Non-standard frame folding method, device and storage medium

Abstract

Embodiments of the present application provide a non-standard frame bending method, equipment and storage medium, the method comprises the following steps: controlling N punching units to punch positioning holes at different positions of the first side plate to obtain a second frame strip; performing first non-standard bending processing on a first region of the second frame strip by a first bending unit to obtain a third frame strip; performing second non-standard bending processing on a second region and a third region of the third frame strip by a second bending unit to obtain a fourth frame strip; and performing third non-standard bending processing on a fourth region and a fifth region of the fourth frame strip by a third bending unit to obtain a target frame. The different regions are accurately positioned by the positioning holes, and the target frame is obtained after multiple non-standard bending processing, which can meet the bending requirements of the non-standard frame and improve the bending accuracy and efficiency of the non-standard frame.

Description

TECHNICAL FIELD

[0001] The present application relates to, but is not limited to, the technical field of frame processing, and in particular to a non-standard frame bending method, device and storage medium. BACKGROUND

[0002] The existing frame bending is usually to bend the standard frame. The bending of the standard frame is difficult to match the bending of the non-standard frame, so the existing bending technology is difficult to meet the bending of the non-standard frame. SUMMARY

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

[0004] The main purpose of the embodiment of the present application is to provide a non-standard frame bending method, device and storage medium, which can meet the bending needs of the non-standard frame.

[0005] In a first aspect, the embodiment of the present application provides a non-standard frame bending method applied to a frame bending device, the frame bending device comprising a punching module and a bending module, the punching module comprising N punching units arranged in sequence, a first frame strip being placed on the N punching units, the first frame strip comprising a first side plate and a second side plate arranged integrally, the first side plate and the second side plate having a preset included angle therebetween, N being a positive integer greater than or equal to 1, the bending module comprising a first bending unit, a second bending unit and a third bending unit, the non-standard frame bending method comprising:

[0006] controlling the N punching units to punch positioning holes at different positions of the first side plate synchronously to obtain a second frame strip;

[0007] performing one-time non-standard bending processing on a first region of the second frame strip by the first bending unit to obtain a third frame strip, the one-time non-standard bending representing bending the first region into a first preset shape;

[0008] performing two-time non-standard bending processing on a second region and a third region of the third frame strip by the second bending unit to obtain a fourth frame strip, the second region and the third region being symmetrical about the first region, the two-time non-standard bending representing bending the second region and the third region into a second preset shape opposite to the first preset shape;

[0009] The fourth region and the fifth region of the fourth frame strip are subjected to three times of non-standard bending processing by the third bending unit, so as to obtain a target frame, the three times of non-standard bending representing that the fourth region and the fifth region are bent into a third preset shape in abutment / opposition, the fourth region being located at a first side of the third region, the fifth region being located at a second side of the second region, the first region, the second region, the third region, the fourth region and the fifth region being obtained through the positioning hole.

[0010] In some optional embodiments, each of the N punching units comprises a pose adjustment mechanism, a punching platform, a punching mechanism and a visual detection mechanism, the visual detection mechanism being arranged on the punching mechanism, the pose adjustment mechanism and the punching mechanism being oppositely arranged on the punching platform; the control of the N punching units to punch the positioning holes at different positions of the first side plate synchronously to obtain the second frame strip comprises:

[0011] synchronously performing, on the N punching units:

[0012] acquiring, by the visual detection mechanism, image information of the first side plate located at the punching unit;

[0013] synchronously controlling, according to the image information, the pose adjustment mechanism and the punching mechanism, so that the punching mechanism punches the positioning holes on the first side plate on the punching platform to obtain the second frame strip.

[0014] In some optional embodiments, the synchronous control of the pose adjustment mechanism and the punching mechanism according to the image information, so that the punching mechanism punches the positioning holes on the first side plate on the punching platform to obtain the second frame strip, comprises:

[0015] determining, after target recognition processing of the image information, first pose information and relative pose information of the first side plate, the first pose information representing a spatial positional relationship between the first side plate and the punching unit, and the relative pose information representing a spatial positional relationship between different regions of the first side plate and adjacent punching mechanisms;

[0016] calculating, according to the relative pose information, a spatial curvature of the first side plate;

[0017] correcting, according to the spatial curvature and a preset curvature, relative positions of different regions on the first side plate to obtain a first intermediate frame strip;

[0018] moving the first intermediate frame strip to a first preset position, so that the first intermediate frame strip is attached to the punching platform to obtain a second intermediate frame strip;

[0019] acquire a width value and a thickness value of the first side plate on the second intermediate frame strip through the visual detection mechanism;

[0020] determine a target punching position of the punching mechanism according to the width value and a first preset table, the first preset table indicating a corresponding relationship between the width value and the target punching position;

[0021] control the punching mechanism to punch the positioning hole on the first side plate at the target punching position according to the thickness value and a preset punching force, so as to obtain the second frame strip.

[0022] In some optional embodiments, the control of the punching mechanism to punch the positioning hole on the first side plate at the target punching position according to the thickness value and a preset punching force, so as to obtain the second frame strip, comprises:

[0023] control the punching mechanism to punch the positioning hole on the first side plate at the target punching position with the preset punching force, and acquire a first punching time;

[0024] determine a punching curve of the first side plate according to the first punching time, the preset punching force and the thickness value, the punching curve representing a corresponding relationship between punching time and punching force;

[0025] determine a target punching force of the punching mechanism according to the punching curve and a preset punching time;

[0026] configure the target punching force as the preset punching force, so that the punching mechanism punches the positioning hole on the first side plate of the remaining first frame strip at the target punching force to obtain the second frame strip.

[0027] In some optional embodiments, the first bending unit comprises a first positioning assembly, a first platform, a first cooling assembly, a first bending base, a first bending piece and a first pushing assembly, the first positioning assembly, the first bending base and the first pushing assembly are fixedly arranged on the first platform, and the first pushing assembly is used to drive the first bending piece to approach or move away from the first bending base; the second frame strip is subjected to one-time non-standard bending treatment by the first bending unit to obtain a third frame strip, which comprises:

[0028] transport the second frame strip to the first bending base through the first positioning assembly after positioning the second frame strip;

[0029] control the first pushing assembly to push the first bending piece in a first direction, so that the first bending piece performs one-time non-standard bending on the first region of the second frame strip on the first bending base to obtain a first bent frame strip;

[0030] After the first bending frame strip is cooled to a target temperature by the first cooling assembly, the first pushing assembly is controlled to push the first bending piece in a second direction so that the first bending piece loosens the first bending frame strip to obtain the third frame strip.

[0031] In some optional embodiments, the second bending unit includes a second positioning assembly, a second platform, a second cooling assembly, a second bending base, a second bending piece, and a second pushing assembly. The second positioning assembly is located on the second bending base. The second cooling assembly, the second bending base, the second bending piece, and the second pushing assembly are all arranged on the second platform. A fourth frame strip is obtained after a second region and a third region of the third frame strip are subjected to secondary non-standard bending processing by the second bending unit, including:

[0032] The second region and the third region of the third frame strip are sequentially fixed on the second bending base by the second positioning assembly;

[0033] A first bending degree of the second region and a second bending degree of the second region are obtained;

[0034] A first bending position of the second bending piece is determined according to the first bending degree and a second preset table, and a second bending position of the second bending piece is determined according to the second bending degree and the second preset table. The second preset table indicates a corresponding relationship between a bending degree and a bending position;

[0035] In a case where the second region of the third frame strip is fixed on the second bending base, the second pushing assembly is controlled to push the second bending piece to the first bending position, so that the second bending piece bends a first end and a second end of the second region into a first chamfer structure with the first bending degree;

[0036] In a case where the third region of the third frame strip is fixed on the second bending base, the second pushing assembly is controlled to push the second bending piece to the second bending position, so that the second bending piece bends a first end and a second end of the third region into a second chamfer structure with the second bending degree;

[0037] The first chamfer structure and the second chamfer structure are sequentially cooled by the second cooling assembly to obtain the fourth frame strip.

[0038] In some optional embodiments, the second bending member comprises a bending head with a preset curved surface, a movable column is arranged on a first surface of the bending head, a movable through hole matching the movable column is arranged on the first side plate of the third frame strip, and the second bending base is provided with a bending groove matching the preset curved surface; the second pushing assembly is controlled 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 area into the first chamfer structure with the first bending degree, comprising:

[0039] The second pushing assembly is controlled to push the bending head to the third frame strip, so that the preset curved surface is in contact with the second side plate of the third frame strip, and then the movable column is fixed through the movable through hole;

[0040] The second pushing assembly is controlled to push the bending head to the first bending position, so that the preset curved surface of the bending head extrudes 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 area are sequentially bent into the first chamfer structure.

[0041] In some optional embodiments, the third bending unit comprises a third bending base, a third platform, a third bending member and a third pushing assembly, the third bending base and the third pushing assembly are both fixed on the third platform, the third bending member is in sliding connection with the third platform, and the third bending base is provided with a laser ranging unit; the fourth area and the fifth area of the fourth frame strip are processed by the third bending unit for three times of non-standard bending to obtain a target frame, comprising:

[0042] When the fourth area and the fifth area of the fourth frame strip are located on the third bending base:

[0043] The third pushing assembly is controlled to push the third bending member close to the third bending base, so that the third bending member performs three times of non-standard bending on the fourth area and the fifth area;

[0044] The relative distance between the fourth area and the fifth area is detected in real time by the laser ranging unit;

[0045] When the relative distance is less than or equal to a preset distance, the third bending member is stopped from being pushed to obtain the target frame.

[0046] In a second aspect, an embodiment of the present application provides a non-standard frame bending device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the non-standard frame bending method of the first aspect when executing the computer program.

[0047] In a third aspect, an embodiment of the present application provides a computer storage medium storing computer executable instructions for executing the non-standard frame folding method of the first aspect.

[0048] The present application has the following advantages: the N punching units are controlled to punch positioning holes at different positions of the first side plate to obtain a second frame strip; the first folding unit is used to perform one-time non-standard folding on a first region of the second frame strip to obtain a third frame strip, the one-time non-standard folding representing folding the first region into a first preset shape; the second folding unit is used to perform two-time non-standard folding on a second region and a third region of the third frame strip to obtain a fourth frame strip, the second region and the third region being symmetrical about the first region, and the two-time non-standard folding representing folding the second region and the third region into opposite second preset shapes; and the third folding unit is used to perform three-time non-standard folding on a fourth region and a fifth region of the fourth frame strip to obtain a target frame, the three-time non-standard folding representing folding the fourth region and the fifth region into third preset shapes that are connected to or opposite to each other, the fourth region being located at a first side of the third region, and the fifth region being located at a second side of the second region. In the technical solution of the embodiment, the different regions are accurately positioned by the positioning holes, the first region located at the middle position is first folded by one-time non-standard folding, then the second region and the third region located at the two sides of the first region are folded by two-time non-standard folding, and finally the fourth region and the fifth region located at the two ends are folded by three-time non-standard folding to obtain the target frame. The non-standard folding of the multiple units improves the folding effect of the target frame. Therefore, the application can meet the folding requirements of the non-standard frame and improve the folding precision and efficiency of the non-standard frame.

[0049] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the description and claims. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 FIG. 1 is a schematic diagram of a system platform architecture for performing non-standard frame folding provided by an embodiment of the present application;

[0051] Figure 2 FIG. 2 is a flowchart of a non-standard frame folding method provided by an embodiment of the present application;

[0052] Figure 3 FIG. 3 is a structural block diagram of a punching module provided by an embodiment of the present application;

[0053] Figure 4 is a structural schematic view of the first frame strip provided by one embodiment of the present application;

[0054] Figure 5 is a structural schematic view of the first bending unit provided by one embodiment of the present application;

[0055] Figure 6 is a structural schematic view of the second bending unit provided by one embodiment of the present application;

[0056] Figure 7 is a structural schematic view of the bending position of the second bending unit provided by one embodiment of the present application;

[0057] Figure 8 is a structural schematic view of the bending groove provided by one embodiment of the present application;

[0058] Figure 9 is a structural schematic view of the third bending unit provided by one embodiment of the present application;

[0059] Figure 10 is a bending flow schematic view provided by one embodiment of the present application;

[0060] Figure 11 is a bending flow schematic view provided by another embodiment of the present application.

[0061] Reference signs:

[0062] System platform architecture 1000, processor 1100, memory 1200;

[0063] Punching cylinder 100, punching rod 110, punching block 120, punching platform 130, first frame strip 140, first side plate 141, second side plate 142;

[0064] First platform 200, first bending piece 210, first bending base 220, first positioning assembly 230, positioning groove 231;

[0065] Second platform 300, second bending base 310, second positioning assembly 311, bending groove 312, second bending piece 320, bending head 321, movable column 322, second pushing assembly 330;

[0066] Third platform 400, third bending base 410, third bending piece 420. DETAILED DESCRIPTION

[0067] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0068] It should be noted that although the functional modules are divided in the device schematic diagram, and the logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a manner different from the module division in the device or the sequence in the flowchart. The terms "first", "second", etc. in the specification, claims or above-described drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0069] The embodiments of the present application will be further described below with reference to the drawings.

[0070] As shown in Figure 1 , Figure 1 is a schematic diagram of a system platform architecture for performing a bending method of a non-standard frame according to an embodiment of the present application.

[0071] In Figure 1 the example, the system platform architecture 1000 is provided with a processor 1100 and a memory 1200, wherein the processor 1100 and the memory 1200 can be connected by a bus or other means, Figure 1 for example, by a bus connection.

[0072] The memory 1200 as a kind of non-transient computer readable storage medium, it can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory 1200 can include high-speed random access memory, and can also include non-transient memory, such as at least one magnetic disk storage device, flash memory device, or other non-transient solid-state memory device. In some embodiments, the memory 1200 can optionally include a memory remotely arranged relative to the processor 1100, and these remote memories can be connected to the non-standard frame bending device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0073] Those skilled in the art can understand that the system platform architecture 1000 can be applied to a 5G communication network system and a subsequent evolved mobile communication network system, etc., and the present embodiment does not specifically limit this.

[0074] Those skilled in the art can understand that, Figure 1 the system platform architecture 1000 shown in the above-mentioned embodiments does not constitute a limitation on the present application, and can include more or fewer components than shown in the figure, or combine certain components, or different component arrangements.

[0075] Referring to Figure 2 , Figure 2 A step flow chart of a non-standard frame bending method provided by the present application; applied to Figures 3-9 The frame bending equipment shown in the figure, the frame bending equipment includes a punching module and a bending module, the punching module includes N punching units arranged in sequence, a same first frame strip 140 is placed on the N punching units, the first frame strip 140 includes a first side plate 141 and a second side plate 142 arranged integrally, the first side plate 141 and the second side plate 142 have a preset included angle therebetween, 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 the present application embodiment can include but is not limited to:

[0076] Step S100, control N punching units to punch positioning holes at different positions of the first side plate 141 synchronously to obtain a second frame strip.

[0077] It should be noted that the non-standard frame of the present application includes a television frame, a computer frame, a vehicle-mounted decorative accessory frame, etc., which is not limited in detail.

[0078] Specifically, referring to Figure 3 Place the first frame strip 140 on the N punching units of the punching module, and control the N punching units of the punching module arranged in sequence to work cooperatively to punch the first side plate 141 of the first frame strip 140 synchronously. The number and position of the punching units are determined according to the specific punching number and punching position, which is not limited in detail.

[0079] Referring to Figure 4, the first frame strip 140 is an initial blank, which is composed of a first side plate 141 and a second side plate 142 formed integrally and has a preset included angle (such as 90 degrees) between the two. N punching units are distributed at a preset interval (such as one every preset distance along the length direction of the first side plate 141, or according to the bending requirements). Each punching unit punches positioning holes, connecting holes and / or weight reduction holes at different positions (such as both ends, the middle and the preset bending position) of the first side plate 141 (the type and size of the holes are set according to requirements). During punching, each punching unit fixes the first frame strip 140 through a mechanical positioning assembly (such as a clamping jaw, a positioning block, etc.) to avoid shape deviation caused by inaccurate positioning during subsequent bending. After punching is completed, the first frame strip 140 becomes a second frame strip, and the hole positions on the first side plate 141 will serve as the positioning reference for the subsequent bending unit (such as through the cooperation of a pin and a hole position to fix the position of the frame strip in the bending die, and to identify and position the first to fifth regions according to the positioning holes). The non-standard frame can be placed in a preset pose, then clamped at a fixed position by a mechanical arm or other clamping device and placed on the punching unit, or the non-standard frame with a random pose can be clamped, the pose of the non-standard frame is recognized by a pose recognition device on the clamping device such as a mechanical arm, and the corresponding clamping part on the non-standard frame is clamped, at the same time, the pose of the non-standard frame is adjusted by rotating the mechanical arm, then the non-standard frame is moved to the punching unit, and the specific adjustment and clamping methods are not limited here.

[0080] In some optional embodiments, N punching units each include a pose adjustment mechanism, a punching platform 130, a punching mechanism, and a visual detection mechanism. The visual detection mechanism is arranged on the punching mechanism, and the pose adjustment mechanism and the punching mechanism are oppositely arranged on the punching platform 130. The control of N punching units to punch positioning holes at different positions of the first side plate 141 to obtain a second frame strip includes:

[0081] The N punching units are synchronously controlled to:

[0082] S110, acquiring image information of the first side plate 141 located at the punching unit through the visual detection mechanism;

[0083] S120, synchronously controlling the pose adjustment mechanism and the punching mechanism according to the image information, so that the punching mechanism punches the positioning holes on the first side plate 141 on the punching platform 130 to obtain the second frame strip.

[0084] Specifically, all punching units (N is a positive integer ≥1) enter the working state under the unified instruction of the control system: the first frame strip 140 is integrally conveyed to the punching module, and the first side plate 141 is transversely supported on the punching platform 130 of the N punching units, and the second side plate 142 naturally falls or is positioned by auxiliary support (which does not affect the punching operation of the first side plate 141, and is not limited here).

[0085] The pose adjustment mechanism (such as a multi-axis mechanical gripper, a translation table) of each punching unit is initially in a standby state, the stamping mechanism (including a punch, a die, etc.) is located at an initial position above the first side plate 141, and the visual detection mechanism (such as an industrial camera) performs real-time image acquisition.

[0086] The visual detection mechanism (not shown) of the N punching units starts image acquisition at the same time, and obtains local image information of the first side plate 141 in each unit: each visual detection mechanism focuses on the target punching area of the first side plate 141 in 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). Among them, the image information includes: the edge profile of the first side plate 141, the relative position with the punching platform 130 (such as whether to deviate or tilt), and the pixel coordinates of the preset punching position in the image. The visual detection mechanism of each punching unit can be arranged on the punching platform, the punching structure or other positions, which is not limited here.

[0087] For each punching unit, the deviation of the actual position of the first side plate 141 from the theoretical position is analyzed according to the corresponding image information. The pose adjustment mechanism (not shown) corrects the local pose of the first side plate 141 to ensure that the first side plate 141 is accurately placed on the punching platform 130.

[0088] The pose adjustment actions of all punching units are completed within the same time window, and the force sensor feedback is used to ensure that the first side plate 141 is uniformly stressed during the correction process to avoid deformation caused by local adjustment.

[0089] When the pose adjustment of all punching units is completed, the stamping mechanism (driven by a hydraulic or servo motor) of each unit acts according to the preset parameters (stamping force, speed): the punch descends, passes through the first side plate 141 and cooperates with the preset position of the punching platform 130 to punch a positioning hole at the target position on the first side. The synchronization of the punching process is realized by precise pulse control of the servo motor to avoid the influence of side plate vibration on hole position accuracy caused by punching in sequence. The specific stamping mechanism includes a stamping cylinder 100 and a stamping block 120, and the stamping cylinder 100 drives the stamping block 120 to stamp the first frame strip 140 on the punching platform 130 through the stamping rod 110.

[0090] The punching mechanism is reset synchronously after punching (the punch moves up to the initial position), and the pose adjustment mechanism releases the first side plate 141. The vision detection mechanism collects images again to detect the position accuracy and integrity (without burrs and deformation) of each positioning hole. After detection, the punching is completed; if the detection is not qualified, re-punching or warning is performed. N punching units are punched synchronously to ensure the position accuracy of the positioning hole, and the second frame strip is finally obtained, which meets the subsequent bending positioning requirements.

[0091] In some optional embodiments, the image information is used to control the pose adjustment mechanism and the punching mechanism synchronously to obtain the second frame strip after the punching mechanism punches the positioning hole on the first side plate 141 on the punching platform 130, including:

[0092] S121, after target recognition processing of the image information, the first pose information and the relative pose information of the first side plate 141 are determined. The first pose information represents the spatial position relationship between the first side plate 141 and the punching unit, and the relative pose information represents the spatial position relationship between different regions of the first side plate 141 and adjacent punching mechanisms.

[0093] S122, the spatial curvature of the first side plate 141 is calculated according to the relative pose information;

[0094] The first intermediate frame strip is obtained by correcting the relative positions of different regions on the first side plate 141 according to the spatial curvature and the preset curvature;

[0095] S123, the first intermediate frame strip is moved to a first preset position, so that the second intermediate frame strip is obtained after the first intermediate frame strip is attached to the punching platform 130;

[0096] S124, the width value and the thickness value of the first side plate 141 on the second intermediate frame strip are obtained by the vision detection mechanism;

[0097] S125, the target punching position of the punching mechanism is determined according to the width value and the first preset table, which indicates the corresponding relationship between the width value and the target punching position;

[0098] S126, the second frame strip is obtained after the punching mechanism punches the positioning hole on the first side plate 141 at the target punching position according to the thickness value and the preset punching force.

[0099] Specifically, target recognition processing (such as edge detection, feature point matching) is performed according to the acquired image information, so as to obtain first pose information and relative pose information. The first pose information represents the spatial position relationship between the first side plate 141 and the single punching unit, and reflects the overall position state of the first side plate 141 in the current unit. The relative pose information represents the spatial position relationship between different regions of the first side plate 141 in adjacent punching units (such as the height difference and parallelism deviation of the side plate regions corresponding to the first and second punching units), and reflects the local relative position deviation of the first side plate 141 due to its own deformation (such as slight bending) or placement error.

[0100] Based on the relative pose information, the spatial curvature of the first side plate 141 is calculated by a spatial geometric algorithm: taking the side plate regions corresponding to adjacent punching units as sampling points, fitting the spatial surface of the first side plate 141 (such as fitting a quadratic surface by the least squares method), and calculating the curvature radius or curvature value (such as the bending degree per unit length) of the surface. The spatial curvature reflects the overall deformation state of the first side plate 141 (such as whether there is a middle bulge, edge sag, or other bending), and if the curvature exceeds a preset threshold (the maximum allowable bending amount in design), the pose adjustment mechanism needs to be used for correction.

[0101] Combined with the calculated spatial curvature and the preset curvature (i.e. the flatness or design curvature of the first side plate 141 in the ideal state), the pose adjustment mechanism is used to correct the first side plate 141: the pose adjustment mechanism (such as multi-axis linkage clamps, moving pressure plates, etc.) applies a reverse force (such as downward pressure on the bulging region, upward support force on the sagging edge) according to the curvature distribution, or adjusts by translation and rotation, so that the relative position deviation of different regions of the first side plate 141 is controlled within the allowable range (such as a height difference between adjacent regions ≤0.1 mm). The first intermediate border strip obtained after correction.

[0102] 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 tightly attaches the side plate to the stamping platform 130 by suction, clamping, or the like: The first preset position is determined by the positioning pin, positioning block, reference boundary, etc. of the stamping platform 130, ensuring that the length direction of the first side plate 141 is parallel to the platform axis. For example, the first side plate 141 is attached to the upper surface of the positioning block, and the second side plate 142 is attached to the vertical surface of the positioning block, and the pose adjustment mechanism pushes against the first side plate 141 and the second side plate 142, thereby fixing the first intermediate frame strip in the first preset position. During the attachment process, the gap between the side plate and the platform is monitored in real time by visual detection (e.g., a laser ranging sensor detects the distance between the two), and if there is a gap (e.g., due to local deformation that has not been completely corrected), the pose adjustment mechanism further adjusts the pressure or position until the side plate is fully attached to the platform (gap ≤ 0.05 mm, which is only an example value and is not specifically limited), forming a second intermediate frame strip.

[0103] The visual detection mechanism detects the width value and the thickness value of the first side plate 141 of the second intermediate frame strip: The width value is the transverse dimension of the first side plate 141 perpendicular to the length direction, and different width values match different transverse positions of the positioning hole. The thickness value is the material thickness of the first side plate 141, and the greater the thickness, the greater the material resistance that needs to be overcome.

[0104] Based on the measured width value and thickness value, the stamping mechanism is precisely controlled to complete the positioning hole processing: First, query the first preset table (the first preset table indicates the correspondence between the width value and the target stamping position), and position the coordinates of the stamping mechanism according to the current width value, to ensure that the position of the positioning hole in the first side plate 141 meets the design requirements. Second, according to the thickness value, a preset punching force is called (e.g., a thickness of 1 mm corresponds to a punching force of 50 kN, and a thickness of 1.5 mm corresponds to a punching force of 70 kN), 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 to form a positioning hole with smooth edges and no burrs. Since N punching units synchronously perform punching, the first side plate 141 at different positions forms positioning holes that meet the accuracy requirements, obtaining a second frame strip.

[0105] In some optional embodiments, after the first side plate 141 is punched by the stamping mechanism at the target stamping position according to the thickness value and the preset punching force to form the positioning hole, the second frame strip is obtained, including:

[0106] S1261, control the stamping mechanism to punch the first side plate 141 at the target stamping position with the preset punching force to form the positioning hole, and obtain a first punching time;

[0107] S1262, determine a punching curve of the first side plate 141 according to the first punching time, the preset punching force and the thickness value, the punching curve representing a corresponding relationship between punching time and punching force;

[0108] S1263, determine a target punching force of the punching mechanism according to the punching curve and the preset punching time;

[0109] S1264, configure the target punching force as the preset punching force, so that the punching mechanism punches the positioning hole of the first side plate 141 of the remaining first frame strip 140 at the target punching force to obtain the second frame strip

[0110] Specifically, the punching mechanism punches the first side plate 141 at the target punching position with the preset punching force (set based on the thickness value) for the first time, and records the first punching time in real time. Through the displacement sensor or time relay of the punching mechanism, the time from the contact of the punch head with the surface of the first side plate 141 to the complete penetration (the punch head reaches the bottom of the concave die of the punching platform 130) is recorded, which reflects the actual punching efficiency under the current punching force. According to the first punching time, the preset punching force and the thickness value, the punching curve of the first side plate 141 is generated through data fitting. The punching curve takes the punching time as the horizontal axis and the punching force as the vertical axis, and directly reflects the change rule of the punching force and the punching time. Specifically, the preset punching force, the first punching time and the thickness value are input into a pre-designed calculation model for curve fitting to obtain the punching curve.

[0111] According to the generated punching curve and the preset punching time (standard punching time required by the process, such as 0.6 seconds, which needs to balance the efficiency and the punching quality), the target punching force of the punching mechanism is deduced. Find the punching force value corresponding to the preset punching time on the punching curve. For example, if the first piece punching curve shows that 50kN punching force corresponds to 0.8 seconds (longer than the preset 0.6 seconds), it means that the punching force is insufficient, and the curve needs to be searched upwards. If the curve shows that 60kN punching force corresponds to 0.6 seconds of penetration, the target punching force is determined as 60kN. Conversely, if the first piece time is shorter than the preset time, the punching force is reduced to the value matching the preset time, and the specific setting is not described in detail.

[0112] The determined target punching force is updated as a new preset punching force, which is used for punching the first side plate 141 of all the first frame strips 140 subsequently, and finally obtains the second frame strip. For the remaining first frame strips 140 (of the same batch and the same specification), the punching mechanism punches at the target position with the target punching force. Since the target punching force has been optimized through the first piece data, it is ensured that the punching time of all positioning holes is stable within the preset range.

[0113] In step S200, the first area of the second frame strip is subjected to one-time non-standard bending processing by the first bending unit to obtain a third frame strip. The one-time non-standard bending represents bending the first area into a first preset shape.

[0114] Specifically, the first area is a middle part or a functional core area of the second frame strip, and a position of the first area is determined by cooperation of a positioning hole on the second frame strip and a positioning pin of the first bending unit, so as to ensure that a bending center coincides with a preset bending line. The one-time non-standard bending is not a conventional standard angle bending, but is to bend the first area into a first preset shape (such as a corner with an arc, a transition section with a specific inclination angle, or a composite shape including multiple micro angles, such as forming a special bending line by first bending 30 degrees and then reversely bending 15 degrees, or bending into a composite shape of a curve and a bending line, and a specific shape is set according to actual requirements, which is not limited here).

[0115] The upper die and the lower die of the first bending unit are designed according to a contour of the first preset shape (such as an arc-shaped die surface or a stepped die surface), the upper die and / or the lower die are driven by a hydraulic pressure, the first area is clamped and a pressure is applied to make the material produce plastic deformation. After bending, a shape detection sensor (such as a laser profiler) is used to verify shape accuracy of the first area, and when a deviation exceeds a threshold value, re-bending correction is performed.

[0116] In some optional embodiments, the first bending unit includes a first positioning assembly 230, a first platform 200, a first cooling assembly, a first bending base 220, a first bending piece 210, and a first pushing assembly, the first positioning assembly 230, the first bending base 220, and the first pushing assembly are fixedly arranged on the first platform 200, and the first pushing assembly is used to drive the first bending piece 210 to move close to or away from the first bending base 220. The first area of the second frame strip is subjected to one-time non-standard bending processing by the first bending unit to obtain a third frame strip, which includes the following steps.

[0117] In step S210, the second frame strip is positioned by the first positioning assembly 230 and then is conveyed to the first bending base 220.

[0118] In step S220, the first pushing assembly is controlled to push the first bending piece 210 in a first direction, so that the first bending piece 210 subjects the first area of the second frame strip located on the first bending base 220 to one-time non-standard bending to obtain a first bent frame strip.

[0119] S230, after the first bending frame strip is cooled to the target temperature by the first cooling assembly, the first pushing assembly is controlled to push the first bending piece 210 in a second direction, so that the first bending piece 210 loosens the first bending frame strip to obtain the third frame strip.

[0120] Specifically, as shown in the figure, Figure 5 The positioning groove 231 of the first positioning assembly 230 matches the first side plate 141 and the second side plate 142 of the second frame strip, so that the position of the second frame strip is stabilized, and the second frame strip is prevented from being skewed during movement to the first bending base 220. The second frame strip is stably transported to the first bending base 220 by a conveyor belt or a mechanical arm, and the frame strip is fixed by a limiting block, a magnetic attraction device or the like on the base to prevent displacement due to force during bending.

[0121] A first pushing assembly (not shown) is controlled to drive the first bending piece 210 to apply a directional force to the first region, and a non-standard bending is completed: the first pushing assembly (such as a servo hydraulic cylinder or a precision lead screw sliding table) pushes the first bending piece 210 (such as a bending upper die with an arc-shaped or special-shaped working surface) in a first direction. The working surface of the first bending piece 210 precisely matches the supporting surface of the first bending base 220 according to a first preset shape. During the bending process, a force sensor on the first pushing assembly monitors the pressure change in real time to ensure that the material yield limit is not exceeded (to avoid breakage), and a displacement sensor records the bending piece stroke to ensure the forming size accuracy. After completion, a preliminarily formed first bending frame strip is obtained.

[0122] After the bending is completed, the first bending frame strip is cooled by the first cooling assembly to ensure that the bending shape is fixed: the first cooling assembly (such as a cooling water channel or a cold air nozzle built in the first bending base 220) is started to reduce the temperature of the first bending frame strip by conduction or convection. The target temperature is set to the room temperature of the material or other temperatures, which is determined according to the material characteristics. Through cooling, springback (i.e., the bending piece is loosened before cooling, and the material changes shape due to internal stress recovery) caused by material residual heat is avoided.

[0123] After cooling and shaping, the first pushing assembly is controlled to act in reverse to make the bending piece separate from the frame strip: the first pushing assembly drives the first bending piece 210 in a second direction (opposite to the first direction) to move away from the first bending base 220, and loosens the constraint on the first bending frame strip. The frame strip (third frame strip) on which the non-standard bending is completed is transported to a second bending unit by a mechanical hand or a conveying belt.

[0124] In step S300, the second bending unit is used to perform secondary non-standard bending on the second region and the third region of the third frame strip, the second region and the third region are symmetrical about the first region, and the secondary non-standard bending is characterized in that the second region and the third region are bent into opposite second preset shapes.

[0125] Specifically, the second region and the third region of the third frame strip are symmetrical about the first region (for example, the first region is located in the middle region, the second region is on the left side of the first region, and the third region is on the right side of the first region, and the distances between the second region, the third region and the first region are equal), so as to ensure that the shapes of the two sides of the frame after bending are symmetrical.

[0126] The second region and the third region are bent into opposite second preset shapes by the second bending unit, and “opposite” means that the bending directions or shapes of the second region and the third region are mirror-symmetrical (for example, the second region is bent to the left into a 45-degree inclined segment, and the third region is bent to the right into a 45-degree inclined segment; or the second region is bent into an outward convex arc, and the third region is bent into an inward concave arc, and the curvature radii of the two are the same; the specific second preset shape is not limited here).

[0127] The second bending unit is provided with two symmetrical bending assemblies corresponding to the second region and the third region respectively, and is driven by the same power source, so as to ensure that the bending forces and bending speeds of the two regions are consistent, and to avoid the distortion of the third frame strip caused by uneven stress. Alternatively, the second bending unit sequentially performs secondary non-standard bending on the second region and the third region, and the specific bending mode is not limited here.

[0128] In some optional embodiments, with reference to Figures 6-8 , the second bending unit includes a second positioning assembly 311, a second platform 300, a second cooling assembly, a second bending base 310, a second bending piece 320 and a second pushing assembly 330, the second positioning assembly 311 is located on the second bending base 310, the second cooling assembly, the second bending base 310, the second bending piece 320 and the second pushing assembly 330 are all arranged on the second platform 300, and the second bending unit is used to perform secondary non-standard bending on the second region and the third region of the third frame strip to obtain a fourth frame strip, which includes the following steps.

[0129] In S310, the second region and the third region of the third frame strip are sequentially fixed on the second bending base 310 by the second positioning assembly 311.

[0130] Specifically, with reference to Figure 7The third frame strip is placed on the second positioning assembly 311 by the mechanical arm, the second positioning assembly 311 positions the third frame strip through the positioning hole, the center line of the second area (the left symmetrical area) is aligned with the left reference line of the second bending base 310, and is clamped and fixed by the clamp. After the second area is bent, the positioning assembly releases and translates the frame strip, the center line of the third area (the right symmetrical area) is aligned with the right reference line of the second bending base 310, and is clamped and fixed again by the clamp.

[0131] S320, a first bending degree of the second area and a second bending degree of the second area are obtained.

[0132] Specifically, the first bending degree of the second area and the second bending degree of the third area are obtained as the forming standard of the chamfer structure. The bending degree is the bending angle of the chamfer structure. The first bending degree and the second bending degree are equal in value and opposite in direction (for example, the first bending degree is 45 degrees to the left, and the second bending degree is 45 degrees to the right) due to the relative characteristics of the two areas, or are specific complementary angles (for example, 30 degrees and 60 degrees, forming a symmetrical V-shaped structure) according to design requirements, and the specific angle is not limited.

[0133] S330, a first bending position of the second bending piece 320 is determined according to the first bending degree and a second preset table, and a second bending position of the second bending piece 320 is determined according to the second bending degree and the second preset table, the second preset table indicating the corresponding relationship between the bending degree and the bending position.

[0134] Specifically, the second preset table is queried according to the bending degree, and the angle parameter is converted into the specific spatial position of the second bending piece 320. The second preset table is a bending degree and bending position correspondence table established by experiment, recording the bending stroke required by different angles (such as the downward distance of the bending piece in the vertical direction and the offset amount in the horizontal direction). For example: 45-degree bending corresponds to 10mm downward and 5mm left offset (first bending position); 45-degree reverse bending corresponds to 10mm downward and 5mm right offset (second bending position).

[0135] For the first bending degree (such as 45 degrees to the left), the first bending position coordinates and the first bending stroke of the second bending piece 320 are obtained by table lookup; for the second bending degree (such as 45 degrees to the right), the second bending position coordinates and the second bending stroke are obtained by table lookup, so that the working surface of the bending piece can accurately act on both ends of the area to be bent.

[0136] S340、in the case where the second region of the third frame strip is fixed on the second bending base 310, controlling the second pushing assembly 330 to push the second bending piece 320 to the first bending position, so that the second bending piece 320 bends the first end and the second end of the second region into a first chamfer structure with the first bending degree respectively;

[0137] Specifically, in the state of fixing the second region, the second pushing assembly 330 is controlled to drive the second bending piece 320 to complete the forming of the first chamfer structure. The second pushing assembly 330 receives the first bending position instruction, drives the second bending piece 320 (a mold with a chamfer forming working surface, such as a V-shaped groove or an arc-shaped convex mold) to move to the first bending position according to the first bending stroke. The second bending piece 320 first applies pressure to the first end of the second region, so that it is bent along the preset folding line to the first bending degree, and the pressure is maintained for 1 second to ensure plastic deformation; then the third frame strip is moved, and the second end of the second region is again pressed by the second bending piece 320 to the same angle to form a symmetrical first chamfer structure (the first two ends are bent to 45 degrees to the left, and the second end is bent to 45 degrees to the right).

[0138] S350、in the case where the third region of the third frame strip is fixed on the second bending base 310, controlling the second pushing assembly 330 to push the second bending piece 320 to the second bending position, so that the second bending piece 320 bends the first end and the second end of the third region into a second chamfer structure with the second bending degree respectively;

[0139] Specifically, in the state of fixing the third region, the symmetrical operation is repeated to complete the forming of the second chamfer structure. The second pushing assembly 330 drives the second bending piece 320 to move to the second bending position according to the second bending stroke. The second bending piece 320 applies pressure to the first end and the second end of the third region in turn, and bends them to the second bending degree to form a second chamfer structure opposite to the first chamfer structure.

[0140] S360, obtaining the fourth frame strip by sequentially cooling the first chamfer structure and the second chamfer structure through the second cooling assembly.

[0141] Specifically, the two chamfer structures are sequentially cooled by the second cooling assembly to eliminate internal stress and stabilize the shape. The second cooling assembly can be arranged on the second bending base 310 or the second platform 300, and the specific arrangement position is not limited. The second cooling assembly first aligns with the first chamfer structure when the first chamfer structure is bent, and cools by heat conduction and forced air cooling. After the first chamfer structure is shaped, the bending of the second chamfer structure is performed. The second cooling assembly repeats the cooling operation on the second chamfer structure when the second chamfer structure is bent to complete the shaping, avoiding the change of the angle caused by the rebound.

[0142] In some optional embodiments, the second bending member 320 comprises a bending head 321 with a preset curved surface, a movable column 322 is arranged on a first surface of the bending head 321, a movable through hole matching the movable column 322 is arranged on the first side plate 141 of the third frame strip, and the second bending base 310 is provided with a bending groove 312 matching the preset curved surface; the second pushing assembly 330 is controlled 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 area into a first chamfer structure with the first bending degree, comprising:

[0143] S341, the second pushing assembly 330 is controlled to push the bending head 321 to the third frame strip, so that the preset curved surface contacts the second side plate 142 of the third frame strip, and then the movable column 322 is fixed through the movable through hole;

[0144] Specifically, the bending head 321 first approaches the third frame strip at a preset speed, and the working surface with the preset curved surface (an arc surface matching the first chamfer structure or an inclined surface matching the first bending degree) first contacts the surface of the second side plate 142 of the third frame strip. At the same time that the preset curved surface contacts the second side plate 142, the movable column 322 (such as a cylindrical positioning pin with a diameter of 3 mm) on the first surface of the bending head 321 is aligned with the movable through hole (matching the movable column 322) on the first side plate 141 of the third frame strip; as the bending head 321 continues to advance, the movable column 322 is inserted into and completely penetrates the movable through hole, forming a mechanical rigid connection and locking the relative position of the bending head 321 and the third frame strip. It is ensured that the bending head 321 can accurately transmit the force to the second area during subsequent bending, and the bending deviation caused by relative sliding is avoided.

[0145] S342, the second pushing assembly 330 is controlled to push the bending head 321 to the first bending position, so that the preset curved surface of the bending head 321 extrudes the second side plate 142 of the third frame strip in the bending groove 312, and then the first end and the second end of the second area are bent into the first chamfer structure in sequence.

[0146] Specifically, referring to Figure 8, the control second push assembly 330 continues to push the bending head 321 to the first bending position according to the first bending stroke, and the bending of the second region at both ends is completed through the cooperation of the preset curved surface and the bending groove 312. Among them, the bending groove 312 on the second bending base 310 and the preset curved surface of the bending head 321 are in a "concave-convex matching" relationship (the bending head 321 is an outward convex arc surface, and the groove is an inward concave arc surface, and the curvature radii are the same; 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 clamped between the preset curved surface and the bending groove 312, and the groove provides a reverse supporting force for the frame strip to ensure that the material deforms in the preset direction when extruded.

[0147] The bending head 321 first bends the first end of the second region, and the preset curved surface extrudes the first end of the second side plate 142 at a set pressure. Under the constraint of the bending groove 312, plastic deformation occurs along the preset bending line, and the bending head 321 is bent to the first bending degree. The pressure is maintained 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 push assembly 330 to extrude the second end of the second side plate 142 at the same pressure and pressure maintaining time (or the pressure and pressure maintaining time set according to the second bending degree) to make it also bent to the first bending degree. After the two ends of the second region are bent to the first bending degree, the second region forms a symmetrical first chamfer structure, and the shape matches the profile of the preset curved surface and the bending groove 312.

[0148] In step S400, the third bending unit is used to perform three times of non-standard bending processing on the fourth region and the fifth region of the fourth frame strip to obtain a target frame. The three times of non-standard bending processing represents bending the fourth region and the fifth region into a third preset shape that is connected to or opposite to 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 obtained through the positioning hole.

[0149] Specifically, the fourth region is located on the first side of the third region (the extension section on the right side of the third region), and the fifth region is located on the second side of the second region (the extension section on the left side of the second region), that is, the fourth region and the fifth region are located at both ends of the frame strip.

[0150] The fourth region and the fifth region are folded into a third preset shape by the third bending unit. The "abutting" means that the ends of the two regions after folding can be accurately connected (forming a closed ring, a lapped plane, or a mutually interlocking buckle structure), and the third preset shape needs to match the final connection requirement of the target frame (such as being folded into a flat surface for subsequent welding / riveting fixation), and the "opposite" means that the fourth region and the fifth region are not connected, but are opposite in the preset direction. The third bending unit monitors the position coordinates of the fourth and fifth regions in real time through the laser positioning system arranged thereon, dynamically adjusts the bending angles of the two regions during the folding process (such as folding the fourth region by 100 degrees and the fifth region by 80 degrees to ensure that the ends are seamlessly connected), and controls the folding degree through the pressure feedback system to avoid excessive deformation of the material and cause gaps between the connections.

[0151] In some optional embodiments, with reference to Figure 9 , the third bending unit comprises a third bending base 410, a third platform 400, a third bending piece 420, and a third pushing assembly, the third bending base 410 and the third pushing assembly are both fixed on the third platform 400, the third bending piece 420 is in sliding connection with the third platform 400, and the third bending base 410 is provided with a laser ranging unit; the target frame is obtained by performing three times of non-standard bending processing on the fourth region and the fifth region of the fourth frame strip through the third bending unit, comprising:

[0152] When the fourth region and the fifth region of the fourth frame strip are located on the third bending base 410:

[0153] S410, the third pushing assembly is controlled to push the third bending piece 420 to be close to the third bending base 410, so that the third bending piece 420 performs three times of non-standard bending on the fourth region and the fifth region;

[0154] Specifically, the fourth frame strip is conveyed to the third bending unit by a mechanical hand or a conveying belt, so 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 placed on the third bending base 410. The fourth frame strip has completed the first two times of bending, and the fourth region and the fifth region are unformed ends that need to be formed into an abutting third preset shape (such as a closed ring, a lapped structure, or a buckle matching) through three times of bending. When placed, the frame strip is preliminarily positioned by the positioning groove and the reference block on the third bending base 410, so as to ensure that the to-be-bent parts of the fourth region and the fifth region are opposite to the acting end of the third bending piece 420.

[0155] The third pushing assembly (not shown) drives the third bending piece 420 to move towards the third bending base 410 to bend the fourth region and the fifth region synchronously or step by step. The third pushing assembly (such as a high-precision servo hydraulic cylinder) pushes the third bending piece 420 (whose working surface is designed according to the third preset shape, such as a mold with a hook shape, a plane, or a stepped shape) along the sliding guide rail of the third platform 400, so that the third bending piece 420 gradually approaches the fourth frame strip on the third bending base 410. The third bending piece 420 produces plastic deformation in the two regions by one-time continuous pushing or stage-by-stage force application.

[0156] S420, detecting the relative distance between the fourth region and the fifth region in real time by the laser ranging unit;

[0157] Specifically, during the bending process, the laser ranging unit (such as a high-precision laser displacement sensor, not shown) on the third bending base 410 continuously detects the relative distance between the fourth region and the fifth region. The laser ranging unit is installed on both sides of the third bending base 410 and is aligned with the end edges of the fourth region and the fifth region, respectively, to detect the straight-line distance data between the two edges in real time. The distance data is transmitted to the control system in real time, and the control system determines the actual butt joint state of the two regions according to the distance data.

[0158] S430, stopping pushing the third bending piece 420 to obtain the target frame when the relative distance is less than or equal to a preset distance.

[0159] Specifically, when the laser ranging unit detects that the relative distance between the fourth region and the fifth region is less than or equal to a preset distance, the control system immediately stops the action of the third pushing assembly to complete the bending. The preset distance is set according to the butt joint requirement of the third preset shape to ensure that the two regions reach the "butting" state (such as close contact, slight lap joint, or precise engagement). After stopping pushing, the third bending piece 420 maintains the pressure for 1-2 seconds (pressure holding and shaping, and the specific pressure holding time is determined according to the material properties and the bending angle, which is not limited here), and then resets (moves away from the third bending base 410) under the driving of the third pushing assembly. At this time, the fourth region and the fifth region of the fourth frame strip have formed a butted third preset shape, thereby obtaining the target frame.

[0160] In some optional embodiments, with reference to Figure 10The bending process of the present application is shown in detail. First, the punching module punches a plurality of positioning holes (P1-P9) on the first frame strip 140. The positions of the holes are set according to the shape of the target frame. The first bending unit first bends the first region (P4-P6) into a first preset shape to obtain a third frame strip. Then, the second bending unit first bends the second region (P2-P4) and the third region (P6-P8) into a second preset shape to obtain a fourth frame strip. Finally, the third bending unit first bends the fourth region (P8-P9) and the fifth region (P1-P2) into a third preset shape to obtain the target frame.

[0161] In some optional embodiments, with reference to Figure 11 The bending process of the present application is shown in detail. First, the punching module punches a plurality of positioning holes (P1-P9) on the first frame strip 140. The positions of the holes are set according to the shape of the target frame. The first bending unit first bends the first region (P4-P6) into a first preset shape to obtain a third frame strip. Then, the second bending unit first bends the second region (P2-P4) and the third region (P6-P8) into a second preset shape to obtain a fourth frame strip. Finally, the third bending unit first bends the fourth region (P8-P9) and the fifth region (P1-P2) into a third preset shape to obtain the target frame.

[0162] The embodiment of the present application has the following beneficial effects: the N punching units control the punching of positioning holes in different positions of the first side plate 141 to obtain a second frame strip; the first bending unit performs one-time non-standard bending on a first area of the second frame strip to obtain a third frame strip, and the one-time non-standard bending represents bending the first area into a first preset shape; the second bending unit performs two-time non-standard bending on a second area and a third area of the third frame strip to obtain a fourth frame strip, the second area and the third area are symmetrical about the first area, and the two-time non-standard bending represents bending the second area and the third area into a second preset shape opposite to each other; the third bending unit performs three-time non-standard bending on a fourth area and a fifth area of the fourth frame strip to obtain a target frame, the three-time non-standard bending represents bending the fourth area and the fifth area into a third preset shape connected to or opposite to each other, the fourth area is located on a first side of the third area, and the fifth area is located on a second side of the second area. In the technical solution of the embodiment, the different areas are accurately positioned by the positioning holes, the first area located in the middle position is first bent one time, then the second area and the third area on the two sides of the first area are bent two times, and finally the fourth area and the fifth area at the two ends are bent three times to obtain the target frame. Through the non-standard bending of multiple units, the bending effect of the target frame is improved. Therefore, the present application can improve the bending precision and efficiency of the non-standard frame.

[0163] In addition, one embodiment of the present application provides a non-standard frame bending device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0164] The processor and the memory can be connected by a bus or other means.

[0165] It should be noted that the computer in the embodiment can correspond to the memory and the processor in the embodiment shown in Figure 1 , which can constitute part of the system architecture platform in the embodiment shown in Figure 1 . Both belong to the same inventive concept, and therefore both have the same implementation principles and beneficial effects, which will not be described in detail here.

[0166] The non-transitory software program and instructions required to implement the uplink co-frequency interference cancellation method of the above embodiment are stored in the memory, and when executed by the processor, the non-standard frame bending method of the above embodiment is executed, for example, the method steps S100 to S400 in the above description. Figure 2

[0167] ​In addition, one embodiment of the present application also provides a computer readable storage medium storing computer executable instructions, when the computer executable instructions are used to execute the non-standard frame folding method of the non-standard frame folding device, for example, execute the method steps S100-S400 in the above description. Figure 2

[0168] Those of ordinary skill in the art understand that all or some steps in the above disclosed method and system can be implemented as software, firmware, hardware and appropriate combination thereof. Some or all physical components can be implemented as software executed by a processor such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit such as an application specific integrated circuit. Such software can be distributed on a computer readable medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those of ordinary skill 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 storage of 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 technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as known to those of ordinary skill in the art, communication media typically includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0169] The above is a specific description of the preferred embodiment of the present application, but the present application is not limited to the above described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are included in the scope defined by the claims of the present application.​

Claims

1. A bending method of a non-standard frame, characterized by, The application is applied to a frame bending device, the frame bending device comprises a punching module and a bending module, the punching module comprises N punching units arranged in sequence, a same first frame strip is placed on the N punching units, the first frame strip comprises a first side plate and a second side plate arranged integrally, the first side plate and the second side plate have a preset included angle, N is a positive integer greater than or equal to 1, the bending module comprises a first bending unit, a second bending unit and a third bending unit, and a bending method of the non-standard frame comprises: controlling N punching units to punch positioning holes in different positions of the first side plate synchronously to obtain a second frame strip; obtaining a third frame strip by performing one-time non-standard bending processing on a first region of the second frame strip through the first bending unit, wherein the one-time non-standard bending represents bending the first region into a first preset shape; obtaining a fourth frame strip by performing two-time non-standard bending processing on a second region and a third region of the third frame strip through the second bending unit, wherein the second region and the third region are symmetrical about the first region, and the two-time non-standard bending represents bending the second region and the third region into a second preset shape opposite to each other; obtaining a target frame by performing three-time non-standard bending processing on a fourth region and a fifth region of the fourth frame strip through the third bending unit, wherein the three-time non-standard bending represents bending the fourth region and the fifth region into a third preset shape connected to or opposite to each other, the fourth region is located on a first side of the third region, the fifth region is located on a second side of the second region, and the first region, the second region, the third region, the fourth region and the fifth region are obtained through the positioning holes.

2. The non-standard bezel bending method of claim 1, wherein, Each of the N punching units comprises a pose adjustment mechanism, a punching platform, a punching mechanism and a visual detection mechanism, the visual detection mechanism is arranged on the punching mechanism, and the pose adjustment mechanism and the punching mechanism are oppositely arranged on the punching platform; the control of the N punching units to punch the positioning holes in different positions of the first side plate synchronously to obtain the second frame strip comprises: synchronously controlling the N punching units to: acquire image information of the first side plate located on the punching unit through the visual detection mechanism; synchronously control the pose adjustment mechanism and the punching mechanism according to the image information, so that the punching mechanism punches the positioning holes in the first side plate on the punching platform to obtain the second frame strip.

3. The non-standard bezel bending method of claim 2, wherein, the synchronous control of the pose adjustment mechanism and the punching mechanism according to the image information, so that the punching mechanism punches the positioning holes in the first side plate on the punching platform to obtain the second frame strip, comprises: determining first pose information and relative pose information of the first side plate after target recognition processing of the image information, wherein the first pose information represents the spatial position relationship between the first side plate and the punching unit, and the relative pose information represents the spatial position relationship between different regions of the first side plate and adjacent punching mechanisms. calculating a spatial curvature of the first side plate according to the relative pose information; correcting relative positions of different areas on the first side plate according to the spatial curvature and a preset curvature to obtain a first intermediate frame strip; moving the first intermediate frame strip to a first preset position to make the first intermediate frame strip fit the stamping platform to obtain a second intermediate frame strip; acquiring a width value and a thickness value of the first side plate on the second intermediate frame strip through the visual detection mechanism; determining a target stamping position of the stamping mechanism according to the width value and a first preset table, the first preset table indicating a corresponding relationship between the width value and the target stamping position; controlling the stamping mechanism to stamp the positioning hole on the first side plate at the target stamping position according to the thickness value and a preset stamping force to obtain the second frame strip.

4. The non-standard bezel bending method of claim 3, wherein, The controlling the stamping mechanism to stamp the positioning hole on the first side plate at the target stamping position according to the thickness value and a preset stamping force to obtain the second frame strip, comprises: controlling the stamping mechanism to stamp the positioning hole on the first side plate at the target stamping position with the preset stamping force, and acquiring a first punching time; determining a punching curve of the first side plate according to the first punching time, the preset stamping force and the thickness value, the punching curve representing a corresponding relationship between a punching time and a stamping force; determining a target stamping force of the stamping mechanism according to the punching curve and a preset punching time; configuring the target stamping force as the preset stamping force, so that the stamping mechanism stamps the positioning hole on the first side plate of the remaining first frame strip at the target stamping force to obtain the second frame strip.

5. The method of claim 1, wherein the non-standard bezel is bent by a bending machine. The first bending unit comprises a first positioning assembly, a first platform, a first cooling assembly, a first bending base, a first bending piece and a first pushing assembly, the first positioning assembly, the first bending base and the first pushing assembly are fixedly arranged on the first platform, and the first pushing assembly is used to drive the first bending piece to approach or move away from the first bending base; the third frame strip is obtained by performing one-time non-standard bending treatment on the first area of the second frame strip through the first bending unit, which comprises: delivering the second frame strip to the first bending base through the first positioning assembly; controlling the first pushing assembly to push the first bending piece in a first direction, so that the first bending piece performs one-time non-standard bending on the first area of the second frame strip located on the first bending base to obtain a first bent frame strip; after cooling the first bent frame strip to a target temperature through the first cooling assembly, controlling the first pushing assembly to push the first bending piece in a second direction, so that the first bending piece releases the first bent frame strip to obtain the third frame strip.

6. The non-standard bezel bending method of claim 1, wherein, The second bending unit comprises a second positioning assembly, a second platform, a second cooling assembly, a second bending base, a second bending piece and a second pushing assembly, the second positioning assembly is located on the second bending base, the second cooling assembly, the second bending base, the second bending piece and the second pushing assembly are all arranged on the second platform, a fourth frame strip is obtained by performing secondary non-standard bending processing on a second area and a third area of the third frame strip through the second bending unit, comprising: The second area and the third area of the third frame strip are fixed on the second bending base through the second positioning assembly in sequence; A first bending degree of the second area and a second bending degree of the second area are obtained; A first bending position of the second bending piece is determined according to the first bending degree and a second preset table, and a second bending position of the second bending piece is determined according to the second bending degree and the second preset table, the second preset table indicating the corresponding relationship between the bending degree and the bending position; In the case that the second area of the third frame strip is fixed on the second bending base, the second pushing assembly is controlled to push the second bending piece to the first bending position, so that the second bending piece bends the first end and the second end of the second area into a first chamfer structure with the first bending degree; In the case that the third area of the third frame strip is fixed on the second bending base, the second pushing assembly is controlled to push the second bending piece to the second bending position, so that the second bending piece bends the first end and the second end of the third area into a second chamfer structure with the second bending degree; The first chamfer structure and the second chamfer structure are cooled in sequence through the second cooling assembly to obtain the fourth frame strip.

7. The method of claim 6, wherein the non-standard bezel is bent by a bending machine. The second bending piece comprises a bending head with a preset curved surface, a first surface of the bending head is provided with a movable column, the first side plate of the third frame strip is provided with a movable through hole matched with the movable column, and the second bending base is provided with a bending groove matched with the preset curved surface; the second pushing assembly is controlled to push the bending head to the third frame strip, so that the preset curved surface contacts the second side plate of the third frame strip, and then the movable column is fixed through the movable through hole; the second pushing assembly is controlled to push the bending head to the first bending position, so that the preset curved surface of the bending head extrudes 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 area are bent into the first chamfer structure in sequence. ​ ​ 8. The non-standard bezel bending method of claim 1, wherein, The third bending unit comprises a third bending base, a third platform, a third bending piece and a third pushing assembly, the third bending base and the third pushing assembly are both fixed on the third platform, the third bending piece is in sliding connection with the third platform, and a laser ranging unit is arranged on the third bending base; The target frame is obtained by performing three times of non-standard bending treatment on the fourth region and the fifth region of the fourth frame strip through the third bending unit, and the target frame comprises: When the fourth region and the fifth region of the fourth frame strip are located on the third bending base: The third pushing assembly is controlled to push the third bending piece to be close to the third bending base, so that the third bending piece performs three times of non-standard bending on the fourth region and the fifth region; The relative distance between the fourth region and the fifth region is detected in real time through the laser ranging unit; When the relative distance is less than or equal to a preset distance, the third bending piece is stopped from being pushed, and the target frame is obtained.

9. A bending apparatus of a non-standard frame, characterized by, Comprise: 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 realize the non-standard frame bending method of any one of claims 1-8.

10. A computer storage medium, characterized in that, The computer storage medium stores computer executable instructions, and the computer executable instructions are used to execute the non-standard frame bending method of any one of claims 1-8.

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