the present invention do not specifically limit the type of the electronic device 1200 mentioned. The electronic device 1200 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 1200 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0084] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the bidirectional variable curvature irregular cylindrical body roll bending forming method provided by the above methods, the method comprising: Based on the shape parameters of the roller bending equipment and the material property parameters of the sheet metal, the displacement expression of the working roller of the roller bending equipment is determined; the roller bending equipment includes a working roller and a servo motor for driving the working roller to move, the working roller includes: a convex upper roller 201, a concave lower roller 202 and a concave side roller that mesh to form a variable curvature forming surface; Based on the plate thickness parameters and the work roll displacement expression, the displacement parameters of the work roll are determined; The displacement parameters are input into the trained network model to obtain the servo motor control parameters, and the servo motor control parameters are input into the PI controller. The PI controller controls the servo motor to drive the work roll to move and roll bend the sheet material. The network model is obtained by training a WNN neural network using preset displacement parameters of the working roller as samples and corresponding servo motor control parameters as sample labels.

[0085] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0086] The bidirectional variable curvature irregular cylindrical body roll bending forming method, system and electronic equipment provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principle and implementation of the present invention. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for forming a bidirectional variable curvature irregular cylindrical body by roll bending, characterized in that, include: Based on the shape parameters of the bending equipment and the material properties of the sheet metal, the expression for the working roll displacement of the bending equipment is determined. The roller bending equipment includes a work roll and a servo motor for driving the work roll to move. The work roll includes a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface. Based on the plate thickness parameters and the work roll displacement expression, the displacement parameters of the work roll are determined; The displacement parameters are input into the trained network model to obtain the servo motor control parameters, and the servo motor control parameters are input into the PI controller. The PI controller controls the servo motor to drive the work roll to move and roll bend the sheet material. The network model is obtained by training a WNN neural network using the preset displacement parameters of the working roller as samples and the corresponding servo motor control parameters as sample labels. The process of driving the work rolls to move and roll-bend the sheet metal includes: After the convex upper roller and concave lower roller move to feed the sheet material, the concave side roller moves to the corresponding position of the first half of the first arc of the sheet material for roll bending. Then, the arcs after the first arc are rolled in sequence, and finally the second half of the first arc is rolled. The forming radius of the first half and the second half of the first arc are the same. The concave side roller includes: a concave left side roller and a concave right side roller; Among them, the convex upper roller is fixedly set, and the displacement expression of the concave lower roller is determined based on the center distance between the concave lower roller and the convex upper roller, the minimum radius of the concave lower roller, the maximum radius of the convex upper roller, and the thickness of the plate. The displacement expression for the concave left roller is based on the distance and angle between the concave lower roller and the intersection point O. The distances between the concave left roller and intersection point F, and the distances between intersection point O and intersection point F are determined; where intersection point O is the intersection of the movement paths of the concave left roller and the concave right roller, with an included angle... The angle between the moving path of the concave lower roller and the moving path of the concave left roller; the intersection of the concave lower roller with the force direction of the plate and the moving path of the concave left roller. The displacement expression for the concave right-side roller is based on the distance between the concave right-side roller and the intersection point O, the distance between the convex upper roller and the intersection point O, and the included angle. The maximum radius of the convex upper roller, the minimum radius of the concave left roller, and the thickness of the plate are determined.

2. The bidirectional variable curvature irregular cylindrical body roll bending forming method according to claim 1, characterized in that, The expression for the displacement of the concave lower roller is: Where L2 is the displacement of the concave lower roller, O1O 21 r is the center distance between the concave lower roller and the convex upper roller. 2min r is the minimum radius of the concave lower roller. 1max t is the maximum radius of the convex upper roller, and t is the thickness of the plate.

3. The bidirectional variable curvature irregular cylindrical body roll bending forming method according to claim 1, characterized in that, The displacement expression for the concave left roller is: Where L3 is the displacement of the concave left roller, OO 21 FO is the distance between the concave lower roller and the intersection point O. 32 FO is the distance between the concave left roller and the intersection point F, and FO is the distance between the intersection point O and the intersection point F.

4. The bidirectional variable curvature irregular cylindrical body roll bending forming method according to claim 1, characterized in that, The displacement expression for the concave right-side roller is: Where L4 is the displacement of the concave right roller, OO 41 Let be the distance between the concave right roller and the intersection point O, and let OO1 be the distance between the convex upper roller and the intersection point O. 1max r is the maximum radius of the convex upper roller. 3min t is the minimum radius of the concave left roller, and t is the thickness of the plate.

5. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps of the bidirectional variable curvature irregular cylindrical roll bending forming method as described in any one of claims 1 to 4.

6. The electronic device according to claim 5, characterized in that, The electronic device is an industrial computer equipped with a multi-axis motion control card, and the electronic device communicates with the servo motor via a PCIe serial port.

7. A bidirectional variable curvature irregular cylindrical body roll bending forming system, characterized in that, The device includes the electronic equipment described in claim 5 or 6, and a roll bending equipment; the roll bending equipment includes a work roll and a servo motor for driving the work roll to move, the work roll including: a convex upper roll, a concave lower roll and a concave side roll that mesh to form a variable curvature forming surface; the servo motor is communicatively connected to the electronic equipment.

8. The bidirectional variable curvature irregular cylindrical roll bending forming system according to claim 7, characterized in that, Each work roll corresponds to a pair of servo motors, which control the beginning and end of the work roll to drive its movement.

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