A shaft blank punching preforming method and control system based on reverse stretching cooperative control

Abstract

This application discloses a prefabrication method and control system for punching shaft blanks based on reverse tension coordinated control, belonging to the field of shaft component manufacturing. The method includes: applying a reverse tension force: when end A of the solid shaft blank is rigidly fixed, an axial reverse tension force F is applied to end B of the solid shaft blank, causing an initial axial tensile stress σ1 to be generated in the cross-section of the shaft blank; coordinated punching: under the condition of maintaining the axial reverse tension force F, the punch is driven to advance from end B to end A of the shaft blank to perform the punching operation; dynamic adjustment: during the punching process, the magnitude of the axial reverse tension force F is dynamically adjusted according to the real-time displacement L of the punch; unloading and removal: after punching penetration, the punching force of the punch and the axial reverse tension force F are removed sequentially to obtain the pre-drilled blank. This application solves the problem of internal defects in the pre-drilled hole by introducing a second principal dynamic boundary condition (tensile force field).

Description

Technical Field

[0001] This application belongs to the field of shaft component manufacturing, and specifically relates to a shaft blank punching prefabrication method and control system based on reverse tension cooperative control. Background Technology

[0002] In the manufacturing of high-end shaft components (such as heavy-duty vehicle axles and aircraft landing gear axles), a composite forming process of "pre-drilled holes + precision extrusion" is often used. First, through holes (i.e., pre-drilled holes) need to be machined into solid bar stock. Then, complex internal cavity structures are formed through methods such as radial extrusion. The quality of the pre-drilled holes is crucial to the success of subsequent processes and the final performance of the part.

[0003] Currently, pre-drilled hole machining mainly relies on mechanical drilling and conventional stamping. Drilling is a chip-producing process with low material utilization and inevitably cuts off metal flow lines, creating a work-hardened layer on the hole wall, severely impairing the fatigue performance of the part. Although conventional stamping is a chip-free process, its unidirectional extrusion deformation mode leads to highly uncoordinated material flow, easily causing internal defects such as tearing and folding on the inner wall of the pre-drilled hole, and disrupting the metal flow lines. This problem is particularly prominent for high-strength alloys and billets with large length-to-diameter ratios, resulting in low yield and severe die wear.

[0004] Existing technological improvements mostly focus on mold optimization and process parameter adjustment, which are passive adaptations. Therefore, there is an urgent need for a new method that can actively control material flow from the source of deformation mechanism to stably obtain high-quality pre-formed holes. Summary of the Invention

[0005] To address the aforementioned issues, this application provides a method and control system for prefabricating shaft blanks by punching holes based on reverse stretching collaborative control.

[0006] The first objective of this application is to provide a method for prefabricating shaft blanks by punching holes based on reverse stretching coordinated control, including: Apply reverse tensile force: When the A end of the solid shaft blank is rigidly fixed, apply an axial reverse tensile force F to the B end of the solid shaft blank to generate an initial axial tensile stress σ1 in the cross section of the shaft blank. Collaborative punching: Under the condition of maintaining the axial reverse tensile force F, the punch is driven to advance from end B to end A of the shaft blank to perform the punching operation; Dynamic adjustment: During the punching process, the magnitude of the axial reverse tensile force F is dynamically adjusted according to the real-time displacement L of the punch and / or the real-time punching load P, so that the axial tensile stress σ of the blank cross section changes accordingly, so as to guide the material flow in a coordinated manner. Unloading and removing parts: After the punching is completed, the punching force and the axial reverse tensile force F of the punch are removed in sequence to obtain the pre-drilled hole blank. In a specific embodiment of the present application, the initial axial tensile stress σ1 satisfies the following relationship: σ1 = k1·σs Where, σs is the yield strength of the blank material at the processing temperature, and k1 is a proportionality coefficient, which is a constant, and the value range is 0.05 ≤ k1 ≤ 0.15.

[0007] In a specific embodiment of the present application, dynamically adjusting the magnitude of the axial reverse tensile force F according to the punch displacement L includes: When 0 ≤ L < L1, control the axial reverse tensile force F so that the axial tensile stress σ is maintained at the initial axial tensile stress σ1; When L1 ≤ L < L2, control the axial reverse tensile force F to start increasing from the value at the end of the first stage, so that the axial tensile stress σ increases from σ1 to the second axial tensile stress σ2; When L ≥ L2, control the axial reverse tensile force F to start decreasing from the value at the end of the second stage, so that the axial tensile stress σ decreases from σ2 to the third axial tensile stress σ3; Where, L1 is the first displacement threshold, L2 is the second displacement threshold, and L1 < L2.

[0008] In a specific embodiment of the present application, the value range of L1 is 20% to 30% of the total length L_total of the shaft blank, and the value range of L2 is 70% to 80% of L_total.

[0009] In a specific embodiment of the present application, the second axial tensile stress σ2 satisfies the following relationship: σ2 = k2·σ1 Where, k2 is a constant, and the value range is 1.2 ≤ k2 ≤ 1.8.

[0010] In a specific embodiment of the present application, the third axial tensile stress σ3 satisfies the following relationship: σ3 = k3·σ2 Where, k3 is a constant, and the value range is 0.8 ≤ k3 ≤ 1.0.

[0011] In a specific embodiment of the present application, the process of the axial tensile stress σ increasing from σ1 to σ2 is a linear increase or a non-linear increase.

[0012] In a specific embodiment of the present application, the process of the axial tensile stress σ decreasing from σ2 to σ3 is a linear decrease or a non-linear decrease.

[0013] In a specific embodiment of the present application, the head of the punch is spherical conical, and the spherical head radius R of the punch is 0.25 to 0.4 times of the target prefabricated hole diameter d.

[0014] In a specific embodiment of this application, the side of the punch has a positive taper of 0.5° to 2°.

[0015] In a specific embodiment of this application, before and / or during punching, the punching deformation area of ​​the shaft blank is locally induction heated, and the heating temperature T is controlled within the range of 150°C to 250°C below the recrystallization temperature T_rex of the blank material.

[0016] In a specific embodiment of this application, the principle for setting the stamping speed is: to coordinate with the control of the dynamic reverse tensile force while ensuring the stability of the punching process and avoiding equipment impact, so as to achieve optimal guidance of material flow.

[0017] Generally, the selection of stamping speed depends primarily on the type, strength, and plasticity of the blank material. For high-strength, low-plasticity materials (such as titanium alloys and high-temperature alloys), a lower stamping speed (e.g., 0.5 mm / s to 3.0 mm / s) is preferable to reduce instantaneous deformation resistance, facilitate the proper flow of material under reverse tensile force, and minimize thermal effects. For medium-to-low strength, relatively high-plasticity materials (such as alloy structural steel and aluminum alloys), a relatively higher stamping speed (e.g., 2.0 mm / s to 10.0 mm / s) can be used to improve production efficiency.

[0018] Specifically, for EA4T alloy steel, the selected stamping speed is 4±0.5 mm / s. This speed matches the yield strength of 580 MPa, the local heating temperature of 600℃, and the dynamic tensile stress range of 58-87 MPa, ensuring a smooth punching process and achieving excellent hole wall quality.

[0019] For TC11 titanium alloy: Given the characteristics of titanium alloy, such as high deformation resistance and poor thermal conductivity, a relatively low stamping speed of 1.5±0.5mm / s was selected. This speed, combined with the overall preheating temperature of 420℃ and the low initial tensile force proportionality coefficient (k1), successfully achieved high-quality punching of the difficult-to-deform material.

[0020] In a specific embodiment of this application, during the pressure holding process after punching through, the stress and strain distribution in the deformation zone is made more uniform by maintaining the pressure at the end position for a short period of time (1-3 seconds).

[0021] In a specific embodiment of this application, a method for prefabricating a shaft blank by punching based on reverse stretching collaborative control includes: Billet clamping and force field initialization: One end of the billet (denoted as end A) is rigidly fixed. The other end (denoted as end B) is connected to an actuator that can output controllable tensile force. The actuator is activated to apply an initial reverse tensile force Fpull(0), so that the billet as a whole is in an elastic tensile state, and a uniform initial tensile stress σz1 is established inside.

[0022] Cooperative punching start: Under the condition of keeping Fpull(0) constant, the punching equipment drives the punch to advance from the center of end B towards end A at a constant or variable speed to start punching. At this time, the punching force Fpress and the reverse tensile force Fpull begin to act together on the deformation zone of the billet.

[0023] Dynamic Coordinated Control Phase: The system acquires punch displacement L(t) and punching force Fpress(t) signals in real time. The coordinated control center calculates the adjustment of the axial reverse tensile force based on the punch displacement and punching load, generating and issuing dynamic adjustment commands for the reverse tensile force Fpull(t). For example, Fpull is increased in the middle of punching to enhance the axial guiding effect; Fpull is appropriately reduced just before penetration to prevent excessive thinning or tearing of the exit material. The entire process constitutes a closed-loop control system.

[0024] Pressure holding and homogenization followed by sequential unloading: After the punch fully penetrates the billet, it is held at the endpoint for a short period (1-3 seconds) to ensure a more uniform distribution of stress and strain in the deformation zone. Then, the control system first instructs the punch to retract, releasing the pressure. Once the punch is completely disengaged, the tensioning actuator is instructed to smoothly reduce the pressure to zero. Finally, the clamps at both ends are released, and the billet with the high-quality pre-drilled holes is removed.

[0025] The second objective of this application is to provide a prefabrication control system for punching shaft blanks based on reverse stretching collaborative control, including a stretching execution module, a stamping execution module, and a collaborative control module; The stretching execution module is used to apply an axial reverse tensile force F to the B end of the solid shaft blank when the A end of the solid shaft blank is rigidly fixed, so that the cross section of the shaft blank generates an initial axial tensile stress σ1. The stamping execution module is used to drive the punch from end B to end A of the shaft blank to perform a punching operation while maintaining the axial reverse tensile force F. The collaborative control module is used to dynamically adjust the magnitude of the axial reverse tensile force F according to the real-time displacement L of the punch and / or the real-time punching load P during the punching process; it is also used to maintain pressure after punching penetration, and then sequentially remove the punching force and axial reverse tensile force of the punch to obtain a pre-made hole.

[0026] Compared with the prior art, this application has the following advantages: The innovative process principle of this application is as follows: It pioneers a new "reverse tension synergy" punching mechanism, breaking through the traditional punching model that relies solely on unidirectional radial extrusion. It creatively proposes a new process principle that applies an active and controllable axial tensile force in the opposite direction to the punch's movement. The core innovation of this principle lies in introducing a second principal dynamic boundary condition (tensile force field), transforming the stress state inside the billet from a single compressive stress field to a tensile-compressive composite stress field. This composite stress field actively and forcefully guides the extruded metal to extend axially, fundamentally transforming harmful concentrated shear deformation into beneficial coordinated extension deformation from the perspective of deformation mechanics. This is a fundamental solution to the problem of internal defects in pre-drilled holes.

[0027] A fundamental breakthrough has been achieved in the internal quality of pre-formed holes: by actively guiding the axial flow of material through reverse tensile force, the destructive deformation dominated by shearing in traditional punching is transformed into a coordinated deformation dominated by elongation, thereby eliminating internal defects such as tearing and folding of the hole wall at its source. The resulting pre-formed holes have excellent inner wall smoothness (roughness Ra can be stably controlled below 6μm) and perfect continuous surrounding metal flow lines, providing a near-ideal blank for subsequent precision forming.

[0028] The final part's service performance is fundamentally improved: due to the defect-free pre-drilled holes and the complete and continuous metal flow lines, the fatigue strength of parts formed from this billet through subsequent extrusion is significantly improved. Comparative tests show that its fatigue life is more than 40% higher than that of parts using traditionally drilled pre-drilled holes. This is of great value for critical components with extremely high safety and reliability requirements, such as high-speed rail axles and aircraft landing gear.

[0029] The economic efficiency and service life of the die are significantly improved: the reverse tensile force effectively distributes and balances the lateral load on the punch, fundamentally solving the problems of punch misalignment and localized wear. Examples show that the single-cycle wear of the punch can be reduced by more than 80%, the die life is extended several times, and production costs are greatly reduced.

[0030] The process is highly efficient, environmentally friendly, and boasts high material utilization: This method is a net-forming process with a material utilization rate of over 95%, far exceeding that of drilling (approximately 78%). Furthermore, the process is stable and controllable, with low noise and vibration, aligning with the development direction of green manufacturing.

[0031] High level of intelligence and strong process stability: Through the closed-loop collaborative control system of force and displacement, the process can be adaptively adjusted, reducing the dependence on operator experience and ensuring the stability and repeatability of the processing quality of different batches and different materials, thus meeting the needs of large-scale industrial production.

[0032] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 A framework diagram of a blank punching prefabrication control system based on reverse stretching cooperative control according to an embodiment of this application is shown; In the diagram: 10, Cooperative control module; 20, Stretching execution module; 30, Stamping execution module. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] Example 1: Punching of EA4T alloy steel billet for high-speed train axles 1. Object and Target: The material is EA4T steel, and the billet size is Φ120 mm × 800 mm. The target is to prefabricate a Φ40 mm through hole.

[0037] 2. Key process parameters: Raw material: Yield strength σs = 580 MPa.

[0038] Reverse stretching coordinated control parameters: The initial tensile stress proportionality coefficient k1 is taken as 0.1, so the initial axial tensile stress σ1 = 0.1 × 580 = 58 MPa.

[0039] The cross-sectional area of ​​the billet is A = π × (120 / 2). 2 ≈ 11310 mm 2 .

[0040] Based on the relationship between axial tensile stress and axial force (F = σ × A), calculate the control targets for each stage: Phase 1 (Initial): Target tensile stress σ1 = 58 MPa, corresponding to initial reverse tensile force F_pull0 = 58 × 11310 × 10 -3 ≈ 655 kN.

[0041] Second stage (intermediate stage): Target tensile stress σ2 = k2 × σ1 = 1.5 × 58 = 87 MPa, corresponding to the maximum reverse tensile force F_pull_max = 87 × 11310 × 10 -3 ≈ 983 kN.

[0042] Third stage (final stage): Target tensile stress σ3 = k3 × σ2 = 0.9 × 87 = 78.3 MPa, corresponding final stage reverse tensile force F_pull_end = 78.3 × 11310 × 10 -3 ≈ 885 kN.

[0043] The collaborative control adopts a three-stage linear model, with displacement thresholds set as follows: L1 = 160 mm (accounting for 20% of the total length) and L2 = 560 mm (accounting for 70% of the total length).

[0044] Punch parameters: The target pre-drilled hole diameter is d = 40 mm.

[0045] The punch head adopts a spherical cone design with a spherical head radius R = 14 mm, satisfying R / d = 0.35.

[0046] The punch has a 1.5° positive taper on the side.

[0047] The punch is made of cemented carbide and coated with a wear-resistant titanium nitride (TiN) coating.

[0048] Auxiliary process parameters: Stamping speed: 4 mm / s.

[0049] Temperature field control: Medium-frequency induction heating to 600℃ is applied to a 400mm long area in the middle of the billet.

[0050] Lubrication: Spray graphite-based high-temperature lubricant onto the punch surface and the B end face of the blank.

[0051] 3. Implementation process: The billet is rigidly clamped at end A and connected to the reverse tensioning actuator at end B. An initial reverse tensioning force of 655 kN is applied to pre-tension the billet. The punching unit is then activated, with the punch advancing from the center of end B at a speed of 4 mm / s. The control system reads the punch displacement L in real time and, based on a preset three-stage linear model, automatically adjusts the reverse tensioning force to 983 kN and 885 kN respectively when the displacement reaches L1 and L2. The entire process runs smoothly, with significantly lower equipment noise and vibration compared to traditional punching methods.

[0052] 4. Quality inspection results: Macroscopic appearance: The opening is neat and free of defects such as burrs and flash.

[0053] Surface quality: The roughness Ra value of the inner wall of the pre-drilled hole is 5.8 μm.

[0054] Internal defects: Sectioning and microscopic observation revealed no folds or tears on the inner wall of the hole.

[0055] Metallic Flow Lines: Metallographic analysis shows that the metal fiber flow lines are distributed in a continuous and dense ring around the pre-made holes.

[0056] Dimensional accuracy: The measured aperture is 40.05 mm ~ 40.12 mm, and the overall taper is <0.03 mm.

[0057] Example 2: Warm punching of TC11 titanium alloy billet for aerospace applications 1. Object and Target: The material is TC11 titanium alloy, and the blank size is Φ65 mm × 500 mm. The target is to pre-fabricate a Φ22 mm through hole for subsequent precision internal hole forming.

[0058] 2. Key process parameters: Raw material: At a preheating temperature of 420℃, its rheological stress is significantly reduced, and the equivalent yield strength σs at this temperature is approximately 720 MPa.

[0059] Reverse stretching coordinated control parameters: The initial tensile stress proportionality coefficient k1 is taken as 0.07, so the initial axial tensile stress σ1 = 0.07 × 720 ≈ 50.4MPa.

[0060] The initial reverse tensile force F_pull0 = σ1× (π×65² / 4) ≈ 167 kN was calculated.

[0061] The collaborative control adopts a five-segment curve model to adapt to the narrow machining window of titanium alloys: Stage I (L=0~50mm): Maintain σ1= 50.4 MPa.

[0062] Stage II (L=50~200mm): σ linearly increases to 1.3σ1≈ 65.5 MPa.

[0063] Stage III (L=200~300mm): σ remains at 65.5 MPa.

[0064] Stage IV (L=300~450mm): σ linearly increases to 1.5σ1≈ 75.6 MPa (maximum tensile stress).

[0065] Stage V (L≥450mm): σ linearly reverts to 1.1σ1≈ 55.4 MPa.

[0066] Punch parameters: The target pre-drilled hole diameter is d = 22 mm.

[0067] The punch head is spherical and conical with a radius of R = 7 mm, satisfying R / d ≈ 0.32.

[0068] The punch has a 1° positive taper on its side.

[0069] The punch is made of powder metallurgy high-speed steel and coated with a titanium aluminum nitrogen (TiAlN) coating to resist titanium alloy adhesion.

[0070] Auxiliary process parameters: Warm stamping process: The billet is preheated uniformly to 420±10℃ in a sealed resistance furnace (far below its recrystallization temperature).

[0071] Stamping speed: A lower 1.5 mm / s is used to match the lower strain rate sensitivity of titanium alloys.

[0072] Lubrication: Borosilicate glass powder is used as a high-temperature lubricant and is applied to the B end face of the blank and the surface of the punch before punching.

[0073] 3. Implementation process: The preheated billet is quickly transferred and clamped (fixed at end A, connected to the stretching mechanism at end B). An initial reverse stretching force of 167 kN is rapidly applied and punching is initiated. Based on a five-segment model, the control system smoothly adjusts the stretching force as the punch travels to different intervals. The combination of low-speed punching and dynamic stretching force ensures a stable process without "sticking" or abnormal noises.

[0074] 4. Quality inspection results: Macroscopic morphology: The orifice is round and smooth, without the typical adhesive burrs of titanium alloys.

[0075] Surface quality: The roughness Ra of the pre-formed hole inner wall is 7.2 μm. For difficult-to-deform titanium alloys, this result is significantly better than conventional warm stamping (typically Ra>12.5 μm).

[0076] Internal defects: Sectioning and metallographic examination confirmed that there were no microcracks, no α-phase enrichment layer (usually caused by overheating), and no folding defects caused by poor flow on the inner wall of the hole.

[0077] Metal flow lines: Microstructure shows that the primary α phase and the transformed β phase are distributed in a directional flow along the periphery of the pores, proving that the material is coordinated axially stretched rather than forcibly sheared.

[0078] Dimensional accuracy: The measured hole diameter is 22.08 mm ~ 22.15 mm, meeting the preset tolerance requirements. The straightness of the hole is good.

[0079] 5. Process Comparison and Results: This embodiment employs a combined strategy of "overall preheating + low-speed stamping + multi-stage gentle stretching" specifically to address the processing challenges of TC11 titanium alloy, including poor thermal conductivity, high deformation resistance, and a tendency to stick to the cutting tool. Compared to the steel process in Embodiment 1, the main adjustments are: The control curve is smoother: the five-segment curve avoids sudden stress changes and adapts to the characteristics of titanium alloys that are sensitive to deformation conditions.

[0080] Different temperature fields: Overall preheating is used instead of local heating to ensure uniform plasticity of the material.

[0081] Special speed and lubrication: Lower speeds and specialized glass lubricants are key aids in overcoming the challenges of machining titanium alloys.

[0082] The results demonstrate that the method of this application can successfully apply the principle of "reverse stretching synergistic control" to the extremely challenging titanium alloy, and obtain high-quality pre-formed holes that can be used for the manufacture of aerospace-grade components.

[0083] Comparative Example To objectively verify the effectiveness of this invention, a rigorous comparative example is established: Comparative Example A (Conventional Punching): Same conditions as Example 1, but reverse stretching function was turned off. Results: The punching process was subject to severe vibration, the inner wall roughness Ra>30 μm, two macroscopic folding defects were found during sectioning, the flow lines were disordered, and the punch was severely worn (0.1 mm on one side).

[0084] Comparative Example B (constant tensile force punching): A constant reverse tensile force of 655 kN was applied (same initial value as in Example 1). Results: The mass was between that of Example 1 and Comparative Example A, Ra≈12.5 μm, with no macroscopic folds, but the roundness of the hole exit was out of tolerance (ellipticity 0.15 mm). This demonstrates the necessity of dynamic adjustment.

[0085] Comparative Example C (Drilling): Deep hole drilling was used. Results: The surface finish was optimal (Ra=3.2 μm), but a 0.15 mm thick work-hardened layer existed on the hole wall, completely cutting off the streamlines. Subsequent fatigue tests showed that the part life was approximately 40% lower than that of the part using the pre-drilled hole of this application.

[0086] The technical performance data analysis is shown in Table 1 (Comprehensive Performance Comparison (EA4T Steel, Φ40×800mm Hole)).

[0087] Table 1

[0088] like Figure 1 As shown, a prefabrication control system for punching shaft blanks based on reverse stretching collaborative control according to certain embodiments of this application includes a stretching execution module 20, a stamping execution module 30, and a collaborative control module 10. The collaborative control module 10 is signal-connected to the stretching execution module 20 and the stamping execution module 30, respectively. The stretching execution module 20 is used to apply an axial reverse tensile force F to the B end of the solid shaft blank when the A end of the solid shaft blank is rigidly fixed, so that the cross section of the shaft blank generates an initial axial tensile stress σ1. The stamping execution module: The collaborative control module: The stamping execution module 30: is used to drive the punch from end B to end A of the shaft blank to perform punching operation while maintaining the axial reverse tensile force F; The collaborative control module 10 is used to dynamically adjust the magnitude of the axial reverse tensile force F according to the real-time displacement L of the punch and / or the real-time punching load P during the punching process; it is also used to maintain pressure after punching penetration, and then sequentially remove the punching force and axial reverse tensile force of the punch to obtain a pre-made hole.

[0089] In some specific embodiments of this application, the collaborative control module 10 further includes a monitoring submodule, which is used to acquire the punch displacement L and the punching load P signal in real time and feed the signal back to the collaborative control module.

[0090] In certain specific embodiments of this application, the stretching execution module 20 is further configured to receive instructions from the collaborative control module 10 and dynamically adjust the magnitude of the axial reverse stretching force F at the B end of the shaft blank.

[0091] In certain specific embodiments of this application, the control system further includes: a rigid fixing workstation: used to forcefully clamp end A of the billet and resist all process reaction forces.

[0092] In certain embodiments of this application, the tensile execution module 20 is also signal-connected to a reverse tensile force field application workstation: located at end B of the billet, it includes a high-response servo drive unit (such as a servo electric cylinder), a high-precision force sensor, and a dedicated billet chuck. It is responsible for accurately generating and measuring the axial tensile force.

[0093] In certain embodiments of this application, the stamping execution module 30 is also signal-connected to a stamping execution workstation, which provides the stamping force of the punch, for example, a high-performance hydraulic press or a mechanical press. The slider connected to the punch integrates a high-precision displacement encoder and a pressure sensor.

[0094] In certain embodiments of this application, the hardware of the collaborative control module 10 includes an industrial computer (IPC) or a multi-axis motion controller and a data acquisition card. The software integrates signal processing, collaborative control algorithms, and a human-machine interface. It receives sensor signals from the two execution module workstations, runs the collaborative control model, calculates in real time, and sends control commands to the stamping workstation and the reverse stretching workstation respectively, achieving precise synchronization and dynamic coupling of the two processes.

[0095] Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

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