Precision control system and method for press bending forming of tank long cylinder section wall plate

Abstract

The present application 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 tank, comprising: a numerical control bending machine; an electric feeding table arranged at the front side of the numerical control bending machine; a follow-up material supporting device arranged at the rear side of the numerical control bending machine and capable of supporting the bent circular arc section of the wall plate; and a machine vision camera arranged at the side of the numerical control bending machine and cooperating with a control device to perform online detection. The present application can accurately control automatic feeding during the bending forming of the long cylinder section wall plate, and the follow-up material supporting device can adjust the position and swing arm angle of the electric swing supporting arm at any time, offset the influence of the self-weight of the bent circular arc section wall plate on the forming curvature, and perform online detection on the curvature of the wall plate in the region by using the machine vision technology, so that the bending forming precision of the long cylinder section wall plate of the storage tank is greatly improved, and the detection efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of metal plastic forming technology, specifically to a precision control system and method for bending and forming long cylindrical section wall panels of storage tanks. Background Technology

[0002] As a major component of the aerodynamic shape of the launch vehicle, the long cylindrical section wall panel of the propellant tank is mostly made of high-strength aluminum alloy and machined from a single slab to ensure the reliability of its manufacturing. It includes structures such as skin, ribs, and bosses.

[0003] Currently, the long cylindrical section wall panels of the storage tank are made by first machining and milling the flat slab to obtain the internal grid rib protrusion structure, and then obtaining the arc wall panel by equidistant bending. The main problems in the manufacturing process are as follows: (1) Low inspection efficiency: The forming of a single long cylindrical section wall panel requires more than 100 bending passes. Due to the uneven distribution of the rib protrusion structure, the springback amount is different. In order to ensure the consistency of the arc curvature radius, the amount of pressure is different for each pass. After each bending, the worker needs to use an arc gauge to measure the local arc of the bending position to see if it meets the standard. If it is not enough, the amount of pressure is increased and bending is continued until it meets the standard; (2) Poor forming accuracy: The length of the arc edge of the wall panel is up to 3 meters. During the bending process, the bent arc section and the unbent arc section are constantly changing. As the number of bending passes increases, the gravitational moment generated by the weight of the bent arc segment will cause the bent arc segment to sink continuously. If the actual radius of curvature is measured directly on the work station using an arc gauge, the actual radius of curvature will be smaller than the measured value, affecting the forming accuracy. (3) Low efficiency: Due to the influence of its own weight, the forming accuracy of a single bending pass has different degrees of error. In order to ensure the final forming accuracy, the current method of inspection after the whole wall panel is formed is to place the long cylindrical wall panel vertically on the horizontal platform to check the shape accuracy. For the local positions that do not meet the accuracy requirements, they are re-mounted on the machine for correction. This process takes up a lot of working time. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a precision control system and method for bending and forming the wall panels of long cylindrical sections of storage tanks.

[0005] A precision control system for bending and forming long cylindrical section wall panels of a storage tank, provided by the present invention, includes:

[0006] A CNC bending machine includes an upper die and a lower die, wherein the upper die and the lower die are respectively arranged above and below the wall panel.

[0007] An electric feeding table is located on the front side of the CNC bending machine. It can support the unbent area of ​​the wall panel and push the wall panel forward to realize the feeding function.

[0008] The follow-up material support device is located on the rear side of the CNC bending machine and can support the bent arc segment of the wall panel;

[0009] A machine vision camera is positioned on the side of the CNC bending machine to acquire images of the bent arc segment of the wall panel. It works in conjunction with the control device to perform online detection and verify whether the bent arc segment of the wall panel has reached the target curvature.

[0010] Preferably, the electric feeding table 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 arranged on the guide frame. The middle part of the unbent area of ​​the wall panel is supported on the guide assembly, and the two sides of the unbent area of ​​the wall panel are respectively arranged on the two feeding assemblies.

[0011] Preferably, the feeding assembly includes a first linear guide rail, a first ball screw, a first slider, a pusher arm, a first servo motor, and a first base;

[0012] The first linear guide rail and the first servo motor are both mounted on the first base. The first slider is mounted on the first ball screw and slides in cooperation with the first linear guide rail. The pusher arm is located at the front end of the first slider. The first servo motor is connected to the first ball screw drive.

[0013] When the first servo motor drives the first ball screw to rotate, it can drive the first slider to move along the length direction of the first linear guide rail, which in turn can drive the pusher arm to push the wall panel forward, thereby realizing the feeding function.

[0014] Preferably, the follow-up material support device includes two spaced-apart material support components, which are respectively arranged on both sides of the bent area of ​​the wall panel.

[0015] Preferably, the material support assembly includes a second linear guide rail, a second ball screw, a second slider, an electric swing support arm, a second servo motor, and a second base;

[0016] The second linear guide and the second servo motor are both mounted on the second base. The second slider is mounted on the second ball screw and slides in cooperation with the second linear guide. The second servo motor is connected to the second ball screw drive.

[0017] When the second servo motor drives the second ball screw to rotate, it can drive the second slider to move along the length direction of the second linear guide, thereby driving the electric swing support arm to support the bent arc segment on the wall panel.

[0018] Preferably, the electric swing support arm 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.

[0019] Preferably, several equally spaced graduation lines are machined within the machining allowance area on one side of the arc edge of the wall panel, with the spacing between adjacent graduation lines being half the width of the upper die of the CNC bending machine.

[0020] When the upper die of the CNC bending machine applies downward pressure to the wall panel, it can cause the wall panel to bend, completing one bending action.

[0021] Preferably, the control device is equipped with supporting software, and the machine vision camera and the supporting software in the control device can perform online detection of the wall panel area after each bending action to verify whether the target curvature has been reached.

[0022] Preferably, the supporting software includes image processing software, an expert database, and post-processing software;

[0023] The image processing software can identify and process the image of the arc area captured by the machine vision camera to obtain curvature data; the expert database is obtained by simulation calculation and contains the gravity moment data of the bent section of different types of wall panels throughout the entire process and the position and support angle data of the electric swing support arm used to counteract the gravity moment.

[0024] The post-processing software can automatically calculate the additional downward pressure of the upper die of the CNC bending machine based on the difference between the current curvature and the target curvature, and then further bend the wall panel.

[0025] A method for precision control in the bending forming of long cylindrical section wall panels of a storage tank, provided by the present invention, includes the following steps:

[0026] Step 1: On one side of the arc edge of the wall panel, machine multiple equal depth scale lines with equal spacing within the machining allowance area. The spacing between adjacent scale lines is half the width of the upper die of the CNC bending machine.

[0027] Step 2: Place the wall panel horizontally on the electric feeding table. After the electric feeding table pushes the wall panel forward by one scale line distance, the electric feeding table stops moving. The upper die of the CNC bending machine performs a bending operation on the wall panel placed on the lower die of the CNC bending machine.

[0028] Step 3: After the bending cycle is completed, based on the forward distance of the electric feeding table and the bending radius, the background automatically calls the gravity moment of the bent arc segment wall panel obtained from the simulation calculation, as well as the position and angle of the electric swing support arm to cancel the gravity moment, and adjusts the position of the second slider and the angle of the electric swing support arm to effectively support the bent arc segment.

[0029] Step 4: The machine vision camera takes pictures of the bending area between the lower dies of the CNC bending machine and performs image recognition processing. Three scale line points within the lower die range of the CNC bending machine are used as calibration points for the machine vision image. The background automatically obtains the curvature radius of the wall panel 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 of the CNC bending machine to press the long cylindrical wall panel according to the new pressing amount to achieve the target curvature. The above steps are repeated until the bending curvature of this pass meets the standard.

[0030] Step 5: Repeat steps 2 to 4 above until the long cylindrical section of the tank wall is formed as a whole.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. In the process of bending and forming long cylindrical section wall panels, the electric feeding table can accurately control automatic feeding, and the follow-up material support device can adjust the position and angle of the electric swing support arm at any time to counteract the influence of the self-weight of the bent arc section wall panel on the forming curvature. The invention utilizes machine vision technology to detect the curvature of the wall panel in the area online, which greatly improves the bending and forming accuracy of the long cylindrical section wall panels of the storage tank and helps to realize automated production. After each bending, the curvature of the long cylindrical section wall panels of the storage tank is directly detected by machine vision, which changes the traditional manual arc plate detection method and greatly improves the detection efficiency.

[0033] 2. In the process of forming the long cylindrical section wall panel of the storage tank, the present invention utilizes a follow-up material support device to adjust the support position at any time, thereby offsetting the influence of its own weight on the forming accuracy and improving the forming accuracy.

[0034] 3. The wall panel feeding and material detection process in this invention is automated, which improves the degree of automation and greatly reduces manual operation. Attached Figure Description

[0035] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 A schematic diagram of the bending process of the long cylindrical section wall panel of the storage tank;

[0037] Figure 2This indicates the location of the engraved lines on the wall panel of the long cylindrical section of the storage tank;

[0038] Figure 3 A diagram illustrating the taking of a picture by a machine vision camera;

[0039] Figure 4 This is a partially enlarged schematic diagram of the electric feeding table;

[0040] Figure 5 This is a partially enlarged schematic diagram of the follow-up material support device.

[0041] The diagram shows:

[0042] CNC bending machine 1;

[0043] CNC bending machine upper die 101;

[0044] CNC bending machine lower die 102;

[0045] Electric feeding table 2;

[0046] First linear guide 201;

[0047] First ball screw 202;

[0048] First slider 203;

[0049] Pusher arm 204;

[0050] First servo motor 205;

[0051] First base 206;

[0052] Drum 207;

[0053] Follow-up material support device 3;

[0054] Second linear guide 301;

[0055] Second ball screw 302;

[0056] Second slider 303;

[0057] 304 electric swing support arm;

[0058] Second servo motor 305;

[0059] Second base 306;

[0060] Machine vision camera 4;

[0061] Wall panel 5;

[0062] Scale line 51. Detailed Implementation

[0063] 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 scope of protection of the present invention.

[0064] 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.

[0065] like Figure 1 As shown, 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. The two sides of the unbent area of ​​the wall panel 5 are respectively arranged on the two feeding assemblies. When the wall panel 5 moves forward, the multiple rollers 207 rotate. The rollers 207 play the role of support and rolling guidance.

[0066] Furthermore, such as Figure 1 , Figure 4As shown, 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 rail 201, thereby driving the pusher arm 204 to push the wall panel 5 forward, thus realizing the feeding function.

[0067] like Figure 1 , Figure 5 As shown, the follow-up material support device 3 includes two spaced-apart material support components, which are respectively arranged on both sides of the bent area of ​​the wall panel 5. The material support components include 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 rail 301 and the second servo motor 305 are both mounted on the second base 306. The second slider 303 is fitted on the second ball screw 302 and slides in cooperation with the second linear guide rail 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 rail 301, thereby driving the electric swing support arm 304 to support the bent arc segment on the wall panel 5, thus realizing the support function.

[0068] Furthermore, the electric swing support arm 304 is mounted on the second slider 303 and moves synchronously with the second slider 303. 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 to meet the requirement of effectively supporting the bent arc segment.

[0069] It should be noted that several equally spaced graduation lines 51 are machined within the machining allowance area on one side of the arc edge of the wall panel 5. The spacing between adjacent graduation lines 51 is half the width of the upper die 101 of the CNC bending machine. The lower die 102 of the CNC bending machine has a groove. When the upper die 101 of the CNC bending machine applies downward pressure to the wall panel 5, it can cause the wall panel 5 to bend, completing one bending operation.

[0070] 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 section of the wall panel 5 after each bending action to verify whether the target curvature has been reached. The machine vision camera 4 is placed on the side of the CNC bending machine 1. The supporting software includes image processing software, expert database and post-processing software. The image processing software can identify and process the image of the arc area collected 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 models 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.

[0071] The present invention also provides a method for precision control in the bending forming of long cylindrical section wall panels of storage tanks, comprising the following steps:

[0072] Step 1: Within the machining allowance area on one side of the arc edge of panel 5, machine several equally spaced graduation lines 51. The spacing between adjacent graduation lines 51 is half the width of the upper die 101 of the CNC bending machine. Figure 1 , Figure 2 As shown;

[0073] Step 2: Place the wall panel 5 horizontally on the electric feeding table 2. The pusher arm 204 of the electric feeding table 2 pushes the wall panel 5 forward a distance of one scale line 51. Then 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.

[0074] Step 3: After the bending cycle is completed, based on the forward distance of the first slider 203 on the electric feeding table 2 and the bending radius, the background automatically calls the gravity moment of the bent arc segment wall panel 5 obtained from simulation calculation, as well as the position and swing arm angle of the electric swing support arm 304 to cancel the gravity 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 segment;

[0075] 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 calibration points for 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. The above steps are repeated until the bending curvature of this pass meets the standard.

[0076] Step 5: Repeat steps 2-4 above until the long cylindrical section wall panel 5 of the storage tank is formed as a whole.

[0077] The working principle of this invention is as follows:

[0078] When bending the long cylindrical section wall panel of the storage tank, the wall panel 5 is first placed horizontally on the electric feeding table 2. The pusher arm 204 of the electric feeding table 2 pushes the wall panel 5 forward a distance of one scale line 51. Then, the first slider 203 is stopped. 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. After the bending is completed, based on the forward distance of the first slider 203 and the bending radius, the background automatically calls up the gravitational moment of the bent arc section wall panel 5 and the position and swing arm angle of the electric swing support arm 304 that cancels out the gravitational moment. The position of the second slider 303 and the electric swing arm are then readjusted. The support arm 304 swings at an angle to effectively support the bent arc segment. At this time, the machine vision camera 4 takes pictures of the bending area between the lower die 102 of the CNC bending machine and uses three scale lines 51 within the range of the lower die 102 as calibration points for 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 cylindrical wall panel 5 according to the new pressing amount to achieve the target curvature until the bending curvature of this pass reaches the required standard.

[0079] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0080] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A precision control system for the press bending of a tank long cylinder section wall panel, characterized in that, The wallboard bending machine comprises a numerical control bending machine (1), an electric feeding table (2), a follow-up material supporting device (3) and a machine vision camera (4). The numerical control bending machine (1) comprises a numerical control bending machine upper die (101) and a numerical control bending machine lower die (102), and the numerical control bending machine upper die (101) and the numerical control bending machine lower die (102) are arranged above and below the wallboard (5) respectively. The electric feeding table (2) is arranged at the front side of the numerical control bending machine (1), can support the unbent area of the wallboard (5), and can push the wallboard (5) forward to realize the feeding function. The follow-up material supporting device (3) is arranged at the rear side of the numerical control bending machine (1) and can support the bent arc segment of the wallboard (5). The machine vision camera (4) is arranged at the side of the numerical control bending machine (1), is used for collecting the image of the bent arc segment of the wallboard (5), cooperates with the control device to perform online detection, and verifies whether the bent arc segment of the wallboard (5) reaches the target curvature. The follow-up material supporting device (3) comprises two spaced-apart material supporting assemblies, and the two material supporting assemblies are arranged at the two sides of the bent area of the wallboard (5) respectively. The material supporting assembly comprises a second linear guide rail (301), a second ball screw (302), a second sliding block (303), an electric swinging supporting 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 cooperation with the second linear guide rail (301), and 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 electric swinging supporting arm (304) can be driven to support the bent arc segment on the wallboard (5).

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

3. The precision control system for press bending forming of tank long cylinder section wall panel according to claim 2, characterized in that, The feeding assembly comprises a first linear guide rail (201), a first ball screw (202), a first sliding block (203), a material 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 cooperation with the first linear guide rail (201), the pushing arm (204) is arranged at the front end of the first sliding block (203), and 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.

4. The precision control system for press bending forming of tank long cylinder section wall panel according to claim 1, characterized in that, The electric swinging support arm (304) 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 by the angle adjusting motor, and the swing angle of the electric swinging support arm (304) can be adjusted.

5. The precision control system for press bending forming of tank long cylinder section wall panel according to claim 1, characterized in that, A plurality of equal-depth scale lines (51) with equal spacing are machined in the processing allowance area on the arc edge of the wallboard (5) on one side, and the spacing between adjacent scale lines (51) is half the width of the upper die (101) of the numerical control press brake. When the upper die (101) of the numerical control press brake is pressed downward to apply force to the wallboard (5), the wallboard (5) can be bent to complete a press bending action.

6. The precision control system for hydro-bend forming of tank barrel section wall panels according to claim 1, wherein, The control device is provided with matching software, the machine vision camera (4) and the matching software provided in the control device can detect the wallboard (5) region online after each press bending action is completed, and verify whether the target curvature is reached.

7. The precision control system for press bending forming of tank long cylinder section wall panel according to claim 6, characterized in that, 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 (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 swinging support arm (304) used to offset 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).

8. A method for precision control of the press bending of a wall panel of a long tank section, characterized in that, The method comprises the following steps: Step 1: a plurality of equal-depth scale lines (51) with equal spacing are machined in the processing allowance area on the arc edge of the wallboard (5) on one side; Step 2: the wallboard (5) is placed horizontally on the electric feeding table (2), the electric feeding table (2) is stopped after pushing the wallboard (5) forward by one scale line (51) distance, and the upper die (101) of the numerical control press brake is used to press and bend the wallboard (5) placed on the lower die (102) of the numerical control press brake. Step 3: After the bending process is completed, according to the forward distance of the electric feeding table (2) and the bending radius, the rear table automatically calls the gravity moment of the bent arc segment wallboard (5) obtained by simulation calculation and the position and swing arm angle of the electric swing support arm (304) for gravity moment offset, adjusts the position of the second sliding block (303) and the swing arm angle of the electric swing support arm (304) to effectively support the bent arc segment; Step 4: The machine vision camera (4) takes a picture of the bending area between the lower die (102) of the numerical control press brake and identifies the three scale lines (51) points in the range of the numerical control press brake lower die (102) as the calibration points of the machine vision processing image, and the rear table automatically obtains the curvature radius of the area segment wallboard (5); if the design radius is not reached, the rear processing software automatically calculates the new 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 is up to standard; Step 5: Repeat steps 2-4 above until the entire storage tank long barrel segment wallboard (5) is formed.

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