A method and system for controlling the motion trajectory of bearing processing equipment

Abstract

This invention relates to the field of metal plastic processing control technology, and in particular to a method and system for controlling the motion trajectory of bearing processing equipment. The method includes the following steps: before the formal rolling process, under the condition of applying a preset radial detection pressure to the ring blank, acquiring radial position data corresponding to the rotation angle of the ring blank during one revolution of the ring blank, generated by the mandrel to maintain the radial detection pressure, so as to form a detection data sequence characterizing the deformation resistance distribution of the ring blank in the circumferential direction; based on the detection data sequence, generating an axial position compensation sequence to compensate for the uneven deformation resistance; superimposing the axial position compensation sequence onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the formal rolling process; by detecting the deformation resistance distribution of the ring blank before formal processing and generating a compensation sequence superimposed on the preset trajectory, the processing accuracy problem caused by the unevenness of the ring blank material is solved.

Description

Technical Field

[0001] This invention relates to the field of metal plastic processing control, and in particular to a method and system for controlling the motion trajectory of bearing processing equipment. Background Technology

[0002] In the field of heavy equipment manufacturing, particularly in the ring rolling process for large bearing rings, the core lies in controlling the plastic deformation of high-temperature metal ring blanks through the precise coordination of multiple motion axes. Conventional control methods typically involve pre-setting independent, time-based motion commands for the radial and axial rolling systems. These commands are calculated based on an idealized homogeneous material model, aiming to expand the ring blank's diameter and reduce its wall thickness through radial compression, while controlling its height and cross-sectional shape through axial constraints. However, this control logic reveals its inherent limitations when dealing with massive workpieces, as its foundation—"absolute material homogeneity"—is difficult to achieve in reality.

[0003] Specifically, during the rolling process of large, high-value bearing ring blanks with asymmetrical cross-sections, localized but previously unknown structural inhomogeneities inevitably exist within the ring blank material, such as microscopically denser "hard points." These regions exhibit significantly higher deformation resistance at high temperatures compared to surrounding areas. As the ring blank rotates, these regions with higher deformation resistance enter the rolling zone, hindering the radial flow of metal under a predetermined radial pressure. Following the principle of least resistance, the obstructed metal tends to accelerate towards the less axial direction, forming an unexpected metal flow that impacts the axial control mechanism moving along a predetermined trajectory. Because existing control systems cannot anticipate and respond in real-time at high speed to this sudden metal flow caused by localized material property differences, this impact leads to geometric errors on the cross-section corresponding to the inhomogeneous region, resulting in localized bulges or depressions. As the ring blank rotates repeatedly, the error at this point not only solidifies but may even be amplified in subsequent rolling passes, potentially inducing new deformation inhomogeneities in its neighboring regions. Ultimately, this incoordination between radial and axial motion caused by abrupt changes in local deformation resistance results in a wavy profile across the entire circumference of the workpiece, causing it to exceed tolerance requirements and become scrap. Therefore, existing solidification motion trajectory control methods based on ideal homogeneous material models are insufficient to effectively address the inherent local non-uniformity of ring blank materials, and cannot guarantee the processing accuracy and yield of large, high-value ring blanks.

[0004] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method and system for controlling the motion trajectory of bearing processing equipment.

[0006] In a first aspect, the present invention provides a method for controlling the motion trajectory of bearing processing equipment, the method comprising the following steps:

[0007] Before the formal rolling process, under the condition of applying a preset radial detection pressure to the ring blank, the radial position data corresponding to the rotation angle of the ring blank is obtained during the process of the ring blank rotating one revolution, so as to form a detection data sequence characterizing the deformation resistance distribution of the ring blank in the circumferential direction.

[0008] Based on the detection data sequence, an axial position compensation sequence is generated to compensate for the uneven deformation resistance;

[0009] The axial position compensation sequence is superimposed onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the actual rolling process.

[0010] The core innovation of this application lies in obtaining the deformation resistance distribution (detection data sequence) in the circumferential direction of the ring billet through pre-detection before formal processing, and generating an axial position compensation sequence based on this, which is then superimposed on the preset axial rolling motion trajectory. This transforms the inherent and uncertain physical property differences of the ring billet material into a set of definite control correction data corresponding to the circumferential angle position of the ring billet, thereby fundamentally eliminating the radial and axial motion incoordination caused by sudden changes in local deformation resistance and avoiding the generation and accumulation of geometric errors.

[0011] Secondly, a motion trajectory control system for bearing processing equipment is provided, the system comprising:

[0012] The detection data acquisition module is used to acquire, before the formal rolling process, the radial position data generated by the core roller to maintain the radial detection pressure during the rotation of the ring blank, which corresponds to the rotation angle of the ring blank, under the condition of applying a preset radial detection pressure to the ring blank, so as to form a detection data sequence characterizing the deformation resistance distribution of the ring blank in the circumferential direction.

[0013] The compensation sequence generation module is used to generate an axial position compensation sequence for compensating for the uneven deformation resistance based on the detection data sequence.

[0014] The motion trajectory superposition module is used to superimpose the axial position compensation sequence onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the formal rolling process.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] By detecting the deformation resistance distribution of the ring billet before formal processing and generating a compensation sequence superimposed on the preset trajectory, the processing accuracy problem caused by the unevenness of the ring billet material is solved. It has the advantages of being able to adjust the motion trajectory according to the actual deformation resistance distribution of the ring billet, effectively compensating for the impact of material unevenness, and improving processing accuracy and yield. Attached Figure Description

[0017] Figure 1 Flow chart of the method of the present invention.

[0018] Figure 2 This is a schematic diagram of the system structure of the present invention.

[0019] In the diagram: 201, detection data acquisition module; 202, compensation sequence generation module; 203, motion trajectory overlay module. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] Traditional ring rolling processes for large bearing rings rely on precise coordination of multiple motion axes to control the plastic deformation of the high-temperature metal ring blank. Conventional control methods typically involve pre-setting independent, time-based motion commands for the radial and axial rolling systems. These commands are calculated based on an idealized, homogeneous material model. However, this control logic reveals its inherent limitations when dealing with massive workpieces, as its foundation—absolute material homogeneity—is difficult to achieve in reality. The ring blank material contains fixed but previously unknown local structural inhomogeneities, leading to differences in deformation resistance. This makes the pre-set motion trajectory unsuitable for the actual material properties, hindering the handling of these inhomogeneities. A pre-processing method is needed to convert these material differences into definite control correction data. Based on this data, the motion trajectory can be globally pre-compensated before formal processing, eliminating radial and axial motion inconsistencies caused by sudden changes in local deformation resistance and preventing the generation and accumulation of geometric errors.

[0023] For example, suppose a special bearing inner ring with a diameter of three meters and an asymmetrical L-shaped cross-section is being machined in a heavy forging workshop. The ring billet is heated to 1200 degrees Celsius. The machining equipment is equipped with a radial system controlling the horizontal movement of the mandrel and an axial system controlling the vertical movement of the upper and lower axial tapered rollers. The control system stores the preset movement position plans for the mandrel and axial rollers. There are regions in the ring billet with a denser microstructure and higher deformation resistance than the surrounding area. When this region enters the rolling zone, the mandrel applies radial compression according to preset instructions, increasing the deformation resistance and hindering radial flow. The metal accelerates along the axial direction, rushing towards the axial tapered rollers. The axial rollers move according to preset instructions, but unprepared for the impact, resulting in a response delay. Geometric errors exceeding tolerances are formed on the corresponding cross-section in this region. These errors are solidified and amplified as the ring billet rotates, inducing new unevenness. The final workpiece is deemed scrap due to its circumferentially wavy profile.

[0024] If the above problems are not addressed, the differences in local deformation resistance caused by material inhomogeneity will persist, and the pre-set motion trajectory will be unable to adapt to these differences, leading to misalignment of radial and axial movements. Uneven metal flow will cause the generation and accumulation of geometric errors in the workpiece. Especially for large, high-value, asymmetrical cross-section ring billets, these errors may exceed the tolerance range, ultimately leading to workpiece scrap, wasting materials, energy, and production time, and affecting product quality and production efficiency.

[0025] Therefore, this application is as follows Figure 1 The method for controlling the motion trajectory of bearing processing equipment, as shown, includes the following steps:

[0026] S101. Before the formal rolling process, under the condition of applying a preset radial detection pressure to the ring blank, obtain the radial position data corresponding to the rotation angle of the ring blank generated by the core roller in order to maintain the radial detection pressure during the ring blank's rotation, so as to form a detection data sequence characterizing the distribution of deformation resistance in the circumferential direction of the ring blank.

[0027] S102. Based on the detection data sequence, generate an axial position compensation sequence for compensating for uneven deformation resistance;

[0028] S103. The axial position compensation sequence is superimposed onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the formal rolling process.

[0029] To address the issue of localized structural inhomogeneity within bearing ring blank materials, this application provides a motion trajectory control method for bearing processing equipment. This method aims to transform the differences in physical properties of the material into control correction data through pre-processing, without relying on real-time high-speed feedback and complex flow prediction during the processing. Based on this data, the motion trajectory of the processing cycle is pre-compensated globally, eliminating radial and axial motion incoordination caused by sudden changes in local deformation resistance, and avoiding the generation and accumulation of geometric errors.

[0030] The method includes, before the formal rolling process, acquiring radial position data corresponding to the rotation angle of the ring blank during one revolution of the ring blank while applying a preset radial detection pressure to the ring blank, so as to form a detection data sequence characterizing the distribution of deformation resistance in the circumferential direction of the ring blank; based on the detection data sequence, generating an axial position compensation sequence for compensating for uneven deformation resistance; and superimposing the axial position compensation sequence onto a preset axial rolling motion trajectory to form the motion trajectory finally executed in the formal rolling process.

[0031] Among them, the preset radial detection pressure refers to a constant radial force applied before formal processing. This can be achieved through methods such as applying constant pressure with a hydraulic cylinder or force sensor feedback control. Its purpose is to simulate the radial force state during formal rolling to detect the deformation resistance of the ring blank. The radial position data generated by the mandrel to maintain the radial detection pressure, corresponding to the ring blank's rotation angle, refers to the position of the mandrel changing with the ring blank's rotation angle to maintain this pressure. This position data reflects the differences in deformation resistance at different circumferential positions of the ring blank. It can be acquired by the mandrel's displacement sensor, and its purpose is to quantify the distribution of deformation resistance in the circumferential direction of the ring blank. The detection data sequence refers to a data set formed by arranging the radial position data acquired during one rotation of the ring blank according to the rotation angle. Its purpose is to convert the differences in the physical properties of the ring blank into processable digital information. Characterizing the distribution of deformation resistance in the circumferential direction of the ring blank refers to the detection... The measured data sequence reflects the differences in the ring blank's ability to resist plastic deformation at different circumferential positions. The axial position compensation sequence refers to a set of axial position correction values ​​corresponding to the ring blank's rotation angle, calculated based on the measured data sequence. Its purpose is to adjust the position of the axial rollers to counteract the uneven axial metal flow caused by uneven deformation resistance. The preset axial rolling motion trajectory refers to the axial roller motion path pre-planned according to the ideal uniform material model and product design requirements. Its purpose is to achieve axial forming of the ring blank under ideal conditions. Superposition refers to the mathematical combination of the values ​​of the axial position compensation sequence and the preset axial rolling motion trajectory. Its purpose is to introduce corrections based on the preset trajectory to form the actual executed trajectory. The final executed motion trajectory refers to the path that actually controls the axial roller motion during formal rolling processing, obtained by superimposing the compensation sequence onto the preset trajectory. Its purpose is to address the uneven deformation resistance of the ring blank by adjusting the axial motion.

[0032] This application's solution employs a pre-detection stage. Before the formal rolling process begins, the radial position change of the mandrel as it rotates one revolution with the ring blank under constant radial detection pressure is used to quantify the difference in deformation resistance along the circumference of the ring blank, forming a detection data sequence. This sequence directly reflects the inhomogeneity of the ring blank material. Next, based on this detection data sequence, a set of axial position compensation values ​​corresponding to the circumferential angle of the ring blank is calculated, forming an axial position compensation sequence. The magnitude and direction of this compensation sequence are correlated with the detected differences in deformation resistance, aiming to counteract abnormal axial metal flow caused by varying local deformation resistance. Finally, this axial position compensation sequence is superimposed on an axial rolling motion trajectory preset according to ideal conditions. The superimposed trajectory becomes the actual motion path executed by the axial roller during the formal rolling process. When the ring blank rotates to a region with high deformation resistance, the superimposed trajectory instructs the axial roller to make corresponding axial adjustments, such as appropriately retracting or advancing, to restrict or guide the axial flow of metal, thereby compensating for axial overflow or insufficiency caused by obstructed radial deformation. In this way, the movement of the axial rollers can dynamically adapt to the actual non-uniformity of the ring blank material during the entire circumferential machining process, maintain the uniformity of the cross-sectional shape, and avoid the generation and accumulation of geometric errors.

[0033] As one embodiment of the present invention, the step of generating an axial position compensation sequence for compensating for uneven deformation resistance based on the probe data sequence includes:

[0034] Frequency statistics were performed on the radial position data in the detection data sequence to determine the radial position data with the highest frequency as a reference benchmark for characterizing the deformation resistance of the ring billet matrix.

[0035] Based on the deviations between the radial position data in the probe data sequence and the reference datum, an axial position compensation sequence is generated to compensate for uneven deformation resistance.

[0036] Among them, the radial position data in the detection data sequence refers to the radial position measurement value corresponding to the rotation angle of the ring billet, obtained during one rotation of the ring billet under the condition of applying a preset radial detection pressure. It reflects the deformation resistance distribution in the circumferential direction of the ring billet. Frequency statistics refer to counting and analyzing the radial position data in the detection data sequence to determine the frequency of each radial position value. The radial position data with the highest frequency refers to the radial position value that appears most frequently in the frequency statistics results, which can be used as a reference value representing the overall deformation resistance level of the ring billet. The reference benchmark characterizing the deformation resistance of the ring billet matrix refers to a selected value. The value representing the deformation resistance level of the main body of the ring blank can be determined from the probe data using statistical methods, such as the highest frequency value, average value, or median value. The deviation of each radial position data from the reference datum refers to the difference between each radial position data in the probe data sequence and the selected reference datum. This deviation quantifies the difference between the deformation resistance of the ring blank at different circumferential positions and the deformation resistance of the matrix. The axial position compensation sequence used to compensate for uneven deformation resistance refers to a set of axial position correction values ​​corresponding to the circumferential angle of the ring blank. This sequence can be one or more independent sequences used to adjust the axial movement trajectory during the formal rolling process to offset the axial deformation differences caused by uneven deformation resistance of the ring blank.

[0037] The proposed method identifies the most frequently occurring radial position values ​​along the circumference of the ring billet by performing frequency statistics on the radial position data in the probe data sequence. This most frequently occurring value represents the deformation resistance level of the main body of the ring billet and is therefore determined as a reference benchmark characterizing the deformation resistance of the ring billet matrix. The most frequently occurring value is chosen as the reference benchmark because it effectively eliminates the influence of individual abnormal data caused by local hard points or measurement noise, thus obtaining a stable and representative benchmark value. Based on this, the method further calculates the deviation between each radial position data in the probe data sequence and this reference benchmark. This deviation value directly reflects the degree of difference between the deformation resistance of the ring billet at the corresponding circumferential position and the deformation resistance of the matrix. Based on these deviation values, the method generates an axial position compensation sequence to compensate for uneven deformation resistance. The larger the deviation, the more the deformation resistance at that position deviates from the matrix level, and the required axial compensation amount is adjusted accordingly. This method transforms the inherent material inhomogeneity of the ring billet into quantifiable deviation information and uses this as a basis to generate a refined axial compensation sequence. This compensation sequence is superimposed on the preset axial rolling motion trajectory, allowing the axial movement to be dynamically adjusted according to the actual deformation resistance distribution along the circumference of the ring billet. For example, in areas with high deformation resistance, radial deformation is hindered, and the metal tends to flow axially. In this case, increasing the restriction or adjustment in the axial direction through the compensation sequence can counteract this additional axial flow and prevent the formation of local "humps." Conversely, in areas with low deformation resistance, radial deformation is relatively easy, and axial flow may be insufficient. In this case, adjusting the axial movement through the compensation sequence can promote or restrict axial flow, ensuring the uniformity of the cross-sectional shape. Through this compensation sequence generation mechanism based on statistical reference benchmarks and deviations, this scheme can effectively transform the ring billet material characteristic information obtained from pre-detection into precise motion control commands, thereby achieving effective compensation for uneven deformation resistance of the ring billet during the formal rolling process and significantly reducing geometric errors caused by material inhomogeneity.

[0038] As one embodiment of the present invention, the step of generating an axial position compensation sequence for compensating for uneven deformation resistance based on the deviation of each radial position data in the probe data sequence from a reference datum includes:

[0039] Based on the deviation and combined with the preset allocation rules for the asymmetric cross-sectional features of the ring billet, at least two independent axial position compensation values ​​are generated for each rotation angle position of the ring billet.

[0040] At least two independent axial position compensation values ​​are combined to form at least two independent axial position compensation sequences.

[0041] The pre-defined allocation rule for the asymmetric cross-sectional characteristics of the ring billet refers to a predetermined mapping relationship or calculation model used to calculate the axial compensation amount for different directions or regions of the ring billet at a given rotation angle position based on the detected radial position deviation. This allocation rule considers the asymmetry of the ring billet cross-section, such as the stiffness differences or deformation modes of an L-shaped cross-section in different directions. Specifically, it can be a mathematical function, a lookup table, or a model trained based on historical data, aiming to transform a single radial deviation into multiple axial compensation components reflecting local deformation requirements. At least two independent axial position compensation values ​​refer to multiple axial compensation amounts calculated for the ring billet at a given rotation angle position, used to compensate for deformation in different directions or regions at that position. These compensation amounts are not directly dependent on each other or correlated in a fixed proportion and can be adjusted independently to match the deformation mode of the asymmetric cross-section. At least two independent axial position compensation sequences refer to multiple axial compensation data sets formed by arranging and combining at least two independent axial position compensation values ​​generated at each rotation angle position during one revolution of the ring billet, according to the rotation angle sequence. Each sequence corresponds to a specific compensation mode or direction, which can be applied independently to subsequent motion trajectory control.

[0042] The proposed solution, after obtaining the deformation resistance distribution along the circumference of the ring billet and calculating the deviations from the reference at each angular position, no longer generates a single axial compensation value. Instead, it introduces a pre-defined allocation rule tailored to the asymmetric cross-sectional characteristics of the ring billet. Because this allocation rule considers the deformation characteristics of the asymmetric cross-section in different directions, it enables the generation of at least two independent axial position compensation values ​​for each rotational angular position of the ring billet based on the deviation. These independent compensation values ​​reflect the axial deformation requirements of the ring billet in different directions or regions at that position. Subsequently, these at least two independent axial position compensation values ​​are combined according to the rotational angle sequence to form at least two independent axial position compensation sequences. Thus, the entire method delves into the local deformation compensation considering cross-sectional characteristics, moving beyond simply generating a single compensation sequence based on circumferential deviations, thereby solving the problem. This combination addresses the issue that generating a single compensation sequence based solely on circumferential deviations cannot compensate for the influence of asymmetric cross-sections, enabling the compensation to match the actual deformation requirements of the ring billet at different angles and in different cross-sectional directions.

[0043] As one embodiment of the present invention, the step of generating at least two independent axial position compensation values ​​for each rotation angle position of the ring blank, based on the deviation and in conjunction with a preset allocation rule for the asymmetric cross-sectional characteristics of the ring blank, includes:

[0044] Pre-set multiple allocation rules corresponding to multiple rolling passes;

[0045] When performing a certain rolling pass, the allocation rule corresponding to that rolling pass is invoked, and based on the deviation and the invoked allocation rule, at least two independent axial position compensation values ​​are generated for each rotation angle position of the ring billet for that rolling pass.

[0046] Among them, rolling passes refer to each complete rolling process that the ring blank undergoes in the ring rolling mill. Usually, the processing of a ring blank requires multiple passes to gradually achieve the final size and shape. The allocation rule refers to the mathematical model or algorithm that converts radial position deviation information into axial position compensation values. It can be implemented using empirical formulas, lookup tables, or machine learning models. At least two independent axial position compensation values ​​refer to calculating at least two independent compensation values ​​for the same rotation angle position of the ring blank. These values ​​are applied to different axial control mechanisms to compensate for possible asymmetric deformation of the ring blank cross section.

[0047] This application's solution pre-sets multiple sets of allocation rules for various rolling passes. When executing a specific rolling pass, it invokes the allocation rule corresponding to that pass and generates an axial position compensation value for each rotation angle position of the ring billet based on the detected deviation information. This approach eliminates reliance on a fixed set of rules for generating axial position compensation values. Instead, it allows for a more targeted calculation model based on the actual deformation characteristics and stress state of the ring billet at different rolling stages. Since the ring billet's geometry, material flow characteristics, and the interaction between the equipment and the workpiece are constantly changing during rolling, using pass-related allocation rules can more accurately capture these changes, thus generating compensation values ​​that better reflect the current state. This, combined with the basic scheme based on detection data and asymmetric compensation, enables the entire motion trajectory control method to more effectively handle complex deformations caused by the ring billet's material inhomogeneity and cross-sectional asymmetry. Especially during multi-pass progressive forming, it can continuously optimize the compensation effect and avoid error accumulation. It is precisely the application of this pass-related allocation rule that allows the compensation value to more accurately reflect the deformation requirements of the ring billet in a specific pass, thereby improving the accuracy of compensation.

[0048] As one embodiment of the present invention, the step of pre-setting multiple sets of allocation rules corresponding to multiple rolling passes includes:

[0049] The allocation rules are organized into multiple sets of allocation rules, and each set of allocation rules is associated with a preset range of wear status parameters that reflect the cumulative usage of the equipment.

[0050] Before processing a ring blank, obtain the current wear state parameters;

[0051] Based on the current wear state parameters and their corresponding relationships, a set of allocation rules is determined from multiple sets of allocation rules to serve as a pre-set set of allocation rules for the ring blank.

[0052] Among them, the allocation rule refers to the method of generating at least two independent axial position compensation values ​​based on each rotation angle position of the ring blank with deviation, which can be implemented by mathematical model, lookup table or functional relationship; the allocation rule set refers to the collection of multiple sets of allocation rules; the wear state parameter refers to the quantitative index reflecting the cumulative use of the equipment, which can be implemented by cumulative processing volume, key component size change or equipment running time; the preset interval refers to the division range of the wear state parameter; the correspondence relationship refers to the association between the allocation rule set and the preset interval.

[0053] This application's solution establishes a correlation between allocation rules and equipment wear status by organizing allocation rules into multiple sets and mapping each set to a preset range of wear status parameters reflecting the cumulative usage of the equipment. Before processing the ring blank, the current wear status parameters, reflecting the current wear level of the equipment, are obtained. Based on the current wear status parameters and the preset correspondence, a set of allocation rules most suitable for the current equipment status is determined from the multiple sets of allocation rules. This selected set of allocation rules contains multiple sets of allocation rules for the ring blank, corresponding to multiple rolling passes. During subsequent rolling passes of the ring blank, the system calls the allocation rules for the corresponding passes in this selected set of rules and generates axial position compensation values ​​for each rotation angle position of the ring blank for that rolling pass based on the deviation in the detection data sequence. This method of dynamically selecting allocation rule sets based on equipment wear status allows the allocation rules to better adapt to changes in equipment status and improves the accuracy of generating axial position compensation values ​​based on deviations. By combining the method in the prior scheme of generating a compensation sequence based on the probe data sequence and superimposing it on the preset trajectory, this more accurate compensation value generation process enables the final axial position compensation sequence to more effectively compensate for the uneven deformation resistance of the ring blank. Thus, in the formal rolling process, by executing the superimposed motion trajectory, the ring blank can be precisely formed, overcoming the adverse effects of equipment wear on processing accuracy.

[0054] In one embodiment of the present invention, the current wear state parameter is a cumulative wear value, and the method further includes the step of updating the cumulative wear value:

[0055] Based on the process information of the ring blank to be processed, a wear increment value is determined to characterize the wear contribution of the ring blank to the equipment.

[0056] After the ring blank is processed, the wear increment value is added to the cumulative wear value.

[0057] The current wear status parameter is a cumulative wear value, which is a quantitative indicator reflecting the degree of wear accumulated by the equipment since it was put into use or since a specific point in time due to the processing of ring blanks. It can be stored and represented by a numerical variable. The process information of the ring blank to be processed refers to the technical parameters and attributes related to the ring blank to be rolled, which may include the material type, size, cross-sectional shape, preheating temperature, and state before processing. Its purpose is to provide basic data for assessing the processing difficulty of the ring blank and its potential wear impact on the equipment. The wear increment value, which characterizes the wear contribution of the ring blank to the equipment, is a value that quantifies the degree of wear that a single ring blank to be processed is expected to cause to the equipment during processing. It can be determined based on the process information of the ring blank, combined with a preset model, empirical formula, or historical data analysis. Its purpose is to quantify the impact of each processing on the equipment for cumulative purposes.

[0058] This application's solution addresses the problems of quantifying equipment wear status and associating it with ring blank processing by defining the current wear status parameter as a cumulative wear value and establishing a mechanism for updating this cumulative wear value. Specifically, before or after processing each ring blank, the system calculates a wear increment value based on the ring blank's process information. This wear increment value reflects the ring blank's contribution to equipment wear. After processing the ring blank, this wear increment value is added to the current cumulative wear value. In this way, the cumulative wear value can be dynamically and accurately updated based on the actual use of the equipment and the processing of different ring blanks. This dynamically updated cumulative wear value, compared to simple cumulative running time or processing quantity, better reflects the actual wear degree of the equipment caused by processing different workpieces. Using this more accurate cumulative wear value as a wear status parameter, and combining it with the correspondence between a preset allocation rule set and the wear status parameter, the system can more accurately select the allocation rule set applicable to the current equipment wear status. These allocation rule sets are then used in the generation process of the axial position compensation sequence. It is precisely because of the accurate update of the cumulative wear value that the selection of the allocation rule set is more in line with the actual equipment condition, thereby improving the accuracy of axial position compensation, effectively compensating for the uneven resistance of ring blank deformation and the impact of equipment wear, and ultimately improving the processing quality of the ring blank.

[0059] As one embodiment of the present invention, the step of determining a wear increment value characterizing the wear contribution of the ring blank to the equipment based on the process information of the ring blank to be processed includes:

[0060] Based on the process information of the ring blank to be processed, a wear increment value that characterizes the wear contribution of the ring blank to the equipment is initially determined;

[0061] Obtain actual processing data and equipment wear information for different ring blanks during historical processing;

[0062] Based on the actual processing data and equipment wear conditions obtained during historical processing, the initially determined wear increment value is calibrated.

[0063] Among them, actual processing data refers to the attribute information of the ring blank recorded in the historical processing process, which can be achieved by recording the material, size, preset processing parameters, etc. of the ring blank; equipment wear refers to the degree of wear that occurred in the equipment in the historical processing process, which can be achieved by measuring the wear of key components of the equipment, recording the equipment running time, or the number of ring blanks processed; calibrating the initially determined wear increment value refers to correcting the initially determined wear increment value based on the relationship between the historical processing data and the equipment wear, which can be achieved by establishing a mathematical model, consulting a calibration table, or applying machine learning algorithms.

[0064] The proposed solution first determines a wear increment value, characterizing the wear contribution of the ring blank to the equipment, based on the process information of the ring blank to be processed. This provides an initial estimate based on the ring blank's own properties. Subsequently, it acquires actual processing data and equipment wear conditions for different ring blanks during historical processing. This historical data reflects the actual wear impact of different types of ring blanks on the equipment during actual processing. Finally, it calibrates the initially determined wear increment value based on the actual processing data and equipment wear conditions acquired during historical processing. This calibration process utilizes historical experience to correct potential biases in preliminary estimates based solely on process information, making the determined wear increment value more accurately reflect the actual wear contribution of the current ring blank to the equipment. The more accurate wear increment value obtained in this way is added to the cumulative wear value, allowing the cumulative wear value to more accurately characterize the actual wear state of the equipment. The allocation rule set selected based on the more accurate cumulative wear value can more appropriately reflect the influence of the asymmetric cross-sectional characteristics of the ring blank on the uneven axial deformation resistance under the current equipment wear state, thereby generating a more accurate axial position compensation sequence and ultimately achieving more precise motion trajectory control of the bearing processing equipment.

[0065] As one embodiment of the present invention, the step of calibrating the initially determined wear increment value includes:

[0066] During subsequent processing, the actual wear and tear of the equipment will be continuously monitored.

[0067] Based on the initially determined wear increment value, the wear condition of the equipment is estimated;

[0068] Based on the difference between the actual wear and the estimated wear, the initially determined wear increment value is iteratively adjusted.

[0069] Continuously acquiring actual equipment wear data refers to periodically or in real-time obtaining data reflecting the wear status of key working components of the equipment during or after ring blank processing, through monitoring or measurement methods. Actual wear can be characterized by measuring physical quantities such as changes in the geometric dimensions, surface roughness, and material loss of working components, or indirectly reflected by monitoring changes in equipment operating parameters. The purpose is to obtain true data on equipment wear as a basis for calibration. Predicting equipment wear involves using the currently determined wear increment value, combined with known processing parameters and equipment status information, to predict the wear state the equipment may reach after completing the current or a certain number of ring blanks processed. Prediction can be achieved through simple cumulative calculations, adding the initial wear increment value to the current cumulative wear value to obtain a predicted cumulative wear value; or through more complex models that consider factors such as processing time and load to predict the wear state at a specific time point or processing volume. The purpose is to transform the initially determined wear increment value into a quantity that can be compared with the actual wear situation. Iterative adjustment refers to correcting the initially determined wear increment value according to a certain algorithm or rule based on the deviation between the actual wear condition and the estimated wear condition, and then using the corrected value for the next estimation and comparison, repeating this process. Iterative adjustment can employ error feedback-based control algorithms, such as proportional-integral-derivative control, or adaptive adjustment methods based on machine learning. Its purpose is to continuously correct the initially determined wear increment value so that it more accurately reflects the wear contribution during the actual processing, thereby reducing the deviation between the estimated and actual values.

[0070] This application's solution, based on the preliminary determination of wear increment values ​​based on the process information of the ring blank to be processed and calibration based on historical data, further introduces an iterative calibration mechanism based on actual processing data. Specifically, during actual processing, the actual wear condition of the equipment is continuously acquired, providing real feedback data on equipment wear. Simultaneously, based on the currently preliminarily determined wear increment value, the wear condition of the equipment after a processing period or completion of a certain task is estimated. The actual monitored wear condition is compared with the estimated wear condition, and the difference between the two is calculated. This difference reflects the deviation between the current preliminary wear increment value and the actual situation. Based on this deviation, the preliminary wear increment value is corrected. The corrected value will be used for subsequent estimation and comparison. By continuously repeating the process of acquiring actual wear, estimating, comparing differences, and adjusting increment values, the preliminary wear increment value will gradually converge, more accurately reflecting the actual wear contribution under the current processing conditions. This more accurate wear increment value is added to the cumulative wear value, making the cumulative wear value closer to the actual wear state of the equipment. The more accurate cumulative wear value is used for the selection of the allocation rule set, thereby selecting an allocation rule more suitable for the current equipment wear state, improving the accuracy and effect of motion trajectory compensation. This iterative calibration based on actual process feedback overcomes the limitations of relying solely on historical data or process information for prediction, significantly improving the robustness and adaptability of the entire method.

[0071] As one embodiment of the present invention, the step of continuously acquiring the actual wear and tear of the equipment during subsequent processing includes:

[0072] Obtain the geometric dimension information of the working parts of the equipment;

[0073] Based on the geometric dimension information, determine the geometric dimension changes of the working parts of the equipment;

[0074] The wear degree of the working parts of the equipment is obtained based on the changes in geometric dimensions, which serves as the actual wear condition of the equipment.

[0075] The working parts of the equipment refer to the equipment components that directly contact the ring blank and plastically deform or restrict it, such as rolling rollers, core rollers, axial tapered rollers, or guide devices. Geometric dimensional information refers to the quantitative data characterizing the physical dimensions of the working parts of the equipment, which may include parameters such as diameter, length, width, contour shape, or surface flatness. These parameters can be obtained using techniques such as contact measurement, optical measurement, or image processing.

[0076] This application's solution establishes a direct monitoring basis for the physical state of the equipment by acquiring the geometric dimensional information of its working components. Based on this geometric dimensional information, the geometric dimensional changes that occur in the working components during use, such as a decrease in diameter or a change in contour, are calculated. These changes directly reflect equipment wear. It is precisely because this physical change can be quantified that the degree of wear of the working components can be accurately determined based on geometric dimensional changes. Using this wear degree based on physical measurements as the actual wear condition of the equipment provides more reliable and accurate data feedback than indirect methods. This accurate actual wear data is crucial for iteratively adjusting the wear increment value based on the difference between the actual and estimated wear conditions in prior schemes. It provides a solid basis for the adjustment process, thereby improving the accuracy of the wear prediction model, optimizing the selection of the allocation rule set, and ultimately improving the accuracy and stability of the motion trajectory control of the bearing processing equipment.

[0077] like Figure 2 The image shows a motion trajectory control system for a bearing processing equipment. The system includes:

[0078] The detection data acquisition module 201 is used to acquire radial position data corresponding to the rotation angle of the ring blank during the ring blank's rotation one revolution, under the condition of applying a preset radial detection pressure to the ring blank before the formal rolling process, so as to form a detection data sequence characterizing the distribution of deformation resistance in the circumferential direction of the ring blank.

[0079] The compensation sequence generation module 202 is used to generate an axial position compensation sequence for compensating for uneven deformation resistance based on the probe data sequence.

[0080] The motion trajectory superposition module 203 is used to superimpose the axial position compensation sequence onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the formal rolling process.

[0081] Some of the technical features involved in this application can be further explained as follows: The detection data acquisition module 201 refers to a hardware or software unit responsible for executing the detection process and acquiring data. It can be implemented using sensors, data acquisition cards, controllers, etc., and its purpose is to acquire the response data of the ring billet under detection pressure. The compensation sequence generation module 202 refers to a hardware or software unit responsible for processing the detection data and calculating the compensation value. It can be implemented using processors, memory, algorithm programs, etc., and its purpose is to convert the detected deformation resistance information into motion commands that can be used for compensation. The motion trajectory superposition module 203 refers to a hardware or software unit responsible for combining the compensation value with the original motion trajectory to generate the final execution trajectory. It can be implemented using controllers, motion planners, software algorithms, etc., and its purpose is to integrate the compensation effect into the actual processing process. The preset radial detection pressure refers to a pre-determined radial force value applied to the ring billet during the detection stage. Its purpose is to simulate the stress state during formal processing in order to obtain real deformation resistance information; radial position data refers to the radial displacement generated by the core roller to maintain the preset radial detection pressure during the detection process, which aims to reflect the difference in radial deformation resistance at different circumferential positions of the ring blank; detection data sequence refers to the data set formed by arranging the radial position data corresponding to the rotation angle obtained during one rotation of the ring blank in sequence, which aims to completely record the deformation resistance distribution characteristics in the circumferential direction of the ring blank; axial position compensation sequence refers to a series of compensation values ​​calculated based on the detection data sequence to correct the axial motion trajectory, which aims to offset the axial deformation deviation caused by uneven deformation resistance; preset axial rolling motion trajectory refers to the motion path of the axial roller during the axial rolling process, which is planned in advance under the condition of ideal uniform material, and aims to provide a basic motion reference for achieving the target cross-sectional shape.

[0082] The solution proposed in this application integrates the motion trajectory control method of bearing processing equipment into the system, thereby achieving effective compensation for uneven deformation resistance of the ring blank. Specifically, before formal processing, the detection data acquisition module 201 obtains a sequence of detection data characterizing the distribution of deformation resistance in the circumferential direction of the ring blank by applying a preset radial detection pressure to the ring blank and recording the radial position change of the core roller. This sequence reflects the differences in deformation characteristics of the ring blank material at different angular positions. Subsequently, the compensation sequence generation module 202 calculates and generates an axial position compensation sequence for compensating for uneven deformation resistance based on the detection data sequence. This sequence includes the axial motion correction amount required for each circumferential position of the ring blank. Finally, the motion trajectory superposition module 203 superimposes the axial position compensation sequence onto the preset axial rolling motion trajectory to form the motion trajectory actually executed in the formal rolling process. By executing this compensated and adjusted motion trajectory, the equipment can automatically adjust the axial motion in areas with high deformation resistance of the ring blank, suppressing excessive axial flow of material, thereby ensuring the uniformity of axial deformation of the ring blank throughout the circumference and avoiding the generation and accumulation of geometric errors caused by material inhomogeneity. This systematic approach makes the original method more practical and easier to deploy and apply in real production environments.

[0083] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A method for controlling the motion trajectory of bearing processing equipment, characterized in that, The method comprises the following steps: Before the formal rolling process, under the condition of applying a preset radial detection pressure to the ring blank, the radial position data corresponding to the rotation angle of the ring blank is obtained during the process of the ring blank rotating one revolution, so as to form a detection data sequence characterizing the deformation resistance distribution of the ring blank in the circumferential direction. Based on the detection data sequence, an axial position compensation sequence is generated to compensate for the uneven deformation resistance; The axial position compensation sequence is superimposed onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the actual rolling process; The step of generating an axial position compensation sequence for compensating for uneven deformation resistance based on the detection data sequence includes: Frequency statistics are performed on the radial position data in the detection data sequence to determine the radial position data with the highest frequency as a reference benchmark for characterizing the deformation resistance of the ring billet matrix; Based on the deviation between each radial position data in the detection data sequence and the reference datum, an axial position compensation sequence is generated to compensate for the uneven deformation resistance.

2. The method for controlling the motion trajectory of a bearing processing equipment according to claim 1, characterized in that, The step of generating the axial position compensation sequence for compensating for the uneven deformation resistance based on the deviation of each radial position data in the detection data sequence from the reference datum includes: Based on the deviation and in conjunction with the preset allocation rules for the asymmetric cross-sectional features of the ring blank, at least two independent axial position compensation values ​​are generated for each rotation angle position of the ring blank. The at least two independent axial position compensation values ​​are combined to form at least two independent axial position compensation sequences.

3. The method for controlling the motion trajectory of bearing processing equipment according to claim 2, characterized in that, The step of generating at least two independent axial position compensation values ​​for each rotational angle position of the ring blank, based on the deviation and in conjunction with a preset allocation rule for the asymmetric cross-sectional characteristics of the ring blank, includes: Pre-set multiple allocation rules corresponding to multiple rolling passes; When performing a certain rolling pass, the allocation rule corresponding to that rolling pass is invoked, and based on the deviation and the invoked allocation rule, at least two independent axial position compensation values ​​are generated for each rotation angle position of the ring blank for that rolling pass.

4. The method for controlling the motion trajectory of bearing processing equipment according to claim 3, characterized in that, The step of pre-setting multiple sets of allocation rules corresponding to multiple rolling passes includes: The allocation rules are organized into multiple sets of allocation rules, and each set of allocation rules is associated with a preset range of wear status parameters that reflect the cumulative usage of the equipment. Before processing a ring blank, obtain the current wear state parameters; Based on the current wear state parameters and their corresponding relationships, a set of allocation rules is determined from the multiple sets of allocation rules to serve as a pre-set set of multiple allocation rules for the ring blank.

5. The method for controlling the motion trajectory of a bearing processing equipment according to claim 4, characterized in that, The current wear status parameter is a cumulative wear value, and the method further includes the step of updating the cumulative wear value: Based on the process information of the ring blank to be processed, a wear increment value is determined to characterize the wear contribution of the ring blank to the equipment. After the ring blank is processed, the wear increment value is added to the cumulative wear value.

6. The method for controlling the motion trajectory of a bearing processing equipment according to claim 5, characterized in that, The step of determining a wear increment value characterizing the wear contribution of the ring blank to the equipment based on the process information of the ring blank to be processed includes: Based on the process information of the ring blank to be processed, a wear increment value that characterizes the contribution of the ring blank to the wear of the equipment is initially determined; Obtain actual processing data and equipment wear information for different ring blanks during historical processing; Based on the actual processing data and equipment wear conditions obtained during the historical processing, the initially determined wear increment value is calibrated.

7. The method for controlling the motion trajectory of a bearing processing equipment according to claim 6, characterized in that, The step of calibrating the initially determined wear increment value includes: During subsequent processing, the actual wear and tear of the equipment will be continuously monitored. Based on the initially determined wear increment value, the wear condition of the equipment is estimated; Based on the difference between the actual wear and the estimated wear, the initially determined wear increment value is iteratively adjusted.

8. The method for controlling the motion trajectory of a bearing processing equipment according to claim 7, characterized in that, The step of continuously acquiring the actual wear and tear of the equipment during subsequent processing includes: Obtain the geometric dimensions of the working parts of the equipment; Based on the geometric dimension information, determine the geometric dimension changes of the working parts of the equipment; The wear degree of the working parts of the equipment is obtained based on the changes in the geometric dimensions, which serves as the actual wear condition of the equipment.

9. A motion trajectory control system for bearing processing equipment, used to execute the motion trajectory control method for bearing processing equipment as described in any one of claims 1-8, characterized in that, The system includes: The detection data acquisition module is used to acquire, before the formal rolling process, the radial position data generated by the core roller to maintain the radial detection pressure during the rotation of the ring blank, which corresponds to the rotation angle of the ring blank, under the condition of applying a preset radial detection pressure to the ring blank, so as to form a detection data sequence characterizing the deformation resistance distribution of the ring blank in the circumferential direction. The compensation sequence generation module is used to generate an axial position compensation sequence for compensating for the uneven deformation resistance based on the detection data sequence. The motion trajectory superposition module is used to superimpose the axial position compensation sequence onto a preset axial rolling motion trajectory to form the final motion trajectory executed in the formal rolling process.

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