Procedure for the dynamic correction of the bending angle of sheet metal on a panel bender machine

1. A procedure for bending a metal sheet on a panel bender machine, comprising:

supporting the metal sheet to be bent on a fixed workbench;

clamping the metal sheet using a supporting frame for a clamping press, a presser comprising part of the press, and a corresponding counter-presser;

moving one or more bending blades and counterblades towards the metal sheet during use

feeding the sheet towards the blades during the work cycle;

using transducers and sensors of various types for process control that are connected to a processor unit equipped with a first machine control software designed to control the production process;

entering and displaying bending data connected to the processor unit;

obtaining a digital image of the bend made on the metal sheet using a TV camera installed alongside the panel bender machine whose optical vision axis is aligned with the bending line and oriented towards the metal sheet being bent;

processing the image using a second software for managing the TV camera, wherein during bending of the metal sheet the first software for machine control transmits to the second software for TV camera management, data relating to the nominal bending angle, the bending length, the distance of the bent edge from the centre line of the panel bender and the thickness of the sheet metal;

acquiring an image of the bent metal sheet using the second software;

identifying the spatial position of a straight line corresponding to the bent edge of the metal sheet;

calculating the geometric coordinates of the straight line in accordance with a preset reference system;

supplying to the first software a value of the angle of the bend performed;

returning the machine control to the first software;

calculating, using the first software, the difference between the angle of the bend actually performed and angle of a nominal bend;

ordering the start of a new bend corresponding to the angular difference, thereby obtaining a bend which corresponds to the nominal bend;

cancelling from the image, by means of artificial masking, those parts of the image, such as the counterblade and the presser, which might interfere with the search for the edge of the metal sheet;

calculating the position on the image of a segment corresponding to the bent edge according to the nominal data;

shortening this segment by eliminating several millimeters of the segment from the part close to the bending point; and

calculating a pair of segments parallel to the segment previously identified, where the pair of segments are at a preset distance from the other segment by a preset measurement.

2. The procedure according to claim 1 , further comprising calculating using the TV camera management software, for each pixel of the segment corresponding to the nominal edge, an orthogonal segment passing through the pixel and reads on the image the luminosity value of all the pixels belonging to the orthogonal segment and then produces a luminosity signal.

3. The procedure according to claim 2 , further comprising identifying, using the management software of the TV camera, the background level on the signal and searching for the parts of the signal that are raised with respect to the background and whose shape may correspond to the edge of the bent sheet metal of the specified thickness.

4. The procedure according to claim 3 , wherein on the basis of this part of the signal the management software of the TV camera calculates the focal point of the system, that is usually a straight line, the set of points obtained in this way are interpolated to the mean square deviation to obtain the best straight line passing through these, thereby identifying a straight line which the management software of the TV camera then uses to calculate the geometric coordinates.

5. The procedure according to claim 4 , further comprising converting, using the management software of the TV camera, the coordinates of the straight line identified by the imaging unit into physical units; and

calculating the angle of the straight line with respect to the X axis which in the physical system is parallel to, and superimposed on, the axis of the counterblade of the panel bender machine.

6. The procedure according to claim 5 , further comprising restoring, using the management software of the TV camera, control to the control software of the panel bender machine, to which a data item corresponding to the angle measured is supplied.

7. The procedure according to claim 6 , further comprising calculating, using the control software of the machine, the correction to be made to the bend, wherein the correction corresponds to the difference between the angle measured and the nominal angle, and then performs a new bend corresponding to this difference.