Automatic forging method and device for annular forgings

Abstract

The invention discloses an automatic forging method and device for annular forgings, and belongs to the technical field of industrial production. According to the method, forging of the annular forge piece is achieved through the processes of size and material determining, raw material selecting, detecting, material cutting, primary heating, punching, secondary heating, ring grinding, checking, checking and the like, and automatic forging operation steps are achieved through a feeding robot, a carrying robot and a conveying belt. And meanwhile, by accurately calculating the blanking quality, the maximum tapping temperature, the target tapping temperature and the target temperature range, the more refined automatic forging operation process is achieved, and the better forging effect is achieved. And further, a material cutting video, a first heating video, a punching video, a second heating video and a ring rolling video are obtained, a forging video of each forge piece raw material is generated, and the forging process is improved according to the forging videos.

Description

Technical Field

[0001] This invention relates to the field of industrial production technology, and in particular to an automated forging method and apparatus for ring forgings. Background Technology

[0002] Ring forgings are crucial components in aero-engines, and their microstructure and mechanical properties play a vital role in the engine's performance, reliability, and safety. Achieving large-scale, automated production is a current research hotspot, with temperature control and transition significantly impacting the yield rate of ring forgings. For example, the intelligent manufacturing method for high-temperature alloy ring forgings described in CN117206439A involves: sending the target ring forging billet, coated with paint, to a first automatic clamping device at its position in the drying zone; controlling the first automatic clamping device to place a first heat-insulating cloth on the target ring forging billet based on the received position; controlling the heating equipment to heat the target ring forging billet; controlling the first automatic clamping device to place a second heat-insulating cloth at the contact position between the rolling mill and the target ring forging billet after the previous billet has been rolled; controlling the second automatic clamping device to transfer the heated target ring forging billet to the rolling mill and controlling the rolling mill to roll the target ring forging billet to obtain an intermediate billet; controlling the ring rolling equipment to perform ring rolling on the intermediate billet; and controlling the reaming equipment to ream the initial target ring forging to obtain the target ring forging. The method described above automates the forging process steps, but it does not automate the more refined operational processes (temperature control and connection methods during heating) to achieve better forging results. Referring to the GH536 high-temperature alloy ring forging method in CN112846015A, this method discloses the specific operational processes of the upsetting punching process, the end face flattening process, and the hole reaming process, but it cannot automate the forging process steps or the connection of operational processes during automated forging. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides an automated forging method and apparatus for ring forgings. This invention achieves ring forging through processes including determining dimensions and materials, selecting raw materials, inspection, cutting, primary heating, punching, secondary heating, ring rolling, calibration, and inspection. The automated forging operation steps are implemented using a loading robot, a handling robot, and a conveyor belt. Furthermore, by precisely calculating the blanking mass, maximum furnace exit temperature, target furnace exit temperature, and target temperature range, a more refined automated forging process is achieved, resulting in better forging effects.

[0004] The objective of this invention can be achieved through the following technical means: An automated forging method for ring forgings includes the following steps: Step 1: Select forging dimension data and forging material data from the forging library, and calculate the blanking mass; Step 2: Select the forging raw material. The loading robot transports the forging raw material to the inspection area and numbers it, generates inspection data, and inspects the forging raw material according to the inspection data. If the inspection is qualified, proceed to Step 3; otherwise, transport the forging raw material back to the raw material area and return to Step 2. Step 3: The forging raw material is conveyed to the cutting area by the conveyor belt. The cutting device cuts the forging raw material according to the forging size data, generates a forging blank and a cutting video, and then conveys the forging blank to the first heating zone. Step 4: The heating device heats the forging blank according to the forging material data, generates the first heating video, and transports the forging blank to the first forging area; Step 5: The punching device punches holes in the forging blank to generate a ring forging blank and a punching video, and then transfers the ring forging blank to the second heating zone; Step 6: Heat the ring forging billet and measure the final forging temperature of the ring forging billet. If the final forging temperature is within the target temperature range, move the ring forging billet to the second forging zone, generate the second heating video, and proceed to Step 7. Otherwise, adjust the heating power until the final forging temperature is within the target temperature range. Step 7: The ring rolling device rolls the ring forging blank to generate the target finished product, obtains the dimensional information of the target finished product, and verifies the dimensional information; Step 8: If the verification is successful, transport the target finished product to the inspection area, generate the ring rolling video, and proceed to Step 9; otherwise, return to Step 7. Step 9: The inspection device inspects the target finished product. If the inspection is qualified, the target finished product is transported to the qualified area and proceeds to step 10; otherwise, the target finished product is transported to the unqualified area and proceeds to step 10. Step 10: Generate forging videos for each forging material based on the cutting video, first heating video, punching video, second heating video, and ring rolling video, and improve the forging process based on the forging videos.

[0005] In this invention, in step 1, the forging dimensional data includes outer diameter D, inner diameter d, height H, and wall thickness D0; the forging material data includes material type, material density ρ, and process loss coefficient k; the theoretical volume V0 and theoretical mass m0 of the forging are calculated, and then the blanking mass m is calculated, where V0 = πH(D0, d ... 2 -d 2 ) / 4, m0=ρV0, m=km0.

[0006] In this invention, in step 2, the detection device includes a radiation emitter and a radiation receiver, and the detection data is a transmission image of the forging raw material. The detection data is used to detect whether there are cracks inside the forging raw material.

[0007] In this invention, in step 3, a photoelectric sensor is installed on the conveyor belt. The photoelectric sensor monitors the movement position of the forging raw material and acquires the cutting video through a camera device.

[0008] In this invention, step 4, the forging material data also includes material constant k1, true strain coefficient ε, strain hardening exponent n, strain rate δ, strain rate sensitivity coefficient k2, and deformation activation energy Q0. The heating device is a heating furnace. The minimum punching stress is calculated based on the heating furnace heating the forging blank. A constitutive equation is established based on the forging material data. The maximum furnace exit temperature T is then determined by inverse solving the constitutive equation and the minimum punching stress. 0i , where i is the forging blank number, and the surface temperature T of the forging blank is obtained. 1i and furnace temperature T 2i The first power P of the heating furnace is adjusted according to the surface temperature and the furnace internal temperature. 1i The total heating time t0 is used to bring the forging blank to the target furnace exit temperature, and the first heating video is obtained through an infrared device.

[0009] In this invention, in step 4, the minimum punching stress σ0 = F0 / A0, where F0 is the rated stress of the punching device, A is the instantaneous projected area of ​​the punched hole in the forging blank, and A0 = π(D 2 -d 2 ) / 4, the constitutive equation is: , R is the gas constant, T is the absolute temperature, σ is the punching stress, the target tapping temperature = maximum tapping temperature - ΔT, ΔT is the temperature drop during the handling process.

[0010] In this invention, in step 5, before the punching device performs punching, the forging blank is fixed, the positioning device positions the center of the forging blank, and the punching device is adjusted according to the center of the forging blank.

[0011] In this invention, in step 6, the target temperature range C = [T 3i ,T 4i ], T 3i For the minimum final forging temperature, T 4i For the maximum final forging temperature, ε 1i =ln(h 1i / h 2i ), h 1i h is the height of the forging blank after heating. 2i ε represents the height of the ring forging blank before heating. 1i t represents the pre-deformation amount of the ring forging blank. i T is the holding time for the ring forging blank. 4i =w1T5+ w2T6+ w3T 0i T5 is the overheating temperature of the material, T6 is the upper limit temperature for crystallization, w1 is the overheating coefficient, w2 is the crystallization coefficient, w3 is the furnace tapping coefficient, and P 2i K is the second power source for the heating furnace. 1i K is the proportionality coefficient. 2i K is the integral coefficient. 3iHere are the differential coefficients, P0 is the base power of the heating furnace, and e(t) = T. 4i -T 1it e(t) is the surface temperature T of the ring-forged blank at time t. 1it The temperature difference between the maximum final forging temperature and the maximum final forging temperature.

[0012] In this invention, in step 10, the similarity between each frame of the qualified forging video and the unqualified forging video is calculated, and frames with similarity below the similarity threshold are recorded as abnormal frames. The forging process in which the abnormal frames are located is statistically analyzed, and the forging process is improved based on the forging process.

[0013] An apparatus for implementing the automated forging method of the aforementioned ring forging includes: a forging image library, a feeding robot, an inspection device, a conveyor belt, a cutting device, a heating device, a punching device, a ring rolling device, an inspection device, a camera device, and a temperature measuring device, wherein... The forging library stores forging dimension data and forging material data for different products; The loading robot is used to transport forging raw materials to the inspection area and number them; The testing device is used to check whether the raw materials for forgings are qualified; The conveyor belt is used to transport the forging raw material to the cutting area. Photoelectric sensors are installed to monitor the movement position of the forging raw material. The cutting device is used to cut the forging raw material to produce a forging blank; The punching device is used to punch holes in the forging blank to generate a ring forging blank; The heating device is used to heat the forging blank and the ring forging blank; The ring rolling device is used to roll the ring forging blank into a ring to produce the target finished product; The inspection device is used to inspect whether the target finished product is qualified. The camera device is used to acquire videos of material cutting, punching, and ring rolling. The temperature measuring device is used to acquire the first heating video and the second heating video, and to measure the ambient temperature, the surface temperature of the forging blank, the furnace temperature, and the surface temperature of the ring forging blank.

[0014] The automated forging method and apparatus for ring forgings according to this invention have the following advantages: This invention achieves ring forging through processes such as determining dimensions and materials, selecting raw materials, inspection, cutting, primary heating, punching, secondary heating, ring rolling, verification, and inspection. The automated forging operation steps are implemented using a loading robot, a handling robot, and a conveyor belt. Simultaneously, it achieves a more refined automated forging process by accurately calculating the blanking mass based on forging size and material data, resolving the maximum and target furnace exit temperatures based on constitutive equations and minimum punching stress, and calculating the target temperature range based on forging process requirements and the forging process itself, resulting in better forging effects. Furthermore, it acquires cutting, first heating, punching, second heating, and ring rolling videos and generates forging videos for each forging material, improving the forging process based on these videos. Attached Figure Description

[0015] Figure 1 This is a flowchart of the automated forging method for ring forgings according to the present invention; Figure 2 This is a schematic diagram of a target forging in the forging library of the present invention; Figure 3 This is a schematic diagram illustrating the process from forging raw material to the target finished product according to the present invention; Figure 4 This is a schematic diagram of the ring rolling device of the present invention; Figure 5 This is a block diagram of the apparatus for the automated forging method of ring forgings according to the present invention. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Example

[0017] At the initial feeding stage of the forging process, a unique identification number is obtained for the raw materials used to forge, serving as the primary key for data sensing throughout the entire automated forging process. The installation location is used to identify the forging when it enters or exits the heating furnace, resolving the issue of poor traceability for individual pieces caused by the inconsistent furnace entry and exit sequence in batch production during the heating process. The control center monitors signals from each forging stage, sensing relevant data at specific time points using corresponding sensing methods. The integrated control system at the control center then processes this data through logic and arithmetic operations to obtain the forging's quality traceability data, ensuring that correct information is delivered to the correct place at the correct time, thus achieving automated connection between each forging stage.

[0018] like Figures 1 to 3 The automated forging method for ring forgings shown includes the following steps.

[0019] Step 1: Select forging dimension data and forging material data from the forging library, and calculate the blanking mass. Select the forging dimension data of the target forging from the forging library. The forging dimension data of the target forging is as follows: Figure 2 As shown, the target forging has an outer diameter of D, an inner diameter of d, a height of H, and a wall thickness of D0. All dimensions are in meters. Material data includes material type, material density ρ, and process loss coefficient k. The theoretical volume V0 and theoretical mass m0 of the forging are calculated, and then the blanking mass m is calculated: V0 = πH(D0 / d0) 2 -d 2 ) / 4, m0=ρV0, m=km0.

[0020] Step 2: Select the forging raw material. The loading robot transports the forging raw material to the inspection area and numbers it, generating inspection data. The forging raw material is inspected based on the inspection data. If the inspection is qualified, proceed to Step 3; otherwise, the forging raw material is transported back to the raw material area and returns to Step 2. The inspection device includes a radiation emitter and a radiation receiver. The inspection data is a transmission image of the forging raw material. The inspection data is used to detect whether there are cracks inside the forging raw material.

[0021] Step 3: The forging raw material is conveyed to the cutting area via a conveyor belt. The cutting device cuts the raw material according to the forging size data, generating a forging blank and a cutting video. The forging blank is then conveyed to the first heating zone. The conveyor belt is equipped with photoelectric sensors, which are synchronously activated and deactivated with the camera device. The photoelectric sensors monitor the movement position of the forging raw material, while the camera device records the forging raw material number and the corresponding cutting video and uploads it to the control center.

[0022] Step 4: The heating device heats the forging blank according to the forging material data, generates the first heating video, and transports the forging blank to the first forging area. The forging material data also includes material constant k1, true strain coefficient ε, strain hardening exponent n, strain rate δ, strain rate sensitivity coefficient k2, and deformation activation energy Q0. The heating device is a heating furnace. Based on the heating of the forging blank in the heating furnace, the minimum punching stress is calculated. A constitutive equation is established based on the forging material data. The maximum furnace exit temperature T is then solved by inverse kinematics using the constitutive equation and the minimum punching stress. 0i , where i is the number of the forging blank.

[0023] Minimum punching stress σ0 = F0 / A0, where F0 is the rated stress of the punching device, A is the instantaneous projected area of ​​the punched hole in the forging blank, and A0 = π(D 2 -d 2 ) / 4, the constitutive equation is: , R is the gas constant, T is the absolute temperature, and σ is the punching stress. Obtain the surface temperature T of the forging blank. 1i and furnace temperature T 2i The first power P of the heating furnace is adjusted according to the surface temperature and the furnace internal temperature. 1iThe total heating time t0 is used to bring the forging blank to the target tapping temperature. This can be achieved using a PID dynamic adjustment method, with the first heating video obtained via an infrared device. The target tapping temperature = maximum tapping temperature - ΔT, where ΔT is the temperature drop during handling, and T... 00 Where is the ambient temperature, and k2 is the cooling coefficient, with a value ranging from [0.03, 0.05], and the unit is seconds. -1 / 2 , t 1i The time for handling the forging blank is expressed in seconds.

[0024] Step 5: The punching device punches holes in the forging blank, generating a ring forging blank and a punching video. The ring forging blank is then transferred to the second heating zone. Before punching, the forging blank is fixed, and the positioning device positions the center of the forging blank. The punching device is adjusted according to the center of the forging blank. The punching device and the camera device start and stop synchronously to ensure the integrity of the punching video.

[0025] Step 6: Heat the ring forging billet and measure its final forging temperature. If the final forging temperature is within the target temperature range, move the ring forging billet to the second forging zone, generate the second heating video, and proceed to Step 7. Otherwise, adjust the heating power until the final forging temperature is within the target temperature range. 2i K is the second power source for the heating furnace. 1i K is the proportionality coefficient. 2i K is the integral coefficient. 3i Here are the differential coefficients, P0 is the base power of the heating furnace, and e(t) = T. 4i -T 1it e(t) is the surface temperature T of the ring-forged blank at time t. 1it The temperature difference between the maximum final forging temperature and the maximum final forging temperature.

[0026] Target temperature range C=[T 3i ,T 4i ], T 3i For the minimum final forging temperature, T 4i For the maximum final forging temperature, ε 1i =ln(h 1i / h 2i ), h 1i h is the height of the forging blank after heating. 2i ε represents the height of the ring forging blank before heating. 1i t represents the pre-deformation amount of the ring forging blank. i T represents the holding time for the initial ring forging blank. 4i =w1T5+ w2T6+ w3T 0iT5 is the material overheating temperature, T6 is the upper limit temperature of crystallization, w1 is the overheating coefficient, w2 is the crystallization coefficient, and w3 is the furnace exit coefficient. All coefficients are weights that represent the degree of influence of the material overheating temperature, upper limit temperature of crystallization, and maximum furnace exit temperature on the maximum final forging temperature during the ring forging blank heating process.

[0027] Step 7: The ring rolling device rolls the ring forging blank to generate the target finished product, obtains the dimensional information of the target finished product, and verifies the dimensional information. The handling robot places the target finished product on the turntable, and the positioning robot takes multi-view photos of the target finished product according to the specified path to form the 3D point cloud data of the target finished product. After the positioning robot completes a set of actions, the 3D point cloud data is automatically imported into the 3D point cloud data processing software to create a 3D image. According to the predefined measurement sequence macro file, the software will automatically execute a sequence of processes such as fitting, comparison, dimensional information extraction, and verification report creation to form the morphological analysis results of the target finished product. Finally, the verification results are output to verify whether the dimensional information of the target finished product is consistent with the dimensional data of the forging.

[0028] Step 8: If the verification is successful, transport the target finished product to the inspection area, generate the ring rolling video, and proceed to Step 9; otherwise, return to Step 7. The ring rolling device and the camera device start and stop synchronously. When the verification is successful, the ring rolling ends, the ring rolling device and the camera device are turned off, and a complete ring rolling video is generated.

[0029] Step 9: The inspection device inspects the target finished product. If the inspection is qualified, the target finished product is transported to the qualified area and proceeds to step 10; otherwise, the target finished product is transported to the unqualified area and proceeds to step 10. The inspection device checks whether there are internal cracks in the target finished product during the forging process. If so, the inspection is unqualified.

[0030] Step 10: Generate forging videos for each forging material based on the cutting video, first heating video, punching video, second heating video, and ring rolling video. Improve the forging process based on the forging videos. Calculate the similarity between each frame of the qualified and unqualified forging videos. Frames with similarity below the similarity threshold are recorded as abnormal frames. Identify the forging stages where the abnormal frames are located and improve the forging process based on the forging stages. The forging stages include: cutting stage, primary heating stage, punching stage, secondary heating stage, and ring rolling stage. Example

[0031] like Figure 4 As shown, in conjunction with steps 1 to 10 above, this embodiment further discloses the automated connection process of the forging process.

[0032] In the material cutting process: First, ultrasonic flaw detection and dimensional calculation are used to ensure that the forging raw material is defect-free and of accurate length. Then, based on the material characteristics, sawing (high precision), shearing (high efficiency), or flame cutting (large diameter) is selected, and the shearing parameters (shearing force, gap 5%~10% of thickness) are controlled. After cutting, the forging raw material is deburred, weighed and sampled, and the end face is marked. Finally, a forging blank with a length tolerance of ±0.5 mm to 2 mm and no cracks is output. In this process, the forging raw material is transported to the cutting area by a conveyor belt. The cutting device cuts the forging raw material according to the forging size data, generates a forging blank and a cutting video, and then transports the forging blank to the first heating zone by a conveyor belt, realizing the automation of the material cutting process.

[0033] Primary heating stage: The heating device (heating furnace) heats the forging blank according to the forging material data, calculates the minimum punching stress, establishes the constitutive equation based on the forging material data, and solves the maximum furnace exit temperature using the constitutive equation and the minimum punching stress to obtain the surface temperature T of the forging blank. 1i and furnace temperature T 2i The first power P of the heating furnace is adjusted according to the surface temperature and the furnace internal temperature. 1i The total heating time t0 is used to bring the forging blank to the target furnace exit temperature, generate the first heating video, and use a transport robot to transport the forging blank to the first forging zone, thus automating the first heating process.

[0034] Punching Process: Before punching, the forging blank is fixed, and the positioning device (three-jaw chuck or laser positioning instrument) positions the center of the forging blank, ensuring a centering accuracy of ±0.1mm. The punching device is adjusted according to the center of the forging blank, and the punching device (hydraulic punch) applies a certain pressure to punch the forging blank. The punch penetrates the forging blank at a speed of 0.1m / s~0.5m / s, and water-based lubricant is sprayed simultaneously to reduce friction. The punching temperature is controlled above the material recrystallization temperature. After punching, the surface finish and concentricity of the hole are checked, flash is removed, and a ring forging blank and punching video are generated. The ring forging blank is then transferred to the second heating zone. The entire process is closed-loop through infrared temperature measurement and servo pressure monitoring to ensure that the hole quality of the ring forging blank meets the requirements of subsequent ring rolling processing.

[0035] Secondary heating stage: The ring forging billet is placed in a preheated heating furnace or induction furnace and heated at a certain temperature rise rate. The final forging temperature of the ring forging billet is measured, and the heating power is adjusted until the final forging temperature is within the target temperature range (during this process, temperature uniformity, i.e., the core-surface temperature difference, is double-checked using thermocouples and infrared thermal imagers to ensure that the ring forging billet reaches above the dynamic recrystallization temperature and the flow stress is below the bearing limit of the ring rolling device when it finally exits the furnace, providing uniform high-temperature plasticity conditions for the subsequent ring rolling stage). After completing the secondary heating stage, the ring forging billet is transported to the second forging area by a handling robot. The secondary heating stage restores the material's plasticity, eliminates hardening caused by the punching stage, optimizes the grain structure, shortens the ring rolling stage time, and reduces the difficulty of the ring rolling stage.

[0036] Ring rolling process: such as Figure 4 As shown, the ring rolling device includes a drive roller, a guide roller, a core roller, and a flat roller. A servo centering system precisely clamps the ring forging blank between the core roller and the drive roller of the rolling device (ensuring a center deviation ≤0.2mm). After starting the rolling device, the drive roller rolls radially at a linear speed of 0.5m / s~2m / s, while the flat roller applies pressure synchronously (controlling deformation). The rolling pressure and temperature are monitored in real time, and the dimensional information of the ring forging blank is dynamically fed back through a laser diameter gauge. The ring forging blank is rolled to generate the target finished product. After rolling, it is immediately sprayed with controlled cooling (water mist or air cooling) to finally obtain a precision target finished product with a grain size of 7~8 and a roundness ≤0.5%. The dimensional information of the target finished product is obtained and verified. The entire process is controlled in a closed loop by a PLC system, achieving control of rolling pressure, rolling temperature, and dimensional information. Example

[0037] like Figure 5As shown in the figure, this embodiment discloses an apparatus for implementing the automated forging method of the ring forging, including: a forging library, a loading robot, a handling robot, an inspection device, a conveyor belt, a cutting device, a positioning device, a punching device, a heating device, a ring rolling device, an inspection device, a camera device, a temperature measuring device, and a control center. The forging library stores forging size data and forging material data for different products. The loading robot is used to transport the forging raw materials to the inspection area and number them. The handling robot is used to transport the forging blank to the first forging area, transport the ring forging blank to the second heating area, and transport the ring forging blank to the second forging area. The inspection device is used to detect whether there are cracks inside the forging raw materials. The conveyor belt is used to transport the forging raw materials to the cutting area, and is equipped with photoelectric sensors to monitor the movement position of the forging raw materials. The cutting device is used to cut the forging raw materials according to the forging size data to generate forging blanks. The positioning device is used to locate the center of the forging blank. The punching device is used to punch holes in the forging blank to generate ring forging blanks. The heating device heats the forging blank and ring forging blank according to the forging material data. The ring rolling device rolls the ring forging blank to produce the target finished product. The inspection device inspects whether the target finished product is qualified. The camera device acquires cutting, punching, and ring rolling videos. The temperature measuring device acquires the first and second heating videos and measures the ambient temperature, the surface temperature of the forging blank, the furnace temperature, and the surface temperature of the ring forging blank. The control center includes a control unit, a data processing unit, and a data analysis unit. The data processing unit calculates the blanking mass, maximum furnace exit temperature, target furnace exit temperature, and target temperature range. The data analysis unit generates forging videos for each forging material based on the cutting, first heating, punching, second heating, and ring rolling videos, and improves the forging process based on the forging videos. The control unit controls the operation of the loading robot, handling robot, and conveyor belt.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated forging method and apparatus for ring forgings, characterized in that, Includes the following steps: Step 1: Select forging dimension data and forging material data from the forging library, and calculate the blanking mass; Step 2: Select the forging raw material. The loading robot transports the forging raw material to the inspection area and numbers it, generates inspection data, and inspects the forging raw material according to the inspection data. If the inspection is qualified, proceed to Step 3; otherwise, transport the forging raw material back to the raw material area and return to Step 2. Step 3: The forging raw material is conveyed to the cutting area by the conveyor belt. The cutting device cuts the forging raw material according to the forging size data, generates a forging blank and a cutting video, and then conveys the forging blank to the first heating zone. Step 4: The heating device heats the forging blank according to the forging material data, generates the first heating video, and transports the forging blank to the first forging area; Step 5: The punching device punches holes in the forging blank to generate a ring forging blank and a punching video, and then transfers the ring forging blank to the second heating zone; Step 6: Heat the ring forging billet and measure the final forging temperature of the ring forging billet. If the final forging temperature is within the target temperature range, move the ring forging billet to the second forging zone, generate the second heating video, and proceed to Step 7. Otherwise, adjust the heating power until the final forging temperature is within the target temperature range. Step 7: The ring rolling device rolls the ring forging blank to generate the target finished product, obtains the dimensional information of the target finished product, and verifies the dimensional information; Step 8: If the verification is successful, transport the target finished product to the inspection area, generate the ring rolling video, and proceed to Step 9; otherwise, return to Step 7. Step 9: The inspection device inspects the target finished product. If the inspection is qualified, the target finished product is transported to the qualified area and proceeds to step 10; otherwise, the target finished product is transported to the unqualified area and proceeds to step 10. Step 10: Generate forging videos for each forging material based on the cutting video, first heating video, punching video, second heating video, and ring rolling video, and improve the forging process based on the forging videos.

2. The automated forging method for ring forgings according to claim 1, characterized in that, In step 1, the forging dimensional data includes outer diameter D, inner diameter d, height H, and wall thickness D0. The forging material data includes material type, material density ρ, and process loss coefficient k. The theoretical volume V0 and theoretical mass m0 of the forging are calculated, and then the blanking mass m is calculated. V0 = πH(D0 / D0) 2 -d 2 ) / 4, m0=ρV0, m=km0.

3. The automated forging method for ring forgings according to claim 1, characterized in that, In step 2, the detection device includes a radiation emitter and a radiation receiver, and the detection data is a transmission image of the forging raw material. The detection data is used to detect whether there are cracks inside the forging raw material.

4. The automated forging method for ring forgings according to claim 1, characterized in that, In step 3, photoelectric sensors are installed on the conveyor belt to monitor the movement position of the forging raw material and to acquire cutting video through a camera device.

5. The automated forging method for ring forgings according to claim 2, characterized in that, In step 4, the forging material data also includes material constant k1, true strain coefficient ε, strain hardening exponent n, strain rate δ, strain rate sensitivity coefficient k2, and deformation activation energy Q0. The heating device is a heating furnace. The minimum punching stress is calculated based on the heating furnace heating the forging blank. A constitutive equation is established based on the forging material data. The maximum furnace exit temperature T is then determined by inverse solving the constitutive equation and the minimum punching stress. 0i , where i is the forging blank number, and the surface temperature T of the forging blank is obtained. 1i and furnace temperature T 2i The first power P of the heating furnace is adjusted according to the surface temperature and the furnace internal temperature. 1i The total heating time t0 is used to bring the forging blank to the target furnace exit temperature, and the first heating video is obtained through an infrared device.

6. The automated forging method for ring forgings according to claim 5, characterized in that, In step 4, the minimum punching stress σ0 = F0 / A0, where F0 is the rated stress of the punching device, A is the instantaneous projected area of ​​the punched hole in the forging blank, and A0 = π(D 2 -d 2 ) / 4, the constitutive equation is: , R is the gas constant, T is the absolute temperature, σ is the punching stress, the target tapping temperature = maximum tapping temperature - ΔT, ΔT is the temperature drop during the handling process.

7. The automated forging method for ring forgings according to claim 1, characterized in that, In step 5, before the punching device performs punching, the forging blank is fixed, the positioning device positions the center of the forging blank, and the punching device is adjusted according to the center of the forging blank.

8. The automated forging method for ring forgings according to claim 6, characterized in that, In step 6, the target temperature range C = [T 3i ,T 4i ], T 3i For the minimum final forging temperature, T 4i For the maximum final forging temperature, ε 1i =ln(h 1i / h 2i ), h 1i h is the height of the forging blank after heating. 2i ε represents the height of the ring forging blank before heating. 1i t represents the pre-deformation amount of the ring forging blank. i T is the holding time for the ring forging blank. 4i =w1T5+ w2T6+ w3T 0i T5 is the overheating temperature of the material, T6 is the upper limit temperature for crystallization, w1 is the overheating coefficient, w2 is the crystallization coefficient, w3 is the furnace tapping coefficient, and P 2i K is the second power source for the heating furnace. 1i K is the proportionality coefficient. 2i K is the integral coefficient. 3i Here are the differential coefficients, P0 is the base power of the heating furnace, and e(t) = T. 4i -T 1it e(t) is the surface temperature T of the ring-forged blank at time t. 1it The temperature difference between the maximum final forging temperature and the maximum final forging temperature.

9. The automated forging method for ring forgings according to claim 1, characterized in that, In step 10, the similarity between each frame of the qualified forging video and the unqualified forging video is calculated. Frames with similarity below the similarity threshold are recorded as abnormal frames. The forging process in which the abnormal frames are located is counted, and the forging process is improved based on the forging process.

10. An apparatus for implementing the automated forging method for ring forgings as described in claim 1, characterized in that, include: The system includes a forging image library, a loading robot, testing equipment, conveyor belts, cutting equipment, heating equipment, punching equipment, ring rolling equipment, inspection equipment, camera equipment, and temperature measuring equipment. The forging library stores forging dimension data and forging material data for different products; The loading robot is used to transport forging raw materials to the inspection area and number them; The testing device is used to check whether the raw materials for forgings are qualified; The conveyor belt is used to transport the forging raw material to the cutting area. Photoelectric sensors are installed to monitor the movement position of the forging raw material. The cutting device is used to cut the forging raw material to produce a forging blank; The punching device is used to punch holes in the forging blank to generate a ring forging blank; The heating device is used to heat the forging blank and the ring forging blank; The ring rolling device is used to roll the ring forging blank into a ring to produce the target finished product; The inspection device is used to inspect whether the target finished product is qualified. The camera device is used to acquire videos of material cutting, punching, and ring rolling. The temperature measuring device is used to acquire the first heating video and the second heating video, and to measure the ambient temperature, the surface temperature of the forging blank, the furnace temperature, and the surface temperature of the ring forging blank.

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