Bending machine and maximum speed self-learning method and device for rear blocking material of bending machine

Abstract

The invention discloses a bending machine and a maximum speed self-learning method and device for a rear blocking material of the bending machine, and relates to the technical field of mechanical control. The method comprises the steps that a motor is controlled to rotate at the target rotating speed so as to drive a rear blocking material to move to the target position from the current position, the target rotating speed is the set multiple of the preset maximum rotating speed of the motor, and the set multiple is smaller than 1; the actual speed of the rear blocking material in the process of moving to the target position is obtained; and according to the set multiple and the actual speed, the self-learning value of the maximum speed of the rear blocking material is determined. According to the method and the device, self-learning of the maximum speed of the rear stopper is realized, the workload is reduced, the accuracy of the maximum speed of the rear stopper is improved, and the problems that the workload is increased and the debugging efficiency is reduced due to the fact that at least one parameter in the rear stopper lead is wrong are avoided.

Description

Technical Field

[0001] The present application belongs to the field of mechanical control technology, and in particular relates to a bending machine and a rear gauge maximum speed self-learning method and device thereof. Background Art

[0002] A bending machine is a machine that can bend thin plates. The back gauge (i.e., workbench) in a bending machine is generally driven by a pulley and a screw. After being driven by a driving wheel, a driven wheel, and a screw, the motor's rotational motion is converted into the linear motion of the back gauge. There is a fixed proportional coefficient (i.e., speed coefficient) between the maximum motor speed and the maximum speed of the back gauge. The speed coefficient is related to the mechanical structure parameters of the back gauge structure (including the number of teeth on the driving wheel, the number of teeth on the driven wheel, and the lead of the screw). The maximum speed of the back gauge is a necessary parameter for motion control.

[0003] Due to the large number of bending machine manufacturers, the back gauge structures of bending machines of different manufacturers are very different. Even for the same manufacturer, the back gauge structures of bending machines of different tonnages are different. Therefore, when debugging a new machine, the debugging personnel need to obtain the mechanical structure parameters of the back gauge structure of the machine every time. If any of the number of teeth of the driving wheel, the number of teeth of the driven wheel, and the lead of the screw rod are inaccurate, it will cause an error in the calculation of the speed coefficient, which will lead to an error in the calculation of the maximum speed of the back gauge and abnormal control. In the related art, the debugging personnel generally obtain the mechanical structure parameters of the back gauge structure by communicating with the manufacturer, or obtain them through actual measurement. However, the manufacturer often cannot accurately provide the mechanical structure parameters of the back gauge structure, and when the parameters provided by the manufacturer are used for debugging and the parameters are found to be incorrect, it is impossible to determine which of the three parameters is incorrect, and it is necessary to confirm them one by one, which increases the workload and reduces the debugging efficiency. The actual measurement method has a large workload and a low accuracy rate. Therefore, the above-mentioned method of determining the maximum speed of the back gauge based on the mechanical structure parameters of the back gauge structure has a low accuracy rate, increases the workload, and reduces the debugging efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a bending machine and a rear gauge maximum speed self-learning method and device thereof, so as to solve the problem that the method of determining the maximum speed of the rear gauge based on the mechanical structure parameters of the rear gauge structure in the related art has low accuracy, increases workload, and reduces debugging efficiency.

[0005] To achieve the above objectives, the present application embodiment adopts the following technical solutions: In the first aspect, an embodiment of the present application provides a self-learning method for the maximum speed of the rear stop of a bending machine, comprising: controlling a motor to rotate at a target speed to drive the rear stop to move from a current position to a target position, wherein the target speed is a set multiple of the maximum speed preset by the motor, and the set multiple is less than 1; obtaining the actual speed of the rear stop in the process of moving to the target position; and determining a self-learning value of the maximum speed of the rear stop based on the set multiple and the actual speed.

[0006] In the second aspect, an embodiment of the present application provides a self-learning device for the maximum speed of the rear stop of a bending machine, including: a control module, used to control the motor to rotate at a target speed to drive the rear stop to move from the current position to the target position, the target speed is a set multiple of the maximum speed preset by the motor, and the set multiple is less than 1; an acquisition module, used to obtain the actual speed of the rear stop in the process of moving to the target position; a determination module, used to determine the self-learning value of the maximum speed of the rear stop based on the set multiple and the actual speed.

[0007] In a third aspect, an embodiment of the present application provides a bending machine, comprising: a rear stop, a motor and a self-learning device, wherein the self-learning 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: In the embodiment of the present application, when the maximum speed of the rear gauge of the bending machine is self-learned, the motor is controlled to rotate at a target speed to drive the rear gauge to move from the current position to the target position, and the target speed is a set multiple of the preset maximum speed of the motor, and the set multiple is less than 1; the actual speed of the rear gauge in the process of moving to the target position is obtained; and the self-learning value of the maximum speed of the rear gauge is determined according to the set multiple and the actual speed. In the embodiment of the present application, the motor is controlled to rotate at a set multiple of the preset maximum speed to drive the rear gauge to move from the current position to the target position, and the self-learning value of the maximum speed of the rear gauge is determined according to the set multiple and the actual speed of the rear gauge in the process of moving to the target position, so as to realize self-learning of the maximum speed of the rear gauge, reduce the workload, improve the accuracy of the maximum speed of the rear gauge, and avoid the problem of increased workload and reduced debugging efficiency caused by at least one parameter error in the rear gauge lead. 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 self-learning the maximum speed of a rear gauge of a bending machine provided in one embodiment of the present application; Figure 2 A schematic diagram of the structure of a bending machine provided for one embodiment of the present application; Figure 3 A schematic diagram of obtaining the actual speed of the back gauge in the uniform speed section during the process of moving to the target position provided by one embodiment of the present application; Figure 4 A schematic diagram of the overall process of a method for self-learning the maximum speed of a rear gauge of a bending machine provided in another embodiment of the present application; Figure 5 A schematic structural diagram of a maximum speed self-learning device for a rear gauge of a 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] A bending machine is a machine that can bend thin plates. The back gauge (i.e., workbench) in a bending machine is generally driven by a pulley and a screw. After being driven by a driving wheel, a driven wheel, and a screw, the motor's rotational motion is converted into the linear motion of the back gauge. There is a fixed proportional coefficient (i.e., speed coefficient) between the maximum motor speed and the maximum speed of the back gauge. The speed coefficient is related to the mechanical structure parameters of the back gauge structure (including the number of teeth on the driving wheel, the number of teeth on the driven wheel, and the lead of the screw). The maximum speed of the back gauge is a necessary parameter for motion control.

[0013] Due to the large number of bending machine manufacturers, the back gauge structures of bending machines from different manufacturers are very different. Even for the same manufacturer, the back gauge structures of bending machines of different tonnages are also different. Therefore, when debugging a new machine, the commissioning personnel need to obtain the mechanical structure parameters of the back gauge structure of the machine every time. If any of the number of teeth on the driving wheel, the number of teeth on the driven wheel, and the lead of the screw are inaccurate, it will lead to an error in the calculation of the speed coefficient, which will lead to an error in the calculation of the maximum speed of the back gauge and abnormal control.

[0014] In the related technology, the debugging personnel generally obtain the mechanical structure parameters of the back gauge structure by communicating with the manufacturer, or by actual measurement. However, the back gauge structures of different bending machines vary greatly. The selection of the driving wheel, driven wheel, and screw of the same bending machine may be different. Therefore, the manufacturer is often unable to accurately provide the mechanical structure parameters of the back gauge structure, and the parameters provided by the manufacturer are used for debugging. If it is found that the actual measured maximum speed of the back gauge is inconsistent with the maximum speed calculated by the system, although it can be determined that the parameters are incorrect, it is impossible to determine which of the three parameters is incorrect. It is necessary to confirm them one by one, which increases the workload and reduces the debugging efficiency. In the actual measurement method, the back gauge structure of some bending machines is a dustproof structure, and the dust cover needs to be removed for measurement. The actual measurement of the number of teeth on the driving wheel, the number of teeth on the driven wheel, and the lead of the screw requires a large workload and low accuracy, because the measurement error of the lead of the screw needs to be accurate to 0.01 mm. Therefore, the above method of determining the maximum speed of the back gauge based on the mechanical structure parameters of the back gauge structure has low accuracy, increases the workload, and reduces the debugging efficiency.

[0015] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0016] Figure 1 A schematic diagram of a process flow of a method for self-learning the maximum speed of a rear gauge of a bending machine provided by an embodiment of the present application. Figure 1 As shown, the maximum speed self-learning method of the rear gauge of the bending machine in the embodiment of the present application may specifically include the following steps: S101, controlling the motor to rotate at a target speed to drive the rear stopper to move from the current position to the target position, wherein the target speed is a set multiple of the preset maximum speed of the motor, and the set multiple is less than 1.

[0017] In an embodiment of the present application, the executor of the maximum speed self-learning method of the rear gauge of the bending machine in the embodiment of the present application is a maximum speed self-learning device of the rear gauge of the bending machine, and the maximum speed self-learning device of the rear gauge of the bending machine can be arranged in the control system of the bending machine.

[0018] Figure 2 This is a schematic diagram of the structure of the bending machine according to an embodiment of the present application. Figure 2 As shown, the bending machine of the embodiment of the present application at least includes: a slider ( Figure 2 ), motor 21, motor encoder (integrated in motor 21, Figure 2 ), driving wheel 22, driven wheel 23, belt 24, screw 25, nut 26 and back stop 27. Among them, the slider is an executive component in the bending machine that drives the upper mold to slide downward to perform the bending action. The motor 21 is an executive component in the bending machine used to drive the slider to slide. The motor encoder is generally integrated inside the motor 21. It is a sensor in the bending machine that converts the angular displacement of the motor 21 into an electrical signal, which is used to collect the position of the motor 21. The rotation of the motor 21 drives the driving wheel 23 to rotate. The rotation of the driving wheel 23 drives the driven wheel 23 to rotate through the belt 24. The rotation of the driven wheel 23 drives the screw 25 to rotate, thereby causing the back stop 27 to move along the screw 25. The back stop 27 is a mechanical structure on the bending machine that is responsible for supporting and positioning the thin plate to be bent. It is used to accurately control the bending size during the bending process.

[0019] The maximum speed of the back gauge can be calculated using the following formula: Vm=(Rm / 60)*(G1 / G2)*Sp(1) Among them, Vm is the maximum speed of the back gauge (the moving speed of the back gauge when the motor rotates at the preset maximum speed), Rm is the preset maximum speed of the motor, and G1 is the number of teeth on the driving wheel (that is, the number of teeth on the motor end in the gear transmission or pulley transmission structure, for example Figure 2 G2 is the number of teeth on the driven wheel 22 in the pulley transmission structure), G3 is the number of teeth on the driven wheel (i.e. the number of teeth on the moving end in the gear transmission or pulley transmission structure, for example Figure 2 The number of teeth of the driven wheel 23 in the pulley transmission structure of the screw is 23, and Sp is the lead of the screw (i.e., the axial distance between the corresponding points of two adjacent teeth on the same spiral line of the screw). The maximum speed of the motor Rm is a known parameter of the control system, and the number of teeth of the driving wheel G1, the number of teeth of the driven wheel G2 and the lead of the screw Sp are the mechanical structure parameters of the back gauge transmission mechanism.

[0020] In order to reflect the relationship between the maximum motor speed Rm and the maximum back gauge speed Vm, the above formula (1) can be transformed into the following formula (2): Vm= ((G1*Sp) / (60*G2))* Rm (2) By observing formula (2), we can see that the number of teeth on the driving gear G1, the number of teeth on the driven gear G2 and the lead of the screw Sp can be regarded as a coefficient as a whole as mechanical constants, that is, (G1*Sp) / (60*G2) can be simplified to the speed coefficient k. Then formula (2) can be simplified to the following formula (3): Vm=k*Rm(3) From the simplified formula (3), we can see that the originally unknown number of teeth on the driving gear G1, the number of teeth on the driven gear G2 and the lead of the screw Sp are simplified to an unknown speed coefficient k.

[0021] Based on the above formula (3), before self-learning the maximum speed Vm of the rear gauge, the maximum speed of the rear gauge needs to be set to a certain value Vm1 (Vm1 can be a default value or a value entered by the user).

[0022] After the self-learning starts, the user inputs the target position of the back gauge and clicks to start. The motor is controlled to rotate at the target speed Rt through the action command of the control system, thereby driving the back gauge to move from the current position to the target position. Among them, the target speed Rt is the set multiple n of the preset maximum speed Rm of the motor, that is, Rt=Rm*n, and the set multiple n is less than 1. In some embodiments, the value range of the set multiple n can be 0.2~0.3, for example, the value can be 0.25.

[0023] S102, obtaining the actual speed of the rear stopper in the process of moving to the target position.

[0024] In the embodiment of the present application, in the process of the back stop moving from the current position to the target position, the actual speed Vt of the back stop can be determined by collecting the displacement of the back stop within a period of time and calculating.

[0025] S103, determining the self-learning value of the maximum speed of the rear gauge according to the set multiple and the actual speed.

[0026] In the embodiment of the present application, based on the above formula (3), the speed coefficient k can be obtained by the following formula (4): k = Vt / Rt = Vt / (Rm*n) (4) Substituting formula (4) into formula (3), the following formula (5) is used to determine the self-learning value Vm2 of the maximum speed of the rear gauge: Vm2=(Vt / (Rm*n))*Rm=Vt / n(5) Furthermore, considering that there is a certain delay from the start of the motor to the rotation at the target speed Rt, in order to ensure that the actual speed Vt of the rear stop obtained is the speed corresponding to the target speed Rt, the above-mentioned step S102 "obtaining the actual speed of the rear stop in the process of moving to the target position" can specifically include the following steps: obtaining the actual speed of the rear stop in the uniform speed section during the process of moving to the target position.

[0027] Among them, the above step of "obtaining the actual speed of the rear stop in the uniform speed section during the process of moving to the target position" can specifically include the following steps: obtaining the first moment T1 and the first position P1 when the rear stop enters the uniform speed section; obtaining the second moment T2 and the second position P2 when the rear stop ends the uniform speed section; according to the first moment T1, the first position P1, the second moment T2 and the second position P2, determining the actual speed Vt of the uniform speed section, Vt=(P2-P1) / (T2-T1).

[0028] Furthermore, considering that the time corresponding to the uniform speed section is too short, the calculation result may be inaccurate. Therefore, before the above step "determine the actual speed Vt of the uniform speed section according to the first moment T1, the first position P1, the second moment T2 and the second position P2, Vt=(P2-P1) / (T2-T1)", the maximum speed self-learning method of the rear gauge of the bending machine in the embodiment of the present application may also include the following steps: calculate the time difference △T=T2-T1 between the second moment T2 and the first moment T1, and determine whether the time difference △T is greater than the preset time difference threshold △T0. If the time difference △T is greater than the time difference threshold △T0, the actual speed Vt step of the uniform speed section is determined according to the first moment T1, the first position P1, the second moment T2 and the second position P2. If the time difference △T is equal to or less than the time difference threshold △T0, an error message is output.

[0029] The value range of the time difference threshold ΔT0 may be 4 seconds to 6 seconds, for example, 5 seconds.

[0030] To clearly explain the process of obtaining the actual speed Vt of the uniform speed section of the back gauge when it moves to the target position, Figure 3 For detailed description. Figure 3 As shown, including: S301, obtaining the first moment T1 and the first position P1 when the rear stopper enters the uniform speed section.

[0031] S302, obtaining a second time T2 and a second position P2 when the rear stopper ends the uniform speed section.

[0032] S303, calculating the time difference ΔT=T2-T1 between the second time T2 and the first time T1.

[0033] S304, determine whether the time difference ΔT is greater than a preset time difference threshold ΔT0. If yes, execute step S305. If yes, execute step S306.

[0034] S305, determining the actual speed Vt of the uniform speed segment, Vt=(P2-P1) / (T2-T1).

[0035] S306: Output error information.

[0036] To clearly illustrate the maximum speed self-learning method of the rear gauge of the bending machine in the embodiment of the present application, the following is combined with Figure 4 The overall process of the maximum speed self-learning method of the rear gauge of the bending machine in the embodiment of the present application is described. Figure 4 As shown, the self-learning method for the maximum speed of the rear gauge of the bending machine in the embodiment of the present application may specifically include the following steps: setting the maximum speed Vm of the rear gauge to the current setting value Vm1, the user inputs the target position of the rear gauge, clicks to start, and after the control system of the bending machine receives the action command, controls the motor to rotate at the target speed Rt=Rm*n, the rotation of the motor drives the driving wheel to rotate, the rotation of the driving wheel drives the driven wheel to rotate, and the rotation of the driven wheel drives the screw to rotate, thereby moving the rear gauge from the current position to the target position (the current motor position reading Ev can be used to determine whether the rear gauge has moved to the target position, as well as the position of the rear gauge when the subsequent uniform speed section enters and ends), obtaining the actual speed Vt of the uniform speed section during the process of the rear gauge moving from the current position to the target position, and using the formula Vm2=Vt / n to determine the self-learning value Vm2 of the maximum speed of the rear gauge.

[0037] In summary, the self-learning method for the maximum speed of the rear gauge of the bending machine in the embodiment of the present application, when self-learning the maximum speed of the rear gauge of the bending machine, controls the motor to rotate at a target speed to drive the rear gauge to move from the current position to the target position, and the target speed is a set multiple of the preset maximum speed of the motor, and the set multiple is less than 1; the actual speed of the rear gauge in the process of moving to the target position is obtained; according to the set multiple and the actual speed, the self-learning value of the maximum speed of the rear gauge is determined. In the embodiment of the present application, the motor is controlled to rotate at a set multiple of the preset maximum speed to drive the rear gauge to move from the current position to the target position, and the self-learning value of the maximum speed of the rear gauge is determined according to the set multiple and the actual speed of the rear gauge in the process of moving to the target position, so as to realize self-learning of the maximum speed of the rear gauge, reduce the workload, improve the accuracy of the maximum speed of the rear gauge, and avoid the problem of increased workload and reduced debugging efficiency caused by at least one parameter error in the guide of the rear gauge.

[0038] Figure 5 This is a schematic diagram of a maximum speed self-learning device for a rear gauge of a bending machine provided by an embodiment of the present application. Figure 5 As shown, the bending machine rear gauge maximum speed self-learning device 500 of the embodiment of the present application may specifically include: a control module 501, an acquisition module 502 and a determination module 503. Among them: The control module 501 is used to control the motor to rotate at a target speed to drive the rear stop to move from the current position to the target position. The target speed is a set multiple of the maximum speed preset by the motor, and the set multiple is less than 1.

[0039] The acquisition module 502 is used to acquire the actual speed of the back stopper in the process of moving to the target position.

[0040] The determination module 503 is used to determine the self-learning value of the maximum speed of the rear gauge according to the set multiple and the actual speed.

[0041] In the embodiment of the present application, the specific process of each module and unit in the maximum speed self-learning device of the rear gauge of the bending machine in the embodiment of the present application realizing its function can be referred to the relevant description in the embodiment of the maximum speed self-learning method of the rear gauge of the bending machine mentioned above, and will not be repeated here.

[0042] In summary, the self-learning device for the maximum speed of the rear gauge of the bending machine in the embodiment of the present application controls the motor to rotate at a set multiple of the preset maximum speed to drive the rear gauge to move from the current position to the target position, and determines the self-learning value of the maximum speed of the rear gauge according to the set multiple and the actual speed of the rear gauge in the process of moving to the target position, thereby realizing self-learning of the maximum speed of the rear gauge, reducing the workload, improving the accuracy of the maximum speed of the rear gauge, and avoiding the problem of increased workload and reduced debugging efficiency caused by at least one parameter error in the rear gauge guide.

[0043] The present application also provides a bending machine. Figure 2 As shown, the bending machine includes a back gauge 27, a motor 21 and a self-learning device ( Figure 2 (not shown), the self-learning 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 self-learning method for the maximum speed of the rear stop of the bending machine in any of the above embodiments of the present application are implemented.

[0044] In the embodiment of the present application, the specific process of the bending machine in the embodiment of the present application to realize its function can refer to the relevant description in the embodiment of the maximum speed self-learning method of the rear gauge of the bending machine mentioned above, which will not be repeated here.

[0045] The bending machine in the embodiment of the present application controls the motor to rotate at a set multiple of the preset maximum speed to drive the rear gauge to move from the current position to the target position, and determines the self-learning value of the maximum speed of the rear gauge according to the set multiple and the actual speed of the rear gauge in the process of moving to the target position, thereby realizing self-learning of the maximum speed of the rear gauge, reducing the workload, improving the accuracy of the maximum speed of the rear gauge, and avoiding the problem of increased workload and reduced debugging efficiency caused by at least one parameter error in the rear gauge guide.

[0046] The embodiment of the present application further proposes a readable storage medium, on which one or more computer programs are stored, and the one or more computer programs include instructions. When the program or instruction is executed by a processor in a bending machine including multiple application programs, the processor in the bending machine can execute each process of the embodiment of the maximum speed self-learning method of the rear gauge of the bending machine, and is specifically used to execute: Control the motor to rotate at a target speed to drive the rear stopper to move from the current position to the target position. The target speed is a multiple of the preset maximum speed of the motor, and the set multiple is less than 1. Get the actual speed of the back gauge when it moves to the target position; According to the set multiple and actual speed, determine the self-learning value of the maximum speed of the rear gauge.

[0047] In the embodiment of the present application, the specific process of the readable storage medium in the embodiment of the present application realizing its function can be referred to the relevant description in the embodiment of the maximum speed self-learning method of the rear gauge of the bending machine mentioned above, which will not be repeated here.

[0048] The readable storage medium of the embodiment of the present application controls the motor to rotate at a set multiple of the preset maximum speed to drive the rear stop to move from the current position to the target position, and determines the self-learning value of the maximum speed of the rear stop based on the set multiple and the actual speed of the rear stop in the process of moving to the target position, thereby realizing self-learning of the maximum speed of the rear stop, reducing the workload, improving the accuracy of the maximum speed of the rear stop, and avoiding the problem of increased workload and reduced debugging efficiency caused by at least one parameter error in the rear stop guide.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0055] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 self-learning method for the maximum speed of the rear gauge of a bending machine, characterized in that: include: Controlling the motor to rotate at a target speed to drive the rear stopper to move from a current position to a target position, wherein the target speed is a set multiple of a preset maximum speed of the motor, and the set multiple is less than 1; Acquiring an actual speed of the back gauge in the process of moving to the target position; According to the set multiple and the actual speed, a self-learning value of the maximum speed of the rear gauge is determined.

2. The method according to claim 1, characterized in that The obtaining of the actual speed of the back gauge in the process of moving to the target position includes: The actual speed of the back stop in the uniform speed section during the process of moving to the target position is obtained.

3. The method according to claim 2, characterized in that The obtaining of the actual speed of the back stop in the uniform speed section during the process of moving to the target position includes: Obtaining a first moment and a first position when the back gauge enters the uniform speed section; Acquire a second moment and a second position when the back gauge ends the uniform speed section; The actual speed of the uniform speed section is determined according to the first moment, the first position, the second moment and the second position.

4. The method according to claim 3, characterized in that Before determining the actual speed of the uniform speed section according to the first moment, the first position, the second moment and the second position, the method further includes: Calculating the time difference between the second moment and the first moment; If the time difference is greater than a preset time difference threshold, the step of determining the actual speed of the uniform speed segment according to the first moment, the first position, the second moment and the second position is executed.

5. The method according to claim 4, characterized in that Also includes: If the time difference is equal to or less than the time difference threshold, an error message is output.

6. The method according to claim 4, characterized in that The time difference threshold value ranges from 4 seconds to 6 seconds.

7. The method according to claim 1, characterized in that The value range of the setting multiple is 0.2~0.

3.

8. The method according to claim 1, characterized in that Determining the self-learning value of the maximum speed of the rear gauge according to the set multiple and the actual speed includes: The following formula is used to determine the self-learning value of the maximum speed of the back gauge: Vm2=Vt / n Wherein, the Vm2 is the self-learning value of the maximum speed of the rear stopper, the n is the set multiple, and the Vt is the actual speed.

9. A self-learning device for the maximum speed of the rear gauge of a bending machine, characterized in that: include: A control module, used to control the motor to rotate at a target speed to drive the rear stopper to move from a current position to a target position, wherein the target speed is a set multiple of a preset maximum speed of the motor, and the set multiple is less than 1; An acquisition module, used for acquiring an actual speed of the back stopper in the process of moving to the target position; A determination module is used to determine the self-learning value of the maximum speed of the rear stop according to the set multiple and the actual speed.

10. A bending machine, characterized in that: It includes a back stop, a motor and a self-learning device, wherein the self-learning device includes a processor, a memory and a program or instruction stored in the memory and executable on the processor, and when the program or instruction is executed by the processor, the steps of the method as described in any one of claims 1 to 8 are implemented.

Images