Hardware product punch forming device and machining method

Abstract

The invention provides a hardware product punch forming device and a machining method. The hardware product punch forming device comprises a feeding mechanism, a rolling mechanism, a residual stress regulation and control mechanism, a punching mechanism, a detection mechanism, a vibration table, a positioning groove, a mechanical arm and a control module. After detection data of the detection mechanism is uploaded to the control module, the control module adjusts the rolling pressure of the rolling mechanism on the blank and the vibration frequency of the vibration table according to the detection data; through cooperation of the detection mechanism, the control module, the rolling mechanism and the residual stress regulation and control mechanism, real-time detection of blank deformation data and self-adaptive adjustment of rolling parameters and vibration parameters are achieved, and residual stress generated by rolling after blank deformation caused by material taking impact is eliminated / relieved in a targeted mode; the problem of stamping defects caused by unregulated residual stress in the prior art is solved, and the forming quality of stamping parts is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of hardware processing technology, specifically to a hardware stamping and forming apparatus and processing method. Background Technology

[0002] In the processing of hardware products (such as stainless steel plates), suction cups are typically used to pick up and move stainless steel round plates from their center. Because of the smooth surface of stainless steel, negative pressure can easily create adhesion between adjacent plates, potentially pulling up the next plate along with it. Therefore, an impact ring is usually installed at the top of the feeding rack (see attached image). Figure 1 When the stainless steel round plate is removed, it impacts the impact ring and deforms, allowing air to enter between two adjacent stainless steel round plates, causing the lower stainless steel round plate to fall, thus achieving single-sheet material handling.

[0003] However, during the aforementioned impact process, especially for large-sized stainless steel round plates, localized warping can occur after the impact. To ensure normal stamping quality, the stainless steel round plates typically undergo preliminary roll forming before stamping to make them as flat as possible. However, during roll forming, the stress states of the surface and core of the stainless steel round plate differ significantly: the surface layer experiences compressive stress due to the roller pressing, while the core experiences tensile stress in the opposite direction, ultimately forming a gradient residual stress field along the thickness direction within the plate. Simultaneously, because roll forming is a unidirectional rolling extension, the residual stress is continuously distributed along the rolling direction, while the transverse direction exhibits intermittent stress concentration, forming a complex stress distribution pattern of "longitudinal dominance and transverse supplementation." (Where longitudinal and transverse directions can be defined according to the roll forming direction of the stainless steel round plate.) The aforementioned residual stress can interfere with stamping in several ways, specifically: First, when stamping bosses, the residual stress is superimposed on the stamping load, causing the local stress of the sheet metal to exceed the yield limit, leading to unexpected plastic deformation and defects such as wrinkling around the boss and edge warping. Second, the release of residual stress is uncertain. After stamping, the stress redistribution during storage or subsequent processing can cause dimensional drift, reducing the stability of the plate's dimensional accuracy. Third, the superposition of residual stress and stamping stress may form fatigue crack initiation points in stress concentration areas such as the root of the boss, affecting the service life and safety performance of the plate. Fourth, the complex stress distribution of "longitudinal dominance and transverse addition" can lead to inconsistent internal stress distribution along the longitudinal and transverse directions of the stainless steel round plate after stamping, resulting in irregular elastic deformation and thus affecting the stamping quality.

[0004] Existing stamping equipment and processing methods for hardware products simply use the addition of stamping oil during the stamping process to prevent scratches and damage to the workpiece surface, ensuring the appearance accuracy and dimensional consistency of the stamped parts. However, they do not have effective control mechanisms for the aforementioned residual stress problem, resulting in difficulties in guaranteeing the forming quality and dimensional accuracy of the stamped parts. Therefore, there is an urgent need to develop a stamping equipment and processing method that can eliminate or alleviate the residual stress generated during the roll forming process after deformation caused by collisions during material handling. Summary of the Invention

[0005] The purpose of this invention is to provide a stamping and forming device and processing method for hardware products, which does not have at least one of the disadvantages mentioned above.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a stamping and forming apparatus for hardware products, comprising a feeding mechanism, a rolling mechanism, a residual stress control mechanism, and a stamping mechanism arranged sequentially along the processing flow direction and all connected to a control module; further comprising a detection mechanism fixed to the feeding end of the rolling mechanism and used to detect the degree of deformation of the blank, the rolling mechanism being used to roll the blank in the transverse and longitudinal directions and to pour stamping oil onto the blank during the rolling process; the residual stress control mechanism comprising a vibration table, the surface of which is provided with a positioning groove for positioning the blank, and a temperature compensation module is embedded in the vibration table; the transfer of the blank between the feeding mechanism, the rolling mechanism, the residual stress control mechanism, and the stamping mechanism is accomplished by a robotic arm; After the detection data from the detection mechanism is uploaded to the control module, the control module adjusts the rolling pressure of the rolling mechanism on the billet and the vibration frequency of the vibration table according to the detection data.

[0007] Furthermore, the rolling mechanism includes a conveyor belt, a first rolling unit, a second rolling unit, and a rotating unit mounted on a fixed platform. The rotating unit is located between the first rolling unit and the second rolling unit, and is used to rotate the blank after it has been rolled by the first rolling unit by 90°.

[0008] Furthermore, the temperature compensation module includes a hot oil layer located at the lower part of the positioning groove. The hot oil layer is made of the same material as the stamping oil, and the temperature of the hot oil layer is the highest stamping preheating temperature of the blank during stamping.

[0009] Furthermore, the vibration table is also provided with an annular plate, the positioning groove is located inside the annular plate, and the height of the positioning groove is lower than the height of the annular plate. The vibration table between the annular plate and the positioning groove is provided with an oil passage hole that is connected to the oil circulation. The oil outlet of the oil circulation is located at the bottom of the positioning groove. When not vibrating, the height of the hot oil layer is maintained at 1.1-1.8 times the thickness of the billet under the replenishment of oil through the oil circulation.

[0010] Furthermore, the residual stress control mechanism includes A vibration tables arranged in an array, with each vibration table having a vibration duration of B seconds. The vibration periods of the A vibration tables are sequentially offset by B / A seconds, where B is determined by historical data from the testing mechanism prior to this stamping batch.

[0011] Furthermore, the detection mechanism is used to detect the deformation distance h from the highest point of the billet's warping to the surface of the billet; the control module is preset with the standard rolling pressure P0 of the first rolling unit corresponding to the billet having a standard thickness d0 and a deformation distance of h0. The control module calculates the actual rolling pressure P1 in the first rolling unit and the actual rolling pressure P2 in the second rolling unit based on the actual deformation distance h1 of the billet before rolling, P1=c*k*P0*(h1 / h0)*(d1 / d0), P2=f*P1*d1; where k is the material coefficient, c and f are pre-input correction coefficients, and f*d1≧1.

[0012] Furthermore, the control module is preset with a standard vibration intensity Z0 of the vibration table when the billet has a standard thickness d0 and the projected area of ​​the deformation position of the billet before rolling is M0; the detection mechanism detects the actual projected area M1 of the actual deformation position of the billet before rolling in real time; the control module calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 of the billet based on M1, e=a*M1 / M0, Z1=e*Z0*(d1 / d0), where a is a pre-input correction coefficient.

[0013] Furthermore, the actuator of the robot arm used to transfer the blank from the feeding mechanism to the rolling mechanism is provided with a telescopic plate that is driven to extend and retract by a cylinder; The bottom of the telescopic plate is provided with several edge adsorption rods distributed circumferentially, which are used to adsorb the non-stamping area of ​​the blank and the position near the edge. The telescopic plate has a central suction rod at the bottom center, which is used to attract the center position of the blank stamping area; An elastic mechanism is provided between the central adsorption rod and the telescopic plate to cause the central adsorption rod to reciprocate; during the process of transferring the blank and before the blank is transferred, there is a height difference L between the suction disk of the central adsorption rod and the suction disk of the edge adsorption rod under the action of the elastic structure; After all the suction discs have adsorbed the blank, within a range of L where the telescopic plate moves upward, the suction discs in the edge suction rods lift the edge portion of the blank, while the center suction rod presses the center portion of the blank under the action of the elastic mechanism.

[0014] Furthermore, the elastic mechanism includes a fixed cylinder fixed to the telescopic plate, a sliding rod slidably connected to the fixed cylinder, an adjusting rod threadedly connected to the internal thread hole of the sliding rod, a boss fixed to the adjusting rod and slidably connected to the fixed cylinder, and a compression spring disposed inside the fixed cylinder. The central adsorption rod is fixedly connected to the bottom of the sliding rod; One end of the compression spring is connected to the boss, and the other end is connected to the inner top of the fixed cylinder; The fixed cylinder is provided with a limiting platform inside, and the protrusion abuts against the limiting platform under the action of the compression spring; The lower part of the fixed cylinder is provided with a through groove, and the sliding rod is fixed with a protrusion that cooperates with the through groove and is used to prevent the sliding rod from rotating; One end of the adjusting rod passes through the top of the fixed cylinder; The size of L can be adjusted by rotating the adjusting rod.

[0015] This invention also discloses a method for processing hardware products, based on the above-mentioned hardware product stamping and forming apparatus, comprising the following steps: S1: Blank loading. The control module drives the robot to move to the blank storage area, aligning the edge suction rod with the edge of the non-stamping area of ​​the blank and the center suction rod with the center of the stamping area of ​​the blank. The suction device is activated to allow all suction discs to adsorb the blank. Then, the telescopic plate is driven to move upward. Within a movement distance not exceeding L, the edge suction rod lifts the edge of the blank, and the center suction rod presses the center of the blank under the action of the elastic mechanism. At this time, air will enter between the two adjacent blanks through the lifted edge, thereby avoiding negative pressure adhesion between the blank and the lower blank. Then, the robot transfers the blank to the feeding end of the roller pressing mechanism. S2: Billet deformation detection. The detection mechanism is started to detect the billet at the feeding end, and the actual deformation distance h1, the actual deformation position projection area M1 and the actual thickness d1 of the billet are obtained. The detection data is uploaded to the control module in real time. S3: Adaptive rolling flattening. The control module calculates the actual rolling pressure P1 of the first rolling unit and the actual rolling pressure P2 of the second rolling unit based on h1 and d1 obtained in step S2. It also calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 based on M1 and d1. Subsequently, the first rolling unit of the rolling mechanism is driven to perform longitudinal rolling on the billet. After the billet is rotated 90° by the rotation unit, the second rolling unit performs transverse rolling. During the rolling process, stamping oil is simultaneously poured onto the surface of the billet to avoid surface scratches. S4: Residual stress control. The rolled billet is transferred to the positioning groove of the vibration table of the residual stress control mechanism by the robotic arm. The temperature compensation module is activated to raise the temperature of the hot oil layer to the highest preheating temperature of the billet during stamping and keep it constant. The control module adjusts the vibration intensity of the vibration table according to Z1 calculated in step S3. While heating the billet, vibration treatment is performed to eliminate or alleviate the gradient residual stress and the complex residual stress of "longitudinal dominance and transverse additional" in the billet. S5: Stamping: The blank with residual stress controlled by the robot is transferred to the stamping mechanism, and the stamping mechanism is controlled to stamp and form according to the preset process parameters to obtain the hardware product blank. S6: Material unloading and storage. After stamping, the metal product blank is taken out from the stamping mechanism by a robotic arm and transferred to the designated storage area to complete a single processing step. Repeat steps S2-S6 to achieve continuous processing of metal products.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention achieves real-time detection of billet deformation data and adaptive adjustment of rolling and vibration parameters by setting up a detection mechanism, control module, rolling mechanism, and residual stress control mechanism. It specifically eliminates / alleviates residual stress generated by rolling after billet deformation due to material taking impact, solves the stamping defect problem caused by uncontrolled residual stress in the prior art, and significantly improves the forming quality of stamped parts. 2. The residual stress control mechanism adopts a design that combines a vibration table with a temperature compensation module. The hot oil layer not only provides a stable temperature environment to assist in stress release, but also coats the bottom of the billet with stamping oil, thereby improving the stamping quality during the stamping process. Furthermore, the array of vibration tables, through the staggered design of the vibration cycle, enables continuous processing of the billet and improves processing efficiency. 3. The robotic arm adopts a special adsorption structure that combines edge adsorption rods and center adsorption rods. Through the height difference design and elastic mechanism, it effectively avoids the problem of negative pressure adhesion when picking up the blank, eliminating the need for additional impact steps, reducing blank deformation from the source, and further ensuring the accuracy of subsequent processing. 4. The processing method adopts a process design of "adjustment preset - feeding - inspection - adaptive rolling - stress control - stamping - unloading" to achieve precise coordination of each link. This not only improves the stability of the dimensional accuracy of stamped parts, but also reduces the generation of fatigue crack sources and extends the service life of hardware products, which has good prospects for industrial application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of the feeding mechanism in the prior art; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 This is a partial structural diagram of the actuator of a robotic arm; Figure 4 for Figure 3 A cross-sectional view.

[0019] The components include: 1. Vibrating table; 2. Stamping mechanism; 3. Second roller pressing unit; 4. First roller pressing unit; 5. Rotating unit; 6. Telescopic plate; 7. Feeding mechanism; 8. Fixed cylinder; 9. Adjusting rod; 10. Impact ring; 11. Through groove; 12. Central suction rod; 13. Sliding rod; 14. Protrusion; 15. Limiting platform; 16. Compression spring; 17. Boss. Detailed Implementation

[0020] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0021] Example In the processing of hardware products (such as stainless steel plates), suction cups are typically used to pick up and move stainless steel round plates from their center. Because the surface of stainless steel is smooth, negative pressure can easily create adhesion between adjacent plates, potentially pulling up the next plate along with it. Therefore, an impact ring 10 is usually installed at the top of the feeding rack. When the stainless steel round plate is removed, it impacts the impact ring 10, deforming it and allowing air to enter between the two adjacent plates, causing the lower plate to fall, thus achieving single-sheet picking.

[0022] However, during the aforementioned impact process, especially for large-sized stainless steel round plates, localized warping can occur after the impact. To ensure normal stamping quality, the stainless steel round plates are usually pre-rolled before stamping to make them as flat as possible. However, during the rolling process, the stress state of the surface and core of the stainless steel round plate differs significantly: the surface layer experiences compressive stress due to the roller pressing, while the core experiences tensile stress in the opposite direction, ultimately forming a gradient residual stress field along the thickness direction within the plate. At the same time, since rolling is a unidirectional rolling extension, the residual stress is continuously distributed along the rolling direction, while the transverse direction exhibits intermittent stress concentration, forming a complex stress distribution pattern of "longitudinal dominance and transverse supplementation".

[0023] The aforementioned residual stress can interfere with stamping in several ways, specifically: First, when stamping the boss 17, the residual stress will superimpose with the stamping load, causing the local stress of the sheet metal to exceed the yield limit, resulting in unexpected plastic deformation and defects such as wrinkling and edge warping around the boss 17. Second, the release of residual stress is uncertain. After stamping, the stress redistribution during storage or subsequent processing can lead to dimensional drift, reducing the stability of the plate's dimensional accuracy. Third, the superposition of residual stress and stamping stress may form fatigue crack initiation points in stress concentration areas such as the root of the boss 17, affecting the service life and safety performance of the plate. Fourth, the complex stress distribution of "longitudinal dominance and transverse addition" will result in inconsistent internal stress distribution along the longitudinal and transverse directions of the stainless steel round plate after stamping, leading to irregular elastic deformation and thus affecting the stamping quality.

[0024] Existing metal stamping equipment and processing methods simply use the addition of stamping oil during the stamping process to avoid scratches and damage to the workpiece surface, thus ensuring the appearance accuracy and dimensional consistency of the stamped parts. However, they do not have effective control mechanisms for the aforementioned residual stress problem, which makes it difficult to guarantee the forming quality and dimensional accuracy of the stamped parts.

[0025] Based on the above issues, please refer to Figures 1-4A metal stamping forming apparatus includes a feeding mechanism 7, a rolling mechanism, a residual stress control mechanism, and a stamping mechanism 2, all arranged sequentially along the processing flow direction and connected to a control module. It also includes a detection mechanism fixed to the feeding end of the rolling mechanism for detecting the degree of blank deformation. The rolling mechanism rolls the blank in both the transverse and longitudinal directions and applies stamping oil to the blank during the rolling process. The residual stress control mechanism includes a vibration table 1 with positioning grooves on its surface for positioning the blank, and a temperature compensation module is embedded within the vibration table 1. The transfer of blanks between the feeding mechanism 7, the rolling mechanism, the residual stress control mechanism, and the stamping mechanism 2 is achieved via a robotic arm. After the detection data from the detection mechanism is uploaded to the control module, the control module adjusts the rolling pressure of the rolling mechanism on the blank and the vibration frequency of the vibration table 1 based on the detection data. Therefore, this invention follows the processing logic of "feeding-rolling-stress adjustment-stamping," and sequentially arranges the feeding mechanism 7, rolling mechanism, residual stress adjustment mechanism, and stamping mechanism 2 along the material flow direction. Simultaneously, a detection mechanism for accurately capturing the deformation state of the billet is fixedly assembled at the feeding end of the rolling mechanism. All of the above mechanisms are connected to the core control module via signal signals. The transfer of billets between mechanisms is automated through a robotic arm, ensuring processing continuity. The detection mechanism can collect data on the degree of billet deformation in real time and upload it to the control module. The control module analyzes and processes the data based on a preset algorithm and then accurately outputs control commands to adjust the rolling pressure of the rolling mechanism (to adapt to the degree of billet deformation and avoid excessive or insufficient rolling that could exacerbate residual stress) and the residual stress adjustment... The vibration frequency of the vibration table 1 in the control mechanism (matching the residual stress distribution characteristics to improve control efficiency) forms a closed-loop collaborative logic of "real-time detection - data feedback - precise control". Therefore, this invention is not limited to the elimination / relief of residual stress on the surface, but also forms a collaborative mechanism of "detection-control". On the one hand, the complex residual stress generated by the superposition of material picking impact deformation and roll pressing flattening is precisely resolved through targeted control, which fundamentally solves the stamping defects such as wrinkling of the boss 17, edge warping, and dimensional drift caused by the lack of control over residual stress in the prior art. On the other hand, the automated mechanism connection and precise control logic not only improve processing efficiency, but also ensure the consistency of processing quality of different batches of blanks, significantly improving the forming qualification rate and dimensional accuracy stability of stamped parts.

[0026] Traditional rolling mechanisms are mostly unidirectional, which cannot simultaneously meet the flatness requirements of the billet in both the longitudinal and transverse directions. This easily leads to uneven stress distribution in the billet after rolling, further aggravating subsequent stamping defects. To address this problem, the rolling mechanism in this invention includes a conveyor belt mounted on a fixed platform, a first rolling unit 4, a second rolling unit 3, and a rotating unit 5. The rotating unit 5 is located between the first rolling unit 4 and the second rolling unit 3, and is used to rotate the billet rolled by the first rolling unit 4 by 90°. The rotating unit 5 adopts a common combination of an adsorption structure and a rotating mechanism. By using bidirectional rolling, the billet is subjected to more uniform force in all directions, improving the rolling flatness effect, reducing the complex stress distribution of "longitudinal dominance and transverse supplementation" caused by unidirectional rolling, alleviating residual stress problems, and providing a better billet foundation for subsequent stamping.

[0027] In one embodiment, the temperature compensation module includes a hot oil layer located at the bottom of the positioning groove. The hot oil layer is made of the same material as the stamping oil, and the temperature of the hot oil layer is the highest stamping preheating temperature of the blank during stamping (the heating of the hot oil layer can be achieved by directly using a heating element, or by using a heating element commonly used in circulating oil circuits to heat the oil temperature inside the oil tank), thereby accelerating the release of residual stress and improving the control effect. The hot oil layer is made of the same material as the stamping oil, avoiding surface contamination or subsequent processing compatibility issues caused by the introduction of foreign media. At the same time, the hot oil layer can fully lubricate the bottom of the blank, eliminating the problem that in the previous rolling process, a large portion of the stamping oil was coated on the top of the blank.

[0028] In one embodiment, the vibration table 1 is further provided with an annular plate, and a positioning groove is located inside the annular plate. The height of the positioning groove is lower than the height of the annular plate. The vibration table 1 between the annular plate and the positioning groove is provided with an oil passage hole that communicates with the oil circulation system. The oil outlet of the oil circulation system is located at the bottom of the positioning groove. This effectively prevents the loss of hot oil, realizes continuous replenishment of hot oil through the oil circulation system, ensures stable and long-lasting temperature compensation effect, and guarantees the consistency of residual stress control. When not vibrating, the height of the hot oil layer is maintained at 1.1-1.8 times the thickness of the billet under the replenishment of oil through the oil circulation system. Experiments have shown that if the height of the hot oil layer is less than 1.1 times the thickness of the billet, the amount of oil is less. This increases the difficulty of replenishing oil because the smaller oil requirement results in a lower error tolerance, meaning a higher requirement for replenishment accuracy. Secondly, with less oil, the temperature is more easily affected by external factors. Uneven oil temperature can easily occur, making it difficult to evenly transfer heat to all areas of the billet, thus affecting the uniform release of residual stress and weakening the auxiliary effect of temperature compensation. If the height of the hot oil layer is greater than 1.8 times the billet thickness, firstly, excessive hot oil will increase vibration resistance, which is not conducive to the transmission of vibration energy by the vibration table 1 to assist stress release; secondly, hot oil splashing is likely to occur during high-frequency vibration, causing oil loss and billet surface contamination, and may also affect the normal operation of surrounding mechanisms; thirdly, excessive hot oil will remain on the billet surface, thereby increasing the difficulty of material removal. Therefore, in one embodiment, when the height of the hot oil layer is in the range of 1.1-1.8 times the billet thickness, it can ensure that the billet is heated evenly to promote stress release, avoid vibration obstruction and hot oil splashing, and prevent the problem of difficult material removal, thus taking into account both temperature conduction efficiency and vibration control effect. In addition, to further prevent hot oil from affecting the removal of blanks, in other optional embodiments, the actuator of the robot used to pick up and transfer blanks is equipped with an air blowing component to blow away the hot oil at the suction cup adsorption point, so as to facilitate the adsorption and transfer of blanks by the suction cup; or an electromagnet is used instead of a suction cup to adsorb blanks, thereby improving the transfer quality of blanks and avoiding the influence of hot oil layer on the transfer of blanks.

[0029] In one embodiment, the residual stress control mechanism includes A vibration tables 1 arranged in an array. The vibration duration of each vibration table 1 is B seconds. The vibration periods of the A vibration tables 1 are staggered by B / A seconds, where B is determined by historical data from the previous testing mechanism for this stamping batch. Through the staggered vibration period design, multiple vibration tables 1 can work together, and the billet can be continuously fed into different vibration tables 1 for control, which greatly improves processing efficiency, adapts to the needs of continuous industrial production, and ensures the residual stress control effect of each billet. For example, when B is 60 seconds, four vibration tables 1 can be selected. In this case, a billet can be stamped every 15 seconds.

[0030] In the rolling and leveling stage before stamping of hardware products, existing technologies generally adopt a fixed rolling pressure control method. However, due to the significant individual differences in the degree of deformation generated by the blank during the impact process, the fixed pressure cannot adapt to these differentiated deformation requirements. For blanks with large deformation, the fixed pressure is often insufficient to completely smooth out the raised parts, resulting in insufficient rolling and residual unevenness on the blank surface. These uneven areas will become stress concentration points in subsequent stamping, further aggravating the accumulation of residual stress and even causing local tearing during stamping. For blanks with small deformation, excessive fixed pressure will cause over-rolling, causing a sharp increase in the compressive stress on the surface of the blank and a simultaneous increase in the tensile stress in the core, forming a more complex gradient residual stress field. This can easily lead to serious defects such as wrinkling around the boss 17 and edge warping during subsequent stamping. In addition, the thickness of different batches of blanks may also have slight deviations. The fixed pressure cannot adapt to these thickness deviations, which will also lead to unstable rolling quality and ultimately affect the consistency of stamping. Based on the above problems, in one embodiment of the present invention, the detection mechanism is used to detect the deformation distance h from the highest point of the billet to the surface of the billet; the control module is preset with the standard rolling pressure P0 of the first rolling unit 4 when the billet has a standard thickness d0 and a deformation distance of h0. The control module calculates the actual rolling pressure P1 in the first rolling unit 4 and the actual rolling pressure P2 in the second rolling unit 3 based on the actual deformation distance h1 of the billet before rolling, P1=c*k*P0*(h1 / h0)*(d1 / d0), P2=f*P1*d1; where k is the material coefficient, c and f are pre-input correction coefficients, and f*d1≧1; First, each piece of billet to be rolled is precisely scanned by the detection mechanism (such as a 3D vision inspection camera or a lidar array) at the feeding end of the rolling mechanism. The actual deformation distance h1 from the highest point of the billet to the flat area and the actual thickness d1 of the billet are collected in real time to ensure the real-time and accuracy of data collection. Subsequently, the control module calls the preset standard parameter database, which stores the standard thickness d0, standard deformation distance h0, and standard rolling pressure P0 of the first rolling unit 4 matching the standard state for the corresponding billet model. Finally, the control module calculates the actual rolling pressure P1 of the first rolling unit 4 using the preset quantization formula P1=c*k*P0*(h1 / h0)*(d1 / d0), and then calculates the actual rolling pressure P2 of the second rolling unit 3 using the formula P2=f*P1*d1. The calculation results are then converted into control signals to drive the pressure adjustment components of the first and second rolling units 3 to complete the pressure adjustment.

[0031] Regarding the design logic of the formula, each parameter has a clear practical significance: In the P1 formula, (h1 / h0) is the deformation degree adaptation coefficient, which directly reflects the difference ratio between the actual deformation and the standard deformation. The greater the deformation, the larger the value of this coefficient, and the larger the calculated P1, ensuring that the billet with large deformation can obtain sufficient rolling pressure; (d1 / d0) is the thickness compensation coefficient, which is used to correct the deviation between the actual thickness and the standard thickness of the billet. When the actual thickness is greater than the standard thickness, this coefficient is greater than 1, and the rolling pressure can be appropriately increased. Conversely, it should be appropriately decreased to adapt to the different elastic recovery capabilities of billets with different thicknesses; k is the material coefficient. Different hardware materials (such as 304 stainless steel and 316 stainless steel) have different mechanical properties such as yield strength and elastic modulus. By setting different k values, the rolling pressure can be matched with the material properties to avoid insufficient or excessive rolling pressure due to different material hardness; c is the comprehensive correction coefficient, which is mainly used to compensate for the measurement accuracy deviation of the detection mechanism and the mechanical wear of the rolling mechanism (such as pressure transmission loss caused by roller wear), ensuring that the calculated P1 is more in line with the actual working conditions.

[0032] The P2 formula is calculated based on P1. The core design logic is to build a "gradient pressure rolling system that accurately adapts to thickness": On the one hand, considering that the longitudinal rolling of the first rolling unit 4 can only achieve the initial flattening of the billet, there may be deformation in the edge area that is not completely smoothed out. It is necessary to apply greater or equal pressure to the transverse rolling for deep finishing. Therefore, the constraint condition "f*d1≧1" ensures that P2 is always greater than or equal to P1, and a progressive processing logic of "initial flattening-deep finishing" is constructed from the pressure dimension. On the other hand, the formula directly introduces the actual thickness d1 as the core control parameter, abandoning the complex deviation ratio calculation. While simplifying the control logic, it more accurately matches the correlation characteristics between billet thickness and rolling pressure. That is, thickness is the core factor affecting the difficulty of billet rolling. The greater the thickness, the greater the resistance to stress transmission inside the billet, and the higher the required rolling pressure. By directly controlling the difference between P2 and P1 through the product of d1 and f, the accurate adaptation of "the greater the thickness, the greater the gradient pressure difference" can be achieved. Therefore, the thickness-adaptive gradient pressure design solves the problem of roll forming adaptation for blanks of different thicknesses. For thin blanks, P2 is only slightly larger than P1, which can avoid stress accumulation caused by excessive roll forming. For thick blanks, the larger gradient pressure difference can ensure that the roll pressure is fully transmitted to the core of the blank, effectively avoiding the problem that the thick blank is difficult to flatten due to its greater rigidity. This results in a higher roll forming quality pass rate for blanks of different thicknesses, significantly enhancing production adaptability. Thirdly, high-quality roll forming blanks provide the optimal foundation for subsequent stamping, which not only reduces the occurrence rate of defects such as wrinkling of boss 17 and edge warping, but also reduces the risk of fatigue cracks caused by stress superposition during stamping, thus improving the dimensional accuracy and stability of stamped parts.

[0033] In summary, the introduction of formulas P1 and P2 not only limits the adaptive adjustment of rolling pressure, but also constructs a standardized and precise rolling control system: on the one hand, it realizes personalized and precise rolling for billets with different deformation degrees and thicknesses, solves the problem of insufficient or excessive rolling pressure caused by fixed pressure, and improves the flatness of the billet; on the other hand, through the precise adaptation of "the greater the thickness, the greater the gradient pressure difference", it avoids stress accumulation caused by excessive rolling while ensuring that the rolling pressure is fully transmitted to the core of the billet, avoiding the problem that thick billets are difficult to flatten due to their greater rigidity.

[0034] In the residual stress control process of hardware products, the matching degree between the vibration intensity of the vibration table 1 and the actual state of the blank directly determines the control effect. In the existing technology, the vibration intensity is mostly a fixed value or relies on the operator's experience for manual adjustment, which cannot accurately match the actual deformation of each blank. This extensive control will cause two problems: On the one hand, if the vibration intensity is insufficient, the gradient residual stress and the complex stress of "longitudinal dominance and transverse addition" inside the blank cannot be fully released. The residual stress will be superimposed on the stamping load in the subsequent stamping process, resulting in unexpected plastic deformation of the workpiece, such as the collapse of the boss 17 and edge cracking, which seriously reduces the forming quality of the stamped parts. On the other hand, if the vibration intensity is too high, it will exceed the material's tolerance limit, potentially causing minor scratches and pits on the surface. It will also exacerbate stress concentration within the material, creating new fatigue crack initiations and significantly shortening the lifespan of the hardware products. Furthermore, excessive vibration energy will increase equipment energy consumption and reduce the lifespan of the vibration table. More importantly, this control deviation can lead to significant differences in residual stress control effects between different batches, and even between different blanks within the same batch. This results in extremely poor dimensional accuracy stability of the stamped parts, making it difficult to improve product yield and meet the demands of industrialized mass production.

[0035] Therefore, to address this issue, in one embodiment of the present invention, the control module presets a standard vibration intensity Z0 for the vibration table 1 when the billet has a standard thickness d0 and the projected area of ​​the deformation position of the billet before rolling is M0; the detection mechanism detects the actual projected area M1 of the actual deformation position of the billet before rolling in real time; the control module calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 of the billet based on M1, e=a*M1 / M0, Z1=e*Z0*(d1 / d0), where a is a pre-input correction coefficient; First, before the billet after rolling enters the residual stress control mechanism, the detection mechanism will scan the billet again and collect the actual projected area M1 of the actual deformation position of the billet before rolling (this area directly reflects the size of the deformation range of the billet. The larger the deformation range, the more residual stress needs to be released) and the actual thickness d1 of the billet (thickness affects the transmission efficiency of vibration energy inside the billet. The larger the thickness, the more obvious the energy attenuation). Subsequently, the control module calls the preset standard parameter database, which pre-stores the standard thickness d0, standard deformation projection area M0 (i.e., the projected area of ​​the deformation region when the billet is in the standard deformation state) for the corresponding billet model, and the standard vibration intensity Z0 (the optimal standard control intensity verified by experiments) matching the standard state. Finally, the control module calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 sequentially using a preset quantization formula. That is, it first calculates the adjustment coefficient for the deformation range by e=a*M1 / M0, then substitutes e into Z1=e*Z0*(d1 / d0) to calculate the final actual vibration intensity, and then converts Z1 into a control signal to drive the drive component of the vibration table 1 to complete the precise adjustment of the vibration intensity.

[0036] Regarding the design logic of this formula, each parameter carries a clear practical significance and works together to form a complete control system: In the formula e=a*M1 / M0, M1 / M0 is the deformation range adaptation coefficient, which intuitively reflects the ratio between the actual deformation area of ​​the billet and the standard deformation area; for example, when M1 is greater than M0, it means that a larger vibration adjustment amplitude is needed to match the need for releasing more residual stress; while a is a comprehensive correction coefficient, whose design purpose is to compensate for various errors and losses in the control process, specifically including the vibration energy attenuation caused by mechanical wear of the vibration table 1 during long-term operation, the measurement accuracy deviation of the testing mechanism under workshop dust and light interference, and the influence of different ambient temperatures on vibration transmission efficiency. It is usually preset according to the equipment model and production environment to ensure that the calculated e is more in line with the actual working conditions; In the formula Z1=e*Z0*(d1 / d0), d1 / d0 is the thickness compensation coefficient. The greater the thickness, the greater the resistance to the transmission of vibration energy from the surface of the billet to the core. Therefore, a higher vibration intensity is required to ensure that the residual stress in the core is fully released. If the thickness is smaller, Z1 should be appropriately reduced to avoid excessive vibration damage to the billet. Based on this, the present invention not only achieves precise control of residual stress, but also improves the residual stress elimination rate by dynamically matching the vibration intensity with the actual state of the blank, thus solving the problem of insufficient residual stress control; it also effectively avoids blank damage caused by over-control, reducing the surface damage rate of the blank and ensuring the integrity of the blank, providing a high-quality base material for subsequent stamping; secondly, precise vibration intensity control can avoid ineffective high energy consumption, reduce equipment operating energy consumption while reducing mechanical wear of the vibration table 1, extending equipment service life and improving the economic efficiency of industrial production; finally, in the blank after precise control, the residual stress is evenly distributed, and the occurrence rate of defects (such as dimensional drift and cracks) caused by stress superposition during subsequent stamping is greatly reduced, improving the dimensional accuracy and stability of stamped parts, and further ensuring the quality and market competitiveness of the final product.

[0037] In one embodiment, the actuator of the manipulator used to transfer the billet from the feeding mechanism 7 to the rolling mechanism is equipped with a telescopic plate 6 driven by a cylinder for telescopic movement; the bottom of the telescopic plate 6 is provided with a plurality of circumferentially distributed edge suction rods for adsorbing the non-stamping area of ​​the billet and the position near the edge; the bottom center of the telescopic plate 6 is provided with a central suction rod 12 for adsorbing the center position of the stamping area of ​​the billet; an elastic mechanism is provided between the central suction rod 12 and the telescopic plate 6 to cause the central suction rod 12 to reciprocate; during the process of transferring the billet and before the billet is transferred, there is a height difference L between the suction plate of the central suction rod 12 and the suction plate in the edge suction rod under the action of the elastic structure; after all the suction plates have adsorbed the billet, within the range of the telescopic plate 6 moving upward by a distance of L, the suction plate in the edge suction rod lifts the edge part of the billet, and the central suction rod 12 presses the center part of the billet under the action of the elastic mechanism; where L is taken as the value within the range of elastic deformation of the billet, and the suction plates are all connected to a common air supply system for adsorbing and placing the billet.

[0038] Therefore, when picking up materials, the telescopic plate 6 is first driven to descend, so that the suction plate of the central suction rod 12 first adheres to the surface of the blank and starts suction. Then the telescopic plate 6 continues to descend, so that the suction plate of the edge suction rod adheres to the surface of the blank and starts suction, thus achieving stable adsorption in two areas. Subsequently, the telescopic plate 6 is slowly moved upward. Within a moving distance not exceeding L, the edge adsorption rods are simultaneously lifted upward by the telescopic plate 6, lifting the edge of the billet. Meanwhile, the center adsorption rod 12 maintains a pressing state on the center area of ​​the billet under the elastic force of the elastic mechanism. This "edge lifting and center pressing" action makes the upper billet slightly arched, thereby breaking the negative pressure cavity between the billet and the lower billet, allowing air to enter the cavity, and thus eliminating negative pressure adhesion. Therefore, at this time, no impact action is required to achieve smooth separation of a single billet. This avoids the deformation of the billet caused by impact picking. At the same time, the design of separation without impact simplifies the picking process, shortens the single picking time, improves the efficiency of continuous production, and reduces the mechanical wear of the robot and the unloading rack, extending the service life of the equipment. Most importantly, it significantly reduces the initial deformation of the billet, directly reducing the pressure of subsequent roll flattening and the difficulty of residual stress control, reducing the load of parameter adjustment in subsequent processing, ensuring the stability of the processing quality throughout the process, and reducing the defect rate of stamped parts caused by picking deformation.

[0039] In one embodiment, the elastic mechanism includes a fixed cylinder 8 fixed to the telescopic plate 6, a sliding rod 13 slidably connected to the fixed cylinder 8, an adjusting rod 9 threadedly connected to the internal threaded hole of the sliding rod 13, a boss 17 fixed to the adjusting rod 9 and slidably connected to the fixed cylinder 8, and a compression spring 16 disposed inside the fixed cylinder 8; a central suction rod 12 is fixedly connected to the bottom of the sliding rod 13; one end of the compression spring 16 is connected to the boss 17, and the other end is connected to the inner top of the fixed cylinder 8; a limiting platform 15 is provided inside the fixed cylinder 8, and the boss 17 abuts against the limiting platform 15 under the action of the compression spring 16; a through groove 11 is provided at the lower part of the fixed cylinder 8, and a protrusion 14 is fixedly connected to the sliding rod 13 to cooperate with the through groove 11 and to prevent the sliding rod 13 from rotating; one end of the adjusting rod 9 passes through the top of the fixed cylinder 8; therefore, the size of L can be adjusted by rotating the adjusting rod 9 to adapt to blanks of different thicknesses and radii while realizing the above-mentioned "edge lifting and center pressing" function.

[0040] This invention also discloses a method for processing hardware products, based on the above-mentioned hardware product stamping and forming apparatus, comprising the following steps: Step S1: Device debugging and parameter preset. Debug the coordinated operation accuracy of the feeding mechanism 7, roller pressing mechanism, residual stress control mechanism, stamping mechanism 2, and robot. Preset the standard roller pressing pressure P0, standard vibration intensity Z0, and standard deformation distance h0 and standard deformation projected area M0 corresponding to the standard thickness d0 of the billet through the control module. At the same time, adjust the height difference L between the central suction rod 12 and the edge suction rod suction plate of the robot through the adjusting rod 9 so that L adapts to the elastic range of the billet to be processed. Step S2: Loading the billet. The control module drives the robot to move to the billet storage area, aligning the edge suction rod with the edge of the non-stamping area of ​​the billet and the center suction rod 12 with the center of the stamping area of ​​the billet. The suction device is activated to allow all suction discs to adsorb the billet. Then, the telescopic plate 6 is driven to move upward. Within a movement distance not exceeding L, the edge suction rod lifts the edge of the billet, and the center suction rod 12 presses the center of the billet under the action of the elastic mechanism. At this time, air will enter between the two adjacent billets through the lifted edge, avoiding negative pressure adhesion between the billet and the lower billet. Then, the robot transfers the billet to the feeding end of the roller pressing mechanism. Step S3: Billet deformation detection. Start the detection mechanism to detect the billet at the feeding end, obtain the actual deformation distance h1, the projected area M1 of the actual deformation position and the actual thickness d1 of the billet, and upload the detection data to the control module in real time. Step S4: Adaptive rolling and leveling. The control module calculates the actual rolling pressure P1 of the first rolling unit 4 and the actual rolling pressure P2 of the second rolling unit 3 based on h1 and d1 obtained in step S3. It also calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 based on M1 and d1. Subsequently, the first rolling unit 4 of the rolling mechanism is driven to perform longitudinal rolling on the billet. After the billet is rotated 90° by the rotating unit 5, the second rolling unit 3 performs transverse rolling. During the rolling process, stamping oil is simultaneously poured onto the surface of the billet to avoid surface scratches and facilitate subsequent stamping. Step S5: Residual stress control. The rolled billet is transferred to the positioning groove of the vibration table 1 of the residual stress control mechanism by the robotic arm. The temperature compensation module is activated to raise the temperature of the hot oil layer to the highest preheating temperature of the billet during stamping and keep it constant. The control module adjusts the vibration frequency and vibration intensity of the vibration table 1 according to Z1 calculated in step S4 to vibrate the billet and eliminate or alleviate the residual stress in the billet. If multiple vibration tables 1 are used in an array, the control module controls the vibration period of each vibration table 1 to be staggered by B / A seconds in sequence to realize continuous stamping of the billet and improve stamping efficiency. Step S6: Stamping and forming. The blank with residual stress regulated is transferred to the stamping mechanism 2 by the robot arm. The stamping mechanism 2 is controlled to perform stamping and forming according to the preset process parameters to obtain the hardware product blank. Step S7: Material unloading and storage. After stamping, the metal product blank is taken out from the stamping mechanism 2 by the robot and transferred to the designated storage area to complete a single processing. Repeat steps S2-S7 to realize continuous processing of metal products.

[0041] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "upper," "lower," "left," "right," "front," "back," and similar expressions used in this document are for illustrative purposes only.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A hardware press forming apparatus characterized by comprising: The system includes a feeding mechanism, a rolling mechanism, a residual stress control mechanism, and a stamping mechanism, all arranged sequentially along the processing flow direction and connected to the control module; it also includes a detection mechanism fixed to the feed end of the rolling mechanism for detecting the degree of deformation of the billet; the rolling mechanism is used to roll the billet in the transverse and longitudinal directions and to spray stamping oil onto the billet during the rolling process; the residual stress control mechanism includes a vibration table with positioning grooves on its surface for positioning the billet; the transfer of the billet between the feeding mechanism, the rolling mechanism, the residual stress control mechanism, and the stamping mechanism is achieved by a robotic arm; After the detection data from the detection mechanism is uploaded to the control module, the control module adjusts the rolling pressure of the rolling mechanism on the billet and the vibration frequency of the vibration table according to the detection data.

2. The hardware press forming apparatus according to claim 1, characterized by The rolling mechanism includes a conveyor belt mounted on a fixed platform, a first rolling unit, a second rolling unit, and a rotating unit. The rotating unit is located between the first rolling unit and the second rolling unit and is used to rotate the blank after it has been rolled by the first rolling unit by 90°.

3. The hardware press forming apparatus according to claim 1, characterized by The vibration table is embedded with a temperature compensation module, which includes a hot oil layer located in the lower part of the positioning groove. The hot oil layer is made of the same material as the stamping oil, and the temperature of the hot oil layer is the highest stamping preheating temperature of the blank during stamping.

4. The hardware press forming apparatus according to claim 3, characterized by The vibration table is also provided with an annular plate, the positioning groove is located inside the annular plate, and the height of the positioning groove is lower than the height of the annular plate. The vibration table between the annular plate and the positioning groove is provided with an oil passage hole that is connected to the oil circulation. The oil outlet of the oil circulation is located at the bottom of the positioning groove. When not vibrating, the height of the hot oil layer is maintained at 1.1-1.8 times the thickness of the billet under the replenishment of oil through the oil circulation.

5. The hardware press forming apparatus according to claim 1, wherein The residual stress control mechanism includes A vibration tables arranged in an array. The vibration duration of each vibration table is B seconds. The vibration periods of the A vibration tables are staggered by B / A seconds, where B is determined by historical data from the testing mechanism prior to this stamping batch.

6. The hardware press forming apparatus according to claim 2, wherein The detection mechanism is used to detect the deformation distance h from the highest point of the billet to the surface of the billet; the control module is preset with the standard rolling pressure P0 of the first rolling unit when the billet has a standard thickness d0 and a deformation distance of h0. The control module calculates the actual rolling pressure P1 in the first rolling unit and the actual rolling pressure P2 in the second rolling unit based on the actual deformation distance h1 of the billet before rolling, P1=c*k*P0*(h1 / h0)*(d1 / d0), P2=f*P1*d1; where k is the material coefficient, c and f are pre-input correction coefficients, and f*d1≧1.

7. The hardware press forming apparatus according to claim 6, wherein The control module is preset with a standard vibration intensity Z0 of the vibration table when the billet has a standard thickness d0 and the projected area of ​​the deformation position of the billet before rolling is M0; the detection mechanism detects the actual projected area M1 of the actual deformation position of the billet before rolling in real time; the control module calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 of the billet based on M1, e=a*M1 / M0, Z1=e*Z0*(d1 / d0), where a is a pre-input correction coefficient.

8. The hardware press forming apparatus according to claim 1, characterized by The actuator of the robot arm used to transfer the blank from the feeding mechanism to the rolling mechanism is provided with a telescopic plate; The bottom of the telescopic plate is provided with several edge adsorption rods distributed circumferentially, which are used to adsorb the non-stamping area of ​​the blank and the position near the edge. The telescopic plate has a central suction rod at the bottom center, which is used to attract the center position of the blank stamping area; An elastic mechanism is provided between the central adsorption rod and the telescopic plate to cause the central adsorption rod to reciprocate; during the process of transferring the blank and before the blank is transferred, there is a height difference L between the suction disk of the central adsorption rod and the suction disk of the edge adsorption rod under the action of the elastic structure; After all the suction discs have adsorbed the blank, within a range of L where the telescopic plate moves upward, the suction discs in the edge suction rods lift the edge portion of the blank, while the center suction rod presses the center portion of the blank under the action of the elastic mechanism.

9. The hardware press forming apparatus according to claim 8, wherein The elastic mechanism includes a fixed cylinder fixed to the telescopic plate, a sliding rod slidably connected to the fixed cylinder, an adjusting rod threadedly connected to the internal threaded hole of the sliding rod, a boss fixed to the adjusting rod and slidably connected to the fixed cylinder, and a compression spring disposed inside the fixed cylinder; the bottom of the sliding rod is fixedly connected to the central suction rod; one end of the compression spring is connected to the boss, and the other end is connected to the inner top of the fixed cylinder; a limiting platform is provided inside the fixed cylinder, and the boss abuts against the limiting platform under the action of the compression spring; a through groove is provided at the lower part of the fixed cylinder, and a protrusion is fixedly connected to the sliding rod to cooperate with the through groove and to prevent the sliding rod from rotating; one end of the adjusting rod passes through the top of the fixed cylinder; the size L can be adjusted by rotating the adjusting rod.

10. A hardware processing method based on a hardware press forming device, characterized by, Includes the following steps: S1: Blank loading. The control module drives the robot to move to the blank storage area, aligning the edge suction rod with the edge of the non-stamping area of ​​the blank and the center suction rod with the center of the stamping area of ​​the blank. The suction device is activated to allow all suction discs to adsorb the blank. Then, the telescopic plate is driven to move upward. Within a movement distance not exceeding L, the edge suction rod lifts the edge of the blank, and the center suction rod presses the center of the blank under the action of the elastic mechanism. At this time, air will enter between the two adjacent blanks through the lifted edge, thereby avoiding negative pressure adhesion between the blank and the lower blank. Then, the robot transfers the blank to the feeding end of the roller pressing mechanism. S2: Billet deformation detection. The detection mechanism is started to detect the billet at the feeding end, and the actual deformation distance h1, the actual deformation position projection area M1 and the actual thickness d1 of the billet are obtained. The detection data is uploaded to the control module in real time. S3: Adaptive rolling flattening. The control module calculates the actual rolling pressure P1 of the first rolling unit and the actual rolling pressure P2 of the second rolling unit based on h1 and d1 obtained in step S2. It also calculates the vibration adjustment coefficient e and the actual vibration intensity Z1 based on M1 and d1. Subsequently, the first rolling unit of the rolling mechanism is driven to perform longitudinal rolling on the billet. After the billet is rotated 90° by the rotation unit, the second rolling unit performs transverse rolling. During the rolling process, stamping oil is simultaneously poured onto the surface of the billet to avoid surface scratches. S4: Residual stress control. The rolled billet is transferred to the positioning groove of the vibration table of the residual stress control mechanism by the robot arm. The temperature compensation module is activated to raise the temperature of the hot oil layer to the highest preheating temperature of the billet during stamping and keep it constant. The control module adjusts the vibration intensity of the vibration table according to Z1 calculated in step S3, and performs vibration treatment on the billet while heating it. S5: Stamping: The blank with residual stress controlled is transferred to the stamping mechanism by a robot. The stamping mechanism is controlled to stamp according to the preset process parameters to obtain the metal product blank. S6: Unloading and storage: After stamping, the metal product blank is taken out from the stamping mechanism by a robot and transferred to the designated storage area to complete a single processing. Repeat steps S2-S6 to realize continuous processing of metal products.

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