Control method and device of bending machine, electronic equipment and readable storage medium

Abstract

The invention discloses a control method and device of a bending machine, electronic equipment and a readable storage medium, and the method comprises the following steps: determining a first driving speed corresponding to a current position based on a corresponding relation between the position and the speed of an upper die of the bending machine and the current position of the upper die; and based on the first driving speed, a driving mechanism of the bending machine is controlled to drive the upper die to move.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to a control method, device, electronic device and readable storage medium for a bending machine. Background Art

[0002] A bending machine is a machine that can bend thin plates. In the related art, during the entire movement process of the upper die of the bending machine, it is necessary to continuously perform PID (proportional, integral, differential) compensation on the movement speed of the upper die of the bending machine according to the deviation between the actual position of the upper die of the bending machine at the current movement time and the planned position.

[0003] When adopting the solution in the related technology, since it is necessary to continuously calculate and execute high-precision PID speed compensation during the entire movement process of the upper mold of the bending machine to ensure the smooth movement and precise positioning of the upper mold, the adjustment of the bending machine is difficult and the production efficiency is low. Summary of the invention

[0004] The present application discloses a control method, device, electronic device and readable storage medium for a bending machine, which can reduce the difficulty of adjusting the bending machine and improve production efficiency.

[0005] In order to solve the above problems, this application adopts the following technical solutions: In a first aspect, an embodiment of the present application discloses a control method for a bending machine, comprising: determining a first driving speed corresponding to the current position based on the correspondence between the position and speed of an upper mold of the bending machine and the current position of the upper mold; and based on the first driving speed, controlling a driving mechanism of the bending machine to drive the upper mold to move.

[0006] In a second aspect, an embodiment of the present application discloses a control device for a bending machine, comprising: a determination module for determining a first driving speed corresponding to the current position based on the correspondence between the position and speed of an upper mold of the bending machine and the current position of the upper mold; and a control module for controlling the driving mechanism of the bending machine to drive the upper mold to move based on the first driving speed.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the first aspect are implemented.

[0008] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0009] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, which, when executed by a computer, cause the computer to execute: the steps of the method described in the first aspect.

[0010] The technical solution adopted in this application can achieve the following beneficial effects: An embodiment of the present application provides a control method for a bending machine, which determines a first driving speed corresponding to the current position based on the correspondence between the position and speed of an upper die of the bending machine and the current position of the upper die, and then controls the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed. Due to the adoption of the solution of the present application, during the entire movement process of the upper die of the bending machine, there is no need to continuously calculate and execute high-precision PID speed compensation. Therefore, the difficulty of adjusting the bending machine can be reduced, the operation time can be reduced, and the production efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A schematic flow chart of a control method for a bending machine disclosed in an embodiment of the present application; Figure 2 This is a flow chart of a control method for a bending machine disclosed in an embodiment of the present application; Figure 3 A schematic diagram of a motion planning disclosed in an embodiment of the present application; Figure 4 A schematic diagram of the structure of a control device for a bending machine disclosed in an embodiment of the present application; Figure 5 A schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0013] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the electrically connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0014] The control method, device, electronic device and readable storage medium of the bending machine disclosed in the embodiments of the present application are described in detail below with reference to the accompanying drawings through specific embodiments and their application scenarios.

[0015] The present application discloses a control method for a bending machine. Figure 1 Schematic diagram of a control method for a bending machine disclosed in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps: S120, determining a first driving speed corresponding to the current position based on a correspondence between a position and a speed of an upper die of a bending machine and a current position of the upper die.

[0016] The solution in this application can be executed by the control system of the bending machine.

[0017] In the present application, before driving the upper die of the bending machine to move for the first time, the control system of the bending machine determines the corresponding relationship between the position and speed of the upper die of the bending machine, and the target position based on the input bending parameters, wherein the target position is the upper die stop position corresponding to the input bending parameters, and the bending parameters may include the bending angle of the workpiece, the thickness of the workpiece, the opening width of the lower die of the bending machine, the chamfer of the lower die of the bending machine, the angle of the upper die of the bending machine, etc.

[0018] In the process of the control system of the bending machine controlling the driving mechanism of the bending machine to drive the upper die of the bending machine to move, the upper die of the bending machine feeds back its own position data to the control system of the bending machine in real time. The control system of the bending machine continuously searches for the first driving speed corresponding to the current position from the corresponding relationship table between the position and speed of the upper die of the bending machine based on the current position of the upper die.

[0019] It should be noted that in the corresponding relationship between the position and speed of the upper die of the bending machine, the corresponding driving speed is different when the upper die is in different positions. The closer the upper die of the bending machine is to the target position, the smaller the corresponding driving speed is. When the upper die of the bending machine is at the target position, the corresponding driving speed is zero.

[0020] S140. Based on the first driving speed, control the driving mechanism of the bending machine to drive the upper mold to move.

[0021] The control system of the bending machine sends the first driving speed corresponding to the current position to the driving mechanism based on the first driving speed found from the correspondence table between the position and speed of the upper mold of the bending machine, and the driving mechanism drives the upper mold of the bending machine to move so that the upper mold of the bending machine stops at the target position.

[0022] It should be noted that the driving mechanism of the bending machine in the present application is composed of a servo motor, a driving wheel, a driven wheel and a screw rod. The control system of the bending machine sends a first driving speed to the servo motor, and the servo motor drives the driving wheel, the driven wheel and the screw rod to move, thereby driving the upper die connected to the screw rod to move. When there is no deviation between the speed output by the driving mechanism and the first driving speed output by the control system, the upper die of the bending machine can just stop at the target position.

[0023] An embodiment of the present application provides a control method for a bending machine, which determines a first driving speed corresponding to the current position based on the correspondence between the position and speed of an upper die of the bending machine and the current position of the upper die, and then controls the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed. Due to the adoption of the solution of the present application, during the entire movement process of the upper die of the bending machine, there is no need to continuously calculate and execute high-precision PID speed compensation. Therefore, the difficulty of adjusting the bending machine can be reduced, the operation time can be reduced, and the production efficiency can be improved.

[0024] In addition, since the solution of the present application is based on the correspondence between the position and speed of the upper mold of the bending machine and the current position of the upper mold, and determines the first driving speed corresponding to the current position, it is possible to reduce the impact of the response speed of the driving mechanism on controlling the movement of the upper mold, thereby ensuring smooth movement of the upper mold.

[0025] In the present application, when there is a deviation between the speed output by the driving mechanism and the first driving speed output by the control system, the actual stop position of the upper die of the bending machine may not be the target position.

[0026] In one implementation, after controlling the driving mechanism of the bending machine to drive the upper mold to move based on the first driving speed, it may also include: when it is determined that the actual stop position of the upper mold has not reached the target position, determining a second driving speed corresponding to the actual stop position based on the correspondence between the position and the speed, and the actual stop position, wherein the target position is the upper mold stop position corresponding to the input bending parameters; determining a third driving speed based on the actual stop position, the target position and the second driving speed; and controlling the driving mechanism of the bending machine to drive the upper mold to move based on the third driving speed and a preset adjustment time.

[0027] In an embodiment of the present application, when it is determined that the actual stop position of the upper mold of the bending machine has not reached the target position, the second driving speed corresponding to the actual stop position is found from the position-speed correspondence table, and the third driving speed is determined based on the actual stop position, the target position and the second driving speed, and then based on the third driving speed and the preset adjustment time, the driving mechanism of the bending machine is controlled to drive the upper mold of the bending machine to move, so as to achieve the positioning of the upper mold of the bending machine.

[0028] It should be noted that the goal of the upper die positioning of the bending machine is to make the actual stop position of the upper die of the bending machine at the target position. In addition, the preset adjustment time in this application can be set according to actual needs, and this application does not make specific restrictions on this.

[0029] In the present application, the determining of the third driving speed based on the actual stop position, the target position and the second driving speed may include: determining the compensation speed based on the actual stop position and the target position; determining the third driving speed based on the second driving speed and the compensation speed. Exemplarily, the position deviation may be determined based on the actual stop position and the target position, and then the compensation speed may be determined using the existing PID compensation algorithm and the position deviation, and the sum of the second driving speed and the compensation speed may be used as the third driving speed.

[0030] When adopting the solution of the present application, since it is only necessary to perform speed compensation to achieve the positioning of the upper mold of the bending machine when the actual stop position of the upper mold is not the target position, there is no need to continuously calculate and perform high-precision PID speed compensation during the entire movement process of the upper mold of the bending machine. Therefore, it can reduce the difficulty of adjusting the bending machine, reduce the operation time, and improve production efficiency.

[0031] In one implementation, after the driving mechanism of the bending machine is controlled to drive the upper die to move based on the third driving speed and the preset adjustment time, the method may further include: adjusting the correspondence between the position and the speed based on the second driving speed. Exemplarily, the correspondence between the position and the speed is adjusted by adding the second driving speed to the speed in the correspondence table between the position and the speed. In the next process of controlling the upper die movement of the bending machine, the upper die movement of the bending machine is controlled based on the adjusted correspondence between the position and the speed, thereby further reducing the difficulty of adjusting the machine and improving production efficiency.

[0032] In one implementation, after controlling the driving mechanism of the bending machine to drive the upper mold to move based on the first driving speed, it may also include: when it is determined that the actual stop position of the upper mold exceeds the target position, determining a compensation speed based on the actual stop position and the target position, wherein the target position is the upper mold stop position corresponding to the input bending parameters; and controlling the driving mechanism of the bending machine to drive the upper mold to move based on the compensation speed and a preset adjustment time.

[0033] Exemplarily, when it is determined that the actual stop position of the upper mold of the bending machine exceeds the target position, the position deviation can be determined based on the actual stop position and the target position, and then the compensation speed can be determined using the existing PID compensation algorithm and the position deviation. Based on the compensation speed and the preset adjustment time, the driving mechanism of the bending machine is controlled to drive the upper mold to move, so as to achieve the positioning of the upper mold of the bending machine.

[0034] It should be noted that the goal of the upper die positioning of the bending machine is to make the actual stop position of the upper die of the bending machine at the target position. In addition, the preset adjustment time in this application can be set according to actual needs, and this application does not make specific restrictions on this.

[0035] When adopting the solution of the present application, since it is only necessary to perform speed compensation to achieve the positioning of the upper mold of the bending machine when the actual stop position of the upper mold is not the target position, there is no need to continuously calculate and perform high-precision PID speed compensation during the entire movement process of the upper mold of the bending machine. Therefore, it can reduce the difficulty of adjusting the bending machine, reduce the operation time, and improve production efficiency.

[0036] In one implementation, after the driving mechanism of the bending machine is controlled to drive the upper die to move based on the compensation speed and the preset adjustment time, the method may further include: adjusting the correspondence between the position and the speed based on the compensation speed. Exemplarily, the correspondence between the position and the speed is adjusted by subtracting the compensation speed from the speed in the table of the correspondence between the position and the speed. In the next process of controlling the upper die movement of the bending machine, the upper die movement of the bending machine is controlled based on the adjusted correspondence between the position and the speed, thereby further reducing the difficulty of adjusting the machine and improving production efficiency.

[0037] In one implementation, determining the first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper die of the bending machine and the current position of the upper die may include: when it is determined that the upper die of the bending machine is in a deceleration section, determining the first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper die in the deceleration section and the current position of the upper die.

[0038] In an embodiment of the present application, before determining a first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper mold in the deceleration section and the current position of the upper mold when determining that the upper mold of the bending machine is in a deceleration section, it may also include: determining a fourth driving speed corresponding to the current movement time based on the correspondence between the movement time and speed of the upper mold in the target section and the current movement time of the upper mold when determining that the upper mold of the bending machine is in a target section, wherein the target section includes an acceleration section and a uniform speed section; and based on the fourth driving speed, controlling the driving mechanism of the bending machine to drive the upper mold to move.

[0039] That is to say, before driving the upper die of the bending machine to move for the first time, the control system of the bending machine determines the target position, the acceleration section corresponding to the upper die, the uniform speed section corresponding to the upper die, the deceleration section corresponding to the upper die, the correspondence between the movement time and speed of the upper die in the acceleration section, the speed of the upper die in the uniform speed section, and the correspondence between the position and speed of the upper die in the deceleration section based on the input bending parameters, wherein the target position is the upper die stop position corresponding to the input bending parameters, and the bending parameters may include the bending angle of the workpiece, the thickness of the workpiece, the opening width of the lower die of the bending machine, the chamfer of the lower die of the bending machine, the angle of the upper die of the bending machine, etc. Then, when it is determined that the upper die of the bending machine is in the acceleration section and the uniform speed section, a fourth driving speed corresponding to the current movement time is determined based on the corresponding relationship between the movement time and speed of the upper die in the acceleration section and the uniform speed section, and the current movement time of the upper die, and based on the fourth driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move; when it is determined that the upper die of the bending machine is in the deceleration section, a first driving speed corresponding to the current position is determined based on the corresponding relationship between the position and speed of the upper die in the deceleration section, and the current position of the upper die, and based on the first driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move. Since the driving speed is determined based on the corresponding relationship between the movement time and speed of the upper die and the current movement time of the upper die in the acceleration section and the uniform speed section when this scheme is adopted, there is no need to wait for the position data fed back by the upper die, thereby shortening the response time.

[0040] The present application embodiment discloses a control method for a bending machine, such as Figure 2 As shown, the control system of the bending machine performs motion planning based on the input bending parameters to determine the target position, the acceleration section corresponding to the upper die, the uniform speed section corresponding to the upper die, the deceleration section corresponding to the upper die, the corresponding relationship between the movement time and speed of the upper die in the acceleration section, the speed of the upper die in the uniform speed section, and the corresponding relationship between the position and speed of the upper die in the deceleration section, wherein the target position is the upper die stop position corresponding to the input bending parameters, and the bending parameters may include the bending angle of the workpiece, the thickness of the workpiece, the opening width of the lower die of the bending machine, the chamfer of the lower die of the bending machine, the angle of the upper die of the bending machine, etc. For example, Figure 3As shown, 0 < t ≤ 1 is the acceleration section, 1 < t ≤ 2 is the constant-speed section, and 2 < t ≤ 3 is the deceleration section. When it is determined that the upper die of the bending machine is in the acceleration section and the constant-speed section, based on the corresponding relationship between the motion time and speed of the upper die in the acceleration section and the constant-speed section in the motion planning, and the current motion time of the upper die, the fourth driving speed corresponding to the current motion time is determined, and based on the fourth driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move until the upper die reaches the deceleration point. When it is determined that the upper die of the bending machine reaches the deceleration point and is in the deceleration section, based on the corresponding relationship between the position and speed of the upper die in the deceleration section in the motion planning, and the current position of the upper die, the first driving speed corresponding to the current position is determined, and based on the first driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move until the deceleration is completed. When it is determined that the actual stop position of the upper die is not the target position, speed compensation is performed according to the solution described above to achieve precise positioning of the upper die of the bending machine.

[0041] In the control method of the bending machine provided by the embodiments of the present application, the execution subject may be the control device of the bending machine. In the embodiments of the present application, taking the control device of the bending machine executing the control method of the bending machine as an example, the control device of the bending machine provided by the embodiments of the present application is described.

[0042] Figure 4 It is a schematic structural diagram of a control device of a bending machine disclosed in the embodiments of the present application. As Figure 4 shown, the control device 400 of the bending machine includes: a determination module 410 and a control module 420.

[0043] In the present application, the determination module 410 is configured to determine a first driving speed corresponding to the current position based on the corresponding relationship between the position and speed of the upper die of the bending machine and the current position of the upper die; the control module 420 is configured to control the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed.

[0044] In one implementation, after the determination module 410 controls the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed, when it is determined that the actual stop position of the upper die does not reach the target position, the determination module 410 determines a second driving speed corresponding to the actual stop position based on the corresponding relationship between the position and speed and the actual stop position, where the target position is the stop position of the upper die corresponding to the input bending parameters; the determination module 410 is further configured to determine a third driving speed based on the actual stop position, the target position, and the second driving speed; the control module 420 is further configured to control the driving mechanism of the bending machine to drive the upper die to move based on the third driving speed and a preset adjustment duration.

[0045] In one implementation, the above-mentioned device also includes: an adjustment module, which is also used to adjust the corresponding relationship between the position and the speed based on the second driving speed after the driving mechanism of the bending machine is controlled to drive the upper mold to move based on the third driving speed and the preset adjustment time.

[0046] In one implementation, the determination module 410 is also used to determine the compensation speed based on the actual stop position and the target position after controlling the driving mechanism of the bending machine to drive the upper mold to move based on the first driving speed, when it is determined that the actual stop position of the upper mold exceeds the target position, wherein the target position is the upper mold stop position corresponding to the input bending parameter; the control module 420 is also used to control the driving mechanism of the bending machine to drive the upper mold to move based on the compensation speed and the preset adjustment time.

[0047] In one implementation, the above-mentioned device also includes: an adjustment module, which is used to adjust the corresponding relationship between the position and the speed based on the compensation speed after controlling the driving mechanism of the bending machine to drive the upper mold to move based on the compensation speed and the preset adjustment time.

[0048] In one implementation, the determination module 410 determines a first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper die of the bending machine and the current position of the upper die, including: when it is determined that the upper die of the bending machine is in a deceleration section, based on the correspondence between the position and speed of the upper die in the deceleration section and the current position of the upper die, determining the first driving speed corresponding to the current position.

[0049] In one implementation, the determination module 410 is also used to, before determining the first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper mold in the deceleration section and the current position of the upper mold when it is determined that the upper mold of the bending machine is in a deceleration section, determine the fourth driving speed corresponding to the current movement time based on the correspondence between the movement time and speed of the upper mold in the target section and the current movement time of the upper mold when it is determined that the upper mold of the bending machine is in a target section, wherein the target section includes an acceleration section and a uniform speed section; the control module 420 is also used to control the driving mechanism of the bending machine to drive the upper mold to move based on the fourth driving speed.

[0050] Alternatively, if Figure 5As shown, an embodiment of the present application further provides an electronic device 500, including a processor 501 and a memory 502, wherein the memory 502 stores a program or instruction that can be executed on the processor 501, and when the program or instruction is executed by the processor 501, each step of the control method embodiment of the above-mentioned bending machine is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0051] It should be noted that the electronic devices in the embodiments of the present application include mobile electronic devices and non-mobile electronic devices.

[0052] The embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned control method embodiment of the bending machine is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0053] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0054] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes: the steps of the control method of the bending machine as described above.

[0055] The above embodiments of the present application focus on describing the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. Considering the simplicity of the text, they will not be repeated here.

[0056] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A control method for a bending machine, characterized in that: include: Based on the correspondence between the position and speed of the upper die of the bending machine and the current position of the upper die, determining a first driving speed corresponding to the current position; Based on the first driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move.

2. The control method according to claim 1, characterized in that: After controlling the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed, the method further includes: In the case where it is determined that the actual stop position of the upper die has not reached the target position, based on the correspondence between the position and the speed and the actual stop position, a second driving speed corresponding to the actual stop position is determined, wherein the target position is the stop position of the upper die corresponding to the input bending parameter; determining a third driving speed based on the actual stop position, the target position, and the second driving speed; Based on the third driving speed and the preset adjustment time, the driving mechanism of the bending machine is controlled to drive the upper mold to move.

3. The control method according to claim 2, characterized in that: After controlling the driving mechanism of the bending machine to drive the upper die to move based on the third driving speed and the preset adjustment time, the method further includes: Based on the second driving speed, the correspondence between the position and the speed is adjusted.

4. The control method according to claim 1, characterized in that: After controlling the driving mechanism of the bending machine to drive the upper die to move based on the first driving speed, the method further includes: In the case where it is determined that the actual stop position of the upper die exceeds the target position, a compensation speed is determined based on the actual stop position and the target position, wherein the target position is the stop position of the upper die corresponding to the input bending parameter; Based on the compensation speed and the preset adjustment time, the driving mechanism of the bending machine is controlled to drive the upper die to move.

5. The control method according to claim 4, characterized in that: After controlling the driving mechanism of the bending machine to drive the upper die to move based on the compensation speed and the preset adjustment time, the method further includes: Based on the compensation speed, the correspondence between the position and the speed is adjusted.

6. The control method according to claim 1, characterized in that: The determining of a first driving speed corresponding to the current position based on the correspondence between the position and speed of the upper die of the bending machine and the current position of the upper die comprises: When it is determined that the upper die of the bending machine is in the deceleration stage, a first driving speed corresponding to the current position is determined based on the correspondence between the position and speed of the upper die in the deceleration stage and the current position of the upper die.

7. The control method according to claim 6, characterized in that: In the case where it is determined that the upper die of the bending machine is in the deceleration section, before determining the first driving speed corresponding to the current position based on the corresponding relationship between the position and speed of the upper die in the deceleration section and the current position of the upper die, the method further includes: When it is determined that the upper die of the bending machine is in a target section, a fourth driving speed corresponding to the current movement time is determined based on the corresponding relationship between the movement time and the speed of the upper die in the target section and the current movement time of the upper die, wherein the target section includes an acceleration section and a uniform speed section; Based on the fourth driving speed, the driving mechanism of the bending machine is controlled to drive the upper die to move.

8. A control device for a bending machine, characterized in that: include: A determination module, configured to determine a first driving speed corresponding to the current position based on a correspondence between a position and a speed of an upper die of the bending machine and a current position of the upper die; A control module is used to control the driving mechanism of the bending machine to drive the upper mold to move based on the first driving speed.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the control method of the bending machine as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the control method of the bending machine as described in any one of claims 1 to 7 are implemented.

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