Large sheet metal part flexible incremental forming method based on multi-robot cooperation

By employing a multi-robot collaborative incremental forming method, asynchronous parallel processing and real-time force/position hybrid control are carried out on large and complex sheet metal parts, solving the problems of limited forming range and low efficiency in existing technologies, and realizing efficient and precise manufacturing of complex components.

CN122076880APending Publication Date: 2026-05-26SHANGHAI JIAOTONG UNIV
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Patent Information

Application Number
CN202610234360.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-02-27
Publication Date
2026-05-26

AI Technical Summary

Technical Problem

Existing technologies are difficult to efficiently form large and complex sheet metal parts, with limited forming range, low efficiency, and difficulty in adapting to the processing requirements of complex geometric features.

Method used

A multi-robot collaborative progressive forming method is adopted. By dividing the target component into geometric feature partitions, multiple robots perform asynchronous parallel processing in different areas, and real-time force/position hybrid control is combined to achieve trajectory optimization and collision avoidance.

Benefits of technology

It expands the forming range, improves processing efficiency, ensures the forming accuracy and quality consistency of components, and adapts to the processing requirements of complex geometric features.

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Abstract

The invention belongs to the technical field of sheet metal machining, and particularly relates to a large sheet metal part flexible incremental forming method based on multi-robot collaboration, which comprises the following steps of: dividing a target component into a plurality of sub-regions according to geometrical characteristics of a three-dimensional model of the target component, and determining tool heads adopted by robots corresponding to the sub-regions and forming process parameters; track planning and motion synchronization are carried out on the robots; performing dynamic collision detection based on real-time position feedback of each robot, and performing trajectory optimization through coordinated planning of speed and trajectory; and according to the real-time force feedback of each tool head, the forming process parameters of each robot are dynamically adjusted through a force / position hybrid control algorithm. Compared with the prior art, the problems of limited forming range and low efficiency in the prior art are solved. According to the scheme, the forming precision and the quality consistency of the component are guaranteed while the forming range is expanded.
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