CN106607519A - A material jam detection device, a material jam detection method and a pipe bending machine - Google Patents
A material jam detection device, a material jam detection method and a pipe bending machine Download PDFInfo
- Publication number
- CN106607519A CN106607519A CN201710005176.XA CN201710005176A CN106607519A CN 106607519 A CN106607519 A CN 106607519A CN 201710005176 A CN201710005176 A CN 201710005176A CN 106607519 A CN106607519 A CN 106607519A
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- CN
- China
- Prior art keywords
- driven pulley
- pipe fitting
- sensor
- main shaft
- control centre
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/08—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/006—Feeding elongated articles, such as tubes, bars, or profiles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention provides a material jam detection device comprising a main shaft and a driven wheel installed on the main shaft. The driven wheel is in contact with pipe members. The pipe members are conveyed tangentially along the outer edge of the driven wheel. The outer side of the driven wheel is provided with a sensor. When the pipe members are moved tangentially along the outer edge of the driven wheel, the driven wheel is driven to rotate with the main shaft as the axis by the action of friction force and the sensor detects the rotating state of the driven wheel, converts the state into signals and transmits the signals to a control center. The control center judges whether the pipe member conveying process is normal by detecting whether multiple signals are synchronous or by comparing the singles with corresponding preset values. The material jam detection device is simple in structure and great in adaptability, can be installed in most pipe member feeding systems, and can accurately and automatically judge material jam conditions occurring in a pipe member feeding process. The invention also provides a material jam detection method and a pipe bending machine.
Description
Technical field
The present invention relates to pipe fitting process equipment, more particularly to a kind of putty detection means and a kind of putty detection method and one
Plant bending machine.
Background technology
Bending machine can substantially be divided into CNC tube bending machine, hydraulic pipe bender etc..It is mainly used in power construction, rail-road road is built
It is many, rational in infrastructure, simple to operate etc. excellent with function if boiler, air-conditioning, furniture, decoration etc. and is built at the pipe laying of aspect
Point.
Bending machine typically has two kinds, and one kind is semi-automatic processing bending machine, and another kind is Full-automatic tube bending machine.Wherein, half
Automatically processing bending machine is by the way that manually the pipe fitting for cutting in advance is placed on feeding device, then to be transported to by feed mechanism
Processing stations carry out bend pipe processing, and the pipe fitting of rolling is then delivered directly to processing work by Full-automatic tube bending machine using feed mechanism
Position carries out bend pipe processing.
Need to use multiple guiding mechanisms in the course of conveying of pipe fitting, the internal diameter or external diameter of these guiding mechanisms is usual
It is suitable with the external diameter of pipe fitting or internal diameter.On the one hand the elasticity due to pipe fitting itself or the impact of gravity, it some times happens that pipe
The situation that part offsets with the hole position of guiding mechanism, now pipe fitting generation putty, it is impossible to continue to convey.Sometimes due to tube outer diameter goes out
Putty also can occur at guiding mechanism during existing larger error.On the other hand, due to the shadow by pipe fitting deformation or detector for outer diameter error
Ring, the clamping device of feed mechanism can also clamp pipe fitting sometimes, the phenomenon skidded occurs, pipe fitting is normally conveyed.
In bending machine, once pipe fitting occurs putty or skids and cannot normally convey, product rejection is gently then caused, when serious even
The parts damages of bending machine can be caused.
The content of the invention
According to an aspect of the invention, there is provided a kind of putty detection means, including main shaft and on main shaft
Driven pulley, driven pulley is connected with main axis, and driven pulley contacts with pipe fitting, and pipe fitting is tangentially conveyed along driven pulley outer rim, driven
Wheel outside is additionally provided with sensor, and sensor is used to detect the kinestate of driven pulley, when pipe fitting is tangentially moved along driven pulley outer rim
When, by frictional force drive driven pulley rotated by axle center of main shaft, sensor detection driven pulley rotary state and by its
Digital signal or analogue signal are converted into, and digital signal or analogue signal are sent to control centre, control centre's evidence
This judges whether the course of conveying of pipe fitting is normal.
Using the putty detection means of above technical scheme, using the driven pulley being rotated by pipe fitting friction by pipe fitting
Course of conveying is converted to the rotary state of driven pulley, by sensor detect driven pulley rotary state and by corresponding signal send out
Deliver to control centre.The rotary state of the signal detection driven pulley that control centre can send according to sensor, and then judge pipe
Whether the course of conveying of part is normal.When pipe fitting occurs putty situation, pipe fitting cannot be conveyed or delivered length is inadequate, driven pulley
Do not rotate or rotating speed is less than normal value, the signal that control centre can send according to sensor judges that the course of conveying of pipe fitting is sent out
It is raw abnormal.The device is not only simple in structure, strong adaptability, is easily installed in most pipe fitting feed system, and reacts
Sensitive, high degree of automation, the putty situation that can occur in the feeding process of automatic decision pipe fitting exactly is easy to enter in time
Row is disposed, and can reduce feeding causes product unqualified or even device damage extremely.
In some embodiments, main shaft is provided with a driven pulley or multiple driven pulleys that can individually rotate, often
Individual driven pulley is accordingly provided with a sensor, and each sensor is to the independent digital signal of control centre's transmission or simulation
Signal, control centre is compared each digital signal or analogue signal with systemic presupposition value, and then judges that each is driven
Whether the course of conveying for taking turns corresponding pipe fitting is normal.
In some embodiments, main shaft is provided with multiple driven pulleys that can individually rotate, and each driven pulley is accordingly
One sensor is installed, each sensor is to the independent digital signal of control centre's transmission or analogue signal, control centre
Set of number signal or analogue signal are compared to each other, by judging that the multiple digital signals in a group or analogue signal are
No synchronization, and then judge whether the course of conveying of one group of pipe fitting is normal.For same group of pipe fitting, its feeding time should be
Synchronous, feed length should also be equal, and in this case, the signal that same group of multiple sensors send should be same
Step, if wherein there is one or more signal skew occur, then mean that the corresponding pipe fitting of these signals in feeding
Putty is there occurs in journey.
In some embodiments, sensor is range sensor, and driven pulley outer wall is axially disposed one or many
Bar fin.
In some embodiments, sensor is magnetic induction sensor, and driven pulley is manufactured using non-ferromagnetic, and outer wall edge
It is axially arranged to have one or more of ferromagnets.
In some embodiments, the part that driven pulley is contacted with pipe fitting is additionally provided with drag ring.Drag ring is generally adopted
The O-ring of silicone rubber or other rubber, thus can both reduce the abrasion of driven pulley, it is also possible to make driven pulley rotate pipe fitting suitable
Freely.
In some embodiments, main shaft two ends are arranged on a bearing respectively by a slide block, and slide block is by sliding
Telephone-moving structure is connected with bearing, and bearing is fixedly mounted on equipment board, and spring is additionally provided between slide block and bearing, and spring is utilized
Its elastic force promotes slide block to the direction of pipe fitting, and then the driven pulley installed on main shaft and pipe fitting are in close contact.Sliding plane
Structure is generally sleeve pipe or slide rail etc..Spring can promote slide block to slide to the direction of pipe fitting along slipping mechanism, it is possible thereby to logical
Cross driven pulley and one fixed pressure is applied to pipe fitting, so that the frictional force between driven pulley and pipe fitting keeps constant.
In some embodiments, leading truck is additionally provided with bearing, leading truck is oriented to located at driven pulley side or both sides
Frame is used for guiding pipe elements along its conveying direction movement, and guide thimble is additionally provided with leading truck, and guide thimble is sheathed on pipe fitting periphery.
Thus, the conveying of pipe fitting is more stable.
According to another aspect of the present invention, there is provided a kind of putty detection method, comprise the following steps：
(1) moving in parallel for pipe fitting is converted into rotation by the driven pulley for being corresponded with pipe fitting using and being contacted；
(2) rotary state of driven pulley is detected using a sensor, and produces digital signal or analogue signal transmission
To control centre；
(3) control centre judges whether the course of conveying of pipe fitting is normal according to digital signal or analogue signal；
(4) when control centre judges that the course of conveying of pipe fitting is abnormal, instruction is sent, implements warning measure and shutdown is processed.
According to a further aspect of the invention, there is provided a kind of bending machine, its board is provided with according to claim 1 to 8
The putty detection means of any one and feed mechanism, putty detection is located at the front side of feed mechanism or rear side.
Description of the drawings
Fig. 1 is the structural representation of the putty detection means of one embodiment of the present invention.
Fig. 2 is the explosive view of putty detection means shown in Fig. 1.
Fig. 3 is driven pulley mounting structure schematic diagram shown in Fig. 2.
Fig. 4 is the structural representation of driven pulley shown in Fig. 2.
Fig. 5 is the internal view of putty detection means shown in Fig. 1.
Fig. 6 is the structural scheme of mechanism of the bending machine of one embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further detailed explanation.
Embodiment 1
Fig. 1 to Fig. 5 show schematically show a kind of putty detection means of embodiment of the invention.As schemed
Show, the device includes main shaft 42 and the driven pulley 43 on main shaft 42.
Wherein, driven pulley 43 is rotated with main shaft 42 by bearing and is connected.
Driven pulley 43 contacts with pipe fitting 1.
Pipe fitting 1 is tangentially conveyed along the outer rim of driven pulley 43.
The outside of driven pulley 43 is additionally provided with sensor 44.Sensor 44 is used to detect the kinestate of driven pulley 43.
When pipe fitting 1 is tangentially moved along the outer rim of driven pulley 43, driven pulley 43 is driven with main shaft 42 as axle center by frictional force
Rotated.The rotary state of the detection driven pulley 43 of sensor 44 simultaneously converts thereof into digital signal or analogue signal, and will
Digital signal or analogue signal are sent to control centre, and control centre judges accordingly whether the course of conveying of pipe fitting 1 is normal.
In the present embodiment, main shaft 42 is provided with multiple driven pulleys 43 that can individually rotate.Each correspondence of driven pulley 43
A sensor 44 is installed.Each sensor 44 is to the independent digital signal of control centre's transmission or analogue signal, control
Center processed is compared to each other set of number signal or analogue signal, by judging multiple digital signals or simulation in one group
Whether signal is synchronous, and then judges whether the course of conveying of one group of pipe fitting 1 is normal.
The two ends of main shaft 42 are arranged on a bearing 3 respectively by a slide block 41.
Slide block 41 is connected by slipping mechanism 411 with bearing 3.Bearing 3 is fixedly mounted on equipment board.
Spring 412 is additionally provided between slide block 41 and bearing 3.
Spring 412 is promoted slide block 41 to the direction of pipe fitting 1 using its elastic force, and then driven by what is installed on main shaft 42
Wheel 43 is in close contact with pipe fitting 1.
In the present embodiment, slipping mechanism 411 is sleeve pipe.
In other examples, slipping mechanism 411 can also be slide rail etc..
Spring 412 can promote slide block 41 to slide to the direction of pipe fitting 1 along slipping mechanism 41, it is possible thereby to pass through driven pulley
43 pairs of pipe fittings 1 apply a fixed pressure, so that the frictional force between driven pulley 43 and pipe fitting 1 keeps constant.
Leading truck 2 is additionally provided with bearing 3.Leading truck 2 is located at the side of driven pulley 43 or both sides.
Leading truck 2 is used for guiding pipe elements 1 along its conveying direction movement.
Guide thimble 21 is additionally provided with leading truck 2.
The pipe box of fairlead 21 is located at the periphery of pipe fitting 1.Thus, the conveying of pipe fitting 1 is more stable.
The part that driven pulley 43 is contacted with pipe fitting 1 is additionally provided with drag ring 432.Drag ring generally using silicone rubber or its
The O-ring of his rubber, thus can both reduce the abrasion of driven pulley, it is also possible to make driven pulley rotate pipe fitting smooth.
In the present embodiment, sensor 44 is range sensor, and the outer wall of driven pulley 43 is evenly arranged with vertically a plurality of convex
Rib 431.
By the way that its sensitivity can be adjusted to one potentiometer of series connection of sensor 44.
When 431 proximity transducer 44 of fin, sensor 44 provides a Continuity signal, i.e. " 1 "；When fin 431 leaves
During sensor 44, sensor 44 provides a cut-off signal, i.e. " 0 ".
In the feeding process of pipe fitting 1, with the rotation of driven pulley 43, sensor 44 be given one group it is alternate by " 1 " and " 0 "
Periodic signal.
For same group of multiple tubing element 1, its feeding time should be synchronous, and feed length should also be equal
, in this case, the cycle of the signal that same group of multiple sensors 44 are given and frequency all should be identicals.If its
In have the signal that one or more sensor 44 provides skew occur, then mean that the corresponding pipe fitting 1 of these sensors 44
Putty is there occurs in feeding process.Now control centre sends instruction, sends alarm and carries out shutdown process to equipment.
In other examples, sensor 44 can also be magnetic induction sensor, and driven pulley 43 adopts non-ferromagnetic system
Make, and outer wall is axially disposed one or more of ferromagnets.Sensor 44 can also be correlation type optoelectronic induction sensor,
Driven pulley 43 is provided with the detection hole run through.
In other examples, main shaft 42 is also equipped with driven pulley 43 or multiple can individually rotate
Driven pulley 43, each driven pulley 43 is accordingly provided with a sensor 44, and each sensor 44 sends independent to control centre
Digital signal or analogue signal.Preserve for each normal feeding process in advance in control centre and preset accordingly
Value.Control centre is compared the corresponding preset value of each digital signal or analogue signal, and then may determine that every
Whether the course of conveying of the corresponding pipe fitting 1 of individual driven pulley 43 is normal.
Using the putty detection means of above technical scheme, will be managed using the driven pulley 43 being rotated by the friction of pipe fitting 1
The course of conveying of part 1 is converted to the rotary state of driven pulley 43.The rotary state of driven pulley 43 is detected by sensor 44 and is incited somebody to action
Corresponding signal is sent to control centre.The rotation of the signal detection driven pulley 43 that control centre can send according to sensor 44
State, and then judge whether the course of conveying of pipe fitting 1 is normal.When pipe fitting 1 occur putty situation when, pipe fitting 1 cannot convey or
Not enough, now driven pulley 43 does not rotate delivered length or rotating speed is less than normal value, and control centre can be according to sensor 44
It is abnormal that the signal for sending judges that the course of conveying of pipe fitting 1 occurs.The device is not only simple in structure, and strong adaptability is easily installed big
In most pipe fitting feed systems, and it is quick on the draw, high degree of automation is capable of the feeding of automatic decision pipe fitting exactly
The putty situation occurred in journey, is easy to be disposed in time, and can reduce feeding causes product unqualified or even equipment damage extremely
It is bad.
The putty detection method of the device, comprises the following steps：
(1) driven pulley 43 for being corresponded with pipe fitting 1 using and being contacted by pipe fitting 1 move in parallel be converted into turn
It is dynamic；
(2) rotary state of driven pulley 43 is detected using a sensor 44, and produces digital signal or analogue signal
Send to control centre；
(3) whether control centre is synchronous according to digital signal or analogue signal, either by digital signal or simulation letter
Number corresponding preset value is compared, and thus judges whether the course of conveying of pipe fitting 1 is normal；
(4) when control centre judges that the course of conveying of pipe fitting 1 is abnormal, instruction is sent, implements warning measure and shutdown is processed.
Embodiment 2
Fig. 6 show schematically show a kind of bending machine of embodiment of the invention.As illustrated, the equipment board
It is provided with putty detection means A and feed mechanism B.Wherein, putty detection means A is located at the front side of feed mechanism B.
In other examples, putty detection means A can also be located at the rear side of feed mechanism B.
Above-described is only some embodiments of the present invention.For the person of ordinary skill of the art, not
On the premise of departing from the invention design, some deformations and improvement can also be made, these belong to the protection model of the present invention
Enclose.
Claims (10)
1. putty detection means, it is characterised in that including main shaft and the driven pulley on the main shaft, the driven pulley with
The main axis connection, the driven pulley contacts with pipe fitting, and the pipe fitting is tangentially conveyed along the driven pulley outer rim, described
Driven pulley outside is additionally provided with sensor, and the sensor is used to detect the kinestate of the driven pulley, when the pipe fitting is along institute
When stating driven pulley outer rim and tangentially moving, the driven pulley is driven to be rotated as axle center with the main shaft by frictional force, it is described
Sensor detects the rotary state of the driven pulley and converts thereof into digital signal or analogue signal, and the numeral is believed
Number or analogue signal send to control centre, the control centre judges accordingly whether the course of conveying of the pipe fitting normal.
2. putty detection means according to claim 1, it is characterised in that the main shaft be provided with a driven pulley or
Multiple driven pulleys that can individually rotate, each described driven pulley is accordingly provided with a sensor, each described biography
Sensor to the independent digital signal of control centre transmission or analogue signal, the control centre believe each described numeral
Number or analogue signal be compared with systemic presupposition value, and then judge the conveying of the corresponding pipe fitting of each described driven pulley
Whether process is normal.
3. putty detection means according to claim 1, it is characterised in that the main shaft is provided with and multiple can individually revolve
The driven pulley for turning, each described driven pulley is accordingly provided with a sensor, and each described sensor is to the control
Center sends independent digital signal or analogue signal, and the control centre is by digital signal or analogue signal described in one group
It is compared to each other, it is whether synchronous by judging the multiple described digital signal in a group or analogue signal, and then judge one group of institute
Whether the course of conveying for stating pipe fitting is normal.
4. the putty detection means according to claim 1 or 2 or 3, it is characterised in that the sensor is Distance-sensing
Device, the driven pulley outer wall is axially disposed one or more of fins.
5. the putty detection means according to claim 1 or 2 or 3, it is characterised in that the sensor is magnetic strength inductive sensing
Device, the driven pulley is manufactured using non-ferromagnetic, and outer wall is axially disposed one or more of ferromagnets.
6. the putty detection means according to claim 1 or 2 or 3, it is characterised in that the driven pulley connects with the pipe fitting
Tactile part is additionally provided with drag ring.
7. putty detection means according to claim 1, it is characterised in that the main shaft two ends pass through respectively a slide block
On a bearing, the slide block is connected by slipping mechanism with the bearing, and the bearing is fixedly mounted on equipment
On board, spring is additionally provided between the slide block and the bearing, the spring is using its elastic force by the slide block to described
The direction of pipe fitting promotes, and then the driven pulley installed on the main shaft is in close contact with the pipe fitting.
8. putty detection means according to claim 7, it is characterised in that leading truck is additionally provided with the bearing, it is described
Located at the driven pulley side or both sides, the leading truck is used to guide the pipe fitting along its conveying direction movement to leading truck,
Guide thimble is additionally provided with the leading truck, the guide thimble is sheathed on the pipe fitting periphery.
9. a kind of putty detection method, it is characterised in that comprise the following steps：
(1) moving in parallel for the pipe fitting is converted into rotation by the driven pulley for being corresponded with pipe fitting using and being contacted；
(2) rotary state of the driven pulley is detected using a sensor, and produces digital signal or analogue signal transmission
To control centre；
(3) just whether the course of conveying that the control centre judges the pipe fitting according to the digital signal or analogue signal
Often；
(4) when the control centre judges that the course of conveying of the pipe fitting is abnormal, instruction is sent, implements warning measure and dock
Reason.
10. a kind of bending machine, it is characterised in that its board is provided with the detection of the putty according to any one of claim 1 to 8
Device and feed mechanism, the putty detection is located at the front side of the feed mechanism or rear side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005176.XA CN106607519B (en) | 2017-01-04 | 2017-01-04 | Putty detection device and a kind of putty detection method and a kind of bending machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710005176.XA CN106607519B (en) | 2017-01-04 | 2017-01-04 | Putty detection device and a kind of putty detection method and a kind of bending machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106607519A true CN106607519A (en) | 2017-05-03 |
| CN106607519B CN106607519B (en) | 2018-06-01 |
Family
ID=58636877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710005176.XA Active CN106607519B (en) | 2017-01-04 | 2017-01-04 | Putty detection device and a kind of putty detection method and a kind of bending machine |
Country Status (1)
| Country | Link |
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| CN (1) | CN106607519B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108160749A (en) * | 2018-01-29 | 2018-06-15 | 上海和科设备制造有限公司 | The putty detection device of fin machine |
| CN108620660A (en) * | 2018-07-18 | 2018-10-09 | 中山精达特克机械有限公司 | Sawing sheet poling machine and its operating method |
| CN108941259A (en) * | 2018-07-19 | 2018-12-07 | 珠海格力智能装备有限公司 | Straightening and rounding mechanism |
| CN112408053A (en) * | 2020-11-20 | 2021-02-26 | 杭州丙甲科技有限公司 | Putty detection device and contain its paper pad machine |
| CN112547840A (en) * | 2020-12-23 | 2021-03-26 | 珠海格力智能装备有限公司 | Feeding control method and device of pipe bending machine and feeding controller of pipe bending machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108160749A (en) * | 2018-01-29 | 2018-06-15 | 上海和科设备制造有限公司 | The putty detection device of fin machine |
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| CN108941259A (en) * | 2018-07-19 | 2018-12-07 | 珠海格力智能装备有限公司 | Straightening and rounding mechanism |
| CN112408053A (en) * | 2020-11-20 | 2021-02-26 | 杭州丙甲科技有限公司 | Putty detection device and contain its paper pad machine |
| CN112547840A (en) * | 2020-12-23 | 2021-03-26 | 珠海格力智能装备有限公司 | Feeding control method and device of pipe bending machine and feeding controller of pipe bending machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106607519B (en) | 2018-06-01 |
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