Non-standard frame bending method and device and storage medium

Abstract

The embodiment of the invention provides a non-standard frame bending method and device and a storage medium. The method comprises the steps that N punching units are controlled to synchronously punch positioning holes in different positions of a first side plate, and then a second frame strip is obtained; performing primary non-standard bending treatment on the first area of the second frame strip through a first bending unit to obtain a third frame strip; performing secondary non-standard bending treatment on the second area and the third area of the third frame strip through a second bending unit to obtain a fourth frame strip; and performing three times of non-standard bending treatment on the fourth region and the fifth region of the fourth frame strip through a third bending unit to obtain a target frame. Different areas are accurately positioned through the positioning holes, the target frame is obtained after multiple times of non-standard bending treatment, the bending requirement of the non-standard frame can be met, and the bending precision and the bending efficiency of the non-standard frame are improved.

Description

Technical Field

[0001] This invention relates to, but is not limited to, the field of frame processing technology, and particularly to a method, apparatus, and storage medium for bending non-standard frames. Background Technology

[0002] Existing border bending techniques typically involve bending standard borders. However, bending standard borders is difficult to adapt to bending non-standard borders, therefore, existing bending technologies are insufficient for bending non-standard borders. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] The main objective of this invention is to provide a method, apparatus, and storage medium for bending non-standard frames, which can meet the bending requirements of non-standard frames.

[0005] In a first aspect, embodiments of the present invention provide a method for bending a non-standard frame, applied to a frame bending device. The frame bending device includes a punching module and a bending module. The punching module includes N punching units arranged sequentially, with the same first frame strip placed on each of the N punching units. The first frame strip includes an integrally formed first side plate and a second side plate, with a preset included angle between the first side plate and the second side plate. N is a positive integer greater than or equal to 1. The bending module includes a first bending unit, a second bending unit, and a third bending unit. The method for bending the non-standard frame includes: By controlling N punching units to simultaneously punch positioning holes at different positions of the first side plate, a second frame strip is obtained; The third border strip is obtained by performing a non-standard bending process on the first area of ​​the second border strip through the first bending unit. The non-standard bending process represents bending the first area into a first preset shape. The second frame strip is obtained by performing a second non-standard bending process on the second and third regions of the third frame strip through the second bending unit. The second and third regions are symmetrical about the first region. The second non-standard bending represents bending the second and third regions into a relative second preset shape. The target border is obtained by performing three non-standard bends on the fourth and fifth regions of the fourth border strip through the third bending unit. The three non-standard bends represent bending the fourth and fifth regions into a third preset shape that is connected or opposite each other. The fourth region is located on the first side of the third region, and the fifth region is located on the second side of the second region. The first region, the second region, the third region, the fourth region, and the fifth region are identified by the positioning hole.

[0006] In some optional embodiments, each of the N punching units includes a pose adjustment mechanism, a stamping platform, a stamping mechanism, and a vision inspection mechanism. The vision inspection mechanism is disposed on the stamping mechanism, and the pose adjustment mechanism and the stamping mechanism are disposed opposite to each other on the stamping platform. Controlling the N punching units to simultaneously punch positioning holes at different positions of the first side plate to obtain the second frame strip includes: The punching process is performed simultaneously on N of the aforementioned punching units: The visual inspection mechanism acquires image information of the first side plate located in the punching unit; The posture adjustment mechanism and the stamping mechanism are synchronously controlled according to the image information, so that the stamping mechanism punches the positioning hole on the first side plate on the stamping platform to obtain the second frame strip.

[0007] In some optional embodiments, the step of synchronously controlling the pose adjustment mechanism and the stamping mechanism according to the image information, so that the stamping mechanism punches the positioning hole in the first side plate on the stamping platform to obtain the second frame strip, includes: After performing target recognition processing on the image information, the first pose information and relative pose information of the first side plate are determined. The first pose information represents the spatial positional relationship between the first side plate and the punching unit, and the relative pose information represents the spatial positional relationship between different areas of the first side plate in the adjacent stamping mechanism. Calculate the spatial curvature of the first side plate based on the relative pose information; The first middle border strip is obtained by correcting the relative positions of different regions on the first side plate according to the spatial curvature and the preset curvature. The first middle frame strip is moved to a first preset position so that the first middle frame strip is attached to the stamping platform to obtain the second middle frame strip; The width and thickness values ​​of the first side plate on the second middle frame strip are obtained through the visual inspection mechanism. The target stamping position of the stamping mechanism is determined according to the width value and the first preset table, wherein the first preset table indicates the correspondence between the width value and the target stamping position; Based on the thickness value and the preset punching force, the stamping mechanism is controlled to punch the positioning hole in the first side plate at the target stamping position to obtain the second frame strip.

[0008] In some optional embodiments, the step of controlling the stamping mechanism to punch the positioning hole in the first side plate at the target stamping position to obtain the second frame strip according to the thickness value and the preset punching force includes: The stamping mechanism is controlled to punch the positioning hole of the first side plate at the target stamping position with the preset punching force, and the first punching time is obtained; The punching curve of the first side plate is determined based on the first punching time, the preset punching force, and the thickness value. The punching curve represents the correspondence between punching time and punching force. The target punching force of the stamping mechanism is determined based on the punching curve and the preset punching time. The target impact force is configured as the preset impact force so that the stamping mechanism punches the positioning hole of the first side plate of the remaining first frame strip with the target impact force to obtain the second frame strip.

[0009] In some optional embodiments, the first bending unit includes a first positioning component, a first platform, a first cooling component, a first bending base, a first bending member, and a first pushing component. The first positioning component, the first bending base, and the first pushing component are all fixedly mounted on the first platform. The first pushing component is used to drive the first bending member to move closer to or away from the first bending base. The step of obtaining the third border strip by performing a non-standard bending process on the first area of ​​the second border strip through the first bending unit includes: After the second frame strip is positioned by the first positioning component, the second frame strip is transported to the first bending base; The first pushing component is controlled to push the first bending member in a first direction, so that the first bending member performs a non-standard bend on the first area of ​​the second frame strip located on the first bending base to obtain the first bent frame strip; After the first bending frame strip is cooled to the target temperature by the first cooling component, the first pushing component is controlled to push the first bending member in the second direction so that the first bending member releases the first bending frame strip to obtain the third frame strip.

[0010] In some optional embodiments, the second bending unit includes a second positioning component, a second platform, a second cooling component, a second bending base, a second bending element, and a second pushing component. The second positioning component is located on the second bending base, and the second cooling component, the second bending base, the second bending element, and the second pushing component are all disposed on the second platform. A fourth border strip is obtained by performing a secondary non-standard bending process on the second and third regions of the third border strip using the second bending unit, including: The second positioning component sequentially fixes the second region and the third region of the third frame strip onto the second bending base; Obtain the first bend angle and the second bend angle of the second region; The first bending position of the second bending component is determined according to the first bending degree and the second preset table, and the second bending position of the second bending component is determined according to the second bending degree and the second preset table, wherein the second preset table indicates the correspondence between the bending degree and the bending position; When the second region of the third frame strip is fixed on the second bending base, the second pushing component is controlled to push the second bending member to the first bending position, so that the second bending member will bend the first end and the second end of the second region into a first chamfer structure with the first bending degree respectively; When the third region of the third frame strip is fixed on the second bending base, the second pushing component is controlled to push the second bending member to the second bending position so that the second bending member will bend the first end and the second end of the third region into a second chamfer structure with the second bending degree. The fourth frame strip is obtained by sequentially cooling the first chamfered structure and the second chamfered structure using the second cooling component.

[0011] In some optional embodiments, the second bending member includes a bending head with a preset curved surface, a movable post being provided on the first surface of the bending head, a movable through hole matching the movable post being provided on the first side plate of the third frame strip, and a bending groove matching the preset curved surface being provided on the second bending base; the step of controlling the second pushing component to push the second bending member to the first bending position, so that the second bending member will bend the first end and the second end of the second region into a first chamfer structure having the first bending degree, includes: The second pushing component is controlled to push the bending head to the third side strip so that the preset curved surface contacts the second side plate of the third side strip, and then the movable column is fixed through the movable through hole; The second pushing component is controlled to push the bending head to the first bending position, so that the preset curved surface of the bending head presses the second side plate of the third frame strip in the bending groove, and then the first end and the second end of the second region are bent into the first chamfer structure in sequence.

[0012] In some optional embodiments, the third bending unit includes a third bending base, a third platform, a third bending component, and a third pushing assembly. The third bending base and the third pushing assembly are both fixed to the third platform. The third bending component is slidably connected to the third platform. A laser ranging unit is disposed on the third bending base. The target border is obtained by performing three non-standard bending processes on the fourth and fifth regions of the fourth border strip through the third bending unit, including: When the fourth region and the fifth region of the fourth border strip are located on the third bending base: The third pushing component is controlled to push the third bending member closer to the third bending base, so that the third bending member performs three non-standard bends on the fourth region and the fifth region; The relative distance between the fourth region and the fifth region is detected in real time by the laser ranging unit; When the relative distance is less than or equal to a preset distance, the target frame is obtained after stopping the pushing of the third bending member.

[0013] In a second aspect, embodiments of the present invention provide a bending device for a non-standard frame, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the bending method for the non-standard frame described in the first aspect.

[0014] Thirdly, embodiments of the present invention provide a computer storage medium storing computer-executable instructions for performing the bending method for non-standard borders described in the first aspect.

[0015] The beneficial effects of this invention include: controlling N punching units to simultaneously punch positioning holes at different positions of the first side plate to obtain a second frame strip; obtaining a third frame strip by performing a non-standard bending process on the first region of the second frame strip through the first bending unit, wherein the first non-standard bending represents bending the first region into a first preset shape; obtaining a fourth frame strip by performing a second non-standard bending process on the second and third regions of the third frame strip through the second bending unit, wherein the second and third regions are symmetrical about the first region, and the second non-standard bending represents bending the second and third regions into opposing second preset shapes; obtaining a target frame strip by performing a third non-standard bending process on the fourth and fifth regions of the fourth frame strip through the third bending unit, wherein the third non-standard bending represents bending the fourth and fifth regions into connected / opposing third preset shapes, wherein the fourth region is located on the first side of the third region, and the fifth region is located on the second side of the second region. In this embodiment, different regions are precisely positioned using positioning holes. First, a non-standard bend is performed on the first region located in the middle. Then, a second non-standard bend is performed on the second and third regions on either side of the first region. Finally, a third non-standard bend is performed on the fourth and fifth regions at both ends to obtain the target border. This multi-unit collaborative non-standard bend improves the bending effect of the target border. Therefore, this application can meet the bending requirements of non-standard borders and improve the bending accuracy and efficiency of non-standard borders.

[0016] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a system platform architecture for performing bending of non-standard borders according to an embodiment of the present invention; Figure 2 This is a flowchart of a method for bending a non-standard frame according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a punching module provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first border strip provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the first bending unit provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the second bending unit provided in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure at the bend of the second bending unit provided in one embodiment of the present invention; Figure 8 This is a schematic diagram of the bending groove provided in one embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the third bending unit provided in one embodiment of the present invention; Figure 10 This is a schematic diagram of a bending process provided in one embodiment of the present invention; Figure 11 This is a schematic diagram of the bending process provided in another embodiment of the present invention.

[0018] Figure label: System platform architecture 1000, processor 1100, memory 1200; Stamping cylinder 100, stamping air rod 110, stamping block 120, stamping platform 130, first frame strip 140, first side plate 141, second side plate 142; First platform 200, first bending component 210, first bending base 220, first positioning component 230, positioning groove 231; Second platform 300, second bending base 310, second positioning component 311, bending groove 312, second bending piece 320, bending head 321, movable column 322, second pushing component 330; The third platform 400, the third bending base 410, and the third bending component 420. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0021] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0022] like Figure 1 As shown, Figure 1 This is a schematic diagram of a system platform architecture for performing a bending method for non-standard borders, provided by an embodiment of the present invention.

[0023] exist Figure 1 In the example, the system platform architecture 1000 includes a processor 1100 and a memory 1200, which can be connected via a bus or other means. Figure 1 Taking the example of a connection between China and Israel via a bus.

[0024] Memory 1200, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory 1200 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory 1200 may optionally include memory remotely located relative to processor 1100, and these remote memories can be connected to a bending device with a non-standard frame via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0025] Those skilled in the art will understand that the system platform architecture 1000 can be applied to 5G communication network systems and subsequent evolved mobile communication network systems, etc., and this embodiment does not specifically limit it.

[0026] It will be understood by those skilled in the art that Figure 1 The system platform architecture 1000 shown does not constitute a limitation on the embodiments of the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0027] Reference Figure 2 , Figure 2 A flowchart illustrating the steps of a non-standard frame bending method provided by this invention; applied to... Figure 3-9 The frame bending device shown includes a punching module and a bending module. The punching module includes N punching units arranged sequentially, and the same first frame strip 140 is placed on the N punching units. The first frame strip 140 includes an integrally formed first side plate 141 and second side plate 142, with a preset included angle between the first side plate 141 and the second side plate 142. N is a positive integer greater than or equal to 1. The bending module includes a first bending unit, a second bending unit, and a third bending unit. The non-standard frame bending method of this embodiment may include, but is not limited to: Step S100: Control N punching units to simultaneously punch positioning holes at different positions of the first side plate 141 to obtain the second frame strip.

[0028] It should be noted that the non-standard frames in this application include television frames, computer frames, and automotive trim frame frames, etc., and are not specifically limited here.

[0029] Specifically, refer to Figure 3 The first frame strip 140 is placed on N punching units of the punching module, and the N sequentially arranged punching units of the punching module are controlled to work together to synchronously punch the first side plate 141 of the first frame strip 140. The number and position of the punching units are determined according to the specific number and position of punching, and are not specifically limited here.

[0030] Reference Figure 4 The first frame strip 140 is the initial blank, composed of an integrally formed first side plate 141 and second side plate 142, with a preset included angle (e.g., 90 degrees) between them. N punching units are distributed at preset intervals (e.g., one every preset distance along the length of the first side plate 141, or according to bending requirements). Each punching unit punches positioning holes, connecting holes, and / or weight-reducing holes at different positions on the first side plate 141 (e.g., both ends, the middle, and the preset bending point) (the specific hole type and size are set according to requirements). During punching, each punching unit fixes the first frame strip 140 with mechanical positioning components (e.g., grippers, positioning blocks, etc.) to avoid shape deviations caused by inaccurate positioning during subsequent bending. After punching, the first frame strip 140 becomes the second frame strip, and the holes on its first side plate 141 will serve as the positioning reference for subsequent bending units (e.g., fixing the position of the frame strip in the bending die by engaging with the holes with pins, and identifying and positioning the first to fifth regions according to the positioning holes). Non-standard frames can be placed in a preset pose, and then clamped in a fixed position by a robotic arm or other clamping device and placed on the punching unit. Alternatively, non-standard frames with random poses can be clamped. The pose recognition device on the robotic arm or other clamping device identifies the pose of the non-standard frame and clamps the corresponding clamping part on the non-standard frame. At the same time, the pose of the non-standard frame can be adjusted by rotating the robotic arm, etc., and then the non-standard frame is transferred to the punching unit. The specific adjustment method and clamping method are not limited here.

[0031] In some optional embodiments, each of the N punching units includes a pose adjustment mechanism, a stamping platform 130, a stamping mechanism, and a vision inspection mechanism. The vision inspection mechanism is disposed on the stamping mechanism, and the pose adjustment mechanism and the stamping mechanism are disposed opposite to each other on the stamping platform 130. Controlling the N punching units to simultaneously punch positioning holes at different positions of the first side plate 141 to obtain the second frame strip includes: The punching process is performed simultaneously on N of the aforementioned punching units: S110. Obtain image information of the first side plate 141 located in the punching unit through the visual inspection mechanism; S120. Synchronously control the pose adjustment mechanism and the stamping mechanism according to the image information, so that the stamping mechanism punches the positioning hole on the first side plate 141 on the stamping platform 130 to obtain the second frame strip.

[0032] Specifically, all punching units (N is a positive integer ≥1) enter the working state under the unified command of the control system: the first frame strip 140 is transported as a whole to the punching module, and its first side plate 141 spans and is supported on the punching platform 130 of N punching units. The second side plate 142 hangs down naturally or is positioned by auxiliary support (as long as it does not affect the punching operation of the first side plate 141, it is not limited here).

[0033] The pose adjustment mechanism (such as a multi-axis mechanical gripper or translation stage) of each punching unit is initially in standby mode, the stamping mechanism (including punch, die, etc.) is initially positioned above the first side plate 141, and the vision inspection mechanism (such as an industrial camera) performs real-time image acquisition.

[0034] The visual inspection mechanisms (not shown) of N punching units simultaneously initiate image acquisition to obtain local image information of the first side plate 141 within its respective unit. Each visual inspection mechanism focuses on the target punching area of ​​the first side plate 141 within the corresponding punching unit (different punching units correspond to different positions of the first side plate 141, such as the first punching unit corresponding to the left end, the second punching unit corresponding to the middle, and the Nth punching unit corresponding to the right end). The image information includes: the edge contour of the first side plate 141, its relative position with respect to the stamping platform 130 (e.g., whether it is offset or tilted), and the pixel coordinates of the preset punching position in the image. The visual inspection mechanism of each punching unit can be set on the punching platform, the punching structure, or other locations, which are not specifically limited here.

[0035] For each punching unit, the deviation between the actual and theoretical positions of the first side plate 141 is analyzed based on the corresponding image information. The pose adjustment mechanism (not shown) is controlled to perform local pose correction on the first side plate 141 to ensure that the first side plate 141 is accurately placed on the stamping platform 130.

[0036] All the pose adjustment actions of the punching units are completed within the same time window. During the correction process, the force sensor feedback ensures that the first side plate 141 is subjected to uniform force, so as to avoid overall deformation due to local adjustment.

[0037] Once the pose adjustment of all punching units is complete, the punching mechanism of each unit (driven by hydraulic or servo motor) operates according to preset parameters (punching pressure, speed): the punch descends, passes through the first side plate 141, and mates with the preset position of the punching platform 130, punching a positioning hole at the target position on the first side (the diameter and depth of the hole are determined according to design requirements). The synchronization of the punching process is achieved through precise pulse control of the servo motor, avoiding the impact of side plate vibration caused by sequential punching on the hole position accuracy. Specifically, the punching mechanism consists of a punching cylinder 100 and a punching block 120. The punching cylinder 100 drives the punching block 120 to punch the first side frame strip 140 on the punching platform 130 through the punching air rod 110.

[0038] After the stamping mechanism completes the punching, it synchronously resets (the punch moves up to the initial position), and the posture adjustment mechanism releases the first side plate 141. The vision inspection mechanism acquires images again to check the positional accuracy and integrity (no burrs, deformation) of each positioning hole. If the inspection is qualified, the punching is completed; if the inspection is unqualified, the punching is repeated or an early warning is issued. The synchronous punching of N punching units ensures the positional accuracy of the positioning holes, and finally the second frame strip that meets the subsequent bending and positioning requirements is obtained.

[0039] In some optional embodiments, the step of synchronously controlling the pose adjustment mechanism and the stamping mechanism according to the image information, so that the stamping mechanism punches the positioning hole in the first side plate 141 on the stamping platform 130 to obtain the second frame strip, includes: S121. After performing target recognition processing on the image information, determine the first pose information and relative pose information of the first side plate 141. The first pose information represents the spatial positional relationship between the first side plate 141 and the punching unit, and the relative pose information represents the spatial positional relationship between different areas of the first side plate 141 in the adjacent stamping mechanism. S122. Calculate the spatial curvature of the first side plate 141 based on the relative pose information; After correcting the relative positions of different areas on the first side plate 141 according to the spatial curvature and the preset curvature, the first middle frame strip is obtained. S123. Move the first middle frame strip to a first preset position so that the first middle frame strip fits into the stamping platform 130 to obtain a second middle frame strip. S124. Obtain the width and thickness values ​​of the first side plate 141 on the second middle frame strip through the visual inspection mechanism; S125. Determine the target stamping position of the stamping mechanism according to the width value and the first preset table, wherein the first preset table indicates the correspondence between the width value and the target stamping position; S126. Based on the thickness value and the preset punching force, the stamping mechanism is controlled to punch the positioning hole in the first side plate 141 at the target stamping position to obtain the second frame strip.

[0040] Specifically, target recognition processing (such as edge detection and feature point matching) is performed based on the acquired image information to obtain first pose information and relative pose information. The first pose information represents the spatial positional relationship between the first side plate 141 and a single punching unit, reflecting the overall positional state of the first side plate 141 within the current unit. The relative pose information represents the spatial positional relationship between different regions of the first side plate 141 between adjacent punching units (such as the height difference and parallelism deviation of the side plate regions corresponding to the first punching unit and the second punching unit), reflecting the local relative positional deviation of the first side plate 141 caused by its own deformation (such as slight bending) or placement error.

[0041] Based on relative pose information, the spatial curvature of the first side plate 141 is calculated using a spatial geometry algorithm: taking the side plate area corresponding to the adjacent punching unit as sampling points, the spatial surface of the first side plate 141 is fitted (e.g., fitted with a quadratic surface using the least squares method), and the radius of curvature or curvature value of the surface (e.g., the degree of bending per unit length) is calculated. The spatial curvature reflects the overall deformation state of the first side plate 141 (e.g., whether there is a central bulge, edge drooping, or other bending). If the curvature exceeds a preset threshold (the maximum bending amount allowed by the design), it needs to be corrected by a pose adjustment mechanism.

[0042] Combining the calculated spatial curvature with the preset curvature (i.e., the straightness or design curvature of the first side plate 141 under ideal conditions), the first side plate 141 is specifically corrected through a posture adjustment mechanism: the posture adjustment mechanism (such as a multi-axis linkage gripper, a moving pressure plate, etc.) applies a reverse force according to the curvature distribution (such as applying downward pressure to the protruding area and upward support force to the drooping edge), or through translation and rotation fine-tuning, so that the relative position deviation of different areas of the first side plate 141 is controlled within the allowable range (such as the height difference between adjacent areas ≤ 0.1mm). The first middle frame strip is obtained after correction.

[0043] The pose adjustment mechanism moves the first intermediate frame strip to a first preset position (i.e., the reference working position of the stamping platform 130), and uses adsorption, clamping, and other methods to make the side plate tightly fit with the stamping platform 130. The first preset position is determined by the positioning pins, positioning blocks, and reference boundaries of the stamping platform 130, ensuring that the length direction of the first side plate 141 is parallel to the platform axis. If the first side plate 141 fits against the upper surface of the positioning block, the second side plate 142 fits against the vertical surface of the positioning block, and the pose adjustment mechanism holds the first side plate 141 and the second side plate 142 in place, thereby fixing the first intermediate frame strip in the first preset position. During the fitting process, the gap between the side plate and the platform is monitored in real time by visual inspection (e.g., a laser rangefinder sensor detects the distance between the two). If a gap exists (e.g., due to incomplete correction caused by local deformation), the pose adjustment mechanism further fine-tunes the pressure or position until the side plate and the platform are fully fitted (gap ≤ 0.05mm, only an example value, not a specific limitation), forming the second intermediate frame strip.

[0044] The width and thickness of the first side plate 141 of the second intermediate frame strip are measured by a visual inspection mechanism: the width is the lateral dimension of the first side plate 141 along the direction perpendicular to its length, and different width values ​​match different lateral positions of the positioning holes. The thickness is the material thickness of the first side plate 141; the greater the thickness, the greater the material resistance that needs to be overcome.

[0045] Based on the measured width and thickness values, the stamping mechanism is precisely controlled to complete the machining of the positioning holes: First, a first preset table is consulted (the first preset table indicates the correspondence between width values ​​and target stamping positions). The coordinates of the stamping mechanism are located according to the current width value to ensure that the position of the positioning hole on the first side plate 141 meets the design requirements. Second, a preset punching force is called according to the thickness value (e.g., 50kN for 1mm thickness, 70kN for 1.5mm thickness), and the hydraulic or servo system of the stamping mechanism is controlled to output the corresponding punching force, so that the punch penetrates the first side plate 141 at the target position, forming a positioning hole with smooth edges and no burrs. Since N punching units perform punching simultaneously, positioning holes that meet the accuracy requirements are formed at different positions on the first side plate 141, resulting in the second frame strip.

[0046] In some optional embodiments, the step of controlling the stamping mechanism to punch the positioning hole in the first side plate 141 at the target stamping position to obtain the second frame strip according to the thickness value and the preset punching force includes: S1261. Control the stamping mechanism to punch the positioning hole of the first side plate 141 at the target stamping position with the preset punching force, and obtain the first punching time; S1262. Determine the punching curve of the first side plate 141 based on the first punching time, the preset punching force and the thickness value. The punching curve represents the correspondence between punching time and punching force. S1263. Determine the target punching force of the stamping mechanism based on the punching curve and the preset punching time; S1264. Configure the target punching force as the preset punching force, so that the stamping mechanism punches the positioning hole in the first side plate 141 of the remaining first frame strip 140 with the target punching force to obtain the second frame strip. Specifically, the stamping mechanism is controlled to perform the first punching of the first side plate 141 at the target stamping position with a preset punching force (based on the thickness value), and the first punching time is recorded in real time. The time from when the punch contacts the surface of the first side plate 141 to when it is completely penetrated (the punch reaches the bottom of the die of the stamping platform 130) is recorded using a displacement sensor or time relay of the stamping mechanism; this time reflects the actual punching efficiency under the current punching force. Based on the first punching time, the preset punching force, and the thickness value, a punching curve for the first side plate 141 is generated through data fitting. The punching curve, with punching time on the horizontal axis and punching force on the vertical axis, visually reflects the variation law of punching force and punching time. Specifically, the preset punching force, the first punching time, and the thickness value are input into a preset calculation model for curve fitting to obtain the punching curve.

[0047] Based on the generated punching curve and the preset punching time (the standard punching time required by the process, such as 0.6 seconds, which needs to balance efficiency and punching quality), the target punching force of the stamping mechanism is derived. The punching force value corresponding to the preset punching time is found on the punching curve. For example, if the first piece punching curve shows a punching force of 50kN corresponding to 0.8 seconds (longer than the preset 0.6 seconds), it indicates insufficient punching force, and the target punching force needs to be found upwards along the curve; if the curve shows a punching force of 60kN corresponding to 0.6 seconds of penetration, then the target punching force is set to 60kN; conversely, if the first piece punching time is shorter than the preset time, the punching force is reduced to a value matching the preset time. Specific settings are not detailed here.

[0048] The determined target punching force is updated to a new preset punching force, which is used for punching the first side plate 141 of all subsequent first frame strips 140, ultimately resulting in the second frame strip. For the remaining first frame strips 140 (of the same batch and specifications), the stamping mechanism punches holes at the target positions with the target punching force. Since the target punching force has been optimized through the first piece data, it ensures that the punching time of all positioning holes is stable within the preset range.

[0049] Step S200: After performing a non-standard bending process on the first area of ​​the second border strip by the first bending unit, a third border strip is obtained. The non-standard bending process represents bending the first area into a first preset shape.

[0050] Specifically, the first region is the middle part or core functional area of ​​the second frame strip. Its position is determined by the positioning hole on the second frame strip and the positioning pin of the first bending unit to ensure that the bending center coincides with the preset bending line. A non-standard bend is not a conventional standard angle bend, but rather, according to the shape requirements of the target frame, the first region is folded into a first preset shape (such as a rounded corner, a transition section with a specific tilt angle, or a composite shape containing multiple micro-angles, such as first folding at 30 degrees and then folding in the opposite direction at 15 degrees to form a special zigzag line, or folding into a composite shape of curve and zigzag line. The specific shape is set according to actual needs and is not limited here).

[0051] The upper and lower dies of the first bending unit are designed according to the contour of a first preset shape (such as an arc-shaped die surface or a stepped die surface). The upper and / or lower dies are hydraulically driven to clamp the first region and apply pressure, causing the material to undergo plastic deformation. After bending, the shape accuracy of the first region is verified by a shape detection sensor (such as a laser profiler). If the deviation exceeds the threshold, the bending is repeated for correction.

[0052] In some optional embodiments, the first bending unit includes a first positioning component 230, a first platform 200, a first cooling component, a first bending base 220, a first bending member 210, and a first pushing component. The first positioning component 230, the first bending base 220, and the first pushing component are all fixedly mounted on the first platform 200. The first pushing component is used to drive the first bending member 210 closer to or further away from the first bending base 220. The step of obtaining the third border strip by performing a non-standard bending process on the first area of ​​the second border strip through the first bending unit includes: S210. After positioning the second frame strip by the first positioning component 230, the second frame strip is conveyed to the first bending base 220. S220: Control the first pushing component to push the first bending member 210 in a first direction so that the first bending member 210 performs a non-standard bend on the first area of ​​the second frame strip located on the first bending base 220 to obtain the first bent frame strip; S230. After the first bent frame strip is cooled to the target temperature by the first cooling component, the first pushing component is controlled to push the first bending member 210 in the second direction so that the first bending member 210 releases the first bent frame strip to obtain the third frame strip.

[0053] Specifically, such as Figure 5As shown, the positioning groove 231 of the first positioning component 230 matches the first side plate 141 and the second side plate 142 of the second frame strip, thereby stabilizing the position of the second frame strip and preventing it from tilting during its movement to the first bending base 220. The second frame strip is smoothly transported to the first bending base 220 by a conveyor belt or robotic arm, and the frame strip is fixed by limiting blocks, magnetic suction devices, etc. on the base to prevent displacement due to force during bending.

[0054] A first pushing component (not shown) drives a first bending piece 210 to apply a directional force to a first region, completing a non-standard bend: the first pushing component (such as a servo hydraulic cylinder or a precision lead screw slide) pushes the first bending piece 210 (such as a bending upper die with an arc-shaped or irregular working surface) along a first direction. The working surface of the first bending piece 210 and the support surface of the first bending base 220 are precisely matched according to a first preset shape. During the bending process, a force sensor on the first pushing component monitors the pressure change in real time to ensure that it does not exceed the material yield limit (to avoid fracture), while a displacement sensor records the stroke of the bending piece to ensure the accuracy of the forming dimensions. After completion, a preliminary first bent frame strip is obtained.

[0055] After bending, the first bent edge strip is cooled by the first cooling component to ensure the bent shape is fixed: the first cooling component (such as the built-in cooling water channel and cold air nozzle of the first bending base 220) is activated to reduce the temperature of the first bent edge strip through conduction or convection. The target temperature is set to the room temperature of the material or other temperatures, specifically determined according to the material properties. Cooling prevents springback caused by residual heat in the material (i.e., the material changes shape due to the recovery of internal stress when the bent part is loosened before cooling).

[0056] After cooling and setting, the first pushing component is controlled to reverse its movement, causing the bent piece to detach from the edge strip: the first pushing component drives the first bent piece 210 in the second direction (opposite to the first direction), moving it away from the first bending base 220 and releasing the constraint on the first bent edge strip. The edge strip (third edge strip) that has completed one non-standard bend is then transported to the second bending unit via a robot or conveyor belt.

[0057] Step S300: After performing a second non-standard bending process on the second and third regions of the third border strip by the second bending unit, a fourth border strip is obtained. The second and third regions are symmetrical about the first region. The second non-standard bending represents bending the second and third regions into a relative second preset shape.

[0058] Specifically, the second and third regions on the third border strip are symmetrical about the first region (e.g., the first region is located in the middle region, the second region is to the left of the first region, the third region is to the right of the first region, and the distances between the second and third regions and the first region are equal), ensuring that the shape of both sides of the border is symmetrical after bending.

[0059] The second bending unit folds the second and third regions into a second preset shape that is opposite to each other. "Opposite" means that the bending direction or shape of the second and third regions is mirror symmetrical (e.g., the second region is folded to the left into a 45-degree inclined section, and the third region is folded to the right into a 45-degree inclined section; or the second region is folded into an outward convex arc, and the third region is folded into an inward concave arc, with the same radius of curvature; the specific second preset shape is not limited here).

[0060] The second bending unit is equipped with two symmetrical bending components, corresponding to the second and third regions respectively. Driven by the same power source, it ensures that the bending force and bending speed of the two regions are consistent, avoiding distortion of the third frame strip due to uneven force. Alternatively, the second bending unit can perform a second non-standard bend on the second and third regions sequentially; the specific bending method is not limited here.

[0061] In some alternative embodiments, refer to Figure 6-8 The second bending unit includes a second positioning component 311, a second platform 300, a second cooling component, a second bending base 310, a second bending element 320, and a second pushing component 330. The second positioning component 311 is located on the second bending base 310. The second cooling component, the second bending base 310, the second bending element 320, and the second pushing component 330 are all disposed on the second platform 300. After the second bending unit performs a secondary non-standard bending process on the second and third regions of the third frame strip, a fourth frame strip is obtained, including: S310, The second region and the third region of the third frame strip are fixed to the second bending base 310 in sequence by the second positioning component 311; Specifically, refer to Figure 7 The robotic arm places the third frame strip onto the second positioning component 311. The second positioning component 311 positions the third frame strip through positioning holes, aligning the center line of the second region (left symmetrical region) with the left baseline of the second bending base 310, and then clamps it in place. After the second region is bent, the positioning component releases and moves the frame strip to align the center line of the third region (right symmetrical region) with the right baseline of the second bending base 310, and then clamps it in place again.

[0062] S320: Obtain the first bend angle and the second bend angle of the second region; Specifically, the first bend angle of the second region and the second bend angle of the third region are obtained as the forming standard for the chamfer structure. The bend angle is the bending angle of the chamfer structure. Due to the "relative" nature of the two regions, the "first bend angle" and the "second bend angle" are equal in value and opposite in direction (e.g., the first bend angle is 45 degrees to the left and the second bend angle is 45 degrees to the right), or they are specific complementary angles according to design requirements (e.g., 30 degrees and 60 degrees, forming a symmetrical V-shaped structure). The specific angle is not limited.

[0063] S330. Determine the first bending position of the second bending member 320 according to the first bending degree and the second preset table, and determine the second bending position of the second bending member 320 according to the second bending degree and the second preset table, wherein the second preset table indicates the correspondence between the bending degree and the bending position. Specifically, the angle parameters are converted into the specific spatial position of the second bent component 320 by consulting the second preset table based on the bending degree. The second preset table is a table establishing the correspondence between bending degree and bending position through experiments, recording the bending stroke required for different angles (such as the downward distance of the bent component in the vertical direction and the offset in the horizontal direction). For example, a 45-degree bend corresponds to the bent component moving down 10mm and offset to the left 5mm (first bending position); a 45-degree reverse bend corresponds to moving down 10mm and offset to the right 5mm (second bending position).

[0064] For the first bending angle (e.g., 45 degrees to the left), the coordinates of the first bending position and the first bending stroke of the second bending part 320 are obtained by referring to the table; for the second bending angle (e.g., 45 degrees to the right), the coordinates of the second bending position and the second bending stroke are obtained by referring to the table, ensuring that the working surface of the bending part can accurately act on both ends of the area to be bent.

[0065] S340, when the second region of the third frame strip is fixed on the second bending base 310, the second pushing component 330 is controlled to push the second bending member 320 to the first bending position, so that the second bending member 320 will bend the first end and the second end of the second region into a first chamfer structure with the first bending degree respectively. Specifically, with the second region fixed, the second pushing component 330 drives the second bending component 320 to complete the forming of the first chamfer structure. The second pushing component 330 receives a first bending position command and drives the second bending component 320 (a mold with a chamfer forming working surface, such as a V-groove or arc-shaped punch) to move to the first bending position according to the first bending stroke. The second bending component 320 first applies pressure to the first end of the second region, bending it along a preset fold line to the first bending angle, maintaining pressure for 1 second to ensure plastic deformation; then, the third frame strip moves, and the second bending component 320 again applies the same pressure to the second end of the second region, bending it to the same angle to form a symmetrical first chamfer structure (both ends bend 45 degrees to the left, and the second end bends 45 degrees to the right).

[0066] S350, when the third region of the third frame strip is fixed on the second bending base 310, the second pushing component 330 is controlled to push the second bending member 320 to the second bending position, so that the second bending member 320 will bend the first end and the second end of the third region into a second chamfer structure with the second bending degree respectively. Specifically, with the third region fixed, the symmetrical operation is repeated to complete the formation of the second chamfer structure. The second pushing component 330 drives the second bending component 320 to move to the second bending position according to the second bending stroke. The second bending component 320 applies pressure to the first and second ends of the third region in sequence, bending according to the second bending degree to form a second chamfer structure opposite to the first chamfer structure.

[0067] S360. The fourth frame strip is obtained by sequentially cooling the first chamfer structure and the second chamfer structure through the second cooling component.

[0068] Specifically, the two chamfered structures are cooled sequentially by a second cooling component to eliminate internal stress and stabilize their shape. The second cooling component can be mounted on the second bending base 310 or the second platform 300; its specific location is not limited. The second cooling component aligns with the first chamfered structure after bending, and cools it down through heat conduction and forced air cooling. Once the first chamfered structure is shaped, the second chamfered structure is bent. The second cooling component repeats the cooling operation on the second chamfered structure after bending to complete its shaping and prevent angle changes due to springback.

[0069] In some optional embodiments, the second bending member 320 includes a bending head 321 with a preset curved surface. A movable post 322 is provided on the first surface of the bending head 321. A movable through hole matching the movable post 322 is provided on the first side plate 141 of the third frame strip. The second bending base 310 is provided with a bending groove 312 matching the preset curved surface. Controlling the second pushing component 330 to push the second bending member 320 to the first bending position, so that the second bending member 320 bends the first end and the second end of the second region into a first chamfer structure with the first bending degree, includes: S341. Control the second pushing component 330 to push the bending head 321 to the third side strip, so that after the preset curved surface contacts the second side plate 142 of the third side strip, the movable column 322 is fixed through the movable through hole; Specifically, the bending head 321 first approaches the third frame strip at a preset speed. Its working surface, with a preset curved surface (an arc surface matching the curvature of the first chamfer structure, or an inclined surface adapted to the first bending angle), first contacts the surface of the second side plate 142 of the third frame strip. Simultaneously with the preset curved surface contacting the second side plate 142, the movable post 322 (such as a cylindrical locating pin with a diameter of 3mm) on the first surface of the bending head 321 aligns with the movable through hole on the first side plate 141 of the third frame strip (matching the movable post 322). As the bending head 321 continues to advance, the movable post 322 inserts into the movable through hole and penetrates completely, forming a rigid mechanical connection and locking the relative position of the bending head 321 and the third frame strip. This ensures that during subsequent bending, the force of the bending head 321 can be accurately transmitted to the second area, avoiding bending deviation caused by relative sliding.

[0070] S342. Control the second pushing component 330 to push the bending head 321 to the first bending position, so that the preset curved surface of the bending head 321 squeezes the second side plate 142 of the third frame strip in the bending groove 312, and then sequentially bends the first end and the second end of the second region into the first chamfer structure.

[0071] Specifically, refer to Figure 8The second pushing component 330 continues to push the bending head 321 to the first bending position according to the first bending stroke. Through the synergistic effect of the preset curved surface and the bending groove 312, the bending of both ends of the second region is completed. Specifically, the bending groove 312 on the second bending base 310 and the preset curved surface of the bending head 321 have a "concave-convex matching" relationship (the bending head 321 is an outwardly convex arc surface, and the groove is an inwardly concave arc surface with the same radius of curvature; or the bending head 321 is a 45-degree inclined surface, and the groove is a 45-degree inclined groove). When the bending head 321 is pushed to the first bending position, the second region of the third frame strip is sandwiched between the preset curved surface and the bending groove 312. The groove provides reverse support force to the frame strip, ensuring that the material deforms in the preset direction during extrusion.

[0072] The bending head 321 first bends the first end of the second region, using a preset curved surface to press the first end of the second side plate 142 under set pressure. Under the constraint of the bending groove 312, it undergoes plastic deformation along a preset fold line, bending to the first bending degree, and holds the pressure for a preset time to stabilize the shape. Subsequently, the first end of the second region is moved and positioned in front of the bending groove 312, and the bending head 321 is driven by the second pushing component 330 to press the second end of the second side plate 142 with the same pressure and holding time (or the pressure and holding time set according to the second bending degree), causing it to bend to the first bending degree as well. After both ends of the second region are bent to the first bending degree, the second region forms a symmetrical first chamfer structure, the shape of which matches the contour of the preset curved surface and the bending groove 312.

[0073] Step S400: After performing three non-standard bends on the fourth and fifth regions of the fourth frame strip by the third bending unit, the target frame is obtained. The three non-standard bends represent bending the fourth and fifth regions into a third preset shape that is connected or opposite each other. The fourth region is located on the first side of the third region, and the fifth region is located on the second side of the second region. The first region, the second region, the third region, the fourth region, and the fifth region are identified by the positioning hole.

[0074] Specifically, the fourth region is located on the first side of the third region (the right extension of the third region), and the fifth region is located on the second side of the second region (the left extension of the second region), that is, the fourth and fifth regions are located at the two ends of the border strip respectively.

[0075] The third bending unit folds the fourth and fifth regions into a pre-set, interlocking / opposite shape. "Interlocking" means the ends of the two regions can precisely align after bending (forming a closed loop, overlapping planes, or interlocking snap-fit ​​structures). The pre-set shape must match the final connection requirements of the target frame (e.g., folding into a straight surface for subsequent welding / riveting). "Opposite" means the fourth and fifth regions are not interlocking, but are opposite each other in a pre-set direction. The third bending unit monitors the position coordinates of the fourth and fifth regions in real time using a laser positioning system, dynamically adjusting the bending angles of the two regions during bending (e.g., bending the fourth region at 100 degrees and the fifth region at 80 degrees to ensure seamless alignment at the ends), and controls the bending force through a pressure feedback system to prevent excessive material deformation that could lead to gaps in the connection.

[0076] In some alternative embodiments, refer to Figure 9 The third bending unit includes a third bending base 410, a third platform 400, a third bending component 420, and a third pushing assembly. The third bending base 410 and the third pushing assembly are both fixed to the third platform 400. The third bending component 420 is slidably connected to the third platform 400. A laser ranging unit is provided on the third bending base 410. The target border is obtained by performing three non-standard bending processes on the fourth and fifth regions of the fourth border strip through the third bending unit, including: When the fourth and fifth regions of the fourth border strip are located at the third bending base 410: S410, Control the third pushing component to push the third bending member 420 close to the third bending base 410, so that the third bending member 420 performs three non-standard bends on the fourth region and the fifth region; Specifically, the fourth frame strip is transported to the third bending unit via a robotic arm or conveyor belt, ensuring that the fourth region (the first side extension of the third region) and the fifth region (the second side extension of the second region) are accurately positioned on the third bending base 410. The fourth frame strip has already undergone two bends; its fourth and fifth regions are unformed ends and require three bends to form a third pre-defined shape (such as a closed loop, overlapping structure, or snap-fit). During placement, the frame strip is initially positioned using the positioning groove and reference block on the third bending base 410, ensuring that the bending portions of the fourth and fifth regions are aligned with the functional end of the third bending component 420.

[0077] A third pushing component (not shown) drives the third bending member 420 to move towards the third bending base 410, simultaneously or in stages bending the fourth and fifth regions. The third pushing component (such as a high-precision servo hydraulic cylinder) pushes the third bending member 420 (whose working surface is designed according to a third preset shape, such as a hook-shaped, flat, or stepped mold) along the sliding guide rail of the third platform 400, gradually bringing it closer to the fourth frame strip on the third bending base 410. The third bending member 420, through a single continuous push or staged force application, causes plastic deformation in both regions simultaneously.

[0078] S420. The relative distance between the fourth region and the fifth region is detected in real time by the laser ranging unit. Specifically, during the bending process, a laser ranging unit (such as a high-precision laser displacement sensor, not shown) on the third bending base 410 continuously monitors the relative distance between the fourth and fifth regions. The laser ranging unit is installed on both sides of the third bending base 410, aligned with the end edges of the fourth and fifth regions respectively, and monitors the straight-line distance between the two edges in real time. This distance data is transmitted to the control system in real time, and the control system determines the actual docking status of the two regions based on the distance data.

[0079] S430. When the relative distance is less than or equal to a preset distance, the target frame is obtained after stopping the pushing of the third bending member 420.

[0080] Specifically, when the laser ranging unit detects that the relative distance between the fourth and fifth regions is less than or equal to a preset distance, the control system immediately stops the action of the third pushing component, completing the bending. The preset distance is set according to the docking requirements of the third preset shape to ensure that the two regions reach a "connected" state (such as tight contact, slight overlap, or precise engagement). After stopping the pushing, the third bending component 420 maintains pressure for 1-2 seconds (pressure holding and shaping; the specific pressure holding time is determined according to material properties and bending angle, and is not limited here), and then resets under the drive of the third pushing component (away from the third bending base 410). At this time, the fourth and fifth regions of the fourth frame strip have formed a connected third preset shape, thus obtaining the target frame.

[0081] In some alternative embodiments, refer to Figure 10The specific bending process of this application is illustrated below. First, multiple positioning holes (P1-P9) are punched out on the first frame strip 140 by the punching module. The specific positions of the holes are determined according to the shape of the target frame. The first bending unit first folds the first region (P4-P6) into a first preset shape to obtain the third frame strip; then, the second bending unit first folds the second region (P2-P4) and the third region (P6-P8) into a second preset shape to obtain the fourth frame strip; finally, the third bending unit first folds the fourth region (P8-P9) and the fifth region (P1-P2) into a connected third preset shape to obtain the target frame.

[0082] In some alternative embodiments, refer to Figure 11 Another bending process is illustrated in this application. First, multiple positioning holes (P1-P9) are punched on the first frame strip 140 by a punching module. The specific positions of the holes are determined according to the shape of the target frame. The first bending unit first folds the first region (P4-P6) into a first preset shape to obtain the third frame strip; then, the second bending unit first folds the second region (P2-P4) and the third region (P6-P8) into a second preset shape to obtain the fourth frame strip; finally, the third bending unit first folds the fourth region (P8-P9) and the fifth region (P1-P2) into a relative (with a preset distance and relative in a preset direction) third preset shape to obtain the target frame.

[0083] The implementation of this invention has the following beneficial effects: A second frame strip is obtained by controlling N punching units to simultaneously punch positioning holes at different positions of the first side plate 141; a third frame strip is obtained by performing a non-standard bending process on the first region of the second frame strip by the first bending unit, wherein the first non-standard bending represents bending the first region into a first preset shape; a fourth frame strip is obtained by performing a second non-standard bending process on the second and third regions of the third frame strip by the second bending unit, wherein the second and third regions are symmetrical about the first region, and the second non-standard bending represents bending the second and third regions into opposing second preset shapes; a target frame is obtained by performing a third non-standard bending process on the fourth and fifth regions of the fourth frame strip by the third bending unit, wherein the third non-standard bending represents bending the fourth and fifth regions into connected / opposing third preset shapes, wherein the fourth region is located on the first side of the third region, and the fifth region is located on the second side of the second region. In this embodiment, different regions are precisely positioned using positioning holes. First, a non-standard bend is performed on the first region located in the middle. Then, a second non-standard bend is performed on the second and third regions on either side of the first region. Finally, a third non-standard bend is performed on the fourth and fifth regions at both ends to obtain the target frame. This multi-unit collaborative non-standard bend improves the bending effect of the target frame. Therefore, this application can improve the bending accuracy and efficiency of non-standard frames.

[0084] In addition, one embodiment of the present invention provides a bending device for a non-standard frame, the device including: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0085] The processor and memory can be connected via a bus or other means.

[0086] It should be noted that the computer in this embodiment may correspond to, for example, including, Figure 1 The memory and processor in the illustrated embodiment can constitute Figure 1 The system architecture platform shown in the embodiment is part of the same inventive concept, and therefore has the same implementation principle and beneficial effects, which will not be described in detail here.

[0087] The non-transient software program and instructions required to implement the uplink co-channel interference cancellation method of the above embodiments are stored in memory. When executed by the processor, the non-standard frame bending method of the above embodiments is executed, for example, the method described above is executed. Figure 2 Method steps S100 to S400.

[0088] Furthermore, one embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when used to execute the bending method of the non-standard frame of the aforementioned non-standard frame bending device, for example, execute the above-described bending method... Figure 2 Method steps S100 to S400.

[0089] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as processors, such as central processing units, digital signal processors, or microprocessors executing software, or as hardware, or as integrated circuits, such as application-specific integrated circuits. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0090] The above provides a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A method for bending a non-standard frame, characterized in that, An edge bending device is used, comprising a punching module and a bending module. The punching module includes N sequentially arranged punching units, each with a first edge strip. The first edge strip includes an integrally formed first side plate and a second side plate, with a preset included angle between the first side plate and the second side plate. N is a positive integer greater than or equal to 1. The bending module includes a first bending unit, a second bending unit, and a third bending unit. The bending method for the non-standard edge includes: By controlling N punching units to simultaneously punch positioning holes at different positions of the first side plate, a second frame strip is obtained; The third border strip is obtained by performing a non-standard bending process on the first area of ​​the second border strip through the first bending unit. The non-standard bending process represents bending the first area into a first preset shape. The second border strip is obtained by performing a second non-standard bending process on the second and third regions of the third border strip through the second bending unit. The second and third regions are symmetrical about the first region. The second non-standard bending represents bending the second and third regions into a relative second preset shape. The target border is obtained by performing three non-standard bends on the fourth and fifth regions of the fourth border strip through the third bending unit. The three non-standard bends represent bending the fourth and fifth regions into a third preset shape that is connected or opposite each other. The fourth region is located on the first side of the third region, and the fifth region is located on the second side of the second region. The first region, the second region, the third region, the fourth region, and the fifth region are identified by the positioning hole.

2. The bending method for non-standard frames according to claim 1, characterized in that, Each of the N punching units includes a pose adjustment mechanism, a stamping platform, a stamping mechanism, and a vision inspection mechanism. The vision inspection mechanism is mounted on the stamping mechanism, and the pose adjustment mechanism and the stamping mechanism are mounted opposite each other on the stamping platform. Controlling the N punching units to simultaneously punch positioning holes at different positions of the first side plate to obtain the second frame strip includes: The punching process is performed simultaneously on N of the aforementioned punching units: The visual inspection mechanism acquires image information of the first side plate located in the punching unit; The posture adjustment mechanism and the stamping mechanism are synchronously controlled according to the image information, so that the stamping mechanism punches the positioning hole on the first side plate on the stamping platform to obtain the second frame strip.

3. The bending method for non-standard frames according to claim 2, characterized in that, The step of synchronously controlling the pose adjustment mechanism and the stamping mechanism according to the image information, so that the stamping mechanism punches the positioning hole in the first side plate on the stamping platform to obtain the second frame strip, includes: After performing target recognition processing on the image information, the first pose information and relative pose information of the first side plate are determined. The first pose information represents the spatial positional relationship between the first side plate and the punching unit, and the relative pose information represents the spatial positional relationship between different areas of the first side plate in the adjacent stamping mechanism. Calculate the spatial curvature of the first side plate based on the relative pose information; The first middle border strip is obtained by correcting the relative positions of different regions on the first side plate according to the spatial curvature and the preset curvature. The first middle frame strip is moved to a first preset position so that the first middle frame strip is attached to the stamping platform to obtain the second middle frame strip; The width and thickness values ​​of the first side plate on the second middle frame strip are obtained through the visual inspection mechanism. The target stamping position of the stamping mechanism is determined according to the width value and the first preset table, wherein the first preset table indicates the correspondence between the width value and the target stamping position; Based on the thickness value and the preset punching force, the stamping mechanism is controlled to punch the positioning hole in the first side plate at the target stamping position to obtain the second frame strip.

4. The bending method for non-standard frames according to claim 3, characterized in that, The step of controlling the stamping mechanism to punch the positioning hole in the first side plate at the target stamping position according to the thickness value and the preset punching force to obtain the second frame strip includes: The stamping mechanism is controlled to punch the positioning hole of the first side plate at the target stamping position with the preset punching force, and the first punching time is obtained; The punching curve of the first side plate is determined based on the first punching time, the preset punching force, and the thickness value. The punching curve represents the correspondence between punching time and punching force. The target punching force of the stamping mechanism is determined based on the punching curve and the preset punching time. The target impact force is configured as the preset impact force so that the stamping mechanism punches the positioning hole of the first side plate of the remaining first frame strip with the target impact force to obtain the second frame strip.

5. The bending method for non-standard frames according to claim 1, characterized in that, The first bending unit includes a first positioning component, a first platform, a first cooling component, a first bending base, a first bending member, and a first pushing component. The first positioning component, the first bending base, and the first pushing component are all fixedly mounted on the first platform. The first pushing component is used to drive the first bending member to move closer to or away from the first bending base. The process of obtaining a third border strip by performing a non-standard bending process on the first area of ​​the second border strip through the first bending unit includes: After the second frame strip is positioned by the first positioning component, the second frame strip is transported to the first bending base; The first pushing component is controlled to push the first bending member in a first direction, so that the first bending member performs a non-standard bend on the first area of ​​the second frame strip located on the first bending base to obtain the first bent frame strip; After the first bending frame strip is cooled to the target temperature by the first cooling component, the first pushing component is controlled to push the first bending member in the second direction so that the first bending member releases the first bending frame strip to obtain the third frame strip.

6. The bending method for non-standard frames according to claim 1, characterized in that, The second bending unit includes a second positioning component, a second platform, a second cooling component, a second bending base, a second bending element, and a second pushing component. The second positioning component is located on the second bending base. The second cooling component, the second bending base, the second bending element, and the second pushing component are all disposed on the second platform. A fourth border strip is obtained by performing a second non-standard bending process on the second and third regions of the third border strip using the second bending unit, including: The second positioning component sequentially fixes the second region and the third region of the third frame strip onto the second bending base; Obtain the first bend angle and the second bend angle of the second region; The first bending position of the second bending component is determined according to the first bending degree and the second preset table, and the second bending position of the second bending component is determined according to the second bending degree and the second preset table, wherein the second preset table indicates the correspondence between the bending degree and the bending position; When the second region of the third frame strip is fixed on the second bending base, the second pushing component is controlled to push the second bending member to the first bending position, so that the second bending member will bend the first end and the second end of the second region into a first chamfer structure with the first bending degree respectively; When the third region of the third frame strip is fixed on the second bending base, the second pushing component is controlled to push the second bending member to the second bending position so that the second bending member will bend the first end and the second end of the third region into a second chamfer structure with the second bending degree respectively; The fourth frame strip is obtained by sequentially cooling the first chamfered structure and the second chamfered structure using the second cooling component.

7. The bending method for non-standard frames according to claim 6, characterized in that, The second bending member includes a bending head with a preset curved surface. A movable post is provided on the first surface of the bending head. A movable through hole matching the movable post is provided on the first side plate of the third frame strip. The second bending base is provided with a bending groove matching the preset curved surface. Controlling the second pushing component to push the second bending member to the first bending position, so that the second bending member bends the first end and the second end of the second region into a first chamfer structure with the first bending degree, includes: The second pushing component is controlled to push the bending head to the third side strip so that the preset curved surface contacts the second side plate of the third side strip, and then the movable column is fixed through the movable through hole; The second pushing component is controlled to push the bending head to the first bending position, so that the preset curved surface of the bending head presses the second side plate of the third frame strip in the bending groove, and then the first end and the second end of the second region are bent into the first chamfer structure in sequence.

8. The bending method for non-standard frames according to claim 1, characterized in that, The third bending unit includes a third bending base, a third platform, a third bending component, and a third pushing component. The third bending base and the third pushing component are both fixed on the third platform. The third bending component is slidably connected to the third platform. A laser ranging unit is provided on the third bending base. The target border is obtained by performing three non-standard bends on the fourth and fifth regions of the fourth border strip using the third bending unit, including: When the fourth region and the fifth region of the fourth border strip are located on the third bending base: The third pushing component is controlled to push the third bending member closer to the third bending base, so that the third bending member performs three non-standard bends on the fourth region and the fifth region; The relative distance between the fourth region and the fifth region is detected in real time by the laser ranging unit; When the relative distance is less than or equal to a preset distance, the target frame is obtained after stopping the pushing of the third bending member.

9. A bending device for non-standard frames, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the bending method for a non-standard border as described in any one of claims 1-8.

10. A computer storage medium, characterized in that, The computer storage medium stores computer-executable instructions for performing the bending method of the non-standard frame as described in any one of claims 1-8.

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