CN103037994A - Bending machine for creating bends to the left and right - Google Patents
Bending machine for creating bends to the left and right Download PDFInfo
- Publication number
- CN103037994A CN103037994A CN2011800236396A CN201180023639A CN103037994A CN 103037994 A CN103037994 A CN 103037994A CN 2011800236396 A CN2011800236396 A CN 2011800236396A CN 201180023639 A CN201180023639 A CN 201180023639A CN 103037994 A CN103037994 A CN 103037994A
- Authority
- CN
- China
- Prior art keywords
- pipe
- bending
- lock
- bent
- bend arm
- 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.)
- Pending
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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
- B21D7/025—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member and pulling or pushing the ends of the work
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/16—Auxiliary equipment, e.g. for heating or cooling of bends
- B21D7/162—Heating equipment
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
A machine for bending tubes of large diameter in different bending directions, wherein, for bending, in this machine a tube (10) is guided in the axial direction through an inductive heating device (7) enclosing this tube in an annular manner, the tube (10) is secured by a bending lock (4) at the end (11) thereof intended to be bent, at least one bending arm (2), which is mounted rotatably about a vertical axis of rotation (8), is located at the part of the bending machine that is disposed in the advancing direction of the tube (10), the bending lock (4) is indirectly connected to the bending arm (2), the bending lock (4) has a force transmission device between the receiving device for tubes and the bending arm (2), the force transmission device is connected to the bending arm (2); such that it can be set so as to allow the distances between the centre axis of the receiving device for tubes and the vertical axis of rotation (8) to be chosen between the smallest distance and greatest distance, whereby a range between a greatest and a smallest bending radius (12) can be set, the machine has at least one further bending lock (5) with a further bending arm (3), a receiving device for tubes and a force transmission device for bending forces from the receiving device to the further bending arm (3), wherein the direction of rotation of the further bending arm (3) is opposed to the direction of rotation of the first bending arm (2), and each of the two bending arms (2, 3) can be moved parallel to one another and perpendicular to the advancing direction of the tubes to be bent.
Description
The present invention relates to for a kind of equipment and a kind of method at the crooked pipe of bending machine, in bending machine, pipe to be bent is heated by the mode with induction at the crooked position place.Herein, what pipe related to usually is the steel pipe of heavy wall, and it has 3 to 120mm wall thickness and has 50 to 1060mm diameter and have in the case several weight.The bending machine of exploitation also is correspondingly to weigh greatly for this reason, usually can realize 0.1 to 10 meter bending radius by means of this bending machine.
For each bending, pipe to be bent must be clamped in the feeding car at its straight place, end in the case, and fixes a so-called crooked lock at place, end to be bent.A device annular, that be used for eddy-current heating is set between bending lock and feeding car, and it is also referred to as inductance loop usually.
Because the large power that will bear of effect, crooked lock usually designs very heavyly and requires a lot of spaces.A kind of corresponding equipment is for example described in DE102007022004A.Herein, crooked lock is installed on the bend arm, and wherein, bend arm can rotate around a vertical turning cylinder.
Usually a plurality of bends must implemented in turn on different directions on the pipe.Can realize thus bending (shape) or pipe geometry generally'S '-shaped or tortuous (ripple) shape of complexity spatially, this geometry can very accurately process under controlled condition on this bending machine, and this place, place to use is afterwards usually only using pipe moulded parts and welding and is being only possible under the restriction aspect accessible precision.
In the bending machine according to the prior art of routine, this bending operation can partly in turn be implemented, but, if the pipe geometry of wishing requires the bending direction between two bending operations of in succession following to change, between bending operation, need so very complicated installment work.Because for this purpose, each all whole bending must the lock disassemble and re-start again installation and directed together on the opposite pipe side of mirror image symmetry with bend arm.Perhaps, pipe to be bent must take out and be input to an other machine from left bending machine, namely in the right bending machine.Produce in the case the inexactness on the physical dimension, it only has by very large expense and can overcome.
For example at a kind of machine shown in the DE2513561A1, it has little and a large bend arm, one turn right and one turn left.In order to utilize this system to carry out curvature of space, must go out from the machine side-draw that turns right pipe and then again with its clamping with navigate to the side that turns left.This involves a large amount of time costs and causes inexactness.
Illustrated in DE10060605A1 left and the crooked head that turns right, still, wherein, tube end is because crooked head setting up and down and must moving down fully, in order to can reach on the second crooked head.
Because not only pipe to be bent but also crooked lock are all very heavy with the spare part of bend arm, therefore during the operation hoisting apparatus, must drop into very large expense and necessary extreme care, in order to any damage when installation exercise, do not occur, and the position of pipe to be bent can change controllably.The working ability of the bending operation of bending machine can be delayed many hours and be limited to this installation exercise.
Therefore, the purpose of this invention is to provide a kind of method of economy, in the method, this installation exercise can be reduced to minimum degree and can realize thus the remarkable lifting of the working ability of this bending machine in the use in the crooked situation repeatedly.
The present invention achieves this end by a kind of equipment for crooked large diameter pipe on different bending directions, wherein,
-in this bending apparatus, pipe is guided through vertically surrounds firing equipment this pipe, that inductively act on circlewise,
It is fixing that-pipe is bent lock at its place, end to be bent,
-at least one bend arm is arranged in the part on the direction of feed that is placed in pipe of described bending apparatus, and described at least one bend arm can support rotationally around a vertical turning cylinder,
-described crooked lock is connected with described bend arm indirectly,
-described bending is locked in for having force transfering device between the storing apparatus of pipe and the bend arm,
-described force transfering device is connected by this way adjustably with described bend arm, so that the spacing between the central axis of the storing apparatus that is used for pipe and vertical turning cylinder can be selected between a minimum spacing and a maximum spacing, can be adjusted at thus a scope between a maximum deflection radius and the minimum bending radius
-described equipment has at least one other bending lock, and it has other bend arm, the force transfering device of the bending force on being used for the storing apparatus of pipe and being used for from described storing apparatus to described other bend arm,
-wherein, the rotation direction of described other bend arm and the direction of rotation of described the first bend arm, and
In-two bend arms each can be in parallel to each other and with the direction of feed vertical ground motion of pipe to be bent.
By the movably bend arm that uses two to have crooked lock, can realize, turning right and turning left for accordingly vertical turning cylinder, can respectively or use one of them crooked lock or use wherein another crooked lock, and each unwanted crooked lock is shifted out from pivot region.Got rid of thus complicated installation exercise fully.
The present invention also achieves this end by method a kind of and described equipment coupling, that be used for crooked large diameter pipe, wherein,
-pipe is clamped in the first crooked lock, and the described first crooked lock is connected with the first bend arm, and described the first bend arm can be rotated around the first turning cylinder,
-and the second crooked lock by against described rotation direction from the pivot region of pipe along removing with the vertical direction of the direction of feed of pipe to be bent,
-then under the feeding of pipe, the First section of pipe is bent,
-under pipe was fixed, pipe was unclamped from the described first crooked lock,
The-described first crooked lock by from the described pivot region of pipe along removing with the vertical direction of the direction of feed of pipe to be bent,
The-described second crooked lock is moved in the described pivot region of pipe,
-pipe to be bent is clamped in the described second crooked lock,
-then under the feeding pipe, second section of pipe is bent.
During the conversion bending direction, pipe is retained in the feeding car on the absolute fixing position by being clamped in.
In the other embodiment according to method of the present invention, between each bending operation, implement the motion of pipe.Implement in the case pipe around the rotation of the central axis of pipe or also implement the length feed of pipe.Also can successively in turn implement many bending operations by this way.
The present invention is following to be elaborated by means of Fig. 1 to 4e.Fig. 1 illustrate a tangent bend machine etc. axial projection figure, Fig. 2 illustrates a top view.Fig. 3 illustrates a front view.Fig. 4 a to 4e is illustrated in repeatedly each operation during the crooked pipe with top view.
Fig. 1 to 3 illustrates such tangent bend machine 1, and it has two bend arms (pivoted arm) 2 and 3 and locks 4 and 5 with crooked.The pipe to be bent that does not illustrate is passed inductance loop 7 by passing on feeding car 6, wherein, perhaps crooked lock 4 or crooked lock 5 are caught pipe and it is centered on turning cylinder 8 or turning cylinder 9 bendings.
Fig. 4 illustrates the process of the S shape bending of pipe 10.
Fig. 4 a is original state.Pipe 10 is arranged in feeding car 6, and the tube end 11 of its front portion is moved through inductance loop 7 and is bent lock 5 and fixes.Bend arm 3 is quilt as location therefore, and bending radius 12 and the bend arm 2 that namely can adjust hope are shifted out from pivot region.
Fig. 4 b illustrates the end of the first bending operation, is the bending of 135 degree in this case.
Fig. 4 c illustrates, and the separated and bend arm 3 of crooked lock 5 has been removed and has implemented the feeding of feeding length 13.
Fig. 4 d illustrates bend arm 2 and is so positioned, in order to can adjust bending radius 14, and crooked lock 4 is fixed pipe 10.The state that bend arm 3 maintenances are shifted out from pivot region.
Fig. 4 e illustrates the result of the second bending operation, is that just in time the degree of 135 on the rightabout is crooked with the first bending in this case.
Be clear that at this, many other (space) bending operations of solid also can be implemented by this way, and needn't dismantle this workpiece or one of them bend arm for this reason, this prior art with respect to routine has been saved the many time of debuging and has been improved accessible production of machinery scale with economized form thus.
The Reference numeral table
1 tangent bend machine
2 bend arm A
3 bend arm B
4 crooked lock A
5 crooked lock B
6 feeding cars
7 inductance loops
8 turning cylinder A
9 turning cylinder B
10 pipes
11 pipe leading sections
12 bending radius A
13 feeding lengths
14 bending radius B
Claims (5)
1. the equipment that is used for crooked large diameter pipe on different bending directions, wherein,
-in this bending apparatus, pipe (10) is guided through vertically surrounds heater (7) this pipe, that inductively act on circlewise,
-pipe (10) locates to be bent lock (4) in its end to be bent (11) fixing,
-at least one bend arm (2) is arranged in the part on the direction of feed that is placed in pipe (10) of described bending apparatus, and described at least one bend arm can be supported rotationally around a vertical turning cylinder (8),
-described crooked lock (4) is connected with described bend arm (2) indirectly,
-described crooked lock (4) has force transfering device between the storing apparatus that is used for pipe and described bend arm (2),
-described force transfering device is connected by this way adjustably with described bend arm (2), namely the spacing between the central axis of the storing apparatus that is used for pipe and described vertical turning cylinder (8) can be selected between a minimum spacing and a maximum spacing, can adjust thus a scope between a maximum deflection radius (12) and a minimum bending radius (12)
It is characterized in that,
-described equipment has at least one other bending lock (5), and it has other bend arm (3), the force transfering device of the bending force on being used for the storing apparatus of pipe and being used for from described storing apparatus to described other bend arm (3),
-wherein, the rotation direction of described other bend arm (3) and the direction of rotation of described the first bend arm (2), and
In-two bend arms (2,3) each can be in parallel to each other and with the direction of feed vertical ground motion of pipe to be bent.
2. be used for by means of the method for implementing a plurality of bending operations of big-inch pipe corresponding to the equipment of claim 1,
It is characterized in that,
-pipe (10) is clamped in the first crooked lock (4), and the described first crooked lock is connected with the first bend arm (2), and described the first bend arm can be rotated around the first turning cylinder (8),
-and the second crooked lock (5) by against described rotation direction from the pivot region of pipe along removing with the vertical direction of the direction of feed of pipe to be bent,
-then under the feeding of pipe, the First section of pipe is bent,
-under pipe was fixed, pipe was unclamped from the described first crooked lock (4),
The-described first crooked lock (4) by from the described pivot region of pipe along removing with the vertical direction of the direction of feed of pipe to be bent,
The-described second crooked lock (5) is moved in the described pivot region of pipe,
-described pipe to be bent is clamped in the described second crooked lock (5),
-then under the feeding of pipe, second section of pipe is bent.
3. in accordance with the method for claim 2, it is characterized in that, between two bending operations, implement the rotation of pipe around the central axis of pipe.
4. according to each described method in claim 2 or 3, it is characterized in that, between two bending operations, implement the length feed of pipe in the direction of the central axis of pipe.
5. according to each described method in the claim 2 to 4, it is characterized in that, successively in turn carry out a plurality of bending operations.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010020360.2 | 2010-05-13 | ||
| DE102010020360.2A DE102010020360B4 (en) | 2010-05-13 | 2010-05-13 | Bending machine for left and right bends |
| PCT/DE2011/000438 WO2011141015A1 (en) | 2010-05-13 | 2011-04-26 | Bending machine for creating bends to the left and right |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103037994A true CN103037994A (en) | 2013-04-10 |
Family
ID=44474987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011800236396A Pending CN103037994A (en) | 2010-05-13 | 2011-04-26 | Bending machine for creating bends to the left and right |
Country Status (10)
| Country | Link |
|---|---|
| US (1) | US20140007639A1 (en) |
| EP (1) | EP2569110B1 (en) |
| JP (1) | JP2013526408A (en) |
| CN (1) | CN103037994A (en) |
| BR (1) | BR112012029020A2 (en) |
| CA (1) | CA2798350A1 (en) |
| DE (1) | DE102010020360B4 (en) |
| PL (1) | PL2569110T3 (en) |
| RU (1) | RU2560889C2 (en) |
| WO (1) | WO2011141015A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103658271A (en) * | 2013-12-24 | 2014-03-26 | 南京鹏力科技有限公司 | Automatic pipe bending device for compressor outer exhaust pipe |
| CN105268794A (en) * | 2015-11-20 | 2016-01-27 | 张家港市立业机械有限公司 | Pipe bending machine and full-automatic bending method thereof |
| CN107282720A (en) * | 2017-07-31 | 2017-10-24 | 浙江和良智能装备有限公司 | A kind of common curved CNC tube bending machine in left and right |
| CN107570562A (en) * | 2017-09-26 | 2018-01-12 | 张家港市立业机械有限公司 | Full-automatic tube bending machine based on servo-drive |
| CN107626783A (en) * | 2017-09-26 | 2018-01-26 | 张家港市立业机械有限公司 | With the Full-automatic tube bending machine for detecing wrong function automatically |
| CN107626782A (en) * | 2017-09-26 | 2018-01-26 | 张家港市立业机械有限公司 | High-precision full-automatic bending machine |
| CN110216572A (en) * | 2019-06-29 | 2019-09-10 | 吴胜奎 | A kind of Full-automatic bend pipe polisher |
| CN110899558A (en) * | 2019-11-13 | 2020-03-24 | 阜阳晶宫宝能节能建筑有限责任公司 | Reinforcing bar processingequipment is used in wallboard preparation |
| CN114115113A (en) * | 2021-10-15 | 2022-03-01 | 上海发那科机器人有限公司 | Intelligent pipe bending track generation method based on double-robot pipe bending system |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015106570B4 (en) | 2015-04-28 | 2016-12-15 | AWS Schäfer Technologie GmbH | Method for induction bending forming of a pressure-resistant pipe with a large wall thickness and a large diameter |
| US10427351B2 (en) | 2016-02-19 | 2019-10-01 | General Electric Company | Apparatus for induction heating and bending of thermoplastic composite tubes and a method for using same |
| JP7041178B2 (en) | 2020-01-22 | 2022-03-23 | フタバ産業株式会社 | Curved tube manufacturing equipment and curved tube manufacturing method |
| KR102473878B1 (en) | 2021-04-21 | 2022-12-06 | 김영남 | Left and right switch banding device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1326048A (en) * | 1969-12-13 | 1973-08-08 | Hilgers Maschinen Und Apparate | Tube bending machine |
| JPS61255722A (en) * | 1985-05-08 | 1986-11-13 | Ishikawajima Harima Heavy Ind Co Ltd | Tube bending device |
| CN2332503Y (en) * | 1998-06-13 | 1999-08-11 | 洛阳高新技术开发区安力机械有限公司 | One-push two-way pipe bender |
| DE102007022004A1 (en) * | 2007-05-08 | 2008-11-13 | AWS Schäfer Technologie GmbH | Apparatus and method for bending pipes |
| CN201217027Y (en) * | 2008-07-15 | 2009-04-08 | 江苏常发制冷股份有限公司 | Small-curvature tube bender |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| NL168729C (en) * | 1975-03-24 | 1982-05-17 | Mannesmann Roehren Werke Ag | TUBE BENDING DEVICE. |
| DE3427639A1 (en) * | 1984-07-26 | 1986-02-06 | Cojafex B.V., Rotterdam | METHOD AND DEVICE FOR BENDING LONG-TERM WORKPIECES, IN PARTICULAR PIPES |
| US4843859A (en) * | 1987-07-14 | 1989-07-04 | Chiyoda Kogyo Co., Ltd. | Pipe bender |
| RU2062156C1 (en) * | 1993-11-26 | 1996-06-20 | Научно-исследовательский институт авиационной технологии и организации производства | Metallic tube bending method |
| US6548008B1 (en) * | 1998-06-01 | 2003-04-15 | Komatsu Ltd. | Method for bending SI materials and core wire member of SI materials |
| DE10060605A1 (en) * | 2000-12-05 | 2002-06-06 | Transfluid Maschb Gmbh | Pipe bending machine has two bending heads with different bending directions |
| JP2004122147A (en) * | 2002-09-30 | 2004-04-22 | Babcock Hitachi Kk | Heat-bending apparatus for pipe |
| DE102007061186A1 (en) * | 2007-12-17 | 2009-06-18 | Manuel Burger | Bending device, in particular for tubular components |
-
2010
- 2010-05-13 DE DE102010020360.2A patent/DE102010020360B4/en not_active Expired - Fee Related
-
2011
- 2011-04-26 WO PCT/DE2011/000438 patent/WO2011141015A1/en active Application Filing
- 2011-04-26 US US13/697,568 patent/US20140007639A1/en not_active Abandoned
- 2011-04-26 PL PL11726050T patent/PL2569110T3/en unknown
- 2011-04-26 EP EP11726050.5A patent/EP2569110B1/en active Active
- 2011-04-26 CN CN2011800236396A patent/CN103037994A/en active Pending
- 2011-04-26 CA CA2798350A patent/CA2798350A1/en active Pending
- 2011-04-26 JP JP2013509446A patent/JP2013526408A/en active Pending
- 2011-04-26 RU RU2012153758/02A patent/RU2560889C2/en active
- 2011-04-26 BR BR112012029020A patent/BR112012029020A2/en not_active IP Right Cessation
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1326048A (en) * | 1969-12-13 | 1973-08-08 | Hilgers Maschinen Und Apparate | Tube bending machine |
| JPS61255722A (en) * | 1985-05-08 | 1986-11-13 | Ishikawajima Harima Heavy Ind Co Ltd | Tube bending device |
| CN2332503Y (en) * | 1998-06-13 | 1999-08-11 | 洛阳高新技术开发区安力机械有限公司 | One-push two-way pipe bender |
| DE102007022004A1 (en) * | 2007-05-08 | 2008-11-13 | AWS Schäfer Technologie GmbH | Apparatus and method for bending pipes |
| CN201217027Y (en) * | 2008-07-15 | 2009-04-08 | 江苏常发制冷股份有限公司 | Small-curvature tube bender |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103658271A (en) * | 2013-12-24 | 2014-03-26 | 南京鹏力科技有限公司 | Automatic pipe bending device for compressor outer exhaust pipe |
| CN103658271B (en) * | 2013-12-24 | 2016-02-10 | 中船重工鹏力（南京）智能装备系统有限公司 | The outer blast pipe augomatic syphon device of a kind of compressor |
| CN105268794A (en) * | 2015-11-20 | 2016-01-27 | 张家港市立业机械有限公司 | Pipe bending machine and full-automatic bending method thereof |
| CN107282720A (en) * | 2017-07-31 | 2017-10-24 | 浙江和良智能装备有限公司 | A kind of common curved CNC tube bending machine in left and right |
| CN107282720B (en) * | 2017-07-31 | 2023-08-25 | 浙江和良智能装备有限公司 | Left-right co-bending type numerical control pipe bending machine |
| CN107626782A (en) * | 2017-09-26 | 2018-01-26 | 张家港市立业机械有限公司 | High-precision full-automatic bending machine |
| CN107626783A (en) * | 2017-09-26 | 2018-01-26 | 张家港市立业机械有限公司 | With the Full-automatic tube bending machine for detecing wrong function automatically |
| CN107570562A (en) * | 2017-09-26 | 2018-01-12 | 张家港市立业机械有限公司 | Full-automatic tube bending machine based on servo-drive |
| CN107570562B (en) * | 2017-09-26 | 2024-04-23 | 张家港市立业机械有限公司 | Full-automatic pipe bending machine based on servo drive |
| CN110216572A (en) * | 2019-06-29 | 2019-09-10 | 吴胜奎 | A kind of Full-automatic bend pipe polisher |
| CN110216572B (en) * | 2019-06-29 | 2021-09-14 | 郑益丽 | Full-automatic elbow polishing machine |
| CN110899558A (en) * | 2019-11-13 | 2020-03-24 | 阜阳晶宫宝能节能建筑有限责任公司 | Reinforcing bar processingequipment is used in wallboard preparation |
| CN114115113A (en) * | 2021-10-15 | 2022-03-01 | 上海发那科机器人有限公司 | Intelligent pipe bending track generation method based on double-robot pipe bending system |
| CN114115113B (en) * | 2021-10-15 | 2023-11-21 | 上海发那科机器人有限公司 | Intelligent pipe bending track generation method based on double-robot pipe bending system |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010020360B4 (en) | 2016-06-16 |
| RU2012153758A (en) | 2014-06-20 |
| BR112012029020A2 (en) | 2016-08-02 |
| WO2011141015A1 (en) | 2011-11-17 |
| CA2798350A1 (en) | 2011-11-17 |
| EP2569110B1 (en) | 2014-09-03 |
| EP2569110A1 (en) | 2013-03-20 |
| PL2569110T3 (en) | 2015-02-27 |
| RU2560889C2 (en) | 2015-08-20 |
| US20140007639A1 (en) | 2014-01-09 |
| JP2013526408A (en) | 2013-06-24 |
| DE102010020360A1 (en) | 2011-11-17 |
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Application publication date: 20130410 |