Precision control system and method for bending and forming long cylinder section wall plate of storage box

Abstract

The invention relates to the technical field of metal plastic forming, and provides a precision control system and method for bending forming of a long cylinder section wall plate of a storage box. The electric feeding table is arranged on the front side of the numerical control bending press; the follow-up material supporting device is arranged on the rear side of the numerical control bending machine and can support the bent arc section of the wallboard; and the machine vision camera is arranged on the side surface of the numerical control bending press and is matched with the control device to carry out online detection. Automatic feeding can be accurately controlled in the long cylinder section wallboard bending forming process, the follow-up material supporting device can adjust the position of an electric swing supporting arm and the angle of a swing arm at any time, the influence of the dead weight of a bent arc section wallboard on the forming curvature is counteracted, online detection is conducted on the curvature of an area inner wallboard through the machine vision technology, and the forming accuracy is improved. The bending forming precision of the long cylinder section wall plate of the storage box is greatly improved, and the detection efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metal plastic forming, in particular to a precision control system and method for bending forming of a long cylinder segment wall plate of a storage tank. BACKGROUND

[0002] The long cylinder segment wall plate of the storage tank is the main component of the aerodynamic shape of the carrier rocket. In order to ensure the reliability of its manufacture, it is mostly made of high-strength aluminum alloy from a whole plate blank, including skin, rib, boss and other structures.

[0003] At present, the long cylinder segment wall plate of the storage tank is a plane plate blank which is first milled by mechanical machining to obtain an internal grid rib boss structure, and then obtained by equal-distance bending to obtain an arc wall plate. The following problems exist in the manufacturing process: (1) low inspection efficiency: single long cylinder segment wall plate forming needs more than one hundred bending passes, which is affected by different springback amounts caused by uneven distribution of rib boss structure, etc. In order to ensure the consistency of the arc radius, the amount of each pass is different. After each bending, the worker needs to measure the local arc of the bending position with an arc ruler to observe whether it meets the standard. If not, the amount of pressure is increased for continuous bending until it meets the standard; (2) poor forming precision: the length of the arc edge of the wall plate reaches 3 meters. In the bending process, the already bent arc segment and the unbent arc segment are constantly changing. With the increase of the bending pass, the gravity moment of the weight of the already bent arc segment will make the already bent arc segment sink continuously. If measured directly on the workbench with an arc ruler, the actual curvature radius will be smaller than the measured value, affecting the forming precision; (3) low efficiency: due to the influence of self-weight, the single bending forming precision exists different degree of error. In order to ensure the final forming precision, the whole wall plate is formed after the machine is inspected. The long cylinder segment wall plate is placed vertically on the water platform to detect the shape precision. The local position that does not meet the precision requirement is reformed on the machine. This process occupies a lot of working time. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide a precision control system and method for bending forming of a long cylinder segment wall plate of a storage tank.

[0005] According to the precision control system and method for bending forming of a long cylinder segment wall plate of a storage tank provided by the present application, the precision control system comprises: A numerical control press brake comprises a numerical control press brake upper die and a numerical control press brake lower die, and the numerical control press brake upper die and the numerical control press brake lower die are arranged above and below the wall plate respectively; An electric feeding table is arranged on the front side of the numerical control press brake, which can support the unbent area of the wall plate and push the wall plate forward to realize the feeding function; A follow-up material supporting device is arranged on the rear side of the numerical control press brake, which can support the already bent arc segment of the wall plate; A machine vision camera is arranged on the side of the numerical control press brake to collect images of the bent wallboard, and cooperate with the control device to detect whether the bent wallboard reaches the target curvature.

[0006] Preferably, the electric feeding table comprises a guide assembly and two feeding assemblies arranged on both sides of the guide assembly respectively, the guide assembly comprises a guide frame and one or more rollers arranged on the guide frame, the middle part of the unbent area of the wallboard is supported on the guide assembly, and the two sides of the unbent area of the wallboard are arranged on the two feeding assemblies respectively.

[0007] Preferably, the feeding assembly comprises a first linear guide rail, a first ball screw, a first sliding block, a pushing arm, a first servo motor and a first base; The first linear guide rail and the first servo motor are arranged on the first base, the first sliding block is sleeved on the first ball screw and is in sliding cooperation with the first linear guide rail, the pushing arm is arranged at the front end of the first sliding block, and the first servo motor is drivingly connected with the first ball screw; When the first servo motor drives the first ball screw to rotate, the first sliding block can be driven to move along the length direction of the first linear guide rail, and the pushing arm can be driven to push the wallboard to move forward, thereby realizing the feeding function.

[0008] Preferably, the following material supporting device comprises two spaced-apart supporting assemblies, and the two supporting assemblies are arranged on both sides of the bent area of the wallboard respectively.

[0009] Preferably, the supporting assembly comprises a second linear guide rail, a second ball screw, a second sliding block, an electrically-driven swinging support arm, a second servo motor and a second base; The second linear guide rail and the second servo motor are arranged on the second base, the second sliding block is sleeved on the second ball screw and is in sliding cooperation with the second linear guide rail, and the second servo motor is drivingly connected with the second ball screw; When the second servo motor drives the second ball screw to rotate, the second sliding block can be driven to move along the length direction of the second linear guide rail, and the electrically-driven swinging support arm can be driven to support the bent arc segment on the wallboard.

[0010] Preferably, the electrically-driven swinging support arm comprises a support arm body, a fixed end and an angle adjusting motor, the lower end of the support arm body is hinged to the fixed end, the support arm body can be driven to rotate relative to the fixed end through the angle adjusting motor, and the swinging angle of the electrically-driven swinging support arm can be adjusted.

[0011] Preferably, a plurality of equal-interval depth scale lines are processed in the processing allowance area on the arc edge of one side of the wallboard, and the interval between adjacent scale lines is half of the width of the upper die of the numerical control press brake. When the upper die of the numerical control press brake is pressed downward to the wallboard, the wallboard is bent, and one pass of the bending operation is completed.

[0012] Preferably, the control device is configured with a matching software, and the machine vision camera and the matching software configured in the control device can detect the wallboard region online after each pass of the bending operation to verify whether the target curvature is reached.

[0013] Preferably, the matching software contains image processing software, an expert database, and post-processing software. The image processing software can identify and process the image of the arc region collected by the machine vision camera to obtain the curvature data; the expert database is obtained by simulation calculation and contains the gravity moment data of the wallboard in the whole process and the position and angle data of the electric swing support arm used to offset the gravity moment; The post-processing software can automatically calculate the additional pressing amount of the upper die of the numerical control press brake according to the difference between the current curvature and the target curvature, and further bend the wallboard.

[0014] According to the precision control method for the long barrel wallboard bending forming provided by the application, the following steps are included: Step 1: A plurality of equal-interval depth scale lines are processed in the processing allowance area on the arc edge of one side of the wallboard, and the interval between adjacent scale lines is half of the width of the upper die of the numerical control press brake. Step 2: The wallboard is placed horizontally on the electric feeding table, and after the wallboard is pushed forward by the electric feeding table by one scale line distance, the electric feeding table stops moving, and the upper die of the numerical control press brake performs the bending operation on the wallboard placed on the lower die of the numerical control press brake. Step 3: After the bending operation is completed, the gravity moment of the wallboard in the bending process and the position and angle of the electric swing support arm used to offset the gravity moment are automatically called by the background according to the feeding distance of the electric feeding table and the bending forming radius, and the position of the second sliding block and the swing angle of the electric swing support arm are adjusted to effectively support the wallboard in the bending process. Step 4: the machine vision camera takes a picture of the bending area range between the lower die of the numerical control press brake, three scale line points in the range of the lower die of the numerical control press brake are taken as the calibration points of the machine vision processing image, and the curvature radius of the wallboard in the region is automatically obtained in the background; if the design radius is not reached, the post-processing software automatically calculates the newly added pressing amount, and the upper die of the numerical control press brake is controlled to press the long barrel wallboard according to the new pressing amount to reach the target curvature, and the above steps are repeated until the bending curvature of the pass is qualified; Step 5: repeat steps 2-4 until the whole long barrel wallboard of the storage tank is formed.

[0015] Compared with the prior art, the present application has the following advantages: 1. In the process of bending and forming the long barrel wallboard, the electric feeding table can accurately control automatic feeding, and the follow-up material supporting device can adjust the position and swing angle of the electric swing supporting arm at any time, offsetting the influence of the self-weight of the bent arc wallboard on the forming curvature, using machine vision technology to detect the curvature of the wallboard in the region online, greatly improving the bending and forming precision of the long barrel wallboard of the storage tank, and helping to realize automatic production. After each pass of the long barrel wallboard of the storage tank is finished, the curvature is detected directly by using the machine vision method, which changes the traditional manual arc card detection method and greatly improves the detection efficiency.

[0016] 2. In the process of forming the long barrel wallboard of the storage tank, the follow-up material supporting device adjusts the supporting position at any time to offset the influence of its own gravity on the forming precision, thereby improving the forming precision.

[0017] 3. The wallboard feeding and material supporting detection process in the present application realizes automatic control, improves the degree of automation, and greatly reduces the manual operation links. DETAILED DESCRIPTION

[0018] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, with reference to the accompanying drawings: Figure 1 It is a schematic diagram of the bending and forming process of the long barrel wallboard of the storage tank; Figure 2 It is the scale line position of the long barrel wallboard of the storage tank; Figure 3 It is a schematic diagram of the machine vision camera taking a picture; Figure 4 It is a schematic diagram of the local enlargement of the electric feeding table; Figure 5 It is a schematic diagram of the local enlargement of the follow-up material supporting device.

[0019] In the drawings: Numerical control press brake 1; CNC bending machine upper die 101; CNC bending machine lower die 102; Electric feeding table 2; First linear guide 201; First ball screw 202; First slider 203; Pusher arm 204; First servo motor 205; First base 206; Drum 207; Follow-up material support device 3; Second linear guide 301; Second ball screw 302; Second slider 303; 304 electric swing support arm; Second servo motor 305; Second base 306; Machine vision camera 4; Wall panel 5; Scale line 51. Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0021] This invention provides a precision control system for bending and forming the wall panels of long cylindrical sections of storage tanks, such as... Figure 1 , Figure 2 , Figure 3 As shown, the system includes a CNC bending machine 1, an electric feeding table 2, a follow-up material support device 3, a machine vision camera 4, and a control device. The CNC bending machine 1 includes an upper die 101 and a lower die 102, which are respectively arranged above and below the wall panel 5. The wall panel 5 in this invention is preferably a long cylindrical section wall panel with ribs. The electric feeding table 2 is placed on the front side of the CNC bending machine 1, which can support the unbent area of ​​the wall panel 5 and is responsible for pushing the wall panel 5 forward to realize the feeding function. The follow-up material support device 3 is placed on the rear side of the CNC bending machine 1, which is responsible for supporting the bent arc section of the wall panel 5 to prevent the influence of its own weight on the forming process. The machine vision camera 4 is placed on the side of the CNC bending machine 1 to collect images of the bent arc section of the wall panel 5 and cooperate with the control device to perform online detection to verify whether the bent arc section of the wall panel 5 has reached the target curvature.

[0022] As shown in Figure 1 , the electric feeding table 2 comprises a guide assembly and two feeding assemblies arranged respectively on both sides of the guide assembly, the guide assembly comprises a guide frame and one or more rollers 207 arranged on the guide frame, the middle part of the unbending area of the wallboard 5 is supported on the guide assembly, and the two sides of the unbending area of the wallboard 5 are arranged on the two feeding assemblies respectively, the plurality of rollers 207 rotate when the wallboard 5 advances, and the rollers 207 play a supporting and rolling guiding role.

[0023] Further, as shown in Figure 1 , Figure 4 , the feeding assembly comprises a first linear guide rail 201, a first ball screw 202, a first sliding block 203, a pushing arm 204, a first servo motor 205 and a first base 206, the first linear guide rail 201 and the first servo motor 205 are arranged on the first base 206, the first sliding block 203 is sleeved on the first ball screw 202 and is in sliding fit with the first linear guide rail 201, the pushing arm 204 is arranged at the front end of the first sliding block 203, the first servo motor 205 is drivingly connected with the first ball screw 202, when the first servo motor 205 drives the first ball screw 202 to rotate, the first sliding block 203 can be driven to move along the length direction of the first linear guide rail 201, and the pushing arm 204 can be driven to push the wallboard 5 to move forward, thereby realizing the feeding function.

[0024] As shown in Figure 1 , Figure 5 , the following device 3 comprises two spaced-apart material supporting assemblies, the two material supporting assemblies are arranged respectively on both sides of the bent area of the wallboard 5, the material supporting assembly comprises a second linear guide rail 301, a second ball screw 302, a second sliding block 303, an electrically-driven swinging support arm 304, a second servo motor 305 and a second base 306, the second linear guide rail 301 and the second servo motor 305 are arranged on the second base 306, the second sliding block 303 is sleeved on the second ball screw 302 and is in sliding fit with the second linear guide rail 301, the second servo motor 305 is drivingly connected with the second ball screw 302, when the second servo motor 305 drives the second ball screw 302 to rotate, the second sliding block 303 can be driven to move along the length direction of the second linear guide rail 301, and the electrically-driven swinging support arm 304 can be driven to support the bent arc segment on the wallboard 5, thereby realizing the supporting function.

[0025] Further, the electric swing supporting arm 304 is arranged on the second sliding block 303 and moves synchronously with the second sliding block 303, and the electric swing supporting arm 304 comprises a supporting arm body, a fixed end and an angle adjusting motor, the lower end of the supporting arm body is hinged to the fixed end, and the supporting arm body can be driven to rotate relative to the fixed end by the angle adjusting motor, so that the swing arm angle of the electric swing supporting arm 304 can be adjusted to meet the requirement of effectively supporting the bending circular arc segment.

[0026] It should be noted that a plurality of equal-interval depth scale lines 51 are machined in the machining allowance area on the circular arc edge of the wallboard 5, and the interval between adjacent scale lines 51 is half of the width of the upper die 101 of the numerical control press brake.

[0027] The control device is configured with matching software, the machine vision camera 4 and the matching software configured in the control device can detect the region of the wallboard 5 after each bending action to verify whether the target curvature is reached, the machine vision camera 4 is placed on the side of the numerical control press brake 1, the matching software contains image processing software, an expert database and post-processing software, the image processing software can identify and process the image of the circular arc region collected by the machine vision camera 4 to obtain curvature data; the expert database is obtained by simulation calculation and contains gravity moment data of the wallboard 5 in the whole process and position and support angle data of the electric swing supporting arm 304 for offsetting the gravity moment; the post-processing software can automatically calculate the new pressing amount of the upper die 101 of the numerical control press brake according to the difference between the current curvature and the target curvature, and further bend the wallboard 5.

[0028] The present application also provides a precision control method for the bending forming of the long barrel segment wallboard of the storage tank, which comprises the following steps: Step 1: a plurality of equal-interval depth scale lines 51 are machined in the machining allowance area on the circular arc edge of the wallboard 5, and the interval between adjacent scale lines 51 is half of the width of the upper die 101 of the numerical control press brake, as shown in Figure 1 、 Figure 2 ; Step 2: the wallboard 5 is placed horizontally on the electric feeding table 2, after the pushing arm 204 of the electric feeding table 2 pushes the wallboard 5 to advance by a scale line 51 distance, the electric feeding table 2 stops moving, and the upper die 101 of the numerical control press brake performs bending operation on the wallboard 5 placed on the lower die 102 of the numerical control press brake; Step 3: After the bending of this pass is completed, according to the advancing distance of the first slider 203 on the electric feeding table 2 and the bending forming radius, the rear-end automatically calls the gravity moment of the bent circular segment wallboard 5 and the position and swing arm angle of the electric swing supporting arm 304 for gravity moment offsetting, adjusts the position of the second slider 303 and the swing arm angle of the electric swing supporting arm 304 to effectively support the bent circular segment. Step 4: The machine vision camera 4 takes a picture of the bending area range between the lower dies 102 of the numerical control press brake, takes the three scale line 51 points within the range of the numerical control press brake lower die 102 as the calibration points of the machine vision processing image, and the rear-end automatically obtains the curvature radius of the area segment wallboard 5. If the design radius is not reached, the post-processing software automatically calculates the newly added pressing amount, and continues to control the numerical control press brake upper die 101 of the numerical control press brake 1 to press the long barrel segment wallboard 5 according to the new pressing amount to reach the target curvature, and repeats the above steps until the bending curvature of this pass reaches the standard. Step 5: Repeat steps 2-4 above until the entire storage tank long barrel segment wallboard 5 is formed.

[0029] The working principle of the present application is as follows: When the long barrel segment wallboard of the storage tank is subjected to bending forming operation, the wallboard 5 is first placed horizontally on the electric feeding table 2, and the wallboard 5 is pushed forward by the pushing arm 204 of the electric feeding table 2 by a scale line 51 distance, then the first slider 203 is controlled to stop moving, and the numerical control press brake upper die 101 is used to press the wallboard 5 placed on the numerical control press brake lower die 102. After the bending of this pass is completed, according to the advancing distance of the first slider 203 and the bending forming radius, the rear-end automatically calls the gravity moment of the bent circular segment wallboard 5 and the position and swing arm angle of the electric swing supporting arm 304 for gravity moment offsetting, and re-adjusts the position of the second slider 303 and the swing arm angle of the electric swing supporting arm 304 to effectively support the bent circular segment. At this time, the machine vision camera 4 takes a picture of the bending area range between the numerical control press brake lower dies 102, takes the three scale line 51 points within the range of the numerical control press brake lower die 102 as the calibration points of the machine vision processing image, and the rear-end automatically obtains the curvature radius of the area segment wallboard 5. If the design radius is not reached, the post-processing software automatically calculates the newly added pressing amount, and continues to control the numerical control press brake upper die 101 of the numerical control press brake 1 to press the long barrel segment wallboard 5 according to the new pressing amount to reach the target curvature, until the bending curvature of this pass reaches the required standard.

[0030] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0031] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that they do not conflict.

Claims

1. A precision control system for bending and forming long cylindrical section wall panels of a storage tank, characterized in that, include: The CNC bending machine (1) includes an upper die (101) and a lower die (102), which are respectively arranged above and below the wall panel (5); The electric feeding table (2) is arranged on the front side of the CNC bending machine (1), which can support the unbent area of ​​the wall panel (5) and push the wall panel (5) forward to realize the feeding function. The follow-up material support device (3) is located on the rear side of the CNC bending machine (1) and can support the bent arc segment of the wall panel (5); A machine vision camera (4) is arranged on the side of the CNC bending machine (1) to collect images of the bent arc section of the wall panel (5), and to perform online detection in conjunction with the control device to verify whether the bent arc section of the wall panel (5) has reached the target curvature.

2. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 1, characterized in that, The electric feeding table (2) includes a guide assembly and two feeding assemblies respectively arranged on both sides of the guide assembly. The guide assembly includes a guide frame and one or more rollers (207) arranged on the guide frame. The middle part of the unbent area of ​​the wall panel (5) is supported on the guide assembly, and the two sides of the unbent area of ​​the wall panel (5) are respectively arranged on the two feeding assemblies.

3. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 2, characterized in that, The feeding assembly includes a first linear guide rail (201), a first ball screw (202), a first slider (203), a pusher arm (204), a first servo motor (205), and a first base (206). The first linear guide rail (201) and the first servo motor (205) are both mounted on the first base (206). The first slider (203) is mounted on the first ball screw (202) and slides in cooperation with the first linear guide rail (201). The pusher arm (204) is located at the front end of the first slider (203). The first servo motor (205) is driven and connected to the first ball screw (202). When the first servo motor (205) drives the first ball screw (202) to rotate, it can drive the first slider (203) to move along the length direction of the first linear guide (201), thereby driving the pusher arm (204) to push the wall panel (5) forward, thus realizing the feeding function.

4. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 1, characterized in that, The follow-up material support device (3) includes two spaced material support components, which are respectively arranged on both sides of the bent area of ​​the wall panel (5).

5. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 4, characterized in that, The material support assembly includes a second linear guide rail (301), a second ball screw (302), a second slider (303), an electric swing support arm (304), a second servo motor (305), and a second base (306). The second linear guide (301) and the second servo motor (305) are both mounted on the second base (306). The second slider (303) is mounted on the second ball screw (302) and slides in cooperation with the second linear guide (301). The second servo motor (305) is driven and connected to the second ball screw (302). When the second servo motor (305) drives the second ball screw (302) to rotate, it can drive the second slider (303) to move along the length direction of the second linear guide (301), thereby driving the electric swing support arm (304) to support the bent arc segment on the wall panel (5).

6. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 5, characterized in that, The electric swing support arm (304) includes a support arm body, a fixed end, and an angle adjustment motor. The lower end of the support arm body is hinged to the fixed end, and the angle adjustment motor can drive the support arm body to rotate relative to the fixed end, thereby adjusting the swing angle of the electric swing support arm (304).

7. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 1, characterized in that, Several equal-depth scale lines (51) with equal spacing are machined in the machining allowance area on one side of the arc edge of the wall panel (5). The spacing between adjacent scale lines (51) is half the width of the upper die (101) of the CNC bending machine. When the upper die (101) of the CNC bending machine applies downward pressure to the wall panel (5), the wall panel (5) can bend, completing one bending action.

8. The precision control system for bending and forming the long cylindrical section wall panel of a storage tank according to claim 1, characterized in that, The control device is equipped with supporting software. The machine vision camera (4) and the supporting software in the control device can perform online detection of the wall panel (5) area after each bending action to verify whether the target curvature has been reached.

9. The precision control system for bending and forming the wall panel of a long cylindrical section of a storage tank according to claim 8, characterized in that, The accompanying software includes image processing software, an expert database, and post-processing software. The image processing software can identify and process the image of the arc area acquired by the machine vision camera (4) to obtain curvature data; the expert database is obtained by simulation calculation and includes the gravity moment data of the bent section of different types of wall panels (5) throughout the process and the position and support angle data of the electric swing support arm (304) used to counteract the gravity moment. The post-processing software can automatically calculate the additional downward pressure of the upper die (101) of the CNC bending machine based on the difference between the current curvature and the target curvature, and then further bend the wall panel (5) to produce it.

10. A method for precision control in the bending forming of long cylindrical section wall panels of a storage tank, characterized in that, Includes the following steps: Step 1: On the arc edge of the wall panel (5), process multiple equal depth scale lines (51) with equal spacing within the processing allowance area. The spacing between adjacent scale lines (51) is half the width of the upper die (101) of the CNC bending machine. Step 2: Place the wall panel (5) horizontally on the electric feeding table (2). After the electric feeding table (2) pushes the wall panel (5) forward by one scale line (51) distance, the electric feeding table (2) stops moving. The upper die (101) of the CNC bending machine performs bending operation on the wall panel (5) placed on the lower die (102) of the CNC bending machine. Step 3: After the bending of this pass is completed, based on the forward distance of the electric feeder (2) and the bending radius, the background automatically calls the gravitational moment of the bent arc section wall panel (5) obtained by simulation calculation and the position and swing arm angle of the electric swing support arm (304) to cancel the gravitational moment, and adjusts the position of the second slider (303) and the swing arm angle of the electric swing support arm (304) to effectively support the bent arc section; Step 4: The machine vision camera (4) takes pictures of the bending area between the lower die (102) of the CNC bending machine and performs image recognition processing. The three scale lines (51) within the range of the lower die (102) of the CNC bending machine are used as the calibration points of the machine vision image. The background automatically obtains the curvature radius of the wall panel (5) in this area. If the design radius is not reached, the post-processing software automatically calculates the additional pressing amount and continues to control the upper die (101) of the CNC bending machine (1) to press the long section wall panel (5) according to the new pressing amount to achieve the target curvature. Repeat the above steps until the bending curvature of this pass meets the standard. Step 5: Repeat steps 2 to 4 above until the long cylindrical section wall panel (5) of the storage tank is formed as a whole.

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