A bender speed planning method and device are disclosed. The method comprises the following steps: in step a, a theoretical board inspection position speed of an upper mold is calculated; in step b, a second segment limit speed of the upper mold is compared with the theoretical board inspection position speed, a lower one is board inspection position speed of the upper mold; in step c, a dead centre position speed is zero and the board inspection position speed, first segment movement of the upper mold is planned based on a minimal time principle, planning is finished when the planning succeed, otherwise the board inspection position speed is recalculated; in step d, a bending object position speed of the upper mold is zero and the board inspection position speed, and second segment movement of the upper mold is planned based on a minimal movement time principle; the device comprises a calculation module, a comparison module, a first segment planning module and a second segment planning module that are orderly connected. Thus, after speed planning is done, a pressing plate drives the upper mold to move as planned, movement time can be shortened, and bending efficiency can be improved.