Bending system and bending method

Abstract

The invention discloses a bending system and a bending method, the bending system is used for bending a workpiece, and the bending system comprises an input unit, an output unit, a bending unit and a control unit, the operation unit information comprises an operation range of an operation unit; a first mold driving device, wherein the first mold driving device is coupled with the first mold; the second mold driving device is coupled with the second mold; a storage unit; the control unit receives the operation unit information transmitted by the input unit, and the control unit receives the machine geometric information, the first mold information, the second mold information and the workpiece bending information transmitted by the storage unit; and the control unit generates a first control command and a second control command according to the at least one bending step sequence to respectively control the first die driving device and the second die driving device. In the bending process, the position where the operation unit grabs the workpiece is close to the operation unit, and the operation friendliness of the operation unit is improved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical processing technology, specifically relating to a bending system and bending method for sheet metal processing. Background Technology

[0002] Bending is a process in which sheet metal undergoes elastic deformation followed by plastic deformation under the pressure of the upper or lower die on a bending machine. In the initial stage of plastic bending, the sheet metal is freely bent. As pressure is applied to the sheet metal by the upper or lower die, the sheet metal gradually comes into contact with the inner surface of the lower die groove. Simultaneously, the radius of curvature and bending lever arm gradually decrease. Pressure continues to be applied until the stroke ends, completing a bend, commonly known as a fold. With rapid societal development, the demand for automation is increasing across industries, especially in processing sectors. Sheet metal products are widely used in various industries, such as consumer goods, home appliances, automobiles, and construction. Therefore, further improving the processing efficiency of sheet metal parts is an unstoppable trend in societal development.

[0003] In the past, bending processes in sheet metal fabrication relied heavily on experienced operators who folded the finished product according to blueprints. This method was highly dependent on experience and had a high error rate, meaning new operators could only complete the task through multiple attempts. To improve this process, many technologies have proposed solutions that use computers to automatically calculate feasible bending steps. Besides generating feasible bending steps, these solutions also incorporate factors such as finished product quality and processing efficiency. Furthermore, in addition to the technical aspects, more factors are considered to improve user-friendliness, including both hardware and software improvements.

[0004] The improvements to the bending system software primarily focus on the bending process. Beyond ensuring basic conditions are not interfered with, additional features include mold settings, number of flips, rotation angle, and optimal travel distance; or generating instructional videos to enable new operators to complete the task. In summary, existing technologies focus more on reducing operational steps, saving time, and improving efficiency. Based on the above-mentioned existing bending system technologies, factors such as operability and labor-saving are not considered; that is, existing technologies do not consider the operator's workpiece gripping position. Summary of the Invention

[0005] The purpose of this invention is to provide a bending system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a bending system for bending workpieces, comprising: An input unit receives operation unit information; the operation unit information includes the operation range of the operation unit. A first mold driving device is coupled to a first mold; the first mold driving device is used to drive the first mold during the bending process. A second mold drive device is coupled to a second mold; the second mold drive device is used to drive the second mold during the bending process. The storage unit stores machine geometry information, first mold information of the first mold, second mold information of the second mold, and workpiece bending information; The control unit is coupled to the input unit, the storage unit, the first mold driving device, and the second mold driving device; the control unit receives the operation unit information transmitted from the input unit, and receives the machine tool geometry information, the first mold information, the second mold information, and the workpiece bending information transmitted from the storage unit; Based on the operation unit information, the first mold information, the second mold information, and the workpiece bending information, the control unit plans at least one bending sequence for processing the workpiece, and the gripping position of the operation unit in the bending process is related to the at least one bending sequence. The control unit generates a first control command and a second control command according to the at least one bending sequence to control the first mold drive device and the second mold drive device respectively. During the bending process, the first mold drive device and the second mold drive device respectively control the operation of the first mold and the second mold to bend and process the workpiece.

[0007] Ideally, the operating unit is a user, a robotic arm, or a positioning and clamping worktable, used to clamp the workpiece during the processing steps, and the operating range of the operating unit is the workable range extending from the operating unit as the center.

[0008] Ideally, the first mold is an upper mold, the second mold is a lower mold, and the information of the first mold and the information of the second mold respectively include the geometric shape information of the upper mold and the lower mold.

[0009] Ideally, the workpiece bending information is the appearance of the workpiece after bending, and the workpiece bending information includes a calculator-aided design file, image file, or bending position and bending angle of the workpiece to be bent.

[0010] Optimally, the control unit plans the gripping position of the operation unit to grasp the workpiece during the bending process through a calculation module; the calculation module is a combination of one or more of the following: center of gravity calculation model, projected area calculation model, volume calculation model, mass distribution calculation model, and area calculation model, and the material uniformity of the workpiece is associated with the calculation module used by the control unit. The calculation module calculates the gripping position of the operation unit based on the current bending appearance.

[0011] Furthermore, the control unit also includes an interference prevention mechanism established based on the machine tool geometry information, the operating range of the operating unit, the first mold, the second mold, and the workpiece geometry information to ensure that all bending steps can be actually executed.

[0012] Furthermore, the control unit also includes weighting factors for the gripping position and / or number of flips and / or rotation angle of the workpiece during the bending process.

[0013] Furthermore, when the control unit plans the bending sequence, it sets weight factors for the gripping position and / or the number of flips and / or the rotation angle of the workpiece to ensure that, under the interference prevention mechanism, the most suitable bending sequence is selected.

[0014] Optimally, it also includes at least one gear finger, the storage unit inputs at least one gear finger information to the control unit, and the control unit generates a gear finger control command based on the at least one gear finger information to control a gear finger drive device to operate the at least one gear finger.

[0015] Another object of the present invention is to provide a bending method, applied in a bending system to perform a bending process on a workpiece, wherein the bending system is provided with a first mold and a second mold, a first mold driving device is coupled to the first mold, and a second mold driving device is coupled to the second mold, the bending method comprising: The system receives operation unit information via an input unit, the operation unit information including the operation range of the operation unit; and stores machine tool geometry information, first mold information, second mold information, and workpiece bending information via a storage unit. The control unit is coupled to the input unit, storage unit, first mold drive device and second mold drive device, and the control unit receives the operation unit information transmitted from the input unit, and the control unit receives the machine geometry information, first mold information, second mold information and workpiece bending information transmitted from the storage unit; The control unit plans at least one bending sequence for processing the workpiece based on the operation unit information, the first mold information, the second mold information and the workpiece bending information, and the gripping position of the operation unit in the bending process is related to the at least one bending sequence. The control unit generates a first control command and a second control command according to the at least one bending sequence to control the first mold driving device and the second mold driving device respectively. During the bending process, the first mold driving device and the second mold driving device respectively control and drive the first mold and the second mold to bend and process the workpiece.

[0016] Ideally, the operating unit is a user, a robotic arm, or a positioning and clamping worktable, used to clamp the workpiece during the processing steps, and the operating range of the operating unit is the workable range extending from the operating unit as the center.

[0017] Ideally, the first mold is an upper mold, the second mold is a lower mold, and the information of the first mold and the information of the second mold respectively include the geometric shape information of the upper mold and the lower mold.

[0018] Ideally, the workpiece bending information is the appearance of the workpiece after bending, and the workpiece bending information includes a calculator-aided design file, image file, or bending position and bending angle of the workpiece to be bent.

[0019] Ideally, the control unit plans the gripping position of the operation unit during the bending process using a calculation module; the calculation module is a combination of one or more of the following: center of gravity calculation model, projected area calculation model, volume calculation model, mass distribution calculation model, and area calculation model; the material uniformity of the workpiece is associated with the calculation module used by the control unit; and the calculation module calculates the gripping position of the operation unit based on the current bending profile.

[0020] Furthermore, the control unit also includes an interference prevention mechanism established based on the machine tool geometry information, the operating range of the operating unit, the first mold, the second mold, and the workpiece geometry information to ensure that all bending steps can be actually executed.

[0021] Furthermore, the control unit also includes weighting factors for the gripping position and / or number of flips and / or rotation angle of the workpiece during the bending process.

[0022] Furthermore, when the control unit plans the bending sequence, it sets weight factors for the gripping position and / or the number of flips and / or the rotation angle of the workpiece to ensure that, under the interference prevention mechanism, the most suitable bending sequence is selected.

[0023] Optimally, the bending system further includes at least one gear finger, the storage unit inputs at least one gear finger information to the control unit, and the control unit generates a gear finger control command based on the at least one gear finger information to control a gear finger drive device to operate at least one gear finger.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention is based on the fact that the appearance of the workpiece will be different between each bending step, and therefore the position of the operating unit gripping the workpiece will also be different in each bending step. The technical solution of this application ensures that the position of the operating unit gripping the workpiece is close to the operating unit during the bending process, improving the user-friendliness of the operating unit. Unlike traditional bending step planning methods that rely on manual experience, or those that focus on reducing steps, saving time, and improving efficiency, this application considers that the position of the operating unit gripping the workpiece should be close to the operating unit when planning the bending process, thus achieving user-friendliness of the operating unit during bending. Attached Figure Description

[0025] Figure 1 This is a block diagram of the bending system of the present invention. Figure 1 ; Figure 2 This is a block diagram of the bending system of the present invention. Figure 2 ; Figure 3 This is a block diagram of the bending system of the present invention. Figure 3 ; Figure 4 This is a block diagram of the bending system of the present invention. Figure 4 . Detailed Implementation

[0026] The following details various embodiments of the present invention, with accompanying drawings as examples. Besides these detailed descriptions, the present invention can be widely implemented in other embodiments, and any easy substitutions, modifications, or equivalent changes to the described embodiments are included within the scope of the present invention and are subject to the claims. In the description of the specification, many specific details are provided to give the reader a more complete understanding of the present invention; however, the present invention may still be implemented even if some or all of the specific details are omitted. Furthermore, well-known steps or components are not described in the details to avoid unnecessarily limiting the present invention. The same or similar components in the drawings will be represented by the same or similar symbols. It should be noted that the drawings are for illustrative purposes only and do not represent the actual size or number of components; some details may not be fully drawn for the sake of simplicity.

[0027] Please see Figure 1 The purpose of this invention is to provide a bending system that achieves user-friendliness during bending processes. This application implements a bending system and method (i.e., a bending method or step planning method) for performing bending processing steps (i.e., bending processing technology) on a workpiece, the workpiece being sheet metal, pipe, or wire to be bent, and this invention does not limit the type of workpiece.

[0028] The bending system includes: Input unit 100 receives operation unit information 110, which includes the operation range of the operation unit. In implementation, input unit 100 is not limited to any input method; it can be an input interface on the machining platform or an external device (e.g., a laptop computer). The operation unit can be a user, a robotic arm, or a positioning and clamping worktable, used to clamp the workpiece during the machining process. The operation range of the operation unit is the workable area extending from the operation unit as the center, and this range may vary depending on the type of operation unit and the layout of the machine tool.

[0029] Storage unit 200 stores the machine geometry information 210 of the bending system, the first mold information 220 of the first mold 430, the second mold information 230 of the second mold 440, and the workpiece bending information 240 of the workpiece (not shown in the figure). The first mold 430 is the upper mold of the bending system, and the second mold 440 is the lower mold of the bending system. The first mold information 220 and the second mold information 230 include the geometric shape information of the upper mold 430 and the lower mold 440. The workpiece bending information 240 describes the appearance of the workpiece after bending, and also includes the material, thickness, and current shape of the workpiece. Furthermore, the workpiece bending information 240 includes the computer-aided design (CAD) file, image file, and / or bending position and angle of the workpiece to be bent.

[0030] A first mold drive device 410 is coupled to a first mold 430, and the first mold drive device 410 drives the first mold 430 to operate during the bending process (i.e., the first mold drive device 410 drives the first mold 430 to perform corresponding processing actions during the bending process); a second mold drive device 420 is coupled to a second mold 440, and the second mold drive device 420 drives the second mold 440 to operate during the bending process. In practical applications, the first mold drive device 410 and the second mold drive device 420 can be motors or drivers that control the first mold 430 and the second mold 440.

[0031] The control unit 300 is coupled to the input unit 100, the storage unit 200, the first mold drive device 410, and the second mold drive device 420; and the control unit 300 receives the operation unit information 110 transmitted from the input unit 100 to determine the operation unit and operation range of the current process; the control unit 300 receives the machine geometry information 210, the first mold information 220, the second mold information 230, and the workpiece bending information 240 transmitted from the storage unit 200.

[0032] In practice, the control unit 300 plans at least one bending sequence (steps and order) for processing the workpiece based on the operation unit information 110, the machine tool geometry information 210, the first mold information 220, the second mold information 230, and the workpiece bending information 240. The gripping position of the operation unit in the bending process is related to the at least one bending sequence. Based on the at least one bending sequence, the control unit 300 generates a first control command 310 and a second control command 320 to control the first mold drive device 410 and the second mold drive device 420 respectively. By controlling the first mold drive device 410 and the second mold drive device 420, the control unit 300 controls the operation of the first mold 430 and the second mold 440 to bend and process the workpiece during the bending process.

[0033] The technical feature of this application lies in the additional consideration of workpiece gripping position control strategy. During the step sequence planning process, the position of the operating unit gripping the workpiece is taken into account, improving clamping stability and ease of operation. The operating range is a safe range extending from the operating unit as the center point, and the operating unit can be one of the operator, robotic arm, or positioning and clamping worktable. Since the shape of the workpiece will differ between each bending step, the position of the operating unit gripping the workpiece will also differ in each bending step. The technical feature of this application is that during the bending process, the position of the operating unit gripping the workpiece will be closer to the operating unit, improving the ease of operation of the operating unit.

[0034] Please see Figure 2 In practical application, in the bending system of this application, the control unit 300 further plans the gripping position of the operation unit to grasp the workpiece during the bending process through the calculation module 500; the calculation module 500 can be one or a combination of a center of gravity calculation model, a projected area calculation model, a volume calculation model, a mass distribution calculation model and an area calculation model, and the material uniformity of the workpiece is related to the calculation module 500 used by the control unit 300, and the calculation module 500 calculates the gripping position of the operation unit according to the current bending appearance.

[0035] The control unit 300 determines the workpiece gripping position of the operating unit not by a specific calculation model, but can calculate it using methods such as center of gravity, projected area, volume, mass distribution, or area. In one embodiment of the invention, when the workpiece material is uniform, the projected area, volume, or area can be used for calculation. In another embodiment of the invention, when the workpiece material is non-uniform, the mass distribution can be used for calculation. This application allows for dynamic adjustment of the workpiece gripping position of the operating unit to improve operational friendliness during bending. For example, if bending a workpiece requires 100 steps and only the center of gravity calculation model is used, the calculated gripping position will differ between each step, resulting in 100 calculations. Or, if bending a workpiece requires 100 steps, the first 1-30 steps are suitable for using the center of gravity calculation model, while the last 30-100 steps are suitable for using the projected area calculation model. The calculated gripping position will differ between each step, but the overall calculation will still be 100 times. This is mainly because the current appearance of the workpiece affects the workpiece gripping position of the operating unit.

[0036] The control unit 300 further includes weighting factors for the gripping position and / or number of flips and / or rotation angle of the workpiece during the bending process, enabling the calculation module 500 to plan the gripping position of the operation unit during the bending process. In practice, there may be more weighting factors than the three listed, depending on the user's requirements for the processing system, but the gripping position must be one of the weighting factors, while the number of flips, rotation angle, or other weighting factors may be set to 0%.

[0037] In short, the side of the workpiece that is easier to grip and heavier, closer to the operating unit, must be included in the bending sequence calculation. Further factors such as the necessary number of flips and rotation angles, which are automatically identified, are then considered to reduce processing complexity and time consumption. In one embodiment of the invention, the optimal step sequence is calculated after considering the corresponding weighting factors to meet different processing requirements.

[0038] When implemented, the control unit 300 further includes an interference prevention mechanism based on the machine geometry information 210 of the bending system, the operating range of the operating unit (operating unit information 110), the first mold 430, the second mold 440, and the geometric shape information of the workpiece, to ensure that all bending steps can be actually executed.

[0039] When planning all bending steps, the control unit 300 sets weighting factors for the workpiece's gripping position and / or number of flips and / or rotation angle. The calculation module 500 plans the gripping position of the workpiece by the operation unit during the bending process, and selects the most suitable bending sequence under the interference prevention mechanism. This application performs collision checks in the simulated steps to actively eliminate potential interference and ensure that each step can be actually executed. The side of the workpiece that is easier to grip and heavier is closer to the operation unit and must be included in the bending sequence calculation. Furthermore, factors such as the necessary number of flips and rotation angles, which are automatically identified, are included to reduce the complexity and time consumption of the processing.

[0040] Please see Figure 3 and Figure 4 When implemented, the bending system further includes at least one stop finger 460. The storage unit 200 inputs at least one stop finger information 250 to the control unit 300. The control unit 300 generates a stop finger control command 330 based on the at least one stop finger information 250 to control a stop finger drive device 450 to operate the at least one stop finger 460.

[0041] This application utilizes the aforementioned bending system to provide a bending sequence planning method for the workpiece, which automatically analyzes the geometric information of the workpiece, mold, and machine tool (including the machine frame, bed, slide, etc.) to produce a complete processing sequence that meets the processing conditions and optimizes the user-friendliness of the operating unit. The method (bending method) of this application includes the following main steps: Input relevant data: geometric model of the finished workpiece appearance, upper and lower mold library information, and machine tool geometry information. The input unit 100 receives the operation unit information 110, which includes the operation range of the operation unit. The storage unit 200 stores the machine tool geometry information 210, first mold information 220, second mold information 230, and workpiece bending information 240 of the bending system. The control unit 300 is coupled to the input unit 100, storage unit 200, first mold drive device 410, and second mold drive device 420. The control unit 300 receives the operation unit information 110 from the input unit 100 and the machine tool geometry information 210, first mold information 220, second mold information 230, and workpiece bending information 240 from the storage unit 200.

[0042] Searching for and planning bending sequence: The control unit 300 plans at least one bending sequence for processing the workpiece based on the operation unit information 110, machine geometry information 210, first mold information 220, second mold information 230 and workpiece bending information 240, and the gripping position of the operation unit in the bending process is related to the at least one bending sequence.

[0043] This application performs cost calculations and weighted evaluations for each candidate step, considering multiple search influencing factors (weighting factors) including workpiece rotation, flipping, and the position of the operating unit gripping the workpiece. This ensures that in each step selection, the position of the operating unit gripping the workpiece can be adjusted to the optimal position (close to the operating unit) to enhance operability and stability. The influencing factors are internally defined weights of multiple influencing factors, and different weight settings can lead to different step sequence search results; for example, setting a larger weight for a specific factor will prioritize generating bending steps that meet the optimization conditions of that factor. During the step sequence search process, each candidate step must be verified through a simulation process to confirm its processing feasibility. Therefore, the final output step is the optimal solution achieved under interference-free conditions after multi-influence factor evaluation based on the set weights. In this application, the position of the operating unit gripping the workpiece is set as a search influencing factor with a weight greater than 0. For example, if a workpiece has three bends, A, B, and C, this invention, under interference-free conditions, considers multiple search factors, including workpiece rotation, flipping, and the position of the operating unit gripping the workpiece, to calculate that when the first bend is A, the position of the operating unit gripping the workpiece can be adjusted to the optimal position (close to the operating unit). After determining that the first bend is A, the invention continues under interference-free conditions, considering multiple search factors, including workpiece rotation, flipping, and the position of the operating unit gripping the workpiece, to calculate whether the next bend is B or C. If the next bend is calculated to be C, the position of the operating unit gripping the workpiece can be adjusted to the optimal position (close to the operating unit). Thus, the final bend sequence is A, C, B.

[0044] Output information: Based on the at least one bending sequence, the control unit 300 generates a first control command 310 and a second control command 320 to control the first mold drive device 410 and the second mold drive device 420 respectively. During the bending process, the first mold drive device 410 and the second mold drive device 420 respectively control and drive the first mold 430 and the second mold 440 to perform bending processing on the workpiece. It outputs a feasible bending sequence without interference and provides suggestions for upper and lower mold tool arrangement to facilitate actual machine operation.

[0045] In application, the bending system provides a method for planning the bending sequence of the workpiece. When the bending system includes at least one stop finger 460, the storage unit 200 inputs the information 250 of the at least one stop finger to the control unit 300. The control unit 300 generates the stop finger control command 330 according to the information 250 of the at least one stop finger to control the stop finger drive device 450 to operate the at least one stop finger 460.

[0046] The bending system and step sequence planning method in this application focus on the ease of operation of the operating unit during bending (the operating unit can be a user, a robotic arm, or other entity capable of holding the workpiece). Furthermore, compared to traditional bending step sequence planning methods that rely on human experience, this application plans the workpiece gripping position of the operating unit close to the operating unit during bending, thus achieving ease of operation for the operating unit during bending.

[0047] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A bending system for bending workpieces, characterized in that, include: Input unit, the input unit receives operation unit information; The operation unit information includes the operation range of the operation unit; A first mold driving device, the first mold driving device being coupled to a first mold; The first mold driving device is used to drive the first mold during the bending process; A second mold drive device, the second mold drive device being coupled to a second mold; The second mold drive device is used to drive the second mold during the bending process; The storage unit stores machine geometry information, first mold information of the first mold, second mold information of the second mold, and workpiece bending information; A control unit, which is coupled to the input unit, the storage unit, the first mold drive device, and the second mold drive device; The control unit receives the operation unit information from the input unit, and the control unit also receives the machine tool geometry information, the first mold information, the second mold information, and the workpiece bending information from the storage unit. Based on the operation unit information, the first mold information, the second mold information, and the workpiece bending information, the control unit plans at least one bending sequence for processing the workpiece, and the gripping position of the operation unit in the bending process is related to the at least one bending sequence. The control unit generates a first control command and a second control command according to the at least one bending sequence to control the first mold drive device and the second mold drive device respectively. During the bending process, the first mold drive device and the second mold drive device respectively control the operation of the first mold and the second mold to bend and process the workpiece.

2. The bending system according to claim 1, characterized in that: The operating unit is a user, a robotic arm, or a positioning and clamping worktable, used to clamp the workpiece during the processing steps, and the operating range of the operating unit is the workable range extending from the operating unit as the center.

3. The bending system according to claim 1, characterized in that: The first mold is an upper mold, the second mold is a lower mold, and the information of the first mold and the information of the second mold respectively include the geometric shape information of the upper mold and the lower mold.

4. The bending system according to claim 1, characterized in that: The workpiece bending information refers to the appearance of the workpiece after bending, and includes a calculator-aided design file, image file, or bending position and bending angle of the workpiece to be bent.

5. The bending system according to claim 1, characterized in that: The control unit plans the gripping position of the operation unit during the bending process through a calculation module. The calculation module is a combination of one or more of the following: center of gravity calculation model, projected area calculation model, volume calculation model, mass distribution calculation model, and area calculation model. The material uniformity of the workpiece is associated with the calculation module used by the control unit. The calculation module calculates the gripping position of the operation unit based on the current bending shape.

6. The bending system according to claim 5, characterized in that: The control unit also includes an interference prevention mechanism based on the machine tool geometry information, the operating range of the operating unit, the first mold, the second mold, and the workpiece geometry information to ensure that all bending steps can be actually executed.

7. The bending system according to claim 5, characterized in that: The control unit also includes weighting factors for the gripping position and / or number of flips and / or rotation angle of the workpiece during the bending process.

8. The bending system according to claim 6, characterized in that: When the control unit plans the bending sequence, it sets weight factors for the gripping position and / or the number of flips and / or the rotation angle of the workpiece, and confirms that the most suitable bending sequence is selected under the interference prevention mechanism.

9. The bending system according to claim 1, characterized in that: It also includes at least one gear finger, the storage unit inputs at least one gear finger information to the control unit, and the control unit generates a gear finger control command based on the at least one gear finger information to control a gear finger drive device to operate the at least one gear finger.

10. A bending method, applied in a bending system to perform a bending process on a workpiece, wherein the bending system is provided with a first die and a second die, a first die driving device is coupled to the first die, and a second die driving device is coupled to the second die, characterized in that... The bending method includes: The system receives operation unit information via an input unit, the operation unit information including the operation range of the operation unit; and stores machine tool geometry information, first mold information, second mold information, and workpiece bending information via a storage unit. The control unit is coupled to the input unit, storage unit, first mold drive device and second mold drive device, and the control unit receives the operation unit information transmitted from the input unit, and the control unit receives the machine geometry information, first mold information, second mold information and workpiece bending information transmitted from the storage unit; The control unit plans at least one bending sequence for processing the workpiece based on the operation unit information, the first mold information, the second mold information and the workpiece bending information, and the gripping position of the operation unit in the bending process is related to the at least one bending sequence. The control unit generates a first control command and a second control command according to the at least one bending sequence to control the first mold driving device and the second mold driving device respectively. During the bending process, the first mold driving device and the second mold driving device respectively control and drive the first mold and the second mold to bend and process the workpiece.

11. The bending method according to claim 10, characterized in that: The operating unit is a user, a robotic arm, or a positioning and clamping worktable, used to clamp the workpiece during the processing steps, and the operating range of the operating unit is the workable range extending from the operating unit as the center.

12. The bending method according to claim 10, characterized in that: The first mold is an upper mold, the second mold is a lower mold, and the information of the first mold and the information of the second mold respectively include the geometric shape information of the upper mold and the lower mold.

13. The bending method according to claim 10, characterized in that: The workpiece bending information refers to the appearance of the workpiece after bending, and includes a calculator-aided design file, image file, or bending position and bending angle of the workpiece to be bent.

14. The bending method according to claim 10, characterized in that: The control unit plans the gripping position of the operation unit during the bending process through a calculation module. The calculation module is a combination of one or more of the following: center of gravity calculation model, projected area calculation model, volume calculation model, mass distribution calculation model, and area calculation model. The material uniformity of the workpiece is associated with the calculation module used by the control unit. The calculation module calculates the gripping position of the operation unit based on the current bending shape.

15. The bending method according to claim 14, characterized in that: The control unit also includes an interference prevention mechanism based on the machine tool geometry information, the operating range of the operating unit, the first mold, the second mold, and the workpiece geometry information to ensure that all bending steps can be actually executed.

16. The bending method according to claim 14, characterized in that: The control unit also includes weighting factors for the gripping position and / or number of flips and / or rotation angle of the workpiece during the bending process.

17. The bending method according to claim 15, characterized in that: When the control unit plans the bending sequence, it sets weight factors for the gripping position and / or the number of flips and / or the rotation angle of the workpiece, and confirms that the most suitable bending sequence is selected under the interference prevention mechanism.

18. The bending method according to claim 10, characterized in that: The bending system further includes at least one gear finger. The storage unit inputs at least one gear finger information to the control unit. The control unit generates a gear finger control command based on the at least one gear finger information to control a gear finger drive device to operate at least one gear finger.

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