Hemming path planning method and hemming system

Patent metadata

Field	Value
Publication number	US-2023166315-A1
Application number	US-202117561992-A
Country	US
Kind code	A1
Filing date	Dec 26, 2021
Priority date	Nov 26, 2021
Publication date	Jun 1, 2023
Grant date	—

Abstract

A hemming path planning method and a hemming system are provided. The hemming path planning method includes the following steps. An initial contour data of a target is scanned to obtain. A first segment of the hemming path is planned according to the initial contour data. The first segment corresponds to a first bending angle. A second segment of the hemming path is planned according to the initial contour data and an expected springback amount related to the first bending angle. The second segment corresponds to a second bending angle. The first segment and the second segment are combined to obtain a continuous hemming path.

First claim

What is claimed is:

1 . A hemming path planning method comprising:
scanning to obtain an initial contour data of a target; planning a first segment of the hemming path according to the initial contour data, wherein the first segment corresponds to a first bending angle; planning a second segment of the hemming path according to the initial contour data and an expected springback amount related to the first bending angle, wherein the second segment corresponds to a second bending angle; and combining the first segment and the second segment to obtain a continuous hemming path.

2 . The hemming path planning method according to claim 1 , wherein obtaining the expected springback amount related to the first bending angle comprises finding a corresponding expected springback amount using a shaping direction and a path direction as coordinate axes.

3 . The hemming path planning method according to claim 1 , wherein planning the first segment comprises:
obtaining a processing tangent vector according to the initial contour data and a processing position; obtaining a processing position coordinate, a distribution angle, and a scaling factor according to the processing position and the processing tangent vector; obtaining a weight function according to the scaling factor, the processing position, the distribution angle, and the processing position coordinate; obtaining a processing normal vector according to the initial contour data, the processing position, and the weight function; and planning the first segment according to the processing tangent vector and the processing normal vector.

4 . The hemming path planning method according to claim 3 , wherein the processing tangent vector is {right arrow over (v i )}, p i is a current processing position coordinate, p i−1 is a previous processing position coordinate, and p i+1 is a next processing position coordinate,

v
i

→

=

p

i
-
1

⁢

p
i

→

+

p
i

⁢

p

i
+
1

→

2

.

5 . The hemming path planning method according to claim 4 , wherein the distribution angle is δ,

δ
=

cos

-
1

(

v
i

→

·

x
^



v
i

→



)

.

6 . The hemming path planning method according to claim 5 , wherein the scaling factor comprises s 1 and s 2 ,

s
1

=

u
i

→

·

v
i

→



v
i

→



,

s
2

=



u
i

→

-

u
i

→

·

v
i

→



v
i

→



2

⁢

v
i

→



,

u
i

→

=

p

i
-
1

⁢

p

i
+

Assignees

• Ind Tech Res Inst

Inventors

• Huang Yi-Ping
• Tsai Ya-Hui
• Li Wei-Chen
• Jiang Bor-Tung
• Wu Chia-Hung
• Chang Jen-Yuan

Classifications

• G05B2219/37403

  Bending, springback angle · CPC title

• G05B19/188

  characterised by special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding) · CPC title

• G05B19/401

  characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes (G05B19/19 takes precedence) · CPC title

• G05B2219/36203

  Bending of workpiece, also for long slender workpiece · CPC title

• B21D39/021 Primary

  for panels, e.g. vehicle doors · CPC title