JP2021062404A - Bending machine, bending method, and program - Google Patents

Abstract

To machine three-dimensional bending plastic deformation to a plate-like workpiece into an arbitrary shape and in a shorter time with a simple facility.SOLUTION: A bending machine 1 includes: a tool 26; a press machine 25 which slides a tool 26 above an XY surface and in parallel with the XY surface with respect to a plate-like workpiece 3 supported on the XY surface and elevates and displaces the tool in a Z direction orthogonal to the XY surface; and a control section 10 which instructs a drive section 27 to slide a tool support section 23 to a plurality of target positions on the XY surface in order and instructs the drive section to lower, elevate and displace the tool 26 in the Z direction by displacement amount corresponding to each target position at each target position and to move the tool up to a lowering position for a prescribed time, on the basis of a preliminarily designed machining condition.SELECTED DRAWING: Figure 1

Description

The present invention relates to a processing technique for bending a plate-shaped work by plastic deformation.

Conventionally, linear heating bending, linear press bending, and roll bending have been mainly applied as bending methods for thick plates used for hull structures and the like. The linear heat bending method largely depends on the experience of the engineer, and has a problem that it cannot be applied to an arbitrary three-dimensional shape. The linear press bending and roll bending processing methods require large equipment.

On the other hand, in recent years, incremental sheet forming, which is a technology for forming a thin metal plate (sheet) into a flexible shape without a mold (without a die), has attracted attention as a technology for high-mix low-volume production (for example). Non-Patent Documents 1 and 2). Incremental sheet forming is a plastic working technology that continuously plastically deforms a thin metal plate by sliding or rolling the tip of a small rod-shaped molding tool while contacting it with the metal sheet, and forming it into a flexible shape. Is.

Kimiyoshi Kitazawa, Masakatsu Nakane, "Semi-elliptical CNC Incremental Overhang Molding of Thin Aluminum Sheet" Light Metal Research Paper, Vol 47, N0.8, P440-P445, 1997. Nobuyuki Suzuki, Toru Jinishi, "Processing process combining incremental forming and superplastic forming-Aiming for flexible sheet thickness arrangement of sheet metal parts-" Plasticity and processing (Journal of the Japan Society for Plasticity Processing) Vol. 54, No. 628 (2013-5)

On the other hand, in the case of a thick plate-shaped plate, the incremental sheet forming method is not suitable because the tool cannot be slid, and at present, traditionally linear heating or continuous cold pressing along a straight line is performed. Relies on bending molding to which. In this case, the heating type has a problem of deterioration of the material, the heating type takes a long time to form, and the pressing method along a straight line makes it difficult to form a three-dimensional curved surface.

The present invention has been made in view of the above, and is a bending machine and bending process capable of performing three-dimensional bending plastic deformation of a plate-shaped workpiece in an arbitrary shape and in a shorter time while being a simple facility. It provides methods and programs.

The bending machine according to the present invention uses the machining tool relative to the machining tool and the plate-shaped workpiece supported on the horizontal XY surface, which is the target of plastic deformation machining, by using the machining tool on the XY surface. The machining tool is relatively moved to the XY based on the drive unit that slides above the XY plane and parallel to the XY plane and is displaced up and down in the Z direction orthogonal to the XY plane and the machining conditions designed in advance. An instruction to slide to a plurality of target positions on the surface in order, and a displacement amount corresponding to each target position at each target position causes the machining tool to relatively descend and ascend in the Z direction, and a descending position. It is provided with a control unit that gives an instruction to the drive unit to move the vehicle in a predetermined time.

Further, in the bending processing method according to the present invention, a processing tool is applied to the work based on pre-designed processing conditions for a plate-shaped work to be subjected to plastic deformation processing supported on a horizontal XY surface. The machining tool is relatively slid to a plurality of target positions on the XY plane in order, and the machining tool is relatively lowered and raised in the Z direction by the amount of displacement corresponding to the target position at each target position. , It moves to the descent position in a predetermined time.

Further, the program according to the present invention includes a plurality of plates on the XY surface of the work based on information on the shape, specifications and processing target shape of the plate-shaped work supported on the horizontal XY surface. To the target position, the slide order of the processing tool to the plurality of target positions, the descent, the ascending displacement amount, and the descent position of the processing tool in the Z direction orthogonal to the XY plane at each target position. Based on the design means designed with the moving time as the machining condition and the machining condition designed by the design means, the machining tool is sequentially controlled to slide to the plurality of target positions and each target position. The processor functions as a control means for instructing the descent, ascending / displacement control, and stop control in the above.

According to these inventions, the machining tool is slid in order to a plurality of target positions on an XY plane that is relatively horizontal to the work, and the displacement amount corresponding to the target position is described at each target position. The machining tool is lowered and raised in the Z direction relative to the work, and is moved to the lowered position in a predetermined time to bend the work. According to this, the target shape is formed on the whole by sequentially pressing the machining tools against the multipoint positions on the surface of the work to sequentially generate local plastic deformation. Therefore, it is possible to perform three-dimensional bending and plastic deformation of a plate-shaped work in an arbitrary shape and in a shorter time with a simple equipment.

Further, the present invention is provided with a machining condition design means for designing the machining conditions for plastically deforming the work into a target shape. According to this configuration, the machining procedure is designed in advance, so that the machining machine can be automatically operated.

Further, by including the plurality of target positions in the processing conditions, bending processing on the entire surface of the work becomes possible.

Further, by including the order of the plurality of target positions in the processing conditions, the efficiency of the processing process can be improved.

Further, the drive unit includes a press unit that displaces the tool in the Z direction and an XY slide table that slides the work on the XY surface. According to this configuration, the raising and lowering of the tool and the sliding of the work are performed by separate members, which leads to simplification of the entire structure, for example, when a large-sized work is to be machined.

According to the present invention, it is possible to perform three-dimensional bending and plastic deformation of a plate-shaped workpiece in an arbitrary shape and in a shorter time with a simple equipment.

It is a schematic block diagram which shows the 1st Embodiment of the bending machine which concerns on this invention. It is a figure which shows the member which supports a plate-shaped work, (A) shows the support member which has an annular edge, and (B) is the figure which shows the support member which supports at a plurality of points. It is an image diagram explaining a scene of incremental plate forming. It is a figure which shows the relationship between the target shape of a workpiece and the design of a machining condition, (A) is an image figure of a target shape, and (B) is a figure explaining a finite element model applied as an example when designing a machining condition. .. It is a figure explaining an example of a machining position and a machining order as a machining condition, (A) is a figure associated with a work surface, and (B) is a data table thereof. It is a figure which shows an example of the deformation molding of the work surface pressed by a tool. It is a flowchart which shows an example of the machining condition design support process executed by a control part. It is a flowchart which shows an example of the processing processing executed by the control unit. It is a figure which shows the condition of the work used in the experimental example. It is a chart which shows the machining position (X, Y coordinate value), the machining displacement (Z value), and the machining order (n) in this experimental example. It is a figure which compared the vertical dimension value (Z value) (indicated by a black circle in the figure) obtained by a simulation, and the deformation dimension (Z value) (indicated by a black triangle in the figure) by an experiment.

FIG. 1 shows an overall schematic configuration diagram of a bending machine according to the present invention. The bending machine 1 includes a control unit 10 that performs information processing and numerical control (CNC), and a processing unit 20 that performs bending processing on the work 3 by computer numerical control based on the information processed by the control unit 10. ..

The control unit 10 receives a processor unit 11 including a CPU, a storage unit 12 connected to the processor unit 11, a display unit 13 for appropriately displaying input information and processing information, and input of necessary information, for example, from a touch panel or the like. The operation unit 14 is provided. The storage unit 12 includes a control program storage unit 121 including a design program, a numerical analysis program, and the like described later, and a processing condition storage unit 122 that stores the designed processing conditions.

The processor unit 11 functions as a calculation unit 110 and a processing control unit 113 by executing a control program. The calculation unit 110 includes a machining condition design unit 111 and a numerical analysis unit 112. The machining control unit 113 includes a timer 114, a slide control unit 115, and a press control unit 116 that perform a timekeeping operation for each processing time.

The processing condition design unit 111 performs a process of designing processing conditions for forming the plate-shaped work 3 to be bent into a target shape. The plate-shaped work 3 applied to the present embodiment is, for example, a metal material such as iron, stainless steel, aluminum, copper, and an alloy, and the plate thickness depends on the material and the flat surface size, but is generally a sheet material. Thicker 2 mm or more, more preferably 4 mm or more, and even thicker thick plates are targeted. In the present embodiment, for example, the lower end of the rod-shaped machining tool 26 is pressed (pressed) against the plate-shaped work 3 to locally plastically deform the work 3, and the local plastic deformation is caused by a large number of points. The processing technology (incremental plate forming) that forms an arbitrary shape is adopted by performing in order.

FIG. 3 is a diagram illustrating a scene of such incremental plate forming, showing a state in which the tool 26 is lowered from above to a certain point (position) on the upper surface of the work 3 to push down the work and press the work. There is. In FIG. 3, the tool 26 is slid to a target position in the horizontal direction (X-axis, Y-axis) at a reference height above the horizontally arranged work 3, for example, and the descent amount designed at the target position. It is lowered and pressed against the three surfaces of the work (pressing). The work 3 is pushed downward at a target position and curved by being pressed downward by the tool 26, causing plastic deformation.

The deformation with respect to the work 3 is set as a target shape (three-dimensional curved surface), for example, as shown in FIG. 4 (A). The machining condition design unit 111 designs the machining conditions based on the specifications (elements) of the work 3 and the target shape. The specifications of the work 3 include size, elastic modulus, poison ratio and descending stress.

In the present embodiment, as shown in FIG. 4B, the work 3 is divided into a predetermined small size solid element, and the machining condition design unit 111 performs machining conditions based on a finite element model using the solid element. Is calculated. Here, the machining conditions are the machining position (X, Y coordinate values), the machining displacement (Z value), the machining order (n), the machining time (t), and the support conditions of the work 3 with respect to the finite element model. Including. In the present embodiment, the size of the solid element is about 20 mm × 20 mm when the XY plane is, for example, a work of about 1,000 mm × 1,000 mm. Further, the support condition of the work 3 is that when the flat work 3 is supported at at least three points or more in the edge region thereof, the work 3 is fixed (movement is restricted) in the X, Y, and Z directions at one support point. , The remaining support points may simply be supported from below.

The machining position (X, Y coordinate values) may be set based on, for example, a specific portion of the work support portion 23 (see FIG. 1) that supports the work 3, and the machining displacement (Z value) may be set based on the work support portion. It may be set based on a height position above 23 and at least exceeding the plate thickness of the work 3. In addition to the coordinate values, these position information may be numerical values converted into drive signals that can be numerically controlled by a computer. Further, the processing position information may be a coordinate value with respect to the reference position, or may be a relative slide amount along the processing order (n). The machining displacement (Z value) refers to the amount of descent from the lower end of the tool 26 located at the reference height in the vertical direction. The tool 26 is generally used by erecting a rod-shaped tool, and has a diameter of 100 mm and a lower end portion having, for example, a hemispherical shape. The lower end portion of the tool 26 may be a part of a spherical surface, another curved surface, or a flat surface instead of the hemispherical shape. The processing tool 26 does not have to be rod-shaped, and may be a tool formed only of the constituent portion (for example, a hemispherical portion) of the lower end portion.

Further, the machining condition design unit 111 performs an optimum design such as minimizing the number of machining orders (n), for example. For example, in FIG. 5A, 16 target positions (n1, n2, ..., Ni) are set for the work 3 having a size of 1,000 mm × 1,000 mm. Further, as shown by an arrow in FIG. 5A, the machining order (n) is designed so that the slide length of the tool 26 between adjacent machining positions is minimized in order to execute efficient machining processing. Will be done. Alternatively, the order of the routes may be such that the total slide length is the shortest. Further, as shown in FIG. 5B, the machining displacement (Z value) and the machining time (t) are designed for each target position (n1, n2, ..., Ni). The processing time (t) may be constant.

The external control unit 40 shown in FIG. 1 has the same function as the control unit 10, and is provided as needed. The external control unit 40 stores the design program in the storage unit 42, acquires the specifications of the work 3 to be machined and the target shape information input via the display unit 43 and the operation unit 44, and acquires the information of the target shape, and the control unit 41. The calculation unit 411 of the above performs the same processing as the calculation unit 110 of the control unit 10. The designed machining conditions can be written to the machining condition storage unit 122 of the control unit 10 via wired or wireless, and by adopting such an embodiment, a place physically separated from the bending machine 1 The design calculation of the machining conditions can be performed at an appropriate time.

Subsequently, the processing unit 20 will be described. The processing unit 20 includes a mechanism for supporting the work 3 and a mechanism for processing the work 3. The support mechanism includes a Y-axis bed 21 and an X-axis bed 22 mounted in two layers on the floor surface F, and a work support portion 23 is mounted on the upper surface of the upper X-axis bed 22. The work 3 is supported on the upper part of the work support portion 23.

On the other hand, for example, a frame body portion 24 having a gate stance shape is installed so as to surround the Y-axis bed 21, the X-axis bed 22, and the work support portion 23, and the press machine 25 is arranged near the center position in the X direction.

The Y-axis bed 21 and the X-axis bed 22 include long guide rails 212 and 222 installed on the lower surfaces of the bed bodies 211 and 221 in directions orthogonal to each other, and sliders 213 and 223 that can reciprocate on the long guide rails 212 and 222. .. As a result, the Y-axis bed 21 is movable in the Y-axis direction, and the X-axis bed 22 is movable in the X-axis direction. Therefore, the work support portion 23 arranged on the upper surface of the X-axis bed 22 can slide on the XY plane. A so-called XY slide table is formed by the Y-axis bed 21 and the X-axis bed 22.

FIG. 2 shows a form of a work support portion that supports a plate-shaped work 3 having a quadrangular shape. FIG. 2A is a form in which the entire end edge of the work 3 is supported, and FIG. 2B is a form in which the appropriate position of the edge of the work 3 is supported in a dot pattern.

In FIG. 2A, the work support portion 23 is a quadrangular annular body, and the work 3 is supported by the peripheral edge portion 231. An L-shaped ridge 232 for movement regulation is arranged in each of the squares of the edge portion 231. In FIG. 2, for convenience, only one corner of the square is shown. By fitting the corner of the work 3 to the ridge 232, movement in the XY direction can be restricted. Although not shown in the figure, the ridge 232 of one of the squares may have a structure in which a ceiling is provided on the upper surface of the ridge 232 in order to regulate the movement of the work 3 in the Z direction. ..

In FIG. 2B, the work support portion 230 includes a plurality of rod-shaped support protrusions 2301 arranged below the edge of the work 3 and, if necessary, low-profile auxiliary protrusions 2302. The support protrusion 2301 is arranged upward at a position corresponding to each corner of the work 3. A predetermined number of auxiliary protrusions 2302 are arranged in the middle of each side of the work 3 and come into contact with the lower surface of the work 3 that bends during pressing to regulate downward bending more than necessary. As the auxiliary protrusion 2302, one having a low height corresponding to the amount of bending is adopted. In FIG. 2B, one is provided at the center position of the side. For one of the support protrusions 2301, a mechanism for sandwiching the work 3 at the top and bottom is provided to regulate the movement of the work 3 in the Z direction. Further, the support protrusion 2301 and the auxiliary protrusion 2302 may be provided with a gimbal mechanism or a universal joint structure so as to be in constant contact with the lower surface of the bent work 3.

Returning to FIG. 1, the numerical analysis unit 112 performs a computer simulation of bending molding using the processing conditions initially designed by the processing condition design unit 111. More specifically, the numerical analysis unit 112 applies the finite element method to approximately solve the behavior of plastic deformation, thereby simulating the bending shape of the work 3. Further, the numerical analysis unit 112 compares the molded shape obtained by the simulation with the target shape, and determines the shape accuracy. The determination is made based on, for example, the difference between both shapes to determine whether the accuracy is good or bad. Further, when the numerical analysis unit 112 determines that the accuracy is poor, the numerical analysis unit 112 instructs the processing condition design unit 111 to redo the processing conditions.

The work 3 shown in FIG. 6 is an example of mild steel having a size of 1,000 mm × 1,000 mm, a thickness of 10 mm, an elastic modulus E = 2.1E5 MPa, a poison ratio 0.3, and a yield stress 240 MPa. FIG. 6 shows a case where a bending target shape of 200 mm is set in the center of the work 3 and the displacement is limited to 193 mm due to elastic springback, thickness change, and the like. In the figure, the striped pattern indicates a Z-axis contour (contour line). Since the multi-point molding process is non-linear, it is preferable to redo the machining condition design until the deviation generated in the workpiece to be molded is within the permissible deviation with respect to the target shape.

Next, the slide control unit 115 of the machining control unit 113 moves the Y-axis bed 21 and the X-axis bed 22 in the Y-axis direction and the X-axis direction via the drive unit 27. The bed bodies 211 and 221 are connected to, for example, hydraulic servo presses 214 and 224 as a moving drive source, and are slid-driven in the X and Y axis directions in response to a drive signal from the XY axis drive unit 271 of the drive unit 27. To. As a result, an arbitrary portion on the upper surface of the work 3 can be aligned with the work 3 of the press machine 25. The moving drive source may be an electric press or a servo press.

The press control unit 116 drives the press machine 25 via the Z-axis drive unit 272. The press machine 25 is adopted having the ability to generate a maximum pressing force in consideration of the plate thickness, material, and processing displacement amount of the work 3, and even when the maximum pressing force is, for example, several tons to several tens of tons. is there.

FIG. 7 is a flowchart showing an example of the machining condition design support process executed by the calculation unit 110 (or the calculation unit 411). First, the design program is started, and the specification information and the target shape information of the work 3 are acquired (step # 1). Next, the design process of the initial machining conditions is executed (step # 3). As the initial machining conditions, the support conditions of the work 3, the machining position (X, Y coordinate values), the machining displacement (Z value), the machining order (n), and the machining time (t) are designed according to a preset method. .. Some of the initial machining conditions may be set manually, or may be set automatically, for example, when the machining time is fixed. Other conditions can be designed according to various rules. For example, the number of machining positions can be designed according to the size, the machining position can be designed according to the target shape, and the machining displacement can be designed according to the number of machining positions and the machining position. is there.

Next, a numerical analysis of the point bending is executed based on the initial machining conditions and the finite element model (step # 5), and the molding shape as a result of the numerical analysis is compared with the preset target shape (step). # 7). As the comparison method, various methods can be applied, and an appropriate comparison method according to the type of the target shape may be adopted. As an example of the comparison method, the maximum difference or sum of squares of the shapes at each product position and / or the amount of displacement of the curved surface with respect to the XY direction may be applied and treated as shape accuracy.

As a result of the comparison, it is determined whether or not the shape accuracy is within a predetermined threshold value (step # 9), and if it is determined that the shape accuracy is low (NG), a change instruction and a change process of the machining conditions are performed (step # 9). 11) Return to step # 5, and the numerical analysis is redone. The change in machining conditions is preferably at least one or more elements of changing the number of machining positions, changing the machining position, changing the machining displacement, and changing the machining time. Further, it is more preferable to change the processing conditions by adjusting the change element and the change amount according to the comparison result between the molded shape and the target shape (according to the difference amount).

Then, when the determination of the shape accuracy is passed (OK) in step # 9, the machining conditions are determined (step # 13), and the machining conditions are guided to the machining condition storage unit 122 for storage.

FIG. 8 is a flowchart showing an example of the machining process executed by the machining control unit 113. First, the machining conditions are read from the machining condition storage unit 122 (step S1), and a numerical value "1" is set in n indicating the machining order (step S3).

Next, when the slide control unit 115 sets the coordinate values xn and yn (n = 1) indicating the machining positions that are the first machining order (step S5), the Y-axis bed 21 and the X-axis bed 22 are in this machining position. Is slid-driven at a predetermined speed set in advance (step S7). Next, it is determined whether or not the target position has been reached (step S9), and if it is determined that the target position has been reached, the machining displacement (value Zn) is set (step S11). Then, a descent (press) instruction is generated (step S13). When the work 3 is lowered from the reference height to the machining displacement (value Zn) position at a predetermined speed in response to the descent instruction, timing is started by the timer 114 and the predetermined machining time (tn) is set at the descent position. Timekeeping is performed (step S15), and after timekeeping, the height is raised to a reference height at a predetermined speed (step S17). By setting the descent speed of the work 3 to a relatively low speed, the impact at the time of contact with the work 3 can be mitigated, and not only the tool 26 but also the surface of the work 3 is scratched, locally dented, or damaged ( The occurrence of cracks, etc.) can be suppressed.

Then, it is determined whether or not the reference height position has been reached (returned) (step S19), and when it is determined that the reference height position has been reached, whether the machining order (n) exceeds the final order ni. Whether or not it is determined (step S21). If it does not exceed, the machining order is incremented by 1 (step S23), the process returns to step S5, and the machining process for the next machining position is repeatedly executed. Then, in step S21, when it is determined that the machining order (n) exceeds the final order ni, it is assumed that the machining process has been completed for all the machining positions, and this flow is terminated.

The amount of descent and the amount of ascent with respect to the tool 26 may be confirmed by measuring the drive signal or the drive time, or by using a position sensor (for example, an encoder or a photo interrupter). The movement may be controlled by measuring the position of 26.

The following aspects can be adopted in the present invention.

(1) The relative movement of the tool 26 and the work 3 in the XY plane may be driven by either one, and the relative movement of the tool 26 and the work 3 in the Z direction may be driven by either one. It may be an embodiment. This makes it possible to provide a device having a high degree of freedom in which a drive method that is structurally simpler can be appropriately adopted.

(2) In the above embodiment, the size of the work 3 is 1,000 mm × 1,000 mm × 10 mm as an example, but a smaller size may be used, and conversely, a general-purpose type that can be applied to a large size such as 3 m × 6 m. Can be provided as.

(3) The processing time (t) can be set to several seconds to several minutes, preferably about 1 minute, depending on the size, plate thickness and material of the work. According to such a method, it is possible to reduce the working time required for one day or more in the conventional heating type processing machine to about several hours. Further, the press control unit 116 is a process of stopping the work 3 for a predetermined machining time (tun) at the descent position, but instead of this, the movement time from the descent start to the descent position or the ascent end from the descent start. The process may be performed in which the moving time up to is treated as the processing time (tn). In this case, movement control may be included on the descent position side so that the descent position starts to rise immediately or after a required time.

<Experimental Example> Hereinafter, the experimental example will be described with reference to FIGS. 9 to 11.

As shown in FIG. 9, the work 3 used in the experimental example is a SS400 (steel plate) having a side of 500 mm and a thickness of 8 mm. A board-shaped support protrusion 2301 is arranged for support at positions corresponding to the four corners of the work 3, and an auxiliary protrusion 2302 is arranged at a position corresponding to the middle of each side at a position -33 mm lower than the support protrusion 2301. Then, the work 3 was placed on it. Further, the work 3 was sandwiched between the support protrusion 2301 and the pressing member having the same shape arranged on the support protrusion 2301.

10 (A) and 10 (B) show the machining position (X and Y coordinate values), the machining displacement (Z value), and the machining order (n) in this experimental example. In this experimental example, the processing time was set to about 10 seconds per location. The machining position is such that the center of the work 3 is the first (n = 1), and then the diameter is sequentially increased in eight directions that are even in the counterclockwise direction on the same radius, and further, in each round. The position is set, and the last is the 33rd. Details of the processing conditions are shown in FIG. 10 (B). Further, FIG. 10B shows the machining displacement (Z value) at each machining position. The molding was performed in a substantially hemispherical shape with the deepest part in the middle of the work 3. The tool 26 is a cylinder having a diameter of 60 mm and a spherical tip having a curvature of 100 mm.

FIG. 11 compares the vertical dimension value (Z value) obtained by the simulation (indicated by the black circle in the figure) with the experimental deformation dimension (Z value) (indicated by the black triangle in the figure). It is a figure. FIG. 11A shows each Z value in the AA'direction, and FIG. 11B shows each Z value in the BB'direction. As shown in FIGS. 11 (A) and 11 (B), both Z values were determined and approximated, and it was found that the target shape and the molded shape were substantially the same. Therefore, it was confirmed that this bending method can realize the bending process as designed.

1 Bending machine 10 Control unit 11 Processor unit 110 Calculation unit (design means)
111 Machining condition design unit 112 Numerical analysis unit 113 Machining control unit (control means)
115 Slide control unit 116 Press control unit 121 Control program storage unit 20 Machining unit 21 Y-axis bed (XY slide table)
22 X-axis bed (XY slide table)
214,224 Hydraulic servo press (drive unit)
23 Work support 25 Press machine (drive)
26 tools (processing tools)
27 Drive unit 3 Work

Claims (7)

Processing tools and
The machining tool is slid relatively above the XY plane and parallel to the XY plane with respect to the plate-shaped work that is supported on the horizontal XY plane and is the target of the plastic deformation machining. A drive unit that moves up and down in the Z direction orthogonal to the XY plane,
Based on the machining conditions designed in advance, the instruction to slide the machining tool relatively to a plurality of target positions on the XY plane in order, and the displacement amount corresponding to each target position at each target position are described above. A bending machine provided with a control unit for instructing the drive unit to move the processing tool relative to the Z direction in a predetermined time while lowering and upwardly displacementing the processing tool. The bending machine according to claim 1, further comprising a machining condition design means for designing the machining conditions for plastically deforming the work into a target shape. The bending machine according to claim 1 or 2, wherein the processing conditions include the plurality of target positions. The bending machine according to claim 3, wherein the processing conditions include the order of the plurality of target positions. The bending machine according to any one of claims 1 to 4, wherein the drive unit includes a press unit that displaces the tool in the Z direction and an XY slide table that slides the work on an XY surface. A plurality of machining tools on the XY plane relative to the work, based on pre-designed machining conditions for the plate-shaped workpiece supported on the horizontal XY plane to be plastically deformed. Bending that slides to the target position in order and lowers and raises the machining tool relatively in the Z direction by the amount of displacement corresponding to the target position at each target position, and moves the machining tool to the lowered position in a predetermined time. Method. From information on the shape, specifications, and machining target shape of the plate-shaped work that is the target of plastic deformation machining supported on the horizontal XY plane, a plurality of target positions on the XY plane of the work, and the plurality of target positions. Designed with the sliding order of the machining tool to, the descent of the machining tool in the Z direction orthogonal to the XY plane at each target position, the amount of ascending displacement, and the movement time to the descent position as machining conditions. Based on the means and the machining conditions designed by the design means, the machining tool is sequentially subjected to slide control to the plurality of target positions, and the descent and ascending displacement control at each target position. A program that causes a processor to function as a control means that gives instructions to stop control.

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