Stretching track processing method, device, equipment, medium and program of stretching component
By acquiring and calculating the trajectory error data of the stretching component and adopting direct incremental and proportional incremental compensation methods, the problem of low trajectory accuracy of the stretching component is solved and the forming accuracy of the part is improved.
Patent Information
- Application Number
- CN202411580143.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-07
- Publication Date
- 2025-10-17
AI Technical Summary
The existing stretching trajectory processing method of the stretching component has an error between the theoretical trajectory and the actual trajectory, resulting in insufficient part forming accuracy.
By obtaining the initial theoretical trajectory data and the actual measured trajectory data of the stretching component, the trajectory error data is calculated, and the initial theoretical trajectory data is compensated by using direct incremental compensation and proportional incremental compensation to obtain the compensated trajectory data.
The accuracy of the extrusion trajectory of the extruded component is improved, thereby improving the accuracy of the generated parts.
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Figure CN120790750A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The embodiment of the present application relates to the technical field of part forming process, in particular to a stretching trajectory processing method, device, equipment, medium and program of a stretching assembly. BACKGROUND
[0002] Stretching technology changes the shape and size of the material by applying tension to generate corresponding part structure, which is widely used in metal part manufacturing, metal plate manufacturing and precision instrument manufacturing and other fields. However, due to the characteristics of complex motion trajectory of the stretching assembly, complex shape of the part and diversification of process parameters, it is found that there is a certain error between the theoretical trajectory and the actual forming process in the application process. Analyzing the trajectory precision error and taking corresponding error compensation have an important influence on the precision of the corresponding parts formed by the stretching assembly.
[0003] At present, the existing stretching trajectory processing method of the stretching assembly mainly relies on the simulation of the theoretical trajectory. However, the trajectory precision is closely related to the number of discrete points and high matching points, and there is also an error between the experimental process and the theoretical simulation trajectory.
[0004] The inventor found that the prior art has the following defects in the process of implementing the present application: (1) the structure deformation or clamping factor of the stretching assembly will cause the error between the actual trajectory and the theoretical trajectory of the stretching assembly in the forming process; (2) the simplification of the model and the boundary condition in the simulation process will cause the error between the simulation simulation and the actual forming test result. SUMMARY
[0005] The embodiment of the present application provides a stretching trajectory processing method, device, equipment, medium and program of a stretching assembly, which can improve the accuracy of the stretching trajectory of the stretching assembly, and further improve the precision of the parts generated based on the stretching assembly.
[0006] According to one aspect of the present application, a stretching trajectory processing method of a stretching assembly is provided, comprising:
[0007] Obtaining initial theoretical trajectory data and actual measured trajectory data of the stretching assembly;
[0008] Calculating the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data;
[0009] Compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly to obtain compensated trajectory data.
[0010] According to another aspect of the present application, a stretching trajectory processing device of a stretching assembly is provided, comprising:
[0011] The trajectory data acquisition module is configured to acquire initial theoretical trajectory data and actual measured trajectory data of the stretching assembly.
[0012] The trajectory error data acquisition module is configured to calculate trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data.
[0013] The compensation trajectory data acquisition module is configured to compensate the initial theoretical trajectory data according to the trajectory error data of the stretching assembly to obtain compensation trajectory data.
[0014] According to another aspect of the present application, an electronic device is provided, which comprises:
[0015] at least one processor; and
[0016] a memory connected with the at least one processor; wherein,
[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the stretching trajectory processing method of the stretching assembly according to any one of the embodiments of the present application.
[0018] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the stretching trajectory processing method of the stretching assembly according to any one of the embodiments of the present application when executed by the processor.
[0019] According to another aspect of the present application, a computer program product is also provided, which comprises a computer program for implementing the stretching trajectory processing method of the stretching assembly according to any one of the embodiments of the present application when executed by a processor.
[0020] The embodiments of the present application acquire the initial theoretical trajectory data and the actual measured trajectory data of the stretching assembly, further calculate the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data, so that the initial theoretical trajectory data can be compensated according to the trajectory error data of the stretching assembly to obtain compensation trajectory data, thereby solving the problem of low stretching trajectory precision of the existing stretching assembly, improving the precision of the stretching trajectory of the stretching assembly, and further improving the precision of the parts generated based on the stretching assembly.
[0021] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS
[0022] In order to make the technical solutions in the embodiments of the present application clearer, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.
[0023] Figure 1 is a flow chart of a stretching trajectory processing method of a stretching assembly provided by Embodiment One of the present application;
[0024] Figure 2 is a flow chart of a stretching trajectory processing method of a stretching assembly provided by Embodiment Two of the present application;
[0025] Figure 3 is a principle diagram of skin stretch forming trajectory error monitoring and error control provided by Embodiment Two of the present application;
[0026] Figure 4 is a multiple-jaw-block theoretical trajectory example diagram provided by Embodiment Two of the present application;
[0027] Figure 5 is a VTL type machine tool mechanism movement and jaw block target position diagram provided by Embodiment Two of the present application;
[0028] Figure 6 is a DIC measuring device schematic diagram provided by Embodiment Two of the present application;
[0029] Figure 7 is a VTL type machine tool trajectory error compensation schematic diagram provided by Embodiment Two of the present application;
[0030] Figure 8 is a stretching trajectory processing device schematic diagram of a stretching assembly provided by Embodiment Three of the present application;
[0031] Figure 9 is a structure schematic diagram of an electronic device provided by Embodiment Four of the present application. DETAILED DESCRIPTION
[0032] In order to make the technical solutions in the embodiments of the present application clearer, the drawings needed in the embodiment description will be briefly introduced as follows. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort based on these drawings.
[0033] It is to be understood that the terminology "initial", "target" and the like used in the specification and the claims of the application and the above abstract are intended to describe different similar objects, and are not necessarily intended to describe a particular chronological or sequential order. It is to be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the application described herein can be carried out in sequences other than those illustrated or described herein. Moreover, the terms "comprise" and "have" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that includes a list of steps or units not necessarily limited to those clearly identified as such, but can include other not clearly recited steps or units inherent therein.
[0034] Embodiment one
[0035] Figure 1 is a flowchart of a stretching trajectory processing method of a stretching assembly provided by Embodiment one of the application. The embodiment can be applicable to the case of processing the stretching trajectory of the stretching assembly in a compensating manner. The method can be executed by a stretching trajectory processing device of the stretching assembly. The device can be realized by software and / or hardware, and can generally be integrated in an electronic device. The electronic device can be a terminal device or a server device, as long as it can execute the stretching trajectory processing method of the stretching assembly. The specific type of the electronic device is not limited in the embodiments of the application. Correspondingly, as shown in Figure 1 the method includes the following operations:
[0036] S110, obtaining initial theoretical trajectory data and actual measured trajectory data of the stretching assembly.
[0037] The stretching assembly can be one or more clamping units or clamp structures for skinning and stretching a material. For example, the stretching assembly can be installed in a vertical turret lathe (VTL) machine tool or a flexible electrode turning (FET) machine tool, and has one or more clamping units or clamp structures. As long as it has one or more clamping units or clamps and has the function of stretching the part, the type and specific structure of the stretching assembly are not limited in the embodiments of the application. The initial theoretical trajectory data can be the theoretical trajectory data of the stretching assembly obtained by finite element simulation. It can be understood that one clamping unit or clamp in the stretching assembly corresponds to one initial theoretical trajectory, that is, the initial theoretical trajectory data can include multiple trajectory data. The actual measured trajectory data can be the actual trajectory data of the stretching assembly measured by a measuring device.
[0038] In the embodiment of the present application, in order to analyze and correct the stretching trajectory of the stretching assembly, the theoretical trajectory data of the stretching assembly can be obtained as initial theoretical data by means of finite element simulation. The actual trajectory data of the stretching assembly can also be obtained as actual measured trajectory data by pasting a measuring target at the center position of the stretching assembly and measuring the actual trajectory of the target by a trajectory tracking device.
[0039] S120, calculating the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data.
[0040] The trajectory error data can be the difference between the initial theoretical trajectory data and the actual measured trajectory data.
[0041] Specifically, after obtaining the initial theoretical trajectory data and the actual measured trajectory data of the stretching assembly, the difference between the initial theoretical trajectory data and the actual measured trajectory data can be calculated as the trajectory error data of the stretching assembly. The initial theoretical trajectory data can be further corrected according to the trajectory error data.
[0042] S130, compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly to obtain compensated trajectory data.
[0043] The compensated trajectory data can be the trajectory data of the stretching assembly obtained by compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly.
[0044] In the embodiment of the present application, after calculating the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data, the initial theoretical trajectory data can be further compensated according to the trajectory error data of the stretching assembly to obtain the compensated trajectory data of the stretching assembly, thereby improving the trajectory accuracy of the stretching assembly.
[0045] The embodiment of the present application obtains the initial theoretical trajectory data and the actual measured trajectory data of the stretching assembly, further calculates the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data, so that the initial theoretical trajectory data can be compensated according to the trajectory error data of the stretching assembly to obtain the compensated trajectory data, thereby solving the problem of low stretching trajectory accuracy of the existing stretching assembly, improving the accuracy of the stretching trajectory of the stretching assembly, and further improving the accuracy of the parts generated based on the stretching assembly.
[0046] Embodiment two
[0047] Figure 2is a flow chart of a stretching trajectory processing method of a stretching assembly provided by Embodiment Two of the present application, which is based on the above-mentioned embodiment and is embodied in the present embodiment. In the present embodiment, various specific optional implementation manners of obtaining initial theoretical trajectory and actual measured trajectory and compensating initial theoretical trajectory data according to trajectory error data of the stretching assembly are given. Correspondingly, as shown in Figure 2 the present embodiment, the method can include:
[0048] S210, obtaining initial theoretical trajectory data and actual measured trajectory data of the stretching assembly.
[0049] In the present embodiment of the present application, the obtaining of the initial theoretical trajectory data of the stretching assembly can include: obtaining a forming process parameter interval range of the stretching assembly; determining a forming process parameter optimization value according to the forming process parameter interval range; and obtaining the initial theoretical trajectory data based on a stretching position center interface of the stretching assembly by using a finite element simulation method according to the forming process parameter optimization value.
[0050] The forming process parameter can be a key parameter affecting the material forming effect and product quality in the material forming process. Exemplarily, the forming process parameter can include but is not limited to sheet width and clamping length, initial cladding angle, pre-stretching coefficient, cladding forming process elongation coefficient, supplementary stretching coefficient and friction coefficient, etc. The present embodiment does not limit the specific parameter types included in the forming process parameter. The forming process parameter interval range can be a value range of the forming process parameter determined according to the part type and production requirements. The forming process parameter optimization value can be a parameter combination capable of producing excellent forming effect obtained by finite element simulation analysis. The stretching position center interface can be an interface used to determine the trajectory of the stretching assembly in the finite element simulation process.
[0051] In the present embodiment of the present application, in order to obtain the initial theoretical trajectory data of the stretching assembly, the optimal forming process parameter can be selected first. In order to select the optimal forming process parameter, appropriate forming process parameter intervals can be selected according to the part type and production requirements, and then the indicators such as forming wrinkling and cracking, elongation rate and forming limit, and springback amount under different forming process parameter groups can be compared by orthogonal test, and the forming process parameter optimization value is determined by taking no wrinkling and cracking as the decision basis and taking appropriate elongation rate and minimum springback amount as the optimization target. After the forming process parameter optimization value is determined, the initial theoretical trajectory data can be obtained by selecting the stretching position center interface of the stretching assembly.
[0052] Figure 3 is a skin stretching trajectory error monitoring and error control principle diagram provided by Embodiment Two of the present application, Figure 4is a theoretical trajectory example diagram of a multi-clamp block provided by the second embodiment of the present application. In a specific example, as shown in Figure 3 and Figure 4 As shown, taking the clamp block as the clamping unit in the stretching assembly as an example, it is assumed that the stretching assembly includes 7 clamp blocks, and 5 of them are selected to study the initial theoretical trajectory data. Among them, 1 is a sheet, 2 is a multi-clamp block clamping mechanism, 3 is a clamp block theoretical trajectory, 4 is a die, 5 is a multi-clamp block theoretical trajectory, and 6 is a multi-clamp block target position. By using finite element simulation technology, the forming wrinkling and rupture, elongation rate and forming limit, and springback amount of the part under different process parameters such as sheet width, clamping length, initial wrapping angle, and pre-stretching coefficient can be compared by orthogonal test, and the decision basis is that no wrinkling and rupture occurs, and the optimization goal is that the elongation rate is appropriate and the springback amount is minimum. Parameter design is carried out. Select the optimal forming process parameter group, and under the optimal forming process parameter group, select the cross-section position of the center position of the clamp block, and realize the design of 5 initial clamp block theoretical trajectories P0.
[0053] In the embodiment of the present application, the actual measurement trajectory data of the stretching assembly can include: acquiring the actual measurement trajectory data tracked and measured by the trajectory tracking device on the displacement change of the center target point of the stretching assembly.
[0054] Among them, the trajectory tracking device can be a monitoring device capable of monitoring the displacement change of the center target point of the stretching assembly. Illustratively, the trajectory tracking device can include but is not limited to a digital image correlation (Digital Image Correlation, DIC) device and the like.
[0055] Specifically, in order to acquire the actual measurement trajectory data of the stretching assembly, first, a measurement target point can be pasted at the center position of the stretching assembly, and then the displacement change of the center target point of the stretching assembly can be tracked and measured by the trajectory tracking device, so as to acquire the actual measurement trajectory data of the center target point of the stretching assembly.
[0056] Figure 5 is a VTL type machine tool mechanism motion and clamp block target position diagram provided by the second embodiment of the present application. In a specific example, as shown in Figure 5 As shown, taking the clamp block as the clamping unit in the stretching assembly as an example, a target point can be pasted at the center position of the multi-clamp block of the stretching assembly, and the subsequent calibration can be carried out based on the target position at the center of the clamp block. Figure 6 is a DIC measurement device schematic diagram provided by the second embodiment of the present application, as shown in Figure 6As shown, the binocular DIC measuring device is supported and fixed by the truss 7, and the binocular DIC measuring device 8 is fixed above the top end of the skin 9 to be measured on the VTL type machine tool 10. By pasting target points at the center position of the multi-jaw block, the DIC device is used to monitor the displacement change of the target points during the whole forming process, track and measure the actual trajectory, and convert to obtain the corresponding actual measurement trajectory data L0.
[0057] S220, calculating the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measurement trajectory data.
[0058] In the embodiment of the present application, the calculation of the trajectory error data of the stretching assembly according to the initial theoretical trajectory and the actual measurement trajectory data can include: calculating the difference between the initial theoretical trajectory data and the actual measurement trajectory data of the stretching assembly to obtain an error matrix; wherein the error matrix is:
[0059]
[0060] Wherein P0(x,y) is the initial theoretical trajectory data, L0(x,y) is the actual measurement trajectory data, and e0(x,y) is the trajectory error data, that is, the error matrix.
[0061] Wherein the error matrix can be the difference between the trajectory error data of the stretching assembly and the initial theoretical trajectory.
[0062] Specifically, after obtaining the initial theoretical trajectory data and the actual measurement trajectory data of the stretching assembly, n discrete point data can be collected at equal intervals in the X direction of each trajectory of the initial theoretical trajectory data and the actual measurement trajectory data of the stretching assembly, the initial theoretical trajectory data and the actual measurement trajectory data are represented as two-dimensional matrix data, and the difference between the initial theoretical trajectory data and the actual measurement trajectory data is solved to obtain an error matrix, and the error matrix is taken as the trajectory error data of the stretching assembly.
[0063] S230, compensating the initial theoretical trajectory data by using a direct incremental compensation method according to the trajectory error data of the stretching assembly to obtain direct compensation trajectory data.
[0064] Wherein the direct incremental compensation method can be a method of directly compensating the initial theoretical trajectory according to the trajectory error data. The direct compensation trajectory data can be trajectory data obtained by compensating the initial theoretical trajectory data according to the trajectory error data by using the direct incremental compensation method.
[0065] Specifically, after obtaining the trajectory error data of the stretching assembly, the initial theoretical trajectory data can be compensated by using the direct incremental compensation method according to the trajectory error data to obtain the direct compensation trajectory data, so as to improve the trajectory accuracy.
[0066] Optionally, the compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly in a direct incremental compensation manner can include: compensating the initial theoretical trajectory data in a direct incremental compensation manner based on the following formula:
[0067]
[0068] wherein i is the number of times of direct incremental compensation, P i+1 is the (i+1)th direct compensation trajectory data, P i is the ith direct compensation trajectory data, e i is the difference between the ith direct compensation trajectory data and the actual measured trajectory data, L i is the ith actual measured trajectory data, and I is an identity matrix.
[0069] Figure 7 is a VTL machine tool trajectory error compensation schematic diagram provided by the second embodiment of the present application. In a specific example, as shown in Figure 7 the purpose of compensating the initial theoretical trajectory data of the jaw block 11 in a direct incremental compensation manner according to the trajectory error data of the VTL machine tool is to make the initial theoretical trajectory data 11 of the jaw block and the actual measured trajectory data 12 of the jaw block coincide at the center jaw block trajectory position 13. The expression of the direct compensation data obtained by compensating the initial theoretical trajectory data in a direct incremental compensation manner according to the trajectory error data can be:
[0070]
[0071] Optionally, after the direct compensation trajectory data is obtained, the method can further include: calculating an incremental compensation error between the direct compensation trajectory data and the actual measured trajectory data; and returning to execute the operation of compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly in a direct incremental compensation manner to obtain direct compensation trajectory data until it is determined that the incremental compensation error satisfies the incremental compensation error condition, in a case where it is determined that the incremental compensation error does not satisfy the incremental compensation error condition.
[0072] wherein the incremental compensation error can be the difference between the direct compensation trajectory data and the actual measured trajectory data. The incremental compensation error condition can be a condition that the incremental compensation error needs to satisfy in a case where the part is qualified according to the part manufacturing requirements.
[0073] Specifically, after obtaining the direct compensation trajectory data, an incremental compensation error between the direct compensation trajectory data and the actual measured trajectory data can be calculated. If the incremental compensation error satisfies an incremental compensation error condition, a stretching experiment of the stretching assembly can be performed according to the direct compensation trajectory data; if the incremental compensation error does not satisfy the incremental compensation error condition, the direct compensation trajectory data obtained can be compensated by using a direct incremental compensation manner according to the trajectory error data of the stretching assembly, to obtain new direct compensation trajectory data. Further, an incremental compensation error between the new direct compensation trajectory data and the actual measured trajectory data can be calculated, to determine whether the incremental compensation error satisfies the incremental compensation error condition, and the above operation is repeated. If the incremental compensation error still satisfies the incremental compensation error condition after a certain number of iterations, such as 5 times, the initial theoretical trajectory data can be redesigned.
[0074] Optionally, the calculating the incremental compensation error between the direct compensation trajectory data and the actual measured trajectory data can include: wherein the incremental compensation error is calculated based on the following formula:
[0075]
[0076] e1(x,y)=P1(x,y)-L0(x,y)
[0077]
[0078] wherein Rmin is the incremental compensation error, P1(x,y) is the direct compensation trajectory data, L0(x,y) is the actual measured trajectory data, e1(x,y) is an error matrix between the direct compensation trajectory data P1(x,y) and the actual measured trajectory data L0(x,y), is an average value of the e1(x,y).
[0079] Optionally, the determining that the incremental compensation error does not satisfy the incremental compensation error condition can include: in a case where it is determined that the incremental compensation error is greater than a set threshold, determining that the incremental compensation error does not satisfy the incremental compensation error condition.
[0080] S240, judging whether the direct compensation trajectory data passes the stretching experiment of the stretching assembly. If yes, S250 is executed; otherwise, S260 is executed.
[0081] S250, taking the direct compensation trajectory data as the compensation trajectory data.
[0082] Specifically, after obtaining the direct compensation trajectory data satisfying the incremental compensation error condition, the material can be stretched by the stretching assembly according to the direct compensation trajectory data. Further, the forming springback amount can be calculated, and it is determined whether the forming springback amount meets the requirement. It can be understood that if the forming springback amount meets the requirement, it can be considered that the direct compensation trajectory data passes the stretching experiment of the stretching assembly, so that the direct compensation trajectory data can be used as the compensation trajectory data.
[0083] S260, using the direct compensation trajectory data as initial compensation trajectory data.
[0084] It can be understood that if the forming springback amount does not meet the requirement, it can be considered that the direct compensation trajectory data does not pass the stretching experiment of the stretching assembly, so that the direct compensation trajectory data can be used as the initial compensation trajectory data, and the initial compensation trajectory data is compensated and corrected.
[0085] It can be understood that if the forming springback amount does not meet the requirement, it can be considered that the direct compensation trajectory data does not pass the stretching experiment of the stretching assembly, so that the direct compensation trajectory data can be used as the initial compensation trajectory data, and the initial compensation trajectory data is compensated and corrected.
[0086] S270, compensating the initial compensation trajectory data in a proportional incremental compensation manner to obtain the compensation trajectory data.
[0087] The proportional incremental compensation manner can be a manner of compensating the initial compensation trajectory data by multiplying a proportional coefficient function.
[0088] In the embodiment of the present application, in the case where it is determined that the direct compensation trajectory data does not pass the stretching experiment of the stretching assembly, the direct compensation trajectory data is used as the initial compensation trajectory data, and further, the initial compensation trajectory data can be compensated in a proportional incremental compensation manner to obtain the compensation trajectory data. It should be noted that if the initial compensation data is compensated once in the proportional incremental compensation manner to obtain the first compensation trajectory data, and the forming springback amount still does not meet the accuracy requirement, the obtained first compensation theoretical trajectory data can be compensated for a second time in the proportional incremental compensation manner until the forming springback amount requirement is met.
[0089] In the embodiment of the present application, the compensation of the initial compensation trajectory data in the proportional incremental compensation manner can include: compensating the initial compensation trajectory data in the proportional incremental compensation manner based on the following formula:
[0090] P1(x,y)=(1-α)·P i+1 (x,y)
[0091] P2(x,y)=(1+α)·P i+1 (x,y)
[0092]
[0093] Pi +2 (x,y)=k(x,y)·(di(x,y)-di +1 (x,y))+Pi +1 (x,y)
[0094] wherein, P i+1 (x,y) is initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i (x,y) is the rebound data corresponding to P i (x,y), P i (x,y) is initial compensation trajectory data obtained by the i th pass proportional increment compensation, d i+1 (x,y) is P i+1 (x,y), P i+1 (x,y) is the rebound data corresponding to P i+1 (x,y), P i+2 (x,y) is the compensation trajectory data. It should be noted that the value of α can be determined by the part manufacturing requirements. For example, the value of α can be in the range of -0.1 to 0.1. The specific value of α is not limited in the embodiments of the present application.
[0095] In a specific example, after obtaining the initial compensation trajectory data, the initial compensation trajectory data can be first multiplied by a bias factor α to obtain the negative bias matrix data P1(x,y), the positive bias matrix data P2(x,y), the rebound data d1(x,y) corresponding to the negative bias matrix data P1(x,y), and the rebound data d2(x,y) corresponding to the positive bias matrix data P2(x,y). Then the proportional coefficient function k(x,y) can be calculated according to the formula: Further, the i+2th compensation trajectory data P i+2 (x,y) can be obtained by compensating the initial compensation trajectory data according to the formula: i (x,y)=k(x,y)·(d i+1 (x,y)-d i+1 (x,y))+P i+2(x,y). The i+2th compensation trajectory data P i+2 (x,y) satisfies the accuracy requirement, the first compensation trajectory data can be used as the compensation trajectory data; if the rebound amount does not satisfy the accuracy requirement, the above operation can be repeated to compensate the i+2th compensation trajectory data P i+2 (x,y) until the rebound amount of the compensation trajectory data satisfies the accuracy requirement.
[0096] The initial theoretical trajectory data of the stretching assembly is obtained through finite element simulation, the actual measured trajectory data is measured through the trajectory tracking device, the trajectory error data of the stretching assembly can be calculated according to the initial theoretical trajectory data and the actual measured trajectory data, the initial theoretical trajectory data can be directly compensated and proportionally incremented according to the trajectory error data of the stretching assembly, the compensation trajectory data is obtained, the problem of low stretching trajectory precision of the existing stretching assembly is solved, the precision of the stretching trajectory of the stretching assembly is improved, and the precision of the part generated based on the stretching assembly is improved.
[0097] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.
[0098] It should be noted that any arrangement and combination of technical features among the above embodiments also belong to the protection scope of the present application.
[0099] Embodiment three
[0100] Figure 8 is a schematic diagram of a stretching trajectory processing device of a stretching assembly provided by the embodiment three of the present application, as Figure 8 shown, the device comprises a trajectory data acquisition module 310, a trajectory error data acquisition module 320 and a compensation trajectory data acquisition module 330, wherein:
[0101] The trajectory data acquisition module 310 is configured to acquire the initial theoretical trajectory data and the actual measured trajectory data of the stretching assembly.
[0102] The trajectory error data acquisition module 320 is configured to calculate the trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data.
[0103] The compensation trajectory data acquisition module 330 is configured to compensate the initial theoretical trajectory data according to the trajectory error data of the stretching assembly to obtain the compensation trajectory data.
[0104] The embodiment of the present application obtains initial theoretical trajectory data and actual measured trajectory data of the stretching assembly, further calculates trajectory error data of the stretching assembly according to the initial theoretical trajectory data and the actual measured trajectory data, so that the initial theoretical trajectory data can be compensated according to the trajectory error data of the stretching assembly to obtain compensated trajectory data, the problem of low stretching trajectory precision of the existing stretching assembly is solved, the precision of the stretching trajectory of the stretching assembly is improved, and then the precision of the part generated based on the stretching assembly is improved.
[0105] In an optional embodiment of the present application, the compensated trajectory data acquisition module 330 can also be used to compensate the initial theoretical trajectory data according to the trajectory error data of the stretching assembly in a direct incremental compensation manner to obtain direct compensation trajectory data; and in a case where it is determined that the direct compensation trajectory data passes the stretching experiment of the stretching assembly, the direct compensation trajectory data is taken as the compensated trajectory data.
[0106] In an optional embodiment of the present application, the compensated trajectory data acquisition module 330 can also be used to compensate the initial theoretical trajectory data according to the trajectory error data of the stretching assembly in a direct incremental compensation manner to obtain direct compensation trajectory data; and in a case where it is determined that the direct compensation trajectory data does not pass the stretching experiment of the stretching assembly, the direct compensation trajectory data is taken as initial compensation trajectory data; and the initial compensation trajectory data is compensated in a proportional incremental compensation manner to obtain the compensated trajectory data.
[0107] In an optional embodiment of the present application, the compensated trajectory data acquisition module 330 can also be used to calculate an incremental compensation error between the direct compensation trajectory data and the actual measured trajectory data; and in a case where it is determined that the incremental compensation error does not satisfy an incremental compensation error condition, the operation of compensating the initial theoretical trajectory data according to the trajectory error data of the stretching assembly in a direct incremental compensation manner to obtain direct compensation trajectory data is returned to be executed until it is determined that the incremental compensation error satisfies the incremental compensation error condition.
[0108] In an optional embodiment of the present application, the compensated trajectory data acquisition module 330 can also be used to calculate the incremental compensation error based on the following formula:
[0109]
[0110] e1(x,y)=P1(x,y)-L0(x,y)
[0111]
[0112] wherein Rmin is the incremental compensation error, P1(x, y) is the direct compensation trajectory data, L0(x, y) is the actual measured trajectory data, e1(x, y) is an error matrix between the direct compensation trajectory data P1(x, y) and the actual measured trajectory data L0(x, y), is an average value of the e1(x, y).
[0113] In an optional embodiment of the present application, the determining that the incremental compensation error does not satisfy the incremental compensation error condition can comprise: in a case where it is determined that the incremental compensation error is greater than a set threshold, determining that the incremental compensation error does not satisfy the incremental compensation error condition.
[0114] In an optional embodiment of the present application, the trajectory data acquisition module 310 can also be configured to: acquire a forming process parameter interval range of the stretching assembly; determine a forming process parameter optimization value according to the forming process parameter interval range; and acquire the initial theoretical trajectory data based on a stretching position center interface of the stretching assembly by using a finite element simulation method according to the forming process parameter optimization value.
[0115] In an optional embodiment of the present application, the compensation trajectory data acquisition module 330 can also be configured to: directly incrementally compensate the initial theoretical trajectory data based on the following formula:
[0116]
[0117] wherein i is a number of times of direct incremental compensation, P i+1 is the i+1th direct compensation trajectory data, P i is the ith direct compensation trajectory data, e i is the ith direct compensation trajectory data and the actual measured trajectory data, L i is the ith actual measured trajectory data, and I is an identity matrix.
[0118] In an optional embodiment of the present application, the compensation trajectory data acquisition module 330 can also be configured to: proportionally incrementally compensate the initial compensation trajectory data based on the following formula:
[0119] P1(x, y)=(1-α)·P i+1 (x, y)
[0120] P2(x, y)=(1+α)·P i+1 (x, y)
[0121]
[0122] Pi +2(x, y) = k(x, y) - (di(x, y) - di +1 (x, y) + Pi +1 (x, y)
[0123] wherein, P i+1 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i+1 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i+1 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i+1 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i+1 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d i+2 (x, y) is the initial compensation trajectory data obtained by the i+1th pass proportional increment compensation, d
[0124] The stretching trajectory processing device of the stretching assembly described above can execute the stretching trajectory processing method of the stretching assembly provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. Technical details not described in detail in the present embodiment can be referred to the stretching trajectory processing method of the stretching assembly provided by any embodiment of the present application.
[0125] Since the stretching trajectory processing device of the stretching assembly described above is a device that can execute the stretching trajectory processing method of the stretching assembly in the embodiments of the present application, based on the stretching trajectory processing method of the stretching assembly described in the embodiments of the present application, those skilled in the art can understand the specific implementation of the stretching trajectory processing device of the stretching assembly of the present embodiment and its various forms of changes, so here the stretching trajectory processing device of the stretching assembly how to realize the stretching trajectory processing method of the stretching assembly in the embodiments of the present application will not be introduced in detail. As long as the device used by those skilled in the art to implement the stretching trajectory processing method of the stretching assembly in the embodiments of the present application belongs to the scope of protection of the present application.
[0126] Embodiment Four
[0127] Figure 9A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.
[0128] like Figure 9 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.
[0129] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.
[0130] The processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the stretching trajectory processing method for the stretching component.
[0131] In some embodiments, the stretch trajectory processing method of the stretch assembly can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the stretch trajectory processing method of the stretch assembly as described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the stretch trajectory processing method of the stretch assembly by way of other any suitable means, e.g., by way of firmware.
[0132] Optionally, the stretch trajectory processing method of the stretch assembly can comprise: obtaining initial theoretical trajectory data and actual measured trajectory data of the stretch assembly; calculating trajectory error data of the stretch assembly according to the initial theoretical trajectory data and the actual measured trajectory data; compensating the initial theoretical trajectory data according to the trajectory error data of the stretch assembly to obtain compensated trajectory data.
[0133] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
[0134] Computer programs used to implement the methods of the application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the computer, produces a means for implementing the functions / acts specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on a machine, partially on a machine and partially on a remote machine or entirely on a remote machine or server.
[0135] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
[0136] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.
[0137] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.
[0138] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.
[0139] It should be understood that the various forms of flow shown above can be reordered, added to, or have steps deleted. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technical solutions of the present disclosure can be achieved, which are not limited herein.
[0140] The above detailed description does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.
Claims
1. A method for processing a stretching trajectory of a stretching component, characterized in that: include: Obtaining initial theoretical trajectory data and actual measured trajectory data of the stretching component; Calculating trajectory error data of the stretching component based on the initial theoretical trajectory data and the actual measured trajectory data; The initial theoretical trajectory data is compensated according to the trajectory error data of the stretching component to obtain compensated trajectory data.
2. The method according to claim 1, characterized in that The compensating the initial theoretical trajectory data according to the trajectory error data of the stretching component to obtain compensated trajectory data includes: Compensating the initial theoretical trajectory data using a direct incremental compensation method according to the trajectory error data of the stretching component to obtain directly compensated trajectory data; In a case where it is determined that the direct compensation trajectory data passes the stretching test of the stretching component, the direct compensation trajectory data is used as the compensation trajectory data.
3. The method according to claim 1, characterized in that The compensating the initial theoretical trajectory data according to the trajectory error data of the stretching component to obtain compensated trajectory data includes: Compensating the initial theoretical trajectory data using a direct incremental compensation method according to the trajectory error data of the stretching component to obtain directly compensated trajectory data; In a case where it is determined that the direct compensation trajectory data fails the stretching test of the stretching component, using the direct compensation trajectory data as initial compensation trajectory data; The initial compensation trajectory data is compensated by using a proportional incremental compensation method to obtain the compensation trajectory data.
4. The method according to claim 2 or 3, characterized in that After obtaining the direct compensation trajectory data, the method further includes: calculating an incremental compensation error between the directly compensated trajectory data and the actually measured trajectory data; If it is determined that the incremental compensation error does not meet the incremental compensation error condition, the operation of compensating the initial theoretical trajectory data using a direct incremental compensation method according to the trajectory error data of the stretching component to obtain direct compensation trajectory data is returned to, until it is determined that the incremental compensation error meets the incremental compensation error condition.
5. The method according to claim 4, characterized in that calculating an incremental compensation error between the directly compensated trajectory data and the actual measured trajectory data, include: The incremental compensation error is calculated based on the following formula: e1(x,y)=P1(x,y)-L0(x,y) Among them, R min is the incremental compensation error, P1(x, y) is the direct compensation trajectory data, L0(x, y) is the actual measurement trajectory data, e1(x, y) is the error matrix between the direct compensation trajectory data P1(x, y) and the actual measurement trajectory data L0(x, y), is the average value of e1(x,y); The determining that the incremental compensation error does not meet the incremental compensation error condition includes: When it is determined that the incremental compensation error is greater than a set threshold, it is determined that the incremental compensation error does not meet the incremental compensation error condition.
6. The method according to claim 1, characterized in that The obtaining of initial theoretical trajectory data of the stretching component includes: Obtaining a forming process parameter range of the stretching component; Determining the optimal value of the forming process parameter according to the forming process parameter interval range; The initial theoretical trajectory data is obtained based on the stretching position center interface of the stretching component using a finite element simulation method according to the optimized values of the forming process parameters.
7. The method according to claim 2 or 3, characterized in that The compensating the initial theoretical trajectory data using a direct incremental compensation method according to the trajectory error data of the stretching component includes: Direct incremental compensation is performed on the initial theoretical trajectory data based on the following formula: Where i is the number of times direct incremental compensation is performed, P i+1 is the i+1th direct compensation trajectory data, P i is the i-th direct compensation trajectory data, e i is the i-th direct compensation trajectory data and the actual measurement trajectory data, L i is the actual measurement trajectory data for the i-th time, and I is the unit matrix.
8. The method according to claim 3, characterized in that The compensating the initial compensation trajectory data by adopting a proportional incremental compensation method includes: The initial compensation trajectory data is subjected to proportional incremental compensation based on the following formula: P1(x,y)=(1-α)·P i+1 (x,y) P2(x,y)=(1+α)·P i+1 (x,y) Pi +2 (x,y)=k(x,y)·(di(x,y)-di +1 (x,y))+Pi +1 (x,y) Among them, P i+1 (x, y) is the initial compensation trajectory data obtained by the proportional incremental compensation for the i+1th time, d i (x,y) is P i (x, y) corresponding to the rebound data, P i (x, y) is the initial compensation trajectory data obtained by the i-th proportional incremental compensation, d i+1 (x,y) is P i+1 (x, y) corresponding to the rebound data, P1 (x, y) is P i+1 (x,y) negative bias matrix data, P2(x,y) is P i+1 (x, y) is the positive bias matrix data, α is the bias factor, k(x, y) is the proportional coefficient function, Δe(x, y) is the trajectory change matrix of P1(x, y) and P2(x, y), Δd(x, y) is the change matrix of the rebound amount of P1(x, y) and P2(x, y), d1(x, y) is the rebound amount data corresponding to the negative bias matrix data P1(x, y), d2(x, y) is the rebound amount data corresponding to the positive bias matrix data P2(x, y), P i+2 (x,y) is the compensation trajectory data.
9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the stretching trajectory processing method of a stretching component according to any one of claims 1-8.
10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the stretching trajectory processing method of a stretching component according to any one of claims 1 to 8 when executed.
11. A computer program product comprising a computer program / instructions, wherein: When the computer program / instruction is executed by a processor, the stretching trajectory processing method of a stretching component according to any one of claims 1 to 8 is implemented.