JPS59193721A - Control device for bender - Google Patents
Control device for benderInfo
- Publication number
- JPS59193721A JPS59193721A JP6812283A JP6812283A JPS59193721A JP S59193721 A JPS59193721 A JP S59193721A JP 6812283 A JP6812283 A JP 6812283A JP 6812283 A JP6812283 A JP 6812283A JP S59193721 A JPS59193721 A JP S59193721A
- Authority
- JP
- Japan
- Prior art keywords
- stage
- bending
- bar
- die
- shaped material
- 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
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、王として、長尺パイプなどの被曲げ棒状材を
その長手方向の複数箇所ンこおいて、その長手方向一端
側から他端側の箇所にかけて順次的に強制折曲げし乍ら
、棒状材を、その長手方向を軸芯として回転９組な回転
機構の回転調整によりあらゆる方向に曲げることができ
るように構成された立体曲げ式のベンダーで、詳しくは
、被曲げ棒状材の設定量送り工程や設定角度曲げ工程等
の複数処理工程をもって棒状材全連続自動的に所定形状
に曲げ加工するベンダーの制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention is based on a method of bending a bar-like material such as a long pipe at a plurality of locations in the longitudinal direction thereof, and sequentially extending the bendable bar-shaped material such as a long pipe from one end to the other end thereof. This is a three-dimensional bending bender that is configured to forcefully bend a bar-shaped material in any direction by adjusting the rotation of nine sets of rotating mechanisms that rotate around its longitudinal direction. The present invention relates to a control device for a bender that automatically and continuously bends a bar-shaped material into a predetermined shape through a plurality of processes such as a feeding process of a bar-shaped material to be bent by a set amount and a bending process at a set angle.
この種のベンダーでは、例えば第１図、！２図、第８図
に示すように、棒状材（Ｐｌ’に曲げ処理するに、先ず
、シリンダを作動させて圧力型（３０）で棒状材ＣＰＩ
を押え付け、更に、締付型（２）を回転開型ｆｉｌに近
接移動させてその回転開型ｉｌｌと締付型Ｆ２１とで棒
状材（Ｐｌを挟持し、更に七の後、前記回転開型（１）
全締付型（２）と共に駆動回転させて棒状材（Ｐｌｔ−
曲げ加工し、その後に、前記回転開型（１１、締付型（
２）、圧力型例を元の位置に復帰させて完了するのであ
り、非常に複雑で多数の部分工程を経過しなければなら
ず比較的長い処理時間を要していたのである。 又、棒
状材（Ｐ）を設定量送る場合、更には、棒状材（Ｐ）を
その長手方向を軸芯として設定角度回転させる場合にお
いても１．諾９量、回転角度の正確性の維持の観点から
、−ｔｎはど速い速度で移動、回転させることができず
、やはりある程度の長い処理時間を要することはやむを
＃なかったのである。For this kind of vendor, for example, Figure 1,! As shown in Fig. 2 and Fig. 8, in order to bend the bar-shaped material (Pl'), the cylinder is first operated to bend the bar-shaped material CPI with the pressure die (30).
The clamping mold (2) is then moved close to the rotary opening mold fil, and the rod-shaped material (Pl) is held between the rotary opening mold ill and the clamping mold F21. Type (1)
The rod-shaped material (Plt-
After bending, the rotary opening die (11) and the tightening die (
2) The process is completed by returning the pressure mold to its original position, which is very complicated and requires a relatively long processing time as it has to go through a large number of sub-processes. Also, when feeding the bar (P) by a set amount, and furthermore, when rotating the bar (P) by a set angle with its longitudinal direction as the axis, 1. From the viewpoint of maintaining the accuracy of the rotation angle and the rotation angle, -tn cannot be moved or rotated at a high speed, and it is unavoidable that a certain amount of processing time is required.
ところが、従来から一般的に知られているペングーの制
御装置は、第９図に示す７０−チャートに従って曲げ加
工処理していたのであり、前記棒状材の設定量送り工程
や設定角度曲げ工程、更には設定角度回転工程等の各工
程が各々終了して初めて次工程処理に移行する指令を発
信するよう構成されていたために、ｉｎ記の比較的長時
間金−要する各処理工程を繰り返して棒状材を連続曲げ
加工するに、各処理工程に要する時間を足し合わせた非
常に長い時間を要し、連続曲げ加工処理の能率が非常に
悪いものになっていたのである。 又、全体の加工処理
を能率化するために、ωｊ記各処理工程夫々を時間短縮
させることも考えられるが、その場合には各処理工程に
無理が生じ、良好な曲げ加工処理の維持の面から自ずと
限界があったのである。However, the conventionally known Pengu control device performs the bending process according to the 70-chart shown in FIG. Since the system was configured to issue a command to move on to the next process only after each process, such as the setting angle rotation process, was completed, the bar-shaped material was Continuous bending of the material required a very long time, adding up the time required for each process, and the efficiency of the continuous bending process was extremely poor. In addition, in order to streamline the entire processing process, it may be possible to shorten the time for each processing step described in ωj, but in that case, each processing step would be unreasonable, and it would be difficult to maintain good bending processing. Naturally, there were limits.
本発明は、かかる実情に鑑み、各処理工程夫々の時間短
縮のみでは達成し得なかった限界を越えて、かつ曲げ加
工処理に何ら無理を与えることなく、その能率を飛躍的
に向上させ得る点に目的がある。In view of the above circumstances, the present invention has the advantage that it can dramatically improve the efficiency of bending processing, exceeding the limit that could not be achieved only by shortening the time of each processing step, and without imposing any strain on the bending process. has a purpose.
上記目的を達成すべくなされた本発明に係るペングーの
制御装置の特徴構成は、成る特定の処理工程途中でかつ
加工上のトラブル発生がないように予め設定されている
次工程移行可能点の通過を検出する手段を有し、これに
よる通過検出に基づいて前記の特定処理工程中において
次工程作業開始指−４１−を発信する手段を備えている
点にある。The characteristic structure of the pengu control device according to the present invention, which has been made to achieve the above object, is that during a specific processing step, a point at which a transition to the next step can be made is passed, which is preset to prevent processing troubles from occurring. The present invention is characterized in that it has a means for detecting a passage, and a means for transmitting a next step work start instruction -41- during the above-mentioned specific processing step based on the passage detection thereby.
このような特＆構成を有する本発明の作用効果は、次の
通りである。The effects of the present invention having such features and configurations are as follows.
つまり、各処理工程のうち、例えば設定角度曲げ工程に
おいては、シリンダの作動により圧力型が移動して棒状
材を押え付は固定するまでの時間は、棒状材を自由に動
かすことができ、例えば棒状材の設定量送り工程全その
間において一部重複させて並行処理させても何ら加工上
のトラブル発生がないのであり、七の次工程移行可能点
の通過を検出して、特定処理工程中において次工程作業
開始指令を発信することにより、各処理工程を加工上の
トラブル発生がない状態で時開的に重複させて並行処理
することができ、各処理工程夫々の時間短縮のみでは達
成し得なかった限界を超えて、かつ曲げ加工処理に何ら
無理を与えることなく、その能率を飛躍的に向上させ得
るに至った。In other words, in each processing process, for example, in the set angle bending process, the bar can be moved freely during the time it takes for the pressure mold to move due to cylinder operation and press down or fix the bar. There is no problem in machining even if the process is partially overlapped and processed in parallel during the entire process of feeding the bar material by a set amount. By sending a command to start the next process, each processing process can be overlapped and processed in parallel from time to time without any processing problems, which could not be achieved by shortening the time of each processing process alone. It has now been possible to dramatically improve the efficiency of the bending process, exceeding the previous limit and without imposing any strain on the bending process.
次に、末完８Ａ構成の実施例を図面に基づいて説明する
と、（２）は回転曲型ｆｉ＋の直線面に対して遠近移動
自在な状態で開型（１１の回転軸芯周りの回動枠（３」
（臼型＋１１０支承７レームから突設されている）に付
設された締付型であり、締付型（２）の接近移動により
棒状材伊）を開型ｉｌ＋に押圧して締付は固定し、かつ
回動枠（３１の回＃（開型（１）の支承フレームを駆動
回転することによる）により両型ｉｌｌ 、 ＋２１を
一体回転させることにより棒状材ψ）′（Ｉ−開型ｆｉ
＋の曲げ円弧局面に沿った形状に曲げ作用すべく構成し
である。 （４）は棒状材（Ｐｌの基端側を複数の爪（
５）・・によって挟持固定するチャック機構であり、そ
の挟ｉ固定作用は、締付型（２）によるパイプ締付は固
定作用よりも先行して行なわれる。Next, an example of the final 8A configuration will be explained based on the drawings. Frame (3"
(protrudes from the mortar type + 110 support 7 frame), and when the clamping die (2) moves closer, the bar-shaped material is pressed against the open mold +, and the tightening is fixed. And by rotating both molds ill and +21 integrally by the rotating frame (31 rotations (by driving and rotating the support frame of the open mold (1)), the bar-shaped member ψ)' (I-open mold fi
It is configured to bend in a shape along the + bending arc curve. (4) is a rod-shaped member (Pl) with a plurality of claws (
5) It is a chuck mechanism that clamps and fixes the pipe with the clamping die (2), and its clamping action is performed prior to the clamping action of the pipe with the clamping die (2).
チャック機構（４）は、前記両型ｆｉ＋ 、 ＋２１の
一体回転によるパイプ曲げ作動に伴ない、その曲げ角に
対応した距離だけ両型ｆｉ＋ 、 ＋２１の初期締付は
作用箇所に近づく方向に移動可能であるとともに、両型
（１）、（２）の締付は作用前に棒状材（Ｐｌの曲げ位
置を初期締付は作用箇所にセットするためにｍＪ記と同
方向に沿って往復駆動移動自在に構成さｎ、かつ棒状材
（Ｐｉの曲げ位相を変更するために挟持爪（５）・・は
棒状材（Ｐ）軸芯周りに回転自在に構成されている。
七の構造は概ね次の通りである。 即ち、挟持爪＋５１
・・を摺動部材（７）を介して開閉させるためのシリン
グ（６）を付設した回転部材（８）において、その一端
に棒状材ｔＰｌの基端部に対する位置規制用ストッパー
ｔ９＋を取付けであるとともに、回転部材（８）を支承
するフレーム叫にサーボモータ（１１）を付設し、その
出力ギア０４に咬合する受動ギア州を回転部材＋８１に
固定することにエリ、挟持爪ｆｉｌ・・をモータ（ｌり
にて棒状材（Ｐ）軸芯周りに回転すべく構成しである一
方、前記フレーム叫を同定フレームのレール０５） 、
（Ｉ５）に対し、フレーム（１０ｊ側に固定のベアリ
ング付ガイドＵ＠、Ｏ呻・・を介して前後摺動自在に保
持させ、かつフレーム（ｌＯ）に連結したチェーン（ｌ
ηをサーボモータ（ｌ樽にて駆動回動することにより、
フレーム叫つまりチャック機構（４）を初期締付は作用
箇所に対し遠近駆動すべく構成しである。The chuck mechanism (4) can move the initial tightening of both molds fi+ and +21 by a distance corresponding to the bending angle in the direction closer to the action point as the pipe bending operation is performed by the integral rotation of both molds fi+ and +21. At the same time, both types (1) and (2) are tightened by moving the rod-shaped material (Pl) by reciprocating drive in the same direction as mJ in order to set the bending position of Pl at the point of action for initial tightening. In order to change the bending phase of the rod-shaped material (Pi), the holding claws (5) are configured to be freely rotatable around the axis of the rod-shaped material (P).
The structure of 7 is roughly as follows. That is, clamping claw +51
A rotary member (8) equipped with a sill (6) for opening and closing via a sliding member (7), a stopper t9+ for regulating the position relative to the base end of the rod-shaped member tPl is attached to one end of the rotary member (8). At the same time, a servo motor (11) is attached to the frame that supports the rotating member (8), and the passive gear that engages with the output gear 04 is fixed to the rotating member +81. (The rod-shaped member (P) is configured to rotate around its axis at the same time as the rail 05 of the frame that identifies the frame),
(I5) is held slidably back and forth via guides with bearings fixed on the frame (10j side), and a chain (lO) connected to the frame (lO)
By driving and rotating η with a servo motor (l barrel,
During initial tightening of the frame, the chuck mechanism (4) is configured to be moved near and far from the point of action.
制御装置０９）には第５図のように棒状材Ｔ）に対すく
曲げ位置設定具（ａｔ、曲げ位相設定具（ｂｌ、曲げ角
設定共（ｃｌやスタート指令具（Ｓｖ）などが設けられ
ている。As shown in Fig. 5, the control device 09) is provided with a bending position setting tool (at), a bending phase setting tool (BL), a bending angle setting tool (CL), a start command tool (Sv), etc. for the bar-shaped material T). ing.
次に、爪回転角検出手段を説明すると、第８図、第９図
のように前記回転部材（８）に一定した円板例にベルト
■を介して連動連結したロータリエンコーダ例をフレー
ム（ｌＯ）に付設し、かつ円板例に対向状態で磁気利用
の近接スイッチ（財）をフレームｔ１０１ Ｋ固定し、
円板例の周方向一箇所に切欠きＣ２４ａ） ｋ形成した
もので、モータ（１１）を作動きせて、回転部材（８１
とともに円板例を回転させると切欠きＣ２４ａ）がスイ
ッチ□□□に対応してスイッチシカ作動によりモータ（
ｌりが停止される。Next, to explain the pawl rotation angle detection means, as shown in FIGS. ), and a magnetic proximity switch (goods) is fixed to the frame t101K in a state opposite to the disk example,
A notch C24a) is formed at one location in the circumferential direction of the disk example, and when the motor (11) is operated, the rotating member (81
When the disk example is rotated at the same time, the notch C24a) corresponds to the switch □□□ and the motor (
The flow is stopped.
こｆ′Ｌにより、チャック機構（４）は周方向における
ｗ、点に復帰されることとなる。 次いで、モータ（］
ｌ）が逆転開始し、回転部材（８）とともにベルトレ５
）を介してロータリエンコーダ（ホ）が回転さｎ、この
エンコーグ弼による検出値が設定値と一致したときにモ
ータ（１すが停止さｎる。Due to this f'L, the chuck mechanism (4) is returned to the point w in the circumferential direction. Next, the motor (]
l) starts reversing, and the belt tray 5 moves together with the rotating member (8).
), the rotary encoder (e) is rotated, and when the detected value by this encoder matches the set value, the motor (1) is stopped.
尚、チャック機ａ（４）の移動距離検出手段は公知と同
様であるので、説明を割愛する。Note that the moving distance detecting means of the chuck machine a(4) is the same as that known in the art, so a description thereof will be omitted.
又、前記制御装置（１９）Ｋよるペングーの曲げｍ工制
御用フローチャートを第８図（イ）、（口］、←→。Also, the flowchart for controlling the bending machining of the pengoo by the control device (19)K is shown in FIG.
に）に示す。 （イ］に示すフローチャートにおいて、
設定量送り処理プログラムを（ロ）に、設定角度回転処
理プログラムをｅ→に、設定角度曲は処理プログラムｆ
ｔ（：Ｊに示す。). In the flowchart shown in (a),
The setting amount feed processing program is (b), the setting angle rotation processing program is e →, and the setting angle curve is processing program f.
t(: Shown in J.
このフローチャートに従ってペングーの作動は次の通り
に行なわれる。According to this flowchart, the pengoo operates as follows.
（イ）棒状材（Ｐｌに対する曲げ位置、曲げ位相ならび
に曲げ角を制御盤（１９）において設定し、棒状材（Ｐ
ｌを供給する。(a) Set the bending position, bending phase, and bending angle with respect to the bar (Pl) on the control panel (19),
supply l.
（ロ） 制御盤（１９）においてスタート指令を行なう
とシリンダ（６）が作動し、爪（６１・・にてパイプ基
端部が挟持固定される。(b) When a start command is given on the control panel (19), the cylinder (6) is operated and the base end of the pipe is clamped and fixed by the claws (61).
（ハ）次いで、チャック機構（４）がレール（ホ）、
（１５）に沿って前進さｎる設定量送り工程と、モータ
（川、晴が作動して、回転部材（８１つまり爪（＋ｉ１
・・が回転さｎる設定角度回転工程とを並行して行なう
１゜
（−２続いて、前記両工程のうちの長く続いている方が
終了しないうちに、締付型（２）及び圧力型例を突出移
動し始め、前記長く続いている方の工程が終了するタイ
ミングに合わせて、臼型（１）と締付型（２）で棒状材
（ｐ＞ 葡締付は固定するとともに、圧力型（３０）が
棒状材（Ｐｉに接当する。(c) Next, the chuck mechanism (4) is connected to the rail (e),
(15), the motor (Kawa, Haru) is operated, and the rotating member (81, that is, the claw (+i1
... is rotated at a set angle of 1°(-2).Subsequently, before the longer of the two steps is completed, the clamping mold (2) and the pressure When the mold starts to protrude and move, and at the same time as the longer process ends, the rod-shaped material (p>) is fixed using the mortar mold (1) and the clamping mold (2), and The pressure mold (30) comes into contact with the rod-shaped member (Pi).
（ホ）次いで臼型ｆｉ＋、締付型＋２１が一体回転さ九
、棒状材（Ｐ）が曲げられていき、設定曲げ角まで回転
すると締付型（２）離間後両型ｆｉｌ 、 ＋２１が初
期位置まで戻きれる。 このときチャック機構（４）は
曲げ角に対応した距離だけ６１１進、後退される。(e) Next, the mortar mold fi+ and the clamping mold +21 are rotated together, and the bar-shaped material (P) is bent, and when it rotates to the set bending angle, the clamping mold (2) is separated, and both molds fil, +21 are at the initial stage. I can return to my position. At this time, the chuck mechanism (4) is moved backward by a distance corresponding to the bending angle.
（へ） その後は、Ｐ埼〜（ホ）が繰り返さＦＬ、これ
によって棒状材（Ｐ）を極めて能率良く立体的に曲げる
ことができる。(f) After that, the steps P to (e) are repeated FL, thereby making it possible to bend the bar (P) three-dimensionally very efficiently.
又、本発明においては、ｆｉｔＪ記の設定角度回転工程
は必ずしも必要なものではなく、設定量送り工程と設定
角度曲げ工程のみ刀・らなる一方向曲げペングー又は左
右両曲げペングーにも使用し得る。In addition, in the present invention, the setting angle rotation process described in fitJ is not necessarily necessary, and it can be used for one-way bending or both left and right bending, which consists of only the setting amount feeding process and the setting angle bending process. .
図面は本発明に係るペングーの制御装置の実施例を示し
、第１図は一部切欠き概略側面図、第２図は概略乎曲図
、第３図は要部の一部切欠き拡大側面図、第４図は＃都
の拡大正面図、第５図は制御装置の正面図、第６図は型
部の一部男欠き側面図、第７図（Ｉ：１．要部の拡大背
向図、第８図（イ）はフローチャート、第８図（υ）、
（ハ）、（勾ハ、第８１ＨイＩのフローチャートにおけ
る定４Ａ 済みプログラムのフローチャートである。
第９図は従来例のフローチャートである。
（Ｐｌ・・・・・・被曲げ棒状材。
第 ８し
く≦）The drawings show an embodiment of the pengoo control device according to the present invention, in which Fig. 1 is a partially cutaway schematic side view, Fig. 2 is a schematic curved view, and Fig. 3 is a partially cutaway enlarged side view of the main part. Figure 4 is an enlarged front view of #Miyako, Figure 5 is a front view of the control device, Figure 6 is a side view of the mold section with part of the man cut out, and Figure 7 (I: 1. Enlarged back view of main parts). Figure 8 (a) is a flowchart, Figure 8 (υ),
(C), (C) This is a flowchart of the fixed 4A completed program in the flowchart of the 81st HI.
FIG. 9 is a flowchart of a conventional example. (Pl...bar-shaped material to be bent. 8th order ≦)
Claims (1)
げ工程等の複数処理工程をもって棒状材（Ｐｌｔ一連続
自動的に所定形状に曲げ加工するベンダーの制御装置で
あって、成る特定の処理工程途中で、かつ加工上のトラ
ブル発生がないように予め設定されている次工程移行可
能点の通過を検出する手段を有し、これによる通過検出
に基ついて、前記の特定処理工程中において次工程作業
開始指令全発信する手段を備えているベンダーの制御装
置。 ■ 前記複数工程に、棒状材（Ｐ）をその長手方向を軸
芯として設定角度回転させる回転工程が含まれている特
′ｆ！′ｆ請氷の範囲第０項に記載のペンタ＝の制御装
置。[Claims] ■ A control device for a bender that continuously and automatically bends a bar-shaped material (Plt) into a predetermined shape through multiple processing steps such as a feeding process of a set amount of a bar-shaped material (Pl) and a bending process of a set angle. It has a means for detecting the passing of a point where it is possible to proceed to the next process, which is set in advance to prevent processing troubles, in the middle of a specific processing step, and based on the passage detection by this, the above-mentioned A vendor control device that is equipped with a means for issuing all next process work start commands during a specific processing process. ■ The plurality of processes include a rotation process of rotating the rod-shaped material (P) at a set angle around its longitudinal direction as an axis. A control device for a pentameter as set forth in item 0.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6812283A JPS59193721A (en) | 1983-04-18 | 1983-04-18 | Control device for bender |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6812283A JPS59193721A (en) | 1983-04-18 | 1983-04-18 | Control device for bender |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59193721A true JPS59193721A (en) | 1984-11-02 |
| JPH0417730B2 JPH0417730B2 (en) | 1992-03-26 |
Family
ID=13364622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6812283A Granted JPS59193721A (en) | 1983-04-18 | 1983-04-18 | Control device for bender |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59193721A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6268626A (en) * | 1985-09-18 | 1987-03-28 | ツ−ルズ・フオ−・ベンデイング・インコ−ポレ−テツド | Program-controlled frame bending device |
| JPH0565440U (en) * | 1992-02-03 | 1993-08-31 | 安川商事株式会社 | Wire bending equipment |
| US20120016511A1 (en) * | 2009-04-08 | 2012-01-19 | Kabushiki Kaisha Opton | Bending device |
| CN104307944A (en) * | 2014-10-16 | 2015-01-28 | 山东临工工程机械有限公司 | Full-automatic numerical control bending machine |
| CN107159815A (en) * | 2017-06-28 | 2017-09-15 | 芜湖市泰能电热器具有限公司 | A kind of bending equipment |
-
1983
- 1983-04-18 JP JP6812283A patent/JPS59193721A/en active Granted
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6268626A (en) * | 1985-09-18 | 1987-03-28 | ツ−ルズ・フオ−・ベンデイング・インコ−ポレ−テツド | Program-controlled frame bending device |
| JPH0565440U (en) * | 1992-02-03 | 1993-08-31 | 安川商事株式会社 | Wire bending equipment |
| US20120016511A1 (en) * | 2009-04-08 | 2012-01-19 | Kabushiki Kaisha Opton | Bending device |
| US8601847B2 (en) * | 2009-04-08 | 2013-12-10 | Kabushiki Kaisha Opton | Bending device |
| CN104307944A (en) * | 2014-10-16 | 2015-01-28 | 山东临工工程机械有限公司 | Full-automatic numerical control bending machine |
| CN107159815A (en) * | 2017-06-28 | 2017-09-15 | 芜湖市泰能电热器具有限公司 | A kind of bending equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0417730B2 (en) | 1992-03-26 |
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