CN103042556A - Synchronous control method of high-speed paper delivering system and paper cutting system of honeycomb paper cutting device - Google Patents
Synchronous control method of high-speed paper delivering system and paper cutting system of honeycomb paper cutting device Download PDFInfo
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Abstract
The invention discloses a synchronous control method of a high-speed paper delivering system and a paper cutting system of a honeycomb paper cutting device. The paper cutting device comprises a paper cutting motor, a paper delivering motor, a displacement detecting sensor, a photoelectric switch, a paper delivering controller, a motor driver, a fixed cutter, a movable cutter, a paper delivering roll and a paper pressing roll. The paper cutting motor is used for controlling the movable cutter to reciprocate. The paper delivering motor is used for controlling paper delivering of the paper delivering roll. The synchronous control method includes the steps of A1, the paper delivering controller reads the position of the movable cutter in real time through the displacement detecting sensor, and judges paper delivering timing according to the state of the photoelectric switch; A2, when the paper delivering controller detects that the position of the movable cutter meets the triggering condition of paper delivering through the displacement detecting sensor, the photoelectric switch is triggered, and the paper delivering motor is started to execute paper delivering. By the synchronous control method, cutting times of the paper cutting system can reach 600 to 800 per minutes, and accordingly paper delivering and paper cutting efficiency is improved greatly.
Description
Technical field
The present invention relates to the paper-cut technical field, the synchronisation control means of in particular a kind of honeycomb paper shearing equipment high speed paper feeding, paper-cut system.
Background technology
The control system of honeycomb paper core automatic production line mainly comprises high speed paper-cut system on the production line, paper feed system, trailer system, adjusts and tension control system working cycles and interlock according to the rules requires normal operation for colloid system, Jiao Dao, and is provided with failure detector and warning device in some crucial positions.Be the debugging and the normal requirement that moves that adapt to transfer matic, the honeycomb paper core production line control system has three kinds of mode of operations: debugging mode, semi-automatic pattern and fully automatic mode.But manual operation and adjustment when debugging mode realize each action of single device; When semi-automatic pattern, can realize the single cycle work of single device; Transfer matic can continuous operation when fully automatic mode.
The control system of honeycomb paper core automatic production line has " coordinating to shut down " control function, if when automatic assembly line needs to stop under normal operation, must just stop after the moving component of finishing various piece is all got back to original position.Other auxiliary equipment of automatic assembly line arrange according to arts demand and automaticity, such as pneumatic system, and video acquisition system and cooling system etc.
Existing honeycomb paper core production equipment production efficiency is restricted, and key is, in the situation about cutting at a high speed, the paper feeding mode of existing freely falling body is difficult to satisfy the needs of high speed shear, thereby the multipotency of original paper-cut speed reaches per minute 400 times.Speed issue is not resolved, and then is difficult to improve the continuous production efficiency of honeycomb paper core.
Therefore, there is defective in prior art, needs to improve.
Summary of the invention
Technical problem to be solved by this invention is to drive the synchronisation control means that the reciprocal cutting mechanism of scissors provides the paper feeding of a kind of honeycomb paper shearing equipment high speed, paper-cut system for New Type Linear Motor, adopt the method, shear the high speed that number of times can reach per minute 600 to 800 cuttves, reach the international leading level.
Technical scheme of the present invention is as follows:
The paper feeding of a kind of honeycomb paper shearing equipment high speed, the synchronisation control means of paper-cut system, it is characterized in that, the paper feeding of described honeycomb paper high speed, the paper-cut system comprises the paper-cut motor, paper pushing motor, displacement detecting sensor, optoelectronic switch, paper feeding controller, motor driver, stationary knife, moving knife, feeding-in roll, air roll, described paper-cut motor is used for the control moving knife and does simple harmonic motion, described paper pushing motor is done high speed start-stop intermittent movement and is used for control feeding-in roll execution paper feeding action, described displacement detecting sensor is for detection of the position of described moving knife, and described optoelectronic switch is used for the hardware trigger signal that induction produces when the described optoelectronic switch of moving knife process; Described synchronisation control means comprises the step of carrying out when as follows: A1, paper feeding controller read in real time the physical location of moving knife by displacement detecting sensor and judge the opportunity of paper feeding in conjunction with the state of described optoelectronic switch; A2, meet the paper feeding trigger condition when paper feeding controller detects the moving knife position by displacement detecting sensor, and trigger simultaneously optoelectronic switch, start described paper pushing motor and carry out the paper feeding process.
Combine with technique scheme, in the mover drive moving knife motion of described paper-cut motor, its movement locus can be divided into four sections, is respectively: L
l, L
2, L
3And L
4, wherein, L
lBe the distance of moving knife stroke initial end to core paper, L
2Be developed width and the shared size range of core paper flexural deformation of refill, L
3Be shear history segment length, L
4For pushing away paper procedure segment length; When described moving knife position is in L
4During section, paper pushing motor speed is zero; When described moving knife position is in L
3During section, paper pushing motor speed is zero; When described moving knife position is in L
2During section, paper pushing motor speed still is zero; When described moving knife by L
2Duan Gang enters into L
1Section and when triggering optoelectronic switch simultaneously, paper pushing motor by shaft coupling drive described feeding-in roll with accelerate before this, then at the uniform velocity, the motion mode that slows down at last carries out paper feeding.
Combine with above-mentioned each technical scheme, judge in the described steps A 1 that may further comprise the steps the opportunity of paper feeding:
A11, with moving knife move back and forth the zone be divided into equidistantly, etc. the Three regions of width, first area point centered by stationary knife one skidding journey end points wherein, second area is point centered by moving knife moves back and forth midstroke, and the 3rd zone is point centered by another end points of moving knife reciprocating motion stroke;
A12, when reading the current location of moving knife at every turn, judge that this position is to be in above-mentioned which zone, and set is carried out in the current residing position of moving knife;
A13, process carry out signal latch when the flag bit of front dynamic knife position, each moving knife has just entered one when regional, judge first whether the zone of judging last time is identical with current region, if different, remove flag bit the earliest, and mobile forward successively front historic state several times, preserve at last when front dynamic knife tick lables position;
The order through regional of A14, tracking moving knife judges whether moving knife paper feeding condition when current location is set up;
The judgment rule that A15, paper feeding condition are set up is: need to satisfy simultaneously two conditions of position and direction, and trigger optoelectronic switch, obtain a paper feeding flag bit, judged result is for setting up; Other situation is judged as the result to be false; Wherein, locality condition is that moving knife arrival paper feeding trigger point is L
2Right-hand member; The direction condition is for front 4 sub-regions when the moving knife process all are the 3rd zone, 3 times the zone all is that second area, front 2 sub-regions all are that first area, front 1 sub-region are second area.
Combine with above-mentioned each technical scheme, in the described steps A 2, described paper feeding process may further comprise the steps:
A21, calculate the paper feeding parameter: the time t of paper pushing motor actual motion in paper feeding process and the acceleration a of paper pushing motor motion, and the time t of actual motion, acceleration a and the high h of paper of paper pushing motor motion initialized;
A22, finish and carry out paper feeding control after the paper feeding calculation of parameter and enable to judge, be then to enter steps A 23, otherwise enter steps A 26;
A23, described paper feeding controller read the physical location of moving knife by displacement detecting sensor;
A24, described paper feeding controller judge that whether the moving knife position meets triggering paper feeding condition, is then to enter steps A 25, otherwise returns steps A 23;
A25, drive motors paper feeding are once;
A26, enable then disable motor without paper feeding.
Combine with above-mentioned each technical scheme, need carry out the judgement of optoelectronic switch state after the described steps A 24, when the judged result of described optoelectronic switch and described steps A 24 is sure simultaneously, execution in step A25.
Combine with above-mentioned each technical scheme, the time t of described paper pushing motor actual motion in paper feeding process is calculated by formula (1), and the acceleration a span of described paper pushing motor motion is calculated by formula (2);
Formula (1)
Formula (2) wherein, L
lBe the distance that moving knife stroke initial end arrives core paper, T is a paper-cut cycle, and h is the paper height of the product of current production, and ω is circular frequency, and A is amplitude.
Adopt such scheme, the present invention proposes a kind of synchronisation control means by the sequential of paper pushing motor and paper-cut motor synchronizing process is carried out analysis and calculation, thereby has solved in the situation that the paper-cut motor cuts at a high speed the stationary problem of paper pushing motor.
Description of drawings
Fig. 1 is honeycomb paper shearing equipment high speed of the present invention paper-cut, paper feed system structure chart;
Fig. 2 is that moving knife of the present invention moves back and forth Process Decomposition figure;
Fig. 3 is that the present invention cuts moving knife position and paper feeding speed timing diagram;
Fig. 4 is paper pushing motor acceleration and deceleration process analysis procedure analysis figure of the present invention;
Fig. 5 is paper feeding triggered time point analysis figure of the present invention;
Fig. 6 is paper feeding control flow chart of the present invention.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, one embodiment of the present of invention are the paper feeding of a kind of honeycomb paper shearing equipment high speed, paper-cut system, comprising: industry control PC, paper feed system and paper-cut system.Described paper feed system comprises feeding-in roll 104, air roll 105, paper pushing motor 103, motor driver 102 and paper feeding controller 101; Described feeding-in roll 104 connects with paper pushing motor 103 by shaft coupling, for paper feed system provides active force; Described air roll 105 is driven rolls, for described feeding-in roll 104 provides support power; Described paper feeding controller 101 is connected with described motor driver 102, judges that by the physical location that reads in real time moving knife 107 opportunity of paper feeding is to finish the paper feeding action; The physical location of moving knife 107 reads by the displacement detecting sensor 108 in the paper-cut system, and for example, described displacement detecting sensor 108 can be magnetic railings ruler, grating scale etc., and preferential, described displacement detecting sensor 108 is magnetic railings ruler; Encoder 112 links to each other with air roll 105, and in order to measure the actual speed of core paper 111, described motor driver 102 links to each other with paper pushing motor 103 by holding wire, receives the paper pushing motor control signal that paper feeding controller sends, and drives paper pushing motor.Preferably, moving knife 107 is done high-frequency reciprocating paper-cut campaign, meets the paper feeding trigger condition in moving knife 107 positions, and triggers simultaneously optoelectronic switch, starts described paper pushing motor and carries out the paper feeding process; In like manner, moving knife 107 enters before the lower paper zone in next time cutting, and paper pushing motor 103 must be delivered to the position with core paper 111, and ready for paper-cut action, and paper pushing motor must keep inactive state At All Other Times.
Combine with above-described embodiment, preferred, an embodiment is, described paper pushing motor 103 is torque motor, paper pushing motor must be delivered to the position with core paper, and ready for paper-cut action, and paper pushing motor must keep inactive state At All Other Times, in order to satisfy above-mentioned requirement, described paper pushing motor is done high speed start-stop intermittent exercise, and preferred, described paper pushing motor is done trapezoidal acceleration and deceleration motion, its rate curve is step curve, as shown in Figure 4.
Combine with the various embodiments described above, preferred, another embodiment is, described paper-cut motor is linear electric motors, comprises linear motor rotor and linear motor stator electric two parts, and described moving knife 107 links to each other with described linear motor rotor, is used for the shearing core paper.Described paper-cut motor is done sinusoidal the reciprocating motion, within a period of motion, only meets the paper feeding trigger condition in the moving knife position, and when triggering optoelectronic switch simultaneously, just allows paper feed system paper feeding campaign, and the paper feeding cycle equals the paper-cut cycle.Described displacement detecting sensor 108 is fixed on the described linear motor stator electric, is used for the physical location of location moving knife 107.
Combine with the various embodiments described above, the paper feeding of a kind of honeycomb paper shearing equipment high speed, the synchronisation control means of paper-cut system, wherein, the paper feeding of described honeycomb paper high speed, the paper-cut system comprises the paper-cut motor, paper pushing motor, displacement detecting sensor, optoelectronic switch, paper feeding controller, motor driver, stationary knife, moving knife, feeding-in roll, air roll, described paper-cut motor is used for the control moving knife and does simple harmonic motion, described paper pushing motor is done high speed start-stop intermittent movement and is used for control feeding-in roll execution paper feeding action, preferably, described paper pushing motor is done trapezoidal acceleration and deceleration motion, as shown in Figure 4, paper feeding speed is divided into three time periods: accelerating sections t
1, at the uniform velocity the section t
2With braking section t
3Described displacement detecting sensor is for detection of the position of described moving knife, described optoelectronic switch is used for the hardware trigger signal that induction produces when the described optoelectronic switch of moving knife process, in order to increase the reliability of paper feeding condition judgment, except the software determination methods of paper feeding controller, in paper feed system, also in the position that meets triggering paper feeding condition optoelectronic switch has been installed, when this optoelectronic switch of paper-cut moving knife process, a hardware trigger sign can be in motion control card, produced, the paper feed system functional reliability can be further improved.Described synchronisation control means comprises the step of carrying out when as follows: A1, paper feeding controller read in real time the physical location of moving knife by displacement detecting sensor and judge the opportunity of paper feeding in conjunction with the state of described optoelectronic switch; A2, meet the paper feeding trigger condition when paper feeding controller detects the moving knife position by displacement detecting sensor, and trigger simultaneously optoelectronic switch, start described paper pushing motor and carry out the paper feeding process, as shown in Figure 2, moving knife is by L
2Duan Gang enters into L
1Section and when triggering optoelectronic switch simultaneously triggers paper feeding.
Combine with the various embodiments described above, in the mover drive moving knife motion process of described paper-cut motor, its movement locus can be divided into four sections, as shown in Figure 2, is respectively: L
l, L
2, L
3And L
4, wherein, L
lBe the distance of moving knife stroke initial end to core paper, L
2Be developed width and the shared size range of core paper flexural deformation of refill, L
3Be shear history segment length, L
4For pushing away paper procedure segment length.Preferably, the operation of described paper-cut motor and paper pushing motor motion sequential synchronously as shown in Figure 3.When described moving knife position is in L
2During section, paper pushing motor speed still is zero, and moving knife is at L
2The length of section comprises developed width and the shared size range of core paper flexural deformation of refill; When described moving knife by L
2When Duan Gang enters into the L1 section and triggers optoelectronic switch simultaneously, paper pushing motor by shaft coupling drive feeding-in roll with accelerate before this, then at the uniform velocity, the motion mode that slows down at last carries out paper feeding.
Combine with the various embodiments described above, judge in the described steps A 1 that paper feeding mainly may further comprise the steps opportunity: A11, with moving knife move back and forth the zone be divided into equidistantly, etc. the Three regions of width, first area point centered by stationary knife one skidding journey end points wherein, second area is point centered by moving knife moves back and forth midstroke, the 3rd zone is point centered by another end points of moving knife reciprocating motion stroke, as shown in Figure 5; A12, when reading the current location of moving knife at every turn, judging that this position is to be in above-mentioned which zone, and set is carried out in the current residing position of moving knife, is flag bit to the result who carries out set when the residing position of front dynamic knife; A13, process carry out signal latch when the flag bit of front dynamic knife position, each moving knife has just entered one when regional, judge first whether the zone of judging last time is identical with current region, if different, remove flag bit the earliest, and mobile forward successively front historic state several times, preserve at last when front dynamic knife tick lables position; A14, tracking moving knife judge through the order of regional whether moving knife paper feeding condition when current location is set up; The judgment rule that A15, paper feeding condition are set up is: need to satisfy simultaneously two conditions of position and direction, and trigger optoelectronic switch, obtain a paper feeding flag bit, judged result is for setting up; Other situation is judged as the result to be false; Wherein, locality condition is that moving knife arrival paper feeding trigger point is L
2Right-hand member; The direction condition is for front 4 sub-regions when the moving knife process all are the 3rd zone, 3 times the zone all is that second area, front 2 sub-regions all are that first area, front 1 sub-region are second area.Shown in the direction Rule of judgment table 1 specific as follows.
Table 1
As shown in Figure 6, combine with the various embodiments described above, in the described steps A 2, described paper feeding process may further comprise the steps: A21, before paper feed system operation, carry out first the paper feeding calculation of parameter, read the product parameters of current production, obtain the high h of paper, then calculate the paper feeding cycle according to the paper-cut reciprocating frequence of system's Set For Current, calculate the time t of paper pushing motor actual motion in paper feeding process and the acceleration a of paper pushing motor motion.
Described paper pushing motor time t of actual motion in paper feeding process just can derive according to sinusoidal geometrical relationship and obtain
The time t that is to say paper pushing motor actual motion in paper feeding process is calculated by formula (1),
Formula (1), wherein, L
lBe the distance of moving knife stroke initial end to core paper, T is a paper-cut cycle, and ω is circular frequency, and A is amplitude.
As shown in Figure 4, the area that the high h of paper feeding paper surrounds for rate curve within a paper feeding cycle and time shaft, namely
Paper pushing motor accelerates in motion process and moderating process symmetry, i.e. t
1=t
3Learn relation by basic exercise and can get following three relations:
v
Max=at
1, t=t
1+ t
2+ t
3=2t
1+ t
2,
Moving knife is positioned at L between moving knife acceleration and deceleration lane place
1In, paper pushing motor should be finished the paper feeding action, and uniting above four formula can get,
In following formula about v
MaxQuadratic equation when solution is arranged, should have
The span that can obtain accordingly the acceleration of core paper in the paper feeding process is
The acceleration a span that is to say described paper pushing motor motion is calculated by formula (2),
Formula (2), wherein, L
lBe the distance that moving knife stroke initial end arrives core paper, T is a paper-cut cycle, and h is the paper height of the product of current production, and ω is circular frequency, and A is amplitude.The paper-cut system is the high-frequency reciprocating motion of a large inertia, the process that starts the motion of paper-cut linear electric motors is a process of accelerating gradually, increase first the reciprocating amplitude of paper-cut linear electric motors, amplitude is accelerated motion frequency after being added to the size of appointment again, makes at last the paper-cut linear electric motors be stabilized in the speed operation of default.In period of motion, only just allow paper advance mechanism paper feeding campaign at the paper-cut motor when moving knife withdraws from the cut paper zone, the paper feeding cycle should equal the paper-cut cycle.And carry out paper feed system and initialize; A22, finish and carry out paper feeding control after the paper feeding calculation of parameter and enable to judge, be then to enter steps A 23, otherwise enter steps A 26; A23, described paper feeding controller read the physical location of moving knife by displacement detecting sensor; A24, described paper feeding controller judge that whether the moving knife position meets triggering paper feeding condition, is then to enter steps A 25, otherwise returns steps A 23; A25, drive motors paper are once; A26, enable then disable motor without paper feeding.
Combine with the various embodiments described above, described synchronisation control means, preferably, the physical location of controller Real-time Collection moving knife, and judge when the front dynamic knife position whether meet the condition that triggers paper feeding, judge whether comprehensively that in conjunction with paper feeding photoswitc state starting paper feeding controller sends motion command to paper pushing motor again.The judgement of described optoelectronic switch state is carried out after steps A 24, when the judged result of steps A 24 and optoelectronic switch is sure simultaneously, and execution in step A25.
Need to prove that the mutual combination of above-mentioned each technical characterictic forms each embodiment, should be considered as the scope of specification record of the present invention.
Should be understood that, for those of ordinary skills, can be improved according to the above description or conversion, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (6)
1. honeycomb paper shearing equipment high speed paper feeding, the synchronisation control means of paper-cut system, it is characterized in that, the paper feeding of described honeycomb paper high speed, the paper-cut system comprises the paper-cut motor, paper pushing motor, displacement detecting sensor, optoelectronic switch, paper feeding controller, motor driver, stationary knife, moving knife, feeding-in roll, air roll, described paper-cut motor is used for the control moving knife and does simple harmonic motion, described paper pushing motor is done high speed start-stop intermittent movement and is used for control feeding-in roll execution paper feeding action, described displacement detecting sensor is for detection of the position of described moving knife, and described optoelectronic switch is used for the hardware trigger signal that induction produces when the described optoelectronic switch of moving knife process; Described synchronisation control means comprises the step of carrying out when as follows:
A1, paper feeding controller read in real time the physical location of moving knife by displacement detecting sensor and judge the opportunity of paper feeding in conjunction with the state of described optoelectronic switch;
A2, meet the paper feeding trigger condition when paper feeding controller detects the moving knife position by displacement detecting sensor, and trigger simultaneously optoelectronic switch, start described paper pushing motor and carry out the paper feeding process.
2. synchronisation control means according to claim 1 is characterized in that, in the mover drive moving knife motion of described paper-cut motor, its movement locus can be divided into four sections, is respectively: L
l, L
2, L
3And L
4, wherein, L
lBe the distance of moving knife stroke initial end to core paper, L
2Be developed width and the shared size range of core paper flexural deformation of refill, L
3Be shear history segment length, L
4For pushing away paper procedure segment length; When described moving knife position is in L
4During section, paper pushing motor speed is zero; When described moving knife position is in L
3During section, paper pushing motor speed is zero; When described moving knife position is in L
2During section, paper pushing motor speed still is zero; When described moving knife by L
2When Duan Gang enters into the L1 section and triggers optoelectronic switch simultaneously, paper pushing motor by shaft coupling drive described feeding-in roll with accelerate before this, then at the uniform velocity, the motion mode that slows down at last carries out paper feeding.
3. synchronisation control means according to claim 1 is characterized in that, judges in the described steps A 1 that may further comprise the steps the opportunity of paper feeding:
A11, with moving knife move back and forth the zone be divided into equidistantly, etc. the Three regions of width, first area point centered by stationary knife one skidding journey end points wherein, second area is point centered by moving knife moves back and forth midstroke, and the 3rd zone is point centered by another end points of moving knife reciprocating motion stroke;
A12, when reading the current location of moving knife at every turn, judge that this position is to be in above-mentioned which zone, and set is carried out in the current residing position of moving knife;
A13, process carry out signal latch when the flag bit of front dynamic knife position, each moving knife has just entered one when regional, judge first whether the zone of judging last time is identical with current region, if different, remove flag bit the earliest, and mobile forward successively front historic state several times, preserve at last when front dynamic knife tick lables position;
The order through regional of A14, tracking moving knife judges whether moving knife paper feeding condition when current location is set up;
The judgment rule that A15, paper feeding condition are set up is: need to satisfy simultaneously two conditions of position and direction, and trigger optoelectronic switch, obtain a paper feeding flag bit, judged result is for setting up; Other situation is judged as the result to be false; Wherein, locality condition is that moving knife arrival paper feeding trigger point is the right-hand member of L2; The direction condition is for front 4 sub-regions when the moving knife process all are the 3rd zone, 3 times the zone all is that second area, front 2 sub-regions all are that first area, front 1 sub-region are second area.
4. synchronisation control means according to claim 1 is characterized in that, in the described steps A 2, described paper feeding process may further comprise the steps:
A21, calculate the paper feeding parameter: the time t of paper pushing motor actual motion in paper feeding process and the acceleration a of paper pushing motor motion, and the time t of actual motion, acceleration a and the high h of paper of paper pushing motor motion initialized;
A22, finish and carry out paper feeding control after the paper feeding calculation of parameter and enable to judge, be then to enter steps A 23, otherwise enter steps A 26;
A23, described paper feeding controller read the physical location of moving knife by displacement detecting sensor;
A24, described paper feeding controller judge that whether the moving knife position meets triggering paper feeding condition, is then to enter steps A 25, otherwise returns steps A 23;
A25, drive motors paper feeding are once;
A26, enable then disable motor without paper feeding.
5. synchronisation control means according to claim 4 is characterized in that, need carry out the judgement of optoelectronic switch state after the described steps A 24, when the judged result of described optoelectronic switch and described steps A 24 is sure simultaneously, and execution in step A25.
6. synchronisation control means according to claim 1 is characterized in that, the time t of described paper pushing motor actual motion in paper feeding process is calculated by formula (1), and the acceleration a span of described paper pushing motor motion is calculated by formula (2);
Formula (1)
Formula (2)
Wherein, L
lBe the distance of moving knife stroke initial end to core paper, T is a paper-cut cycle, and h is that the paper of current production product is high, and ω is circular frequency, and A is amplitude.
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| CN103978514A (en) * | 2014-05-28 | 2014-08-13 | 上海绿顺包装机械有限公司 | Honeycomb paper core high speed paper feeding and trimming device |
| CN103978514B (en) * | 2014-05-28 | 2016-05-11 | 上海绿顺包装机械有限公司 | A kind of honeycomb paper core high speed paper feeding and cutting means |
| CN104325479A (en) * | 2014-09-17 | 2015-02-04 | 荷力胜(广州)蜂窝制品有限公司 | Cutting mechanism suitable for honeycomb paper core production line |
| CN111195925A (en) * | 2018-11-20 | 2020-05-26 | 中建材创新科技研究院有限公司 | Edge covering system and cutting control method thereof |
| CN111195925B (en) * | 2018-11-20 | 2021-09-21 | 中建材创新科技研究院有限公司 | Edge covering system and cutting control method thereof |
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|---|---|
| CN103042556B (en) | 2015-02-25 |
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