High-precision stamping method and system for angle steel tower component

Abstract

The embodiment of the application provides a high-precision stamping method and system for an angle steel tower component. The method is executed for each hole position on the angle steel: after the hole position is moved to a processing position, a feeding transmission mechanism is used to apply disturbance to the angle steel in the feeding direction in positive and negative alternation, the actual position of the angle steel is adjusted according to the moment asymmetry degree, and the stamping stroke is started after the angle steel is in a stress-free state; in the stamping stroke, the material mechanics parameters of the hole position are determined by the stamping force signal and the penetration depth signal of the contact head, and the execution parameters of the stamping execution mechanism are adjusted in real time according to the material mechanics parameters; the transmission stiffness reference value is updated according to the material mechanics parameters. The stress-free positioning of the feeding end, the real-time adjustment of the execution parameters of the stamping end and the mutual calibration of the transmission stiffness across stages are unified into a closed-loop control process, and the stamping precision of each hole position on the angle steel and the consistency between multiple hole positions are improved without adding additional hardware.

Description

Technical Field

[0001] This application relates to the field of processing control technology, and in particular to a high-precision stamping method and system for angle iron tower components. Background Technology

[0002] Angle steel is the main load-bearing component in steel structure towers. During the tower manufacturing process, multiple holes for assembly need to be pre-punched at different positions along the length of the angle steel. These holes are used to connect multiple angle steels, as well as connecting plates, node plates, and other components, to each other during on-site assembly of the tower, ultimately forming a complete tower body, tower legs, or crossarm structure.

[0003] Since a single angle steel bar often has multiple holes, and different angle steel bars need to be assembled with each other using shared bolts, the actual positional accuracy of each hole is transmitted and accumulated along the assembly chain, ultimately affecting the overall verticality of the tower, the fit of the joints, and the uniformity of the load-bearing capacity. Therefore, improving the stamping accuracy of each hole on the angle steel bar is of great significance for ensuring the mechanical properties of the tower components. Summary of the Invention

[0004] To overcome the aforementioned problems in the prior art, this disclosure provides a high-precision stamping method and system for angle iron tower components. Specifically, this application achieves this through the following technical solution: According to a first aspect of the embodiments of this specification, a high-precision stamping method for angle steel tower components is provided. The angle steel has a plurality of holes to be processed along its length. The method is applied to a stamping processing equipment, which includes a feeding transmission mechanism and a stamping execution mechanism. The feeding transmission mechanism drives the angle steel to move along the feeding direction so that each hole sequentially reaches the processing position of the stamping execution mechanism. The stamping execution mechanism is used to stamp the holes at the processing positions. The method includes sequentially performing the following steps for each hole of the angle steel: After the hole of the angle steel is moved to the processing position, the angle steel is disturbed by the feeding transmission mechanism. The disturbance is an alternating swing in both the positive and negative directions along the feeding direction. The amplitude of the disturbance is within the elastic deformation range of the angle steel. During the disturbance process, the actual position of the angle steel is adjusted according to the preset transmission stiffness reference value and the real-time acquired torque asymmetry, until the torque asymmetry is less than a preset threshold, and the stamping stroke is started; wherein, the torque asymmetry is determined by the real-time acquired torque feedback signals in the positive and negative directions, and the preset threshold represents the upper limit of the torque asymmetry allowed when the angle steel is in a state without additional stress; During the stamping stroke, the execution parameters of the stamping actuator are adjusted in real time using the material mechanical parameters of the hole; wherein, the material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator. The real-time transmission stiffness is determined based on the material mechanical parameters, and the transmission stiffness reference value is updated using the real-time transmission stiffness; wherein, the real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop composed of the feeding transmission mechanism, the angle steel and the stamping actuator connected in series.

[0005] According to a second aspect of the embodiments of this specification, a high-precision stamping system for angle steel tower components is provided. The angle steel has multiple holes to be processed along its length. The system includes a control device and a stamping processing device. The stamping processing device includes a feeding transmission mechanism and a stamping execution mechanism. The feeding transmission mechanism drives the angle steel to move along the feeding direction so that each hole sequentially reaches the processing position of the stamping execution mechanism. The stamping execution mechanism is used to stamp the holes at the processing positions. The control device includes: The disturbance application module is used to move the hole position of the angle steel to the processing position and then apply a disturbance to the angle steel through the feeding transmission mechanism. The disturbance is an alternating swing in both positive and negative directions along the feeding direction, and the amplitude of the disturbance is within the elastic deformation range of the angle steel. The positioning adjustment module is used to adjust the actual position of the angle steel during the disturbance process according to the preset transmission stiffness reference value and the real-time acquired torque asymmetry, until the torque asymmetry is less than a preset threshold, and then start the stamping stroke; wherein, the torque asymmetry is determined by the real-time acquired torque feedback signals in the positive and negative directions, and the preset threshold represents the upper limit of the torque asymmetry allowed when the angle steel is in a state without additional stress; A stamping adjustment module is used to adjust the execution parameters of the stamping actuator in real time during the stamping stroke using the material mechanical parameters of the hole; wherein the material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator. The stiffness update module is used to determine the real-time transmission stiffness based on the material mechanical parameters, and to update the transmission stiffness reference value using the real-time transmission stiffness; wherein, the real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop composed of the feeding transmission mechanism, the angle steel and the stamping actuator connected in series.

[0006] The high-precision stamping method for angle steel tower components provided in this application embodiment executes a complete closed-loop control process of "applying disturbance - positioning adjustment - stamping adjustment - stiffness update" for each hole of the angle steel: In the feeding stage, the angle steel is disturbed and its actual position is adjusted based on the degree of torque asymmetry, ensuring that each stamping stroke is initiated under the premise that the angle steel is in a state without additional stress. In the stamping stage, the material mechanical parameters of the hole are determined online by the real-time collected stamping force signal and the indentation depth signal, and the execution parameters are adjusted in real time accordingly, so that the stamping stroke can adapt to the fluctuation of the mechanical properties of the angle steel along its length. After each hole is processed, the real-time transmission stiffness is determined using the material mechanical parameters determined this time, and the transmission stiffness reference value is updated, so that the transmission stiffness reference value used in the next hole positioning stage is always consistent with the actual state of the current mechanical transmission loop.

[0007] Therefore, the embodiments of this application can include both the positioning deviation of the feeding end and the forming deviation of the stamping end into the closed-loop control range, improve the stamping accuracy of each hole on the angle steel and the consistency between multiple holes, thereby improving the interchangeability between tower components and the accuracy level of the whole tower after assembly. Attached Figure Description

[0008] Figure 1 This is a schematic flowchart illustrating a high-precision stamping method for angle iron tower components, as exemplified in the embodiments of this specification.

[0009] Figure 2 This is a schematic diagram illustrating the data interaction of a stamping method as exemplarily shown in an embodiment of this specification.

[0010] Figure 3 This is a schematic diagram of a high-precision stamping system for angle iron tower components, exemplified by an embodiment of this specification. Detailed Implementation

[0011] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0012] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0013] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0014] Angle steel is the main load-bearing component in steel structure towers. During the tower manufacturing process, multiple holes for assembly need to be pre-punched at different positions along the length of the angle steel. These holes are used to connect multiple angle steels, as well as connecting plates, node plates, and other components, to each other during on-site assembly of the tower, ultimately forming a complete tower body, tower legs, or crossarm structure.

[0015] Since a single angle steel bar often has multiple holes, and different angle steel bars need to be assembled with each other using shared bolts, the actual positional accuracy of each hole is transmitted and accumulated along the assembly chain, ultimately affecting the overall verticality of the tower, the fit of the joints, and the uniformity of the load-bearing capacity. Therefore, improving the stamping accuracy of each hole on the angle steel bar is of great significance for ensuring the mechanical properties of the tower components.

[0016] The machining of holes in angle steel can be accomplished using stamping equipment, which includes a feeding drive mechanism and a stamping execution mechanism. The feeding drive mechanism drives the angle steel to move along the feeding direction, ensuring each hole sequentially reaches the machining position of the stamping execution mechanism. This mechanism can consist of a servo motor, reducer, transmission chain or roller assembly, and guide blocks, and is equipped with a servo driver that outputs torque feedback signals while driving the angle steel. The stamping execution mechanism performs stamping on the holes at the machining positions. It includes a punch and an execution unit that drives the punch along the stamping direction. The end of the punch is equipped with a contact, which integrates a force sensor (e.g., a piezoelectric force sensor) for detecting the stamping force. The stamping execution mechanism also includes a displacement sensor for detecting the punch displacement. The stamping equipment also includes a controller that is communicatively connected to both the feeding drive mechanism and the stamping execution mechanism, used to issue feeding and stamping commands and receive various feedback signals.

[0017] Currently, the following methods are commonly used in related technologies to control the punching of holes in angle steel: In the feeding process, the controller controls the feeding transmission mechanism to move the angle steel into place according to the preset hole position coordinates, and uses the position feedback of the servo axis as the criterion for whether the feeding is in place. During the stamping process, the controller controls the punch to complete the stamping action according to the preset fixed stroke parameters (such as fixed bottom dead center position and fixed holding time), and pre-corrects the hole position coordinates based on the springback compensation coefficient obtained from offline calibration.

[0018] However, the above control methods generally suffer from the following technical defects: On the one hand, angle steel itself has geometric defects such as non-straightness and burrs. In addition, the physical constraints of the guide block mean that the position of "in place" fed back by the servo axis may not be the true positioning reference when the angle steel is placed freely, but rather the position of forced deformation with additional stress, which causes positioning error in the feeding process. On the other hand, since the yield strength of materials varies between different batches and different sections of the same angle steel, the actual springback generated by the stamping action completed with fixed stroke parameters will drift along the length of the angle steel, making it difficult for the correction method that relies on fixed compensation coefficients to adapt to this material fluctuation of hole position and material piece by piece.

[0019] The two types of errors mentioned above are superimposed on each other during the continuous processing of multiple holes and are amplified along the assembly chain to the entire tower body, making it difficult to reliably guarantee the hole position accuracy and interchangeability of the tower components.

[0020] Therefore, there is an urgent need for an intelligent control method that can identify the true rebound characteristics of each sheet of board online and automatically provide accurate compensation without increasing additional hardware costs.

[0021] In view of this, embodiments of this application provide a high-precision stamping method and system for angle iron tower components, aiming to solve the aforementioned technical problems. The specific implementation methods of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0022] Figure 1 This is a schematic flowchart illustrating a high-precision stamping method for angle steel tower components, as exemplified in an embodiment of this specification. The method is applied to the aforementioned stamping equipment and can be executed by a controller configured on the stamping equipment. The controller is communicatively connected to both the feeding transmission mechanism and the stamping actuator. It acquires torque feedback signals through a servo driver configured on the feeding transmission mechanism and acquires stamping force signals and indentation depth signals through force sensors and displacement sensors configured on the contacts of the stamping actuator. Figure 1 This is a schematic flowchart illustrating a high-precision stamping method for angle iron tower components, as exemplified in the embodiments of this specification. Figure 2 This is a schematic diagram illustrating the data interaction of a stamping method as exemplarily shown in an embodiment of this specification. (Reference) Figure 1 and Figure 2 The method involves sequentially performing the following steps for each hole on the angle steel: S101: After moving the hole of the angle steel to the processing position, a disturbance is applied to the angle steel through the feeding transmission mechanism. The disturbance is an alternating oscillation in both the positive and negative directions along the feeding direction, and the amplitude of the disturbance is within the elastic deformation range of the angle steel.

[0023] The controller first drives the angle steel along the feeding direction according to the preset target coordinates of the hole position through the feeding transmission mechanism, so that the hole position reaches the processing position. In the conventional control method, the feeding transmission mechanism stops its operation after the angle steel moves to the target coordinates and enters the stamping stroke; however, in this embodiment, the feeding transmission mechanism does not stop immediately after completing the feeding action according to the target coordinates, but continues to apply disturbance to the angle steel at that position. The disturbance alternates between the positive and negative directions of the feeding direction, that is, the feeding transmission mechanism drives the angle steel to move a small displacement in the positive feeding direction, and then switches to drive the angle steel to move a small displacement in the negative feeding direction, and so on.

[0024] The amplitude of the disturbance is limited to the elastic deformation range of the angle steel. That is, under this amplitude of disturbance, the angle steel only undergoes elastic deformation and can return to its pre-disturbance state after the disturbance is removed, without plastic deformation. Without damaging the angle steel or changing its actual positioning, this disturbance can stimulate microscopic interactions between the angle steel, the feeding transmission mechanism, and surrounding guiding components in the feeding direction. This creates conditions for subsequent determination of whether the angle steel is in a state without additional stress based on the torque feedback signal.

[0025] S102: During the disturbance process, the actual position of the angle steel is adjusted according to the preset transmission stiffness reference value and the real-time torque asymmetry, until the torque asymmetry is less than the preset threshold, and the stamping stroke is started.

[0026] During the process of the feeding transmission mechanism applying disturbance to the angle steel, the controller acquires torque feedback signals in both positive and negative directions in real time through the servo driver of the feeding transmission mechanism. These torque feedback signals characterize the magnitude of the torque required by the feeding transmission mechanism to drive the angle steel during the disturbance, and indirectly reflect the reaction force from external constraints that the angle steel experiences along the feeding direction at its current position. When the angle steel is not subjected to any additional constraint force along the feeding direction at its current position, the required torque output in both positive and negative directions of the disturbance is symmetrical; conversely, when the angle steel is still subjected to an additional constraint force along the feeding direction at its current position, there is a difference in the required torque output in both positive and negative directions of the disturbance.

[0027] The controller determines the degree of torque asymmetry based on the real-time collected torque feedback signals in both the positive and negative directions. This torque asymmetry characterizes the degree of unbalanced force experienced by the angle steel along the feeding direction at its current position. The preset threshold represents the upper limit of the allowable torque asymmetry when the angle steel is in a state without additional stress. The preset threshold can be pre-calibrated based on the accuracy requirements of the stamping equipment and the torque feedback resolution of the servo driver.

[0028] The controller compares the real-time acquired torque asymmetry with the preset threshold. If the torque asymmetry is greater than or equal to the preset threshold, it indicates that there is still additional stress along the feeding direction at the current actual position of the angle steel. At this time, the controller determines the adjustment amount and direction of the actual position of the angle steel based on the transmission stiffness reference value and the torque asymmetry, and controls the feeding transmission mechanism to adjust the actual position of the angle steel according to the adjustment amount along the corresponding direction. After the adjustment is completed, a disturbance is applied again and the torque asymmetry is acquired again. The above comparison and adjustment process is repeated until the torque asymmetry is less than the preset threshold. The transmission stiffness reference value represents the correspondence between the force applied to the angle steel and the change in the actual position of the angle steel, and is used to convert the torque asymmetry into the adjustment amount required for the actual position of the angle steel.

[0029] When the torque asymmetry is less than the preset threshold, it is determined that the actual position of the angle steel is in a state without additional stress. Based on this, the controller starts the stamping stroke and controls the stamping actuator to stamp the hole. Through this step, each stamping stroke can be started under the premise that the additional stress at the feeding end of the angle steel is relieved, avoiding the positioning deviation at the feeding end from being carried into the stamping stroke.

[0030] S103: During the stamping stroke, the execution parameters of the stamping actuator are adjusted in real time using the material mechanical parameters of the hole. These material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator.

[0031] After the stamping stroke begins, the contact of the stamping actuator moves towards the angle steel along the stamping direction and contacts the angle steel to stamp the hole. During this stamping stroke, the controller collects the stamping force signal in real time through the force sensor configured on the contact, and collects the indentation depth signal in real time through the displacement sensor configured on the stamping actuator. The stamping force signal represents the stamping force applied by the contact to the angle steel during the stamping stroke, and the indentation depth signal represents the depth by which the contact is pressed into the surface of the angle steel along the stamping direction.

[0032] The controller determines the material mechanical parameters of the hole in real time based on the correspondence between the punching force signal and the pressing depth signal. These material mechanical parameters characterize the mechanical properties of the angle steel at that hole. Since the material mechanical properties may fluctuate between different batches of angle steel, and between different holes along the length of the same angle steel, the material mechanical parameters determined in real time during the punching stroke using the punching force signal and the pressing depth signal can reflect the true mechanical properties of the angle steel at that hole, without relying on offline measurements or fixed calibration values.

[0033] The controller further utilizes the material mechanical parameters to adjust the execution parameters of the stamping actuator in real time. These execution parameters are controllable parameters of the stamping actuator during the current stamping stroke. The values ​​of these parameters directly affect the amount of plastic deformation applied to the hole during this stamping stroke and the actual forming size of the hole after stamping. The real-time adjustment of the execution parameters in this step is completed before the end of the current stamping stroke. That is, after determining the material mechanical parameters, the controller modifies the execution parameters according to the material mechanical parameters during the remaining time of the current stamping stroke, so that the current stamping stroke can adapt to the actual mechanical properties of the angle steel at the hole, thereby improving the stamping accuracy of the hole and the consistency between multiple holes.

[0034] S104: Determine the real-time transmission stiffness based on the material mechanical parameters, and update the transmission stiffness reference value using the real-time transmission stiffness. The real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop formed by the feeding transmission mechanism, the angle steel, and the stamping actuator connected in series.

[0035] After completing the current stamping stroke, the controller further determines the real-time transmission stiffness corresponding to the current stamping moment based on the material mechanical parameters determined in step S103. This real-time transmission stiffness does not refer solely to the mechanical stiffness of the angle steel itself, nor solely to the individual mechanical stiffness of the feeding transmission mechanism or the stamping actuator, but rather to the equivalent stiffness of the entire system formed by the feeding transmission mechanism, the angle steel, and the stamping actuator connected in series along the mechanical transmission path at that moment. In this series mechanical transmission loop, the transmission chain stiffness of the feeding transmission mechanism, the elastic stiffness of the angle steel itself, and the contact stiffness between the stamping actuator and the angle steel jointly determine the equivalent stiffness of the mechanical transmission loop.

[0036] After determining the real-time transmission stiffness, the controller updates the transmission stiffness reference value used in step S102 using the real-time transmission stiffness. This update can be either directly replacing the transmission stiffness reference value with the currently determined real-time transmission stiffness, or adjusting the transmission stiffness reference value using the real-time transmission stiffness according to a preset update strategy (e.g., weighted fusion). The updated transmission stiffness reference value will be used as the transmission stiffness reference value when executing step S102 for the next hole, participating in the determination of the torque asymmetry degree of the next hole and the adjustment of the actual position of the angle steel. Since the equivalent stiffness of the mechanical transmission loop formed by the feeding transmission mechanism, the angle steel, and the stamping actuator connected in series changes with the working state of the equipment and the mechanical properties of the angle steel, dynamically updating the transmission stiffness reference value hole by hole in the manner described in this step ensures that the transmission stiffness reference value always matches the actual state of the current mechanical transmission loop.

[0037] Through the above steps S101 to S104, the high-precision stamping method for angle steel tower components provided in this application embodiment executes a complete closed-loop control process of "applying disturbance - positioning adjustment - stamping adjustment - stiffness update" for each hole of the angle steel: In the feeding stage, the angle steel is disturbed and its actual position is adjusted based on the degree of torque asymmetry, ensuring that each stamping stroke is initiated under the premise that the angle steel is in a state without additional stress. In the stamping stage, the material mechanical parameters of the hole are determined online by the real-time collected stamping force signal and the indentation depth signal, and the execution parameters are adjusted in real time accordingly, so that the stamping stroke can adapt to the fluctuation of the mechanical properties of the angle steel along its length. After each hole is processed, the real-time transmission stiffness is determined using the material mechanical parameters determined this time, and the transmission stiffness reference value is updated, so that the transmission stiffness reference value used in the next hole positioning stage is always consistent with the actual state of the current mechanical transmission loop.

[0038] Therefore, the method provided in this application embodiment can include the positioning deviation of the feeding end and the forming deviation of the stamping end into the closed-loop control range without adding additional hardware, thereby improving the stamping accuracy of each hole on the angle steel and the consistency between multiple holes, thereby improving the interchangeability between tower components and the accuracy level of the whole tower after assembly.

[0039] In one embodiment, the degree of torque asymmetry is determined by: acquiring the torque feedback signal at a preset sampling frequency to obtain a torque feedback signal sequence consisting of multiple data points; obtaining the average torque value of all data points in the torque feedback signal sequence; and using the average torque value to determine the degree of torque asymmetry.

[0040] Specifically, this embodiment provides a concrete implementation method for determining the degree of torque asymmetry in the aforementioned step S102. The controller collects the torque feedback signal at a preset sampling frequency, which is higher than the frequency of the disturbance, so that a sufficient number of data points can be collected within at least one complete cycle of the disturbance. The corresponding data points are arranged in chronological order of their collection time to form the torque feedback signal sequence. The torque feedback signal sequence simultaneously includes the torque values ​​of the feeding transmission mechanism in both the positive and negative feeding directions.

[0041] The controller sums the torque values ​​of all data points in the torque feedback signal sequence and divides the sum by the total number of data points to obtain the average torque value. When the torque output by the feeding transmission mechanism in both the forward and reverse feeding directions is symmetrical, the two torques cancel each other out in the sequence, and the average torque value approaches zero; conversely, the average torque value deviates from zero, and the degree of deviation from zero reflects the degree of asymmetry in the torque output in both directions. The controller uses the average torque value to determine the degree of torque asymmetry; for example, the absolute value of the average torque value can be directly used as the degree of torque asymmetry.

[0042] In this embodiment, the degree of torque asymmetry is obtained from the overall statistical results of the torque feedback signal sequence over several complete disturbance cycles. Random interferences such as mechanical vibration, servo fluctuation, and electrical noise cancel each other out during the averaging process, making the degree of torque asymmetry less affected by instantaneous interference, thus providing a reliable basis for determining the actual position of the angle steel in the aforementioned step S102.

[0043] In one embodiment, adjusting the actual position of the angle steel includes: determining the interference direction based on the sign of the average torque value, wherein the interference direction is the direction in which the angle steel undergoes forced elastic deformation relative to the preset position, wherein when the average torque value is positive, the interference direction is the positive feeding direction; when the average torque value is negative, the interference direction is the negative feeding direction; and adjusting the actual position along a direction opposite to the interference direction.

[0044] The interference direction refers to the direction in which the angle steel's actual position deviates from the preset position in the feeding direction due to factors such as physical constraints from the guiding component, its own geometric defects, or burrs. When the angle steel undergoes forced elastic deformation in the interference direction, the torque required by the feeding transmission mechanism to drive the disturbance along the interference direction differs from the torque required to drive the disturbance in the opposite direction. This difference is reflected as a non-zero value in the average torque, and its sign has a definite correspondence with the interference direction.

[0045] The controller determines the interference direction based on the sign of the average torque value. This means that when the average torque value is positive, it indicates that the torque required by the feeding transmission mechanism in the positive feeding direction is greater than the torque required in the negative feeding direction, and the interference direction is determined to be the positive feeding direction. When the average torque value is negative, it indicates that the torque required by the feeding transmission mechanism in the negative feeding direction is greater than the torque required in the positive feeding direction, and the interference direction is determined to be the negative feeding direction.

[0046] After determining the interference direction, the controller controls the feeding transmission mechanism to adjust the actual position of the angle steel in a direction opposite to the interference direction. The selection of the adjustment direction is based on the following principle: the interference direction is the direction in which the angle steel is forced to undergo elastic deformation. Adjusting the actual position in a direction opposite to the interference direction allows the angle steel to recover from the forced deformation state to a free state, thereby gradually eliminating the additional constraint force borne by the angle steel along the feeding direction at its current position.

[0047] In this embodiment, the controller can select between the positive and negative feeding directions based on the average torque value, providing a clear basis for the adjustment direction of the actual position of the angle steel and avoiding further aggravation of the forced elastic deformation of the angle steel due to incorrect direction selection during the adjustment process. Furthermore, a sign feedback relationship is formed between the adjustment of the actual position and the average torque value. After each adjustment, the absolute value of the average torque value converges in the direction of decreasing. This, combined with the cyclic judgment condition of "until the degree of torque asymmetry is less than a preset threshold" in the aforementioned step S102, enables the angle steel to gradually converge to a state without additional stress.

[0048] In one embodiment, the material mechanical parameter represents the product of the equivalent elastic modulus of the hole and the thickness of the angle steel. The method for determining the material mechanical parameter includes: performing linear fitting on the punching force signal and the indentation depth signal collected within a linear time period to obtain the slope of the punching force signal relative to the indentation depth signal, and using the slope as the material mechanical parameter; wherein, the linear time period is the time period from the moment the contactor contacts the angle steel until the moment when the correspondence between the punching force signal and the indentation depth signal deviates from the linear relationship.

[0049] Specifically, this embodiment provides a concrete implementation method for determining the material mechanical parameters in the aforementioned step S103. After the stamping stroke begins, the contact moves along the stamping direction and contacts the angle steel. Under the action of the contact, the angle steel first undergoes elastic deformation. As the pressing depth increases, the angle steel gradually enters the plastic deformation stage. In the elastic deformation stage, the stamping force signal and the pressing depth signal have an approximately linear correspondence. After entering the plastic deformation stage, the angle steel's resistance to deformation decreases, the rate of increase of the stamping force signal with the pressing depth signal slows down, and the correspondence between the two deviates from linearity.

[0050] The controller determines the start point of the linear time period from the moment the contactor contacts the angle steel, and monitors the correspondence between the punching force signal and the indentation depth signal in real time. When it is determined that the correspondence deviates from the linear relationship, that moment is taken as the end point of the linear time period. The linear time period physically corresponds to the entire process of elastic deformation of the angle steel at that hole position.

[0051] The controller performs linear fitting on the punching force signal and the indentation depth signal collected within the linear time period. For example, it uses the least squares method to fit a straight line to the data points within the linear time period to obtain the slope of the punching force signal relative to the indentation depth signal. This slope characterizes the change in punching force corresponding to a unit change in indentation depth during the elastic deformation stage. Its physical nature is related to both the equivalent elastic modulus of the angle steel at the hole location and the thickness of the angle steel. At the level of elasticity, the slope is approximately equal to the product of the equivalent elastic modulus at the hole location and the thickness of the angle steel. Therefore, the controller uses the slope as the material mechanical parameter. This material mechanical parameter is determined solely by the measured punching force signal and indentation depth signal within the linear time period, without relying on offline measurements or pre-calibrated values, and can reflect the true mechanical properties of the angle steel at the hole location.

[0052] Through this embodiment, the controller can obtain the material mechanical parameters of the hole position online during the elastic deformation stage after the start of each stamping stroke, thereby providing a basis for the real-time adjustment of the execution parameters in the aforementioned step S103.

[0053] In one implementation, the moment of deviation from linearity satisfies the following condition: The absolute value of the difference between the actual value and the predicted value of the punching force signal is greater than a preset deviation threshold, and the predicted value is determined by the result of the linear fitting. The second derivative of the indentation depth signal with respect to time changes from a positive value to a negative value.

[0054] Specifically, this embodiment provides a specific implementation method for determining the time of deviation from the linear relationship, namely, a method for determining the end point of the linear time period.

[0055] The first condition is used to determine whether the correspondence deviates from linearity based on the value of the punching force signal. During the acquisition of the punching force signal and the indentation depth signal, the controller continuously performs linear fitting based on the acquired data and determines the predicted value based on the result of the linear fitting. The predicted value represents the value of the punching force signal corresponding to the current indentation depth signal, assuming the correspondence remains linear. The controller subtracts the predicted value from the actual value of the currently acquired punching force signal and takes the absolute value of the difference. When the actual value deviates significantly from the predicted value, and the absolute value of the difference is greater than the preset deviation threshold, it indicates that the punching force signal no longer continues to increase along the result of the linear fitting, and the correspondence begins to deviate from linearity. The preset deviation threshold can be pre-calibrated based on the measurement accuracy of the punching force signal and the angle steel specifications.

[0056] The second condition is used to determine whether the correspondence deviates from linearity from the kinematic level of the indentation depth signal. During the elastic deformation stage, the contact experiences a relatively small reaction force from the angle steel, and the second derivative of the indentation depth signal with respect to time (i.e., the acceleration of the contact along the stamping direction) remains positive. When the angle steel enters the plastic deformation stage, its resistance to deformation decreases, the contact begins to decelerate, and the second derivative of the indentation depth signal with respect to time changes from positive to negative. The controller calculates the second derivative of the indentation depth signal with respect to time and monitors its sign in real time. When the second derivative changes from positive to negative, it is determined that the indentation depth signal has exhibited the kinematic characteristics corresponding to entering the plastic deformation stage.

[0057] The controller requires both of the above conditions to be met simultaneously before determining that the correspondence has deviated from a linear relationship; if either condition is met alone, no determination is made. These two conditions independently reflect the transition of the angle steel from elastic deformation to plastic deformation from two dimensions: the deviation of the stamping force signal value and the change in the motion trend of the indentation depth signal. This avoids misjudging instantaneous noise, mechanical vibration, or measurement fluctuations on a single signal channel as a deviation from linearity, thereby improving the robustness of the determination of the linear time period endpoint and making the determination results of the material mechanical parameters in the previous embodiment more reliable.

[0058] In one embodiment, the execution parameters include at least one of bottoming position, holding time, and demolding speed curve, wherein the bottoming position is the lowest position that the contact can reach in this stamping stroke, the holding time is the duration for which the contact stays after reaching the bottoming position, and the demolding speed curve is the relationship between the speed of the contact and time during the return process from the bottoming position.

[0059] Specifically, this embodiment provides the specific form of the execution parameters mentioned in step S103 above. The execution parameters are controllable parameters of the stamping actuator during this stamping stroke. The value of the execution parameters directly affects the amount of plastic deformation applied to the hole during this stamping stroke and the actual forming size of the hole after stamping.

[0060] The bottoming position is the lowest position that the contact can reach during this stamping stroke; that is, the contact stops moving downwards after reaching this position along the stamping direction. The bottoming position determines the maximum indentation depth applied to the angle steel during this stamping stroke, and thus determines the total amount of plastic deformation at the hole. The controller adjusts the bottoming position in real time based on the material mechanical parameters: when the material mechanical parameters indicate that the hole has strong elastic recovery capability, the controller can adjust the bottoming position to a lower position, allowing the contact to be pressed in a greater depth to compensate for the dimensional loss after elastic recovery; conversely, the controller can adjust the bottoming position to a higher position.

[0061] The holding time is the duration for which the contact remains stationary after reaching the bottom contact position. During this holding time, the contact remains stationary at the bottom contact position. During this holding time, stress relaxation occurs at the hole location on the angle steel, allowing for more complete plastic deformation and reducing the elastic recovery after stamping. The controller adjusts the holding time in real time based on the material mechanical parameters: when the material mechanical parameters indicate that the stress relaxation characteristics at this hole location require a longer time to fully occur, the controller correspondingly extends the holding time.

[0062] The ejection speed curve represents the change in speed of the contact as it returns from the bottoming position over time; that is, the trajectory of the contact's speed change as it moves in the opposite direction of the stamping direction and disengages from the angle steel. The ejection speed curve affects the unloading process between the contact and the sidewall of the hole. The controller adjusts the ejection speed curve in real time based on the material's mechanical parameters to match the ejection process of the contact with the mechanical properties of the hole.

[0063] The real-time adjustment of the execution parameters can be to adjust any one of the bottoming position, the holding time and the demolding speed curve, or to adjust any two or three of them at the same time. It can be flexibly selected according to the actual control capability and processing accuracy requirements of the stamping equipment.

[0064] In one embodiment, the method further includes: pre-storing historical average values ​​of material mechanical parameters corresponding to the specification of the angle steel; when the material mechanical parameters of multiple consecutive holes are all greater than the historical average values, and the range between the material mechanical parameters of the multiple holes is less than a preset stability threshold, performing the following for the multiple holes: reducing the preset threshold, and / or increasing the number of oscillation cycles of the disturbance.

[0065] The controller pre-stores the historical average values ​​of the material mechanical parameters corresponding to the specification of the angle steel. The historical average values ​​can be obtained statistically from the material mechanical parameters measured in the past processing of the angle steel of this specification, reflecting the normal level of the material mechanical parameters corresponding to the specification of the angle steel under the condition of no additional stress.

[0066] During the angle steel processing, the controller determines the material mechanical parameters for each hole in the manner described in step S103, and compares the material mechanical parameters of multiple consecutive holes with the historical average. When the material mechanical parameters of multiple consecutive holes are all greater than the historical average, it indicates that the material mechanical parameters at the multiple holes are generally too high. Further, the controller calculates the range among the material mechanical parameters of the plurality of holes, where the range is the difference between the maximum and minimum values ​​of the material mechanical parameters of the plurality of holes. When the range is less than the preset stability threshold, it indicates that the deviation among the material mechanical parameters of the plurality of holes is small and the overall high value is stable and persistent. In this case, the controller determines that the angle steel may have a slight additional stress that was not completely eliminated in the aforementioned step S102, and that the slight additional stress causes the material mechanical parameters to exhibit an overall high and stable characteristic after being superimposed with the pre-compression state.

[0067] The controller performs at least one of the following adjustments for the plurality of hole positions: The first adjustment is to reduce the preset threshold, so that the torque asymmetry in step S102 needs to be reduced to a lower level before the stamping stroke can be initiated, thereby improving the sensitivity of determining whether the angle steel is in a state without additional stress; the second adjustment is to increase the number of oscillation cycles of the disturbance, so that the disturbance covers more complete cycles in each positioning process, thereby improving the accuracy of obtaining the torque asymmetry. Either adjustment can be performed, or both can be performed simultaneously.

[0068] In this embodiment, the material mechanical parameters determined in step S103 are used not only for real-time adjustment of the execution parameters, but also as a reverse feedback quantity to participate in the adjustment of the judgment parameters of the disturbance process in step S102, so that the method has a stronger ability to identify the weak additional stress of the angle steel.

[0069] In one embodiment, the execution parameters are adjusted in real time using a pre-built springback compensation model; the method further includes: after the stamping stroke ends, obtaining the actual center coordinates of the hole; updating the pre-built springback compensation model based on the difference between the actual center coordinates and the preset center coordinates, wherein the springback compensation model is used to determine the correction amount of the execution parameters using the material mechanical parameters.

[0070] Specifically, this embodiment provides a specific implementation method for real-time adjustment of the execution parameters in step S103 above, as well as a corresponding feedback update mechanism.

[0071] The springback compensation model is a pre-constructed correspondence that takes the material mechanical parameters as input and the correction amount of the execution parameters as output. The correction amount of the execution parameters is the deviation of the execution parameters from their default values. The springback compensation model can be pre-established using experimental or simulation data. In the aforementioned step S103, after determining the material mechanical parameters, the controller inputs the material mechanical parameters into the springback compensation model to obtain the correction amount of the execution parameters, and corrects the default values ​​of the execution parameters accordingly to obtain the actual values ​​of the execution parameters used in this stamping stroke.

[0072] For example, the rebound compensation model can be implemented using piecewise linear functions, neural network models, etc.

[0073] For the piecewise linear function, the controller pre-stores a piecewise linear function with the material mechanical parameters as independent variables and the correction amount of the execution parameters as dependent variables. The piecewise linear function corresponds to different linear expressions for different ranges of the material mechanical parameters, and each linear expression is determined by the slope and intercept parameters within that range. In step S103, the controller substitutes the material mechanical parameters into the linear expression of the corresponding range of the piecewise linear function to calculate the correction amount of the execution parameters. The rebound compensation model in the form of a piecewise linear function maintains a certain degree of continuity while retaining a low computational load. The update process corresponds to adjusting the values ​​of the slope and / or the intercept of the corresponding range based on the difference.

[0074] For the neural network model, a neural network model can be pre-trained as the rebound compensation model. This neural network model uses the material mechanical parameters as input layer values ​​and the correction amount of the execution parameters as output layer values. The neural network model internally contains several fully connected layers or other hidden layers. The output of each layer is obtained by weighted summation and activation function operation on the output of the previous layer. The specific structure of the neural network model can be a multilayer perceptron or other common regression neural network structure. In step S103, the controller inputs the material mechanical parameters into the neural network model and calculates the correction amount of the execution parameters forward. The rebound compensation model in the form of a neural network model can fit the relatively complex nonlinear correspondence between the material mechanical parameters and the correction amount. The update process corresponds to backpropagating and updating the weight parameters of each layer in the neural network model using the difference as the loss function and following gradient descent or other methods.

[0075] To ensure the springback compensation model can be continuously optimized during the processing, this embodiment further introduces a feedback update mechanism based on the actual hole center coordinates. After the stamping stroke of each hole is completed, the controller obtains the actual hole center coordinates of that hole through the vision measurement device configured in the stamping equipment. The actual hole center coordinates are the center position coordinates of the hole actually formed after stamping. The controller calculates the difference between the actual hole center coordinates and the preset hole center coordinates, which are the center position coordinates of the hole preset on the angle steel for that hole. The difference reflects the actual forming accuracy of this stamping stroke.

[0076] When the difference continues to deviate in a certain direction, it indicates that there is a deviation between the correction amount currently output by the springback compensation model and the actual correction amount required for the hole. Based on this, the controller adjusts the relevant parameters in the springback compensation model so that the springback compensation model outputs a correction amount that is closer to the actual requirement in the subsequent hole processing.

[0077] In this embodiment, the real-time adjustment of the execution parameters in step S103 is based on the springback compensation model, giving the adjustment of the execution parameters a clear basis. The difference between the actual hole center coordinates and the preset hole center coordinates serves as feedback to continuously update the springback compensation model, so that the springback compensation model converges in a more accurate direction after each hole is processed, thereby making the real-time adjustment result of the execution parameters continuously approach the actual value required for the hole as the processing progresses.

[0078] Figure 3This is a schematic diagram illustrating the structure of a high-precision stamping system for angle steel tower components, as exemplified in the embodiments of this specification. The angle steel has multiple holes to be processed along its length. The system includes a control device and a stamping processing equipment. The stamping processing equipment includes a feeding transmission mechanism and a stamping execution mechanism. The feeding transmission mechanism drives the angle steel to move along the feeding direction so that each hole sequentially reaches the processing position of the stamping execution mechanism. The stamping execution mechanism is used to stamp the holes at the processing positions. The control device includes: The disturbance application module is used to move the hole position of the angle steel to the processing position and then apply a disturbance to the angle steel through the feeding transmission mechanism. The disturbance is an alternating swing in both positive and negative directions along the feeding direction, and the amplitude of the disturbance is within the elastic deformation range of the angle steel. The positioning adjustment module is used to adjust the actual position of the angle steel during the disturbance process according to the preset transmission stiffness reference value and the real-time acquired torque asymmetry, until the torque asymmetry is less than a preset threshold, and then start the stamping stroke; wherein, the torque asymmetry is determined by the real-time acquired torque feedback signals in the positive and negative directions, and the preset threshold represents the upper limit of the torque asymmetry allowed when the angle steel is in a state without additional stress; A stamping adjustment module is used to adjust the execution parameters of the stamping actuator in real time during the stamping stroke using the material mechanical parameters of the hole; wherein the material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator. The stiffness update module is used to determine the real-time transmission stiffness based on the material mechanical parameters, and to update the transmission stiffness reference value using the real-time transmission stiffness; wherein, the real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop composed of the feeding transmission mechanism, the angle steel and the stamping actuator connected in series.

[0079] This specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method shown in any of the above embodiments.

[0080] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0081] The processing and logic described in this specification can be executed by one or more programmable computers that execute one or more computer programs to perform corresponding functions by operating on input data and generating output.

[0082] Computers suitable for executing computer programs include, for example, general-purpose and / or special-purpose microprocessors, or any other type of central processing unit. Typically, the central processing unit receives instructions and data from read-only memory and / or random access memory. The basic components of a computer include a central processing unit for implementing or executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, or the computer will be operatively coupled to such mass storage devices to receive data from or transfer data to them, or both.

[0083] Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, such as semiconductor memory devices (e.g., EPROM, EEPROM, and flash memory devices), magnetic disks (e.g., internal hard disks or removable disks), magneto-optical disks, and CD-ROM and DVD-ROM disks. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0084] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0085] Similarly, although the operations are depicted in a specific order in the accompanying drawings, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring all illustrated operations to be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Furthermore, the separation of various system modules and components in the above embodiments should not be construed as requiring such separation in all embodiments, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

[0086] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0087] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A high-precision stamping method for angle iron tower components, characterized in that, The angle steel has multiple holes to be processed along its length. The method is applied to a stamping equipment, which includes a feeding transmission mechanism and a stamping execution mechanism. The feeding transmission mechanism drives the angle steel to move along the feeding direction so that each hole sequentially reaches the processing position of the stamping execution mechanism. The stamping execution mechanism is used to stamp the holes at the processing positions. The method includes performing the following steps sequentially for each hole of the angle steel: After the hole of the angle steel is moved to the processing position, the angle steel is disturbed by the feeding transmission mechanism. The disturbance is an alternating swing in both the positive and negative directions along the feeding direction. The amplitude of the disturbance is within the elastic deformation range of the angle steel. During the disturbance process, the actual position of the angle steel is adjusted according to the preset transmission stiffness reference value and the real-time acquired torque asymmetry, until the torque asymmetry is less than a preset threshold, and the stamping stroke is started; wherein, the torque asymmetry is determined by the real-time acquired torque feedback signals in the positive and negative directions, and the preset threshold represents the upper limit of the torque asymmetry allowed when the angle steel is in a state without additional stress; During the stamping stroke, the execution parameters of the stamping actuator are adjusted in real time using the material mechanical parameters of the hole; wherein, the material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator. The real-time transmission stiffness is determined based on the material mechanical parameters, and the transmission stiffness reference value is updated using the real-time transmission stiffness; wherein, the real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop composed of the feeding transmission mechanism, the angle steel and the stamping actuator connected in series.

2. The high-precision stamping method for angle iron tower components according to claim 1, characterized in that, The degree of torque asymmetry is determined by the following: The torque feedback signal is acquired at a preset sampling frequency to obtain a torque feedback signal sequence consisting of multiple data points; The average torque value of all data points in the torque feedback signal sequence is obtained, and the degree of torque asymmetry is determined using the average torque value.

3. The high-precision stamping method for angle iron tower components according to claim 2, characterized in that, Adjusting the actual position of the angle steel includes: The interference direction is determined based on the sign of the average torque value. The interference direction is the direction in which the angle steel undergoes forced elastic deformation relative to the preset position. Specifically, when the average torque value is positive, the interference direction is the positive feeding direction; when the average torque value is negative, the interference direction is the negative feeding direction. The actual position is adjusted in a direction opposite to the direction of interference.

4. The high-precision stamping method for angle iron tower components according to claim 1, characterized in that, The material mechanical parameters represent the product of the equivalent elastic modulus of the hole and the thickness of the angle steel. The methods for determining the material mechanical parameters include: The punching force signal and the indentation depth signal collected within a linear time period are linearly fitted to obtain the slope of the punching force signal relative to the indentation depth signal, and the slope is used as the material mechanical parameter. The linear time period is the time period from the moment the contactor contacts the angle steel until the moment when the correspondence between the punching force signal and the pressing depth signal deviates from the linear relationship.

5. The high-precision stamping method for angle iron tower components according to claim 4, characterized in that, The moment when the linear relationship deviates is subject to the following condition: The absolute value of the difference between the actual value and the predicted value of the punching force signal is greater than a preset deviation threshold, and the predicted value is determined by the result of the linear fitting. The second derivative of the indentation depth signal with respect to time changes from a positive value to a negative value.

6. The high-precision stamping method for angle iron tower components according to claim 1, characterized in that, The execution parameters include at least one of the following: bottoming position, holding time, and demolding speed curve. The bottoming position is the lowest position that the contact can reach during this stamping stroke. The holding time is the duration for which the contact stays after reaching the bottoming position. The demolding speed curve is the relationship between the speed of the contact and time during its return from the bottoming position.

7. The high-precision stamping method for angle iron tower components according to claim 1, characterized in that, The method further includes: Pre-store the historical average values ​​of the material mechanical parameters corresponding to the specifications of the angle steel; If the material mechanical parameters of multiple consecutive holes are all greater than the historical average, and the range between the material mechanical parameters of the multiple holes is less than a preset stability threshold, then the following is performed for the multiple holes: Decrease the preset threshold, and / or increase the number of oscillation cycles of the disturbance.

8. The high-precision stamping method for angle iron tower components according to claim 1, characterized in that, The execution parameters are adjusted in real time using a pre-built rebound compensation model; the method further includes: After the stamping stroke is completed, the actual center coordinates of the hole are obtained. The pre-constructed springback compensation model is updated based on the difference between the actual hole center coordinates and the preset hole center coordinates. The springback compensation model is used to determine the correction amount of the execution parameters using the material mechanical parameters.

9. A high-precision stamping system for angle iron tower components, characterized in that, The angle steel has multiple holes to be processed along its length. The system includes a control device and a stamping equipment. The stamping equipment includes a feeding transmission mechanism and a stamping execution mechanism. The feeding transmission mechanism drives the angle steel to move along the feeding direction so that each hole sequentially reaches the processing position of the stamping execution mechanism. The stamping execution mechanism is used to stamp the holes at the processing positions. The control device includes: The disturbance application module is used to move the hole position of the angle steel to the processing position and then apply a disturbance to the angle steel through the feeding transmission mechanism. The disturbance is an alternating swing in both positive and negative directions along the feeding direction, and the amplitude of the disturbance is within the elastic deformation range of the angle steel. The positioning adjustment module is used to adjust the actual position of the angle steel during the disturbance process according to the preset transmission stiffness reference value and the real-time acquired torque asymmetry, until the torque asymmetry is less than a preset threshold, and then start the stamping stroke; wherein, the torque asymmetry is determined by the real-time acquired torque feedback signals in the positive and negative directions, and the preset threshold represents the upper limit of the torque asymmetry allowed when the angle steel is in a state without additional stress; A stamping adjustment module is used to adjust the execution parameters of the stamping actuator in real time during the stamping stroke using the material mechanical parameters of the hole; wherein the material mechanical parameters are determined by the stamping force signal and the indentation depth signal of the contacts of the stamping actuator. The stiffness update module is used to determine the real-time transmission stiffness based on the material mechanical parameters, and to update the transmission stiffness reference value using the real-time transmission stiffness; wherein, the real-time transmission stiffness is the equivalent stiffness of the mechanical transmission loop composed of the feeding transmission mechanism, the angle steel and the stamping actuator connected in series.

10. A computer-readable storage medium, characterized in that, It stores a computer program thereon, which, when executed by a processor, implements the method described in any one of claims 1 to 8.

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