Title:
DOUBLE-POINT INCREMENTAL FORMING MANUFACTURING METHOD AND APPARATUS BASED ON DEEP REINFORCEMENT LEARNING
Document Type and Number:
WIPO Patent Application WO/2023/202312
Kind Code:
A1
Abstract:
The present invention provides a double-point incremental forming manufacturing method and apparatus based on deep reinforcement learning. The method comprises: obtaining a three-dimensional model to be manufactured, performing layering to obtain a plurality of main working paths and a plurality of candidate supporting paths, and selecting an initial current main working path and a current supporting path; respectively cyclically controlling, according to the current main working path and the selected current supporting path, mechanical arms of a master robot and a slave robot for incremental forming in an actual application environment, to obtain a formed curved surface; and taking a deviation value of the formed curved surface and a target curved surface as a state vector, applying a pre-trained deep reinforcement learning model for reinforcement learning, cyclically outputting a supporting path corresponding to the next main working path, and cyclically updating the current main working path and the current supporting path according to the next main working path and the supporting path corresponding to the next main working path until incremental forming of the three-dimensional model is completed. According to the present invention, the support strategy of the slave robot can be adjusted, the flexibility is high, and the forming precision is high.
Inventors:
CUI QIANG (CN)
HE MENGXI (CN)
HE SIZHONG (CN)
YANG DAOQIAN (CN)
LI JIANGSHAN (CN)
YU CHUAN (CN)
PAWAR SIDDHARTH SUHAS (IN)
HE MENGXI (CN)
HE SIZHONG (CN)
YANG DAOQIAN (CN)
LI JIANGSHAN (CN)
YU CHUAN (CN)
PAWAR SIDDHARTH SUHAS (IN)
Application Number:
PCT/CN2023/083029
Publication Date:
October 26, 2023
Filing Date:
March 22, 2023
Export Citation:
Assignee:
HANKAISI INTELLIGENT TECH CO LTD GUIZHOU (CN)
International Classes:
G06F30/27; B21D31/00; G06F113/10
Foreign References:
| CN114757102A | 2022-07-15 | |||
| CN111552301A | 2020-08-18 | |||
| CN111633111A | 2020-09-08 | |||
| CN102211121A | 2011-10-12 | |||
| US20220004191A1 | 2022-01-06 |
Other References:
"Master's Thesis", 1 May 2017, CHINA UNIVERSITY OF PETROLEUM (BEIJING), CN, article LI, WEI: "Study for Novel Incremental Sheet Metal Bending Process and Programming Design", pages: 13 - 37, XP009549735
Attorney, Agent or Firm:
BEIJING FORESTSONG PATENT AGENCY CO., LTD. (CN)
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