Electric bending machine and abnormity detection method and device thereof

Abstract

The invention discloses an electric bending machine and an abnormity detection method and device thereof, and relates to the technical field of mechanical control. The method comprises the following steps: acquiring a current sliding block position fed back by a position ruler and a current motor position fed back by a motor encoder; comparing the current sliding block position with the current motor position; and judging whether the position ruler feedback is abnormal according to the comparison result. By comparing the current position of the sliding block with the current position of the motor, whether feedback of the position ruler is abnormal or not can be judged timely and accurately, then whether the precision of the electric bending machine is abnormal or not is judged, an operator does not need to observe and measure a bent product frequently, and the machining efficiency is improved. After the position ruler is determined to feed back the abnormity, an operator only needs to check whether the quality of the current product is qualified or not and does not need to trace whether the produced product is qualified or not before the abnormity occurs, so that the processing efficiency is improved, and meanwhile, the actual loss of a factory caused by unqualified products produced before is avoided.

Description

Technical Field

[0001] The present application belongs to the field of mechanical control technology, and in particular, relates to an electric bending machine and a method and device for detecting an abnormality thereof. Background Art

[0002] An electric bending machine is a machine that can bend thin plates. Since the position scale in the electric bending machine is the most direct way to measure the position between the upper and lower molds of the electric bending machine, and it has its own reference point, the electric bending machine generally uses the feedback signal of the position scale for closed-loop motion control. However, since the position scale is connected to both sides of the slider, it is generally exposed to the outside without special protection. During the operation of the electric bending machine, due to many factors such as machine vibration, electromagnetic signal interference, iron filings and dust pollution, the position scale signal feedback may be abnormal. Once the position scale feedback is abnormal, the positioning accuracy and repeatability of the bending machine will deteriorate.

[0003] In the related art, operators can only discover abnormalities through traditional methods such as visual observation or measuring the angle of the folded product with an inclinometer. Therefore, operators are required to observe and measure the folded products frequently, which reduces processing efficiency. In addition, when operators discover that the angle of the folded product is abnormal, it is very likely that multiple products with abnormal angles have been processed. Tracing back whether the previously processed products are qualified requires working time, which further reduces processing efficiency. If unqualified products are traced back, actual losses will be caused to the factory. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide an electric bending machine and a method and device for detecting anomalies thereof, so as to solve the problem in the related art that the processing efficiency is reduced and actual losses are caused to the factory.

[0005] To achieve the above objectives, the present application embodiment adopts the following technical solutions: In a first aspect, an embodiment of the present application provides a method for detecting an abnormality of an electric bending machine, comprising: obtaining a current slider position fed back by a position scale and a current motor position fed back by a motor encoder; comparing the current slider position and the current motor position; and determining whether the position scale feedback is abnormal based on the comparison result.

[0006] In a second aspect, an embodiment of the present application provides an abnormality detection device for an electric bending machine, comprising: an acquisition module for acquiring a current slider position fed back by a position scale and a current motor position fed back by a motor encoder; a comparison module for comparing the current slider position and the current motor position; and a judgment module for judging whether the position scale feedback is abnormal based on the comparison result.

[0007] In a third aspect, an embodiment of the present application provides an electric bending machine, comprising: a position scale, a slider, a motor, a motor encoder and a detection device, wherein the detection device comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method described in the first aspect.

[0008] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: When detecting the abnormal accuracy of the electric bending machine, the embodiment of the present application obtains the current slider position fed back by the position scale and the current motor position fed back by the motor encoder, compares the current slider position with the current motor position, and determines whether the position scale feedback is abnormal based on the comparison result. Since, under normal circumstances, there is a fixed deviation between the current slider position fed back by the position scale and the current motor position fed back by the motor encoder, the embodiment of the present application can timely and accurately determine whether the position scale feedback is abnormal by comparing the current slider position with the current motor position, and then determine whether the positioning accuracy and repeatability of the electric bending machine are abnormal (i.e., deteriorated), without the need for operators to frequently observe and measure the folded products, thereby improving processing efficiency. After determining that the position scale feedback is abnormal, the operator only needs to check whether the quality of the current product is qualified, without having to trace whether the products produced before the abnormality occurred are qualified, thereby improving the processing efficiency of the electric bending machine during use, and at the same time avoiding the actual losses to the factory caused by the unqualified products produced before. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic flow chart of a method for detecting abnormality of an electric bending machine provided in one embodiment of the present application; Figure 2 A schematic diagram of the structure of an electric bending machine provided for one embodiment of the present application; Figure 3 A schematic diagram of the overall process of a method for detecting abnormality of an electric bending machine provided in another embodiment of the present application; Figure 4 A schematic flow chart of a method for detecting abnormality of an electric bending machine provided in one embodiment of the present application; Figure 5 A schematic structural diagram of a device for detecting abnormalities of an electric bending machine provided in one embodiment of the present application. DETAILED DESCRIPTION

[0010] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0011] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here. In addition, the "and / or" in this application represents at least one of the connected objects, and the character " / " generally represents that the front and back associated objects are in an "or" relationship. It should be noted that the data involved in this application are all obtained on the premise of obtaining user authorization.

[0012] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0013] Figure 1 A flow chart of a method for detecting abnormality of an electric bending machine provided in one embodiment of the present application. Figure 1 As shown, the method for detecting abnormality of an electric bending machine in an embodiment of the present application may specifically include the following steps: S101, obtaining the current slider position fed back by the position scale and the current motor position fed back by the motor encoder.

[0014] In the embodiment of the present application, the execution subject of the method for detecting abnormality of an electric bending machine in the embodiment of the present application is a detection device for abnormality of an electric bending machine, and the detection device for abnormality of an electric bending machine can be arranged in the control system of the electric bending machine.

[0015] Figure 2 Schematic diagram of the structure of the electric bending machine of the present application embodiment. Figure 2 As shown, the electric bending machine of the embodiment of the present application at least includes: a slider 21, a position ruler 22, a motor 23 and a motor encoder (integrated in the motor 23, Figure 2 The slider 21 is an actuator that drives the upper die to slide downward to perform the bending action in the electric bending machine. The position ruler 22 is a sensor that converts mechanical displacement into electrical signals in the electric bending machine, and is used to collect the position Pr of the slider 21 (i.e., the displacement of the slider 21 relative to the frame). Figure 2The position signals Pr of the sliders of the two position scales 22 on the left and right sides are collected: Pr1 and Pr2. The motor 23 is an actuator used to drive the slider 21 to slide in the electric bending machine. The motor encoder is generally integrated inside the motor 23. It is a sensor that converts the angular displacement of the motor 23 into an electrical signal in the electric bending machine. It is used to collect the position of the motor 23 (i.e., the angular displacement of the motor 23 relative to the frame) Pe. Figure 2 The motor position signals Pe of the two motor encoders on the left and right sides are collected: Pe1 and Pe2.

[0016] The motor encoder is integrated inside the motor, and the signal is stable and reliable. When the motor 23 rotates through the transmission device such as the belt and the screw, there is a problem of transmission backlash. Under normal circumstances, there will be a certain deviation between the position of the motor 23 based on the feedback of the motor encoder and the actual position of the motor 23, and because the transmission backlash is fixed, the deviation can also be considered to be fixed. Under normal circumstances, the actual position of the motor 23 is consistent with the slider position fed back by the position scale 22.

[0017] Therefore, in order to detect the abnormality of the electric bending machine's accuracy (including positioning accuracy and repeatability accuracy) caused by the abnormal feedback of the position scale 22, it is necessary to obtain the slider position Pr fed back by the position scale 22 at the current moment t, recorded as the current slider position Pr_t, and obtain the motor position Pe fed back by the motor encoder at the current moment t, recorded as the current motor position Pe_t.

[0018] Since the slider position Pr fed back by the position scale 22 and the motor position Pe fed back by the motor encoder will change only when the slider 21 slides, the current slider position Pr_t and the current motor position Pe_t can be obtained after each sliding action of the slider 21 is started.

[0019] S102, comparing the current slider position and the current motor position.

[0020] In the embodiment of the present application, the current slider position Pr_t and the current motor position Pe_t can be compared based on the above-mentioned fixed deviation to obtain a comparison result.

[0021] S103, judging whether the position scale feedback is abnormal according to the comparison result.

[0022] In the embodiment of the present application, whether the position scale feedback is abnormal is determined according to the comparison result of step S102.

[0023] As a feasible implementation mode, the above-mentioned S102~S103 "compare the current slider position and the current motor position; determine whether the position scale feedback is abnormal based on the comparison result" may specifically include the following steps: determine whether the current slider position and the current motor position satisfy the preset correspondence between the slider position and the motor position; if not, determine that the position scale feedback is abnormal; if so, determine that the position scale feedback is normal.

[0024] Specifically, under normal circumstances, there will be a certain deviation between the position of the motor 23 fed back by the motor encoder and the actual position of the motor 23, and the actual position of the motor 23 is consistent with the slider position fed back by the position scale 22. Therefore, there is a fixed corresponding relationship between the motor position Pe fed back by the motor encoder and the slider position Pr fed back by the position scale 22: Pe=f(Pr).

[0025] Based on the above correspondence: Pe=f(Pr), the current slider position Pr_t and the current motor position Pe_t are compared to determine whether Pe_t =f(Pr_t).

[0026] If Pe_t =f(Pr_t), it is determined that the position scale feedback is normal, that is, the accuracy of the electric bending machine (including positioning accuracy and repeatability) is normal (that is, it has not deteriorated).

[0027] If Pe_t≠f(Pr_t), it is determined that the position scale feedback is abnormal, that is, the accuracy of the electric bending machine (including positioning accuracy and repeatability) is abnormal (that is, deteriorated).

[0028] Among them, after determining that the position scale feedback is abnormal, the electric bending machine can also be controlled to stop, and an alarm message used to characterize the abnormal position scale feedback can be output to prompt the operator. After receiving the alarm message, the operator only needs to check whether the quality of the current product is qualified (because the detection method of the embodiment of the present application can detect the abnormality in time, there is no situation where products with multiple angle abnormalities have been processed at this time), and there is no need to trace whether the products produced before the abnormality occurred are qualified, thereby improving the processing efficiency of the electric bending machine during use, and at the same time avoiding the actual losses to the factory caused by unqualified products produced before.

[0029] To clearly illustrate the method for detecting abnormality of the electric bending machine in the embodiment of the present application, the following is combined with Figure 3 The overall process of the method for detecting abnormality of an electric bending machine according to an embodiment of the present application is described. Figure 3As shown, the method for detecting an abnormality of an electric bending machine in an embodiment of the present application may specifically include the following steps: after receiving an action command for a slider, the control system of the abnormal electric bending machine controls the rotation of the motor and obtains the current motor position Pe_t fed back by the motor encoder, and at the same time controls the sliding of the slider and obtains the current slider position Pr_t fed back by the position scale, and compares the current slider position Pr_t with the current motor position Pe_t. If Pe_t≠f(Pr_t), the electric bending machine is controlled to stop, and an alarm message for characterizing the abnormal feedback of the position scale is output.

[0030] In order to prevent the misjudgment of abnormality of the electric bending machine, the comparison error can be allowed to fluctuate within the preset accuracy range. Therefore, the corresponding relationship between the slider position Pr and the motor position Pe, Pe=f(Pr), includes: the corresponding relationship between the motor position Pe and the motor position range f1(Pr)~f2(Pr) calculated based on the slider position Pr: Pe∈f1(Pr)~f2(Pr), where f2(Pr)>f1(Pr).

[0031] Correspondingly, based on the above corresponding relationship: Pe∈f1(Pr)~f2(Pr), the current slider position Pr_t and the current motor position Pe_t are compared, that is, it is determined whether Pe_t∈f1(Pr_t)~f2(Pr_t).

[0032] If Pe_t∈f1(Pr_t)~f2(Pr_t), it is determined that the position scale feedback is normal, that is, the accuracy of the electric bending machine (including positioning accuracy and repeatability) is normal (that is, it has not deteriorated).

[0033] If Pet f1 (Pr_t) ~ f2 (Pr_t), it is determined that the position scale feedback is abnormal, that is, the accuracy of the electric bending machine (including positioning accuracy and repeatability) is abnormal (that is, deteriorated).

[0034] Furthermore, the above-mentioned "correspondence between the motor position Pe and the motor position range f1 (Pr) ~ f2 (Pr) calculated based on the slider position Pr" can be obtained through the following steps: when the position scale feedback is normal, obtain each slider position and multiple motor positions corresponding to each slider position; perform curve fitting based on the multiple slider positions and the multiple motor positions corresponding to each slider position to obtain the correspondence between the motor position and the motor position range calculated based on the slider position.

[0035] Specifically, Figure 4 As shown, the following steps are included: S401, when the position scale feedback is normal, start the slider to descend and rise.

[0036] S402, save Pe1-Pr1 and Pe2-Pr2 in real time.

[0037] If the amount of stored data (ie, the number of Pe1s corresponding to each Pr1, the number of Pe2s corresponding to each Pr2) is insufficient, return to step S401.

[0038] If the amount of stored data is sufficient, step S403 is executed.

[0039] S403, sorting the saved data to obtain the corresponding relationship Pe∈f1(Pr)~f2(Pr) between the motor position Pe and the motor position range f1(Pr)~f2(Pr) calculated based on the slider position Pr.

[0040] Furthermore, the above step of "performing curve fitting based on multiple slider positions and multiple motor positions corresponding to each slider position to obtain the corresponding relationship between the motor position and the motor position range calculated based on the slider position" may specifically include the following steps: determining the maximum and minimum values ​​of the multiple motor positions corresponding to each slider position; performing curve fitting based on multiple slider positions and the maximum and minimum values ​​corresponding to each slider position to obtain the corresponding relationship between the motor position and the motor position range calculated based on the slider position. The multiple slider positions may be set at equal intervals.

[0041] Specifically, the key points of the slider position Pr can be set at intervals of 1 millimeter (mm) for the full stroke of the slider, such as Pr_1, Pr_2, Pr_3, ... At each Pr key point, obtain no less than 10 motor positions Pe, and screen out the maximum value PeM and the minimum value PeN among multiple motor positions Pe. Each Pr key point and the corresponding PeM and PeN data are counted to the coordinate axis, with Pr as the horizontal coordinate and PeM and PeN as the vertical coordinates. The adjacent points of PeM are connected to fit the curve Pe=f2(Pr). Similarly, the adjacent points of PeN are connected to fit the curve Pe=f1(Pr). The value range between the two curves is the function f(Pr)=f1(Pr)~f2(Pr). Therefore, the corresponding relationship Pe∈f1(Pr)~f2(Pr) between the motor position Pe and the motor position range f1(Pr)~f2(Pr) calculated based on the slider position Pr is obtained.

[0042] In summary, the method for detecting abnormalities of an electric bending machine in the embodiment of the present application can timely and accurately determine whether the position scale feedback is abnormal by comparing the current slider position and the current motor position, and then determine whether the positioning accuracy and repeatability of the electric bending machine are abnormal (i.e., deteriorated). There is no need for operators to frequently observe and measure the folded products, thereby improving processing efficiency. After determining that the position scale feedback is abnormal, the operator only needs to check whether the quality of the current product is qualified, without tracing whether the products produced before the abnormality are qualified, thereby improving the processing efficiency of the electric bending machine during use, and avoiding actual losses to the factory caused by unqualified products produced before. By judging whether the current slider position and the current motor position satisfy the corresponding relationship between the motor position and the motor position range calculated based on the slider position, the error allowed during position comparison fluctuates within a preset accuracy range, thereby preventing incorrect judgment of abnormalities of the electric bending machine.

[0043] Figure 5 A schematic diagram of a device for detecting abnormalities of an electric bending machine provided in one embodiment of the present application. Figure 5 As shown, the electric bending machine abnormality detection device 500 of the embodiment of the present application may specifically include: an acquisition module 501, a comparison module 502 and a judgment module 503. Among them: The acquisition module 501 is used to acquire the current slider position fed back by the position ruler and the current motor position fed back by the motor encoder.

[0044] The comparison module 502 is used to compare the current slider position with the current motor position.

[0045] The judgment module 503 is used to judge whether the position scale feedback is abnormal according to the comparison result.

[0046] In the embodiment of the present application, the specific process of each module and unit in the electric bending machine abnormality detection device of the embodiment of the present application realizing its function can refer to the relevant description in the above-mentioned electric bending machine abnormality detection method embodiment, which will not be repeated here.

[0047] In summary, the detection device for abnormality of the electric bending machine of the embodiment of the present application can timely and accurately determine whether the position scale feedback is abnormal by comparing the current slider position and the current motor position, and then determine whether the positioning accuracy and repeatability of the electric bending machine are abnormal (i.e., deteriorated). There is no need for operators to frequently observe and measure the folded products, thereby improving processing efficiency. After determining that the position scale feedback is abnormal, the operator only needs to check whether the quality of the current product is qualified, without tracing whether the products produced before the abnormality are qualified, thereby improving the processing efficiency of the electric bending machine during use, and avoiding actual losses to the factory caused by unqualified products produced before. By judging whether the current slider position and the current motor position satisfy the corresponding relationship between the motor position and the motor position range calculated based on the slider position, the error allowed to fluctuate within the preset accuracy range during position comparison, preventing the wrong judgment of abnormality of the electric bending machine.

[0048] The present application also provides an electric bending machine. Figure 2 As shown, the electric bending machine includes a position ruler 22, a slide block 21, a motor 23, and a motor encoder (integrated in the motor 23, Figure 2 Not shown) and a detection device ( Figure 2 (not shown), the detection device includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method for detecting abnormality of an electric bending machine in any of the above embodiments of the present application are implemented.

[0049] In the embodiment of the present application, the specific process of the electric bending machine in the embodiment of the present application realizing its function can refer to the relevant description in the embodiment of the method for detecting abnormality of the electric bending machine mentioned above, which will not be repeated here.

[0050] The electric bending machine of the embodiment of the present application can timely and accurately determine whether the position scale feedback is abnormal by comparing the current slider position and the current motor position, and then determine whether the positioning accuracy and repeatability of the electric bending machine are abnormal (i.e., deteriorated). There is no need for operators to frequently observe and measure the folded products, thereby improving processing efficiency. After determining that the position scale feedback is abnormal, the operator only needs to check whether the quality of the current product is qualified, without having to trace whether the products produced before the abnormality are qualified, thereby improving the processing efficiency of the electric bending machine during use, and avoiding actual losses to the factory caused by unqualified products produced before. By judging whether the current slider position and the current motor position satisfy the corresponding relationship between the motor position and the motor position range calculated based on the slider position, the error allowed to fluctuate within the preset accuracy range during position comparison, preventing the wrong judgment of abnormality of the electric bending machine.

[0051] The embodiment of the present application further proposes a readable storage medium, on which one or more computer programs are stored. The one or more computer programs include instructions. When the program or instruction is executed by a processor in an electric bending machine including multiple application programs, the processor in the electric bending machine can execute each process of the embodiment of the method for detecting abnormality of the electric bending machine, and is specifically used to execute: Get the current slider position fed back by the position scale and the current motor position fed back by the motor encoder; Compare the current slider position with the current motor position; Determine whether the position scale feedback is abnormal based on the comparison results.

[0052] The readable storage medium of the embodiment of the present application can timely and accurately determine whether the position scale feedback is abnormal by comparing the current slider position and the current motor position, and then determine whether the positioning accuracy and repeatability of the electric bending machine are abnormal (i.e., deteriorated), without the need for operators to frequently observe and measure the folded products, thereby improving processing efficiency. After determining that the position scale feedback is abnormal, the operator only needs to check whether the quality of the current product is qualified, without having to trace whether the products produced before the abnormality are qualified, thereby improving the processing efficiency of the electric bending machine during use, and avoiding actual losses to the factory caused by unqualified products produced before. By judging whether the current slider position and the current motor position satisfy the corresponding relationship between the motor position and the motor position range calculated based on the slider position, the error allowed to fluctuate within the preset accuracy range during position comparison, preventing the wrong judgment of abnormal electric bending machine.

[0053] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0054] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0055] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0056] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0057] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0058] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0059] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0060] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0061] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined in this article, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0062] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0063] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0064] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0065] The above are only embodiments of the present application and are 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 within the scope of the claims of the present application.

Claims

1. A method for detecting abnormality of an electric bending machine, characterized in that: include: Get the current slider position fed back by the position scale and the current motor position fed back by the motor encoder; Comparing the current slider position with the current motor position; Whether the position scale feedback is abnormal is determined based on the comparison result.

2. The method according to claim 1, characterized in that The step of comparing the current slider position with the current motor position; and judging whether the position scale feedback is abnormal according to the comparison result includes: Determining whether the current slider position and the current motor position satisfy a preset correspondence relationship between the slider position and the motor position; If not, it is determined that the position scale feedback is abnormal; If satisfied, it is determined that the position scale feedback is normal.

3. The method according to claim 2, characterized in that The correspondence between the slider position and the motor position includes a correspondence between the motor position and a motor position range calculated based on the slider position.

4. The method according to claim 3, characterized in that: The corresponding relationship between the motor position and the motor position range calculated based on the slider position is obtained by the following steps: When the feedback of the position scale is normal, obtaining each slider position and a plurality of motor positions corresponding to each slider position; Curve fitting is performed according to the plurality of slider positions and the plurality of motor positions corresponding to each slider position to obtain a corresponding relationship between the motor position and a motor position range calculated based on the slider position.

5. The method according to claim 4, characterized in that The performing curve fitting according to the plurality of slider positions and the plurality of motor positions corresponding to each slider position to obtain a corresponding relationship between the motor position and a motor position range calculated based on the slider position includes: Determine a maximum value and a minimum value among a plurality of motor positions corresponding to each slider position; Curve fitting is performed according to the plurality of slider positions and the maximum value and the minimum value corresponding to each slider position to obtain a corresponding relationship between the motor position and a motor position range calculated based on the slider position.

6. The method according to claim 4, characterized in that The plurality of sliders are arranged at equal intervals.

7. The method according to claim 2, characterized in that After determining that the position scale feedback is abnormal, the method further includes: The electric bending machine is controlled to stop, and an alarm message indicating abnormal feedback of the position scale is output.

8. The method according to claim 1, characterized in that The step of obtaining the current slider position fed back by the position scale and the current motor position fed back by the motor encoder includes: Each time the sliding action of the slider is started, the current slider position and the current motor position are obtained.

9. A device for detecting abnormality of an electric bending machine, characterized in that: include: An acquisition module is used to acquire the current slider position fed back by the position scale and the current motor position fed back by the motor encoder; A comparison module, used for comparing the current slider position with the current motor position; The judgment module is used to judge whether the position scale feedback is abnormal according to the comparison result.

10. An electric bending machine, characterized in that: The method comprises a position scale, a slider, a motor, a motor encoder and a detection device, wherein the detection device comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the method as claimed in any one of claims 1 to 8.

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