Bending system, bending locus correction method, and bending locus correction program

Abstract

To provide a bending system, a bending locus correction method and a bending locus correction program capable of efficiently and accurately performing bending.SOLUTION: A correction coefficient calculation process of calculating a correction coefficient based on a theoretical horizontal load applied to the bending blade when the workpiece is bent at a predetermined angle and a theoretical clearance amount of the upper die or the lower die when the workpiece is bent at the predetermined angle, and a predicted horizontal load calculation process of calculating an expected horizontal load applied to the bending blade when the workpiece is bent at a target angle; And an expected relief amount calculation process of calculating an expected relief amount based on the calculated correction coefficient and the expected horizontal load, and a trajectory correction process of correcting a machining trajectory of the bend beam based on the expected relief amount.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a bending system, a bending locus correction method, and a bending locus correction program. [Background technology]

[0002] BACKGROUND ART Conventionally, there is a panel bender that sandwiches a work clamped by a clamping means between upper and lower dies with an arbitrary pressure based on a processing program, and performs bending processing using bending blades (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6401623 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional panel benders, when creating a processing program, the upper and lower dies are assumed to be rigid, and the die positions are set to create a processing program for bending using bending blades. However, in reality, the upper and lower dies are not rigid, so during the bending process, the position of the upper or lower die may shift due to distortion caused by the load or clearance, which can cause the finished angle of the workpiece after bending to differ from the target angle. Therefore, it is necessary to actually perform the bending process once and then correct the processing program based on the results.

[0005] One aspect of the present invention is a bending system, a bending locus correction method, and a bending locus correction program that can perform bending efficiently and accurately. [Means for solving the problem]

[0006] A bending processing system according to one embodiment of the present invention comprises upper and lower dies that clamp a workpiece, a bend beam having a bending blade, and a control unit, and the control unit is configured to execute a correction coefficient calculation process that calculates a correction coefficient based on the theoretical horizontal load that will be applied to the bending blade when the workpiece is bent to a predetermined angle and the theoretical relief amount of the upper or lower die when the workpiece is bent to the predetermined angle, an expected horizontal load calculation process that calculates an expected horizontal load that will be applied to the bending blade when the workpiece is bent to a target angle, an expected relief amount calculation process that calculates an expected relief amount based on the calculated correction coefficient and the expected horizontal load, and a trajectory correction process that corrects the processing trajectory of the bend beam based on the expected relief amount.

[0007] A bending processing trajectory correction method according to one embodiment of the present invention includes a correction coefficient calculation step in which a correction coefficient is calculated based on the theoretical horizontal load applied to the bending blade when a workpiece sandwiched between an upper die and a lower die is bent to a predetermined angle and the theoretical clearance amount of the upper die or the lower die when the workpiece is bent to the predetermined angle; an expected horizontal load calculation step in which an expected horizontal load is calculated to be applied to the bending blade when the workpiece is bent to a target angle; an expected clearance amount calculation step in which an expected clearance amount is calculated based on the calculated correction coefficient and the expected horizontal load; and a trajectory correction step in which the processing trajectory of the bend beam is corrected based on the expected clearance amount.

[0008] A bending processing trajectory correction program according to one embodiment of the present invention causes a control unit of a bending processing system to execute a correction coefficient calculation process that calculates a correction coefficient based on the theoretical horizontal load applied to the bending blade when a workpiece sandwiched between an upper die and a lower die is bent to a predetermined angle and the theoretical relief amount of the upper die or the lower die when the workpiece is bent to the predetermined angle; an expected horizontal load calculation process that calculates an expected horizontal load that will be applied to the bending blade when the workpiece is bent to a target angle; an expected relief amount calculation process that calculates an expected relief amount based on the calculated correction coefficient and the expected horizontal load; and a trajectory correction process that corrects the processing trajectory of the bend beam based on the expected relief amount.

[0009] According to one embodiment of the bending system, bending trajectory correction method, and bending trajectory correction program of the present invention, an expected clearance amount is calculated based on a correction coefficient and an expected horizontal load, and the processing trajectory of the bend beam is corrected based on the expected clearance amount, thereby enabling efficient and accurate bending. [Effects of the Invention]

[0010] According to the bending system, bending trajectory correction method, and bending trajectory correction program of one aspect of the present invention, bending can be performed efficiently and accurately. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic diagram showing the panel bender of this embodiment. [Figure 3] FIG. 3 is an enlarged view of a part of the panel bender of this embodiment. [Figure 4] FIG. 4 is a functional block diagram showing the control device of this embodiment. [Figure 5] FIG. 5 is a schematic diagram showing an example of positive bending in this embodiment. [Figure 6] FIG. 6 is a diagram showing an example of a processing path before correction in this embodiment. [Figure 7] FIG. 7 is a flowchart showing a series of processes executed by the control unit of this embodiment. [Figure 8] FIG. 8 is a schematic diagram showing the calculation of the theoretical horizontal load in this embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a relational expression according to this embodiment. [Figure 10] FIG. 10 is a schematic diagram showing the calculation of the theoretical relief amount in this embodiment. [Figure 11] FIG. 11 is a schematic diagram showing the expected horizontal load and expected relief amount in positive bending of this embodiment. [Figure 12] FIG. 12 is a diagram showing an example of correction of the machining path in this embodiment. [Figure 13] FIG. 13 is a schematic diagram showing an example of reverse bending in this embodiment. [Figure 14] FIG. 14 is a flowchart showing an example of a bending trajectory correction method according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] The best mode for carrying out the present invention will be described below with reference to the drawings. Note that the following embodiments do not limit the inventions according to the claims, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0013] [Overall configuration of the bending system according to this embodiment] Fig. 1 is a schematic diagram showing a bending system according to an embodiment of the present invention, Fig. 2 is a schematic diagram showing a panel bender of the embodiment, and Fig. 3 is an enlarged view of a part of the panel bender of the embodiment. First, a bending system 1 according to an embodiment of the present invention will be outlined with reference to Figures 1 to 3. As shown in Figures 1 and 2, the bending system 1 according to this embodiment generally includes an upper die U and a lower die L (see Figure 3) that sandwich a plate-shaped workpiece W, a bend beam 20 having bending blades 30, and a control unit 130.

[0014] The panel bender 10 is a processing machine that performs bending processes such as normal bending on a workpiece W. As shown in FIG. 2, the panel bender 10 has a main body frame 11 as a base, and a lower table (lower frame) 12 extending in the longitudinal direction of the panel bender 10 is provided below the main body frame 11. A lower die (bottom die) L that supports the workpiece W is provided above the lower table 12, and the lower die L extends in the longitudinal direction of the panel bender 10.

[0015] An upper table (upper frame) 15 extending in the longitudinal direction of the panel bender 10 is provided on the upper part of the main body frame 11 via a connecting frame 13 and a hinge shaft 14. The upper table 15 is configured to move (rotate) in the height direction of the panel bender 10 (in the Z-axis direction in this embodiment) around the hinge shaft 14. In addition, an upper die (top die) U that cooperates with a lower die L to clamp a workpiece W is provided below the upper table 15. Furthermore, a table servo motor (not shown) that moves (rotates) the upper table 15 in the Z-axis direction is provided on the connecting frame 13.

[0016] 2, a connecting beam 23 is provided behind the lower table 12, extending in the depth direction of the panel bender 10 (in the Y-axis direction in this embodiment). The base end (rear end) of the connecting beam 23 is connected to an eccentric portion (not shown) of a crankshaft (not shown) extending in the longitudinal direction of the panel bender 10, and the position of the connecting beam 23 can be adjusted in the Y-axis direction by rotating the crankshaft.

[0017] A bend beam 20 extending in the longitudinal direction of the panel bender 10 is connected to the tip (front end) of the connecting beam 23 via a connecting shaft 25. The bend beam 20 is configured to move (rotate) in the Z-axis direction around the connecting shaft 25.

[0018] Fig. 5 is a schematic diagram showing an example of forward bending of this embodiment, and Fig. 13 is a schematic diagram showing an example of reverse bending of this embodiment. Further, a forward bending blade 32 is provided at the bottom of the front end (tip end) of the bend beam 20 for performing forward bending, bending the workpiece W in the positive direction of the Z-axis, as shown in Fig. 5. A reverse bending blade 34 is provided at the top of the front end of the bend beam 20 for performing reverse bending, bending the workpiece W in the negative direction of the Z-axis, as shown in Fig. 13. That is, the panel bender 10 according to this embodiment has a forward bending blade 32 and a reverse bending blade 34 as bending blades 30. Furthermore, a beam servo motor (not shown) for moving (rotating) the bend beam 20 in the Z-axis direction of the panel bender 10 is provided at an appropriate position on the main body frame 11.

[0019] Since a known configuration can be adopted for the panel bender 10, detailed description thereof will be omitted.

[0020] FIG. 4 is a functional block diagram showing the control device of this embodiment. 4, the control device 100 includes an input unit 110, a display unit 120, a control unit 130, and a storage unit 140. The control device 100 according to this embodiment is, for example, a numerical control device or an electronic computer such as a desktop personal computer, a laptop computer, or a tablet terminal.

[0021] The input unit 110 is composed of input devices such as a keyboard, a mouse, a touchpad, a joystick, etc., and by operating the input unit 110, in addition to the information input function normally required in the control device 100, it is possible to perform operations such as inputting material information MI, which will be described later, and inputting a target angle, which will be described later.

[0022] The display unit 120 has a display as a display device, and in addition to the screen display function normally required in the control device 100, displays machining trajectories PL, PL', etc., which will be described later.

[0023] Furthermore, the display unit 120 can be configured as a touch panel (touch screen) having the function of the input unit 110. When the display unit 120 is configured as a touch panel, the user can perform various operations on the control device 100, such as inputting material information MI and inputting a target angle, by operating the display unit 120, for example.

[0024] The configurations of the input unit 110 and the display unit 120 are not limited to those described above, and any configuration having equivalent functions (for example, a display means or input means that can be used remotely) can be used in place of the input unit 110 and the display unit 120, and is not limited to this.

[0025] The control unit 130 is configured by, for example, an integrated arithmetic processing device having a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). As shown in FIG. 4, the control unit 130 also includes a theoretical horizontal load calculation unit 132, a correction coefficient calculation unit 134, and a trajectory correction unit 136.

[0026] FIG. 6 is a diagram showing an example of a processing path before correction in this embodiment. The control unit 130 is also configured to be able to control the panel bender 10, and can cause the panel bender 10 to perform bending processing to bend the workpiece W held between an upper die U and a lower die L at a predetermined angle, as shown in Fig. 5. Furthermore, the control unit 130 is configured to be able to correct the processing trajectory PL (see Fig. 6) of the bend beam 20 when bending the workpiece W at a predetermined angle.

[0027] FIG. 7 is a flowchart showing a series of processes executed by the control unit of this embodiment. The theoretical horizontal load calculation unit 132 is configured to execute a theoretical horizontal load calculation process (S10 in FIG. 7) that calculates the theoretical horizontal load that will be applied to the bending blade 30 when bending the workpiece W to a predetermined angle. In this embodiment, the theoretical horizontal load 142 is the horizontal component (Y-axis component in this embodiment) of the bending load that will be applied to the tip of the bending blade 30 (positive bending blade 32 in positive bending processing) when bending the workpiece W to 90 degrees, as shown in FIG. 5 (P i ) In other words, in this embodiment, the predetermined angle is 90 degrees.

[0028] The predetermined angle is not limited to this and may be an angle other than 90 degrees. In this embodiment, the predetermined angle is always 90 degrees regardless of the target angle when actually performing bending, but it is not limited to this and, for example, the predetermined angle may be the same as the target angle. When the predetermined angle is 90 degrees, the bending load applied to the bending blade 30 has only a horizontal component (Y-axis component), so the bending load and the horizontal load become equal, which has the advantage of making it easier to calculate the theoretical horizontal load 142.

[0029] FIG. 8 is a schematic diagram showing the calculation of the theoretical horizontal load in this embodiment. In this embodiment, the theoretical horizontal load calculation unit 132 is configured to calculate the theoretical horizontal load 142 based on material information MI of the workpiece W, as shown in FIG. 8. The material information MI of the workpiece W includes the material quality, plate thickness, clearance, and bending length of the workpiece W. The material information MI also includes a predetermined angle as the bending angle. In this embodiment, the clearance is the gap between the die (upper die U or lower die L) and the bending blade 30 (forward bending blade 32 or reverse bending blade 34), and is set to about 4 to 6 times the plate thickness of the workpiece W. However, it is not limited to this.

[0030] In the case of forward bending as shown in Fig. 5, the clearance is the gap between the upper die U and the forward bending blade 32. In the case of reverse bending as shown in Fig. 13, the clearance is the gap between the lower die L and the reverse bending blade 34. In this embodiment, the bending length is the length of the workpiece W in the extension direction of the upper die U and the lower die L when the workpiece W is sandwiched between the upper die U and the lower die L.

[0031] In this embodiment, the material information MI is input by the user via the input unit 110, but is not limited to this. For example, a database containing the material information MI may be stored in the storage unit 140, a server, or the like, and the corresponding material information MI may be automatically read from the database when the user selects the workpiece W or the workpiece W is recognized by a camera, for example.

[0032] In the theoretical horizontal load calculation process, the theoretical horizontal load calculation unit 132 calculates the theoretical horizontal load 142 based on the input material information MI and material parameters 141 stored in the storage unit 140. For example, if the material of the workpiece W is SPCC (Steel Plate Cold Commercial), the plate thickness of the workpiece W is 3.2 mm, and the bending length of the workpiece W is 500 mm, the theoretical horizontal load 142 applied to the bending blade 30 when bending the workpiece W at 90 degrees will be 45.9 kN.

[0033] The correction coefficient calculation unit 134 is configured to execute a theoretical relief amount calculation process (S20 in FIG. 7) for calculating a theoretical relief amount 144 of the upper die U or the lower die L when bending the workpiece W at a predetermined angle, based on a relational expression 143 between the horizontal load and the relief amount stored in the storage unit 140. In this embodiment, the correction coefficient calculation unit 134 calculates the theoretical relief amount 144 of the upper die U (δ in FIG. 5) in the case of normal bending as shown in FIG. i ) in the case of reverse bending as shown in FIG. 13. The correction coefficient calculation unit 134 calculates the theoretical relief amount 144 (δ in FIG. 13) of the lower die L. i ) is calculated.

[0034] Relational formula 143 is created based on relief amount database 146, which is a database of horizontal loads and relief amounts of dies (upper die U or lower die L) under a plurality of bending conditions. In this embodiment, in the case of forward bending as shown in Fig. 5, relational formula 143 is created based on relief amount database 146 of horizontal loads and relief amounts of upper die U under a plurality of bending conditions. In addition, in the case of reverse bending as shown in Fig. 13, relational formula 143 is created based on relief amount database 146 of horizontal loads and relief amounts of lower die L under a plurality of bending conditions.

[0035] FIG. 9 is a diagram showing an example of a relational expression according to this embodiment. Relational formula 143 is an approximation formula for a graph in which values ​​under a plurality of bending conditions are plotted with the horizontal load on the horizontal axis and the relief amount of the upper die U or the lower die L on the vertical axis, and is, for example, an approximation formula of order "3" that draws a cubic curve, as shown in Fig. 9. Note that relational formula 143 is not limited to a cubic approximation formula, and may be a linear approximation formula or a quadratic approximation formula.

[0036] In this embodiment, the relational expression 143 is created based on the relief amount database 146 of the horizontal load and the relief amount of the mold (upper mold U or lower mold L) calculated by finite element analysis. However, without being limited thereto, the relational expression 143 may be created based on the relief amount database 146 of the horizontal load and the relief amount of the mold (upper mold U or lower mold L) of actual measured values.

[0037] Furthermore, in this embodiment, the relational expression 143 is created in advance based on the relief amount database 146 and stored in the storage unit 140. However, this is not limiting. When the relational expression 143 is created using finite element analysis, the control unit 130 may execute the finite element analysis, build the relief amount database 146 of the horizontal load and the relief amount of the mold (upper mold U or lower mold L) calculated by the finite element analysis, and then create the relational expression 143.

[0038] FIG. 10 is a schematic diagram showing the calculation of the theoretical relief amount in this embodiment. 10, in the theoretical relief amount calculation process, the correction coefficient calculation unit 134 substitutes the theoretical horizontal load 142 calculated by the theoretical horizontal load calculation unit 132 into the above-mentioned relational expression 143 to calculate the theoretical relief amount 144 of the upper die U or the lower die L. For example, in the case of the above-mentioned workpiece W (SPCC with a plate thickness of 3.2 mm), the theoretical relief amount 144 is 0.639 mm.

[0039] The correction coefficient calculation unit 134 is configured to execute a correction coefficient calculation process (S30 in FIG. 7) for calculating a correction coefficient 145 based on a theoretical horizontal load 142 and a theoretical relief amount 144. In this embodiment, in the case of forward bending as shown in FIG. 5, the correction coefficient calculation unit 134 calculates the correction coefficient 145 based on the theoretical horizontal load 142 and the theoretical relief amount 144 of the upper die U. In addition, in the case of reverse bending as shown in FIG. 13, the correction coefficient calculation unit 134 calculates the correction coefficient 145 based on the theoretical horizontal load 142 and the theoretical relief amount 144 of the lower die L.

[0040] In this embodiment, the correction coefficient 145 is a value obtained by dividing the theoretical relief amount 144 by the theoretical horizontal load 142, as shown in the following equation 1. [Formula 1] k=δ i / P i

[0041] In Equation 1, k is the correction coefficient 145, δ i The theoretical relief amount is 144, P i and respectively indicate the theoretical horizontal load 142. For example, in the case of the above-mentioned workpiece W (SPCC with a plate thickness of 3.2 mm), the correction coefficient 145 is 0.00696 as shown in the following formula 2. [Formula 2] k=0.639mm / {45.3kN / (500mm×1000)} =0.00696

[0042] FIG. 11 is a schematic diagram showing the expected horizontal load and expected relief amount in positive bending of this embodiment. As shown in FIG. 11, the trajectory correction unit 136 calculates the expected horizontal load el (P in FIG. 11) applied to the bending blade 30 when bending the workpiece W to the target angle. p The target angle may be included in the material information MI together with a predetermined angle as the bending angle, or may be input separately from the material information MI. In the expected horizontal load calculation process, the trajectory correction unit 136 calculates the expected horizontal load e1 based on the target angle, the material information MI, and the material parameters 141. For example, when bending the above-mentioned workpiece W (SPCC with a plate thickness of 3.2 mm) to 135 degrees (target angle), the expected horizontal load e1 applied to the bending blade 30 is 21.6 kN.

[0043] Further, the trajectory correction unit 136 calculates the estimated clearance ed (δ in FIG. 11) based on the calculated correction coefficient 145 and the estimated horizontal load el. p In this embodiment, the trajectory correction unit 136 calculates the estimated relief amount ed of the upper die U in the case of forward bending as shown in FIG. 5. Also, the trajectory correction unit 136 calculates the estimated relief amount ed of the lower die L in the case of reverse bending as shown in FIG. 13.

[0044] Specifically, the trajectory correction unit 136 calculates the estimated clearance ed by multiplying the estimated horizontal load el by a correction coefficient 145, as shown in the following equation 3. [Formula 3] δ p =P p ×k

[0045] In Equation 3, δ p is the expected relief amount ed, P p and indicate the expected horizontal load el. For example, in the case of the above-mentioned workpiece W (SPCC with a plate thickness of 3.2 mm), the expected relief amount ed is 0.150 mm.

[0046] FIG. 12 is a diagram showing an example of correction of the machining path in this embodiment. Furthermore, the trajectory correction unit 136 is configured to execute a trajectory correction process (S60 in FIG. 7) that corrects the processing trajectory PL of the bend beam 20 based on the calculated expected clearance amount ed. Specifically, as shown in FIG. 12, the trajectory correction unit 136 is configured to add the calculated expected clearance amount ed as a correction amount for the processing trajectory PL to the position of the bend beam 20 on the processing trajectory PL before correction. That is, the corrected processing trajectory PL' becomes a trajectory as shown in FIG. 12.

[0047] The storage unit 140 has a storage medium such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores various data in a readable and writable manner. As shown in Fig. 4, the storage unit 140 stores material parameters 141, theoretical horizontal load 142, relational expressions 143, theoretical relief amounts 144, correction coefficients 145, relief amount database 146, and bending trajectory correction program 148. Furthermore, the storage unit 140 stores programs necessary for controlling each part of the control device 100.

[0048] The bending processing trajectory correction program 148 causes the control unit 130 of the control device 100 of the bending processing system 1 to execute the following steps: a correction coefficient calculation process that calculates a correction coefficient 145 based on the theoretical horizontal load 142 that is applied to the bending blade 30 when the workpiece W sandwiched between the upper die U and the lower die L is bent to a predetermined angle and the theoretical escape amount 144 of the upper die U or the lower die L when the workpiece W is bent to a predetermined angle; an expected horizontal load calculation process that calculates the expected horizontal load el that is applied to the bending blade 30 when the workpiece W is bent to a target angle; an expected escape amount calculation process that calculates the expected escape amount ed based on the calculated correction coefficient 145 and the expected horizontal load el; and a trajectory correction process that corrects the processing trajectory PL of the bend beam 20 based on the expected escape amount ed.

[0049] [Bending trajectory correction method according to this embodiment] FIG. 14 is a flowchart showing an example of a bending trajectory correction method according to this embodiment. Next, a bending trajectory correction method of the bending system 1 according to this embodiment will be described with reference to Fig. 14. The bending trajectory correction method of the bending system 1 according to this embodiment is generally performed by the control unit 130 of the control device 100 of the bending system 1. The correction coefficient calculation step calculates a correction coefficient 145 based on a theoretical horizontal load 142 that will be applied to the bending blade 30 when bending a workpiece W sandwiched between the upper die U and the lower die L to a predetermined angle and a theoretical relief amount 144 of the upper die U or the lower die L when bending the workpiece W to the predetermined angle; an expected horizontal load calculation step calculates an expected horizontal load el that will be applied to the bending blade 30 when bending the workpiece W to a target angle; an expected relief amount calculation step calculates an expected relief amount ed based on the calculated correction coefficient 145 and the expected horizontal load el; and a trajectory correction step corrects the processing trajectory PL of the bend beam 20 based on the expected relief amount ed.

[0050] In this embodiment, the relational expression 143 between the horizontal load and the clearance amount will be described as having been created in advance based on the clearance amount database 146. However, this is not limited to this. Also, in this embodiment, the bending of the workpiece W will be described as being a normal bending, but this is not limited to this. Furthermore, in this embodiment, the machining program including the pre-correction machining trajectory PL will be described as having been created in advance by the control device 100 or another device.

[0051] First, a user inputs material information MI of the workpiece W to be bent via the input unit 110 of the control device 100 (S101 in FIG. 14: material information input step). Next, the control unit 130 of the control device 100 accepts the input of the material information MI (S121 in FIG. 14: material information accepting step). Thereafter, the theoretical horizontal load calculation unit 132 of the control unit 130 of the control device 100 calculates a theoretical horizontal load 142 that will be applied to the positive bending blade 32 when bending the workpiece W sandwiched between the upper die U and lower die L of the panel bender 10 at a predetermined angle (90 degrees in this embodiment) (S122 in FIG. 14: theoretical horizontal load calculation step).

[0052] Specifically, the theoretical horizontal load calculation unit 132 of the control unit 130 of the control device 100 calculates a theoretical horizontal load 142 based on the material information MI of the workpiece W that has been input and the material parameters 141 stored in the memory unit 140. Next, the correction coefficient calculation unit 134 of the control unit 130 calculates a theoretical relief amount 144 of the upper die U when bending the workpiece W at a predetermined angle based on a relational expression 143 stored in the memory unit 140 (S123 in FIG. 14: theoretical relief amount calculation step).

[0053] Then, the correction coefficient calculation unit 134 of the control unit 130 of the control device 100 calculates the correction coefficient 145 based on the theoretical horizontal load 142 and the theoretical relief amount 144 (S14 in FIG. 14: correction coefficient calculation step). Specifically, the correction coefficient calculation unit 134 calculates the correction coefficient 145 by dividing the theoretical relief amount 144 by the theoretical horizontal load 142.

[0054] Next, the user inputs the target angle at which the workpiece W is to be bent by the panel bender 10 via the input unit 110 of the control device 100 (S102 in FIG. 14: target angle input step). Then, the control unit 130 of the control device 100 receives the input of the target angle (S125 in FIG. 14: target angle receiving step). Note that the target angle may be input together with the material information MI, in which case the target angle input step and target angle receiving step can be omitted.

[0055] Thereafter, the trajectory correction unit 136 of the control unit 130 of the control device 100 calculates the expected horizontal load el that will be applied to the positive bending blade 32 when bending the workpiece W to the target angle (S126 in FIG. 14: expected horizontal load calculation step). Specifically, the trajectory correction unit 136 calculates the expected horizontal load el based on the target angle that has been input, the material information MI, and the material parameters 141 stored in the storage unit 140.

[0056] Next, the trajectory correction unit 136 of the control unit 130 of the control device 100 calculates the expected clearance amount ed based on the calculated correction coefficient 145 and the expected horizontal load el (S127 in FIG. 14: expected clearance amount calculation step). Specifically, the trajectory correction unit 136 calculates the expected clearance amount ed by multiplying the calculated expected horizontal load el by the correction coefficient 145.

[0057] Thereafter, the trajectory correction unit 136 of the control unit 130 of the control device 100 reads out the processing program and corrects the processing trajectory PL of the bend beam 20 based on the expected relief amount ed (S128 in FIG. 14: trajectory correction step). Specifically, the trajectory correction unit 136 corrects the processing trajectory PL by adding the calculated expected relief amount ed as the correction amount for the processing trajectory PL to the position of the bend beam 20 on the processing trajectory PL before correction. Through the above steps, a series of bending processing trajectory correction methods are executed by the bending system 1 according to this embodiment.

[0058] [Advantages of the bending system, bending trajectory correction method, and bending trajectory correction program according to this embodiment] As described above, the bending processing system 1 according to this embodiment includes an upper die U and a lower die L that clamp the workpiece W, a bend beam 20 having a bending blade 30, and a control unit 130. The control unit 130 is configured to execute a correction coefficient calculation process that calculates a correction coefficient 145 based on the theoretical horizontal load 142 that will be applied to the bending blade 30 when bending the workpiece W to a predetermined angle and the theoretical relief amount 144 of the upper die U or the lower die L when bending the workpiece W to a predetermined angle; an expected horizontal load calculation process that calculates an expected horizontal load el that will be applied to the bending blade 30 when bending the workpiece W to a target angle; an expected relief amount calculation process that calculates an expected relief amount ed based on the calculated correction coefficient 145 and the expected horizontal load el; and a trajectory correction process that corrects the processing trajectory PL of the bend beam 20 based on the expected relief amount ed.

[0059] The bending processing system 1 according to this embodiment is configured as described above, and calculates the predicted clearance ed based on the correction coefficient 145 calculated based on the theoretical horizontal load 142 and the theoretical clearance 144, and the predicted horizontal load el, and corrects the processing path PL of the bend beam 20 based on the predicted clearance ed. This eliminates the need to actually perform bending once to correct the processing path PL of the bend beam 20 included in the processing program, and has the advantage of enabling efficient and accurate bending processing.

[0060] Furthermore, in the bending system 1 according to this embodiment, the control unit 130 is configured to calculate an expected clearance ed by multiplying the expected horizontal load el by a correction coefficient 145, and to add the calculated expected clearance ed to the processing path PL before correction as a correction amount for the processing path PL. By providing such a configuration, it is possible to simply and efficiently correct the processing path PL by simply adding the expected clearance ed to the processing path PL before correction as a correction amount, rather than recreating the processing path PL from scratch.

[0061] Furthermore, in the bending system 1 according to this embodiment, the correction coefficient 145 is a value obtained by dividing the theoretical relief amount 144 by the theoretical horizontal load 142. With this configuration, the expected relief amount ed can be easily calculated, which has the advantage of enabling more efficient bending.

[0062] Furthermore, in the bending system 1 according to this embodiment, the control unit 130 is configured to calculate a theoretical relief amount 144 based on a relational expression 143 between the horizontal load and the relief amount. By providing such a configuration, there is an advantage that a more appropriate theoretical relief amount 144 can be calculated by using the relational expression 143 that approximates the data between the horizontal load and the relief amount (in this embodiment, the relief amount database 146).

[0063] Furthermore, in the bending system 1 according to this embodiment, the relational expression 143 is created based on the horizontal load and the relief amount calculated by finite element analysis. With this configuration, there is no need to actually bend the workpiece W in the process of creating the relational expression 143, and the processing trajectory PL of the bend beam 20 can be corrected without any bending, which has the advantage of enabling more efficient bending.

[0064] Furthermore, in the bending system 1 according to this embodiment, the control unit 130 is configured to calculate the theoretical horizontal load 142 based on the material information MI of the workpiece W. With this configuration, the theoretical horizontal load 142 is calculated according to the workpiece W to be bent, which has the advantage that a more accurate theoretical horizontal load 142 can be calculated, the accuracy of correction of the processing path PL is improved, and bending can be performed more accurately.

[0065] [Variations] Although the preferred embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the scope described in the above-described embodiments. Various modifications and improvements can be made to the above-described embodiments.

[0066] For example, in the above embodiment, the control unit 130 is configured to calculate the estimated clearance ed by multiplying the estimated horizontal load el by the correction coefficient 145, and to add the calculated estimated clearance ed to the machining path PL before correction as a correction amount for the machining path PL, but this is not limiting. The control unit 130 may also create a new machining path PL based on the calculated estimated clearance ed.

[0067] In the above-described embodiment, the correction coefficient 145 has been described as being the value obtained by dividing the theoretical relief amount 144 by the theoretical horizontal load 142, but is not limited to this. For example, the correction coefficient 145 may be a more complex coefficient that includes other variables.

[0068] In the above-described embodiment, the control unit 130 has been described as being configured to calculate the theoretical relief amount 144 based on the relational expression 143 between the horizontal load and the relief amount, but is not limited to this. For example, the theoretical relief amount 144 may be the average value of a plurality of actual measurement values ​​of the relief amounts when bending the workpiece W to a predetermined angle measured in the past.

[0069] In the above-described embodiment, the relational expression 143 has been described as being created based on the horizontal load and the clearance calculated by finite element analysis, but is not limited to this. The relational expression 143 may also be created based on the actual measured values ​​of the horizontal load and the clearance when the workpiece W is actually bent by the panel bender 10. The actual measured values ​​of the horizontal load and the clearance can be obtained, for example, by image analysis using a camera or sensing using a displacement meter.

[0070] In the above-described embodiment, the control unit 130 is described as being configured to calculate the theoretical horizontal load 142 based on the material information MI of the workpiece W, but is not limited to this. The theoretical horizontal load 142 may also be calculated based on the assumed elastic modulus of the workpiece W, etc.

[0071] In the present embodiment, the bending system 1 has been described as including the panel bender 10 and the control device 100, and the control device 100 includes the control unit 130. However, this is not limited to this, and the bending system 1 may also include the panel bender 10 that includes the control unit 130. In other words, the panel bender 10 and the control device 100 may be configured as an integrated unit. [Explanation of symbols]

[0072] 1 Bending system 10 Panel Vendor 11 Main frame 12 Lower table 13 Connecting frame 14 Hinge shaft 15 Upper table 20 Bend Beam 23 Connecting beam 25 Connecting shaft 30 bending blade 32 Positive bending blade 34 Reverse bending blade 100 control device 110 Input section 120 Display section 130 control section 132 Theoretical horizontal load calculation section 134 Correction coefficient calculation unit 136 Trajectory correction section 140 Storage section 141 Material Parameters 142 Theoretical horizontal load 143 Relational Expressions 144 Theoretical Relief 145 Correction Factor 146 Relief database 148 Bending processing trajectory correction program L Lower mold MI material information PL,PL′ Machining trajectory U upper mold double work ed Estimated escape amount el Expected horizontal load

Claims

1. Upper and lower dies that sandwich the workpiece; a bend beam having a bending blade; Control unit and Equipped with The control unit a correction coefficient calculation process for calculating a correction coefficient based on a theoretical horizontal load applied to the bending blade when bending the workpiece at a predetermined angle and a theoretical relief amount of the upper die or the lower die when bending the workpiece at the predetermined angle; an expected horizontal load calculation process for calculating an expected horizontal load that will be applied to the bending blade when the workpiece is bent to a target angle; an expected clearance amount calculation process for calculating an expected clearance amount based on the calculated correction coefficient and the expected horizontal load; a trajectory correction process for correcting a processing trajectory of the bend beam based on the predicted relief amount; is configured to run Bending system.

2. The control unit is configured to calculate the predicted clearance amount by multiplying the predicted horizontal load by the correction coefficient, and to add the calculated predicted clearance amount to the machining trajectory before correction as a correction amount for the machining trajectory. The bending system according to claim 1 .

3. The correction coefficient is a value obtained by dividing the theoretical relief amount by the theoretical horizontal load. The bending system according to claim 2 .

4. The control unit is configured to calculate the theoretical relief amount based on a relational expression between the horizontal load and the relief amount. The bending system according to claim 3 .

5. The relational expression is created based on the horizontal load and the relief amount calculated by finite element analysis. The bending system according to claim 4 .

6. The control unit is configured to calculate the theoretical horizontal load based on material information of the workpiece. The bending system according to any one of claims 1 to 5.

7. a correction coefficient calculation step of calculating a correction coefficient based on a theoretical horizontal load applied to the bending blade when bending a workpiece sandwiched between an upper die and a lower die at a predetermined angle and a theoretical relief amount of the upper die or the lower die when bending the workpiece at the predetermined angle; an expected horizontal load calculation step of calculating an expected horizontal load that will be applied to the bending blade when the workpiece is bent to a target angle; an expected clearance amount calculation step of calculating an expected clearance amount based on the calculated correction coefficient and the expected horizontal load; a trajectory correction step of correcting a processing trajectory of the bend beam based on the predicted relief amount; The control unit of the bending system executes Bending process trajectory correction method.

8. a correction coefficient calculation process for calculating a correction coefficient based on a theoretical horizontal load applied to the bending blade when bending a workpiece sandwiched between an upper die and a lower die to a predetermined angle and a theoretical relief amount of the upper die or the lower die when bending the workpiece to the predetermined angle; an expected horizontal load calculation process for calculating an expected horizontal load that will be applied to the bending blade when the workpiece is bent to a target angle; an expected clearance amount calculation process for calculating an expected clearance amount based on the calculated correction coefficient and the expected horizontal load; a trajectory correction process for correcting the processing trajectory of the bend beam based on the predicted relief amount; The control unit of the bending system executes the above. Bending processing trajectory correction program.

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