Bending feeding compensation method and device, bending system, electronic equipment and medium
By controlling the feed amount of strip metal parts in real time, the continuous changes in the metal bending curve are achieved, the stress concentration problem caused by discontinuous curvature is solved, and the quality and yield of the product are improved.
Patent Information
- Application Number
- CN202510555425.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-29
- Publication Date
- 2025-07-04
AI Technical Summary
In the prior art, in the bending and forming process of strip metals, discontinuous curvature leads to stress concentration, which may cause local stress to be excessive, resulting in tension or fracture, and local structure instability.
By obtaining the real-time bending angle θ of the two ends of the strip metal member, combining the original length L, the real-time feed amount M is calculated and output, and the second motor drives the first end of the strip metal member to move in the first direction, thereby achieving continuous change in the curve.
It alleviates the problem of stress concentration during bending and improves the quality and yield of the product.
Smart Images
Figure CN120243698A_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of metal bending and its control, and in particular, to a bending feed compensation method, a device, a bending system, an electronic device, and a medium. Background Art
[0002] In the bending forming process of strip-shaped metal, at present, a linear compensation method is mostly used. The disadvantage is that during the compensation process, the curvature on the metal is usually discontinuous, resulting in different degrees of concentrated stress inside the material during the entire bending process. This concentrated stress may be significantly higher than the average stress level of the material, causing excessive local stress; if this stress is greater than the yield strength, tensile or even fracture will occur, which is particularly dangerous at weak positions or defects. In addition, the discontinuous change of the curvature may also lead to local instability of the structure. Summary of the Invention
[0003] In view of this, the present disclosure provides a bending feed compensation method, a device, a bending system, an electronic device, and a medium, which are used to at least partially solve the above technical problems.
[0004] In a first aspect, the present disclosure provides a bending feed compensation method, the method comprising: obtaining the real-time bending angles θ of two ends of a strip-shaped metal piece, wherein the two ends of the strip-shaped metal piece are driven to rotate synchronously and towards each other; determining the real-time feed amount M of the strip-shaped metal piece in a first direction according to the real-time bending angles θ of the two ends of the strip-shaped metal piece and the pre-set original length L of the strip-shaped metal piece, wherein the first direction points from a first end of the strip-shaped metal piece to a second end; and outputting the real-time feed amount M to a servo driver electrically connected to a second motor to control the operation of the second motor in real time, wherein the second motor is used to drive the first end of the strip-shaped metal piece to move along the first direction.
[0005] In a second aspect, the present disclosure provides a bending feed compensation device, the device comprising: an obtaining module, configured to obtain the real-time bending angles θ of two ends of a strip-shaped metal piece, wherein the two ends of the strip-shaped metal piece are driven to rotate synchronously and towards each other; a determining module, configured to determine the real-time feed amount M of the strip-shaped metal piece in a first direction according to the real-time bending angles θ of the two ends of the strip-shaped metal piece and the pre-set original length L of the strip-shaped metal piece, wherein the first direction points from a first end of the strip-shaped metal piece to a second end; and an output module, configured to output the real-time feed amount M to a servo driver electrically connected to a second motor to control the operation of the second motor in real time, wherein the second motor is used to drive the first end of the strip-shaped metal piece to move along the first direction.
[0006] In a third aspect, the present disclosure provides a bending system, including: two first motors and two servo drivers respectively electrically connected thereto. The two first motors respectively clamp two ends of a strip-shaped metal piece, and the two servo drivers are configured to control the two first motors to drive the two ends of the strip-shaped metal piece to rotate synchronously towards each other; a second motor and a servo driver electrically connected thereto. The second motor is configured to drive the first motor that clamps the first end of the strip-shaped metal piece to move in a first direction, where the first direction points from the first end of the strip-shaped metal piece to the second end. The servo driver is configured to use a position control function to control the real-time feed amount of the second motor according to the real-time feed amount M of the strip-shaped metal piece in the first direction; a controller, which is electrically connected to each servo driver respectively. The controller is configured to determine the real-time feed amount M of the strip-shaped metal piece in the first direction according to the bending feed compensation method described in the foregoing first aspect and output the real-time feed amount M to the servo driver electrically connected to the second motor.
[0007] In a fourth aspect, the present disclosure provides an electronic device, which includes: a processor, a communication interface, a memory, and a bus. The processor, the communication interface, and the memory complete communication with each other through the bus; the memory is configured to store at least one executable instruction, and the executable instruction causes the processor to perform the operations corresponding to the method described in any one of the first aspect.
[0008] In a fifth aspect, the present disclosure provides a machine-readable storage medium storing machine instructions. When the machine instructions are executed by a processor, the processor is caused to perform the method described in any one of the first aspect.
[0009] In an embodiment of the present application, the real-time feed amount M of the strip-shaped metal piece in the first direction is determined according to the real-time bending angles θ of the two ends of the strip-shaped metal piece and the original length L of the strip-shaped metal piece. Then, the real-time feed amount M is used to control in real time the operation of the second motor that drives the first end of the strip-shaped metal piece to move in the first direction to compensate for the length difference of the strip-shaped metal in the first direction, so that the curve of the metal bending presents a parabola, and the curvature of the curve of the metal bending changes continuously. This greatly alleviates the stress concentration problem generated during the bending process and is beneficial to improving the product quality and the yield rate. Description of the Drawings
[0010] Figure 1 is a flowchart of a bending feed compensation method according to an embodiment of the present disclosure.
[0011] Figure 2 is a state diagram of a bending feed compensation process according to an embodiment of the present disclosure.
[0012] Figure 3An example curve showing the correspondence function between the position S(θ) of the first end of the strip-shaped metal part and the bending angle θ is shown.
[0013] Figure 4 is a structural diagram of a bending feed compensation device according to an embodiment of the present disclosure.
[0014] Figure 5 is a structural diagram of a bending system according to an embodiment of the present disclosure.
[0015] Figure 6 is a structural diagram of an electronic device according to an embodiment of the present disclosure.
[0016] List of reference numerals:
[0017] 202, the first motor; 204, the second motor;
[0018] 400, the bending feed compensation device; 410, the obtaining module;
[0019] 420, the determining module; 430, the output module;
[0020] 500, the bending system; 502, the servo driver;
[0021] 504, the controller; 600, the electronic device;
[0022] 602, the processor; 604, the communication interface;
[0023] 606, the memory; 608, the bus;
[0024] 610, the program. Detailed implementation manners
[0025] To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other technical solutions obtained by those of ordinary skill in the art based on the embodiments in the present application fall within the protection scope of the present application.
[0026] Figure 1 shows a flowchart of a bending feed compensation method according to an embodiment of the present disclosure. This method is mainly applied to a bending system, such as Figure 2 an example bending system. As Figure 2As shown in the figure, the bending system includes two first motors 202 and a second motor 204. The two first motors 202 perform rotation operations on the two ends of the strip-shaped metal piece, and at the same time, the second motor 204 performs a feeding operation on one end of the strip-shaped metal piece, so as to realize bending the straight strip-shaped metal into an arc shape. Among them, the two first motors 202 are clamped at the two ends of the strip-shaped metal piece by clamps and drive the two ends of the strip-shaped metal piece to rotate synchronously towards each other. At the same time, when one of the first motors 202 keeps the position of the second end of the strip-shaped metal unchanged, the other first motor 202 that clamps the first end of the strip-shaped metal piece is driven by the second motor 204 to move along this first direction to compensate for the length of the strip-shaped metal in the first direction. The first direction points from the first end of the strip-shaped metal piece to the second end. It should be noted that the bending feed compensation method in this embodiment is specifically used for controlling the feeding operation of the second motor 204. It can be understood that in some embodiments, the first motor 202 can also be replaced by other devices that can drive the two ends of the strip-shaped metal piece to rotate synchronously towards each other, and this application does not make any restrictions.
[0027] As Figure 1 shown, this bending feed compensation method includes:
[0028] In step S110, the real-time bending angles θ of the two ends of the strip-shaped metal piece (that is, the real-time rotation angles θ of the two ends) are obtained. As Figure 2 shown, the two ends of the strip-shaped metal piece are driven to rotate synchronously towards each other.
[0029] As mentioned above, the two ends of the strip-shaped metal piece are driven by two first motors 202, for example, to realize the synchronous rotation of the two ends of the strip-shaped metal piece towards each other. Therefore, their real-time rotation angles are the same under normal circumstances. So in practical applications, S110 can, for example, obtain the real-time rotation angle of any one of the two first motors 202 or the real-time rotation angles of the two first motors 202, and then determine the real-time bending angles θ of the two ends of the strip-shaped metal piece according to the real-time rotation angle of the first motor 202.
[0030] More specifically, for example, the real-time bending angles θ of the two ends of the strip-shaped metal part can be obtained by setting an encoder. In an example scenario where the encoder is set on the output shaft of the first motor 202, this step S110 can be further implemented as: obtaining the real-time value of the encoder of the first motor 202; determining the real-time rotation angle of the first motor 202 according to the real-time value of the encoder, and obtaining the real-time bending angles θ of the two ends of the strip-shaped metal part according to the real-time rotation angle of the first motor 202 and the preset gear ratio of the speed reducer, and the speed reducer is coupled to the output shaft of the first motor 202. It can be understood that although a speed reducer is required in most cases, there are still cases where a speed reducer is not required. In this case, the real-time bending angles θ of the two ends of the strip-shaped metal part can be directly obtained according to the real-time rotation angle of the first motor 202. In addition, in a scenario where the encoder is set on the output side of the speed reducer, the real-time bending angles θ of the two ends of the strip-shaped metal part can be directly determined according to the real-time value of the encoder.
[0031] In addition, in addition to obtaining the real-time bending angles θ of the two ends of the strip-shaped metal part by setting an encoder as described above, the real-time bending angles θ of the two ends of the strip-shaped metal part can also be obtained by other conventional methods such as Hall sensors, resolvers, and inertial measurement units, which will not be elaborated here.
[0032] After that, step S120 is entered. According to the real-time bending angles θ of the two ends of the strip-shaped metal part obtained in step S110 and the preset original length L of the strip-shaped metal part, the real-time feed amount M of the strip-shaped metal part in the first direction is determined. For example, the user can input the original length L of the strip-shaped metal part through an input device in advance.
[0033] Optionally, this step S120 can be further implemented as: using the formula According to the real-time bending angles θ of the two ends of the strip-shaped metal part and the preset original length L of the strip-shaped metal part, the real-time feed amount M of the strip-shaped metal part in the first direction is determined. Figure 3 Shows the correspondence function between the position S(θ) of the first end of the strip-shaped metal part and the bending angle θ An example curve is shown in the figure. It can be seen that the curve presents an ideal parabolic curve. This enables the use of M(θ) of the correspondence function between the position S(θ) of the first end of the strip-shaped metal part and the bending angle θ to control the real-time feed of the second motor 204, so that the bending curve of the strip-shaped metal part can approach the ideal parabolic curve, ensuring continuous change in the curvature of the bending curve. This greatly alleviates the stress concentration problem generated during the bending process and is beneficial to improving the product quality and the yield rate.
[0034] After that, step S130 is entered, and the real-time feed M is output to the servo driver 502 electrically connected to the second motor 204 to control the operation of the second motor 204 in real time. The second motor 204 is configured to drive the first motor clamping the first end of the strip-shaped metal part to move in the first direction, indirectly realizing driving the first end of the strip-shaped metal part to move in the first direction.
[0035] For example, the servo driver 502 uses the position control function to control the real-time feed of the second motor 204 according to the real-time feed M of the strip-shaped metal part in the first direction.
[0036] It can be understood that "obtaining the real-time bending angles θ of the two ends of the strip-shaped metal part" in step S110 is specifically implemented as periodically (such as but not limited to based on the machine cycle) obtaining the bending angles θ of the two ends of the strip-shaped metal part. And, for example, the user can input the target bending angle θ0 in advance through the input device, and the method of this embodiment may further include: when the real-time bending angles θ of the two ends of the strip-shaped metal part reach the target bending angle θ0, stopping the steps in the method of this embodiment.
[0037] To implement the bending feed compensation method of the above embodiment, an embodiment of the present disclosure also provides a bending feed compensation device 400, as Figure 4 shown. The device 400 includes an acquisition module 410, a determination module 420, and an output module 430. It should be noted that since the following embodiments are for implementing the foregoing method embodiments, each module in the device 400 is provided for implementing each step of the foregoing method. Therefore, the present disclosure is not limited to the following embodiments, and any device or module that can implement the above method should be included in the protection scope of the present disclosure.
[0038] In this embodiment, the acquisition module 410 is used to obtain the real-time bending angles θ of the two ends of the strip-shaped metal part. The two ends of the strip-shaped metal part are driven to rotate synchronously towards each other, that is, the real-time rotation angles θ of the two ends.
[0039] Optionally, two end portions of the strip-shaped metal member are respectively clamped by the first motors 202, and the two first motors 202 are configured to drive the two end portions of the strip-shaped metal member to rotate synchronously towards each other. Further, the obtaining module 410 is used to obtain, for example, the real-time value of the encoder of the first motor 202, and determine the real-time rotation angle of the first motor 202 according to the real-time value of the encoder. The real-time bending angle θ of the two end portions of the strip-shaped metal member is obtained according to the real-time rotation angle of the first motor 202 and the preset gear ratio of the speed reducer. The speed reducer is coupled to the output shaft of the first motor 202, and the encoder is disposed on the output shaft of the first motor 202.
[0040] In this embodiment, the determining module 420 is used to determine the real-time feed amount M of the strip-shaped metal member in the first direction according to the real-time bending angle θ of the two end portions of the strip-shaped metal member and the preset original length L of the strip-shaped metal member, where the first direction points from the first end portion to the second end portion of the strip-shaped metal member. Further, the determining module 420 is used to use the formula or a formula of its simple deformation to determine the real-time feed amount M of the strip-shaped metal member in the first direction according to the real-time bending angle θ of the two end portions of the strip-shaped metal member and the preset original length L of the strip-shaped metal member.
[0041] In this embodiment, the output module 430 is used to output the real-time feed amount M to the servo driver electrically connected to the second motor 204 to control the operation of the second motor 204 in real time. The second motor 204 is used to drive the first motor 202 clamped at the first end portion of the strip-shaped metal member to move in the first direction.
[0042] It should be noted that the method of the foregoing embodiment is a method embodiment corresponding to the device 400 of this embodiment, and the device 400 of this embodiment can be implemented in cooperation with the method of the foregoing embodiment. The relevant technical details mentioned in the method of the foregoing embodiment are still valid in the device 400 of this embodiment. To avoid repetition, they are not described herein again.
[0043] Turn to Figure 5 , which shows the structural diagram of the bending system 500 of the embodiment. As Figure 5 shown, the bending system 500 includes two first motors 202 and two servo drivers 502 respectively electrically connected thereto, a second motor 204 and a servo driver 502 electrically connected thereto, and a controller 504.
[0044] Specifically, two first motors 202 respectively clamp two ends of the strip-shaped metal piece, and two servo drivers 502 electrically connected to the two first motors 202 are used to control the two first motors 202 to drive the two ends of the strip-shaped metal piece to rotate synchronously and towards each other. Further, the two servo drivers 502, for example but not limited to, control the two first motors 202 to drive the two ends of the strip-shaped metal piece to rotate synchronously and towards each other according to control instructions received from the controller 504.
[0045] The second motor 204 is used to drive the first motor 202 clamped at the first end of the strip-shaped metal piece to move in a first direction, and the first direction points from the first end of the strip-shaped metal piece to the second end. The servo driver 502 electrically connected to the second motor 204 is used to control the real-time feed amount of the second motor 204 according to the real-time feed amount M of the strip-shaped metal piece in the first direction by using the position control function.
[0046] The controller 504 is electrically connected to each servo driver 502 respectively. The controller 504 is used to determine the real-time feed amount M of the strip-shaped metal piece in the first direction according to any of the bending feed compensation methods of the foregoing embodiments and output the real-time feed amount M to the servo driver 502 electrically connected to the second motor 204. In addition, the controller 504 is further used to send control instructions indicating to control the two first motors 202 to drive the two ends of the strip-shaped metal piece to rotate synchronously and towards each other to the two servo drivers 502 electrically connected to the two first motors 202.
[0047] It can be understood that since the controller 504 is used to determine the real-time feed amount M of the strip-shaped metal piece in the first direction according to the bending feed compensation method of the foregoing embodiments, all technical details of the bending feed compensation method of the foregoing embodiments are applicable to the controller 504. For the sake of brevity, they will not be elaborated here.
[0048] Moreover, in this embodiment, the controller 504, for example but not limited to, adopts a PLC. It should be noted that the embodiments of the present disclosure only discuss metals with a certain diameter and will not cause local material deformation due to the material being too thin.
[0049] Figure 6 is a schematic diagram of an electronic device according to an embodiment of the present application. The specific implementation of the electronic device is not limited in the specific embodiments of the present application. Refer to Figure 6 As shown in, the electronic device 600 provided by the embodiment of the present application includes: a processor 602, a communications interface 604, a memory 606, and a bus 608. Among them:
[0050] The processor 602, the communication interface 604, and the memory 606 communicate with each other via the bus 608.
[0051] The communication interface 604 is used to communicate with other electronic devices or servers.
[0052] The processor 602 is used to execute the program 610, and specifically can execute the relevant steps in the above method embodiments.
[0053] Specifically, the program 610 may include program code, and the program code includes computer operation instructions.
[0054] The processor 602 may be a central processing unit (CPU), or a specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. One or more processors included in the intelligent device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, such as one or more CPUs and one or more ASICs.
[0055] The memory 606 is used to store the program 610. The memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
[0056] The program 610 is specifically used to cause the processor 602 to execute the method in any of the foregoing embodiments.
[0057] For the specific implementation of each step in the program 610, reference may be made to the corresponding steps and descriptions in the corresponding units in the above method embodiments, which will not be elaborated here. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding process descriptions in the foregoing method embodiments, which will not be elaborated here.
[0058] The present application also provides a computer-readable storage medium storing instructions for causing a machine to execute the method as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which software program code for implementing the functions of any one of the above embodiments is stored, and the computer (or CPU or MPU) of the system or device reads and executes the program code stored in the storage medium.
[0059] In this case, the program code read from the storage medium itself can implement the functions of any one of the above embodiments, so the program code and the storage medium storing the program code constitute a part of the present application.
[0060] Examples of storage media for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Optionally, the program code can be downloaded from a server computer via a communication network.
[0061] Embodiments of the present application also provide a computer program product, including computer instructions, which direct a computing device to perform any corresponding operation in the above-mentioned multiple method embodiments.
[0062] It should be noted that, according to the needs of implementation, each component / step described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.
[0063] The methods according to the embodiments of the present application described above can be implemented in hardware, firmware, or be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or be implemented as computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and downloaded via a network and will be stored in a local recording medium, so that the methods described herein can be processed by such software stored on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component (such as RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods described herein are implemented. In addition, when a general-purpose computer accesses the code for implementing the methods shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the methods shown herein.
[0064] It should be noted that not all steps and modules in the above-mentioned various processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted according to needs. The system structures described in the above-mentioned various embodiments can be physical structures or logical structures, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities respectively, or some components in multiple independent devices can be jointly implemented.
[0065] In this patent application, nouns and pronouns related to people are not limited to a specific gender. The terms "comprising", "including" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising one" does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
[0066] In the above embodiments, the hardware modules can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as dedicated processors, FPGAs or ASICs) to perform corresponding operations. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily configured by software to perform corresponding operations. The specific implementation method (mechanical method, or dedicated permanent circuits, or temporarily configured circuits) can be determined based on cost and time considerations.
[0067] The above has detailedly demonstrated and described this application through the accompanying drawings and preferred embodiments. However, this application is not limited to these disclosed embodiments. Based on the above-mentioned multiple embodiments, those skilled in the art can know that code review means in different above-mentioned embodiments can be combined to obtain more embodiments of this application, and these embodiments are also within the protection scope of this application.
Claims
1. A bending feed compensation method, characterized in that, The method includes: Obtaining the real-time bending angle θ of two ends of a strip-shaped metal piece, and the two ends of the strip-shaped metal piece are driven to rotate synchronously towards each other; Determining the real-time feed amount M of the strip-shaped metal piece in a first direction according to the real-time bending angle θ of the two ends of the strip-shaped metal piece and the preset original length L of the strip-shaped metal piece, wherein the first direction points from a first end of the strip-shaped metal piece to a second end; Outputting the real-time feed amount M to a servo driver (502) electrically connected to a second motor (204) to control the operation of the second motor (204) in real time, and the second motor (204) is configured to drive the first end of the strip-shaped metal piece to move along the first direction.
2. The method according to claim 1, characterized in that, The determining the real-time feed amount M of the strip-shaped metal piece in the first direction according to the real-time bending angle θ of the two ends of the strip-shaped metal piece and the preset original length L of the strip-shaped metal piece further includes: Using the formula Based on the real-time bending angle θ of the two ends of the strip-shaped metal piece and the original length L of the strip-shaped metal piece set in advance, determine the real-time feed amount M of the strip-shaped metal piece in the first direction.
3. The method according to claim 2, wherein The real-time bending angle θ of the two ends of the strip-shaped metal piece is obtained through the following steps: Obtaining the real-time value of an encoder of the first motor (202); Determining the real-time rotation angle of the first motor (202) according to the real-time value of the encoder; wherein, two of the first motors (202) are respectively clamped at the two ends of the strip-shaped metal piece and are configured to drive the two ends of the strip-shaped metal piece to rotate synchronously towards each other, and the second motor (204) is configured to drive the first motor (202) clamped at the first end of the strip-shaped metal piece to move along the first direction; Obtaining the real-time bending angle θ of the two ends of the strip-shaped metal piece according to the real-time rotation angle of the first motor (202) and the preset gear ratio of a speed reducer, the speed reducer is coupled to an output shaft of the first motor (202), and the encoder is arranged on the output shaft of the first motor (202).
4. The method according to claim 1, wherein The method further includes: When the real-time bending angle θ of the two ends of the obtained strip-shaped metal piece reaches a target bending angle θ0, stop the operation.
5. The method according to any one of claims 1-4, characterized in that, The method further includes: The servo driver (502) uses a position control function to control the real-time feed amount of the second motor (204) according to the real-time feed amount M of the strip-shaped metal piece in the first direction.
6. A bending feed compensation device, characterized in that, The device (400) includes: An obtaining module (410) for obtaining the real-time bending angle θ of two ends of a strip-shaped metal piece, and the two ends of the strip-shaped metal piece are driven to rotate synchronously towards each other; A determining module (420) for determining the real-time feed amount M of the strip-shaped metal piece in a first direction according to the real-time bending angle θ of the two ends of the strip-shaped metal piece and the preset original length L of the strip-shaped metal piece, wherein the first direction points from a first end of the strip-shaped metal piece to a second end; An output module (430) for outputting the real-time feed amount M to a servo driver (502) electrically connected to a second motor (204) to control the operation of the second motor (204) in real time, where the second motor (204) is used to drive the first end of the strip-shaped metal member to move along the first direction.
7. The device according to claim 6, characterized in that, The determining module (420) is further configured to use the formula to determine a real-time feed amount M of the strip-shaped metal piece in the first direction according to a real-time bending angle θ of two ends of the strip-shaped metal piece and a preset original length L of the strip-shaped metal piece.
8. The device according to claim 7, characterized in that, The obtaining module (410) is further configured to obtain the real-time value of the encoder of the first motor (202), determine the real-time rotation angle of the first motor (202) according to the real-time value of the encoder, and obtain the real-time bending angles θ of the two ends of the strip-shaped metal member according to the real-time rotation angle of the first motor (202) and the preset gear ratio of the speed reducer; wherein, the two first motors (202) are respectively clamped at the two ends of the strip-shaped metal member and are configured to drive the two ends of the strip-shaped metal member to rotate synchronously towards each other, the second motor (204) is configured to drive the first motor (202) clamped at the first end of the strip-shaped metal member to move along the first direction, the speed reducer is coupled to the output shaft of the first motor (202), and the encoder is provided on the output shaft of the first motor (202).
9. A bending system (500), characterized in that, Comprising: Two first motors (202) and two servo drivers (502) respectively electrically connected thereto, the two first motors (202) are respectively clamped at the two ends of the strip-shaped metal member, and the two servo drivers (502) are used to control the two first motors (202) to drive the two ends of the strip-shaped metal member to rotate synchronously towards each other; A second motor (204) and a servo driver (502) electrically connected thereto, the second motor (204) is used to drive the first motor (202) clamped at the first end of the strip-shaped metal member to move along the first direction, the first direction points from the first end to the second end of the strip-shaped metal member, and the servo driver (502) is used to control the real-time feed amount of the second motor (204) according to the real-time feed amount M of the strip-shaped metal member in the first direction by using the position control function; A controller (504) electrically connected to each servo driver (502) respectively, the controller (504) is configured to determine the real-time feed amount M of the strip-shaped metal member in the first direction according to the bending feed compensation method as described in any one of claims 1-4 and output the real-time feed amount M to the servo driver (502) electrically connected to the second motor (204).
10. An electronic device (600), the electronic device (600) comprising: A processor (602), a communication interface (604), a memory (606) and a bus (608), the processor (602), the communication interface (604) and the memory (606) complete communication with each other through the bus (608); The memory (606) is used to store at least one executable instruction, and the executable instruction causes the processor (602) to execute the operations corresponding to the method as described in any one of claims 1-4.
11. A determination machine-readable storage medium, on which determination machine instructions are stored, and when the determination machine instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1-4.