A fully automatic loading and unloading pipe bending production line

Abstract

The present invention discloses a fully automatic loading and unloading pipe bending production line, comprising: a pipe bending machine; an automatic loading mechanism; a feeding device, the feeding device comprising a fixed feeding rack, a movable feeding rack and a feeding control device; a feeding manipulator, the feeding manipulator is used to transfer the workpiece bent by the pipe bending machine to the fixed feeding rack. Since the feeding device adopts a structure composed of a fixed feeding rack, a movable feeding rack and a feeding control device, the feeding manipulator can place the workpiece bent by the pipe bending machine on the fixed feeding rack, and when the workpiece placed on the fixed feeding rack reaches the limit, the feeding control device controls the workpiece to move from the fixed feeding rack to the movable feeding rack, and the feeding manipulator can continue to place the workpiece bent by the pipe bending machine on the fixed feeding rack. At this time, the user can replace a new movable feeding rack or take away the workpiece placed on the movable feeding rack, and the pipe bending machine does not need to stop operating, thereby realizing continuous operation of the pipe bending machine, greatly improving the pipe bending efficiency of the pipe bending machine.

Description

Technical Field

[0001] The invention relates to the technical field of pipe bending, in particular to a fully automatic loading and unloading pipe bending production line. Background Art

[0002] With the development of society and the advancement of science and technology, many automatic pipe bending machines that can automatically bend pipes and automatic feeding devices or automatic feeding machines that can feed pipes to automatic pipe bending machines have appeared on the market. Feeding materials to automatic bending machines through these automatic feeding devices or automatic feeding machines helps to improve the efficiency of pipe bending.

[0003] Although the above-mentioned automatic pipe bending machine and automatic feeder can cooperate to realize continuous pipe bending, the workpiece after bending by the automatic pipe bending machine is generally placed directly in the material frame located on one side of it by a robot. If the material frame is full of workpieces, in order to ensure safety, the worker needs to stop the automatic pipe bending machine, automatic feeder and robot, and then take out the workpieces inside the material frame. After that, the automatic pipe bending machine, automatic feeder and robot can restart to work, which reduces the bending efficiency. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a fully automatic loading and unloading pipe bending production line, which can continuously bend pipes.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] According to certain embodiments of the present invention, a fully automatic loading and unloading pipe bending production line includes: a pipe bending machine, which is used to bend pipes; an automatic loading mechanism, which is arranged on one side of the pipe bending machine, and the automatic loading mechanism is used to supply pipes to the pipe bending machine; a unloading device, which includes a fixed unloading rack, a movable unloading rack and a unloading control device, the fixed unloading rack is arranged on one side of the pipe bending machine, the movable unloading rack can move close to and receive a workpiece placed on the fixed unloading rack, the unloading control device is arranged on the fixed unloading rack or the unloading control device is arranged on one side of the fixed unloading rack, and the unloading control device is used to control whether the workpiece moves from the fixed unloading rack to the movable unloading rack; a unloading robot, which is arranged between the pipe bending machine and the fixed unloading rack, and the unloading robot is used to transfer the workpiece bent by the pipe bending machine to the fixed unloading rack.

[0007] In certain embodiments of the present invention, the fixed unloading rack includes a fixed unloading rack body, and the fixed unloading rack body is provided with a first hanging rod arranged obliquely downward; the movable unloading rack includes a movable unloading rack body, and the movable unloading rack body is provided with a second hanging rod cooperating with the first hanging rod to receive the workpiece, and the second hanging rod is arranged obliquely upward, wherein the horizontal height of the lower end of the first hanging rod is higher than or equal to the horizontal height of the upper end of the second hanging rod.

[0008] In certain embodiments of the present invention, there are multiple first hanging rods, and the multiple first hanging rods are uniformly arranged on the fixed unloading rack body in sequence along the vertical direction.

[0009] In certain embodiments of the present invention, the movable unloading rack body is provided with a plurality of the second hanging rods, and the plurality of the second hanging rods cooperate with the plurality of the first hanging rods in a one-to-one correspondence to receive the workpieces.

[0010] In certain embodiments of the present invention, a roller for facilitating movement is disposed at the bottom of the movable unloading rack body, and a handshake portion is disposed at the upper portion of the movable unloading rack body.

[0011] In certain embodiments of the present invention, the material unloading control device includes: a material unloading control device base, which is arranged on one side of the fixed material unloading rack; at least one swing rod, one end of which is rotatably mounted on the material unloading control device base, and the other end of which extends to above the first suspension rod; a rotation driving device, which is arranged on the material unloading control device base, and the rotation driving device is transmission-connected to the swing rod, and the rotation driving device can drive the swing rod to swing up and away from or swing down and close to the first suspension rod.

[0012] In certain embodiments of the present invention, a fence is further included, wherein the pipe bending machine, the automatic loading mechanism, the fixed unloading rack, the unloading control device and the unloading robot are arranged inside the fence, and a discharge window is opened at a position of the side wall of the fence corresponding to the fixed unloading rack, and the movable unloading rack is located outside the fence; wherein the movable unloading rack can be moved to the discharge window and receive the workpiece located on the fixed unloading rack.

[0013] In certain embodiments of the present invention, a control system is further included, which is electrically connected to the pipe bending machine, the automatic loading mechanism, the unloading control device and the unloading robot; a first safety grating is provided on the side of the discharge window, and the first safety grating is electrically connected to the control system; wherein, the control system can control whether the pipe bending machine, the automatic loading mechanism, the unloading control device and the unloading robot are working or not according to the signal fed back by the first safety grating.

[0014] In some embodiments of the present invention, a door is provided on one side wall of the fence, and a door body capable of opening or closing the door is rotatably provided on the periphery of the door.

[0015] In certain embodiments of the present invention, a second safety grating is provided on the side of the doorway, and the second safety grating is electrically connected to the control system; wherein, the control system can control the operation of the pipe bending machine, the automatic loading mechanism, the unloading control device and the unloading robot according to the signal fed back by the second safety grating.

[0016] The beneficial effects of the fully automatic loading and unloading pipe bending production line of certain embodiments of the present invention are as follows: since the unloading device adopts a structure composed of a fixed unloading rack, a movable unloading rack and a unloading control device, the unloading robot can place the workpiece bent by the pipe bending machine on the fixed unloading rack. When the workpiece placed on the fixed unloading rack reaches the limit, the unloading control device controls the workpiece to move from the fixed unloading rack to the movable unloading rack, and the unloading robot can continue to place the workpiece bent by the pipe bending machine on the fixed unloading rack. At this time, the user can replace the new movable unloading rack or take away the workpiece placed on the movable unloading rack, and the pipe bending machine does not need to stop operating, thereby realizing continuous operation of the pipe bending machine and greatly improving the pipe bending efficiency of the pipe bending machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Figure 1 It is a schematic diagram of the top view of the structure of a fully automatic loading and unloading pipe bending production line in some embodiments of the present invention;

[0019] Figure 2 for Figure 1 The structural schematic diagram of the fully automatic loading and unloading pipe bending production line from another angle is shown in FIG.

[0020] Figure 3 for Figure 1 The figure shows the structure diagram of the coordination between the unloading manipulator and the unloading device in the fully automatic unloading and unloading pipe bending production line;

[0021] Figure 4 for Figure 1 The schematic diagram of the structure of the unloading device in the fully automatic unloading and unloading pipe bending production line is shown in FIG.

[0022] Figure 5 for Figure 1 The figure shows the structural decomposition diagram of the unloading device in the fully automatic unloading and unloading pipe bending production line;

[0023] Figure 6 for Figure 1The figure shows the structural schematic diagram of the fixed unloading rack and unloading control device in the fully automatic loading and unloading pipe bending production line. DETAILED DESCRIPTION

[0024] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0025] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0026] In the description of the present invention, "several" means one or more, "more" means more than three, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first", "second", etc., it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0028] Reference Figures 1 to 6A fully automatic loading and unloading pipe bending production line according to certain embodiments of the present invention includes a pipe bender 100, which is used to bend pipes; an automatic loading mechanism 200 is provided on one side of the pipe bender 100, and the automatic loading mechanism 200 is used to supply pipes to the pipe bender 100. Since the pipe bender 100 and the automatic loading mechanism 200 are conventional technologies in the art, they are not described in detail here. A feeding device is provided on one side of the pipe bending machine 100. In the present embodiment, the feeding device includes a fixed feeding rack 310, a movable feeding rack 320 and a feeding control device 330. The fixed feeding rack 310 is provided on one side of the pipe bending machine 100. The movable feeding rack 320 can move close to and receive the workpiece 600 placed on the fixed feeding rack 310. The feeding control device 330 is provided on the fixed feeding rack 310 or the feeding control device 330 is provided on one side of the fixed feeding rack 310. The feeding control device 330 is used to control whether the workpiece 600 moves from the fixed feeding rack 310 to the movable feeding rack 320. Specifically, the feeding control device 330 can not only limit the workpiece 600 from moving from the fixed feeding rack 310 to the movable feeding rack 320, but also the feeding control device 330 can release the workpiece 600. At this time, the workpiece 600 can move from the fixed feeding rack 310 to the movable feeding rack 320. A material unloading robot 400 is provided between the pipe bending machine 100 and the fixed unloading rack 310 . The material unloading robot 400 is used to transfer the workpiece 600 bent by the pipe bending machine 100 to the fixed unloading rack 310 .

[0029] Since the unloading device adopts a structure composed of a fixed unloading rack 310, a movable unloading rack 320 and a unloading control device 330, the unloading robot 400 can place the workpiece 600 bent by the pipe bender 100 on the fixed unloading rack 310. When the workpiece 600 placed on the fixed unloading rack 310 reaches the limit, the unloading control device 330 controls the workpiece 600 to move from the fixed unloading rack 310 to the movable unloading rack 320, and the unloading robot 400 can continue to place the workpiece 600 bent by the pipe bender 100 on the fixed unloading rack 310. At this time, the user can replace the new movable unloading rack 320 or take away the workpiece 600 placed on the movable unloading rack 320, and the pipe bender 100 does not need to stop operating, thereby realizing continuous operation of the pipe bender 100, greatly improving the bending efficiency of the pipe bender 100.

[0030] Reference Figures 4 to 6In order to simplify the structure of the unloading device, in certain embodiments of the present invention, the fixed unloading rack 310 includes a fixed unloading rack body 311, and the fixed unloading rack body 311 is provided with a first hanging rod 312 arranged obliquely downward; the movable unloading rack 320 includes a movable unloading rack body 321, and the movable unloading rack body 321 is provided with a second hanging rod 322 cooperating with the first hanging rod 312 to receive the workpiece 600, and the second hanging rod 322 is arranged obliquely upward, wherein the horizontal height of the lower end of the first hanging rod 312 is higher than or equal to the horizontal height of the upper end of the second hanging rod 322. By adopting the above-mentioned structure, when the movable unloading rack 320 moves close to the fixed unloading rack 310, the upper end of the second hanging rod 322 can be flush with the lower end of the first hanging rod 312, or the upper end of the second hanging rod 322 is located below the lower end of the first hanging rod 312. At this time, the workpiece 600 can slide along the first hanging rod 312 to the second hanging rod 322. The structure is simple and it is convenient to transfer the workpiece 600 from the fixed unloading rack 310 to the movable unloading rack 320.

[0031] It should be noted that in addition to the above-mentioned structure, the unloading device may also adopt other structures, such as a fixed unloading rack 310 including a fixed unloading rack body 311, and the fixed unloading rack body 311 is provided with a first hanging rod 312 arranged in a horizontal direction; a movable unloading rack 320 includes a movable unloading rack body 321, and the movable unloading rack body 321 is provided with a second hanging rod 322 cooperating with the first hanging rod 312 to receive the workpiece 600, and the second hanging rod 322 is arranged parallel to the first hanging rod 312, and the second hanging rod 322 and the first hanging rod 312 have the same horizontal height. By adopting the above-mentioned structure, when the movable unloading rack 320 moves close to the fixed unloading rack 310, the end of the second hanging rod 322 can abut against the end of the first hanging rod 312. At this time, the second hanging rod 322 and the first hanging rod 312 are spliced ​​to form a straight rod. Therefore, the workpiece 600 can slide along the first hanging rod 312 to the second hanging rod 322 under the push of external force. The structure is simple and it is convenient to transfer the workpiece 600 from the fixed unloading rack 310 to the movable unloading rack 320.

[0032] Furthermore, in order to allow the fixed unloading rack 310 to place more workpieces 600, specifically, there are multiple first hanging rods 312, and the multiple first hanging rods 312 are uniformly arranged in sequence along the vertical direction on the fixed unloading rack body 311. Therefore, the workpiece 600 can be hung on different first hanging rods 312, thereby allowing the fixed unloading rack 310 to place more workpieces 600.

[0033] In order to enable the movable unloading rack 320 to place more workpieces 600. Specifically, the movable unloading rack body 321 is provided with a plurality of second hanging rods 322, and the plurality of second hanging rods 322 and the plurality of first hanging rods 312 are matched one by one to receive the workpieces. That is, the plurality of second hanging rods 322 are evenly spaced and arranged in the movable unloading rack body 321 in the vertical direction, and the spacing between two adjacent second hanging rods 322 is the same as the spacing between two adjacent first hanging rods 312.

[0034] In order to facilitate the movement of the movable unloading rack 320 , in certain embodiments of the present invention, a roller 323 for facilitating movement is disposed at the bottom of the movable unloading rack body 321 , and a handshake portion 324 is disposed at the top of the movable unloading rack body 321 .

[0035] In order to simplify the structure of the material unloading control device 330, in some embodiments of the present invention, the material unloading control device 330 includes a material unloading control device base 331, which is arranged on one side of the fixed material unloading frame 310, and the material unloading control device base 331 is rotatably mounted with at least one swing rod 332, specifically, one end of the swing rod 332 is rotatably mounted on the material unloading control device base 331, and the swing rod 332 can swing up or swing down relative to the material unloading control device base 331. In this embodiment, the other end of the swing rod 332 extends to the top of the first suspension rod 312, that is, the end of the swing rod 332 away from the material unloading control device base 331 extends to the top of the first suspension rod 312, and the material unloading control device base 331 is provided with a rotation driving device 333, which is transmission-connected with the swing rod 332, and the rotation driving device 333 can drive the swing rod 332 to swing up away from or swing down close to the first suspension rod 312. In this embodiment, the rotation drive device 333 is a motor fixedly mounted on the base 331 of the material unloading control device, and the output shaft of the motor is in transmission connection with one end of the swing rod 332, and the motor can drive the swing rod 332 to swing up and away from or swing down and close to the first suspension rod 312. It can be understood that in some embodiments of the present invention, the rotation drive device 333 is a rotary cylinder fixedly mounted on the base 331 of the material unloading control device, and the output shaft of the rotary cylinder is in transmission connection with one end of the swing rod 332, and the rotary cylinder can drive the swing rod 332 to swing up and away from or swing down and close to the first suspension rod 312.

[0036] The process of the material unloading control device 330 of this embodiment controlling whether the workpiece 600 moves from the fixed unloading rack 310 to the movable unloading rack 320 is as follows:

[0037] In the initial state, the rotary drive device 333 drives the swing rod 332 to swing down and approach the first hanging rod 312. At this time, the swing rod 332 can be placed at the lower end of the first hanging rod 312. Therefore, when the unloading robot 400 hangs the workpiece 600 on the first hanging rod 312, the swing rod 332 prevents the workpiece 600 from sliding down from the first hanging rod 312. When the number of workpieces 600 placed on the fixed unloading rack 310 reaches a set value, the rotary drive device 333 drives the swing rod 332 to swing up and away from the first hanging rod 312. At this time, the swing rod 332 is away from the workpiece 60 0, the swing rod 332 no longer restricts the workpiece 600, and the workpiece 600 can slide along the first hanging rod 312 to the second hanging rod 322, so that the workpiece 600 is moved from the fixed unloading rack 310 to the movable unloading rack 320, and then the rotating drive device 333 drives the swing rod 332 to swing and fall close to the first hanging rod 312. At this time, the swing rod 332 can be placed on the lower end of the first hanging rod 312 and prevent the workpiece 600 from sliding down from the first hanging rod 312, so that the fixed unloading rack 310 can take over the workpiece 600 again, and the cycle is repeated.

[0038] Reference Figures 1 to 3 In order to avoid accidental injury to workers by the equipment, the fully automatic loading and unloading pipe bending production line of some embodiments of the present invention further includes a fence 500, the pipe bending machine 100, the automatic loading mechanism 200, the fixed unloading rack 310, the unloading control device 330 and the unloading manipulator 400 are arranged inside the fence 500, and a discharge window 510 is opened at a position corresponding to the fixed unloading rack 310 on the side wall of the fence 500, and the movable unloading rack 320 is located outside the fence 500; wherein, the movable unloading rack 320 can move to the discharge window 510 and receive the workpiece 600 located on the fixed unloading rack 310. By adopting the above structure, the fully automatic loading and unloading pipe bending production line is basically surrounded by the fence 500, which prevents people from being accidentally injured by the equipment and ensures the personal safety of the people.

[0039] The fully automatic loading and unloading pipe bending production line of certain embodiments of the present invention further includes a control system (not shown in the figure), which is electrically connected to the pipe bending machine 100, the automatic loading mechanism 200, the unloading control device 330 and the unloading manipulator 400; a first safety grating 520 is provided on the side of the discharge window 510, and the first safety grating 520 is electrically connected to the control system; wherein, the control system can control the pipe bending machine 100, the automatic loading mechanism 200, the unloading control device 330 and the unloading manipulator 400 to work or not according to the signal fed back by the first safety grating 520. Specifically, when the first safety grating 520 detects that a person passes through the discharge window 510 and enters the inside of the fence 500, the control system controls the pipe bending machine 100, the automatic loading mechanism 200, the unloading control device 330 and the unloading manipulator 400 to stop working according to the signal fed back by the first safety grating 520, thereby avoiding accidental injury to personnel by the equipment.

[0040] In order to facilitate the staff to inspect the equipment, in some embodiments of the present invention, a door 530 is opened on one side wall of the fence 500, and a door body 540 capable of opening or closing the door 530 is rotatably arranged at the periphery of the door 530. Further, a second safety grating 550 is arranged on the side of the door 530, and the second safety grating 550 is electrically connected to the control system; wherein, the control system can control the pipe bending machine 100, the automatic feeding mechanism 200, the unloading control device 330 and the unloading manipulator 400 to work or not according to the signal fed back by the second safety grating 550. When the staff opens the door body 540 and passes through the door 530 to enter the fence 500, the control system controls the pipe bending machine 100, the automatic feeding mechanism 200, the unloading control device 330 and the unloading manipulator 400 to stop working according to the signal fed back by the second safety grating 550, so as to facilitate the staff to inspect the equipment, prevent the equipment from accidentally injuring the staff, and protect the personal safety of the staff.

[0041] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A fully automatic loading and unloading pipe bending production line, characterized in that: include: A pipe bender (100), wherein the pipe bender (100) is used to bend a pipe; An automatic feeding mechanism (200) is arranged on one side of the pipe bending machine (100), and the automatic feeding mechanism (200) is used to supply pipes to the pipe bending machine (100); A material unloading device, the material unloading device comprising a fixed material unloading rack (310), a movable material unloading rack (320) and a material unloading control device (330), the fixed material unloading rack (310) being arranged on one side of the pipe bending machine (100), the movable material unloading rack (320) being capable of moving close to and receiving a workpiece placed on the fixed material unloading rack (310), the material unloading control device (330) being arranged on the fixed material unloading rack (310) or the material unloading control device (330) being arranged on one side of the fixed material unloading rack (310), and the material unloading control device (330) being used to control whether the workpiece moves from the fixed material unloading rack (310) to the movable material unloading rack (320); a material unloading robot (400), arranged between the pipe bender (100) and the fixed material unloading rack (310), the material unloading robot (400) being used to transfer a workpiece bent by the pipe bender (100) to the fixed material unloading rack (310); The fixed material unloading rack (310) comprises a fixed material unloading rack body (311), the fixed material unloading rack body (311) being provided with a first hanging rod (312) arranged obliquely downward; the movable material unloading rack (320) comprises a movable material unloading rack body (321), the movable material unloading rack body (321) being provided with a second hanging rod (322) cooperating with the first hanging rod (312) to receive the workpiece, the second hanging rod (322) being arranged obliquely upward, and the horizontal height of the lower end of the first hanging rod (312) being higher than or equal to the horizontal height of the upper end of the second hanging rod (322); The number of the first hanging rods (312) is plural, and the plurality of first hanging rods (312) are uniformly arranged on the fixed unloading rack body (311) in sequence along the vertical direction; The movable unloading rack body (321) is provided with a plurality of second hanging rods (322), and the plurality of second hanging rods (322) cooperate with the plurality of first hanging rods (312) in a one-to-one correspondence to receive workpieces; The material feeding control device (330) comprises: A material unloading control device base (331) is arranged on one side of the fixed material unloading frame (310); At least one swing rod (332), one end of the swing rod (332) being rotatably mounted on the material discharge control device base (331), and the other end of the swing rod (332) extending above the first suspension rod (312); A rotation drive device (333) is arranged on the base (331) of the material unloading control device, and the rotation drive device (333) is in transmission connection with the swing rod (332). The rotation drive device (333) can drive the swing rod (332) to swing up and away from, or swing down and close to, the first suspension rod (312).

2. The fully automatic loading and unloading pipe bending production line according to claim 1 is characterized in that: The bottom of the movable material unloading rack body (321) is provided with a roller (323) for facilitating movement, and the upper part of the movable material unloading rack body (321) is provided with a handshake portion (324).

3. The fully automatic loading and unloading pipe bending production line according to claim 1 is characterized in that: It also comprises a fence (500), wherein the pipe bending machine (100), the automatic feeding mechanism (200), the fixed unloading rack (310), the unloading control device (330) and the unloading manipulator (400) are arranged inside the fence (500), a discharging window (510) is provided at a position of the side wall of the fence (500) corresponding to the fixed unloading rack (310), and the movable unloading rack (320) is located outside the fence (500); The movable unloading rack (320) is capable of moving to the unloading window (510) and receiving a workpiece located on the fixed unloading rack (310).

4. The fully automatic loading and unloading pipe bending production line according to claim 3 is characterized in that: It also includes a control system, wherein the control system is electrically connected to the pipe bending machine (100), the automatic feeding mechanism (200), the unloading control device (330) and the unloading manipulator (400); A first safety grating (520) is provided on the side of the discharge window (510), and the first safety grating (520) is electrically connected to the control system; The control system is capable of controlling the operation of the pipe bending machine (100), the automatic feeding mechanism (200), the unloading control device (330) and the unloading manipulator (400) according to the signal fed back by the first safety grating (520).

5. The fully automatic loading and unloading pipe bending production line according to claim 4 is characterized in that: A doorway (530) is provided on one side wall of the fence (500), and a door body (540) capable of opening or closing the doorway (530) is rotatably provided on the periphery of the doorway (530).

6. The fully automatic loading and unloading pipe bending production line according to claim 5 is characterized in that: A second safety grating (550) is provided on the side of the doorway (530), and the second safety grating (550) is electrically connected to the control system; The control system is capable of controlling the operation of the pipe bending machine (100), the automatic feeding mechanism (200), the unloading control device (330) and the unloading manipulator (400) according to the signal fed back by the second safety grating (550).

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