Multi-axis linkage intelligent control method for flanging machine

Abstract

The invention relates to the technical field of four-edge folding machines, in particular to a multi-axis linkage intelligent control method for a folding machine. The flanging machine comprises a feeding servo shaft U, a rotating servo shaft C, a clamping servo shaft H, a left positioning servo shaft LX, a right positioning servo shaft RX, a middle positioning servo shaft MY, a vertical servo shaft Z, a horizontal servo shaft X and a pressing servo shaft Y. Firstly, all shafts of the operation mechanism and the centering mechanism move in place according to a plate centering control rule; secondly, a feeding servo shaft U and a rotating servo shaft C of the operating mechanism enable the plate to be in place according to a plate rotating control rule, and a pressing servo shaft Y of the pressing mechanism presses the plate; a re-feeding servo shaft U, a pressing servo shaft Y, a vertical servo shaft Z and a horizontal servo shaft X are used for carrying out single-channel bending on the plate according to a single-channel bending control rule; or the feeding servo shaft U, the pressing servo shaft Y, the vertical servo shaft Z and the horizontal servo shaft conduct arc bending on the plate according to the arc bending control rule.

Description

Technical Field

[0001] The invention relates to the technical field of four-side folding machines, and in particular to a multi-axis linkage intelligent control method for folding machines. Background Art

[0002] The folding machine is a special sheet metal processing machine, which is usually equipped with operating, centering, folding and clamping mechanisms. The operating mechanism includes servo axes such as feeding, rotation, and clamping. The centering mechanism includes servo axes such as left positioning, right positioning, and middle positioning. The folding mechanism includes vertical servo axes and horizontal servo axes. According to the bending size and process of the workpiece, each servo axis moves according to the rules to realize the processing of the sheet. It is an indispensable component for highly flexible sheet metal processing production lines and efficient production systems.

[0003] For ordinary folding machines, the servo axes move in sequence according to the bending size and process of the workpiece. Although the workpiece can be processed safely, the lower axis starts again after the front axis is in place, which makes the overall processing efficiency extremely low. Therefore, it is urgent to improve the motion control method of each axis to ensure the processing safety of the machine tool and improve the production efficiency of the end user. Summary of the invention

[0004] The problem to be solved by the present invention is to improve the method of intelligently controlling the linkage of the axes of a folding machine so as to improve the processing efficiency.

[0005] In view of the deficiencies of the prior art, the technical solution adopted by the present invention to solve the technical problems is: a multi-axis linkage intelligent control method for a folding machine, the folding machine includes an operating mechanism, a centering mechanism, a folding mechanism and a clamping mechanism, wherein the operating mechanism includes a feeding servo axis U, a rotating servo axis C, and a clamping servo axis H; the centering mechanism includes a left positioning servo axis LX, a right positioning servo axis RX and a middle positioning servo axis MY; the folding mechanism includes a vertical servo axis Z and a horizontal servo axis X; the clamping mechanism includes a clamping servo axis Y, and includes the following steps:

[0006] Step 1: In the sheet metal centering process group, each axis of the operating mechanism and the centering mechanism moves to its proper position according to the sheet metal centering control rules;

[0007] Step 2: Rotating feeding process group, feeding servo axis U and rotating servo axis C of the operating mechanism adopt the sheet material rotation control rule to put the sheet material in place and realize the clamping servo axis Y of the clamping mechanism to clamp the sheet material;

[0008] Step three, single-channel bending process group and / or arc bending process group, the single-channel bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis X using single-channel bending control rules to perform single-channel bending on the sheet material; the arc bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis using arc bending control rules to perform arc bending on the sheet material.

[0009] Preferably, in step one, the sheet metal centering process group first calculates the target positions of the six servo axes, namely, the feeding servo axis U, the rotating servo axis C, the clamping servo axis H, the left positioning servo axis LX, the right positioning servo axis RX and the middle positioning servo axis MY, according to the parameter settings of the processing program before using the sheet metal centering control rules; then, the sheet metal centering control rules are used to trigger the servo axes that can be started first, and at the same time, the timing or linkage points for starting other servo axes are calculated, and the corresponding servo axis movement is triggered after monitoring the position status of each axis.

[0010] Preferably, in step 2, the rotary feeding process group calculates the target positions of the three servo axes, namely the feeding servo axis U, the rotating servo axis C and the clamping servo axis Y, according to the parameter settings of the processing program before using the sheet metal rotation control rules, and then uses the sheet metal rotation control rules to trigger the servo axis that can be started first, and at the same time calculates the timing or linkage point of starting each axis.

[0011] Preferably, in step three, the single-channel bending process group calculates the target positions of the four servo axes, namely, the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, before using the single-channel bending control rules; then, according to the single-channel bending control rules, the servo axis that can be started first is triggered and the timing or linkage point of starting other servo axes is calculated at the same time.

[0012] Preferably, the arc bending process group in step three calculates the target positions of the four servo axes, namely the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, before using the arc bending control rules, triggers the servo axis that can be started first according to the arc bending control rules, and calculates the timing or linkage points for starting other servo axes at the same time.

[0013] The beneficial effects of the present invention are as follows: in the prior art, each axis of the folding machine waits for the upper axis to complete its movement before starting its own movement, which results in low production efficiency; however, the method of the present invention, through the application of multi-axis linkage intelligent control technology, enables the axes to connect at linkage points without interfering with each other, thereby achieving highly efficient automatic control on the folding machine, which not only ensures normal bending requirements, but also improves overall processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the folding machine of the present invention;

[0015] Figure 2It is a schematic diagram of the definition and movement direction of the machine tool servo axis of the present invention;

[0016] Figure 3 is a flow chart of the method of the present invention;

[0017] Figure 4 It is a flow chart of a sheet metal centering process group involved in the present invention;

[0018] Figure 5 It is a flow chart of a sheet material rotation process group involved in the present invention;

[0019] Figure 6 It is a flow chart of a single-pass bending process group involved in the present invention;

[0020] Figure 7 The invention discloses a flow chart of a circular arc bending process group. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0022] The four-side folding machine is referred to as the folding machine below. The content of the present invention is to analyze the characteristics and limitations of the folding machine under different working conditions, intelligently calculate the linkage points of the relevant axes of the folding machine, and plan a reasonable linkage plan, and then perform logical control through the system to realize the function of intelligent control. The servo axes controlled by the folding machine numerical control system are divided into NC axes and CNC axes. The NC axis usually realizes positioning control through standard function blocks or standard instructions, and the CNC axis usually realizes positioning control through G codes. Whether it is an NC axis or a CNC axis, the movement can be divided into two nodes: trigger start and in-place judgment. Through the control of these two nodes and the position judgment in the process, the interlocking linkage of each axis is realized.

[0023] During the automatic processing of the folding machine, there are processes such as "sheet centering", "sheet rotation", "single-pass bending" and "arc bending". When the CNC system executes the above processes, it will first determine the servo axis that needs to be controlled and determine the target position of each servo axis. Then, according to the priority rules of the motion sequence, the servo axis that needs and can move is triggered to move first, and then the timing or linkage point of starting other servo axes is calculated at this time. Then, according to the calculation results, the real-time position or in-place status of the servo axis that has been started is judged. When the conditions are met, the movement and in-place judgment of the corresponding servo axis are triggered again. When each axis is moving, the CNC system will monitor and compare the position and status of each axis in real time, make reasonable recalculations in real time, and formulate new motion plans, so as to realize intelligent control of multi-axis linkage. This can not only ensure normal bending requirements and avoid interference problems such as interference and collision in the process, but also greatly reduce the planning calculation time and the waiting time of sequential execution, thereby effectively improving the overall processing efficiency.

[0024] The folding machine involved in the multi-axis linkage intelligent control method of the folding machine of the present invention includes an operating mechanism, a centering mechanism, a clamping mechanism and a folding mechanism, the operating mechanism includes a feeding servo axis U, a rotating servo axis C, and a clamping servo axis H; the centering mechanism includes a left positioning servo axis LX, a right positioning servo axis RX and a middle positioning servo axis MY; the folding mechanism includes a vertical servo axis Z and a horizontal servo axis X; the clamping mechanism includes a clamping servo axis Y. The method of the present invention includes the following steps:

[0025] Step 1: In the sheet metal centering process group, each axis of the operating mechanism and the centering mechanism moves to its proper position according to the sheet metal centering control rules;

[0026] Step 2: Rotating feeding process group, feeding servo axis U and rotating servo axis C of the operating mechanism adopt the sheet material rotation control rule to put the sheet material in place and realize the clamping servo axis Y of the clamping mechanism to clamp the sheet material;

[0027] Step three, single-channel bending process group and / or arc bending process group, the single-channel bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis X using single-channel bending control rules to perform single-channel bending on the sheet material; the arc bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis using arc bending control rules to perform arc bending on the sheet material.

[0028] In the sheet metal processing requirements, only a single-pass bending process group or only an arc bending process group may be required. Some sheet metal processing requires both single-pass bending and arc bending. For sheets that require both single-pass bending and arc bending, the following execution conditions can be used according to the needs: single-pass bending first, then arc bending, single-pass bending first, arc bending then arc bending, single-pass bending first, arc bending then single-pass bending, arc bending first, single-pass bending then arc bending. The specific method can be determined according to the needs of the sheet metal.

[0029] The control principles of the above four process groups are explained below:

[0030] like Figure 4 The figure shows a flow chart of the sheet metal centering process group. The servo axes that need to be controlled by the sheet metal centering process group include the feeding servo axis U, the rotating servo axis C, the clamping servo axis H of the operating mechanism, and the left positioning servo axis LX, the right positioning servo axis RX and the center positioning servo axis MY of the centering mechanism. The target positions of the above six servo axes are calculated according to the parameter settings of the machining program; according to the sheet metal centering control rules, the servo axes that can be started first are triggered, and the timing or linkage points for starting other servo axes are calculated at the same time; when the conditions are met, the movement and in-position judgment of the corresponding servo axes are triggered; among them, the clamping servo axis H of the operating mechanism, the left positioning servo axis LX, the right positioning servo axis RX and the center positioning servo axis MY of the centering mechanism are in motion, and the CNC system will monitor the positions and torques of the above four axes in real time, and adjust the positions of the above four axes in real time according to the requirements of centering clamping, and feed back the fine-tuning amount to the CNC system for subsequent dimensional fine-tuning compensation.

[0031] The sequence of the sheet metal centering process and the control rules of the linkage points: the left positioning servo axis LX, the right positioning servo axis RX and the middle positioning servo axis MY of the centering mechanism are started simultaneously and preferentially; when the left positioning servo axis LX moves to its target position and the right positioning servo axis RX moves to 5mm before its target position, the feeding servo axis U and the rotating servo axis C of the operating mechanism are started; when the left positioning servo axis LX, the right positioning servo axis RX and the middle positioning servo axis MY of the centering mechanism all move to the target position, the clamping servo axis H of the operating mechanism is started to move and wait for the final position.

[0032] The target position calculation formulas for the left positioning servo axis LX, the right positioning servo axis RX, the middle positioning servo axis MY and the feeding servo axis U are as follows:

[0033] LX_Tag=S3-LP_X*LX_Mode+LX_Repos+LX_Off;

[0034] RX_Tag=S4-RP_X*RX_Mode+RX_Repos+RX_Off;

[0035] MY_Tag=S2-MP_Y+MY_Repos+MY_Off;

[0036] U_Tag=S1-MY_Repos+U_Off;

[0037] LX_Tag is the target position of the left positioning servo axis LX, RX_Tag is the target position of the right positioning servo axis RX; MY_Tag is the target position of the middle positioning servo axis MY; U_Tag is the target position of the feeding servo axis U; S1, S2, S3, S4 respectively represent the distance from the workpiece clamping center to the edge of the plate; LP_X, RP_X, MP_Y respectively represent the positioning positions of the left, right, and middle positioning servo axes; LX_Mode, RX_Mode respectively represent the positioning modes of the left and right positioning servo axes; LX_Repos, RX_Repos, MY_Repos respectively represent the secondary positioning compensation of the left, right, and middle positioning servo axes; LX_Off, RX_Off, MY_Off, U_Off respectively represent the position compensation of the left, right, and middle positioning servo axes and the feeding servo axis.

[0038] like Figure 5 The above is a flow chart of the rotary feeding process group. The servo axes that need to be controlled by the rotary feeding process group include the feeding servo axis U of the operating mechanism, the rotating servo axis C and the clamping servo axis Y of the clamping mechanism. According to the parameter setting of the processing program, the target positions of the three servo axes, the feeding servo axis U, the rotating servo axis C and the clamping servo axis Y, are calculated respectively; according to the characteristics of the rotary feeding movement, it is necessary to first calculate the start time or linkage point of each axis according to the sheet metal rotation control rule; monitor the position status of each axis, and when the conditions are met, trigger the movement and in-place judgment of the corresponding servo axis; wherein the rotary servo axis C of the operating mechanism is in motion, and the CNC system will monitor its position in real time and obtain the next rotation compensation data, and update and compensate the target position of the rotary axis in time according to the next compensation requirement.

[0039] The sheet rotation control rule specifically refers to a comprehensive judgment based on the target position, current position and rotation safety position of the feeding servo axis U; when the current position of the feeding servo axis U is greater than the rotation safety point position, the feeding servo axis U and the rotation servo axis C are triggered to move at the same time, and when the feeding servo axis U moves to the rotation safety position, wait for the rotation servo axis C to move to the feeding start point 1, and continue to start the feeding servo axis U movement until both servo axes reach the target position; when the current position of the feeding servo axis U is less than or equal to the rotation safety point position, the feeding servo axis U is preferentially triggered to move to the rotation safety position, wait for the feeding servo axis U to move to the rotation start point, and then start the rotation servo axis C movement, wait for the rotation servo axis C to move to the feeding start point 2, and then continue to start the feeding servo axis U movement until both servo axes reach the target position; when the rotation servo axis C moves to 1° before the target position, the clamping servo axis Y of the clamping mechanism is triggered to move.

[0040] The calculation formula of the rotation safety point position is:

[0041]

[0042] Feeding start point 1 calculation formula:

[0043] FeedStartPos1=0.5*RotDec*FeedMoveTime*FeedMoveTime;

[0044] FeedMoveTime=FeedVel / FeedAcc+FeedVel / FeedDec+((FeedAccDis+FeedDecDis) / FeedVel);

[0045] FeedAccDis=FeedVel*FeedVel / 2.0 / FeedAcc;

[0046] FeedDecDis=FeedVel*FeedVel / 2.0 / FeedDec;

[0047] Feeding start point 2 calculation formula:

[0048] FeedStartPos2=arctan(Length / Width) / arctan(Width / Length);

[0049] Rotation start point calculation formula:

[0050] RotStartPos=FeedVel*(FeedVel / 2.0 / FeedDec+(AngleTime-FeedDecTime));

[0051] AngleTime=RotVel / RotAcc+(FeedStartPos2-VelMaxAngle) / RotVel;

[0052] FeedDecTime=FeedVel / FeedDec;

[0053] VelMaxAngle=RotVel*RotVel / RotAcc / 2.0;

[0054] Among them, BendC_Dis is the width of the folding mechanism; Rot_Off indicates the position compensation of the rotating servo axis; FeedVel is the maximum operating speed of the feeding servo axis; FeedAcc is the maximum operating acceleration of the feeding servo axis; FeedDec is the maximum operating deceleration of the feeding servo axis; RotVel is the maximum operating speed of the rotating servo axis; RotAcc is the maximum operating acceleration of the rotating servo axis; RotDec is the maximum operating deceleration of the rotating servo axis; Length and Width respectively represent the rotation length and width of the workpiece.

[0055] like Figure 6 The figure shows the flow chart of the single-channel bending process group. The servo axes that need to be controlled by the single-channel bending process group include the feeding servo axis U of the operating mechanism, the clamping servo axis Y of the clamping mechanism, the vertical servo axis Z and the horizontal servo axis X of the folding mechanism. According to the parameter setting of the processing program, the target positions of the four servo axes, namely, the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, are calculated; according to the single-channel bending control rules, the servo axis that can be started first is triggered, and the timing or linkage point of starting other servo axes is calculated at the same time; when the conditions are met, the movement and in-place judgment of the corresponding servo axis are triggered; during the movement of the vertical servo axis Z of the folding mechanism, the CNC system will monitor its position in real time and obtain the next bending process data, and according to the requirements of the next bending process, the coordinate system will be switched in time and the pre-positioning movement will be triggered.

[0056] The control rules for single-channel bending are as follows: the clamping servo axis Y of the clamping mechanism, the vertical servo axis Z and the horizontal servo axis X of the folding mechanism move first. When the vertical servo axis Z and the horizontal servo axis X move to the bending starting point, wait for the clamping servo axis Y to be in place, and then the vertical servo axis Z and the horizontal servo axis X interpolate to the bending target point; when the vertical servo axis Z and the horizontal servo axis X move to the target position, the clamping servo axis Y first moves to the position 5mm upward of the plate, and the vertical servo axis Z and the horizontal servo axis X move to the retraction point; when the vertical servo axis Z and the horizontal servo axis X move to the position below the bending starting point, and the clamping servo axis Y moves to the position, start the feeding servo axis U of the operating mechanism to move to the target position, and wait for all servo axes to be in place at the same time.

[0057] The target position calculation formula for some servo axes is as follows:

[0058] The calculation formula of the target position Y_TagPos of the clamping servo axis Y is Y_TagPos=120*T / Tmax*7 / Ratio;

[0059] The target position Z_TagPos_Sg of the vertical servo axis Z is calculated as Z_TagPos_Sg = ((C+1)*T+R)*sin(Angle)+((C+1)*T+R)*cos(Angle)-R;

[0060] The target position X_TagPos_Sg of the horizontal servo axis X is calculated as X_TagPos_Sg = (C+1)*T-((T*N-(K+C)*Angle)*cos(Angle)+(T*NK*Angle)*sin(Angle);

[0061] Calculation of bending starting point: Z_StartPos=T*NR; X_StartPos=C*T-T+R.

[0062] Retracement point calculation: Z_BackPos=T*(K+C)*+R; X_BackPos=R+T*(1+C)+1;

[0063] T is the actual thickness of the plate being processed; TMax is the maximum allowable thickness of the plate being processed; Ratio is the transmission ratio of the clamping servo axis; Angle is the angle required for the current bending process; C, R, N, K: are bending constants.

[0064] like Figure 7 The figure shows the flow chart of the arc bending process group. The servo axes that need to be controlled by the arc bending process group include the feeding servo axis U of the operating mechanism, the clamping servo axis Y of the clamping mechanism, the vertical servo axis Z and the horizontal servo axis X of the folding mechanism. According to the parameter setting of the processing program, the target positions of the four servo axes, namely the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, are calculated; according to the arc bending control rules, the servo axis that can be started first is triggered, and the timing or linkage point of starting other servo axes is calculated at the same time; when the conditions are met, the movement and in-position judgment of the corresponding servo axis are triggered; during the movement of the vertical servo axis Z of the folding mechanism, the CNC system will monitor the position in real time and obtain the next bending process data, and according to the requirements of the next bending process, the coordinate system will be switched in time and the pre-positioning movement will be triggered.

[0065] The arc bending control rules are as follows: the clamping servo axis Y of the clamping mechanism, the vertical servo axis Z and the horizontal servo axis X of the folding mechanism move first. When the vertical servo axis Z and the horizontal servo axis X move to the bending starting point, and the clamping servo axis Y moves to the upper surface of the plate, the vertical servo axis Z and the horizontal servo axis X are triggered to interpolate to the bending target point, and the clamping servo axis Y is triggered to move to the clamping point; when the three servo axes move to the target position, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X move to the withdrawal point at the same time; when the vertical servo axis Z and the horizontal servo axis X move to the lower surface of the plate, and the clamping servo axis Y moves to the 1mm position on the upper surface of the plate, the feeding servo axis U of the operating mechanism is started to move to the target position, and wait for all servo axes to be in place at the same time, and then repeat the above movement until the processing is completed.

[0066] The target position calculation formula for some servo axes is as follows:

[0067] Y_TagPos=120*T / Tmax*7 / Ratio;

[0068] Z_TagPos_Arc=Angle / Step*(cos(Angle)+C)*tan(Angle / 2)+Step*(sin(Angle)+C);

[0069] X_TagPos_Arc=(1-K)*T-(R+(1-K)*T) / cos(Angle / 2);

[0070] Step is the number of arc bending processes.

[0071] Under different motion conditions, the folding machine calculates the most reasonable linkage points according to the target positions of each axis and the interlocking relationship between the axes, and plans a reasonable linkage plan. At different times and linkage points, each servo axis that needs to move is started to meet the needs of intelligent linkage.

Claims

1. A multi-axis linkage intelligent control method for a folding machine, the folding machine includes an operating mechanism, a centering mechanism, a folding mechanism and a clamping mechanism, wherein the operating mechanism includes a feeding servo axis U, a rotating servo axis C, and a clamping servo axis H; the centering mechanism includes a left positioning servo axis LX, a right positioning servo axis RX, and a middle positioning servo axis MY; the folding mechanism includes a vertical servo axis Z and a horizontal servo axis X; the clamping mechanism includes a clamping servo axis Y, characterized in that: The following steps are included: Step 1: In the sheet metal centering process group, each axis of the operating mechanism and the centering mechanism moves to its proper position according to the sheet metal centering control rules; Step 2: Rotating feeding process group, feeding servo axis U and rotating servo axis C of the operating mechanism adopt the sheet material rotation control rule to put the sheet material in place and realize the clamping servo axis Y of the clamping mechanism to clamp the sheet material; Step three, single-channel bending process group and / or arc bending process group, the single-channel bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis X using single-channel bending control rules to perform single-channel bending on the sheet material; the arc bending process group is the feeding servo axis U, clamping servo axis Y, vertical servo axis Z and horizontal servo axis using arc bending control rules to perform arc bending on the sheet material.

2. The multi-axis linkage intelligent control method for a folding machine according to claim 1, characterized in that: In step 1, the sheet metal centering process group first calculates the target positions of the six servo axes, namely, the feeding servo axis U, the rotating servo axis C, the clamping servo axis H, the left positioning servo axis LX, the right positioning servo axis RX and the middle positioning servo axis MY, according to the parameter settings of the machining program before using the sheet metal centering control rules; then, the sheet metal centering control rules are used to trigger the servo axes that can be started first, and at the same time, the timing or linkage points for starting other servo axes are calculated, and the corresponding servo axis movement is triggered after monitoring the position status of each axis.

3. The multi-axis linkage intelligent control method for a folding machine according to claim 2, characterized in that: In step 2, the rotary feeding process group calculates the target positions of the three servo axes, namely the feeding servo axis U, the rotating servo axis C and the clamping servo axis Y, according to the parameter settings of the processing program before using the sheet metal rotation control rules, and then uses the sheet metal rotation control rules to trigger the servo axis that can be started first, and at the same time calculates the timing or linkage point of starting each axis.

4. The multi-axis linkage intelligent control method for a folding machine according to claim 3, characterized in that: In step 3, the single-channel bending process group calculates the target positions of the four servo axes, namely, the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, before using the single-channel bending control rules; then, according to the single-channel bending control rules, the servo axis that can be started first is triggered and the timing or linkage point of starting other servo axes is calculated at the same time.

5. The multi-axis linkage intelligent control method for a folding machine according to claim 1, characterized in that: In step 3, the arc bending process group calculates the target positions of the four servo axes, namely the feeding servo axis U, the clamping servo axis Y, the vertical servo axis Z and the horizontal servo axis X, before using the arc bending control rules, triggers the servo axis that can be started first according to the arc bending control rules, and calculates the timing or linkage points for starting other servo axes.

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