EP2522441A1 - Machine pour cintrer les tubes en forme de U - Google Patents

Machine pour cintrer les tubes en forme de U Download PDF

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Publication number
EP2522441A1
EP2522441A1 EP12167930A EP12167930A EP2522441A1 EP 2522441 A1 EP2522441 A1 EP 2522441A1 EP 12167930 A EP12167930 A EP 12167930A EP 12167930 A EP12167930 A EP 12167930A EP 2522441 A1 EP2522441 A1 EP 2522441A1
Authority
EP
European Patent Office
Prior art keywords
bending
group
pipes
machine according
actuation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP12167930A
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German (de)
English (en)
Other versions
EP2522441B1 (fr
Inventor
Vinicio Maggiolo
Augusto Tovo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMS Costruzione Macchine Speciali Srl
Original Assignee
CMS Costruzione Macchine Speciali Srl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Priority to PL12167930T priority Critical patent/PL2522441T3/pl
Publication of EP2522441A1 publication Critical patent/EP2522441A1/fr
Application granted granted Critical
Publication of EP2522441B1 publication Critical patent/EP2522441B1/fr
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Classifications

    • 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
    • B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
    • B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
    • 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
    • B21D11/00—Bending not restricted to forms of material mentioned in only one of groups B21D5/00, B21D7/00, B21D9/00; Bending not provided for in groups B21D5/00 - B21D9/00; Twisting
    • B21D11/06—Bending into helical or spiral form; Forming a succession of return bends, e.g. serpentine form
    • B21D11/07—Making serpentine-shaped articles by bending essentially in one plane

Definitions

  • the present invention concerns a machine used for simultaneously bending many pipes into a "U" called a bending machine.
  • the present invention concerns a bending machine for bending pipes intended, for example, for making heat exchangers.
  • heat exchangers In the particular case of heat exchangers, indeed, they go from small exchangers for the automobile industry or for heating, to large exchangers for air conditioning, refrigeration or for process heat exchange where the dimensions can even exceed ten metres in length.
  • the exchangers in question consist of a bank of pipes, usually having a circular cross section, which is inserted into a finned pack, which represents the extended outer surface on the secondary fluid, which usually consists of air.
  • circuits on the pipes side are connected, in their end parts, in series or in parallel to one another in order to have passage sections and lengths that are more suitable for heat exchange, within the limitations of the admissible load loss for the primary fluid.
  • connection in series of two or more parallel pipes that form part of the battery is carried out with bends that invert the flow by 180°.
  • the amount and length of the batteries permit, instead of mounting pairs of single pipes in parallel with one another, it is more advantageous to make pipes bent into a "U" with the parallel arms, called hairpins, and replace the single pipes with them, eliminating the need for bends at 180° during the step of making the circuit and consequently avoiding, on at least one of the two sides, the preparation of the joint and the braze welding of the bend, with the inevitable probability of losses due to problems connected with braze welding itself.
  • figure 1 is an overall side view of the machine, whereas figure 2 is a detail of the means that make the 180° bend of the pipes.
  • the bending machine wholly indicated with A in figure 1 - starting from a reel of wound pipe, unwinds it in a controlled manner.
  • the bending machine A comprises a base block B, arranged directly downstream of the unwinding station of the reel of pipe, not represented.
  • the pipes are introduced into the machine through an inlet C, for example comprising a plurality of guide ducts D, as many as there are pipes to be treated in parallel in each cycle.
  • the machine also comprises a straightening and advancing group E of the pipes that takes care of straightening and calibrating the latter, in accordance with the desired diameter.
  • the machine also comprises a cutting group F, arranged downstream of the aforementioned straightening and advancing group E, which has the task of cutting to size the pipes that have previously been straightened and calibrated.
  • the machine finally comprises, downstream of the bending group G, an extraction group I that takes care of extracting the hairpins H from the bending group G and of then placing them in a collector L awaiting their subsequent use.
  • a particularly critical step of the operation of the bending machine A described above consists of that of bending the pipes by 180° into a "U" to make the hairpins H, which takes place as stated in the bending group G.
  • the pipes that can be subjected to bending are made with materials capable of withstanding the implicit elongation of the process without breaking: for example, such a material can consist of copper or aluminium and alloys thereof, or carbon and stainless steel, in any composition, with or without surface treatments, and so on.
  • the bending group G of the bending machine A of the known type is illustrated in the detail of figure 2 .
  • the known bending group G comprises a bank M sliding on guides N the positioning of which, programmable by console, defines the length of the hairpins H.
  • a central support O is rotatably mounted on the bank M.
  • the central support O has a bending arm P fixed to it, which supports the telescopic pipes Q, to guide the pipes coming from the cutting group F.
  • the bending arm P is actuated by hydraulic cylinders R, mounted on the bank M on opposite sides, associated with respective transmissions comprising, for each of the hydraulic cylinders R, a rack S coupled with a respective pinion T.
  • the pinion T is in turn fitted onto an axis U fixedly connected to the central support O of the bending arm P.
  • the latter are guided first by the telescopic pipes Q of the bending arm P, arranged in horizontal rest position, then by the shapes and bending clamps V and then by the bending cores and relative support shafts Z up to the stop abutment that defines their length before bending.
  • the pipes are blocked by clamps, cut to size by the cutting group F and, with the translating movement of the cutting group F that moves away from the bending arm P, are ready to be bent; the bending is carried out with the rotation of the bending arm P by 180°, which as stated is actuated by the hydraulic cylinders R through the pinion T - rack S transmission.
  • a contribution to the correct curving of the hairpins is made by the clamps and bending shapes V, on which the pipe sits during rotation, and the support shafts Z that guide the sliding of the pipes on the inside and contribute to keeping them circular.
  • the clamps and bending shapes V that block them are reopened; with the advancing of the extraction group I and thrusts of the straws, the hairpins H are extracted from the support shafts Z and, once free, conveyed into the collector L.
  • the actuation of the bending arm 14 with hydraulic cylinders 16 is a so-called open loop system, which is thus based on values and parameters that are set in input and preliminary, without verifying and managing the output parameters.
  • the transmission of motion to the bending arm P through rack S and pinion T is actuated by two hydraulic cylinders R, which are controlled by a proportional valve that generates a flow rate of oil, indeed, directly proportional to the electrical control signal in input.
  • the signal is taken from a encoder that controls the rotation angle of the bending arm P.
  • the adjustment algorithm of the aforementioned proportional valve is preset based on incremental variations in length of the hairpin H. Variations of parameters like the moment of inertia of the bending arm P due to weight variations - which depends on the diameter and/or the thickness of the pipes - or the different number of bent pipes in each operating cycle are not taken into consideration at all.
  • a so-called overcenter valve is usually used, which, by introducing a constant braking load to the oil discharge, increases the load of the hydraulic circuit, thus limiting the effects described earlier and due to the reactive behaviour of the proportional valve - encoder system: the variations in load are thus of lower intensity and effect, but they are still present and still cause a series of unwanted phenomena.
  • the insertion of the overcenter valve means the presence of an passive extra load that absorbs a significant amount of energy.
  • a further drawback consists of the fact that the two hydraulic cylinders R for actuating the bending arm P are arranged at the two ends of the central support O of the arm P itself - each of which to control a respective pinion T - rack S group - and are slaved to a single proportional valve.
  • the technical task of the present invention is therefore to improve the state of the art, providing a bending machine that allows the aforementioned drawbacks to be eliminated.
  • a purpose of the present invention is to provide a bending machine in which the motion of the bending arm, and therefore its performance, is optimised and improved.
  • Another purpose of the present invention is to make a bending machine in which the motion of the bending arm in carrying out the bending operation has as little vibration and irregularity as possible due to load variations.
  • the bending machine comprises an actuation group of the bending arm equipped with a brushless electric motor.
  • the actuation group of the bending arm comprises a cycloid reducer coupled with the brushless motor, to actuate the bending arm.
  • a bending machine according to the present invention is wholly indicated with 1.
  • the bending machine 1 according to the present invention can be used, in general terms, to carry out the bending of pipes, for example by 180° with the arms substantially parallel or even according to a certain bending angle different from 180°, for pipes, preferably metallic, intended for the most varied industrial uses, without any limitation.
  • the machine according to the invention can be effectively used to produce pipes bent by 180°, i.e. hairpins, to make finned heat exchangers of any size.
  • the bending machine 1 according to the invention comprises - as illustrated in the overall side view of figure 3 , and as also already described for the known machine of figures 1,2 - a base 2 that supports, aligned with one another according to the operating sequence of the machine already described, an inlet 3 of the pipes for example through ducts 4, feeding means of substantially rectilinear pipes, wholly indicated with 5, a bending group 6 comprising at least one bending arm 7 to bend the rectilinear pipes according to a certain bending angle to obtain hairpins 8, and extraction means, wholly indicated with 9, of the hairpins 8 in a collection area 10.
  • the bending angle of the pipes is about 180°, to thus obtain hairpins 8 with the arms substantially parallel to one another.
  • the feeding means 5 of the pipes comprise a straightening and advancing group 11 and a cutting group 12 one after the other, as illustrated in figure 3 .
  • the extraction means 9 comprise an extraction group 13 of the hairpins 8, arranged downstream of the bending group 7, equipped with straws 13a.
  • the machine 1 also comprises a discharge area 14 equipped with an inclined or mobile plane 15, which conveys the hairpins 8 to the collection area 10, where they are deposited by falling on a container 16.
  • the bending machine 1 comprises a programmable unit for controlling the operation of the various operating steps of the machine, not illustrated in the figures but of the type substantially known in the field.
  • the bending group 6 of the machine according to the invention is illustrated in the axonometric detail of figure 4 .
  • the bending group 6 is mounted on a framework 17, in turn fixed to a bank 18 that is mobile on guides 19 fixedly connected to the base 2.
  • the framework 17 is equipped with two flanks 20 that are substantially symmetrical with respect to the axis of the machine.
  • the framework 17 of the bending group 6 could be mounted on other parts of the machine, for example not mobile but fixed, in relation to the specific requirements.
  • the bending arm 7, at its operative surface 21, comprises telescopic pipes 22.
  • the bending arm 7 also comprises a central support 23 rotatably mounted on the framework 17, a group of clamps and bending shapes 24 that keep the pipes in the correct position during the bending operation, thus defining, with the contribution of the bending cores and relative support shafts 25, their final shape and avoiding deformations, breakages or other negative phenomena.
  • the bending group 6, unlike what occurs in the known machine of figures 1,2 , comprises a rotary actuation group, wholly indicated with 26, of the bending arm 7, comprising at least one electric motor 27, associated with at least one respective reducer 28.
  • the electric motor 27 for actuating the bending arm 7 is, more specifically and advantageously, of the brushless type.
  • the motor could also be of another type, for example stepper, or similar, obtaining the same advantageous effects that will be described hereafter.
  • the rotary actuation group 26 comprises a servo-actuation of the brushless electric motor 27, operating in a closed loop, i.e. with moment by moment control of the operating parameters of the motor, for example angular position, speed, torque and others.
  • the aforementioned servo-actuation of the brushless electric motor 27 is operatively connected to the programmable unit for controlling the bending machine 1.
  • the brushless electric motor 27 is directly connected to the reducer 28, which in turn is fixed to one of the flanks 20 of the framework 17 through screws 29 and a flange 30.
  • the reducer 28 associated with the brushless electric motor 27 is advantageously of the cycloid type.
  • the reducer could also be of another kind, for example epicycloidal or similar, obtaining equivalent effects.
  • Figure 5 illustrates a diametral section of a possible type of cycloid reducer 28 able to be associated with the brushless electric motor 27 of the bending group 6 of the bending machine 1 according to the present invention.
  • a cycloid reducer 28 comprises, as indicated in the aforementioned figure 5 and extremely briefly, an eccentric input shaft 31 that sets in rotation one or more cycloidal discs 32, equipped with equally spaced peripheral seats, also called teeth.
  • the latter are equipped with cylindrical seats for the insertion of pins 33 fixedly connected to the output shaft 34.
  • the high speed motion of the eccentric inlet shaft 31 determines the subsequent engagement, in the opposite direction, of the peripheral seats of each of the cycloidal discs 32 at the rollers 36.
  • the result is motion of the output shaft 34 in the opposite direction with respect to that of the eccentric input shaft 31, according to a typical reduction ratio of each reducer 28.
  • the cycloid reducer 28 mounted on the bending machine according to the present invention is of the type having an output shaft 34 consisting of a flange, as indeed illustrated in figure 5 .
  • any other type of cycloid reducer 28 can be used; it should be repeated that the reducer illustrated in the detail of figure 5 is a mere non-limiting example, given only to allow better understanding of its operation.
  • the flange that constitutes the output shaft 34 of the cycloid reducer 28 is then coupled directly with a corresponding flange - not represented in the figures - of the central support 23, without the need to use shafts and the relative torque transmission means such as splines, locking sets, etc.
  • the advantageous differences concern the operation of the bending group 6, and in particular the actuation of the bending arm 7.
  • the brushless electric motor 27 unlike a hydraulic actuation, can withstand very high load peaks, for example up to 3-4 times the normal operating load. Moreover, the brushless electric motor 27 can be effectively controlled in a very precise and accurate manner, through suitable algorithms, obtaining any type of acceleration ramp and deceleration. As described earlier, these effects cannot be obtained with a hydraulic actuation.
  • the brushless electric motor 27 does not significantly suffer from the problems linked to environmental and operating temperature.
  • the servo-actuation comprises control means 100 of the bending cycle suitable, indeed, for optimising the acceleration ramp, the translation speed and finally the deceleration ramp of the bending arm 7.
  • the control means 100 of the bending cycle have been developed to obtain a specific adjustment of the functionality of the bending group 6, which enhances the efficiency of the system in relation to the extremely variable characteristics of the bending arm 7.
  • control means 100 of the bending cycle are of the adaptive type in relation to the moment of inertia of said bending arm.
  • control means 100 operate according to an unconventional adjustment algorithm with control characteristic that is adaptive in relation to the moment of inertia of the bending arm 7, which produces an extremely fine behavioural adaptation in relation to the variability of its size and mass.
  • This adaptability of the control algorithm makes it possible to obtain bending cycles that exploit to the maximum the acceleration, translation and braking ramps, with a substantial reduction in the cycle time in comparison with a conventional hydraulic system. Continuous and progressive control of the accelerations or reductions in angular speed is also ensured, according to constantly accelerating or decelerating motion, which minimise the generation of vibrations of the bending arm 7, which are particularly important when the length of the arm 7 itself exceeds 2 - 2,5 metres in length.
  • the control means 100 of the bending cycle also comprise detection means 200 of the absorption of current of said electric motor 27.
  • the control means 100 also comprise actuation means 300 of the extraction means 9,13,13a of the hairpins 8.
  • the actuation means 300 are operatively slaved to the detection means 200 of the absorption of current of said electric motor 27, with the effects that will become clearer hereafter.
  • the control means 100 therefore, through the detection means 200, continuously check, throughout the bending cycle, the absorption of the motor, preventing the occurrence of overloads with possible consequent mechanical breakdowns, in particular in the acceleration step, if the mass of the bending arm 7 exceeds the foreseen safety limits.
  • the machine according to the present invention is also provided with at least one first mechanical abutment of the bending arm 7 at a bending angle of about 180°. Indeed, when the bending arm 7 is approximately at a bending angle of about 180°, the bending cycle ends.
  • the reaching of the aforementioned first mechanical abutment by the bending arm 7 determines an increase in the absorption of current of the electric motor 27.
  • this increase in absorption determines the sending of a suitable signal, by the detection means 200, to the actuation means 300 of the extraction means 9,13,13a of the hairpins 8, in particular when a certain predetermined value of absorption of current has been reached.
  • the machine also comprises a second mechanical abutment of the bending arm 7 at a bending angle of about 0°, corresponding to the start of the bending cycle.
  • the bending arm 7 goes back into this position at the end of each cycle, to begin the next one.
  • the angular rotation speed of the bending arm 7 becomes zero and there is an increase in absorption of current of the electric motor 27, detected by the detection means 200.
  • this second mechanical abutment in an absolutely analogous way to what has been described for the first mechanical abutment, ensures, thanks to the detection means 200, an optimal management of the deceleration and acceleration ramps of the bending arm 7, and therefore immediate restarting of the bending cycle.
  • the high degree of interaction of the motor 27 - reducer 28 - servo-actuation system makes it possible to manage the size of the rotation angle of the bending arm 7 with maximum precision, to the point where it could be possible to eliminate the mechanical stop that stops the motion of the arm 7.
  • the stop is, however, kept, as stated, in order to increase passive safety in the case in which, for example, there is an interruption in current during the descent of the bending arm 7, breakage or malfunctioning of the servo-actuation, and also to reduce the cycle times with particular reference to the extraction step of the hairpins 8.
  • the cycloid reducer 28 also boasts great operating precision and great torsional rigidity that, by minimising the inertia at the motor, transmits the motion in the absence of vibrations, which is a result that cannot be obtained with a hydraulic actuation. Moreover, the cycloid reducer 28, in its constructive conception, adapts excellently to this type of application, transmitting the motion to the central support 23 of the bending arm 7 through its output shaft 34 that, as stated, consists of a flange. This last solution allows higher torques to be transmitted with respect to how much can be obtained with a shaft.
  • cycloid reducer 28 characterised by just rolling contacts, ensures limited inertia, excellent efficiency on start up, low wear and long lifetime.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)
  • Control Of Eletrric Generators (AREA)
  • Control Of Multiple Motors (AREA)
  • Use Of Switch Circuits For Exchanges And Methods Of Control Of Multiplex Exchanges (AREA)
EP12167930.2A 2011-05-13 2012-05-14 Machine pour cintrer les tubes en forme de u Active EP2522441B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL12167930T PL2522441T3 (pl) 2011-05-13 2012-05-14 Maszyna gnąca do gięć w rurach w kształcie U

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000102A ITVR20110102A1 (it) 2011-05-13 2011-05-13 Macchina forcinatrice

Publications (2)

Publication Number Publication Date
EP2522441A1 true EP2522441A1 (fr) 2012-11-14
EP2522441B1 EP2522441B1 (fr) 2016-10-26

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP12167930.2A Active EP2522441B1 (fr) 2011-05-13 2012-05-14 Machine pour cintrer les tubes en forme de u

Country Status (5)

Country Link
EP (1) EP2522441B1 (fr)
ES (1) ES2612139T3 (fr)
HU (1) HUE032550T2 (fr)
IT (1) ITVR20110102A1 (fr)
PL (1) PL2522441T3 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104690120A (zh) * 2015-02-16 2015-06-10 奥美森智能装备股份有限公司 折弯机的新型折弯机构
CN105642715A (zh) * 2016-03-21 2016-06-08 广东美的暖通设备有限公司 弯管加工装置及加工方法
CN106270062A (zh) * 2016-09-26 2017-01-04 扬州三丰新能源科技有限公司 一种蛇形管弯曲成型装置及工艺
CN107717465A (zh) * 2017-09-20 2018-02-23 宁波市晶杰国际物流有限公司 U形铜管成型机
CN108620459A (zh) * 2018-07-19 2018-10-09 珠海格力智能装备有限公司 弯管机构及具有其的弯管设备
CN108620460A (zh) * 2018-07-19 2018-10-09 珠海格力智能装备有限公司 弯管机构
CN108927429A (zh) * 2018-07-19 2018-12-04 珠海格力智能装备有限公司 折弯机构及具有其的弯管设备
CN108941274A (zh) * 2018-07-19 2018-12-07 珠海格力智能装备有限公司 折弯机构及具有其的弯管设备
CN111389977A (zh) * 2020-03-25 2020-07-10 中山市科力高自动化设备有限公司 夹管机构、弯管成型装置及气动式长u机

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108941372B (zh) * 2018-06-29 2020-04-07 浙江开拓汽车电器有限公司 自动压电机刷盒设备

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5233853A (en) * 1992-01-03 1993-08-10 Burr Oak Tool & Gauge Company Stretch straightening hairpin bender
EP0667487A1 (fr) * 1994-02-15 1995-08-16 Sumitomo Chemical Company, Limited Cintreuse pour tubes et méthode
US5862697A (en) * 1996-03-05 1999-01-26 Webster; M. Craig Tube bending apparatus, and methods of constructing and utilizing same
DE10349489B3 (de) * 2003-10-23 2005-06-16 Chiao Sheng Machinery Co. Ltd. Übertragungs-/Untersetzungsgetriebe für die Rohrbiegungseinheit einer Rohrbiegemaschine
US20070221365A1 (en) * 2006-03-24 2007-09-27 Evapco, Inc. U-shaped heat exchanger tube with a concavity formed into its return bend

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5233853A (en) * 1992-01-03 1993-08-10 Burr Oak Tool & Gauge Company Stretch straightening hairpin bender
EP0667487A1 (fr) * 1994-02-15 1995-08-16 Sumitomo Chemical Company, Limited Cintreuse pour tubes et méthode
US5862697A (en) * 1996-03-05 1999-01-26 Webster; M. Craig Tube bending apparatus, and methods of constructing and utilizing same
DE10349489B3 (de) * 2003-10-23 2005-06-16 Chiao Sheng Machinery Co. Ltd. Übertragungs-/Untersetzungsgetriebe für die Rohrbiegungseinheit einer Rohrbiegemaschine
US20070221365A1 (en) * 2006-03-24 2007-09-27 Evapco, Inc. U-shaped heat exchanger tube with a concavity formed into its return bend

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104690120A (zh) * 2015-02-16 2015-06-10 奥美森智能装备股份有限公司 折弯机的新型折弯机构
CN105642715A (zh) * 2016-03-21 2016-06-08 广东美的暖通设备有限公司 弯管加工装置及加工方法
CN106270062A (zh) * 2016-09-26 2017-01-04 扬州三丰新能源科技有限公司 一种蛇形管弯曲成型装置及工艺
CN107717465A (zh) * 2017-09-20 2018-02-23 宁波市晶杰国际物流有限公司 U形铜管成型机
CN108620459A (zh) * 2018-07-19 2018-10-09 珠海格力智能装备有限公司 弯管机构及具有其的弯管设备
CN108620460A (zh) * 2018-07-19 2018-10-09 珠海格力智能装备有限公司 弯管机构
CN108927429A (zh) * 2018-07-19 2018-12-04 珠海格力智能装备有限公司 折弯机构及具有其的弯管设备
CN108941274A (zh) * 2018-07-19 2018-12-07 珠海格力智能装备有限公司 折弯机构及具有其的弯管设备
CN111389977A (zh) * 2020-03-25 2020-07-10 中山市科力高自动化设备有限公司 夹管机构、弯管成型装置及气动式长u机

Also Published As

Publication number Publication date
PL2522441T3 (pl) 2017-05-31
HUE032550T2 (en) 2017-09-28
ES2612139T3 (es) 2017-05-12
EP2522441B1 (fr) 2016-10-26
ITVR20110102A1 (it) 2012-11-14

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